A UAV detection method and system resistant to interference from complex electromagnetic environments

Abstract

The present application discloses a drone reconnaissance method that is resistant to interference from complex electromagnetic environments, and relates to the field of drone reconnaissance. The method includes: a first drone sets out to perform a reconnaissance mission in a target reconnaissance area and obtains first reconnaissance information; the first drone obtains and analyzes electromagnetic interference signals in the surrounding environment and obtains electromagnetic interference information; a second drone sets out to perform a reconnaissance mission; the first drone uses laser communication technology to transmit electromagnetic interference information and first reconnaissance information to the second drone in real time; the second drone updates the reconnaissance route to obtain an optimal reconnaissance route; the second drone performs a reconnaissance mission according to the optimal reconnaissance route and obtains second reconnaissance information; the second drone encrypts the first reconnaissance information and the second reconnaissance information and transmits them to a ground reconnaissance center. The present application can effectively avoid electromagnetic environment interference and efficiently complete drone reconnaissance missions.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of drone reconnaissance, and in particular to a drone reconnaissance method and system that is resistant to interference from complex electromagnetic environments. Background Art

[0002] With the rapid development of drone technology in modern society, drones are widely used in various fields such as aerial photography, agriculture, plant protection, express transportation, disaster relief, surveying and mapping, and power inspection due to their small size, convenient take-off and landing, high maneuverability, and strong concealment. They play a vital role in the process of social development. As drones are widely used in various fields, their flight range is also wider and the flight environment is more diverse. When drones fly to an environment with electromagnetic signals to perform reconnaissance missions, the electromagnetic signals will affect satellites, land-based navigation and other systems, making it difficult for drones to continue to perform accurate navigation, making it impossible for drones to return smoothly. At the same time, electromagnetic interference will cause the information detected by the drone to be distorted, and the reconnaissance mission cannot be completed.

[0003] At present, the main method to resist electromagnetic interference is to establish an electromagnetic shielding area to limit the drone from receiving external interference signals and ensure its normal operation. Although this method can effectively isolate electromagnetic interference, it is expensive and requires a lot of investment, which can easily lead to waste of resources. Electromagnetic interference can also be resisted by adding drone antennas. Compared with establishing an electromagnetic shielding area, the cost is lower, but it will increase the weight of the drone, affect the drone's maneuverability and ease of take-off and landing, and it will still be affected by certain electromagnetic interference in areas with strong electromagnetic interference. Summary of the invention

[0004] The embodiments of the present application provide a drone reconnaissance method and system that are resistant to interference from complex electromagnetic environments, which are used to solve the problem in the prior art that it is difficult to complete drone reconnaissance tasks at low cost and with maximum resistance to electromagnetic environment interference.

[0005] To achieve the above objectives, the embodiments of the present application adopt the following technical solutions:

[0006] In the first aspect, a method for detecting unmanned aerial vehicles (UAVs) that is resistant to interference from complex electromagnetic environments is provided, the method comprising:

[0007] The first UAV starts from the ground reconnaissance center and performs a reconnaissance mission in a target reconnaissance area based on a preset UAV reconnaissance strategy and reconnaissance route to obtain first reconnaissance information;

[0008] The first UAV acquires an electromagnetic interference signal in the surrounding environment, extracts features of the electromagnetic interference signal, and obtains electromagnetic interference information;

[0009] When the first driving time of the continuous flight of the first UAV is the same as the preset time period, the second UAV starts from the ground reconnaissance center according to the reconnaissance route and performs the reconnaissance mission in the target reconnaissance area;

[0010] When the second UAV sets out according to the reconnaissance route, the first UAV transmits the electromagnetic interference information and the first reconnaissance information to the second UAV in real time using laser communication technology;

[0011] The second UAV uses the electromagnetic interference information to locally update the reconnaissance route in real time to obtain an optimal reconnaissance route;

[0012] The second UAV continues to perform the reconnaissance mission according to the optimal reconnaissance route to obtain second reconnaissance information;

[0013] The second UAV encrypts the first reconnaissance information and the second reconnaissance information and transmits them to the ground reconnaissance center.

[0014] Optionally, the first UAV acquires an electromagnetic interference signal in the surrounding environment, performs feature extraction on the electromagnetic interference signal, and obtains the electromagnetic interference information, including the following steps:

[0015] The first UAV acquires an electromagnetic interference signal in the surrounding environment;

[0016] Extracting the intensity feature of the electromagnetic interference signal by the first drone to obtain the interference intensity at the current position;

[0017] Inputting the electromagnetic interference signal and the interference intensity into a pre-trained interference source prediction model to obtain the interference source position between the interference source generating the electromagnetic interference signal and the first UAV;

[0018] The interference intensity and the interference source position are integrated to obtain electromagnetic interference information.

[0019] Optionally, when the second UAV sets out according to the reconnaissance route, the first UAV uses laser communication technology to transmit the electromagnetic interference information and the first reconnaissance information to the second UAV in real time, including the following steps:

[0020] When the second drone sets out along the reconnaissance route, the first drone locally calculates a first relative position of the second drone with the first drone as a reference object based on a preset driving speed and the time period, and the second drone locally calculates a second relative position of the first drone with the second drone as a reference object based on the driving speed and the time period;

[0021] The first UAV performs angle calibration on the laser transmitter carried by the first UAV according to the first relative position;

[0022] When the laser transmitter completes the angle calibration, the first UAV encodes and encrypts the electromagnetic interference information and the first reconnaissance information, and transmits the encoded and encrypted electromagnetic interference information and the first reconnaissance information to the second UAV through the laser communication system;

[0023] The second UAV performs angle calibration on the laser receiver carried by the second UAV according to the second relative position.

[0024] Optionally, when the second drone sets out according to the reconnaissance route, the first drone locally calculates a first relative position of the second drone with the first drone as a reference object based on a preset driving speed and the time period, and the second drone locally calculates a second relative position of the first drone with the second drone as a reference object based on the driving speed and the time period, including the following steps:

[0025] When the second UAV sets out according to the reconnaissance route, the first UAV locally calculates a second travel time of the second UAV after it sets out from the ground reconnaissance center based on the first travel time and the time period;

[0026] The first UAV locally calculates a first driving distance of the first UAV on the reconnaissance route according to the first driving time and a preset driving speed, and locally calculates a second driving distance of the second UAV on the reconnaissance route according to the second driving time and the driving speed;

[0027] The first drone locally calculates a first relative position of the second drone on the reconnaissance route with the first drone as a reference object based on the first driving distance and the second driving distance;

[0028] The second UAV locally calculates the driving time of the first UAV after it departs from the ground reconnaissance center according to the second driving time and the time period to obtain the first driving time, and the second driving time is the driving time of the second UAV;

[0029] The second UAV locally calculates the travel distance of the second UAV on the reconnaissance route according to the second travel time and the travel speed to obtain the second travel distance;

[0030] The second UAV locally calculates the travel distance of the first UAV on the reconnaissance route according to the first travel time and the travel speed to obtain the first travel distance;

[0031] The second drone locally calculates a second relative position of the first drone on the reconnaissance route with the second drone as a reference object based on the second driving distance and the first driving distance.

[0032] Optionally, the method further includes:

[0033] When the second UAV sets out according to the optimal reconnaissance route, the first UAV uses the electromagnetic interference information to locally update the reconnaissance route in real time to obtain the optimal reconnaissance route currently being traveled by the second UAV;

[0034] The first drone locally calculates an update time for the second drone to locally update the reconnaissance route based on the electromagnetic interference information and the driving speed;

[0035] The first UAV locally calculates the driving time of the second UAV on the optimal reconnaissance route according to the third driving time and the update time to obtain a fourth driving time, wherein the third driving time is the driving time of the first UAV on the reconnaissance route;

[0036] The first UAV locally calculates a third driving distance of the first UAV on the reconnaissance route according to the third driving time and the driving speed, and locally calculates a fourth driving distance of the second UAV on the optimal reconnaissance route according to the fourth driving time and the driving speed;

[0037] The first drone locally calculates a third relative position of the second drone on the optimal reconnaissance route with the first drone as a reference object based on the third driving distance and the fourth driving distance;

[0038] The second UAV locally calculates the driving time of the first UAV on the driving route in combination with the update time and the fourth driving time to obtain the third driving time, and the fourth driving time is the driving time of the second UAV on the optimal driving route;

[0039] The second UAV locally calculates the third driving distance of the first UAV on the reconnaissance route according to the third driving time and the driving speed, and locally calculates the fourth driving distance of the second UAV on the optimal reconnaissance route according to the fourth driving time and the driving speed;

[0040] The second drone locally calculates a fourth relative position of the first drone on the reconnaissance route with the second drone as a reference object based on the third driving distance and the fourth driving distance;

[0041] The first UAV performs angle calibration on the laser transmitter carried by the first UAV according to the third relative position;

[0042] When the laser transmitter completes the angle calibration, the first UAV encodes and encrypts the electromagnetic interference information and the first reconnaissance information collected after the update time, and transmits the encoded and encrypted electromagnetic interference information and the first reconnaissance information to the second UAV through the laser communication system;

[0043] The second UAV performs angle calibration on the laser receiver carried by the second UAV according to the fourth relative position.

[0044] Optionally, the second UAV locally updates the reconnaissance route in real time using the electromagnetic interference information to obtain the optimal reconnaissance route, including the following steps:

[0045] The second UAV decrypts the encrypted electromagnetic interference information and the first reconnaissance information and extracts the information to obtain the interference intensity and the interference source position;

[0046] The second drone obtains a route end point in the reconnaissance route;

[0047] When the interference intensity is greater than a preset first interference intensity threshold, the second UAV obtains the position information of the second UAV on the reconnaissance route;

[0048] The second UAV randomly generates a plurality of primary reconnaissance routes within the target reconnaissance area using the route endpoint and the location information as the endpoint and the starting point;

[0049] The second UAV is encoded as an initial population of a path optimization algorithm based on all primary reconnaissance routes, and a maximum number of iterations of the path optimization algorithm is set;

[0050] The second UAV constructs the constraint conditions of the path optimization algorithm in combination with the interference intensity and the interference source location;

[0051] The second UAV updates and iterates the primary reconnaissance route according to the constraint conditions until the maximum number of iterations is reached, and outputs the optimal population;

[0052] The second UAV calculates the fitness of each individual in the optimal population according to a preset fitness function, and decodes the individual with the highest fitness as an optimal reconnaissance route.

[0053] Optionally, the second UAV constructing the constraint condition of the path optimization algorithm in combination with the interference intensity and the interference source position comprises the following steps:

[0054] The second UAV divides the target reconnaissance area into a plurality of reconnaissance sub-areas of equal area;

[0055] The second UAV screens out all the reconnaissance sub-areas containing the interference source based on the location of the interference source, and divides the screened area into a strong interference area;

[0056] The second UAV divides the reconnaissance sub-area where the interference intensity is greater than or equal to the first interference intensity threshold as a high interference area;

[0057] The second UAV divides the detection sub-area where the interference intensity is less than or equal to a preset second interference intensity threshold as a weak interference area, and the second interference intensity threshold is less than the first interference intensity threshold;

[0058] The second UAV divides the reconnaissance sub-area where the interference intensity is greater than the second interference intensity threshold and less than the first interference intensity threshold as a secondary interference intensity area;

[0059] The second UAV constructs constraint conditions of the path optimization algorithm based on the strong interference area, the second strong interference area and the weak interference area.

[0060] Optionally, the second UAV encrypting the first reconnaissance information and the second reconnaissance information and transmitting them to the ground reconnaissance center comprises the following steps:

[0061] When the second UAV travels to the strong interference area, the second UAV updates and iterates the optimal reconnaissance route based on a path optimization algorithm, and reconnaissance the target reconnaissance area according to the updated and iterated optimal reconnaissance route;

[0062] When the second UAV travels to the area with the second strongest interference, the second UAV conducts reconnaissance on the target reconnaissance area according to the optimal reconnaissance route until the second UAV reaches the end of the route. The second UAV encrypts the first reconnaissance information and the second reconnaissance information and transmits them to the ground reconnaissance center.

[0063] Optionally, the second UAV encrypting the first reconnaissance information and the second reconnaissance information and transmitting them to the ground reconnaissance center comprises the following steps:

[0064] When the second UAV travels to the weak interference area, the second UAV encrypts the first reconnaissance information and the second reconnaissance information and transmits them to the ground reconnaissance center.

[0065] In the second aspect, the present application provides a drone reconnaissance system that is resistant to interference from complex electromagnetic environments, including:

[0066] a memory configured to store instructions; and

[0067] The processor is configured to call the instruction from the memory and to implement a UAV reconnaissance method resistant to interference from a complex electromagnetic environment according to any one of the first aspects when executing the instruction.

[0068] Through the above technical solution, since the drone may pass through an area with electromagnetic interference signals during the execution of the reconnaissance mission, the electromagnetic interference signals will disrupt the navigation system of the drone, causing the drone to be temporarily or continuously lost, thereby failing to correctly execute the mission. It will also cause serious distortion of the information detected by the drone, and fail to efficiently and accurately complete the reconnaissance mission. Therefore, the two drones are sent to the target reconnaissance area in a certain order to perform the reconnaissance mission. The first drone first departs from the ground reconnaissance center and follows the preset reconnaissance route to the reconnaissance area to perform the reconnaissance mission, and acquires and analyzes the electromagnetic interference signals in the surrounding environment in real time to obtain electromagnetic interference information. When the first driving time of the first drone is the same as the preset time period, the second drone sets out to perform the reconnaissance mission. The first drone uses laser communication technology to transmit the electromagnetic interference information and the first reconnaissance information to the second drone in real time, which can help the second drone avoid passing through the strong interference area as much as possible and reduce the impact of the electromagnetic interference signal. The first reconnaissance information can supplement the second reconnaissance information, making the second drone complete the reconnaissance mission more efficient and the reconnaissance information obtained more accurate. When the second drone reaches the weak interference area or the end point of the route, the first reconnaissance information and the second reconnaissance information are encrypted and transmitted to the ground reconnaissance center to ensure the timeliness of the reconnaissance information. In summary, the present invention can effectively resist electromagnetic environment interference and efficiently complete the reconnaissance mission.

[0069] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0070] Figure 1 A flowchart of a drone detection method that is resistant to interference from complex electromagnetic environments provided in an embodiment of the present application;

[0071] Figure 2 A schematic diagram of a process for calculating a first relative position and a second relative position provided in an embodiment of the present application;

[0072] Figure 3 A schematic diagram of a process for dividing a target detection area and constructing path optimization algorithm constraints provided in an embodiment of the present application;

[0073] Figure 4 A schematic diagram of the structure of a drone performing a reconnaissance mission provided in an embodiment of the present application. DETAILED DESCRIPTION

[0074] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the specific implementation methods described herein are only used to illustrate and explain the embodiments of the present application, and are not used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0075] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back...), such directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0076] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0077] Figure 1 The following is a schematic diagram showing a flow chart of a drone detection method that resists interference from complex electromagnetic environments according to an embodiment of the present application. Figure 1 As shown, the embodiment of the present application provides a drone detection method that is resistant to interference from complex electromagnetic environments. The method may include the following steps:

[0078] S101. A first UAV starts from a ground reconnaissance center and performs a reconnaissance mission in a target reconnaissance area based on a preset UAV reconnaissance strategy and reconnaissance route to obtain first reconnaissance information.

[0079] In this embodiment, the first drone is the first drone to set out to perform a reconnaissance mission. The first drone sets out from the ground reconnaissance center to the target reconnaissance area according to the pre-designed drone reconnaissance strategy and reconnaissance route. In the target reconnaissance area, the image acquisition device and multi-type radar loaded inside the first drone perform reconnaissance missions to obtain first reconnaissance information in the secondary interference strong area and the weak interference area. Among them, the image acquisition device includes high-definition cameras, infrared cameras and other equipment, and the multi-type radar includes aperture radars, phased array radars and other radars. The first reconnaissance information includes geographic location information, image information, radar data information, etc. of the target reconnaissance area. In addition, the first drone will only perform reconnaissance missions and obtain first reconnaissance information in the secondary interference strong area and the weak interference area. This is because the first reconnaissance information obtained in the strong interference area will be distorted and cannot be used. In addition, the first reconnaissance information is incomplete and is mainly used to supplement the second reconnaissance information.

[0080] S102: The first UAV obtains electromagnetic interference signals in the surrounding environment, extracts features of the electromagnetic interference signals, and obtains electromagnetic interference information.

[0081] In this embodiment, the first UAV detects electromagnetic interference signals in the surrounding environment through a radio spectrum detection device installed inside the UAV, and then uses a magnetometer mounted on the UAV to measure the interference intensity and interference direction of the electromagnetic interference signal. Before the first UAV takes off to perform the reconnaissance mission, multiple electromagnetic interference simulation experiments are conducted in the laboratory to simulate a complex electromagnetic environment, and linear fitting is performed between all simulated interference intensities, interference directions and interference source positions. An interference source prediction model is established based on the obtained linear fitting results, and the interference intensity at the current position is input into the interference source prediction model to obtain the relative position information between the interference source and the UAV, that is, the interference source position, and the interference intensity and the interference source position are integrated to obtain electromagnetic interference information.

[0082] S103: When the first driving time of the continuous flight of the first UAV is the same as the preset time period, the second UAV starts from the ground reconnaissance center according to the reconnaissance route and performs a reconnaissance mission in the target reconnaissance area.

[0083] In this embodiment, the first driving time is the driving time of the first UAV on the reconnaissance route. When the first driving time of the first UAV reaches the preset time period, the second UAV immediately departs from the ground reconnaissance center and goes to the target reconnaissance area to perform the reconnaissance mission. The second UAV is exactly the same as the first UAV in terms of performance parameters and appearance structure. The only difference is that the departure time of the two UAVs is different, and the second UAV cannot send information to the first UAV.

[0084] S104: When the second UAV sets out according to the reconnaissance route, the first UAV uses laser communication technology to transmit the electromagnetic interference information and the first reconnaissance information to the second UAV in real time.

[0085] In this embodiment, when the second drone sets out according to the reconnaissance route, the first drone uses laser communication technology to transmit the electromagnetic interference information and the first reconnaissance information to the second drone in real time. Among them, the laser communication technology is similar to the principle of radio communication, that is, the sound signal is first modulated onto the laser beam, and then the laser with the sound signal is sent out, and finally the audio and video signal is detected by the receiving device. Laser communication technology has the characteristics of good monochromaticity, strong directionality, concentrated optical power, difficult to eavesdrop, low cost, and fast installation. In addition, in a complex electromagnetic environment, laser communication technology is not easily interfered by electromagnetic signals. After the second drone sets out according to the reconnaissance route, the first drone will calibrate the angle of the laser transmitter it carries, and the second drone will also calibrate the angle of the laser receiver it carries to ensure that the information sent by the first drone can be received by the second drone. When the first drone completes the angle calibration of the laser transmitter it carries, it will immediately send all the electromagnetic interference information and the first reconnaissance information collected before to the second drone. After the sending is completed, the first drone will send the electromagnetic interference information and the first reconnaissance information obtained in real time to the second drone in real time and continuously. When the second drone arrives at the area with strong electromagnetic interference to update the reconnaissance route, the first drone will calibrate the angle of its laser transmitter again, and the second drone will also calibrate the angle of its laser receiver again. This is because the second drone will deflect when driving along the updated optimal reconnaissance route, causing the angle of its laser receiver to deflect, so it needs to be calibrated again. In addition, when obstacles such as mountains and trees appear between the first and second drones due to the update of the reconnaissance route, it will not affect the first drone's use of laser communication technology to send information to the second drone. This is because the first and second drones maintain the same driving speed during the driving process. Therefore, after completing the calibration of the laser transmitter and laser receiver, the laser transmitter and laser receiver of the two drones are always in a calibrated state without changing the reconnaissance route of the second drone.

[0086] S105. The second UAV uses the electromagnetic interference information to locally update the reconnaissance route in real time to obtain the optimal reconnaissance route.

[0087] In this embodiment, the second UAV divides the target reconnaissance area into interference intensity areas according to the interference intensity and the location of the interference source in the electromagnetic interference information, and obtains a strong interference area, a second strong interference area, and a weak interference area. When the second UAV arrives at the strong interference area, the reconnaissance route will be immediately updated locally in real time to obtain the optimal reconnaissance route. The second UAV optimizes the reconnaissance route using a path optimization algorithm (which may be a gray wolf optimization algorithm) to prevent the second UAV from entering the strong interference area. This is because when the second UAV is located in a strong interference area, due to electromagnetic interference, the second UAV will obtain the second reconnaissance information at this time. Severe distortion and unusable, so the second UAV needs to avoid the strong interference area as much as possible when performing a reconnaissance mission in the target reconnaissance area.

[0088] S106. The second UAV continues to perform the reconnaissance mission according to the optimal reconnaissance route to obtain second reconnaissance information.

[0089] In this embodiment, after the second drone completes the update of the reconnaissance route, it continues to perform the reconnaissance mission according to the optimal reconnaissance route to obtain the second reconnaissance information. The second reconnaissance information is obtained by the image acquisition device and multi-type radars set inside the second drone, mainly including the geographical location information of the target reconnaissance area, the abnormal area information in the target reconnaissance area, etc.

[0090] S107. The second UAV encrypts the first reconnaissance information and the second reconnaissance information and transmits them to the ground reconnaissance center.

[0091] In this embodiment, when the second drone enters the weak interference area, the second drone will encrypt all the first reconnaissance information and the second reconnaissance information stored before and transmit them to the ground reconnaissance center. This is because the electromagnetic interference of the weak interference area to the second drone is weak, and the impact on the information is extremely weak and within an acceptable range. At the same time, the first reconnaissance information and the second reconnaissance information have a certain timeliness and need to be sent to the ground reconnaissance center as soon as possible. When the second drone travels to the second strong interference area, the second drone continues to conduct reconnaissance according to the current reconnaissance route, and there is no need to replan the route. This is because in the second strong interference area, the electromagnetic interference affects the information detected by the second drone within a controllable range. The second drone will store the second reconnaissance information detected and the first reconnaissance information received from the first drone at this time in the second strong interference area until the second drone reaches the weak interference area again or the second drone reaches the end of the route. The second drone will encrypt all the first reconnaissance information and the second reconnaissance information stored before, and then transmit the encrypted first reconnaissance information and the second reconnaissance information to the ground reconnaissance center. After receiving the reconnaissance information, the ground reconnaissance center will immediately start processing the information.

[0092] In one embodiment, the first UAV acquires electromagnetic interference signals in the surrounding environment, extracts features of the electromagnetic interference signals, and obtains electromagnetic interference information, including the following steps:

[0093] The first drone acquires electromagnetic interference signals in the surrounding environment;

[0094] The first UAV extracts the intensity feature of the electromagnetic interference signal to obtain the interference intensity at the current position;

[0095] The electromagnetic interference signal and the interference intensity are input into a pre-trained interference source prediction model to obtain the interference source position between the interference source generating the electromagnetic interference signal and the first UAV;

[0096] The interference intensity and the location of the interference source are integrated to obtain the electromagnetic interference information.

[0097] In this embodiment, the first drone detects the electromagnetic interference signal in the surrounding environment through a radio spectrum detection device arranged inside the drone, and then uses the magnetometer loaded on the drone to measure the interference intensity of the electromagnetic interference signal. Among them, the radio spectrum detection device includes a spectrum analyzer, a signal listening device, etc. The frequency range and the characteristics of the electromagnetic interference signal are selected by selecting a suitable radio spectrum detection device, and the electromagnetic interference signal in the surrounding environment can be obtained in real time. Then the interference intensity of the obtained electromagnetic interference signal is measured by a magnetometer, and the detection principle of the magnetometer is based on the influence of the magnetic field on the movement of charges in the material. When the magnetic field acts on the charged particles, a Lorentz force is generated to deflect the particles. By measuring this deflection effect, the strength and direction of the magnetic field can be indirectly obtained. After obtaining the interference intensity and the direction of the interference signal, the interference intensity and the interference direction are input into the interference source prediction model that has been pre-trained to obtain the relative position information between the interference source and the drone, that is, the interference source position. Among them, the interference source prediction model is constructed by conducting multiple electromagnetic simulation experiments in the laboratory based on the linear fitting results between the simulated total interference intensity, interference direction and interference source location. It can accurately predict the location of the interference source, making it easier for the second UAV to re-plan its reconnaissance route and avoid the second UAV entering a strong interference area when performing a reconnaissance mission, which would affect the reconnaissance results of the second UAV.

[0098] In one embodiment, when the second UAV sets out according to the reconnaissance route, the first UAV uses laser communication technology to transmit the electromagnetic interference information and the first reconnaissance information to the second UAV in real time, including the following steps:

[0099] When the second drone sets out according to the reconnaissance route, the first drone locally calculates a first relative position of the second drone with the first drone as a reference object based on a preset driving speed and time period, and the second drone locally calculates a second relative position of the first drone with the second drone as a reference object based on a preset driving speed and time period;

[0100] The first UAV performs angle calibration on the laser transmitter carried by the first UAV according to the first relative position;

[0101] When the laser transmitter completes the angle calibration, the first UAV encodes and encrypts the electromagnetic interference information and the first reconnaissance information, and transmits the encoded and encrypted electromagnetic interference information and the first reconnaissance information to the second UAV through the laser communication system;

[0102] The second UAV performs angle calibration on the laser receiver carried by itself according to the second relative position.

[0103] In this embodiment, when the second UAV sets out along the reconnaissance route, the first UAV first obtains the driving time of itself on the reconnaissance route after it sets out from the ground reconnaissance center, i.e., the first driving time, and then obtains the departure time interval between the first UAV and the second UAV, i.e., the time period. Finally, the first UAV uses the local computing unit mounted on itself to perform local calculations to calculate the second driving time of the second UAV on the reconnaissance route. Since the first UAV and the second UAV both maintain a constant speed according to a preset driving speed during the driving process, the first UAV can calculate the second driving distance of the second UAV on the reconnaissance route based on the second driving time and the driving speed. Similarly, the first UAV can also calculate its first driving distance on the reconnaissance route, wherein the first driving distance and the second driving distance refer to the length of the reconnaissance route between the current position of the UAV and the starting point of the UAV at the ground reconnaissance center. The first UAV can calculate the positions of the first UAV and the second UAV on the reconnaissance route based on the first driving distance and the second driving distance, and then use the first UAV as a reference, that is, establish a three-dimensional coordinate system with the center point of the first UAV as the origin, the direction facing the head of the first UAV as the positive x-axis direction of the three-dimensional coordinate system, the left direction facing the head of the first UAV as the positive y-axis of the three-dimensional coordinate system, and the positive z-axis of the three-dimensional coordinate system directly above the center point of the first UAV. The first UAV calculates the three-dimensional coordinates of the second UAV in the three-dimensional coordinate system based on its own and the second UAV's positions on the reconnaissance route, and calculates the coordinate azimuth between the second UAV and the x-axis, y-axis and z-axis respectively by combining the three-dimensional coordinates and trigonometric functions, and then calculates the distance between the second UAV and the first UAV based on the three-dimensional coordinates and the Euclidean distance formula. Finally, the first relative distance of the second UAV with the first UAV as a reference can be obtained based on the coordinate azimuth and the distance between the second UAV and the first UAV.

[0104] After the first drone uses the local computing unit to calculate the first relative position of the second drone, the first drone immediately calibrates the angle of the laser transmitter it carries according to the first relative position. When the laser transmitter completes the angle calibration, the first drone immediately encodes and encrypts all the acquired electromagnetic interference information and the first reconnaissance information. This encryption step is to ensure the security of information transmission, mainly to protect the electromagnetic interference information and the first reconnaissance information from interference and eavesdropping by unauthorized devices, especially the first reconnaissance information needs to be strictly confidential. In addition, the correct key is only owned by the second drone. After completing the encryption of the electromagnetic interference information and the first reconnaissance information, the first drone immediately sends the encrypted electromagnetic interference information and the first reconnaissance information to the second drone through the laser communication system.

[0105] At the same time when the first UAV calculates the first relative position of the second UAV, the second UAV calculates the second relative position of the first UAV with the second UAV as a reference by the same method. Since the various equipment and equipment performance parameters inside the second UAV are the same as those of the first UAV, at the same time when the first UAV calculates the first relative position of the second UAV and performs angle calibration on its own laser transmitter, the second UAV also calculates the second relative position of the first UAV and performs angle calibration on its own laser receiver. Therefore, the electromagnetic interference information and the first reconnaissance information sent by the first UAV can be successfully received by the second UAV.

[0106] Among them, the first UAV and the second UAV are both equipped with local computing units. The local computing units inside the UAV include sensors such as gyroscopes, accelerometers, compasses, and barometers. They collect various data during the flight, such as angles, speeds, altitudes, etc., and can perform local computing and processing on the data obtained by the UAV. Even if the UAV is in an electromagnetic interference environment and cannot perform satellite communications, the local computing units set inside the UAV can still quickly process and calculate various data. Laser communication technology is similar to the principle of radio communication, that is, the sound signal is first modulated onto the laser beam, and then the laser with the sound signal is sent out, and finally the audio and video signal is detected by the receiving device. Laser communication technology has the characteristics of good monochromaticity, strong directionality, concentrated optical power, difficult to eavesdrop, low cost, and fast installation. In addition, in a complex electromagnetic environment, laser communication technology is not easily interfered by electromagnetic signals. In addition, since the laser divergence angle of the laser emitted by the laser communication system is small, if the laser receiver and the laser transmitter are not angle calibrated or the angle calibration error is large, information transmission may fail. Therefore, it is necessary to accurately calculate the second relative position and the first relative position of the first UAV and the second UAV, and perform angle calibration according to the second relative position and the first relative position respectively to ensure that the electromagnetic interference information and the first reconnaissance information transmitted by the first UAV can be received by the second UAV.

[0107] In one embodiment, when the second drone sets out according to the reconnaissance route, the first drone locally calculates the first relative position of the second drone with the first drone as a reference object based on the preset driving speed and time period, and the second drone locally calculates the second relative position of the first drone with the second drone as a reference object based on the driving speed and time period, including the following steps:

[0108] S201, when the second UAV sets out according to the reconnaissance route, the first UAV locally calculates a second travel time after the second UAV sets out from the ground reconnaissance center based on the first travel time and time period;

[0109] S202, the first drone locally calculates a first driving distance of the first drone on the reconnaissance route according to the first driving time and the preset driving speed, and locally calculates a second driving distance of the second drone on the reconnaissance route according to the second driving time and the driving speed;

[0110] S203, the first drone locally calculates a first relative position of the second drone on the reconnaissance route with the first drone as a reference object based on the first driving distance and the second driving distance;

[0111] S204, the second UAV locally calculates the driving time of the first UAV after it departs from the ground reconnaissance center according to the second driving time and time period, and obtains the first driving time, and the second driving time is the driving time of the second UAV;

[0112] S205, the second UAV locally calculates the travel distance of the second UAV on the reconnaissance route according to the second travel time and travel speed to obtain a second travel distance;

[0113] S206. The second drone locally calculates the travel distance of the first drone on the reconnaissance route according to the first travel time and travel speed to obtain a first travel distance;

[0114] S207: The second drone locally calculates a second relative position of the first drone on the reconnaissance route with the second drone as a reference object based on the second driving distance and the first driving distance.

[0115] In this embodiment, refer to Figure 2 When the second drone sets out according to the reconnaissance route, the first drone directly obtains the time of its current position obtained from the ground reconnaissance center, that is, the first driving time of the first drone on the reconnaissance route, and then obtains the departure time interval between the first drone and the second drone, that is, the time period, which is pre-set and stored in the first drone. Finally, the first drone uses its own local computing unit to subtract the time period from the first driving time to obtain the second driving time of the second drone on the reconnaissance route. Since the first drone and the second drone are both driving and reconnaissance on the reconnaissance route at a preset driving speed during the driving process, the speed of the drone remains unchanged regardless of whether the drone changes the driving route. Therefore, the first drone can calculate the second driving distance of the second drone on the reconnaissance route based on the second driving time and driving speed. Similarly, the first drone can also calculate its first driving distance on the reconnaissance route, where the first driving distance and the second driving distance refer to the length of the reconnaissance route between the current position of the drone and the starting point of the drone at the ground reconnaissance center. The first UAV can calculate the positions of the first UAV and the second UAV on the reconnaissance route based on the first driving distance and the second driving distance, and then use the first UAV as a reference to establish a three-dimensional coordinate system with the center point of the first UAV as the origin, the direction directly facing the head of the first UAV as the positive x-axis direction of the three-dimensional coordinate system, the left direction facing the tail of the first UAV as the positive y-axis of the three-dimensional coordinate system, and the positive z-axis of the three-dimensional coordinate system directly above the center point of the first UAV. The first UAV calculates the three-dimensional coordinates of the second UAV in the three-dimensional coordinate system based on its own and the positions of the second UAV on the reconnaissance route, and calculates the coordinate azimuth between the second UAV and the x-axis, y-axis and z-axis respectively by combining the three-dimensional coordinates and trigonometric functions, and then calculates the distance between the second UAV and the first UAV based on the three-dimensional coordinates and the Euclidean distance formula. Finally, the first relative position of the second UAV with the first UAV as the reference object can be obtained based on the coordinate azimuth and the distance between the second UAV and the first UAV.

[0116] At the same time when the first drone calculates the first relative position, the second drone is also calculating the second relative position of the first drone on the reconnaissance route with the second drone as a reference. The second drone first directly obtains its own driving time on the reconnaissance route, that is, the second driving time, and then uses the local calculation unit to add the second driving time to the preset time period, which is the interval time between the first drone and the second drone. The second driving time and the time period are added to obtain the first driving time of the first drone on the reconnaissance route. Since the performance parameters, flight speed, and driving route of the second drone are the same as those of the first drone, the first driving time calculated here is exactly the same as the first driving time directly obtained by the first drone. Similarly, the second driving time directly obtained by the second drone is also exactly the same as the second driving time calculated by the first drone. Therefore, the second drone can accurately calculate the driving distance of the first drone on the reconnaissance route based on the first driving time and driving speed, that is, the first driving distance. Similarly, the second drone can also calculate its own driving distance on the reconnaissance route based on the second driving time, that is, the second driving distance. Similarly, a three-dimensional coordinate system with the center point of the second UAV as the origin is established. The second UAV calculates the three-dimensional coordinates of the first UAV in the three-dimensional coordinate system based on the distance between itself and the first UAV on the reconnaissance route. The coordinate azimuth between the first UAV and the x-axis, y-axis and z-axis are calculated respectively by combining the three-dimensional coordinates and trigonometric functions. The distance between the second UAV and the first UAV is calculated based on the three-dimensional coordinates and the Euclidean distance formula. Finally, the second relative position of the first UAV with the second UAV as a reference can be obtained based on the coordinate azimuth and the distance between the second UAV and the first UAV.

[0117] In one embodiment, the method further comprises:

[0118] When the second UAV sets out according to the optimal reconnaissance route, the first UAV uses the electromagnetic interference information to locally update the reconnaissance route in real time to obtain the optimal reconnaissance route currently being taken by the second UAV;

[0119] The first UAV locally calculates the update time for the second UAV to locally update the reconnaissance route based on the electromagnetic interference information and the driving speed;

[0120] The first UAV locally calculates the driving time of the second UAV on the optimal reconnaissance route according to the third driving time and the update time to obtain a fourth driving time, where the third driving time is the driving time of the first UAV on the reconnaissance route;

[0121] The first drone locally calculates a third driving distance of the first drone on the reconnaissance route based on the third driving time and the driving speed, and locally calculates a fourth driving distance of the second drone on the optimal reconnaissance route based on the fourth driving time and the driving speed;

[0122] The first drone locally calculates a third relative position of the second drone on the optimal reconnaissance route with the first drone as a reference object based on the third driving distance and the fourth driving distance;

[0123] The second UAV locally calculates the driving time of the first UAV on the driving route by combining the update time and the fourth driving time to obtain the third driving time, and the fourth driving time is the driving time of the second UAV on the optimal driving route;

[0124] The second UAV locally calculates a third driving distance of the first UAV on the reconnaissance route based on the third driving time and the driving speed, and locally calculates a fourth driving distance of the second UAV on the optimal reconnaissance route based on the fourth driving time and the driving speed;

[0125] The second drone locally calculates a fourth relative position of the first drone on the reconnaissance route with the second drone as a reference object based on the third driving distance and the fourth driving distance;

[0126] The first UAV performs angle calibration on the laser transmitter carried by the first UAV according to the third relative position;

[0127] When the laser transmitter completes the angle calibration, the first UAV encodes and encrypts the electromagnetic interference information and the first reconnaissance information collected after the update time, and transmits the encoded and encrypted electromagnetic interference information and the first reconnaissance information to the second UAV through the laser communication system;

[0128] The second UAV performs angle calibration on the laser receiver carried by itself according to the fourth relative position.

[0129] In this embodiment, when the second UAV arrives at the area with strong electromagnetic interference, it will immediately update the reconnaissance route and plan the optimal reconnaissance route using the electromagnetic interference information received from the first UAV. After planning the optimal reconnaissance route, the second UAV will immediately change lanes and drive along the optimal reconnaissance route. During the lane changing process, the laser receiver of the UAV that is in a calibrated state will deflect at an angle as the second UAV changes lanes. Therefore, the first UAV needs to calibrate the angle of its laser transmitter again, and the second UAV also needs to calibrate the angle of its laser receiver again.

[0130] During the driving process, the first drone will calculate the interference intensity of the electromagnetic interference signal in the surrounding environment in real time, and can mark the location where the interference source exists or the interference intensity is greater than the preset first interference intensity threshold value in the reconnaissance route, as well as the driving time when the first drone marks the location. Since the current reconnaissance routes and driving times of the first drone and the second drone are the same, the driving time when the second drone reaches the mark is the same as the driving time when the first drone reaches the mark, and the update time of the second drone for local update of the reconnaissance route can be directly obtained, that is, the update time is the same as the driving time. When the second drone sets off according to the optimal reconnaissance route, the first drone will fit the optimal reconnaissance route according to the electromagnetic interference information. Since the performance parameters of the first drone and the second drone are exactly the same, and both use the same path optimization algorithm, the electromagnetic interference information used to plan the path is also the same, so the optimal reconnaissance route fitted by the first drone is exactly the same as the optimal driving route planned by the second drone.

[0131] The first drone uses a local computing unit to subtract the update time and time period from the third driving time of the first drone on the reconnaissance route to obtain the driving time of the second drone on the optimal update route, i.e., the fourth driving time. The first drone locally calculates its third driving distance on the reconnaissance route based on the third driving time and driving speed, and then calculates the fourth driving distance of the second drone on the optimal reconnaissance route based on the fourth driving time and driving speed. The fourth driving distance is the length between the marked position and the second drone's current time point on the optimal reconnaissance route. The first drone locally infers the third relative position of the second drone on the optimal reconnaissance route with the first drone as a reference based on the third driving distance and the fourth driving distance. Taking the first UAV as a reference, a three-dimensional coordinate system with the center point of the first UAV as the origin is established, the direction facing the head of the first UAV is the positive x-axis direction of the three-dimensional coordinate system, the left direction facing the tail of the first UAV is the positive y-axis of the three-dimensional coordinate system, and the positive z-axis of the three-dimensional coordinate system is directly above the center point of the first UAV. The first UAV calculates the three-dimensional coordinates of the second UAV in the three-dimensional coordinate system based on its own position and the position of the second UAV on the reconnaissance route, and calculates the coordinate azimuth between the second UAV and the x-axis, y-axis and z-axis respectively by combining the three-dimensional coordinates and trigonometric functions, and then calculates the distance between the second UAV and the first UAV based on the three-dimensional coordinates and the Euclidean distance formula. Finally, the third relative position of the second UAV with the first UAV as a reference can be obtained according to the coordinate azimuth and the distance between the second UAV and the first UAV.

[0132] While the first drone is calculating the third relative position of the second drone, the second drone is also calculating the fourth relative position of the first drone with the second drone as a reference. The second drone directly obtains the update time when the reconnaissance route is updated and the driving time of the second drone entering the optimal driving route, that is, the fourth driving time. The second drone uses the local computing unit to add the update time, the fourth driving time and the time period to obtain the driving time of the first drone on the reconnaissance route, that is, the third driving time. The second drone directly calculates the third driving distance of the first drone on the reconnaissance route based on the third driving time and the driving speed, and calculates its own fourth driving distance on the optimal driving route based on the fourth driving time and the driving speed. The second drone establishes a three-dimensional coordinate system with its own center point as the origin. The second drone calculates the three-dimensional coordinates of the first drone in the three-dimensional coordinate system based on the driving distance between itself and the first drone on the reconnaissance route, and calculates the coordinate azimuth between the first drone and the x-axis, y-axis and z-axis respectively by combining the three-dimensional coordinates and trigonometric functions, and then calculates the distance between the second drone and the first drone based on the three-dimensional coordinates and the Euclidean distance formula. Finally, the fourth relative position of the first drone with the second drone as a reference can be obtained based on the coordinate azimuth and the distance between the second drone and the first drone.

[0133] When the first drone calculates the third relative position of the second drone, the first drone will immediately calibrate the angle of the laser transmitter it carries according to the third relative position. When the laser transmitter completes the angle calibration, the first drone will immediately encode and encrypt the electromagnetic interference information and the first reconnaissance information it obtains to ensure that the electromagnetic interference information and the first reconnaissance information are not interfered with or eavesdropped by unauthorized devices during transmission. While the first drone is calibrating the angle of the laser transmitter it carries, the second drone is also calibrating the angle of the laser receiver it carries according to the fourth relative position of the first drone to ensure that it can receive the electromagnetic interference information and the first reconnaissance information transmitted by the first drone.

[0134] In one embodiment, the second UAV uses electromagnetic interference information to locally update the reconnaissance route in real time, and obtaining the optimal reconnaissance route includes the following steps:

[0135] The second UAV decrypts the encrypted electromagnetic interference information and the first reconnaissance information and extracts the information to obtain the interference intensity and the location of the interference source;

[0136] The second UAV obtains the route end point in the reconnaissance route;

[0137] When the interference intensity is greater than a preset first interference intensity threshold, the second UAV obtains the position information of the second UAV on the reconnaissance route;

[0138] The second UAV uses the route endpoint and location information as the endpoint and starting point to randomly generate multiple primary reconnaissance routes within the target reconnaissance area;

[0139] The second UAV encodes all primary reconnaissance routes as the initial population of the path optimization algorithm and sets the maximum number of iterations of the path optimization algorithm;

[0140] The second UAV builds the constraints of the path optimization algorithm based on the interference intensity and the location of the interference source;

[0141] The second UAV updates and iterates the primary reconnaissance route according to the constraints until the maximum number of iterations is reached and outputs the optimal population;

[0142] The second UAV calculates the fitness of each individual in the optimal population according to the preset fitness function, and decodes the individual with the highest fitness as the optimal reconnaissance route.

[0143] In this embodiment, the second drone first uses the pre-acquired key to decrypt the received electromagnetic interference information and the first reconnaissance information, and then extracts the electromagnetic interference information used to update the route, and the electromagnetic interference information includes the interference intensity and the location of the interference source. The second drone directly obtains the route end point of the reconnaissance route from the reconnaissance route stored in itself. During the driving process, the second drone will not only receive the electromagnetic interference information transmitted by the first drone in real time, but the second drone itself will also obtain and analyze the electromagnetic interference information in real time. When the second drone detects that the interference intensity at the current position is greater than the preset interference intensity threshold, the second drone will immediately obtain the current driving time, and then calculate the current driving distance of the second drone based on the driving time and driving speed, so as to determine its own position information on the driving route.

[0144] The second UAV takes the end point of the route as the end point and the location information as the starting point, and uses the probabilistic road map algorithm, breadth-first search algorithm and random sampling algorithm to randomly generate multiple primary reconnaissance routes connecting the starting point and the end point in the target reconnaissance area. All primary reconnaissance routes are encoded, for example: {primary reconnaissance route 1, primary reconnaissance route 2, primary reconnaissance route 3...}, and then the maximum number of iterations of the path optimization algorithm is set.

[0145] The second UAV divides the target reconnaissance area into regions according to the interference intensity and the location of the interference source, and obtains the strong interference area, the second strong interference area and the weak interference area. When planning the path, the second UAV tries to remove the routes passing through the strong interference area, retains the routes passing through the most weak interference areas, and constructs the constraint conditions according to the distribution of the strong interference area, the second strong interference area and the weak interference area. According to the constraint conditions, all primary reconnaissance routes are updated and iterated until the preset maximum number of iterations is reached, and the optimal population is output. Then, the fitness of each primary reconnaissance route in the optimal population is calculated according to the preset fitness function, and the primary reconnaissance route with the highest fitness is used as the optimal reconnaissance route.

[0146] In one embodiment, the second UAV constructs the constraint conditions of the path optimization algorithm by combining the interference intensity and the interference source location, including the following steps:

[0147] S301, the second UAV divides the target reconnaissance area into a plurality of reconnaissance sub-areas of the same area;

[0148] S302, the second UAV screens out all reconnaissance sub-areas containing the interference source based on the location of the interference source, and divides the screened area into a strong interference area;

[0149] S303, the second UAV classifies the reconnaissance sub-area with interference intensity greater than or equal to the first interference intensity threshold as a high interference area;

[0150] S304, the second UAV divides the detection sub-area with interference intensity less than or equal to a preset second interference intensity threshold as a weak interference area, and the second interference intensity threshold is less than the first interference intensity threshold;

[0151] S305, the second UAV divides the detection sub-area whose interference intensity is greater than the second interference intensity threshold and less than the first interference intensity threshold as a secondary interference intensity area;

[0152] S306. The second UAV constructs constraint conditions for the path optimization algorithm based on the strong interference area, the second strong interference area, and the weak interference area.

[0153] In this embodiment, refer to Figure 3, the second UAV first divides the target reconnaissance area into multiple reconnaissance sub-areas of the same area, and then directly divides the reconnaissance sub-area containing the interference source into a strong interference area. Generally, the closer to the interference source, the greater the interference intensity, so the area containing the interference source is directly divided into a strong interference area. The second reconnaissance information obtained by the second UAV when entering the strong interference area is seriously distorted. Continuing the reconnaissance will not only waste time, but also affect subsequent reconnaissance tasks. Therefore, the route needs to be modified immediately when entering the strong interference area. Then, the detection sub-area with interference intensity greater than or equal to the first interference intensity threshold is also divided into a strong interference area. The second UAV divides the detection sub-area with interference intensity between the first interference intensity threshold and the preset second interference intensity threshold into a second strong interference area, wherein the second interference intensity threshold is less than the first interference intensity threshold. Although the second strong interference area will also have a certain impact on the second detection information obtained by the second UAV, the impact caused is within a controllable range. Therefore, there is no need to re-plan the detection route in the second strong interference area, and the detection sub-area with interference intensity less than or equal to the second interference intensity threshold is divided into a weak interference area. When the interference intensity is lower than the second interference intensity threshold, the electromagnetic interference intensity at this time is extremely low, and it will hardly affect the detection mission of the second UAV. Therefore, when optimizing the route later, the second UAV is allowed to perform the detection mission in the weak interference area as much as possible. In addition, for the area where the first UAV has not yet performed electromagnetic interference signal detection, it is first divided into a weak interference area. After obtaining the strong interference area, the second strong interference area and the weak interference area, the constraints of the path optimization algorithm are constructed according to the distribution of the strong interference area, the second strong interference area and the weak interference area.

[0154] In one embodiment, the second UAV encrypts the first reconnaissance information and the second reconnaissance information and transmits them to the ground reconnaissance center, including the following steps:

[0155] When the second UAV travels to the interference weak area, the second UAV encrypts the first reconnaissance information and the second reconnaissance information and transmits them to the ground reconnaissance center.

[0156] In this embodiment, refer to Figure 4 When the second drone enters the weak interference area, the second drone will encrypt all the first and second reconnaissance information stored before and transmit it to the ground reconnaissance center. This is because the electromagnetic interference of the weak interference area to the second drone is weak. Whether the second drone obtains the second reconnaissance information of the current weak interference area or transmits the first and second reconnaissance information, the impact is very weak. Therefore, all the first and second reconnaissance information can be transmitted to the ground reconnaissance center in the weak interference area. In addition, the first and second reconnaissance information have a certain timeliness and need to be sent to the ground reconnaissance center as soon as possible.

[0157] In one embodiment, the method further comprises:

[0158] When the second UAV drives to the strong interference area, the second UAV updates and iterates the optimal reconnaissance route based on the path optimization algorithm, and reconnaissance the target reconnaissance area according to the updated and iterated optimal reconnaissance route;

[0159] When the second UAV travels to the area with the second strongest interference, the second UAV conducts reconnaissance on the target reconnaissance area according to the optimal reconnaissance route until the second UAV reaches the end of the route. The second UAV encrypts the first reconnaissance information and the second reconnaissance information and transmits them to the ground reconnaissance center.

[0160] In this embodiment, refer to Figure 4 When the second UAV drives to the strong interference area, the second UAV uses the path optimization algorithm and the electromagnetic interference information currently transmitted by the first UAV to optimize the path. After completing the update of the current reconnaissance route, it continues to reconnaissance the current area according to the optimal reconnaissance route.

[0161] When the second drone travels to the area with the second strongest interference, it continues to conduct reconnaissance according to the current reconnaissance route without the need to replan the route. This is because in the area with the second strongest interference, the impact of electromagnetic interference on the information detected by the second drone is within a controllable range, but it will affect the transmission of the first and second reconnaissance information, which may cause the loss of the transmitted information. Therefore, the second drone will store the detected second reconnaissance information and the first reconnaissance information received from the first drone in the area with the second strongest interference until the second drone reaches the area with weak interference again or the second drone reaches the end of the route. The second drone will encrypt all the first and second reconnaissance information stored previously, and then transmit the encrypted first and second reconnaissance information to the ground reconnaissance center. After receiving the reconnaissance information, the ground reconnaissance center will immediately start processing the information and continue to formulate subsequent reconnaissance strategies.

[0162] The present application also discloses a UAV detection system that is resistant to interference from complex electromagnetic environments, which is characterized by comprising:

[0163] a memory configured to store instructions; and

[0164] The processor is configured to call instructions from the memory and implement the above-mentioned drone reconnaissance method that is resistant to interference from complex electromagnetic environments when executing the instructions.

[0165] Among them, the processor can adopt a central processing unit (CPU). Of course, according to actual usage, other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. can also be adopted. The general-purpose processor can adopt a microprocessor or any conventional processor, etc., and this application does not impose any restrictions on this.

[0166] Among them, the memory can be an internal storage unit of a computer device, such as a hard disk or memory of a computer device, or an external storage device of a computer device, such as a plug-in hard disk, a smart memory card (SMC), a secure digital card (SD) or a flash memory card (FC) equipped on the computer device, and the memory can also be a combination of an internal storage unit and an external storage device of a computer device. The memory is used to store computer programs and other programs and data required by the computer device. The memory can also be used to temporarily store data that has been output or is to be output, and this application does not impose any restrictions on this.

[0167] An embodiment of the present application also provides a machine-readable storage medium, on which instructions are stored, and the instructions are used to enable a machine to execute the above-mentioned drone reconnaissance method that is resistant to interference from complex electromagnetic environments.

[0168] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0169] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of the processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0170] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0171] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0172] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0173] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0174] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0175] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0176] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A drone detection method that resists interference from complex electromagnetic environments, characterized in that: Applied to a drone reconnaissance system, the drone reconnaissance system comprises a ground reconnaissance center and a reconnaissance drone base station, the reconnaissance drone base station is deployed in the ground reconnaissance center, the reconnaissance drone base station is configured with a first drone and a second drone, and the first drone and the second drone have the same performance parameters; The method comprises the following steps: The first UAV starts from the ground reconnaissance center and performs a reconnaissance mission in a target reconnaissance area based on a preset UAV reconnaissance strategy and reconnaissance route to obtain first reconnaissance information; The first UAV acquires an electromagnetic interference signal in the surrounding environment, performs feature extraction on the electromagnetic interference signal, and obtains electromagnetic interference information; When the first driving time of the continuous flight of the first UAV is the same as the preset time period, the second UAV starts from the ground reconnaissance center according to the reconnaissance route and performs the reconnaissance mission in the target reconnaissance area; When the second UAV sets out according to the reconnaissance route, the first UAV transmits the electromagnetic interference information and the first reconnaissance information to the second UAV in real time using laser communication technology; The second UAV uses the electromagnetic interference information to locally update the reconnaissance route in real time to obtain an optimal reconnaissance route; The second UAV continues to perform the reconnaissance mission according to the optimal reconnaissance route to obtain second reconnaissance information; The second UAV encrypts the first reconnaissance information and the second reconnaissance information and transmits them to the ground reconnaissance center.

2. The method according to claim 1, characterized in that The first UAV acquires an electromagnetic interference signal in the surrounding environment, extracts features of the electromagnetic interference signal, and obtains electromagnetic interference information, including the following steps: The first UAV acquires an electromagnetic interference signal in the surrounding environment; Extracting the intensity feature of the electromagnetic interference signal by the first drone to obtain the interference intensity at the current position; Inputting the electromagnetic interference signal and the interference intensity into a pre-trained interference source prediction model to obtain the interference source position between the interference source generating the electromagnetic interference signal and the first UAV; The interference intensity and the interference source position are integrated to obtain electromagnetic interference information.

3. The method according to claim 1, characterized in that When the second UAV sets out according to the reconnaissance route, the first UAV uses laser communication technology to transmit the electromagnetic interference information and the first reconnaissance information to the second UAV in real time, including the following steps: When the second drone sets out along the reconnaissance route, the first drone locally calculates a first relative position of the second drone with the first drone as a reference object based on a preset driving speed and the time period, and the second drone locally calculates a second relative position of the first drone with the second drone as a reference object based on the driving speed and the time period; The first UAV performs angle calibration on the laser transmitter carried by the first UAV according to the first relative position; When the laser transmitter completes the angle calibration, the first UAV encodes and encrypts the electromagnetic interference information and the first reconnaissance information, and transmits the encoded and encrypted electromagnetic interference information and the first reconnaissance information to the second UAV through the laser communication system; The second UAV performs angle calibration on the laser receiver carried by the second UAV according to the second relative position.

4. The method according to claim 3, characterized in that When the second drone sets out according to the reconnaissance route, the first drone locally calculates the first relative position of the second drone with the first drone as a reference object based on the preset driving speed and the time period, and the second drone locally calculates the second relative position of the first drone with the second drone as a reference object based on the driving speed and the time period, including the following steps: When the second UAV sets out according to the reconnaissance route, the first UAV locally calculates a second travel time of the second UAV after it sets out from the ground reconnaissance center based on the first travel time and the time period; The first UAV locally calculates a first driving distance of the first UAV on the reconnaissance route according to the first driving time and a preset driving speed, and locally calculates a second driving distance of the second UAV on the reconnaissance route according to the second driving time and the driving speed; The first drone locally calculates a first relative position of the second drone on the reconnaissance route with the first drone as a reference object based on the first driving distance and the second driving distance; The second UAV locally calculates the driving time of the first UAV after it departs from the ground reconnaissance center according to the second driving time and the time period to obtain the first driving time, and the second driving time is the driving time of the second UAV; The second UAV locally calculates the travel distance of the second UAV on the reconnaissance route according to the second travel time and the travel speed to obtain the second travel distance; The second drone locally calculates the travel distance of the first drone on the reconnaissance route according to the first travel time and the travel speed to obtain the first travel distance; The second drone locally calculates a second relative position of the first drone on the reconnaissance route with the second drone as a reference object based on the second driving distance and the first driving distance.

5. The method according to claim 1, characterized in that The method further comprises: When the second UAV sets out according to the optimal reconnaissance route, the first UAV locally updates the reconnaissance route in real time using the electromagnetic interference information to obtain the optimal reconnaissance route currently being traveled by the second UAV; The first drone locally calculates an update time for the second drone to locally update the reconnaissance route based on the electromagnetic interference information and the driving speed; The first UAV locally calculates the driving time of the second UAV on the optimal reconnaissance route according to the third driving time and the update time to obtain a fourth driving time, wherein the third driving time is the driving time of the first UAV on the reconnaissance route; The first UAV locally calculates a third driving distance of the first UAV on the reconnaissance route according to the third driving time and the driving speed, and locally calculates a fourth driving distance of the second UAV on the optimal reconnaissance route according to the fourth driving time and the driving speed; The first drone locally calculates a third relative position of the second drone on the optimal reconnaissance route with the first drone as a reference object based on the third driving distance and the fourth driving distance; The second UAV locally calculates the driving time of the first UAV on the driving route in combination with the update time and the fourth driving time to obtain the third driving time, and the fourth driving time is the driving time of the second UAV on the optimal driving route; The second UAV locally calculates the third driving distance of the first UAV on the reconnaissance route according to the third driving time and the driving speed, and locally calculates the fourth driving distance of the second UAV on the optimal reconnaissance route according to the fourth driving time and the driving speed; The second drone locally calculates a fourth relative position of the first drone on the reconnaissance route with the second drone as a reference object based on the third driving distance and the fourth driving distance; The first UAV performs angle calibration on the laser transmitter carried by the first UAV according to the third relative position; When the laser transmitter completes the angle calibration, the first UAV encodes and encrypts the electromagnetic interference information and the first reconnaissance information collected after the update time, and transmits the encoded and encrypted electromagnetic interference information and the first reconnaissance information to the second UAV through the laser communication system; The second UAV performs angle calibration on the laser receiver carried by the second UAV according to the fourth relative position.

6. The method according to claim 1, characterized in that The second UAV locally updates the reconnaissance route in real time using the electromagnetic interference information to obtain the optimal reconnaissance route, including the following steps: The second UAV decrypts the encrypted electromagnetic interference information and the first reconnaissance information and extracts the information to obtain the interference intensity and the interference source position; The second drone obtains a route end point in the reconnaissance route; When the interference intensity is greater than a preset first interference intensity threshold, the second UAV obtains the position information of the second UAV on the reconnaissance route; The second UAV randomly generates a plurality of primary reconnaissance routes within the target reconnaissance area using the route endpoint and the location information as the endpoint and the starting point; The second UAV is encoded as an initial population of a path optimization algorithm based on all primary reconnaissance routes, and a maximum number of iterations of the path optimization algorithm is set; The second UAV constructs the constraint conditions of the path optimization algorithm in combination with the interference intensity and the interference source location; The second UAV updates and iterates the primary reconnaissance route according to the constraint conditions until the maximum number of iterations is reached, and outputs the optimal population; The second UAV calculates the fitness of each individual in the optimal population according to a preset fitness function, and decodes the individual with the highest fitness as an optimal reconnaissance route.

7. The method according to claim 6, characterized in that The second UAV constructs the constraint condition of the path optimization algorithm by combining the interference intensity and the interference source position, including the following steps: The second UAV divides the target reconnaissance area into a plurality of reconnaissance sub-areas of equal area; The second UAV screens out all the reconnaissance sub-areas containing the interference source based on the location of the interference source, and divides the screened area into a strong interference area; The second UAV divides the reconnaissance sub-area where the interference intensity is greater than or equal to the first interference intensity threshold as a high interference area; The second UAV divides the detection sub-area where the interference intensity is less than or equal to a preset second interference intensity threshold as a weak interference area, and the second interference intensity threshold is less than the first interference intensity threshold; The second UAV divides the reconnaissance sub-area where the interference intensity is greater than the second interference intensity threshold and less than the first interference intensity threshold as a secondary interference intensity area; The second UAV constructs constraint conditions of the path optimization algorithm based on the strong interference area, the second strong interference area and the weak interference area.

8. The method according to claim 7, characterized in that The second UAV encrypts the first reconnaissance information and the second reconnaissance information and transmits them to the ground reconnaissance center, comprising the following steps: When the second UAV travels to the strong interference area, the second UAV updates and iterates the optimal reconnaissance route based on a path optimization algorithm, and reconnaissance the target reconnaissance area according to the updated and iterated optimal reconnaissance route; When the second UAV travels to the area with the second strongest interference, the second UAV conducts reconnaissance on the target reconnaissance area according to the optimal reconnaissance route until the second UAV reaches the end of the route. The second UAV encrypts the first reconnaissance information and the second reconnaissance information and transmits them to the ground reconnaissance center.

9. The method according to claim 8, characterized in that The second UAV encrypts the first reconnaissance information and the second reconnaissance information and transmits them to the ground reconnaissance center, comprising the following steps: When the second UAV travels to the weak interference area, the second UAV encrypts the first reconnaissance information and the second reconnaissance information and transmits them to the ground reconnaissance center.

10. An unmanned aerial vehicle detection system that is resistant to interference from complex electromagnetic environments, characterized in that: include: a memory configured to store instructions; as well as A processor is configured to call the instruction from the memory and to implement a drone reconnaissance method resistant to interference from a complex electromagnetic environment according to any one of claims 1 to 9 when executing the instruction.

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