Unmanned aerial vehicle countering method and device based on sound wave resonance

Abstract

The invention discloses an unmanned aerial vehicle countering method and device based on sound wave resonance, and the method employs sound waves to interfere with a camera anti-shake compensation device of an unmanned aerial vehicle and an unmanned aerial vehicle flight control system, thereby enabling a camera of the unmanned aerial vehicle to achieve the fuzzy video shooting and out-of-control flight, and achieving the countering of the unmanned aerial vehicle. And personal life safety is prevented from being threatened or normal operation of nearby civil electronic equipment is prevented from being interfered. The method and device provided by the invention can be used for low-cost-efficiency-ratio countering of malicious unmanned aerial vehicles in densely distributed areas of population and buildings such as urban living quarters, commercial districts and industrial districts, and privacy information of individuals and enterprises is protected from being stolen by malicious persons.

Description

Technical Field

[0001] The invention belongs to the field of drone countermeasures, and relates to a drone countermeasure method and device based on acoustic wave resonance. Background Art

[0002] In recent years, drone technology has developed rapidly, and its application areas have expanded from military to civilian use, including aerial photography, agricultural monitoring, logistics and distribution, etc. With the popularization of drones, the entry threshold has been lowered, allowing ordinary consumers to purchase and operate drones at a lower cost. In addition, some consumers have begun to personalize or assemble drones to meet specific needs.

[0003] However, this popularity also brings a series of security risks and management challenges. For example, malicious personnel can control drones to approach residential, commercial or industrial areas, shoot videos through camera sensors, and transmit data back to the control end to obtain personal privacy information or business secrets. In order to protect the privacy information of individuals and enterprises from being stolen, drone countermeasure technology is needed to prevent malicious drones from snooping.

[0004] Existing drone countermeasure technologies mainly include laser destruction, electromagnetic suppression interference, navigation deception, net capture, etc. However, these technologies have certain limitations, such as interference with civilian electronic equipment, high cost of single countermeasure, and are not suitable for densely populated and built-up areas. Therefore, it is necessary to develop low-cost and cost-effective drone countermeasure technology, pay attention to the safety of technology, and achieve the goal of drone countermeasure without threatening personal life safety and civilian equipment operation. Summary of the invention

[0005] The present invention proposes a method and device for countering drones based on acoustic resonance, which are used for low-cost countering of malicious drones in densely populated and built-up areas such as urban living areas, commercial areas, and industrial areas, to protect the privacy information of individuals and enterprises from being stolen by malicious personnel. The method and device for countering drones use acoustic waves to interfere with the camera anti-shake compensation device of the drone and the flight control system of the drone, making the drone camera video blurred and the flight out of control, thereby countering the drone and avoiding threatening personal life safety or interfering with the normal operation of nearby civilian electronic equipment.

[0006] The present invention is implemented by the following technical solutions:

[0007] The first object of the present invention is to provide a method for countering a drone based on acoustic resonance, comprising the following steps:

[0008] Step 1: Detect whether there are unauthorized drones in the current environment. If so, detect the location of the drone and determine the model of the drone based on its shape, propellers, logo, camera and other features.

[0009] Step 2: Obtain the acoustic wave sensitive frequency of the unauthorized drone's MEMS inertial sensor as follows:

[0010] Step 2.1: For known commercial drone models, query the drone countermeasure parameter library to obtain the acoustic wave sensitive frequency of the unauthorized drone's MEMS inertial sensor;

[0011] Step 2.2: For unauthorized drones of unknown models, two solutions can be adopted: (1) For unauthorized drones at a relatively close distance (less than 50 meters), the sound wave sensitive frequency can be tested in real time. The sound wave sensitive frequency can be determined by observing whether the drone camera gimbal is shaking and whether the flight posture is abnormal. During the test of the sound wave sensitive frequency, the test efficiency can be improved by narrowing the sweep range and reducing the sweep time. (2) For unauthorized drones at a longer distance that do not meet (1), the main distribution range of the sound wave sensitive frequency of the MEMS inertial sensors of different models of drones (i.e., the range from the first quartile to the third quartile of the sound wave sensitive frequency) is determined based on the drone countermeasure parameter library. Multiple frequency points are set at equal intervals within this range as the predicted value of the sound wave sensitive frequency of the current drone, and sound wave signals of these frequencies are emitted in sequence during the countermeasure.

[0012] Step 3: According to the position of the drone determined in step 1, adjust the angle of the drone countermeasure device, set the countermeasure parameters, interfere with the measurement results of the drone MEMS inertial sensor, and achieve countermeasures against the drone. The specific methods are as follows:

[0013] Step 3.1: According to the drone position obtained in step 1, adjust the angle of the drone countermeasure device;

[0014] Step 3.2: Set the transmission signal frequency of the drone countermeasure device to the sound wave sensitive frequency and transmit the sound wave countermeasure signal;

[0015] Step 3.3: Observe the status of the drone. If the camera gimbal shakes violently or the drone's flight posture is abnormal, the countermeasure is successful. Some drones will enter landing mode under the sound wave interference, and the drone can be captured. If the countermeasure fails, you can fine-tune the sound wave countermeasure signal frequency and the angle of the drone countermeasure device, and perform sound wave interference again until the countermeasure is successful.

[0016] In the above technical solution, further, the method for constructing the UAV countermeasure parameter library is:

[0017] A countermeasure parameter library is built for different models of commercial drones to design countermeasure signals during drone countermeasures. The specific methods are as follows:

[0018] Step 1) Building a test environment, including a drone countermeasure device, a drone to be tested, and a host computer; obtaining output data of MEMS inertial sensors of commercial drones of different models as normal data samples before testing, and calculating the data distribution interval;

[0019] Step 2) designing an acoustic wave test signal, using a sine wave waveform to perform a frequency sweep setting, wherein the acoustic wave test signal includes frequency sweep start and cutoff frequencies, frequency sweep time, and frequency sweep step length parameters;

[0020] Step 3) outputting an acoustic wave test signal, and using the drone countermeasure device to transmit the designed acoustic wave test signal to the drone to be tested;

[0021] Step 4) The host computer obtains the output data of the MEMS inertial sensor of the drone under test and compares it with the normal data samples. When the output data of the MEMS inertial sensor of the drone under test exceeds the distribution interval of the normal data samples, the frequency of the current test signal is recorded as the acoustic wave sensitive frequency of the MEMS inertial sensor of the drone under test and added to the drone countermeasure parameter library.

[0022] Furthermore, the specific method for adjusting the angle of the drone countermeasure device is as follows:

[0023] Adjust the angle of the drone countermeasure device until the angle difference between the sonic emission module and the drone is less than 0.1°.

[0024] The second object of the present invention is to provide a drone countermeasure device based on acoustic resonance, comprising the following modules:

[0025] Drone detection module, used to detect the location, model and status of drones;

[0026] The control module is used to obtain the output information of the drone detection module, display the drone location and model information, obtain the current angle of the sound wave emission module from the mechanical adjustment module, and send instructions to the mechanical adjustment module to control it to adjust the angle of the sound wave emission module; it is used to obtain the sound wave sensitive frequency from the drone countermeasure parameter library and send the sound wave signal parameters to the sound wave emission module; it also performs reset and switch operations, and displays the current emission signal parameters and countermeasure results;

[0027] The acoustic wave transmitting module is used to generate, amplify and transmit the acoustic wave counter signal according to the acoustic wave signal parameters emitted by the control module;

[0028] The mechanical adjustment module is used to adjust the angle of the sound wave emission module according to the instructions of the control module.

[0029] The beneficial effects of the present invention are:

[0030] The present invention is based on the resonance effect between the drone MEMS inertial sensor and the acoustic signal, and realizes the countermeasure effect on the drone by emitting the acoustic signal, including (1) causing the drone camera gimbal to shake violently, so that the video shot by the camera is blurred and the privacy cannot be pryed into, and (2) interfering with the drone flight control, causing the drone to enter the landing mode, and realizing the capture of the drone. The method uses the acoustic signal to realize the countermeasure of the drone, which is cost-effective and will not threaten personal life safety or interfere with the normal operation of nearby civilian electronic equipment. The present invention also discloses a method for obtaining the acoustic sensitive frequency of the drone MEMS inertial sensor. The method is easy to operate, the required test time is short, and the parameters required for the drone countermeasure device can be efficiently obtained. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 Schematic diagram of a drone countermeasure device based on acoustic wave resonance. DETAILED DESCRIPTION

[0032] like Figure 1 The UAV countermeasure device of the present invention includes a UAV detection module, an acoustic wave emission module, a control module and a mechanical adjustment module.

[0033] Among them, the drone detection module is used to detect the location, model and status of the drone;

[0034] The control module is used to obtain the output information of the drone detection module, display the drone location and model information, obtain the current angle of the sound wave emission module from the mechanical adjustment module, and send instructions to the mechanical adjustment module to control it to adjust the angle of the sound wave emission module; it is used to obtain the sound wave sensitive frequency from the drone countermeasure parameter library and send the sound wave signal parameters to the sound wave emission module; it also performs reset and switch operations, and displays the current emission signal parameters and countermeasure results;

[0035] The acoustic wave transmitting module is used to generate, amplify and transmit the acoustic wave counter signal according to the acoustic wave signal parameters emitted by the control module;

[0036] The mechanical adjustment module is used to adjust the angle of the sound wave emission module according to the instructions of the control module so that the angle difference between the sound wave emission direction and the drone is less than 0.1°.

[0037] By emitting acoustic signals to interfere with unauthorized drones, the following countermeasures can be achieved: (1) the camera gimbal vibrates violently, causing the image transmission system to restart and unable to transmit personal and commercial privacy information; (2) the drone automatically enters landing mode, allowing the drone to be captured.

[0038] Specifically, the method of the present invention is used to interfere with unauthorized drones to achieve a countermeasure effect, which specifically includes the following steps:

[0039] Step 1: Use visual sensors to detect whether there are unauthorized drones in the current environment. If there are any, detect the location of the drone and determine the model of the drone based on its shape, propellers, markings, and camera.

[0040] Step 2: Obtain the acoustic wave sensitive frequency of the unauthorized drone's MEMS inertial sensor. The specific steps are as follows:

[0041] Step 2.1: For known commercial drone models, query the drone countermeasure parameter library to obtain the acoustic wave sensitive frequency of the unauthorized drone's MEMS inertial sensor;

[0042] Step 2.2: For unauthorized drones of unknown models, two solutions are adopted: (1) For unauthorized drones with a distance of less than 50 meters, the acoustic wave sensitive frequency is directly tested in real time, and the acoustic wave sensitive frequency of the unauthorized drone's MEMS inertial sensor is determined by observing whether the drone's camera gimbal is shaking and whether the flight posture is abnormal; during the test of the acoustic wave sensitive frequency, the test efficiency is improved by narrowing the sweep frequency range and reducing the sweep frequency time; (2) For other unauthorized drones at a longer distance, the interval from the first quartile to the third quartile of the acoustic wave sensitive frequency of the MEMS inertial sensor of drones of different models is determined according to the drone countermeasure parameter library, and multiple frequency points are set at equal intervals within this range as the acoustic wave sensitive frequency prediction values ​​of the unauthorized drone's MEMS inertial sensor, and the acoustic wave signals of these frequencies are emitted in sequence during the countermeasure;

[0043] Step 3: According to the position of the drone determined in step 1, the angle of the drone countermeasure device is adjusted, and the countermeasure parameters are set according to the acoustic wave sensitive frequency of the unauthorized drone MEMS inertial sensor to interfere with the measurement results of the unauthorized drone MEMS inertial sensor to achieve countermeasures against the drone. The specific steps are as follows:

[0044] Step 3.1: According to the position of the drone obtained in step 1, adjust the angle of the drone countermeasure device so that the angle difference between the sound wave emission direction and the drone is less than 0.1°;

[0045] Step 3.2: Set the transmission signal frequency of the drone countermeasure device to the sound wave sensitive frequency and transmit the sound wave countermeasure signal;

[0046] Step 3.3: Observe the status of the drone. If the camera gimbal shakes violently or the drone's flight posture is abnormal, the countermeasure is successful. Some drones will enter landing mode under the sound wave interference, and the drone can be captured. If the countermeasure fails, you can fine-tune the sound wave countermeasure signal frequency and the angle of the drone countermeasure device, and perform sound wave interference again until the countermeasure is successful.

[0047] Among them, the construction method of the drone countermeasure parameter library is:

[0048] Step 1) Building a test environment, including a drone countermeasure device, a drone to be tested (including commercial drones of different models), and a host computer; obtaining output data of MEMS inertial sensors of commercial drones of different models before testing as normal data samples, and calculating the data distribution interval;

[0049] Step 2) designing an acoustic wave test signal, using a sine wave waveform to perform a frequency sweep setting, wherein the acoustic wave test signal includes frequency sweep start and cutoff frequencies, frequency sweep time, and frequency sweep step length parameters;

[0050] Step 3) outputting an acoustic wave test signal, and using the drone countermeasure device to transmit the designed acoustic wave test signal to the drone to be tested;

[0051] Step 4) The host computer obtains the output data of the MEMS inertial sensor of the drone under test and compares it with the normal data samples. When the output data of the MEMS inertial sensor of the drone under test exceeds the distribution interval of the normal data samples, the frequency of the current test signal is recorded as the acoustic wave sensitive frequency of the MEMS inertial sensor of the drone under test and added to the drone countermeasure parameter library.

Claims

1. A drone countermeasure method based on acoustic resonance, characterized in that: The steps include: Step 1: Detect whether there are unauthorized drones in the current environment. If so, detect the location of the drone and determine the model of the drone based on its shape, propellers, markings, and camera. Step 2: Obtain the acoustic wave sensitive frequency of the unauthorized drone's MEMS inertial sensor. The specific steps are as follows: Step 2.1: For known commercial drone models, query the drone countermeasure parameter library to obtain the acoustic wave sensitive frequency of the unauthorized drone's MEMS inertial sensor; Step 2.2: For unauthorized drones of unknown models, two solutions are adopted: (1) For unauthorized drones with a distance of less than 50 meters, the acoustic sensitivity frequency is directly tested in real time. The acoustic sensitivity frequency of the unauthorized drone's MEMS inertial sensor is determined by observing whether the drone's camera gimbal shakes and whether the flight posture is abnormal; During the test of the acoustic wave sensitive frequency, the test efficiency is improved by narrowing the frequency sweep interval and reducing the frequency sweep time; (2) For other unauthorized drones at a farther distance, the main distribution range of the acoustic wave sensitive frequencies of the MEMS inertial sensors of different models of drones is determined according to the drone countermeasure parameter library, and multiple frequency points are set at equal intervals within the range as the acoustic wave sensitive frequency prediction values ​​of the MEMS inertial sensors of the unauthorized drones, and the acoustic wave signals of these frequencies are emitted in sequence during the countermeasure; Step 3: According to the position of the drone determined in step 1, the angle of the drone countermeasure device is adjusted, and the countermeasure parameters are set according to the acoustic wave sensitive frequency of the unauthorized drone MEMS inertial sensor to interfere with the measurement results of the unauthorized drone MEMS inertial sensor to achieve countermeasures against the drone.

2. The method for countering unmanned aerial vehicles based on acoustic resonance according to claim 1, characterized in that: In step 2, the method for constructing the UAV countermeasure parameter library specifically includes the following steps: 1) Build a test environment, including a drone countermeasure device, a drone to be tested, and a host computer; before testing, obtain the output data of MEMS inertial sensors of commercial drones of different models as normal data samples, and calculate the distribution interval of normal data samples; 2) Designing an acoustic wave test signal, using a sine wave waveform for frequency sweep setting, wherein the acoustic wave test signal includes frequency sweep start and cutoff frequencies, frequency sweep time, and frequency sweep step parameters; 3) Output the acoustic wave test signal, and use the drone countermeasure device to transmit the designed acoustic wave test signal to the drone under test; 4) The host computer obtains the output data of the MEMS inertial sensor of the drone under test and compares it with the normal data samples. When the output data of the MEMS inertial sensor of the drone under test exceeds the distribution interval of the normal data samples, the frequency of the current test signal is recorded as the acoustic wave sensitive frequency of the MEMS inertial sensor of the drone under test and added to the drone countermeasure parameter library.

3. According to the drone countermeasure method based on acoustic resonance according to claim 1, in step 3, the drone countermeasure device specifically includes the following modules: Drone detection module, used to detect the location, model and status of drones; The control module is used to obtain the output information of the drone detection module, display the drone location and model information, obtain the current angle of the sound wave emission module from the mechanical adjustment module, and send instructions to the mechanical adjustment module to control it to adjust the angle of the sound wave emission module; it is used to obtain the sound wave sensitive frequency from the drone countermeasure parameter library and send the sound wave signal parameters to the sound wave emission module; it also performs reset and switch operations, and displays the current emission signal parameters and countermeasure results; The acoustic wave transmitting module is used to generate, amplify and transmit the acoustic wave counter signal according to the acoustic wave signal parameters emitted by the control module; The mechanical adjustment module is used to adjust the angle of the sound wave emission module according to the instructions of the control module.

4. The method for countering unmanned aerial vehicles based on acoustic resonance according to claim 1, characterized in that: The step 3 specifically includes the following steps: Step 3.1: According to the drone position obtained in step 1, adjust the angle of the drone countermeasure device; Step 3.2: Set the transmission signal frequency of the drone countermeasure device to the sound wave sensitive frequency, and transmit the sound wave countermeasure signal; Step 3.3: Observe the status of the drone. If the camera gimbal shakes violently or the drone's flight posture is abnormal, the countermeasure is successful. If the countermeasure fails, fine-tune the frequency of the sonic countermeasure signal and the angle of the drone's countermeasure device, and perform sonic interference again until the countermeasure is successful.

5. The method for countering unmanned aerial vehicles based on acoustic resonance according to claim 4 is characterized in that: The step 3.1: adjusting the angle of the drone countermeasure device according to the drone position obtained in step 1, and the specific method is: adjusting the angle of the drone countermeasure device until the angle difference between the sound wave emission direction and the drone is less than 0.1°.

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