Low-altitude defense device for omni-directional detection and directional countering multi-stage strike

Abstract

The invention relates to the field of low-altitude defense, in particular to a low-altitude defense device for omnidirectional detection and directional counter multi-stage strike. Comprising a central control system, a communication system, an unmanned aerial vehicle patrol system and a ground defense system, the unmanned aerial vehicle patrol system comprises an outer patrol system and an inner patrol system, and each of the outer patrol system and the inner patrol system comprises a plurality of patrol unmanned aerial vehicles. The communication system is used for communicating with each unmanned aerial vehicle of the unmanned aerial vehicle patrol system and the central control system, and the central control system is used for predicting an action track of a flying object entering an outer patrol range and feeding back a corresponding action signal to the communication system; the ground defense system is used for launching an attack on the flyer from the ground according to the action signal; when it is predicted that the action track of the flying object enters the inner patrol range, the unmanned aerial vehicle patrol system and the ground defense system counters the flying object, and when the predicted track does not enter the inner patrol range, the motion track of the flying object needs to be monitored and predicted continuously. By setting the inner patrol range and the outer patrol range, the unmanned aerial vehicle can be utilized to carry out omni-directional detection on the unknown flying object in advance, the moving track of the unknown flying object is pre-judged, and corresponding defense measures are taken according to the moving track of the unknown flying object.

Description

Technical Field

[0001] The invention relates to the field of low-altitude defense, and in particular to a low-altitude defense device capable of omnidirectional detection, directional countermeasure and multi-stage attack. Background Art

[0002] In the modern environment, the importance of low-altitude defense devices has become increasingly prominent. With the increase of low-altitude threats such as drones and cruise missiles, traditional air defense systems are facing new challenges. In order to effectively deal with these threats, researchers have been working hard to develop new low-altitude defense devices to improve the detection, directional countermeasures and strike capabilities of low-altitude targets.

[0003] For example, the prior art CN114553363A discloses a low-altitude defense device and a low-altitude defense system based on integrated detection and countermeasure, which include a wheel servo drive module, an energy management unit, a data processing module, a photoelectric detection unit, a radio detection unit, an interference countermeasure unit, two wheels, a support shell and a support frame; the two wheels are respectively arranged on both sides of the support shell, and the support frame is arranged on the upper part of the support shell; the energy management unit is used for power supply; the photoelectric detection unit is used for acquiring panoramic image information; the radio detection unit is used for identifying drone remote control signals; the data processing module is used for sending interference instructions to the interference countermeasure unit according to the received drone remote control signals; and the interference countermeasure unit is used for transmitting interference signals.

[0004] Another typical example is a low-altitude defense system based on artificial intelligence disclosed in the prior art CN111981910A, which includes: sensor equipment, including spectrum detection equipment, radar detection equipment and photoelectric detection equipment; an integrated control system, which is connected to the spectrum detection equipment, radar detection equipment and photoelectric detection equipment, and is used to receive original signals from the spectrum detection equipment, radar detection equipment and photoelectric detection equipment, and after comprehensive processing of the original signals, perform target detection and identification through artificial intelligence algorithms, and issue corresponding defense measures based on the target detection and identification results.

[0005] Let's look at the prior art disclosed in CN110308741A, which discloses a multi-point UAV detection and defense system and a multi-point UAV detection and strike method. A multi-point UAV detection and defense system is composed of multiple single-point systems, a gateway system and a central management platform. The single-point system includes a detection and tracking system and a defense and strike system; the central management platform includes a server host, an external display interface, and a keyboard and mouse input device; the central management platform interacts and communicates with the subordinate detection and defense subsystems through the gateway system, so as to achieve the above-mentioned status acquisition and expulsion control; the detection and tracking system reports each status information to the central management platform through the gateway system.

[0006] At present, the existing low-altitude defense system generally has only one patrol range. When an unidentified flying object enters the patrol range, the flying object will be directly countered without predicting the moving path of the flying object in advance and taking countermeasures in advance based on the predicted results. In order to solve the common problems in this field, the present invention has been made. Summary of the invention

[0007] The purpose of the present invention is to propose a low-altitude defense device with omnidirectional detection, directional countermeasure and multi-stage attack in view of the current shortcomings.

[0008] In order to overcome the shortcomings of the prior art, the present invention adopts the following technical solutions:

[0009] A low-altitude defense device for omnidirectional detection, directional countermeasure and multi-stage attack comprises a central control system, a communication system, an unmanned aerial vehicle patrol system and a ground defense system. The unmanned aerial vehicle patrol system comprises an external patrol system and an internal patrol system. Both the external patrol system and the internal patrol system comprise a plurality of patrol unmanned aerial vehicles. The unmanned aerial vehicles of the external patrol system patrol along the boundary of an external patrol range, and the unmanned aerial vehicles of the internal patrol system patrol along the boundary of an internal patrol range. The communication system is used to communicate with each unmanned aerial vehicle of the unmanned aerial vehicle patrol system and the central control system. The central control system is used to predict the movement trajectory of a flying object entering the external patrol range according to a signal received from the communication system and to feed back a corresponding movement signal to the communication system. The ground defense system is used to attack the flying object from the ground according to the movement signal. When it is predicted that the movement trajectory of the flying object enters the internal patrol range, the unmanned aerial vehicle patrol system and the ground defense system counter the flying object. When its predicted trajectory does not enter the internal patrol range, its movement trajectory needs to be continuously monitored and predicted.

[0010] Furthermore, the drone includes a shooting module, an image recognition module, a navigation module, a positioning module and a countermeasure module. The shooting module is used to shoot images of flying objects, the image recognition module is used to identify the images shot by the shooting module, the navigation module stores patrol route information, the navigation module is used to navigate the drone itself according to the patrol route information, the positioning module is used to receive satellite signals and obtain the positioning coordinates of the drone itself, and the countermeasure module is used to counter flying objects.

[0011] Furthermore, the central control system includes a data receiving module, a data conversion module, a calculation module and an instruction generating module. The data receiving module is used to receive data from the communication system, the data conversion module is used to convert the format of the data received by the data receiving module and the instructions of the instruction generating module, the calculation module is used to calculate the flight trajectory of the flying object according to the data converted by the data conversion module, and the instruction generating module is used to generate corresponding instructions according to the calculation results of the calculation module.

[0012] Furthermore, the calculation module includes a distance judgment unit, a coordinate calculation unit, a speed calculation unit, a position prediction unit and a data storage unit. The distance judgment unit is used to obtain the distance between the flying object and the drone based on the image taken by the drone, the coordinate calculation unit is used to calculate the current coordinates of the flying object based on the image taken by the drone, the speed calculation unit is used to calculate the flight speed of the flying object based on the coordinate-related data of the drone, the position prediction unit is used to predict the position of the flying object based on the flight speed of the flying object and its current position, and the data storage unit is used to store the calculation results of the coordinate calculation unit, the speed calculation unit and the position prediction unit.

[0013] Furthermore, the workflow of the low-altitude defense device includes the following steps:

[0014] S1, the UAV patrol system takes patrol images during the patrol process, identifies the images through the image recognition module, and when a UFO is identified, sends its own positioning and the captured images to the communication system;

[0015] S2, the communication system forwards the information of the drone patrol system to the central control system;

[0016] S3, the central control system obtains the moving trajectory of the flying object according to the information received from the communication system;

[0017] S4, the central control system sends corresponding instructions to the communication system according to the calculation results of the movement trajectory;

[0018] S5, the communication system sends instructions to the UAV patrol system and the ground defense system, and the UAV patrol system and the ground defense system implement corresponding countermeasures according to the instructions.

[0019] Furthermore, the central control system obtains the moving trajectory of the flying object including the following steps:

[0020] S31, the data receiving module receives information from the communication system;

[0021] S32, the data conversion module converts the information received by the data receiving module into a format that conforms to the input of the calculation module;

[0022] S33, the calculation module obtains the distance between the flying object and each UAV according to the conversion result of the data conversion module;

[0023] S34, the calculation module calculates the moving trajectory of the flying object according to the conversion result of the data conversion module.

[0024] Furthermore, the calculation module calculates the moving trajectory of the flying object including the following steps:

[0025] S341, obtaining the coordinate position of the flying object at different times within a specified time according to the distance between the flying object and each drone and the positioning of the drone;

[0026] S342, the speed calculation unit calculates the speed and acceleration of the flying object at different time periods according to the coordinates of the flying object at different times;

[0027] S343, obtaining a functional relationship between acceleration and time;

[0028] S344, calculating the estimated position of the flying object at each moment in the future based on the above calculation results.

[0029] Furthermore, the UAV patrol system and the ground defense system implement corresponding countermeasures according to the instructions, including the following steps:

[0030] S51, determine whether the received signal is a counter-attack command or a standby command, if it is a counter-attack command, execute the next step,

[0031] On the contrary, it ends;

[0032] S52, a drone of the drone patrol system sends a jamming signal to the flying object;

[0033] S53, the UAV patrol system continues to obtain images of the flying object and determines whether the flying object has fallen or moved away from the inner patrol range. If so, the process ends. Otherwise, the process proceeds to the next step.

[0034] S54, the UAV patrol system and the ground defense system attack the flying object on its estimated moving trajectory according to the calculation results of the calculation module.

[0035] The beneficial effects achieved by the present invention are: 1. By setting the inner patrol range and the outer patrol range, it is beneficial to use drones to conduct omnidirectional detection of UFOs in advance, predict the movement trajectory of UFOs, and take corresponding defense measures according to their movement trajectory.

[0036] 2. Predicting the movement trajectory of UFOs is conducive to achieving directional countermeasures against UFOs. At the same time, first interfere with the flying objects, and then launch actual attacks if the interference is ineffective, which is conducive to saving the use of weapons and achieving multi-level attack.

[0037] 3. By fitting the relationship between acceleration and time, it is helpful to obtain the relationship between acceleration and time, which is helpful to improve the accuracy of predicting the movement trajectory of irregular flying objects. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The present invention can be further understood from the following description in conjunction with the accompanying drawings. The components in the figures are not necessarily drawn to scale, but the emphasis is placed on illustrating the principles of the embodiments. In different views, the same reference numerals designate the same parts.

[0039] Figure 1 It is a schematic diagram of the structure of the present invention.

[0040] Figure 2 It is the work flow chart of the present invention.

[0041] Figure 3 A flow chart of the central control system of the present invention for acquiring the moving trajectory of a flying object.

[0042] Figure 4 The present invention is a flow chart of the calculation module for calculating the moving trajectory of a flying object.

[0043] Figure 5 is the relationship between the predicted coordinates after correction in the x direction, the predicted coordinates before correction, and the predicted deviation index DETAILED DESCRIPTION

[0044] The following is an explanation of the embodiments of the present invention through specific embodiments. Those skilled in the art can understand the advantages and effects of the present invention from the contents disclosed in this specification. The present invention can be implemented or applied through other different specific embodiments, and the details in this specification can also be modified and changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. In addition, the drawings of the present invention are only simple schematic illustrations and are not depicted according to actual sizes. It is stated in advance. The following embodiments will further explain the relevant technical contents of the present invention in detail, but the disclosed contents are not intended to limit the scope of protection of the present invention.

[0045] Embodiment 1: According to Figure 1 , Figure 2 , Figure 3 and Figure 4The present embodiment provides a low-altitude defense device for omnidirectional detection, directional countermeasure and multi-stage strike, including a central control system, a communication system, a drone patrol system and a ground defense system. The drone patrol system includes an external patrol system and an internal patrol system. Both the external patrol system and the internal patrol system include multiple patrol drones. The drones of the external patrol system patrol along the boundary of the external patrol range, and the drones of the internal patrol system patrol along the boundary of the internal patrol range. The communication system is used to communicate with each drone of the drone patrol system and the central control system. The central control system is used to predict the movement trajectory of the flying object entering the external patrol range according to the signal received from the communication system and feed back the corresponding movement signal to the communication system; the ground defense system is used to attack the flying object from the ground according to the movement signal; when the movement trajectory of the flying object is predicted to enter the internal patrol range, the drone patrol system and the ground defense system counter the flying object, and when its predicted trajectory does not enter the internal patrol range, it is necessary to continuously monitor and predict its movement trajectory.

[0046] Specifically, the outer patrol range and the inner patrol range are set by personnel in this field according to the actual patrol range required. The inner patrol range is a range that unregistered drones or flying objects cannot enter, and the outer patrol range is a range that unregistered drones or flying objects can enter.

[0047] Specifically, the low-altitude defense device includes multiple groups of air strike weapons, which constitute the ground defense system. The low-altitude defense device includes multiple groups of computers, which constitute the central control system. The specific structure of the low-altitude defense device belongs to the prior art and will not be described in detail here.

[0048] Specifically, the communication system transmits data between the central control system and the drone patrol system through a gateway.

[0049] Furthermore, the drone includes a shooting module, an image recognition module, a navigation module, a positioning module and a countermeasure module. The shooting module is used to shoot images of flying objects, the image recognition module is used to identify the images shot by the shooting module, the navigation module stores patrol route information, the navigation module is used to navigate the drone itself according to the patrol route information, the positioning module is used to receive satellite signals and obtain the positioning coordinates of the drone itself, and the countermeasure module is used to counter flying objects.

[0050] Furthermore, the central control system includes a data receiving module, a data conversion module, a calculation module and an instruction generating module. The data receiving module is used to receive data from the communication system, the data conversion module is used to convert the format of the data received by the data receiving module and the instructions of the instruction generating module, the calculation module is used to calculate the flight trajectory of the flying object according to the data converted by the data conversion module, and the instruction generating module is used to generate corresponding instructions according to the calculation results of the calculation module.

[0051] Furthermore, the calculation module includes a distance judgment unit, a coordinate calculation unit, a speed calculation unit, a position prediction unit and a data storage unit. The distance judgment unit is used to obtain the distance between the flying object and the drone based on the image taken by the drone, the coordinate calculation unit is used to calculate the current coordinates of the flying object based on the image taken by the drone, the speed calculation unit is used to calculate the flight speed of the flying object based on the coordinate-related data of the drone, the position prediction unit is used to predict the position of the flying object based on the flight speed of the flying object and its current position, and the data storage unit is used to store the calculation results of the coordinate calculation unit, the speed calculation unit and the position prediction unit.

[0052] Specifically, the distance judgment unit obtains the distance between the flying object and the drone through a stereo matching algorithm.

[0053] Furthermore, the workflow of the low-altitude defense device includes the following steps:

[0054] S1, the UAV patrol system takes patrol images during the patrol process, identifies the images through the image recognition module, and when a UFO is identified, sends its own positioning and the captured images to the communication system;

[0055] S2, the communication system forwards the information of the drone patrol system to the central control system;

[0056] S3, the central control system obtains the moving trajectory of the flying object according to the information received from the communication system;

[0057] S4, the central control system sends corresponding instructions to the communication system according to the calculation results of the movement trajectory;

[0058] Specifically, when the future movement trajectory of the flying object overlaps with the inner patrol range, a countermeasure command is sent, otherwise, a standby command is sent;

[0059] S5, the communication system sends instructions to the UAV patrol system and the ground defense system, and the UAV patrol system and the ground defense system implement corresponding countermeasures according to the instructions.

[0060] Furthermore, the central control system obtains the moving trajectory of the flying object including the following steps:

[0061] S31, the data receiving module receives information from the communication system;

[0062] S32, the data conversion module converts the information received by the data receiving module into a format that conforms to the input of the calculation module;

[0063] S33, the calculation module obtains the distance between the flying object and each UAV according to the conversion result of the data conversion module;

[0064] S34, the calculation module calculates the moving trajectory of the flying object according to the conversion result of the data conversion module.

[0065] Furthermore, the calculation module calculates the moving trajectory of the flying object including the following steps:

[0066] S341, obtaining the coordinate position of the flying object at different times within a specified time according to the distance between the flying object and each drone and the positioning of the drone;

[0067] Specifically, the designated time is set by a person skilled in the art; the time interval between each adjacent different time is the same; the coordinate position is the two-dimensional coordinate of the flying object in the two-dimensional image generated by the coordinate calculation unit according to the patrol area;

[0068] The coordinate position of the flying object can be calculated according to the following formula:

[0069]

[0070] Among them, x is the horizontal coordinate of the flying object in the two-dimensional image, y is the vertical coordinate of the flying object in the two-dimensional image, and X A is the horizontal coordinate of UAV A in the two-dimensional image, Y A is the vertical coordinate of UAV A in the two-dimensional image, X B is the horizontal coordinate of UAV B in the two-dimensional image, Y B is the vertical coordinate of drone B in the two-dimensional image, X C is the horizontal coordinate of UAV C in the two-dimensional image, Y C is the ordinate of UAV C in the two-dimensional image;

[0071] is the distance between the coordinates of UAV A in the two-dimensional image and the coordinates of the flying object, is the distance between the coordinates of UAV B in the two-dimensional image and the coordinates of the flying object, is the distance between the coordinates of UAV C in the two-dimensional image and the coordinates of the flying object;

[0072] Drones A, B, and C are the three drones closest to the flying object. By solving the above equations,

[0073] The coordinates (x, y) of the flying object can be obtained;

[0074] S342, the speed calculation unit calculates the speed and acceleration of the flying object at different time periods according to the coordinates of the flying object at different times;

[0075] Specifically, the speed calculation unit calculates the speed of the flying object at different times according to the following formula:

[0076]

[0077] Among them, Vx t is the velocity of the flying object in the x direction at the past time t, x t+1 is the horizontal coordinate of the flying object at time t+1 in the past, x t-1 is the horizontal coordinate of the flying object at time t-1 in the past, T is the time interval between adjacent moments; Vy t is the velocity of the flying object in the y direction at the last time t, y t+1 is the ordinate of the flying object at time t+1 in the past, y t-1 is the ordinate of the flying object at time t-1 in the past;

[0078] Calculate the acceleration of the flying object at different times according to the following formula:

[0079]

[0080] Among them, Ux t Vx is the acceleration of the flying object in the x direction at the time t in the past. t+1 Vx is the velocity of the flying object in the x direction at time t+1 in the past. t-1 is the velocity of the flying object in the x direction at the past time t-1, Uy t Vy is the acceleration of the flying object in the y direction at time t in the past. t+1 is the velocity of the flying object at time t+1 in the past, Vy t-1 is the speed of the flying object at time t-1 in the past;

[0081] Specifically, when the calculated value of the velocity is negative, the flying object moves along the negative direction in the two-dimensional image;

[0082] S343, obtaining a functional relationship between the acceleration of the flying object and time;

[0083] Specifically, the functional relationship between acceleration and time can be obtained in the following way:

[0084] 1. Select mathematical model:

[0085] Second, input the acceleration at different times into the mathematical model and perform fitting, obtain the model parameters that best fit the existing data through linear regression or logistic regression, and obtain the functional relationship between acceleration and time;

[0086] 3. Calculate the fit index of the functional relationship corresponding to each mathematical model according to the following formula:

[0087]

[0088] Among them, TH is the fit index. The closer the fit index is to 1, the higher the accuracy of the function relationship corresponding to the mathematical model. e is a natural constant, n is the number of data sets used for fitting, and Q is i is the actual value of acceleration of the i-th group of data, q i is the predicted value of the acceleration of the i-th group of data obtained by the mathematical model, and Q is the average value of the actual acceleration values ​​of each group of data;

[0089] The following is the procedure for calculating TH:

[0090] import math

[0091] def calculate_TH(Q_actual,q_predicted):

[0092] """

[0093] Calculate the fit index TH

[0094] parameter:

[0095] Q_actual(list): List of actual acceleration values

[0096] q_predicted(list): List of predicted acceleration values

[0097] return:

[0098] float: the value of the fit index TH

[0099] """

[0100] n=len(Q_actual)

[0101] if n!=len(q_predicted):

[0102] raise ValueError("Q_actual and q_predicted must have the same length")

[0103] # Calculate the average value of Q

[0104] Q_avg = sum(Q_actual) / n

[0105] #Calculate the sum of (Qi-qi)^2

[0106] sum_diff_squared=sum((Q_actual[i]-q_predicted[i])**2for iin range(n))

[0107] #Calculate the sum of (Qi-Q)^2

[0108] sum_actual_avg_diff_squared=sum((Q_actual[i]-Q_avg)**2for iin range(n))

[0109] #Calculate TH

[0110] TH=(1 / math.exp(n))*sum_diff_squared*(sum_diff_squared /

[0111] math.exp(sum_actual_avg_diff_squared))

[0112] return TH

[0113] #Sample data

[0114] Q_actual = [10, 20, 15, 25] # Replace with the actual acceleration value

[0115] q_predicted = [12, 18, 14, 26] # Replace with predicted value

[0116] #Calculate TH

[0117] TH_value=calculate_TH(Q_actual,q_predicted)

[0118] print("Fitness index TH:",TH_value)

[0119] 4. Select the function relationship corresponding to the mathematical model with the fit index closest to 1 as the relationship between acceleration and time, and get Ux t =F(t),Uy t =f(t), F(t) is the relationship between acceleration and time in the x direction, and f(t) is the relationship between acceleration and time in the y direction;

[0120] S344, calculating the estimated position of the flying object at each moment in the future according to the above calculation results;

[0121]

[0122] Where N is the number of moments contained in t, which is the result of dividing t by T and rounding down. x(t) is the estimated horizontal coordinate of the flying object after t time, y(t) is the estimated vertical coordinate of the flying object after t time, x0 is the current horizontal coordinate of the flying object, y0 is the current vertical coordinate of the flying object, and v xj is the estimated speed of the flying object in the x direction at the jth moment in the future, a xj v is the estimated acceleration of the flying object in the x direction at the jth moment in the future; yj is the estimated speed of the flying object in the y direction at the jth moment in the future, a yj v is the estimated acceleration of the flying object in the y direction at the jth moment in the future; xj+1 is the estimated speed of the flying object in the x direction at the j+1th moment in the future, a xj+1 v is the estimated acceleration of the flying object in the x direction at the j+1th moment in the future; yj+1 is the estimated speed of the flying object in the y direction at the j+1th moment in the future, a yj+1 is the estimated acceleration of the flying object in the y direction at the j+1th moment in the future; the jth moment is the time point at the jth time interval T in the future.

[0123] Specifically, a xj and a yj It can be obtained through the relationship between acceleration and time, v xj It can be calculated by the following formula

[0124] v xj =v xj-1 +a xj-1 *T

[0125] When j = 1, v x0 is the current speed of the flying object, a x0 is the current acceleration of the flying object. The current speed of the flying object can be obtained by using the speed calculation unit to obtain the speed and acceleration of the previous moment and then using the above formula to calculate, v yj The way to obtain is the same as above.

[0126] Furthermore, the UAV patrol system and the ground defense system implement corresponding countermeasures according to the instructions, including the following steps:

[0127] S51, determine whether the received signal is a counter-attack command or a standby command, if it is a counter-attack command, execute the next step,

[0128] On the contrary, it ends;

[0129] S52, a drone of the drone patrol system sends a jamming signal to the flying object;

[0130] S53, the UAV patrol system continues to obtain images of the flying object and determines whether the flying object has fallen or moved away from the inner patrol range. If so, the process ends. Otherwise, the process proceeds to the next step.

[0131] Specifically, when the flying object falls or moves away from the inner patrol range, it proves that the jamming of the jamming signal is successful and no further attack is needed;

[0132] S54, the UAV patrol system and the ground defense system attack the flying object on its estimated moving trajectory according to the calculation results of the calculation module.

[0133] Specifically, when the calculated moving trajectory does not enter the inner patrol range, the instruction generation module does not generate a counter-instruction but generates a standby instruction; otherwise, a counter-instruction is generated but not a standby instruction.

[0134] The beneficial effects of this scheme are: 1. By setting the inner patrol range and the outer patrol range, it is beneficial to use drones to conduct omnidirectional detection of UFOs in advance, predict the movement trajectory of UFOs, and take corresponding defense measures according to their movement trajectory.

[0135] 2. Predicting the movement trajectory of UFOs is conducive to achieving directional countermeasures against UFOs. At the same time, first interfere with the flying objects, and then launch actual attacks if the interference is ineffective, which is conducive to saving the use of weapons and achieving multi-level attack.

[0136] 3. By fitting the relationship between acceleration and time, it is helpful to obtain the relationship between acceleration and time, which is helpful to improve the accuracy of predicting the movement trajectory of irregular flying objects.

[0137] Embodiment 2: This embodiment should be understood to include all the features of any of the above embodiments, and further improve on the above embodiments, and also include a method for correcting the rate of change index and the estimated flight trajectory according to the actual flight trajectory of the flying object, including the following steps:

[0138] Specifically, if the trajectory prediction of the flying object is completed at the past time α, then according to the actual acceleration of the flying object at the time α+β (A xα+β , A yα+β ) and the actual position (X α+β , Y α+β) to correct the predicted result of the trajectory; when the predicted trajectory of the flying object enters the inner patrol range, the flying object will be countered; when its predicted trajectory does not enter the inner patrol range, it is necessary to continuously monitor and predict its motion trajectory. When the predicted result enters the inner patrol range, the flying object will be countered; β is the correction period;

[0139] 2. Calculate the prediction deviation index based on the actual results and errors. The prediction deviation index is used to characterize the degree of deviation of the prediction. The larger the absolute value of the index value, the greater the degree of deviation. The positive or negative value of the index value represents the direction of the deviation.

[0140] The actual acceleration (A xα+β , A yα+β ) is added to the existing data to refit the relationship between acceleration and time, and the updated relationship Ux is obtained. t =NF(t),Uy t =Nf(t);

[0141] The forecast deviation index at time α+β is calculated according to the following formula:

[0142]

[0143] Among them, PCX(α+β) is the prediction deviation index at the time α+β in the x direction, A xα+β is the actual acceleration of the flying object at time α+β in the x direction, F(α+β) is the predicted acceleration at time α+β obtained by the relationship between the acceleration in the x direction and time, X α+β is the actual coordinate at time α+β in the x direction, and x(α+β) is the predicted coordinate at time α+β in the x direction;

[0144] PCY(α+β) is the prediction deviation index at the α+β moment in the y direction, A yα+β is the actual acceleration of the flying object at time α+β in the y direction, f(α+β) is the predicted acceleration at time α+β obtained by the relationship between the acceleration in the y direction and time, Y α+β is the actual coordinate at time α+β in the x direction, and y(α+β) is the predicted coordinate at time α+β in the y direction;

[0145] Obtain the corrected position at time α+β+t according to the forecast deviation indicator:

[0146] NX(α+β+t)=(1-PCX(α+β))*X(α+β+t)

[0147] NY(α+β+t)=(1-PCY(α+β))*Y(α+β+t)

[0148] Among them, NX(α+β+t) is the predicted coordinate at α+β+t in the x direction after correction, NY(α+β+t) is the predicted coordinate at α+β+t in the y direction after correction, X(α+β+t) is the predicted coordinate at α+β+t re-acquired in the x direction before correction, and Y(α+β+t) is the predicted coordinate at α+β+t re-acquired in the y direction before correction.

[0149] As shown in 5, Figure 5 is the relationship between the predicted coordinates after correction in the x direction, the predicted coordinates before correction, and the prediction deviation index.

[0150] Specifically, the predicted coordinates at time α+β+t can be obtained by using Ux t =NF(t) and Uy t =Nf(t) instead of Ux t =F(t) and Uy t =f(t) to obtain x(α+β+t) and y(α+β+t). The x(α+β+t) obtained in this way is X(α+β+t), and the y(α+β+t) is Y(α+β+t).

[0151] The beneficial effects of this embodiment are as follows: the predicted trajectory of the flying object is continuously updated through the gap in existing data, which is beneficial to improving the accuracy of trajectory prediction and further preventing the flying object from entering the inner patrol range.

[0152] The above disclosed contents are only preferred feasible embodiments of the present invention, and do not limit the protection scope of the present invention. Therefore, all equivalent technical changes made by using the contents of the present invention specification and drawings are included in the protection scope of the present invention. In addition, the elements therein can be updated with the development of technology. The above units are only examples. Those skilled in the art can use corresponding units according to different designs according to actual needs when implementing this solution.

Claims

1. A low-altitude defense device with omnidirectional detection, directional countermeasure and multi-stage attack, characterized in that: It includes a central control system, a communication system, an unmanned aerial vehicle patrol system and a ground defense system. The unmanned aerial vehicle patrol system includes an external patrol system and an internal patrol system. Both the external patrol system and the internal patrol system include multiple patrol unmanned aerial vehicles. The unmanned aerial vehicles of the external patrol system patrol along the boundary of the external patrol range, and the unmanned aerial vehicles of the internal patrol system patrol along the boundary of the internal patrol range. The communication system is used to communicate with each unmanned aerial vehicle of the unmanned aerial vehicle patrol system and the central control system. The central control system is used to predict the movement trajectory of the flying object entering the external patrol range according to the signal received from the communication system and feed back the corresponding movement signal to the communication system; the ground defense system is used to attack the flying object from the ground according to the movement signal; when it is predicted that the movement trajectory of the flying object enters the internal patrol range, the unmanned aerial vehicle patrol system and the ground defense system counter the flying object, and when its predicted trajectory does not enter the internal patrol range, it is necessary to continuously monitor and predict its movement trajectory.

2. The low-altitude defense device with omnidirectional detection, directional countermeasure and multi-stage attack according to claim 1 is characterized in that: The drone includes a shooting module, an image recognition module, a navigation module, a positioning module and a countermeasure module. The shooting module is used to shoot images of flying objects, the image recognition module is used to identify the images shot by the shooting module, the navigation module stores patrol route information, the navigation module is used to navigate the drone itself according to the patrol route information, the positioning module is used to receive satellite signals and obtain the positioning coordinates of the drone itself, and the countermeasure module is used to counter the flying objects.

3. The low-altitude defense device with omnidirectional detection, directional countermeasure and multi-stage attack according to claim 2 is characterized in that: The central control system includes a data receiving module, a data conversion module, a calculation module and an instruction generating module. The data receiving module is used to receive data from the communication system. The data conversion module is used to convert the format of the data received by the data receiving module and the instruction of the instruction generating module. The calculation module is used to calculate the flight trajectory of the flying object according to the data converted by the data conversion module. The instruction generating module is used to generate corresponding instructions according to the calculation results of the calculation module.

4. The low-altitude defense device with omnidirectional detection, directional countermeasure and multi-stage attack according to claim 3 is characterized in that: The calculation module includes a distance judgment unit, a coordinate calculation unit, a speed calculation unit, a position prediction unit and a data storage unit. The distance judgment unit is used to obtain the distance between the flying object and the drone according to the image taken by the drone, the coordinate calculation unit is used to calculate the current coordinates of the flying object according to the image taken by the drone, the speed calculation unit is used to calculate the flying speed of the flying object according to the coordinate-related data of the drone, the position prediction unit is used to predict the position of the flying object according to the flying speed of the flying object and its current position, and the data storage unit is used to store the calculation results of the coordinate calculation unit, the speed calculation unit and the position prediction unit.

5. The low-altitude defense device with omnidirectional detection, directional countermeasure and multi-stage attack according to claim 4 is characterized in that: The workflow of the low-altitude defense device includes the following steps: S1, the UAV patrol system takes patrol images during the patrol process, identifies the images through the image recognition module, and when a UFO is identified, sends its own positioning and the captured images to the communication system; S2, the communication system forwards the information of the drone patrol system to the central control system; S3, the central control system obtains the moving trajectory of the flying object according to the information received from the communication system; S4, the central control system sends corresponding instructions to the communication system according to the calculation results of the movement trajectory; S5, the communication system sends instructions to the UAV patrol system and the ground defense system, and the UAV patrol system and the ground defense system implement corresponding countermeasures according to the instructions.

6. The low-altitude defense device with omnidirectional detection, directional countermeasure and multi-stage attack according to claim 5 is characterized in that: The central control system obtains the moving trajectory of the flying object including the following steps: S31, the data receiving module receives information from the communication system; S32, the data conversion module converts the information received by the data receiving module into a format that conforms to the input of the calculation module; S33, the calculation module obtains the distance between the flying object and each UAV according to the conversion result of the data conversion module; S34, the calculation module calculates the moving trajectory of the flying object according to the conversion result of the data conversion module.

7. The low-altitude defense device with omnidirectional detection, directional countermeasure and multi-stage attack according to claim 6 is characterized in that: The calculation module calculates the moving trajectory of the flying object including the following steps: S341, obtaining the coordinate position of the flying object at different times within a specified time according to the distance between the flying object and each drone and the positioning of the drone; S342, the speed calculation unit calculates the speed and acceleration of the flying object in different time periods according to the coordinates of the flying object at different times; S343, obtaining a functional relationship between acceleration and time; S344, calculating the estimated position of the flying object at each moment in the future based on the above calculation results.

8. The low-altitude defense device with omnidirectional detection, directional countermeasure and multi-stage attack according to claim 7 is characterized in that: The drone patrol system and the ground defense system implement corresponding countermeasures according to the instructions, including the following steps: S51, determining whether the received signal is a counter-attack command or a standby command, if it is a counter-attack command, executing the next step, otherwise, ending; S52, a drone of the drone patrol system sends a jamming signal to the flying object; S53, the UAV patrol system continues to obtain images of the flying object and determines whether the flying object has fallen or moved away from the inner patrol range. If so, the process ends. Otherwise, the process proceeds to the next step. S54, the UAV patrol system and the ground defense system attack the flying object on its estimated moving trajectory according to the calculation results of the calculation module.

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