UAV countermeasure method, system and electronic equipment

Abstract

The present invention provides a countermeasure method, system and electronic equipment for unmanned aerial vehicles (UAVs), including: obtaining a set of time delays for a countermeasure signal passing through each reflective surface to reach the UAV position based on the UAV position, the position of a countermeasure signal emission source, the initial positions of N reflective surfaces and the movement range of each reflective surface; obtaining a set of phase deviations between countermeasure signals reflected by each reflective surface based on the time delay set corresponding to each reflective surface; obtaining a set of joint phase deviations of all reflective surfaces based on the phase deviation set between countermeasure signals reflected by each reflective surface, and taking the minimum joint phase deviation in the set of joint phase deviations; obtaining the target coordinates of each reflective surface based on the minimum joint phase deviation; controlling each reflective surface to move to the corresponding target coordinates to form a superimposed countermeasure signal with the maximum power at the UAV, thereby improving the countermeasure effect of the countermeasure signal on the UAV.

Description

Technical Field

[0001] The present invention relates to the technical field of drone countermeasures, and in particular to a drone countermeasure method, system, and electronic equipment. Background Art

[0002] With the rapid development of drone technology, drones are increasingly used in military, commercial, and civilian fields. However, improper use or malicious attacks of drones also pose potential security threats.

[0003] To achieve drone control, a large number of countermeasure technologies have been proposed to provide targeted countermeasures. However, existing drone countermeasure technologies rely on a single jamming signal to target drones within a certain range, resulting in insufficient precision and effectiveness.

[0004] Therefore, how to improve the accuracy and effectiveness of countermeasures against drones has become a technical problem that urgently needs to be solved in the industry. Summary of the Invention

[0005] The present invention provides a method, system and electronic equipment for countering a drone, which solve the technical problems of low precision and poor countering effect of drones.

[0006] According to a first aspect of the present invention, an embodiment of the present invention provides a method for countering a drone, wherein a counter signal transmitting source is used to transmit a counter signal in real time to N reflecting surfaces in an environment. After receiving the counter signal, the reflecting surfaces reflect the counter signal to the drone's position in real time, wherein N is an integer greater than or equal to 2. The method includes:

[0007] Obtain the drone's position, the location of the countermeasure signal transmitter, the initial positions of N reflective surfaces, and the movement range of each reflective surface;

[0008] Based on the position of the UAV, the initial positions of the N reflecting surfaces at the counter signal transmission source position, and the movement range of each reflecting surface, a set of time delays for the counter signal passing through each reflecting surface to reach the position of the UAV is obtained;

[0009] Based on the time delay set, obtaining a time delay deviation set for the countermeasure signal of each reflecting surface to reach the position of the UAV;

[0010] Based on the delay deviation set corresponding to each reflecting surface, a phase deviation set between the countermeasure signals reflected by each reflecting surface and reaching the position of the UAV is obtained;

[0011] Summing the phase deviations of the countermeasure signals reflected by each reflecting surface and arriving at the position of the UAV to obtain a joint phase deviation set, and obtaining a minimum joint phase deviation in the joint phase deviation set;

[0012] Obtaining target coordinates of each reflecting surface based on the minimum joint phase deviation;

[0013] Each reflective surface is controlled to move to a corresponding target coordinate to form a superimposed countermeasure signal at the UAV.

[0014] Optionally, the initial position of the i-th reflective surface is (x i ,y i ), the moving range of the i-th reflecting surface along the first direction Movement range along the second direction Wherein, i is an integer, and N≥i≥1, l represents the movable distance of the reflecting surface;

[0015] Get the i-th reflection surface The formula for the time delay of the reflected countermeasure signal reaching the position of the UAV is:

[0016]

[0017] Among them, (x tran ,y tran ) is the position of the counter signal emission source, (x target ,y target ) is the position of the drone, c is the speed of light It represents the time delay for the countermeasure signal reflected by the i-th reflecting surface to reach the position of the UAV.

[0018] Optionally, the formula for the time delay deviation between the counter-signals from the i-th reflector and the j-th reflector reaching the drone position is:

[0019]

[0020] in, It represents the time delay deviation between the countermeasure signals reflected by the i-th reflecting surface and the j-th reflecting surface and reaching the position of the drone, i≠j, j is an integer, and N≥j≥1.

[0021] Optionally, the formula for obtaining the phase deviation between the countermeasure signals reflected by the i-th reflective surface and the j-th reflective surface and reaching the drone position is:

[0022]

[0023] in, represents the phase difference between the countermeasure signals reflected by the i-th reflective surface and the j-th reflective surface and reaching the drone position, f c Indicates the carrier frequency of the countermeasure signal.

[0024] Optionally, the formula for obtaining the joint phase deviation is:

[0025]

[0026] in, represents the joint phase deviation.

[0027] Optionally, taking the minimum joint phase deviation in the joint phase deviation set includes:

[0028]

[0029] Among them, Q min represents the minimum joint phase deviation in the joint phase deviation set, It indicates that the value of the joint phase deviation in the joint phase deviation set is closest to the joint phase deviation of an integer multiple of 2π, wherein when the value of the joint phase deviation is an integer multiple of 2π, the corresponding joint phase deviation is the smallest in the joint phase deviation set.

[0030] Optionally, obtaining the target position of each reflecting surface based on the minimum joint phase deviation includes:

[0031] (x i ,y i )=arg(Q min ) (6)

[0032] Among them, (x i ,y i ) represents the target position of the i-th reflecting surface, arg(Q min ) indicates returning the target position of the i-th reflecting surface that obtains the minimum joint phase deviation in the joint phase deviation set.

[0033] Optionally, the formula for forming a superimposed countermeasure signal with the maximum power at the UAV is:

[0034]

[0035] Among them, τ i represents the time delay of the i-th reflecting surface at the target position, R(t) represents the superimposed countermeasure signal with the maximum power formed at the UAV, and j represents an imaginary number.

[0036] According to a second aspect of the present invention, a countermeasure system for a drone is provided, the system comprising:

[0037] N reflecting surfaces, for reflecting the countermeasure signal to the position of the UAV in real time, where N is an integer greater than or equal to 2;

[0038] The position acquisition module obtains the drone's position, the location of the countermeasure signal transmitter, the initial positions of N reflective surfaces, and the movement range of each reflective surface;

[0039] A calculation module, based on the position of the UAV, the initial positions of the N reflecting surfaces at the position of the counter signal emission source, and the movement range of each reflecting surface, obtains a set of time delays for the counter signal passing through each reflecting surface to reach the position of the UAV;

[0040] Based on the time delay set, obtaining a time delay deviation set for the countermeasure signal of each reflecting surface to reach the position of the UAV;

[0041] Based on the delay deviation set corresponding to each reflecting surface, a phase deviation set between the countermeasure signals reflected by each reflecting surface and reaching the position of the UAV is obtained;

[0042] Summing the phase deviations of the countermeasure signals reflected by each reflecting surface and arriving at the position of the UAV to obtain a joint phase deviation set, and obtaining a minimum joint phase deviation in the joint phase deviation set;

[0043] Obtaining target coordinates of each reflecting surface based on the minimum joint phase deviation;

[0044] The reflecting surface moving module controls each reflecting surface to move to the corresponding target coordinates to form a superimposed countermeasure signal with the maximum power at the UAV.

[0045] According to a third aspect of the present invention, the present invention provides an electronic device, which includes: a memory, a processor, and a program stored in the memory and executable on the processor.

[0046] Compared with the prior art, the technical solution of the embodiment of the present invention has the following beneficial effects:

[0047] The present invention provides a method, system, and electronic device for countering drones. The method comprises: obtaining a set of time delays for a counter signal passing through each reflective surface to reach the drone's position based on the drone's position, the initial positions of N reflective surfaces at the counter signal emission source, and the movement range of each reflective surface; obtaining a set of phase deviations between the counter signals reflected by each reflective surface based on the time delay set corresponding to each reflective surface; obtaining a set of joint phase deviations for all reflective surfaces based on the set of phase deviations between the counter signals reflected by each reflective surface, and obtaining a minimum joint phase deviation in the joint phase deviation set; obtaining target coordinates for each reflective surface based on the minimum joint phase deviation; and controlling each reflective surface to move to the corresponding target coordinates to form a superimposed counter signal with the highest power at the drone. By adjusting the position of the reflective surface within the movement range, the method forms a superimposed counter signal with the highest power at the drone, thereby improving the precision and effectiveness of countermeasures against the drone. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0049] Figure 1 1 is a flow chart of a method for countering a drone according to an embodiment of the present invention;

[0050] Figure 2 Schematic diagram of the distribution of the countermeasure signal emission source, the UAV, and the reflective surface in an embodiment of the present invention;

[0051] Figure 3 Schematic diagram of the distribution coordinates of the countermeasure signal emission source, the UAV, and the reflective surface in an embodiment of the present invention;

[0052] Figure 4 is a heat map of the energy distribution of the countermeasure signals reflected by each reflecting surface in an embodiment of the present invention;

[0053] Figure 5 1 is a schematic diagram of the system structure of the method for countering a drone in an embodiment of the present invention;

[0054] Figure 6 It is a schematic structural diagram of an electronic device in an embodiment of the present invention.

[0055] Description of reference numerals:

[0056] 100-counter signal transmitter;

[0057] 201-the first reflecting surface;

[0058] 202- the second reflecting surface;

[0059] 203-the third reflecting surface;

[0060] 204- the fourth reflecting surface;

[0061] 300-UAV;

[0062] 401-Drone;

[0063] 402-location acquisition module;

[0064] 403-Calculation module;

[0065] 404-reflective surface moving module;

[0066] 501-processor;

[0067] 502-bus;

[0068] 503-Storage unit. DETAILED DESCRIPTION

[0069] The following will provide a clear and complete description of the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0070] The terms "first," "second," "third," "fourth," and the like (if any) in the description and claims of the present invention and in the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a particular order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. In addition, the terms "including" and "having," as well as any variations thereof, are intended to cover non-exclusive inclusions, e.g., a process, method, system, product, or apparatus comprising a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to these processes, methods, products, or apparatus.

[0071] The technical solution of the present invention is described in detail below with reference to specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0072] As mentioned in the background technology, a large number of drone countermeasures have been proposed to achieve drone control. The following are some common drone countermeasures:

[0073] 1.GPS interference:

[0074] By transmitting strong jamming signals to drones, the drone's GPS signal is blocked, rendering it unable to navigate and achieving its countermeasures. This approach is suitable for drones that rely on GPS navigation, but has limited effectiveness against autonomous or inertial navigation systems.

[0075] 2. Remote control signal interference:

[0076] Sending jamming signals to the drone blocks communication between the drone and the remote controller, forcing the drone to enter return mode or make an emergency landing. This method is commonly used for drones operating in radio frequency bands such as 2.4GHz and 5.8GHz.

[0077] 3. Radio Deception:

[0078] By sending fake navigation signals to drones (such as GPS spoofing), the drones can be induced to deviate from their direction or land, thus achieving countermeasures against drones. However, this method requires precise equipment and a detailed understanding of the drone's target protocol.

[0079] 4. Radio frequency band blocking:

[0080] By emitting high-intensity radio noise, it contaminates and blocks multiple frequency bands, preventing the normal transmission of drone remote control and navigation signals. This is suitable for jamming unknown or multiple types of drones, but requires transmitting high-power signals across multiple unknown frequency bands, resulting in low resource utilization and waste.

[0081] As can be seen, existing drone countermeasure technologies typically target drones using a specific communication method or frequency band, placing high demands on the equipment that transmits the countermeasure signal. Countering drones in known locations but unknown frequency bands requires transmitting high-power countermeasure signals, resulting in low resource utilization and waste.

[0082] In view of this, an embodiment of the present invention provides a method for countering drones. The method includes: obtaining a set of time delays for a counter signal to reach the drone's position after passing through each reflective surface based on the drone's position, the initial positions of N reflective surfaces at the counter signal transmission source, and the movement range of each reflective surface; obtaining a set of phase deviations between the counter signals reflected by each reflective surface based on the time delay set corresponding to each reflective surface; obtaining a set of joint phase deviations for all reflective surfaces based on the set of phase deviations between the counter signals reflected by each reflective surface, and obtaining the minimum joint phase deviation within the set of joint phase deviations; obtaining the target coordinates of each reflective surface based on the minimum joint phase deviation; and controlling each reflective surface to move to the corresponding target coordinates to form a superimposed counter signal with the highest power at the drone. This method improves the accuracy of the counter signal against the drone by adjusting the position of the reflective surface within the movement range to form the superimposed counter signal with the highest power at the drone, and further improves the counter signal's effectiveness against the drone by superimposing the counter signals.

[0083] It can be seen that the present invention has high countermeasure accuracy and good countermeasure effect against the UAV with a determined position.

[0084] In order to make the above-mentioned objects, features and beneficial effects of the present invention more obvious and easy to understand, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0085] An embodiment of the present invention provides a method for countering a drone, wherein a counter signal transmitting source is used to transmit a counter signal to N reflective surfaces in an environment in real time. After receiving the counter signal, the reflective surfaces reflect the counter signal to the drone's location in real time, where N is an integer greater than or equal to 2.

[0086] Please refer to Figure 1 , the drone's countermeasures include:

[0087] S1: Obtain the position of the drone, the position of the countermeasure signal transmitter, the initial positions of N reflective surfaces, and the movement range of each reflective surface;

[0088] S2: Based on the position of the UAV, the initial positions of the N reflecting surfaces at the counter signal transmission source, and the movement range of each reflecting surface, obtain a set of time delays for the counter signal passing through each reflecting surface to reach the position of the UAV;

[0089] S3: Based on the time delay set, obtaining a time delay deviation set for the countermeasure signal of each reflecting surface to reach the position of the UAV;

[0090] S4: Based on the delay deviation set corresponding to each reflecting surface, obtain a phase deviation set between the countermeasure signals reflected by each reflecting surface and reaching the position of the UAV;

[0091] S5: summing the phase deviations of the countermeasure signals reflected by each reflecting surface and arriving at the position of the UAV to obtain a joint phase deviation set, and obtaining a minimum joint phase deviation in the joint phase deviation set;

[0092] S6: Obtaining target coordinates of each reflecting surface based on the minimum joint phase deviation;

[0093] S7: Controlling each reflective surface to move to the corresponding target coordinates to form a superimposed counter-signal at the drone. The method of the present invention adjusts the position of the reflective surface within the movement range to form a superimposed counter-signal with the highest power at the drone, thereby improving the counter-signal's accuracy against the drone and further enhancing the counter-signal's effectiveness against the drone by superimposing the counter-signal.

[0094] In one example, the method utilizes Figure 2 The counter signal transmitter shown in the figure transmits the counter signal to N reflective surfaces in the environment in real time. After receiving the counter signal, the reflective surface reflects the counter signal to the position of the drone in real time. Figure 2 In the example, the number N of the reflecting surfaces is 4. Of course, the present invention is not limited to this, and can also be 2, 3, 5, etc., as long as the number of reflecting surfaces is an integer greater than or equal to 2.

[0095] It can be seen that the present invention uses a counter-signal transmitting source to transmit a counter-signal to N reflecting surfaces in the environment in real time. After receiving the counter-signal, the reflecting surface reflects the counter-signal to the position of the drone in real time. By adjusting the position of the reflecting surface, the superimposed counter-signal power at the drone is maximized, thereby improving the counter-measure accuracy and counter-measure effect against the drone.

[0096] The method provided by the embodiment of the present invention is now further described:

[0097] Please refer to Figure 1 as well as Figure 3 , execute step S2:

[0098] S2: Based on the position of the UAV, the initial positions of the N reflecting surfaces at the counter signal transmission source, and the movement range of each reflecting surface, obtain a set of time delays for the counter signal passing through each reflecting surface to reach the position of the UAV;

[0099] Specifically, please refer to Figure 3 , Figure 3 An example shows the relative positions of the counter signal transmission source, the UAV, and the N reflecting surfaces on a two-dimensional coordinate axis, wherein red dots represent the counter signal transmission source, green dots represent the UAV, and blue dots represent the reflecting surfaces;

[0100] It should be understood that Figure 3 The placement positions in the figure are only examples. The present invention does not limit the specific placement positions of the counter signal emission source, the drone, and the N reflecting surfaces. Those skilled in the art can select appropriate positions for placement as needed.

[0101] In e.g. Figure 3 On the two-dimensional coordinate axis shown, the initial position of the i-th reflection surface can be expressed as (x i ,y i ), the moving range of the i-th reflecting surface along the first direction Movement range along the second direction Wherein, i is an integer, and N≥i≥1, l represents the movable distance of the reflecting surface;

[0102] Among them, due to the large volume and mass of the base station reflective surface, the range of movement of each reflective surface is a circle with a radius of 1 cm;

[0103] in, It can be understood as the coordinates of any position of the i-th reflecting surface within the movable range;

[0104] On this basis, the i-th reflection surface is obtained The formula for the time delay of the reflected countermeasure signal reaching the position of the UAV is:

[0105]

[0106] Among them, (x tran ,y tran ) is the position of the counter signal emission source, (x target ,y target ) is the position of the drone, c is the speed of light It represents the time delay for the countermeasure signal reflected by the i-th reflecting surface to reach the position of the UAV.

[0107] Substituting the coordinates of all positions of each reflecting surface within the movable range into the above formula (1), the set of time delays of the countermeasure signals reflected by each reflecting surface at all positions reaching the position of the UAV is obtained.

[0108] Please refer to Figure 1 , proceed to step S3:

[0109] S3: Based on the time delay set, obtaining a time delay deviation set for the countermeasure signal of each reflecting surface to reach the position of the UAV;

[0110] Specifically, the time delay deviation formula for the counter-signals from the i-th reflector surface and the j-th reflector surface to the drone position is:

[0111]

[0112] in, It represents the time delay deviation between the countermeasure signals reflected by the i-th reflecting surface and the j-th reflecting surface and reaching the position of the drone, i≠j, j is an integer, and N≥j≥1.

[0113] Substituting the time delays of the counter signals of each reflecting surface reaching the position of the UAV at all positions of each reflecting surface within the time delay set for the counter signals of each reflecting surface to reach the position of the UAV into the above formula (2), we can obtain a time delay deviation set consisting of the time delay deviations between the time delays of the counter signals reaching the position of the UAV at all positions of each reflecting surface within the movable range.

[0114] Please refer to Figure 1 , proceed to step S4:

[0115] S4: Based on the delay deviation set corresponding to each reflecting surface, obtain a phase deviation set between the countermeasure signals reflected by each reflecting surface and reaching the position of the UAV;

[0116] Specifically, the formula for obtaining the phase deviation between the countermeasure signals reflected by the i-th reflecting surface and the j-th reflecting surface and reaching the drone position is:

[0117]

[0118] in, represents the phase difference between the countermeasure signals reflected by the i-th reflective surface and the j-th reflective surface and reaching the drone position, f c Indicates the carrier frequency of the countermeasure signal.

[0119] Substitute the delay deviations between all positions of each reflecting surface within the moving range in the delay deviation set corresponding to each reflecting surface into formula (3) to obtain a phase deviation set consisting of the phase deviations between the countermeasure signals reflected by all positions of each reflecting surface within the movable range and reaching the position of the UAV.

[0120] Please refer to Figure 1 , proceed to step S5:

[0121] S5: summing the phase deviations of the countermeasure signals reflected by each reflecting surface and arriving at the position of the UAV to obtain a joint phase deviation set, and obtaining a minimum joint phase deviation in the joint phase deviation set;

[0122] Specifically, the formula for obtaining the joint phase deviation is:

[0123]

[0124] in, represents the joint phase deviation.

[0125] Substituting the phase deviations between the counter signals reflected by each reflecting surface at all positions within the movable range and arriving at the position of the UAV in the phase deviation set between the reflecting surfaces into the above formula (4) respectively, a joint phase deviation set consisting of the joint phase deviations between the counter signals reaching the position of the UAV at all positions of each reflecting surface can be obtained.

[0126] In a specific embodiment, the formula for obtaining the minimum joint phase deviation in the joint phase deviation set is:

[0127]

[0128] Among them, Q min represents the minimum joint phase deviation in the joint phase deviation set, It indicates that the value of the joint phase deviation in the joint phase deviation set is closest to the joint phase deviation of an integer multiple of 2π, wherein when the value of the joint phase deviation is an integer multiple of 2π, the corresponding joint phase deviation is the smallest in the joint phase deviation set.

[0129] The specific steps of selecting the minimum joint phase deviation in the joint phase deviation set are: substituting the delay deviation corresponding to each joint phase deviation in the joint phase deviation set into formula (5); the minimum joint phase deviation in the joint phase deviation set can be obtained.

[0130] Please refer to Figure 1 , continue to S6:

[0131] S6: Obtaining target coordinates of each reflecting surface based on the minimum joint phase deviation;

[0132] In a specific embodiment, based on the minimum joint phase deviation, the formula for obtaining the target position of each reflective surface is:

[0133] (x i ,y i )=arg(Q min ) (6)

[0134] Among them, (x i ,y i ) represents the target position of the i-th reflecting surface, arg(Q min ) indicates returning the target position of the i-th reflecting surface that obtains the minimum joint phase deviation in the joint phase deviation set.

[0135] Among them, the method for obtaining the target position of the i-th reflecting surface is as follows: the value of the joint superimposed phase deviation of the counter signals reflected by the positions of each reflecting surface within the movable range reaching the drone position is closest to the joint phase deviation of an integer multiple of 2π, and the target time delay deviation value of the counter signals reflected by each reflecting surface reaching the drone position is reversed from the value of the target time delay deviation of the reflected counter signals reaching the drone position, and finally the target position of each reflecting surface can be obtained from the target time delay value of each reflecting surface.

[0136] Substituting the minimum joint phase deviation into the above formula (6), the position of each reflecting surface corresponding to the minimum joint phase deviation is obtained as the target position of each reflecting surface.

[0137] Please refer to Figure 1 , continue to execute S7:

[0138] S7: Controlling each reflective surface to move to a corresponding target coordinate to form a superimposed countermeasure signal at the UAV;

[0139] In a specific embodiment, all reflective surfaces are moved to the target position, and the formula for forming a superimposed countermeasure signal at the UAV is:

[0140]

[0141] Among them, τ i represents the time delay of the i-th reflecting surface at the target position, R(t) represents the superimposed countermeasure signal formed by the reflecting surface at the target position at the UAV, and j represents an imaginary number.

[0142] When the value of the combined phase deviation is closest to an integer multiple of 2π, the power of the superimposed countermeasure signal is maximum.

[0143] Now combined Figure 4 The effect of the method provided by the present invention is described. Figure 4 is based on Figure 3 The heat map of the counter-signal energy distribution corresponding to the locations of the counter-signal emission source, the UAV, and the N reflecting surfaces is shown. Figure 3 The position of the reflecting surface in should be understood as the position of the reflecting surface after it is moved.

[0144] It can be seen that the power of the superimposed counter-signal of the counter-signals reflected by each reflecting surface at the position of the UAV (800, 800) is the largest, while the counter-power in other areas is relatively small, thereby achieving precise counter-measures against the UAV.

[0145] It can be seen that the present invention can counter drones with known positions and position frequency bands by only transmitting a low-power signal through a counter-signal transmitter. Through reflection from multiple reflecting surfaces, the counter-signal can be superimposed at the drone position to form a high-power counter-signal, saving resources.

[0146] In addition, please refer to Figure 5 The present invention also provides a countermeasure system for a UAV, the system comprising:

[0147] N reflecting surfaces 401, for reflecting the countermeasure signal to the position of the UAV in real time, where N is an integer greater than or equal to 2;

[0148] Position acquisition module 402, which obtains the drone's position, the location of the counter-signal transmitter, the initial positions of N reflective surfaces, and the range of movement of each reflective surface;

[0149] The calculation module 403 obtains a set of time delays for the counter signal to reach the position of the drone after passing through each of the reflective surfaces based on the position of the drone, the initial positions of the N reflective surfaces at the position of the counter signal transmitter, and the movement range of each reflective surface.

[0150] Based on the time delay set, obtaining a time delay deviation set for the countermeasure signal of each reflecting surface to reach the position of the UAV;

[0151] Based on the delay deviation set corresponding to each reflecting surface, a phase deviation set between the countermeasure signals reflected by each reflecting surface and reaching the position of the UAV is obtained;

[0152] Summing the phase deviations of the countermeasure signals reflected by each reflecting surface and arriving at the position of the UAV to obtain a joint phase deviation set, and obtaining a minimum joint phase deviation in the joint phase deviation set;

[0153] Obtaining target coordinates of each reflecting surface based on the minimum joint phase deviation;

[0154] The reflecting surface moving module 404 controls each reflecting surface to move to a corresponding target coordinate to form a superimposed countermeasure signal with the maximum power at the UAV.

[0155] As can be seen, the present invention provides a method and system for countering drones. The method includes: obtaining a set of time delays for counter signals passing through each reflective surface to reach the drone's position based on the drone's position, the initial positions of N reflective surfaces at the counter signal emission source, and the movement range of each reflective surface; obtaining a set of phase deviations between counter signals reflected by each reflective surface based on the time delay set corresponding to each reflective surface; obtaining a set of joint phase deviations for all reflective surfaces based on the phase deviation set between counter signals reflected by each reflective surface, and obtaining a minimum joint phase deviation in the joint phase deviation set; obtaining the target coordinates of each reflective surface based on the minimum joint phase deviation; and controlling each reflective surface to move to the corresponding target coordinates to form a superimposed counter signal with the highest power at the drone. This method improves the accuracy and effectiveness of countermeasures against drones by adjusting the positions of the reflective surfaces within the movement range to form a superimposed counter signal with the highest power at the drone.

[0156] In addition, please refer to Figure 6 The present invention further provides an electronic device, comprising:

[0157] Processor 501; and

[0158] Memory 503, used to store executable instructions of the processor;

[0159] The processor 501 is configured to execute the above-mentioned method by executing the executable instructions.

[0160] The processor 501 can communicate with the memory 503 via the bus 502 .

[0161] An embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, which implements the above-mentioned method when executed by a processor.

[0162] Those skilled in the art will appreciate that all or part of the steps in the above-described method embodiments can be implemented using hardware associated with program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0163] In summary, the present invention provides a method, system, and electronic device for countering drones. Based on the drone position, the initial positions of N reflective surfaces at the counter signal emission source position, and the movement range of each reflective surface, a set of time delays for the counter signal passing through each reflective surface to reach the drone position is obtained; based on the time delay set corresponding to each reflective surface, a set of phase deviations between the counter signals reflected by each reflective surface is obtained; based on the phase deviation set between the counter signals reflected by each reflective surface, a joint phase deviation set of all reflective surfaces is obtained, and the minimum joint phase deviation is obtained in the joint phase deviation set; based on the minimum joint phase deviation, the target coordinates of each reflective surface are obtained; and each reflective surface is controlled to move to the corresponding target coordinates to form a superimposed counter signal with the maximum power at the drone. This method forms a superimposed counter signal with the maximum power at the drone by adjusting the position of the reflective surface within the movement range, thereby improving the accuracy and effect of countering drones.

[0164] Although the present invention is disclosed as above, the present invention is not limited thereto. Any person skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention should be based on the scope defined by the claims.

Claims

1. A method for countering a drone, comprising: utilizing a counter signal transmitter to transmit a counter signal to N reflective surfaces in an environment in real time; upon receiving the counter signal, the reflective surfaces reflect the counter signal to the drone's location in real time; wherein: N is an integer greater than or equal to 2, and the method comprises: Obtain the drone's position, the location of the countermeasure signal transmitter, the initial positions of N reflective surfaces, and the movement range of each reflective surface; Based on the position of the UAV, the position of the counter signal transmission source, the initial positions of N reflecting surfaces, and the movement range of each reflecting surface, a set of time delays for the counter signal passing through each reflecting surface to reach the position of the UAV is obtained; Based on the time delay set, obtaining a time delay deviation set for the countermeasure signal of each reflecting surface to reach the position of the UAV; Based on the delay deviation set corresponding to each reflecting surface, a phase deviation set between the countermeasure signals reflected by each reflecting surface and reaching the position of the UAV is obtained; Summing the phase deviations of the countermeasure signals reflected by each reflecting surface and arriving at the position of the UAV to obtain a joint phase deviation set, and obtaining a minimum joint phase deviation in the joint phase deviation set; Obtaining target coordinates of each reflecting surface based on the minimum joint phase deviation; Each reflective surface is controlled to move to a corresponding target coordinate to form a superimposed countermeasure signal at the UAV.

2. The method for countering a drone according to claim 1, wherein: The initial position of the i-th reflecting surface is (x i ,y i ), the moving range of the i-th reflecting surface along the first direction Movement range along the second direction Wherein, i is an integer, and N≥i≥1, l represents the movable distance of the reflecting surface; Get the i-th reflection surface The formula for the time delay of the reflected countermeasure signal reaching the position of the UAV is: Among them, (x tran ,y tran ) is the position of the counter signal emission source, (x target ,y target ) is the position of the drone, c is the speed of light It represents the time delay for the countermeasure signal reflected by the i-th reflecting surface to reach the position of the UAV.

3. The method for countering a drone according to claim 2, wherein: The formula for the time delay deviation between the counter-signals from the i-th reflector and the j-th reflector reaching the drone position is: in, represents the time delay deviation between the countermeasure signal reflected by the i-th reflecting surface and the j-th reflecting surface and reaching the position of the UAV, i≠j, j is an integer, and N≥j≥1, It represents the time delay for the countermeasure signal reflected by the jth reflecting surface to reach the position of the UAV.

4. The method for countering a drone according to claim 3, wherein: The formula for obtaining the phase deviation between the countermeasure signals reflected by the i-th reflective surface and the j-th reflective surface reaching the drone position is: in, represents the phase difference between the countermeasure signals reflected by the i-th reflective surface and the j-th reflective surface and reaching the drone position, f c represents the carrier frequency of the countermeasure signal, and t represents time.

5. The method for countering a drone according to claim 4, wherein: The formula for obtaining the joint phase deviation is: in, represents the joint phase deviation.

6. The method for countering a drone according to claim 5, wherein: The formula for taking the minimum joint phase deviation in the joint phase deviation set is: Among them, Q min represents the minimum joint phase deviation in the joint phase deviation set, represents the joint phase deviation whose value in the joint phase deviation set is closest to an integer multiple of 2π, wherein when the value of the joint phase deviation is an integer multiple of 2π, the corresponding joint phase deviation is the smallest in the joint phase deviation set, and round() represents a function that rounds the content in the brackets.

7. The method for countering a drone according to claim 6, wherein: Obtaining the target position of each reflecting surface based on the minimum joint phase deviation includes: (x i ,y i )=arg(Q min ) (6) Among them, (x i ,y i ) represents the target position of the i-th reflecting surface, arg(Q min ) indicates returning the target position of the i-th reflecting surface that obtains the minimum joint phase deviation in the joint phase deviation set.

8. The method for countering a drone according to claim 7, wherein: The formula for forming the maximum power superimposed countermeasure signal at the UAV is: Among them, τ i represents the time delay of the i-th reflecting surface at the target position, R(t) represents the superimposed countermeasure signal with the maximum power at the UAV, j represents an imaginary number, m(t-τ i ) represents a delay of τ i Amplitude envelope after time.

9. A countermeasure system for drones, characterized in that: A method for countering the drone according to any one of claims 1 to 8, the system comprising: N reflecting surfaces, receiving the counter signal sent by the counter signal transmitting source in real time and reflecting the counter signal to the position of the UAV, where N is an integer greater than or equal to 2; The position acquisition module obtains the drone's position, the location of the countermeasure signal transmitter, the initial positions of N reflective surfaces, and the movement range of each reflective surface; A calculation module, based on the position of the UAV, the initial positions of the N reflecting surfaces at the position of the counter signal emission source, and the movement range of each reflecting surface, obtains a set of time delays for the counter signal passing through each reflecting surface to reach the position of the UAV; Based on the time delay set, obtaining a time delay deviation set for the countermeasure signal of each reflecting surface to reach the position of the UAV; Based on the delay deviation set corresponding to each reflecting surface, a phase deviation set between the countermeasure signals reflected by each reflecting surface and reaching the position of the UAV is obtained; Summing the phase deviations of the countermeasure signals reflected by each reflecting surface and arriving at the position of the UAV to obtain a joint phase deviation set, and obtaining a minimum joint phase deviation in the joint phase deviation set; Obtaining target coordinates of each reflecting surface based on the minimum joint phase deviation; The reflecting surface moving module controls each reflecting surface to move to the corresponding target coordinates to form a superimposed countermeasure signal with the maximum power at the UAV.

10. An electronic device, characterized in that: The method comprises a memory, a processor, and a program stored in the memory and executable on the processor, wherein when the processor executes the program, the method for countering the drone according to any one of claims 1 to 8 is implemented.

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