A method and device for countering drones based on acoustic resonance

Abstract

This invention discloses a method and device for countering drones based on acoustic resonance. This method uses acoustic waves to interfere with a drone's camera's anti-shake compensation system and flight control system, blurring the drone's camera footage and causing it to lose control. This countermeasure prevents threats to personal safety or interference with the normal operation of nearby civilian electronic equipment. This method and device can be used to cost-effectively counter malicious drones in densely populated and built-up areas, such as urban residential areas, commercial districts, and industrial zones, protecting the privacy of individuals and businesses from theft.

Description

Technical Field

[0001] The present 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] Drone technology has developed rapidly in recent years, expanding its applications from military to civilian applications, including aerial photography, agricultural monitoring, and logistics. The widespread adoption of drones has lowered the barrier to entry, making them affordable for ordinary consumers. Furthermore, some consumers are customizing or assembling drones to meet specific needs.

[0003] However, this widespread adoption also presents a range of security risks and management challenges. For example, malicious individuals could operate drones close to residential, commercial, or industrial areas, capture video using their cameras, and transmit the data back to the control center, potentially exfiltrating personal and business information. To protect personal and corporate privacy, drone countermeasures are needed to prevent malicious drones from snooping.

[0004] Existing drone countermeasure technologies primarily include laser destruction, electromagnetic suppression jamming, navigation spoofing, and netting. However, these technologies have limitations, such as interference with civilian electronic equipment, high per-use countermeasure costs, and unsuitability for densely populated and built-up areas. Therefore, there is a need to develop cost-effective drone countermeasure technologies that prioritize safety and achieve the goal of drone countermeasures without threatening personal safety or the operation of civilian equipment. Summary of the Invention

[0005] This invention proposes a drone countermeasure method and device based on acoustic resonance. These methods are designed to cost-effectively counter malicious drones in densely populated and built-up areas, such as urban residential areas, commercial districts, and industrial zones, protecting the privacy of individuals and businesses from theft. This method and device utilizes acoustic waves to interfere with the drone's camera's anti-shake compensation system and flight control system, blurring the drone's camera footage and causing it to lose control. This countermeasure prevents drones from threatening personal 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 drones based on acoustic resonance, comprising the following steps:

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

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

[0010] Step 2.1: Query the drone countermeasure parameter library for known commercial drone models to obtain the acoustic wave sensitive frequencies of the unauthorized drone's MEMS inertial sensors;

[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: Adjust the angle of the drone countermeasure device based on the drone position determined in step 1, set the countermeasure parameters, and interfere with the drone's MEMS inertial sensor measurement results to achieve countermeasures against the drone. The specific method is as follows:

[0013] Step 3.1: Adjust the angle of the drone countermeasure device based on the drone position obtained in step 1;

[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 drone's status. 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 acoustic interference, and you can capture the drone. If the countermeasure fails, you can fine-tune the acoustic countermeasure signal frequency and the angle of the drone countermeasure device and perform acoustic 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 the drone countermeasure process. The specific methods are as follows:

[0018] Step 1) Set up a test environment, including the drone countermeasure device, the drone to be tested, and the host computer; before testing, obtain the output data of the MEMS inertial sensors of different commercial drone models as normal data samples and calculate the data distribution range;

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

[0020] Step 3) Outputting an acoustic test signal, using the drone countermeasure device to transmit the designed acoustic test signal to the drone under test;

[0021] Step 4) The host computer obtains the output data of the MEMS inertial sensor of the UAV under test and compares it with the normal data samples. When the output data of the MEMS inertial sensor of the UAV 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 UAV under test and added to the UAV countermeasure parameter library.

[0022] Furthermore, the angle of the drone countermeasure device is adjusted in the following specific methods:

[0023] Adjust the angle of the drone countermeasure device until the angle difference between the acoustic wave 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] UAV detection module, used to detect the location, model and status of UAVs;

[0026] The control module is used to obtain the output information of the drone detection module, display the drone's location and model information, obtain the current angle of the acoustic 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 acoustic wave emission module; it is used to obtain the acoustic wave sensitive frequency from the drone countermeasure parameter library and send the acoustic wave signal parameters to the acoustic 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 countermeasure signal according to the acoustic wave signal parameters sent 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's MEMS inertial sensor and the acoustic signal. By emitting an acoustic signal, the present invention achieves a countermeasure effect against the drone, including (1) causing the drone's camera gimbal to vibrate violently, blurring the video captured by the camera and preventing the user from snooping on the drone's privacy, and (2) interfering with the drone's flight control, causing the drone to enter a landing mode and achieve drone capture. This method uses acoustic signals to counter the drone, has a low cost-effectiveness ratio, and does not threaten personal safety or interfere with the normal operation of nearby civilian electronic equipment. The present invention also discloses a method for obtaining the acoustic wave sensitive frequency of the drone's MEMS inertial sensor. This method is easy to operate, requires a short test time, and can efficiently obtain the parameters required for the drone countermeasure device. 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's location and model information, obtain the current angle of the acoustic 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 acoustic wave emission module; it is used to obtain the acoustic wave sensitive frequency from the drone countermeasure parameter library and send the acoustic wave signal parameters to the acoustic 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 countermeasure signal according to the acoustic wave signal parameters sent 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 countermeasures achieved include: (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, enabling drone capture.

[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 so, detect the drone's location and determine the drone's model 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: Query the drone countermeasure parameter library for known commercial drone models to obtain the acoustic wave sensitive frequencies of the unauthorized drone's MEMS inertial sensors;

[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; in the process of testing 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 farther 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: Adjust the angle of the drone countermeasure device based on the drone position determined in step 1, set the countermeasure parameters based on the acoustic wave sensitive frequency of the unauthorized drone's MEMS inertial sensor, interfere with the unauthorized drone's MEMS inertial sensor measurement results, and achieve countermeasures against the drone; the specific steps are as follows:

[0044] Step 3.1: Based on the drone position 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 drone's status. 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 acoustic interference, and you can capture the drone. If the countermeasure fails, you can fine-tune the acoustic countermeasure signal frequency and the angle of the drone countermeasure device and perform acoustic interference again until the countermeasure is successful.

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

[0048] Step 1) Set up a test environment, including a drone countermeasure device, the drone to be tested (including commercial drones of different models), and a host computer. Before testing, obtain the output data of the MEMS inertial sensors of different commercial drone models as normal data samples and calculate the data distribution range.

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

[0050] Step 3) Outputting an acoustic test signal, using the drone countermeasure device to transmit the designed acoustic test signal to the drone under test;

[0051] Step 4) The host computer obtains the output data of the MEMS inertial sensor of the UAV under test and compares it with the normal data samples. When the output data of the MEMS inertial sensor of the UAV 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 UAV under test and added to the UAV 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 any unauthorized drones in the current environment. If so, detect the drone's location and determine the drone's model 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: Query the drone countermeasure parameter library for known commercial drone models to obtain the acoustic wave sensitive frequencies of the unauthorized drone's MEMS inertial sensors; 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. The acoustic wave sensitive frequency of the unauthorized drone's MEMS inertial sensor is determined by observing whether the drone's camera gimbal vibrates and whether its 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 transmitted in sequence during the countermeasure; Step 3: Adjust the angle of the drone countermeasure device according to the drone position determined in step 1, set the countermeasure parameters according to the acoustic wave sensitive frequency of the unauthorized drone's MEMS inertial sensor, interfere with the measurement results of the unauthorized drone's MEMS inertial sensor, and achieve countermeasures against the drone.

2. The method for countering drones 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) Set up the test environment, including the drone countermeasure device, the drone to be tested, and the host computer; before testing, obtain the output data of the MEMS inertial sensors of different commercial drone models as normal data samples, and calculate the distribution range of the 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 parameters such as frequency sweep start and cutoff frequencies, frequency sweep time, and frequency sweep step length; 3) Output the acoustic test signal and use the drone countermeasure device to transmit the designed acoustic test signal to the drone under test; 4) The host computer obtains the output data of the MEMS inertial sensor of the UAV under test and compares it with the normal data samples. When the output data of the MEMS inertial sensor of the UAV 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 UAV under test and added to the UAV countermeasure parameter library.

3. According to the method for countering drones based on acoustic resonance according to claim 1, in step 3, the drone countering device specifically includes the following modules: UAV detection module, used to detect the location, model and status of UAVs; The control module is used to obtain the output information of the drone detection module, display the drone's location and model information, obtain the current angle of the acoustic 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 acoustic wave emission module; it is used to obtain the acoustic wave sensitive frequency from the drone countermeasure parameter library and send the acoustic wave signal parameters to the acoustic 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 countermeasure signal according to the acoustic wave signal parameters sent 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 drones based on acoustic resonance according to claim 1, characterized in that: The step 3 specifically includes the following steps: Step 3.1: Adjust the angle of the drone countermeasure device based on the drone position obtained in step 1; 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 drone's status. 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 acoustic countermeasure signal frequency and the angle of the drone's countermeasure device, and perform acoustic interference again until the countermeasure is successful.

5. The method for countering drones based on acoustic resonance according to claim 4, characterized in that: Step 3.1: adjusting the angle of the drone countermeasure device according to the drone position obtained in step 1, specifically by 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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