Unmanned aerial vehicle countering method, anti-unmanned aerial vehicle equipment and storage medium

Abstract

The invention relates to the field of anti-unmanned aerial vehicle equipment, in particular to an unmanned aerial vehicle countering method, anti-unmanned aerial vehicle equipment and a storage medium, and the unmanned aerial vehicle countering method comprises the steps: obtaining flight data of a target unmanned aerial vehicle; according to a received first instruction, a fence area is determined, and the first instruction is used for generating the fence area in a fence module in the anti-unmanned aerial vehicle equipment; comparing the flight data of the target unmanned aerial vehicle with the fence area to obtain alarm information; according to the alarm information, a countering strategy for the target unmanned aerial vehicle is configured, and the countering strategy is used for countering the target unmanned aerial vehicle, so that the target unmanned aerial vehicle is not in the fence area. According to the method, the fence area is flexibly set, the flight data of the target unmanned aerial vehicle is further combined, the alarm information is dynamically adjusted, the intelligence of the anti-unmanned aerial vehicle equipment is improved, the countering strategy is customized according to the alarm information, and the requirements of different defense ranges are met.

Description

Technical Field

[0001] The present invention relates to the technical field of anti-UAV equipment, and in particular to a UAV countermeasure method, an anti-UAV equipment and a storage medium. Background Art

[0002] In today's era of rapid technological development, unmanned aerial vehicles (UAVs) such as drones are increasingly used in civil and military fields. While providing convenience and innovation, they also bring security risks that cannot be ignored.

[0003] Existing anti-UAV equipment faces a series of technical problems when dealing with drone threats: First, the monitoring limitations of anti-UAV equipment are reflected in the insufficient tracking capabilities of drones in complex environments and changing scenarios, making it difficult to achieve all-round, all-round monitoring coverage; second, the singleness of the defense strategy makes it impossible for anti-UAV equipment to take personalized defense measures for drones of different types, speeds and flight altitudes, resulting in unsatisfactory defense results; third, the intelligent analysis capabilities of anti-UAV equipment are insufficient, making it difficult to conduct in-depth analysis of the behavior patterns of drones, and thus unable to accurately judge their potential threats, resulting in frequent false alarms and missed alarms; in addition, anti-UAV equipment has poor adaptability and is difficult to cope with irregularly shaped monitoring areas and complex and changeable drone flight paths; the frequent need for human intervention not only increases the difficulty of operation, but also reduces the degree of automation and response speed of anti-UAV equipment; finally, the compatibility issues of anti-UAV equipment make it difficult to effectively integrate anti-UAV equipment with other security systems, limiting the improvement of overall security effectiveness. Summary of the invention

[0004] An object of an embodiment of the present invention is to provide a drone countermeasure method, an anti-drone device and a storage medium, which are used to solve the technical problems that the anti-drone device has incomplete monitoring, untimely alarm and inability to intelligently counter according to different situations when dealing with drones.

[0005] In a first aspect, an embodiment of the present invention provides a method for countering a drone, which is applied to an anti-drone device, and the method includes:

[0006] Obtain flight data of the target drone;

[0007] Determine a fence area according to a received first instruction, wherein the first instruction is used to generate the fence area in a fence module in the anti-UAV device;

[0008] Comparing the flight data of the target UAV with the fence area to obtain warning information;

[0009] According to the warning information, a countermeasure strategy for the target UAV is configured, where the countermeasure strategy is used to perform a countermeasure process on the target UAV so that the target UAV is not within the fence area.

[0010] In a second aspect, an embodiment of the present invention provides a drone countermeasure device based on an electronic fence, which is applied to an anti-drone device, and the device includes:

[0011] An acquisition unit, used to acquire flight data of a target UAV;

[0012] a determining unit, configured to determine a fence area according to a received first instruction, wherein the first instruction is used to generate the fence area in a fence module in the anti-UAV device;

[0013] The determination unit is further configured to compare the flight data of the target UAV with the fence area to obtain warning information;

[0014] A configuration unit is used to configure a countermeasure strategy for the target drone according to the warning information, wherein the countermeasure strategy is used to perform a countermeasure process on the target drone so that the target drone is not within the fence area.

[0015] In a third aspect, an anti-UAV device is provided, comprising a memory and a processor, wherein the memory is connected to the processor, and the processor is used to execute one or more computer programs stored in the memory, and when the processor executes the one or more computer programs, the anti-UAV device implements the UAV countermeasure method as described in the first aspect.

[0016] In a fourth aspect, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores a computer program, wherein the computer program includes program instructions, and when the program instructions are executed by a processor, the processor executes the drone countermeasure method as described in the first aspect.

[0017] In the embodiments implemented by the above-mentioned drone countermeasure method, device, anti-drone equipment and computer-readable storage medium, first, the flight data of the target drone is obtained, and secondly, the fence area is determined according to the received first instruction, and the first instruction is used to generate the fence area in the fence module in the anti-drone equipment. Then, the flight data of the target drone is compared with the fence area to obtain an alarm message. Finally, according to the alarm message, a countermeasure strategy for the target drone is configured, and the countermeasure strategy is used to perform a countermeasure process on the target drone so that the target drone is not within the fence area. By acquiring the flight data of the target UAV, this embodiment can monitor the flight status and position of the UAV in real time, and provide basic data support for subsequent countermeasures; further, the user can set the fence area through the first instruction, which reduces the complexity of operation and improves the usability of the anti-UAV equipment. Through flexible customized fence settings, it can adapt to different monitoring needs and scenarios; by comparing the flight data of the target UAV with the fence area, it can be discovered in time whether the UAV has entered or is about to enter the prohibited flight area, thereby generating alarm information and improving the response speed and early warning capability of the anti-UAV equipment; according to the alarm information, customized configuration of the countermeasure strategy for the target UAV can more effectively intervene in the UAV and ensure the specificity and pertinence of the defense measures; by implementing the countermeasure strategy, the target UAV can be effectively driven away or controlled to ensure that it is not in the fence area, thereby protecting the safety of specific targets and reducing the potential threats posed by UAVs. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

[0019] Figure 1 It is a schematic diagram of a fence setting in an anti-UAV device in one embodiment of the present invention;

[0020] Figure 2 It is a schematic flow chart of a method for countering a drone in one embodiment of the present invention;

[0021] Figure 3 It is a structural schematic diagram of a drone countermeasure device based on an electronic fence in one embodiment of the present invention;

[0022] Figure 4 It is a structural schematic diagram of an anti-UAV device in one embodiment of the present invention. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical scheme and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0024] It should be noted that, if there is no conflict, the various features in the embodiments of the present invention can be combined with each other, all within the scope of protection of the present invention. In addition, although the functional modules are divided in the device schematic diagram and the logical order is shown in the flow chart, in some cases, the steps shown or described can be performed in a different order from the module division in the device or the flow chart. Furthermore, the words "first", "second", "third", etc. used in the present invention do not limit the data and execution order, but only distinguish the same items or similar items with basically the same functions and effects.

[0025] See also Figure 1 , Figure 1 Schematic diagram of fence setting in an anti-UAV device provided in an embodiment of the present application. Anti-UAV equipment is a device used to detect, identify and counter illegal or unknown drones. Its main functions include: drone detection, target identification, fence setting, warning system and countermeasures, etc.

[0026] Specifically, drone detection: real-time detection of drone activities in the airspace through technical means such as radar, optoelectronic equipment or radio spectrum analysis; target identification: identifying the model, flight path and operation mode of the drone, and distinguishing between friendly drones and potential threats; fence setting: defining and managing no-fly zones or restricted flight areas to ensure that drones operate within designated areas; warning system: issuing warning messages when drones enter no-fly zones or violate flight rules; countermeasures: implementing countermeasures against illegal or unidentified drones, such as interfering with their communication links, hijacking their control or shooting them down; data recording: recording all detected drone activities and the implementation of countermeasures for subsequent analysis and tracking.

[0027] For example, the fence setting process can be as follows Figure 1 As shown, the process is as follows: the operator enters the fence management interface through the anti-UAV device interface. The fence management interface contains an operation button sub-area, which includes adding a fence, editing a fence, and deleting a fence.

[0028] Specifically, if you want to add a fence, click the "Add Fence" button to enter the fence setting interface, enter the fence name, type, color, size and other information, and save the fence after completion; if you want to edit a fence, select the fence to be edited in the fence list, click the "Edit Fence" button, modify the relevant information of the fence, and save the changes after completion; if you want to delete a fence, select the fence to be deleted in the fence list, click the "Delete Fence" button, and delete the fence from the list after confirmation.

[0029] Furthermore, after the operation is completed, the fence will be displayed in the fence list, which contains information such as the fence's name, type, color, and size, making it easier for operators to view and manage.

[0030] Among them, Fence Name sets a unique name for each fence for easy identification and management; Fence Type is to select the fence type according to actual needs, such as no-fly zone, restricted flight zone, etc. Different types of fences have different management and countermeasures; Color specifies different colors for the fence, so as to intuitively distinguish different fence areas on the management interface and map; Fence Size is to set the specific size and range of the fence to ensure that the fence covers the required area and prevent drones from entering sensitive areas.

[0031] Therefore, the anti-drone equipment will monitor the flight data of the drone in real time according to the set fence area. When the drone enters the fence area or approaches the fence boundary, an alarm message is automatically generated to remind the operator to take measures. According to the alarm message, the anti-drone equipment will configure and implement corresponding countermeasures, such as interfering with the drone's communication link, hijacking control or issuing a warning signal to ensure that the drone cannot fly in the fence area.

[0032] Through the above steps, operators can effectively set up and manage fence areas in anti-UAV equipment to ensure that the flight activities of drones are within a safe and controllable range.

[0033] In view of this, the present application proposes a drone countermeasure method based on electronic fence to solve the above problems. The following is a detailed introduction.

[0034] See also Figure 2 , Figure 2 A flowchart of a method for countering a drone provided by an embodiment of the present invention is applied to an anti-drone device. The method includes the following steps:

[0035] S10. Obtain flight data of the target UAV.

[0036] The flight data includes location information, flight speed, acceleration, altitude, direction and other information.

[0037] Specifically, the location information is the specific coordinates of the UAV in the airspace, including longitude, latitude and altitude; the flight speed is the flight speed of the UAV in the air, including horizontal speed and vertical speed; the acceleration is the acceleration of the UAV in all directions during the flight; the altitude is the height of the UAV relative to the ground; the direction is the flight direction of the UAV, including heading angle, pitch angle and roll angle.

[0038] The acquisition process may include but is not limited to the following methods: detecting through a radar system, tracking using photoelectric sensors (such as cameras, infrared detectors, etc.), monitoring the communication signals of the drone using radio spectrum analysis equipment to obtain its control instructions and flight status, directly acquiring based on the GPS module, and acquiring through the IMU sensor inside the drone.

[0039] Alternatively, in indoor environments or where GPS signals are limited, other technologies such as UWB (ultra-wideband), indoor positioning systems, or visual SLAM (simultaneous localization and mapping) technology may be needed to obtain location information.

[0040] Optionally, in mountainous areas or near tall buildings, the altitude data may need to be corrected in conjunction with terrain data.

[0041] It can be seen that the anti-UAV equipment in this embodiment can monitor the flight status of the UAV in real time and obtain a variety of flight data, which is conducive to timely detection and countermeasures of potential threats.

[0042] S20. Determine a fence area according to a received first instruction, where the first instruction is used to generate the fence area in a fence module in the anti-UAV device.

[0043] The fence area is a virtual protection area set according to the instructions issued by the operator or the automated program. The fence area is used to restrict or prohibit the flight activities of drones (foreign or unauthorized). The fence area can be of any shape, but is usually circular, rectangular or polygonal to meet different protection needs, which is not limited here.

[0044] The first instruction is usually input by an operator through the anti-UAV device interface, or generated by a preset automation rule. The first instruction can be transmitted to the anti-UAV device through a graphical interface, a command line, or other input methods. The first instruction includes relevant information about the fence area, such as the fence name, type, location, size, and shape. The specific introduction of the fence area is as described in the previous embodiment, and will not be repeated here.

[0045] Among them, the fence module can generate a fence area according to the parsed instruction content. The fence module is responsible for managing and maintaining all fence related information. The fence area is intuitively displayed on the interface or map of the anti-UAV device, and the operator can view and manage the fence through the visual interface.

[0046] Among them, the fence area can be dynamically adjusted according to actual needs, and the operator can modify the scope and attributes of the fence at any time to ensure that the anti-UAV equipment can flexibly respond to various situations; it can support multi-level fence management and set different levels of fence areas, such as core areas and early warning areas.

[0047] It can be seen that in this embodiment, by receiving and processing the first instruction, the anti-UAV device can generate a fence area in the fence module and monitor the flight activities of the UAV in real time to ensure airspace safety and protection of sensitive areas.

[0048] S30: Compare the flight data of the target UAV with the fence area to obtain warning information.

[0049] The purpose of the comparison is to determine whether the drone is approaching, crossing or is already within the fenced area.

[0050] Specifically, the comparison process may include but is not limited to position comparison, speed and acceleration analysis, height comparison or direction analysis. Position comparison is for the anti-UAV equipment to compare the real-time position information of the UAV with the boundary of the fence area to determine whether the UAV has entered or approached the fence area; speed and acceleration analysis is to predict the flight trajectory of the UAV by analyzing its flight speed and acceleration to determine whether the UAV has a tendency to enter the fence area; height comparison is to determine whether the UAV violates the height limit based on the flight height of the UAV and the height limit of the fence area; direction analysis is to predict its possible flight path by analyzing the flight direction of the UAV to determine whether it will enter the fence area.

[0051] Therefore, when the flight data of the drone meets any of the following conditions, the anti-drone equipment generates an alarm message: the drone enters the fenced area; the drone approaches the fenced area and has a tendency to enter; the drone violates the altitude limit; the drone performs abnormal flight actions (such as sharp turns, sudden acceleration, etc.) in the fenced area.

[0052] Among them, the warning information can be divided into different types, such as early warning, warning and emergency warning, corresponding to different risk levels. The warning information includes detailed information such as the location, type, behavior characteristics, threat level, etc. of the target drone.

[0053] It can be seen that in this embodiment, through the comparison and alarm mechanism, the alarm level can be dynamically adjusted according to the specific situation of the target, thereby improving the intelligence level of the anti-UAV equipment; and through precise distance judgment and area division, more accurate alarm information can be provided, reducing false alarms and missed alarms, and improving the reliability of the anti-UAV equipment.

[0054] S40: configuring a countermeasure strategy for the target UAV according to the warning information, wherein the countermeasure strategy is used to perform a countermeasure process on the target UAV so that the target UAV is not within the fence area.

[0055] The severity of the threat is determined based on the warning information, and the severity of the threat determines the intensity and urgency of the countermeasure strategy. A higher severity usually corresponds to a stronger countermeasure.

[0056] Among them, countermeasures are predefined measures or action plans used to intervene in illegal drones. The purpose of countermeasures is to ensure that drones do not pose a threat to security within the fenced area. For example, you can configure multiple levels of countermeasures, from low-intensity interference measures to high-intensity physical interception, and gradually upgrade the countermeasures.

[0057] Among them, countermeasures are specific actions to implement countermeasure strategies, which may include technical means or physical measures aimed at forcing the drone to leave the fenced area or make it lose control.

[0058] Optionally, the countermeasure strategy may include but is not limited to the following: interference blocking method, capture control method, information induction method, and legal and regulatory means, etc.

[0059] Specifically, the jamming and blocking method is to send jamming signals to the target object to destroy its communication link or control system, making it unable to fly normally or perform tasks. Jamming equipment or anti-UAV equipment can be used to send jamming signals of specific frequencies to the target UAV, thereby quickly and effectively preventing the target object from taking action.

[0060] Specifically, the capture and control method is to capture and control the target drone through physical means (such as net guns, drone catchers, etc.) for subsequent processing. The communication link or control system can be used to send false information or instructions to the target drone, thereby changing its trajectory without directly interfering with the target drone.

[0061] Specifically, the information induction method is to send false information or instructions to the target UAV, inducing it to change its flight trajectory or the way it performs its mission, thereby preventing it from entering the fenced area or posing a threat; using communication links or control systems to send false information or instructions to the target UAV, thereby changing its trajectory without directly interfering with the target UAV.

[0062] Specifically, the legal and regulatory means are to punish or restrict target drones that violate regulations through laws, regulations and regulatory measures to maintain the safety of the fenced area, formulate relevant laws, regulations and regulatory measures, and punish or restrict violations. Therefore, it can ensure the safety of the fenced area from the institutional level and increase the cost of violations.

[0063] Optionally, during the execution of the countermeasure strategy, the status of the target drone and the countermeasure effect can be monitored in real time to ensure the effectiveness of the strategy. According to the real-time monitoring data, the countermeasure strategy can be dynamically adjusted to optimize the countermeasure effect and ensure that the target drone no longer enters the fenced area. Alternatively, multiple countermeasure strategies can be combined to deal with complex and high-risk situations and ensure multi-level defense.

[0064] It can be seen that in this embodiment, by configuring a countermeasure strategy for the target drone according to the warning information, the anti-drone equipment can effectively intervene and handle the target drone to ensure that it no longer enters or stays in the fenced area, thereby ensuring airspace safety and protection of sensitive areas.

[0065] By acquiring the flight data of the target UAV, this embodiment can monitor the flight status and position of the UAV in real time, and provide basic data support for subsequent countermeasures; further, the user can set the fence area through the first instruction, which reduces the complexity of operation and improves the usability of the anti-UAV equipment. Through flexible customized fence settings, it can adapt to different monitoring needs and scenarios; by comparing the flight data of the target UAV with the fence area, it can be discovered in time whether the UAV has entered or is about to enter the prohibited flight area, thereby generating alarm information and improving the response speed and early warning capability of the anti-UAV equipment; according to the alarm information, customized configuration of the countermeasure strategy for the target UAV can more effectively intervene in the UAV and ensure the specificity and pertinence of the defense measures; by implementing the countermeasure strategy, the target UAV can be effectively driven away or controlled to ensure that it is not in the fence area, thereby protecting the safety of specific targets and reducing the potential threats posed by UAVs.

[0066] In one embodiment, obtaining the flight data of the target UAV includes: monitoring the flight data of the target UAV within a first preset time range in real time to obtain the operation trajectory of the target UAV; inputting the operation trajectory into a preset trajectory model to obtain the flight data of the target UAV output by the preset trajectory model.

[0067] Among them, real-time monitoring means that anti-UAV equipment continuously receives and updates the flight data of target UAVs to ensure the real-time and accuracy of the data.

[0068] The first preset time range is a time range set to collect the flight data of the drone, for example, 5 minutes, 10 minutes, etc.

[0069] The running trajectory is a time series of geographical locations showing the movement route of the drone. The process of obtaining the running trajectory can be: the anti-drone device processes the flight data monitored in real time, removes noise and outliers, and generates the running trajectory of the target drone within a first preset time range based on the processed flight data.

[0070] The preset trajectory model outputs the predicted flight data of the target UAV, including future position information, speed, direction, etc. The preset trajectory model can be a machine learning model trained based on historical data, or a physical law or statistical method.

[0071] In the specific implementation, the training process of the preset trajectory model data is as follows: collect the running trajectory data of the target object, including historical position, speed, acceleration and other information. The data can come from sensors, surveillance cameras, GPS, etc.; clean the collected data and remove outliers. Convert the data into a format suitable for machine learning or deep learning algorithm processing; extract key features such as position, speed, acceleration, direction, etc. from the trajectory data, which will be used to train the prediction model; select a suitable machine learning or deep learning algorithm. This embodiment can use the LSTM machine learning model to predict the position of the drone, and use the extracted feature data to train the model so that it can learn the pattern and regularity of the trajectory; finally, evaluate the performance of the model through methods such as cross-validation, adjust the model parameters according to the evaluation results, and optimize the model performance. Use the trained model to predict the future trajectory of the target object, and judge whether the target object is likely to enter the fenced area based on the prediction results.

[0072] It can be seen that in this embodiment, by real-time monitoring of the flight data of the target UAV and inputting its running trajectory into the preset trajectory model, the anti-UAV equipment can accurately predict the future flight path of the UAV and take effective countermeasures in time to ensure the safety of sensitive areas.

[0073] In one embodiment, the comparing the flight data of the target UAV with the fence area to obtain the alarm information includes: parsing the flight data of the target UAV to obtain the position information of the target UAV; determining whether the position information of the target UAV falls within the fence area; if so, determining that the alarm information is the first alarm information; or, if not, calculating the target distance between the target UAV and the fence area according to a preset position determination method, and determining the alarm information according to the target distance.

[0074] Among them, analysis refers to extracting location information from the drone's flight data, usually including latitude and longitude coordinates and other possible positioning data.

[0075] The fenced area can be a warning area or a core area. The scope of the core area is smaller than that of the warning area. Therefore, the warning area is a larger area used to warn of the approach of drones in advance; the core area is a smaller area, usually a high-security level area, and any entry will trigger a high-priority alarm.

[0076] In this embodiment, only one kind of fence area is set, that is, the fence area is a warning area or a core area.

[0077] Specifically, if the drone's location information falls into the warning area or the core area, the first alarm information is triggered, indicating that the drone has entered a sensitive area.

[0078] Among them, the first alarm information is usually of a warning nature, prompting the drone operator to pay attention that the drone is approaching or has entered the warning area.

[0079] The preset position determination method is to calculate the intersection between the target UAV and the fence area, and obtain the distance between the target UAV and the fence area according to the position information corresponding to the intersection and the position information of the target UAV.

[0080] The above-mentioned preset position determination method may be calculated by ray method, projection method, etc., which is not limited here.

[0081] Specifically, the process of the ray method is to emit a ray from the position of the target drone in any direction; determine the intersection of this ray with the boundary of the fence area. If the fence area is a polygon defined by multiple vertices, it is necessary to calculate the intersection of the ray with each edge; further determine the number of intersections. If the number of intersections is an odd number, the drone is located in the fence area; if it is an even number, the drone is outside the fence area; if the drone is outside the fence area, calculate the distance from the nearest intersection to the drone's position. This distance is the distance between the target drone and the fence area.

[0082] Specifically, the projection method is to project the position of the target drone onto the shortest side of the fence area, and calculate the vertical distance from the drone position to each side of the fence area; further determine the position of the projection point. If the projection point is on the edge or inside the fence area, the drone is inside the fence area; if the projection point is outside the fence area, the drone is outside the fence area; if the drone is outside the fence area, calculate the distance from the drone position to the projection point, which is the distance between the target drone and the fence area.

[0083] Among them, the ray method is applicable to fence areas of any shape, especially complex polygonal areas; the projection method is applicable to fence areas of regular shapes, such as rectangles or circles.

[0084] Among them, the target distance is the shortest distance between the drone and the boundary of the fence area.

[0085] Specifically, in the process of determining the level and content of the warning information according to the target distance, if the target distance is close, the drone is prompted to approach the fence area and a low-level warning is issued; if the target distance is far, no warning or prompt information may be issued.

[0086] Optionally, the severity of the warning information is dynamically adjusted according to the dynamic behavior and position changes of the drone. For example, if the drone continues to approach the core area, the warning information may be upgraded.

[0087] It can be seen that in this embodiment, by parsing the flight data of the target drone and determining whether its location information falls into the fence area, the anti-drone equipment can issue warning information in a timely manner to ensure the safety of sensitive areas, and further provide early warning information based on the distance between the drone and the fence area to help operators take measures in advance.

[0088] In one embodiment, the fenced area includes a first area and a second area, the range of the first area is smaller than the range of the second area, and the flight data of the target UAV is compared with the fenced area to obtain the alarm information, including: parsing the flight data of the target UAV to obtain the location information of the target UAV; judging whether the location information of the target UAV falls within the first area; if so, determining that the alarm information is the first alarm information; or, if not, calculating the first target distance between the target UAV and the first area and the second target distance between the target UAV and the second area according to a preset position determination method, and determining the alarm information according to the first target distance and the second target distance.

[0089] The first area may be a warning area; the second area may be a core area. The range of the core area is smaller than the range of the warning area. The first area and the second area in this embodiment are consistent with those described in the previous embodiment, but in this embodiment, multiple fence areas are set, that is, the fence areas are warning areas and core areas.

[0090] The preset position determination method is to calculate the intersection between the target drone and the first area and the second area, and obtain the distance between the target drone and the first area and the second area according to the position information corresponding to the intersection and the position information of the target drone. The specific preset position determination method is consistent with the content mentioned in the previous embodiment, and will not be repeated here.

[0091] Among them, the first target distance is to calculate the shortest distance between the UAV and the warning area (first area); the second target distance is to calculate the shortest distance between the UAV and the core area (second area).

[0092] The level of the warning information can be set according to the distance between the drone and the fenced area. For example, if the drone is far away from the core area but close to the warning area, the anti-drone device will issue a lower level of warning; if the drone is very close to or enters the core area, the anti-drone device will issue a high level of warning.

[0093] For example, if a drone approaches the warning area, a low-level alarm will be issued to prompt the drone to approach the warning area; if the drone approaches the core area, a high-level alarm will be issued to prompt the drone to approach the core area; if the drone is far away from both the warning area and the core area, no alarm or prompt information may be issued.

[0094] It can be seen that in this embodiment, by parsing the flight data of the target drone and determining whether its location information falls into the warning area, the anti-drone equipment can promptly issue the first warning information to ensure the safety of sensitive areas. If the drone does not enter the warning area, the level and content of the warning information are further determined by calculating the target distance from the warning area and the core area. Therefore, the setting of multiple fence areas and the alarm mechanism can provide more comprehensive security protection and early warning capabilities.

[0095] In one embodiment, the flight data of the target UAV is compared with the fence area to obtain the alarm information, including: parsing the flight data of the target UAV to obtain the location information of the target UAV; converting the location information of the target UAV according to a preset hash algorithm to obtain a converted target hash value; acquiring the coordinate information of the fence area; converting the coordinate information of the fence area according to the preset hash algorithm to obtain a converted fence hash value; comparing the target hash value with the fence hash value to obtain a target fence boundary; determining the target distance between the target UAV and the fence area according to the location information corresponding to the target fence boundary and the location information of the target UAV; and determining the alarm information according to the target distance.

[0096] The hash algorithm is an algorithm that converts input data into a fixed-length string to ensure the uniqueness and privacy of the data. The preset hash algorithm can be MD5, SHA-1, or SHA-256, etc., and there is no unique restriction here.

[0097] The target hash value is the drone location information converted by the hash algorithm. The conversion is to convert the coordinate value into a string form and apply the hash algorithm to generate the hash value.

[0098] The coordinate information of the fence area includes the longitude and latitude of the boundary point, etc. The coordinate information of the fence area can be preset and stored in the database of the anti-UAV device.

[0099] Specifically, the target hash value is compared with the fence hash value to determine the positional relationship of the target drone relative to the fence area, and the specific fence boundary where the drone is located is determined through the comparison result.

[0100] Among them, the target distance is the shortest distance between the drone and the fence area, which is usually calculated using the Euclidean distance formula or Manhattan distance.

[0101] For example, the current location information of the target drone is detected as longitude: 120.1234, latitude: 30.5678, altitude: 100 meters; the SHA-256 hash algorithm is used to convert the drone's location information, and the longitude, latitude and altitude are used as input to obtain the converted target hash value, SHA-256 ("120.1234, 30.5678, 100") = "3a7bd3e2360a2a0b93d1b5e8f4a2c4e8...".

[0102] Assume that the boundary coordinates of the warning area are (120.1200, 30.5600) and (120.1300, 30.5700), and the boundary coordinates of the core area are (120.1250, 30.5650) and (120.1270, 30.5670). Perform the same hash algorithm conversion on the boundary coordinates of the warning area and the core area.

[0103] SHA-256("120.1200,30.5600")="5d41402abc4b2a76b9719d911017c592..." SHA-256("120.1300,30.5700")="7d793037a0760186574b0282f2f435e7..." SHA-256("120.1250,30.5650")="9d5ed678fe57bcca610140957afab571..." SHA-256("120.1270,30.5670")="e99a18c428cb38d5f260853678922e03..."

[0104] The target hash value is compared with the fence hash value. Through the comparison result, it is determined that the drone is located on the boundary of the warning area and the core area. According to the location information corresponding to the target fence boundary and the location information of the drone, the target distance is calculated using the Euclidean distance formula, and the target distance is 0.0036. 0.0036 is within the range of the warning area, so an intermediate alarm is generated. The corresponding alarm content is that the drone is approaching the core area, please strengthen monitoring.

[0105] It can be seen that in this embodiment, by parsing the flight data of the drone and using the preset hash algorithm to convert the location information, the anti-drone device can accurately calculate the distance between the drone and the fence area. That is, the use of the hash algorithm can improve the speed and efficiency of data processing, improve the accuracy and response speed of generating alarm information, and ensure the efficient operation and safety of the anti-drone equipment.

[0106] In one embodiment, determining the warning information according to the target distance includes: using the target distance as a query identifier, querying a preset distance and warning database to obtain the warning information corresponding to the target distance.

[0107] The preset distance and alarm database stores various possible target differences and alarm information corresponding to different target differences, including alarm levels, prompt information, etc. Therefore, the target difference is used as a query identifier to search for corresponding alarm information in the database.

[0108] The target distance refers to the distance between the target drone and the fence area calculated in the previous steps.

[0109] The target distance is used as a query identifier, i.e. a key value used to find information in the database. The database uses this distance value to retrieve relevant information.

[0110] It can be seen that in this embodiment, appropriate warning information can be automatically determined and issued according to the real-time position of the drone and the preset safety rules, thereby effectively managing airspace safety.

[0111] In one embodiment, determining the alarm information based on the first target distance and the second target distance includes: performing a difference operation on the first target distance and the second target distance to obtain a target difference; using the target difference as a query identifier, querying in a preset distance and alarm database to obtain the alarm information corresponding to the target difference.

[0112] The target difference reflects the position of the drone relative to the warning area and the core area. If the target difference is positive, it means that the drone is closer to the warning area; if the target difference is negative, it means that the drone is closer to the core area; if the target difference is zero, it means that the drone is on the boundary between the warning area and the core area.

[0113] Among them, according to the size of the target difference, a multi-level alarm mechanism is set to provide multi-level alarm information.

[0114] The preset distance and alarm database stores various possible target differences and alarm information corresponding to different target differences, including alarm levels, prompt information, etc. Therefore, the target difference is used as a query identifier to search for corresponding alarm information in the database.

[0115] It can be seen that in this embodiment, by performing a difference operation on the first target distance and the second target distance, and using the target difference to query in the preset database, the corresponding alarm information can be quickly obtained, thereby improving the accuracy and response speed of the alarm information and ensuring the efficient operation and safety of the anti-UAV equipment.

[0116] In one embodiment, after comparing the flight data of the target UAV with the fence area to obtain the alarm information, the method also includes: parsing the flight data of the target UAV to obtain the flight speed of the target UAV; if the flight speed is greater than the preset flight speed, adjusting the alarm information to target alarm information, and the alarm level corresponding to the target alarm information is greater than the alarm level of the alarm information.

[0117] Among them, flight data usually includes multiple parameters such as speed, altitude, and position, and the analysis process is to filter out the required specific parameters.

[0118] Among them, flight speed refers to the speed of the drone at a certain moment or over a period of time, usually in kilometers per hour or meters per second.

[0119] The preset flight speed is a pre-set speed threshold used to determine whether the flight speed of the drone is within a safe range. This threshold is set based on regulations, safety considerations, and requirements for specific airspaces, and is not a unique restriction. For example, the preset flight speed is 10 meters per second.

[0120] Among them, target warning information refers to the warning information issued when the flight speed exceeds the preset threshold. It usually has a higher warning level than ordinary warning information. Different warning levels may require different response measures. For example, a level 1 warning may only require monitoring, while a level 3 warning may require immediate action.

[0121] It can be seen that in this embodiment, the warning level can be automatically increased according to the flight speed of the drone, thereby more effectively managing airspace safety and preventing potential risks.

[0122] It should be noted that, in each of the above-mentioned embodiments, there is not necessarily a certain order between the above-mentioned steps. A person skilled in the art can understand, based on the description of the embodiments of the present application, that in different embodiments, the above-mentioned steps may have different execution orders, that is, they may be executed in parallel, may be executed interchangeably, and so on.

[0123] As another aspect of the embodiment of the present application, the embodiment of the present application provides a drone countermeasure device based on an electronic fence. The drone countermeasure device based on an electronic fence can be a software module, and the software module includes a number of instructions stored in a memory, and the processor can access the memory and call the instructions for execution to complete the drone countermeasure method described in each of the above embodiments.

[0124] See also Figure 3 , Figure 3 Schematic diagram of the structure of a drone countermeasure device based on an electronic fence provided in an embodiment of the present application. The drone countermeasure device based on an electronic fence is applied to anti-drone equipment, such as Figure 3 As shown, the drone countermeasure device 300 based on electronic fence includes:

[0125] An acquisition unit 301 is used to acquire flight data of a target UAV;

[0126] A determination unit 302 is configured to determine a fence area according to a received first instruction, wherein the first instruction is used to generate the fence area in a fence module in the anti-UAV device;

[0127] The determination unit 302 is further configured to compare the flight data of the target UAV with the fence area to obtain warning information;

[0128] The configuration unit 303 is used to configure a countermeasure strategy for the target drone according to the warning information, wherein the countermeasure strategy is used to perform a countermeasure process on the target drone so that the target drone is not within the fence area.

[0129] By acquiring the flight data of the target UAV, this embodiment can monitor the flight status and position of the UAV in real time, and provide basic data support for subsequent countermeasures; further, the user can set the fence area through the first instruction, which reduces the complexity of operation and improves the usability of the anti-UAV equipment. Through flexible customized fence settings, it can adapt to different monitoring needs and scenarios; by comparing the flight data of the target UAV with the fence area, it can be discovered in time whether the UAV has entered or is about to enter the prohibited flight area, thereby generating alarm information and improving the response speed and early warning capability of the anti-UAV equipment; according to the alarm information, customized configuration of the countermeasure strategy for the target UAV can more effectively intervene in the UAV and ensure the specificity and pertinence of the defense measures; by implementing the countermeasure strategy, the target UAV can be effectively driven away or controlled to ensure that it is not in the fence area, thereby protecting the safety of specific targets and reducing the potential threats posed by UAVs.

[0130] In one embodiment, in the acquisition of the flight data of the target UAV, the acquisition unit 301 is further used to: monitor the flight data of the target UAV within a first preset time range in real time to obtain the operation trajectory of the target UAV; input the operation trajectory into a preset trajectory model to obtain the flight data of the target UAV output by the preset trajectory model.

[0131] In one embodiment, in the step of comparing the flight data of the target UAV with the fence area to obtain the warning information, the determination unit 302 is further used to: parse the flight data of the target UAV to obtain the position information of the target UAV; determine whether the position information of the target UAV falls within the fence area; if so, determine that the warning information is the first warning information; or, if not, calculate the target distance between the target UAV and the fence area according to a preset position determination method, and determine the warning information according to the target distance.

[0132] In one embodiment, the fenced area includes a first area and a second area, and when the scope of the first area is smaller than that of the second area, the flight data of the target UAV is compared with the fenced area to obtain the alarm information, and the determination unit 302 is further used to: parse the flight data of the target UAV to obtain the location information of the target UAV; determine whether the location information of the target UAV falls within the first area; if so, determine that the alarm information is the first alarm information; or, if not, calculate the first target distance between the target UAV and the first area and the second target distance between the target UAV and the second area according to a preset position determination method, and determine the alarm information according to the first target distance and the second target distance.

[0133] In one embodiment, in the process of comparing the flight data of the target UAV with the fence area to obtain the warning information, the determination unit 302 is further used to: parse the flight data of the target UAV to obtain the location information of the target UAV; convert the location information of the target UAV according to a preset hash algorithm to obtain a converted target hash value; obtain the coordinate information of the fence area; convert the coordinate information of the fence area according to the preset hash algorithm to obtain a converted fence hash value; compare the target hash value with the fence hash value to obtain a target fence boundary; determine the target distance between the target UAV and the fence area according to the location information corresponding to the target fence boundary and the location information of the target UAV; and determine the warning information according to the target distance.

[0134] In one embodiment, in determining the alarm information according to the target distance, the determining unit 302 is further used to: use the target distance as a query identifier, query in a preset distance and alarm database, and obtain the alarm information corresponding to the target distance.

[0135] In one embodiment, in determining the alarm information based on the first target distance and the second target distance, the determination unit 302 is further used to: perform a difference operation on the first target distance and the second target distance to obtain a target difference; use the target difference as a query identifier, query in a preset distance and alarm database, and obtain the alarm information corresponding to the target difference.

[0136] In one embodiment, after comparing the flight data of the target UAV with the fence area to obtain the alarm information, the determination unit 302 is also used to: parse the flight data of the target UAV to obtain the flight speed of the target UAV; if the flight speed is greater than the preset flight speed, adjust the alarm information to target alarm information, and the alarm level corresponding to the target alarm information is greater than the alarm level of the alarm information.

[0137] It should be noted that the above-mentioned drone countermeasure device based on electronic fence can execute the drone countermeasure method provided in the implementation mode of this application, and has the corresponding functional modules and beneficial effects of the execution method. For technical details not fully described in the implementation mode of the drone countermeasure device based on electronic fence, please refer to the drone countermeasure method provided in the implementation modes S10-S30 of this application.

[0138] See also Figure 4 , Figure 4 Schematic diagram of the structure of an anti-UAV device provided in an embodiment of the present application. Figure 4As shown, the anti-UAV device 400 includes a processor 401 and a memory 402. The processor 401 is in communication connection with the memory 402.

[0139] The processor 401 is configured to support the anti-UAV device to perform the corresponding functions in the UAV countermeasure method in the above method embodiment. The processor 401 can be a central processing unit (CPU), a network processor (NP), a hardware chip or any combination thereof. The above hardware chip can be an application specific integrated circuit (ASIC), a programmable logic device (PLD) or a combination thereof. The above PLD can be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL) or any combination thereof.

[0140] Specifically, the processor 401 may include a sending card, a receiving card and a driving chip.

[0141] The memory 402 is used to store program codes, etc. The memory 402 may include a volatile memory (VM), such as a random access memory (RAM); the memory 402 may also include a non-volatile memory (NVM), such as a read-only memory (ROM), a flash memory, a hard disk drive (HDD) or a solid-state drive (SSD); the memory 402 may also include a combination of the above-mentioned types of memories.

[0142] An embodiment of the present application also provides a computer-readable storage medium, which stores a computer program. The computer program includes program instructions, and when the program instructions are executed by a computer, the computer executes the drone countermeasure method as described in the above embodiment.

[0143] A person skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium, and when the program is executed, it can include the processes of the embodiments of the above-mentioned methods. The storage medium can be a disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc.

[0144] The above disclosure is only the preferred embodiment of the present application, which certainly cannot be used to limit the scope of rights of the present application. Therefore, equivalent changes made according to the claims of the present application are still within the scope covered by the present application.

Claims

1. A method for countering a drone, characterized in that: Applied to anti-UAV equipment, the method comprises: Obtain flight data of the target drone; Determine a fence area according to a received first instruction, wherein the first instruction is used to generate the fence area in a fence module in the anti-UAV device; Comparing the flight data of the target UAV with the fence area to obtain warning information; According to the warning information, a countermeasure strategy for the target UAV is configured, where the countermeasure strategy is used to perform a countermeasure process on the target UAV so that the target UAV is not within the fence area.

2. The method according to claim 1, characterized in that The step of obtaining the flight data of the target UAV includes: Real-time monitoring of the flight data of the target UAV within a first preset time range to obtain the running trajectory of the target UAV; The running trajectory is input into a preset trajectory model to obtain flight data of the target UAV output by the preset trajectory model.

3. The method according to claim 1, characterized in that The step of comparing the flight data of the target UAV with the fence area to obtain warning information includes: Analyze the flight data of the target UAV to obtain the location information of the target UAV; Determining whether the location information of the target drone falls within the fence area; If it does, then the warning information is determined to be the first warning information; or, If it does not fall within, the target distance between the target UAV and the fence area is calculated according to a preset position determination method, and the warning information is determined according to the target distance.

4. The method according to claim 1, characterized in that: The fence area includes a first area and a second area, the range of the first area is smaller than the range of the second area, and the flight data of the target UAV is compared with the fence area to obtain the warning information, including: Analyze the flight data of the target UAV to obtain the location information of the target UAV; Determining whether the location information of the target UAV falls within the first area; If it does, then the warning information is determined to be the first warning information; or, If it does not fall within, the first target distance between the target UAV and the first area and the second target distance between the target UAV and the second area are calculated according to a preset position determination method, and the alarm information is determined according to the first target distance and the second target distance.

5. The method according to claim 1, characterized in that The step of comparing the flight data of the target UAV with the fence area to obtain warning information includes: Analyze the flight data of the target UAV to obtain the location information of the target UAV; Convert the location information of the target drone according to a preset hash algorithm to obtain a converted target hash value; Obtaining coordinate information of the fence area; Convert the coordinate information of the fence area according to the preset hash algorithm to obtain a converted fence hash value; Compare the target hash value with the fence hash value to obtain a target fence boundary; Determine a target distance between the target UAV and the fence area according to the position information corresponding to the target fence boundary and the position information of the target UAV; According to the target distance, warning information is determined.

6. The method according to claim 3 or 5, characterized in that: The step of determining warning information according to the target distance includes: The target distance is used as a query identifier, and a query is performed in a preset distance and alarm database to obtain alarm information corresponding to the target distance.

7. The method according to claim 4, characterized in that The determining of warning information according to the first target distance and the second target distance includes: Performing a difference operation on the first target distance and the second target distance to obtain a target difference; The target difference is used as a query identifier, and a query is performed in a preset distance and alarm database to obtain alarm information corresponding to the target difference.

8. The method according to claim 6 or 7, characterized in that: After comparing the flight data of the target UAV with the fence area to obtain warning information, the method further includes: Analyze the flight data of the target UAV to obtain the flight speed of the target UAV; If the flight speed is greater than a preset flight speed, the warning information is adjusted to target warning information, and the warning level corresponding to the target warning information is greater than the warning level of the warning information.

9. An anti-UAV device, comprising a memory and a processor, wherein the memory is connected to the processor, and the processor is used to execute one or more computer programs stored in the memory, and when the processor executes the one or more computer programs, the anti-UAV device executes the UAV countermeasure method as described in any one of claims 1-8.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, which includes program instructions. When the program instructions are executed by a processor, the processor executes the drone countermeasure method according to any one of claims 1 to 8.

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