Unmanned aerial vehicle interception method and system based on radar detection

Abstract

The invention relates to the technical field of anti-unmanned aerial vehicles, in particular to an unmanned aerial vehicle interception method and system based on radar detection, and the method comprises the steps: obtaining the related information of an unmanned aerial vehicle in a target region through a radar; related information of the unmanned aerial vehicle is preprocessed through a radar, and a guiding instruction is generated and sent to the intercepting unmanned aerial vehicle; the interception unmanned aerial vehicle generates a guidance instruction based on the guidance instruction; and the interception unmanned aerial vehicle performs collision interception on the invading unmanned aerial vehicle based on the guidance instruction. The invention aims to improve the interception efficiency and precision of the non-standard unmanned aerial vehicle and reduce the cost of the unmanned aerial vehicle interception system.

Description

Technical Field

[0001] The present invention relates to the technical field of anti-UAV, and in particular to a method and system for intercepting UAV based on radar detection. Background Art

[0002] With the rapid update and iteration of the drone industry and technology, the deep penetration of advanced technologies has not only revolutionized the design architecture and manufacturing process of drones, but also greatly reduced the technical threshold of DIY drones and significantly reduced cost investment, which has given rise to various non-standard drones on the market. These drones are highly customized and heterogeneous in many aspects such as flight characteristics, communication frequency bands, and navigation modes.

[0003] From a professional perspective of anti-UAV technology application, in-depth analysis shows that existing anti-UAV systems have exposed many thorny problems when dealing with non-standard UAV challenges, which has severely limited the efficiency and accuracy of intercepting non-standard UAVs, and the research and development costs of UAV interception systems remain high. Traditional detection methods, such as radio reconnaissance, radar, optoelectronic equipment, and acoustic equipment each have their shortcomings. Acoustic equipment is limited by the propagation characteristics of sound waves, and its effective range is extremely limited. It can only perform auxiliary discrimination functions in the near field; although optoelectronic equipment performs well in target visualization confirmation, it is limited by factors such as field of view and lighting conditions, and it is difficult to undertake the task of wide-area search;

[0004] At present, the target search burden of existing technologies mainly adopts radio reconnaissance and radar detection methods. However, due to the non-standard frequency remote control image transmission link used by non-standard UAVs, the radio reconnaissance equipment has to expand the ultra-wide system reconnaissance bandwidth to achieve effective monitoring, and it is necessary to invest huge R&D efforts to overcome the extremely complex signal recognition and demodulation algorithm. This not only causes the difficulty of technical research to rise exponentially, but also makes the R&D cost soar. Although radar detection has the inherent advantage of not relying on external radiation sources, in theory there is no essential difference in the detection of non-standard and standard UAVs, but when facing typical high-speed small radar cross-sectional area (RCS) non-standard UAVs such as FPVs, due to their own weak reflection signals and low radar echo intensity, the detection distance is sharply compressed and the reaction time is greatly reduced. It is difficult to quickly and accurately lock the target in the ever-changing airspace environment, which leads to the reduction of the interception efficiency and accuracy of the UAV. Summary of the invention

[0005] In order to improve the interception efficiency and accuracy of non-standard drones and reduce the cost of drone interception systems, the present invention provides a drone interception method and system based on radar detection. The technical solutions adopted are as follows:

[0006] The technical solution of the first aspect of the present invention provides a method for intercepting a UAV based on radar detection, the method comprising:

[0007] Use radar to obtain relevant information about drones in the target area;

[0008] Use radar to pre-process the relevant information of the drone, generate guidance instructions and send them to the intercepting drone;

[0009] The intercepting UAV generates guidance instructions based on the guidance instructions;

[0010] The intercepting drone conducts collision interception on the invading drone based on the guidance instructions.

[0011] Furthermore, the use of radar to obtain relevant information about the invading drone in the target area includes:

[0012] It uses four phased array radars and continuously monitors drones in the target area based on a multi-target time slot allocation strategy;

[0013] The four-sided phased array radar extracts the azimuth, overlooking and distance information of the UAV in each time slot of the target area and constructs the communication frame.

[0014] Further, using radar to pre-process the relevant information of the intruding drone, generate guidance instructions and send them to the intercepting drone, including:

[0015] Use four phased array radars to send authentication information to drones;

[0016] Determine whether it is an intrusion drone based on the response result of the identity authentication information;

[0017] Use four phased array radars to continuously track intruding drones;

[0018] Extract the track of the intruding drone and extract the threat level assessment results;

[0019] According to the threat level assessment results, the coordinate data of the invading drone is converted to the preset coordinate system and guidance instructions are generated.

[0020] Furthermore, the intercepting UAV generates guidance instructions based on the guidance instructions, including:

[0021] According to the real-time position and attitude data of the intercepted UAV, the guidance instructions are converted to the intercepted UAV coordinate system;

[0022] Generate guidance instructions based on the guidance instructions converted to the intercepting UAV coordinate system.

[0023] Further, according to the guidance instruction converted to the intercepting UAV coordinate system, generating the guidance instruction includes:

[0024] According to the relative relationship between the intercepted UAV and the intruding UAV, a relative navigation model of the intercepted UAV and the intruding UAV is constructed;

[0025] Generate axial overload guidance instructions according to the relative navigation model;

[0026] Generate lateral overload guidance instructions based on the relative navigation model.

[0027] Furthermore, the expression of the relative navigation model is:

[0028]

[0029] Where V is the speed of intercepting the UAV; V m is the speed of the invading drone; q is the angle between the position line of the intercepting drone and the invading drone and the horizontal plane of the coordinate system, that is, the line of sight angle; σ is the angle between the speed of the intercepting drone and the horizontal plane of the coordinate system, that is, the speed inclination angle of the intercepting drone; η is the speed lead angle of the intercepting drone; σ m is the speed inclination angle of the invading drone; η m is the velocity lead angle of the invading UAV; r is the real-time distance between the intercepting UAV and the invading UAV.

[0030] Furthermore, according to the relative navigation model, the expression for generating the lateral overload guidance command is:

[0031]

[0032] Where a[k] represents the axial overload guidance command at the kth sampling moment; N is the preset effective navigation ratio, which is a dimensionless coefficient; |V r (k)| is the absolute value of the speed of the invading UAV relative to the intercepting UAV; It represents the angle change rate, that is, the rate at which the position of the invading UAV changes relative to the intercepting UAV.

[0033] Furthermore, according to the relative navigation model, the expression for generating the axial overload guidance command is:

[0034]

[0035] In the formula, a x [k] represents the lateral overload guidance command at the kth sampling moment; Represents the rate of change of the invading drone's speed relative to the intercepting drone over time.

[0036] The technical solution of the second aspect of the present invention provides a drone interception system based on radar detection, which adopts the drone interception method based on radar detection described in the technical solution of the first aspect of the present invention, and the system includes:

[0037] A radar module configured to obtain relevant information of the UAV in the target area, pre-process the relevant information of the UAV, generate a guidance instruction and send the guidance instruction to the intercepting UAV;

[0038] The communication guidance module is provided on the intercepting UAV and is configured to receive the guidance instructions sent by the radar module and send them to the intercepting UAV after decoding;

[0039] The interceptor drone is configured to generate guidance instructions based on the decoded guidance instructions according to the position and attitude information of the interceptor drone, and perform collision interception on the invading drone.

[0040] The radar display and control module is configured to display the real-time situation of intercepting drones.

[0041] Furthermore, the radar module comprises:

[0042] A radar radio frequency front end configured to up-convert and down-convert electromagnetic wave signals;

[0043] a signal and information processing module configured to generate and process radar detection waveforms and communication waveforms;

[0044] A first integrated navigation module configured to extract position and attitude data of the radar;

[0045] The power supply module is configured to be electrically connected to the radar radio frequency front end, the signal and information processing module, the first combined navigation module, and the communication guidance module.

[0046] The present invention has the following beneficial effects:

[0047] The drone interception method and system based on radar detection provided by the present invention obtain relevant information of drones in the target area through radar and generate guidance instructions to send to the intercepting drone. It does not need to configure complex equipment such as radio reconnaissance and optoelectronics. It relies on the expansion of radar communication functions, only needs to optimize the radar timing, and does not need to change the underlying hardware. The intercepting drone only needs to receive guidance instructions from the radar in one direction, which greatly reduces the complexity and cost of drone interception and is easy to be promoted to various existing radars. The method does not rely on external radiation sources, can stably capture the traces of non-standard drones, and overcome the radio reconnaissance dilemma caused by non-standard frequency remote control image transmission links. Whether it is a non-standard or standard drone, it can be discovered as long as it enters the detection range. On the other hand, the multi-target detection and tracking performance based on radar can cope with cluster targets in multiple directions and different batches, and has excellent anti-saturation attack capabilities. The separation of radar guidance instructions and drone guidance instructions can adapt to different drones to install communication guidance modules, and flexibly select interception drones for diversified interception targets, which comprehensively improves the interception accuracy and adaptability of the drone interception system. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0049] Figure 1 A method flow chart of a UAV interception method based on radar detection provided by one embodiment of the present invention;

[0050] Figure 2 A schematic diagram of radar communication waveform time slot allocation provided by one embodiment of the present invention;

[0051] Figure 3 A schematic diagram of a communication frame structure provided by an embodiment of the present invention;

[0052] Figure 4 A schematic diagram of an interception process of a UAV interception based on radar detection provided by an embodiment of the present invention;

[0053] Figure 5 A schematic diagram of coordinate relationship conversion provided by an embodiment of the present invention

[0054] Figure 6 A schematic diagram of a UAV interception system based on radar detection provided by an embodiment of the present invention

[0055] Figure 7 A schematic diagram of the connection relationship of a UAV interception system based on radar detection provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0056] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the following is a detailed description of the specific implementation method, structure, features and effects of a drone interception method and system based on radar detection proposed by the present invention in combination with the accompanying drawings and preferred embodiments. In the following description, different "one embodiment" or "another embodiment" does not necessarily refer to the same embodiment. In addition, specific features, structures or characteristics in one or more embodiments may be combined in any suitable form.

[0057] Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

[0058] The specific scheme of a UAV interception method and system based on radar detection provided by the present invention is described in detail below with reference to the accompanying drawings.

[0059] See also Figure 1 , which shows a method flow chart of a method for intercepting a drone based on radar detection provided by an embodiment of the present invention, the method comprising:

[0060] Step S100: using radar to obtain relevant information of drones in the target area;

[0061] Step S100 specifically includes:

[0062] Step S110: Use a four-sided phased array radar and continuously monitor the UAVs in the target area based on a multi-target time slot allocation strategy; specifically, the four-sided phased array radar uses four array planes, each of which is responsible for an airspace with an azimuth of 90° and an elevation of 60°. The four array planes cover a wide airspace with an azimuth of 360° and an elevation of 60°. The radar continuously searches for targets in the airspace. Each array plane uses a two-position phased array system, which can search the airspace with an azimuth of 90° and an elevation of 60° within a time range of 1s to 2s, achieving a high probability of intercepting the target; when no UAV enters the radar's surveillance When in the airspace, the radar searches and monitors according to the duty procedure by default, emitting electromagnetic waves at a fixed frequency and receiving reflected waves; once a drone enters the airspace, the radar intercepts the target, reports and displays the target's azimuth, pitch and distance information, and the radar automatically enters the target tracking process to stably track the target; this embodiment prefers QPSK as the radar communication waveform, with a bandwidth of 20MHz. The communication waveform is generated by the radar waveform generator. The waveform generator uses a DA device to digitally produce the required waveform and then output an analog waveform through the DA, which is sent to the intercepting drone through the radar channel. The key to this step is how to effectively embed the communication waveform into the radar's signal and information processing process, please refer to Figure 2 As shown, this embodiment adopts the technical solution of time-division multiplexing. Considering the effective time of the radar berth residence, the communication frame rate and the bandwidth, it is selected to send a communication every 9.9ms. Each communication time is 100us and divided into 10 time slots, each time slot is 10us. During this period, the amount of data transmitted is 128B, and the effective bandwidth of each transmission is 12.8Mbps.

[0063] Step S120: The four-sided phased array radar extracts the azimuth, overlooking and distance information of the UAV in each time slot of the target area and constructs a communication frame; specifically, according to the time slot analysis, the communication frame rate is configured to be 100 Hz, and the guidance instruction frame rate meets the control requirements for intercepting the UAV; the 10 time slots provided in this embodiment are mainly used for intercepting multiple targets, and the number of time slots can be adjusted according to actual needs; this embodiment is preferably as follows Figure 3The 128B communication frame structure shown in the figure contains three parts of information, namely the frame header and frame tail of the communication frame, which occupy 8B in total. The other part is the communication protocol and communication verification used for communication unpacking, which contains information such as the number of the communication node. For example, the guidance instruction sent by the radar marks the received communication number. Only the communication guidance module of the intercepting drone with the corresponding number processes the received information, and the communication guidance module with no corresponding number does not process it. The protocol and verification part occupies 24B; the remaining 96B is used as the information carrying area, and double-precision floating-point data is used to carry the position and speed coordinate information of the invading drone and the intercepting drone; because the position and speed of the drone need to be accurately described in three-dimensional space, each coordinate uses double-precision floating-point data, each coordinate occupies 8B, and a total of 12 coordinate data 96B provide the intercepting drone with target parameters to support precise interception operations.

[0064] This embodiment uses a four-sided phased array radar, with its all-round and rapid airspace monitoring capabilities, combined with a multi-target time slot allocation strategy, to ensure high-probability discovery and continuous tracking of potential drone threats. It integrates communication functions through time-division multiplexing technology, and achieves efficient data interaction without affecting the normal detection of the radar, thereby improving the resource utilization efficiency of the system. On the other hand, the communication frame structure and adapted communication frame rate designed in this embodiment ensure that the guidance instructions can be accurately and timely transmitted to the intercepting drone, providing support for the subsequent interception of the drone to generate guidance instructions based on precise target parameters and implement precise interception.

[0065] Step S200: pre-processing the relevant information of the UAV by using radar, generating guidance instructions and sending them to the intercepting UAV;

[0066] See also Figure 4 As shown, step S200 specifically includes:

[0067] Step S210: Use the four-sided phased array radar to send identity authentication information to the UAV; specifically, this embodiment adds a radar identity authentication function. Since the four-sided phased array radar has a communication function, the four-sided phased array radar can send an identity authentication instruction to the target UAV. If the UAV is a standard UAV, that is, it is equipped with a pre-authorized identity recognition device, adapted to the communication protocol of ADS-B or other types of transponders; when the four-sided phased array radar broadcasts the identity authentication instruction to the airspace, the transponder configured on the standard UAV can quickly receive and identify the instruction. Since these transponders are pre-authorized to be installed and have been debugged for compatibility with the radar system, they can automatically organize and return the registration information of the UAV according to the instruction requirements, including key identifiers such as model, serial number, and affiliated unit, as well as current real-time flight information, covering detailed parameters such as position coordinates, velocity vector, and flight attitude angle, and feedback to the radar through a dedicated communication link.

[0068] Step S220: Determine whether it is an intruding drone based on the response result of the identity authentication information; if no response signal matching the characteristics is received within the specified time, or the received signal is disorganized and cannot be parsed and matched, the drone is determined to be a potential intruding drone, triggering the subsequent key tracking and interception process.

[0069] Step S230: Continuously track the invading UAV using the four-sided phased array radar; once the four-sided phased array radar identifies the invading UAV, it can adjust the beam scanning strategy to focus on tracking the invading target; it can continuously transmit electromagnetic waves to the invading UAV by optimizing the beam pointing algorithm, and receive its reflected waves, and continuously refine the measurement accuracy of the dynamic parameters such as the position, speed and acceleration of the invading UAV; at the same time, it can also establish a tracking file exclusive to the invading UAV, and record the change nodes of its flight trajectory in real time, including the evolution sequence of the position coordinates over time and the dynamic adjustment of the velocity vector, to provide a basis for subsequent threat assessment;

[0070] Step S240: Extract the track of the invading drone and the threat level assessment result; specifically, in the process of continuously tracking the invading drone, the radar data processing system can generate the precise track of the invading drone based on the accumulated large amount of position information by using the track fitting algorithm; then, combined with the track of the invading drone and the flight parameters acquired in real time, such as speed, flight altitude change trend, and the distance approach rate to the protected target, the built-in threat level assessment model is started, and the threat level assessment module can assign the corresponding threat level to the invading drone through weighted calculation, threshold judgment, etc. For example, for drones with low speed, long distance and flight direction away from key facilities, it is determined to be a low threat level, and only observation records are made; while for drones that rush towards important facilities at high speed and frequently change their flight posture to test defense, it is determined to be a high threat level, and tough interception measures are taken. The radar detects the invading drone and the intercepting drone in real time, and the flight tracks of both parties will be displayed on the radar display and control device. The radar continuously sends the location and flight speed information of the invading drone to the intercepting drone, and the intercepting drone plans its own flight track to directly collide with the invading drone.

[0071] Step S250: According to the threat level assessment result, the coordinate data of the invading UAV is converted to a preset coordinate system, and a guidance instruction is generated; specifically, when it is determined that hard interception measures need to be taken, based on the difference between the radar's own detection coordinate system and the measurement coordinate system of the intercepting UAV combined navigation module, the radar information processing module activates the coordinate conversion program; this embodiment preferably uses the northeast sky coordinate system as a coordinate bridge, firstly obtains the installation orientation and attitude parameters of the radar relative to the northeast sky coordinate system, and accurately converts the detected invading UAV position and speed information to the northeast sky coordinate system by constructing a rotation matrix and a translation vector; the converted coordinate data can intuitively reflect the invading UAV's information in terms of geographical orientation, altitude, etc., which is convenient for intercepting UAVs to understand and apply.

[0072] In summary, step S200 can quickly screen out a large number of standard drones flying normally in a complex airspace environment by sending identity authentication information to the drone and identifying the intruding drone based on the response result, thereby reducing the misjudgment rate and unnecessary interception operations, avoiding interference with legal flight activities, accurately locking potential threat targets, and improving the pertinence and efficiency of the interception system. On the other hand, through continuous tracking of intruding drones, track extraction, and threat level assessment, the behavioral dynamics of intruding targets can be fully grasped, resources can be flexibly allocated according to their threat level, and response measures of different levels can be taken, which not only ensures timely and tough treatment of high-threat targets, but also reduces overreaction to low-threat targets, and optimizes the overall defense effectiveness of the system. Finally, the coordinate data of the intruding drone is converted to a preset coordinate system and precise guidance instructions are generated, which effectively solves the problem of information fusion between different coordinate systems and ensures that the intercepting drone can accurately receive and execute instructions.

[0073] Step S300: The intercepted UAV generates guidance instructions based on the guidance instructions;

[0074] Step S300 specifically includes:

[0075] Step S310: According to the real-time position and attitude data of the intercepted UAV, the guidance instruction is converted to the intercepted UAV coordinate system; for details, see Figure 5As shown, the second combined navigation module equipped on the intercepting UAV measures the longitude and latitude and other position information and attitude information of the intercepting UAV in real time. The attitude information includes the Euler angle of the UAV body relative to the current northeast sky, that is, the heading angle, the angle between the projection of the longitudinal axis of the body on the horizontal plane and the northeast direction, the pitch angle, the angle between the longitudinal axis of the body and the horizontal plane, the roll angle, and the rotation angle of the body around the longitudinal axis; when the control module of the intercepting UAV receives the guidance instruction from the radar, which contains the position and speed information of the invading UAV in the radar northeast sky coordinate system, the control module first extracts this information, and reads the current position and attitude data of the UAV itself provided by the second combined navigation module. Then, according to the coordinate conversion mathematical model, the rotation matrix and translation vector are constructed. The rotation matrix can be determined based on the current Euler angle of the UAV, and the rotation relationship between the body coordinate system and the northeast sky coordinate system is described by trigonometric function operation. The translation vector is constructed based on the position information of the UAV itself, which is used to compensate for the displacement between the origins of the two coordinate systems. Using these matrices and vectors, the position and speed information of the invading UAV is linearly transformed, and it is accurately solved from the radar northeast sky coordinate system to the current real-time body coordinate system of the intercepting UAV itself. For example, for position coordinates, the coordinate components in the northeast sky coordinate system are converted into relative coordinates in the forward, lateral, and vertical directions in the body coordinate system through matrix multiplication. The speed information is converted in the same way, so that the drone can intuitively understand the position and motion state of the invading target relative to its own body.

[0076] Based on the position and speed information of the invading drone converted to the intercepting drone body coordinate system, the control module of the intercepting drone calls the built-in guidance algorithm to calculate the guidance instructions required by the drone in the body coordinate system, including axial overload (acceleration) instructions and lateral overload (acceleration) instructions. For example, when the proportional guidance method is adopted, the lateral overload instruction is calculated according to the relative speed, sight angle and its rate of change between the invading drone and the intercepting drone, combined with the effective navigation ratio, to guide the drone to accurately adjust the flight path in the lateral direction and approach the invading target; the axial overload instruction is determined comprehensively based on the change trend of the relative speed, the expected interception time and other factors, and is used to adjust the forward speed of the drone to ensure that it can meet the invading drone at the right time. This embodiment solves the problem of information matching between different coordinate systems by converting the guidance instruction to the intercepting drone coordinate system, so that the intercepting drone can intuitively understand the position and movement of the invading target from its own body perspective, improve the information processing efficiency, and avoid flight deviations caused by coordinate system confusion. The guidance instructions are accurately calculated based on the converted information to ensure that the intercepting drone can efficiently approach the invading drone along the optimal trajectory, thereby improving the accuracy and reliability of the interception system and increasing the probability of successfully intercepting the invading drone.

[0077] Step S320: Generate guidance instructions based on the guidance instructions converted to the interception drone coordinate system.

[0078] Step S320 specifically includes:

[0079] Step S321: construct a relative navigation model of the intercepting drone and the invading drone according to the relative relationship between the intercepting drone and the invading drone; according to the relative relationship between the intercepting drone and the invading drone, the expression of the relative navigation model can be obtained as follows:

[0080]

[0081] Where V is the speed of intercepting the UAV; V m is the speed of the invading drone; q is the angle between the position line of the intercepting drone and the invading drone and the horizontal plane of the coordinate system, that is, the line of sight angle; σ is the angle between the speed of the intercepting drone and the horizontal plane of the coordinate system, that is, the speed inclination angle of the intercepting drone; η is the speed lead angle of the intercepting drone; σ m is the speed inclination angle of the invading drone; η m is the velocity lead angle of the invading UAV; r is the real-time distance between the intercepting UAV and the invading UAV;

[0082] Step S322: Generate a lateral overload guidance instruction according to the relative navigation model; the expression for generating the axial overload guidance instruction is:

[0083]

[0084] Where a[k] represents the axial overload guidance command at the kth sampling moment; N is the preset effective navigation ratio, which is a dimensionless coefficient; |V r (k)| is the absolute value of the speed of the invading UAV relative to the intercepting UAV; It represents the angle change rate, that is, the rate at which the position of the invading UAV changes relative to the intercepting UAV.

[0085] Step S323: Generate an axial overload guidance instruction according to the relative navigation model; the expression for generating a lateral overload guidance instruction is:

[0086]

[0087] In the formula, a x [k] represents the lateral overload guidance command at the kth sampling moment; represents the rate of change of the speed of the invading drone relative to the intercepting drone over time;

[0088] The relative navigation model constructed in this embodiment comprehensively and accurately depicts the dynamic relative relationship between the intercepting drone and the invading drone based on the position, speed and angle information. Based on the axial overload guidance command generated by the model, by considering the relative speed and the rate of change of the sight angle, combined with the pre-set effective navigation ratio, the acceleration of the intercepting drone along the longitudinal axis of the fuselage is finely regulated to ensure that its forward speed matches that of the invading drone, which can avoid situations such as "rear-end collision" or "missing", and improve the interception success rate; the lateral overload guidance command accurately guides the drone to adjust its flight path in the lateral direction according to the relative speed change rate, so that it can always aim at the invading target, and cooperates with the axial guidance command to finely configure the flight trajectory from two dimensions, realizing all-round and high-precision interception of the invading drone.

[0089] Step S400: The intercepting drone performs collision interception on the invading drone based on the guidance instruction; specifically, after receiving the guidance instruction generated based on the previous step, the control module of the intercepting drone immediately starts the instruction parsing program to identify and extract the key parameters in the axial overload instruction and the lateral overload instruction; according to the instruction obtained by parsing, the control module of the intercepting drone accurately adjusts the motor speed by controlling the electronic speed regulator. For example, when the axial overload instruction requires acceleration, the power supply voltage of the corresponding motor is increased to increase the motor speed, thereby driving the propeller to generate greater thrust and pushing the drone to accelerate along the longitudinal axis of the body; conversely, if deceleration is required, the power supply voltage is reduced; for the lateral overload instruction, the control module can coordinately adjust the speed difference of multiple motors according to the lateral acceleration requirements in the instruction, and use the aerodynamic characteristics of the drone to generate lateral force on the body, thereby achieving lateral displacement and changing the flight attitude and path.

[0090] In summary, the drone interception method based on radar detection provided by the present invention is aimed at new drones, especially low-altitude intrusions of non-standard drones. On the basis of traditional radar and hardware, the radar communication function is given by changing the waveform. With radar as the core, the detection function of the radar is used to realize the detection and tracking of intruding drones, and the intruding drone information is output in real time. The communication function of the radar is used to launch interception drones, and the interception drones are guided in real time to intercept the intruding drones; with the help of the radar's simultaneous search and tracking and multi-target tracking capabilities, it is possible to intercept targets of different batches in multiple directions and cluster intruding drone targets, thereby increasing the drone interception system's ability to resist saturation attacks.

[0091] See also Figure 6 and Figure 7 As shown, it shows a schematic diagram of the structure of a drone interception system based on radar detection provided by an embodiment of the present invention, and the system includes:

[0092] A radar module configured to obtain relevant information of the UAV in the target area, pre-process the relevant information of the UAV, generate a guidance instruction and send the guidance instruction to the intercepting UAV;

[0093] The communication guidance module is provided on the intercepting UAV and is configured to receive the guidance instructions sent by the radar module and send them to the intercepting UAV after decoding;

[0094] The interceptor drone is configured to generate guidance instructions based on the decoded guidance instructions according to the position and attitude information of the interceptor drone, and perform collision interception on the invading drone.

[0095] The radar display and control module is configured to display the real-time situation of intercepting the UAV; the radar display and control module is configured with automatic and manual control interception paths;

[0096] The drone interception system based on radar detection provided in this embodiment detects and tracks invading drones with radar, issues danger warnings for target behaviors, launches our own intercepting drones, and sends the location information of the invading drones to our own intercepting drones via radar in real time. The intercepting drones calculate the interception guidance instructions and guide the invading drones according to the location and speed information of the invading drones, ultimately achieving a hard collision between the two drones and intercepting the invading drones.

[0097] Preferably, the radar module comprises:

[0098] The radar RF front end is configured to perform up-conversion and down-conversion of electromagnetic wave signals, that is, to move the intermediate frequency signal to the radio frequency or to complete the down-conversion of the radio frequency signal to the intermediate frequency;

[0099] A signal and information processing module is configured to generate and process radar detection waveforms and communication waveforms to realize radar search and tracking as well as communication modulation, demodulation and encoding and decoding functions;

[0100] A first integrated navigation module configured to extract position and attitude data of the radar;

[0101] A power supply module is configured to be electrically connected to the radar radio frequency front end, the signal and information processing module, the first combined navigation module, and the communication guidance module. The power supply module provides power to the entire radar module and provides a 28 volt DC power supply;

[0102] Preferably, the intercepting drone comprises:

[0103] The UAV flight execution unit, the control module and the second combined navigation module, the second combined navigation is used to measure the current position and attitude information of the intercepted UAV, the control module receives the guidance instructions input by the communication guidance equipment, calculates the next guidance instructions according to the current position and attitude information of the UAV measured by the combined navigation, and sends the guidance instructions to the UAV flight execution unit to complete the entire guidance process.

[0104] It should be noted that the sequence of the above embodiments of the present invention is only for description and does not represent the advantages and disadvantages of the embodiments. The processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0105] The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referenced to each other, and each embodiment focuses on the differences from other embodiments.

Claims

1. A drone interception method based on radar detection, characterized in that: The method comprises: Use radar to obtain relevant information about drones in the target area; Use radar to pre-process the relevant information of the drone, generate guidance instructions and send them to the intercepting drone; The intercepting UAV generates guidance instructions based on the guidance instructions; The intercepting drone conducts collision interception on the invading drone based on the guidance instructions.

2. The drone interception method based on radar detection as claimed in claim 1, characterized in that: Using radar to obtain relevant information about intruding drones in the target area includes: It uses four phased array radars and continuously monitors drones in the target area based on a multi-target time slot allocation strategy; The four-sided phased array radar extracts the azimuth, overlooking and distance information of the UAV in each time slot of the target area and constructs the communication frame.

3. The drone interception method based on radar detection as claimed in claim 2, characterized in that: Using radar to pre-process the relevant information of the invading drone, generate guidance instructions and send them to the intercepting drone, including: Use four phased array radars to send authentication information to drones; Determine whether it is an intrusion drone based on the response result of the identity authentication information; Use four phased array radars to continuously track intruding drones; Extract the track of the intruding drone and extract the threat level assessment results; According to the threat level assessment results, the coordinate data of the invading drone is converted to the preset coordinate system and guidance instructions are generated.

4. The drone interception method based on radar detection as claimed in claim 1, characterized in that: The interception UAV generates guidance instructions based on the guidance instructions, including: According to the real-time position and attitude data of the intercepted UAV, the guidance instructions are converted to the intercepted UAV coordinate system; Generate guidance instructions based on the guidance instructions converted to the intercepting UAV coordinate system.

5. The drone interception method based on radar detection as claimed in claim 4, characterized in that: According to the guidance instructions converted to the intercepting UAV coordinate system, the guidance instructions generated include: According to the relative relationship between the intercepted UAV and the intruding UAV, a relative navigation model of the intercepted UAV and the intruding UAV is constructed; Generate axial overload guidance instructions according to the relative navigation model; Generate lateral overload guidance instructions based on the relative navigation model.

6. The method for intercepting a UAV based on radar detection as claimed in claim 5, characterized in that: The expression of the relative navigation model is: Where V is the speed of intercepting the UAV; V m is the speed of the invading drone; q is the angle between the position line of the intercepting drone and the invading drone and the horizontal plane of the coordinate system, that is, the line of sight angle; σ is the angle between the speed of the intercepting drone and the horizontal plane of the coordinate system, that is, the speed inclination angle of the intercepting drone; η is the speed lead angle of the intercepting drone; σ m is the speed inclination angle of the invading drone; η m is the velocity lead angle of the invading UAV; r is the real-time distance between the intercepting UAV and the invading UAV.

7. The method for intercepting a UAV based on radar detection as claimed in claim 6, characterized in that: According to the relative navigation model, the expression for generating the lateral overload guidance command is: Where a[k] represents the axial overload guidance command at the kth sampling moment; N is the preset effective navigation ratio, which is a dimensionless coefficient; |V r (k)| is the absolute value of the speed of the invading UAV relative to the intercepting UAV; It represents the angle change rate, that is, the rate at which the position of the invading UAV changes relative to the intercepting UAV.

8. The method for intercepting a UAV based on radar detection as claimed in claim 6, characterized in that: According to the relative navigation model, the expression for generating the axial overload guidance command is: In the formula, a x [k] represents the lateral overload guidance command at the kth sampling moment; Represents the rate of change of the invading drone's speed relative to the intercepting drone over time.

9. The drone interception system based on radar detection is characterized by: The drone interception method based on radar detection according to any one of claims 1 to 8 is adopted, and the system comprises: A radar module configured to obtain relevant information of the UAV in the target area, pre-process the relevant information of the UAV, generate a guidance instruction and send the guidance instruction to the intercepting UAV; The communication guidance module is provided on the intercepting UAV and is configured to receive the guidance instructions sent by the radar module and send them to the intercepting UAV after decoding; The interceptor drone is configured to generate guidance instructions based on the decoded guidance instructions according to the position and attitude information of the interceptor drone, and perform collision interception on the invading drone. The radar display and control module is configured to display the real-time situation of intercepting drones.

10. The radar detection-based drone interception system according to claim 9, characterized in that: The radar module comprises: A radar radio frequency front end configured to up-convert and down-convert electromagnetic wave signals; a signal and information processing module configured to generate and process radar detection waveforms and communication waveforms; A first integrated navigation module configured to extract position and attitude data of the radar; The power supply module is configured to be electrically connected to the radar radio frequency front end, the signal and information processing module, the first combined navigation module, and the communication guidance module.

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