A Cognitive Anti-Jamming Method for Hierarchical Linkage of Unmanned Clusters

Abstract

The present invention provides a cognitive anti-jamming method for hierarchical linkage of unmanned clusters, which relates to the technical field of measurement and control communication, and solves the limitation problem of unmanned clusters due to the relatively high interference intensity and threat interference level. In this method, according to the interference cognitive evaluation results of the unmanned cluster, a three-level cognitive anti-jamming strategy is adopted to complete the efficient protection against external electromagnetic interference signals, so that the measurement and control link of the unmanned cluster is restored to normal. In the three-level cognitive anti-jamming strategy, the in-terminal passive suppression strategy independently executes passive interference suppression inside each terminal, the inter-terminal autonomous protection strategy jointly executes active interference avoidance by all terminals in the unmanned cluster, and the station-terminal joint protection strategy performs data linkage between the measurement and control station and the unmanned cluster, and executes cognitive strong interference protection processing based on the decision-making results of the measurement and control station. The present invention combines the characteristics of unmanned clusters, enhances their interference perception and cognitive abilities, and improves the anti-jamming ability of unmanned clusters in harsh electromagnetic environments.

Description

Technical Field

[0001] The present invention relates to the field of measurement and control communication technology and is applied to the interference protection process of unmanned clusters in complex electromagnetic environments. Specifically, it relates to a cognitive anti-jamming method for hierarchical linkage of unmanned clusters. Background Art

[0002] Unmanned cluster technology, especially cluster systems composed of small unmanned platforms, has become a key technology field that countries around the world are competing to develop in recent years. Such systems are composed of various types of micro and small unmanned devices such as unmanned aerial vehicles, cruise missiles, unmanned vehicles, and unmanned boats. Relying on the basic mission capabilities of individual platforms, and through efficient collaborative interaction between platforms to achieve the improvement of overall functions. These cluster systems are built based on open architecture and artificial intelligence technology, and have advantages such as strong anti-destruction ability, low cost, and distributed functions, and are widely used in military and civilian fields.

[0003] In complex confrontation environments, unmanned clusters can perform a series of tasks such as collaborative search, interference, attack, reconnaissance, and strike. Their characteristics include high density, strong coordination and flexibility, as well as significant cost-effectiveness and robustness, thus providing a scale effect and excellent task completion ability. However, under the condition of complex electromagnetic environment, ensuring the reliable transmission of service data has become one of the main challenges faced by unmanned clusters.

[0004] Current anti-jamming measures mostly focus on the optimization of measurement and control communication systems, such as traditional methods like frequency hopping, spread spectrum, and time-frequency-spatial domain interference suppression. These technologies have been largely mature. With the progress of technology, combined with research in fields such as cognitive radio, game theory, and artificial intelligence, adaptive anti-jamming and intelligent anti-jamming technologies have also been deeply explored. However, existing anti-jamming strategies usually do not fully consider the unique attributes of individual platforms in unmanned clusters.

[0005] Taking unmanned aerial vehicles as an example, this unmanned cluster often operates at low altitudes and approaches targets to perform tasks, so it is more likely to be detected by targets and suffer targeted interference. Approaching the target means receiving a higher intensity of interference signals and facing a more serious interference threat. At the same time, individuals in unmanned clusters are usually resource-constrained micro and small platforms with limited load capacity, power consumption, and computing power, which makes it difficult to deploy advanced hardware such as phased array antennas, restricting their interference suppression ability in the airspace.

[0006] Given the greater threats faced by unmanned clusters in the same harsh electromagnetic environment, existing anti-jamming technologies need to go beyond traditional anti-jamming means for measurement and control links, and their development direction is to introduce a hierarchical sensing and decision-making mechanism. This can enable unmanned clusters to enhance their cognitive ability to interference, implement a more proactive and flexible anti-jamming strategy, and ensure high-reliability measurement and control communication under strong interference conditions. Therefore, it is necessary to develop corresponding new anti-jamming solutions, especially designed for the characteristics of unmanned clusters to meet their special requirements in complex electromagnetic environments. Summary of the Invention

[0007] In view of the current situation in the background technology, the purpose of the present invention is to solve the limitation problem that unmanned clusters are closer to the target, subject to greater interference intensity, and have a higher interference threat level. Therefore, a cognitive anti-jamming method for hierarchical linkage of unmanned clusters is proposed to improve the anti-jamming ability of unmanned cluster measurement and control equipment in harsh electromagnetic environments. Through its three-level cognitive anti-jamming strategy and combined with the characteristics of the unmanned cluster platform, the present invention enhances its interference sensing and cognitive abilities, and can achieve an active and flexible anti-jamming effect.

[0008] The present invention adopts the following technical solutions to achieve the purpose:

[0009] A cognitive anti-jamming method for hierarchical linkage of unmanned clusters. For each unmanned system terminal in the unmanned cluster, according to the strength of the external electromagnetic interference signal, the interference threat degree corresponding to each terminal is evaluated to obtain the interference cognitive evaluation result of the unmanned cluster; according to the interference cognitive evaluation result, a three-level cognitive anti-jamming strategy is adopted to complete the interference suppression of the external electromagnetic interference signal, so that the measurement and control link of the unmanned cluster returns to normal.

[0010] Among them, the three-level cognitive anti-jamming strategy includes the first-level in-terminal passive suppression strategy, the second-level inter-terminal autonomous protection strategy, and the third-level station-terminal joint protection strategy; the in-terminal passive suppression strategy is independently executed by each terminal inside to perform passive interference suppression, the inter-terminal autonomous protection strategy is cooperatively executed by all terminals in the unmanned cluster to perform active interference avoidance, and the station-terminal joint protection strategy is to perform data linkage between the measurement and control station and the unmanned cluster, and perform cognitive strong interference protection processing based on the decision result of the measurement and control station.

[0011] Specifically, in the first-level in-terminal passive suppression strategy, each terminal in the unmanned cluster is configured with a preset passive cognitive anti-jamming strategy. Each terminal makes an independent decision by autonomously sensing the external electromagnetic interference signal, and performs passive interference suppression based on the time-frequency domain.

[0012] In the second-level inter-terminal autonomous protection strategy, each terminal in the unmanned cluster uses an autonomous cooperation method to enable the unmanned cluster to perform distributed sensing. The cluster head of the unmanned cluster makes a centralized decision, and uses the link optimization method to complete active interference avoidance.

[0013] In the station - side joint protection strategy at the third level, the unmanned cluster sends the relevant data obtained from distributed sensing to the measurement and control station. The measurement and control station determines the corresponding decision result based on the status of its own measurement and control system resources and sends it to the unmanned cluster. The unmanned cluster completes the cognitive strong - interference protection process based on the decision result.

[0014] Preferably, the interference - cognition evaluation result of the unmanned cluster is divided into a weak level and a strong level according to a preset threshold. When the interference - cognition evaluation result of the unmanned cluster is at the weak level, only the first - level in - terminal passive suppression strategy is adopted, and the interference suppression of the external electromagnetic interference signal is completed through passive interference suppression, so that the measurement and control link of the unmanned cluster returns to normal.

[0015] When the interference - cognition evaluation result of the unmanned cluster is at the strong level, the cluster head of the unmanned cluster summarizes the result information of distributed sensing and centralized decision - making. According to whether the uplink between the unmanned cluster and the measurement and control station is available, the second - level inter - terminal autonomous protection strategy or the third - level station - side joint protection strategy is correspondingly selected. After the corresponding strategy is executed, it is judged whether the performance of the measurement and control link meets the preset requirements, so as to complete the restoration of the measurement and control link or re - make an anti - interference decision.

[0016] Furthermore, in the first - level in - terminal passive suppression strategy, all terminals in the unmanned cluster are affected by interference below the preset threshold. Each terminal independently makes an anti - interference decision for itself based on the interference - sensing result obtained internally and the measurement and control link performance evaluation result, and completes passive interference suppression.

[0017] Specifically, the process of the first - level in - terminal passive suppression strategy is as follows:

[0018] Each terminal in the unmanned cluster makes an anti - interference decision based on its own interference - sensing result and measurement and control link performance evaluation result. According to the type of the external electromagnetic interference signal and the passive - cognition anti - interference strategy configured by itself, a passive protection means that matches the current external electromagnetic interference signal is selected. The passive protection means include time - domain, frequency - domain, and transform - domain interference suppression means.

[0019] Subsequently, each terminal executes the corresponding passive interference suppression processing measure through the passive protection means at the terminal baseband according to the decision result obtained from its own anti - interference decision.

[0020] After the passive interference suppression processing measure is executed, the terminal conducts a measurement and control link performance evaluation again to judge the effectiveness of the passive interference suppression processing measure.

[0021] If the performance evaluation of the TT&C link indicates that the performance of the TT&C link has met the preset requirements, it means that the TT&C link has returned to normal and the passive interference suppression is completed; if the performance evaluation of the TT&C link indicates that the performance of the TT&C link still does not meet the preset requirements, the anti-interference decision of this terminal is re-made, a new passive protection means is selected, and a new passive interference suppression treatment measure is executed until the performance of the TT&C link meets the preset requirements.

[0022] Furthermore, in the inter-terminal autonomous protection strategy at the second level, all terminals in the unmanned cluster are subject to interference higher than the preset threshold, and all TT&C links between all terminals and the TT&C station are disconnected. At this time, the cluster head of the unmanned cluster aggregates the interference perception results of each terminal and makes a centralized anti-interference decision to obtain the preferred result of the TT&C link; the cluster head of the unmanned cluster then sends the preferred result of the TT&C link to all other terminals of the unmanned cluster and the TT&C station. All terminals of the unmanned cluster and the TT&C station modify the corresponding TT&C link parameters based on the preferred result of the TT&C link to complete the active interference avoidance.

[0023] Specifically, the process of the inter-terminal autonomous protection strategy at the second level is as follows: each terminal in the unmanned cluster sends its own interference perception result and the TT&C link performance evaluation result to the cluster head of the unmanned cluster. After receiving the corresponding information data, the cluster head performs result aggregation and fusion to obtain the overall interference situation of the unmanned cluster and the performance of the cluster TT&C link;

[0024] The cluster head of the unmanned cluster makes a centralized anti-interference decision based on the overall interference situation and the performance of the cluster TT&C link, sends the obtained preferred result of the TT&C link to all other terminals of the unmanned cluster, and at the same time sends the preferred result of the TT&C link to the TT&C station in a broadcast form; all terminals of the unmanned cluster and the TT&C station execute the link switching treatment measure to reconstruct the TT&C link; subsequently, each terminal performs the performance evaluation of its own TT&C link again to judge the effectiveness of the link switching treatment measure;

[0025] If the performance evaluation of the TT&C link indicates that the performance of the TT&C link has met the preset requirements, it means that the TT&C link has returned to normal and the active interference avoidance is completed; if the performance evaluation of the TT&C link indicates that the performance of the TT&C link still does not meet the preset requirements, the centralized anti-interference decision is re-made until the performance of the TT&C link meets the preset requirements.

[0026] Furthermore, in the station-side joint protection strategy at the third level, all terminals in the unmanned cluster are subject to interference above a preset threshold, but there is at least one terminal that still maintains a measurement and control link with the measurement and control station. At this time, the terminals that still maintain the measurement and control link send the distributed perception results of the unmanned cluster and the measurement and control link performance evaluation results corresponding to these terminals to the measurement and control station. The measurement and control station makes an intelligent anti-jamming decision based on the status of its own measurement and control system resources and obtains a decision result; the measurement and control station sends the decision result to these terminals that still maintain the measurement and control link. After sharing and executing corresponding measures to the unmanned cluster by them, the cognitive strong interference protection process is completed.

[0027] Specifically, after the intelligent anti-jamming decision, the measures corresponding to the decision result include passive interference suppression measures and link parameter reconstruction measures; the passive interference suppression measures include time-domain interference suppression, frequency-domain interference suppression, and transform-domain interference suppression; the link parameter reconstruction measure is to establish a new measurement and control link. The measurement and control station determines the frequency, bandwidth, information rate, spreading code rate, modulation method, code type, and transmit power in the new measurement and control link according to the status of its own measurement and control system resources.

[0028] Specifically, the process of the station-side joint protection strategy at the third level is as follows: Each terminal in the unmanned cluster sends its own interference perception result and measurement and control link performance evaluation result to the measurement and control station through the terminals that still maintain the measurement and control link. After the measurement and control station receives the corresponding information data, it performs result aggregation and fusion;

[0029] The measurement and control station makes an intelligent anti-jamming decision based on the interference perception results and measurement and control link performance evaluation results of each terminal, combined with the preset requirements of the measurement and control link performance, as well as the usage of its own hardware resources and spectrum resources of the measurement and control station, to obtain the corresponding measures of the protection means matching the current external electromagnetic interference signal as the decision result; the corresponding measures of the protection means include passive interference suppression measures and link parameter reconstruction measures. The measurement and control station sends the obtained passive interference suppression measures or link parameter reconstruction measures to the terminals that still maintain the measurement and control link, and then these terminals share them with the unmanned cluster. All terminals in the unmanned cluster perform interference suppression or link reconstruction under the action of the corresponding measures of the protection means, and then complete the cognitive strong interference protection process.

[0030] In summary, due to the adoption of this technical solution, the beneficial effects of the present invention are as follows:

[0031] The objective of the present invention is to ensure that the measurement and control equipment of the unmanned cluster can effectively resist interference in a harsh electromagnetic environment. By achieving this objective, the present invention provides a stable and reliable measurement and control communication capability for the unmanned cluster, and can maintain efficient operation even under strong interference conditions.

[0032] The present invention introduces a three - level cognitive anti - interference strategy. This strategy is specifically optimized for complex electromagnetic environments, enhancing the anti - interference performance of unmanned cluster measurement and control equipment. By adopting this hierarchical cognitive method, the present invention not only enhances the ability to perceive and identify interference signals but also realizes a more proactive and flexible anti - interference mechanism, thus ensuring that the unmanned cluster can still maintain its normal operation efficiency and achieve mission objectives when facing complex electromagnetic environments.

[0033] The present invention makes full use of the characteristics of the unmanned cluster platform, strengthening the interference perception and cognitive functions of related systems. Through comprehensive analysis of internal and external information of the unmanned cluster, the present invention can more accurately adjust the operation mode of the system according to the current electromagnetic environment conditions to optimally respond to potential or actual interference threats. This intelligent processing method makes the unmanned cluster more reliable and adaptable when performing tasks.

[0034] In addition, the present invention emphasizes the importance of station - end cooperation and combines active and passive related protection strategies to construct a comprehensive cognitive anti - interference system, effectively improving the protection level against strong interference signals. The application of this method not only enhances the overall anti - interference ability of the unmanned cluster but also ensures the maintenance of a stable measurement and control communication link in any situation, providing a solid guarantee for the successful operation of the unmanned cluster. Brief Description of the Drawings

[0035] Figure 1 It is a schematic diagram of the overall process of the method of the present invention;

[0036] Figure 2 It is a schematic diagram of the process of the first - level cognitive anti - interference strategy (intra - terminal passive suppression) in the present invention;

[0037] Figure 3 It is a schematic diagram of the process of the second - level cognitive anti - interference strategy (inter - terminal autonomous protection) in the present invention;

[0038] Figure 4 It is a schematic diagram of the process of the third - level cognitive anti - interference strategy (station - end joint protection) in the present invention. Detailed Embodiments

[0039] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. Usually, the components of the embodiments of the present invention described and illustrated herein can be arranged and designed in various different configurations.

[0040] Accordingly, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0041] In the cognitive anti-jamming method of hierarchical linkage for unmanned clusters proposed by the present invention, the core is to adopt a three-level cognitive anti-jamming strategy to complete the interference suppression of external electromagnetic interference signals, thereby improving the anti-jamming ability of unmanned cluster measurement and control equipment in complex electromagnetic environments.

[0042] The first-level cognitive anti-jamming strategy is the in-terminal passive suppression strategy: each terminal of the unmanned cluster, through its own internal cognitive anti-jamming strategy, the terminal performs autonomous perception and rapid decision-making, and realizes passive interference suppression based on the time-frequency domain.

[0043] The second-level cognitive anti-jamming strategy is the inter-terminal autonomous protection strategy: the unmanned cluster collaborates autonomously, with distributed perception and centralized decision-making of the cluster, and realizes active interference avoidance through link optimization;

[0044] The third-level cognitive anti-jamming strategy is the station-terminal joint protection strategy: the ground station is linked with the unmanned cluster, with distributed perception of the cluster and precise decision-making at the station-terminal, and realizes cognitive strong interference protection by combining active and passive means.

[0045] The present invention combines the characteristics of the unmanned cluster platform and the dynamic changes of the measurement and control link, and the constructed three-level cognitive anti-jamming strategy and its corresponding decision-making process can further enhance the interference perception and cognitive ability of the unmanned cluster, realize the rapid and stable optimization of anti-jamming strategies and the active and flexible anti-jamming effect, and improve the anti-jamming ability of unmanned cluster measurement and control equipment in complex electromagnetic environments.

[0046] The following will detail the method details of the present invention from various embodiments. Embodiment 1 is an overview of the overall implementation process of the method of the present invention.

[0047] Embodiment 1

[0048] As Figure 1 shown, it is a cognitive anti-jamming method of hierarchical linkage for unmanned clusters, which adopts a three-level cognitive anti-jamming strategy. The unmanned cluster will automatically select three anti-jamming strategies, namely in-terminal passive suppression, inter-terminal autonomous protection, and station-terminal joint protection, based on the interference perception results and link performance evaluation results of each terminal, etc., to achieve efficient and reliable interference protection. The implementation steps of the specific process are as follows:

[0049] S1: Interference perception and link performance evaluation of each terminal. Each terminal in the unmanned cluster receives external electromagnetic interference signals, completes interference detection, identification, and parameter analysis, and evaluates the link performance based on parameters such as the locked state of the receiving link and the bit error rate to obtain the degree of interference threat to the terminal.

[0050] S2: Judgment of the degree of interference threat to the terminal. If the degree of interference threat to the terminal is "weak level", go to step S3; if the degree of interference threat to the terminal is "strong level", go to step S4.

[0051] S3: Intra-terminal passive suppression. Inside each terminal, independent anti-interference decisions are made based on the interference perception results and link performance evaluation results to complete passive interference suppression, and the measurement and control link returns to normal.

[0052] S4: Reporting results to the cluster head. Each terminal sends the interference perception and link evaluation results to the cluster head of the unmanned cluster; the cluster head is a preset individual in the unmanned cluster for coordinating and managing each terminal, and it is also an unmanned system terminal, which can be specified according to the actual situation and used as the head node or leader of the unmanned cluster.

[0053] S5: The cluster head completes the aggregation of perception results and link evaluation results. After the cluster head of the unmanned cluster receives the interference perception and link performance evaluation results of each terminal, it performs result aggregation and fusion to obtain the overall interference situation of the unmanned cluster and the cluster link performance.

[0054] S6: Judge whether the cluster link performance meets the preset requirements. If the cluster link performance already meets the preset requirements, go to step S12; if the cluster link performance still does not meet the preset requirements, go to step S7.

[0055] S7: Judge whether the cluster uplink is available. According to the link performance evaluation results sent by each terminal, judge the availability of the uplink measurement and control link between each terminal in the unmanned cluster and the measurement and control station; if there is an available measurement and control link, go to step S9; if the measurement and control links of all terminals in the unmanned cluster are unavailable, go to step S8.

[0056] S8: Inter-terminal autonomous protection. The cluster head of the unmanned cluster makes a centralized anti-interference decision based on the distributed perception results to obtain the link optimization result, and sends the link optimization result to other terminals and the measurement and control station in the unmanned cluster. Then, all terminals and the measurement and control station modify the link parameters simultaneously.

[0057] S9: Joint protection at the station end. The unmanned cluster sends the distributed sensing results and link performance evaluation results to the TT&C station. The TT&C station conducts comprehensive analysis based on the resource status of the TT&C system, makes intelligent anti-jamming decisions, obtains the decision results of passive interference suppression processing or active link parameter adjustment, and sends the decision results to the unmanned cluster. The unmanned cluster performs cognitive strong interference protection processing based on the decision results.

[0058] S10: Determine whether there is no response for a long time. If, after performing cognitive strong interference protection processing, each terminal of the TT&C station or the unmanned cluster still does not respond within the preset time, then proceed to step S11; if a normal TT&C operation response occurs, then proceed to step S12.

[0059] S11: The TT&C station and all terminals load predetermined parameters. When each terminal of the TT&C station or the unmanned cluster does not respond for a long time, it is determined that the TT&C links of all terminals in the TT&C station and the unmanned cluster have been disconnected. At this time, the TT&C station and each terminal are made to load the same pre-agreed TT&C link parameters, execute the initial link recovery measures, and then perform decision optimization after the TT&C link is restored.

[0060] S12: TT&C link recovery. When the unmanned cluster completes the three-level cognitive anti-jamming strategy, the TT&C link returns to normal.

[0061] Embodiment 2

[0062] Based on Embodiment 1, this embodiment details the in-terminal passive suppression strategy at the first level. When the interference at any terminal in the unmanned cluster is weak, this strategy adopts a passive suppression protection method to restore the corresponding TT&C link without affecting other terminals in the unmanned cluster. The specific process can be seen in Figure 2 the schematic diagram of Figure 2 The content within the dashed box in represents the overview of the relevant content of the overall process in Embodiment 1. The following is the detailed process introduction of step S3.

[0063] S31: Terminal anti-jamming decision-making. Each terminal of the unmanned cluster makes anti-jamming decisions based on the interference sensing results and TT&C link performance evaluation results; according to the different types of interference, it automatically selects the most suitable passive protection means that matches the current external electromagnetic interference signal, which can include various interference suppression means such as time domain, frequency domain, and transform domain.

[0064] S32: Interference suppression processing. Each terminal performs the corresponding passive interference suppression processing measures at the terminal baseband according to the decision results obtained from its own anti-jamming decision-making.

[0065] S33: TT&C link performance evaluation. After performing the passive interference suppression processing measures, each terminal conducts TT&C link performance evaluation again to judge the effectiveness of the passive interference suppression processing measures.

[0066] S34: Determine whether the performance of the measurement and control link meets the requirements. If the performance evaluation of the measurement and control link indicates that the performance of the measurement and control link has met the preset requirements, proceed to step S35; if the performance of the measurement and control link still does not meet the preset requirements, return to step S31 to re-perform the anti-jamming decision for this terminal.

[0067] S35: Restore the measurement and control link. At this time, the performance of the measurement and control link has met the preset requirements, and the passive in-terminal suppression of external electromagnetic interference is completed, and the link returns to normal.

[0068] Embodiment 3

[0069] Based on any of the above embodiments, this embodiment details the inter-terminal autonomous protection strategy at the second level. When the unmanned cluster is strongly interfered and all terminals are interfered, resulting in the disconnection of the measurement and control link, the inter-terminal autonomous protection method is adopted to restore the measurement and control link through link optimization. For the specific process schematic, see Figure 3 The content within the dashed box in Figure 3 represents the overview of the relevant content of the overall process in Embodiment 1. The following is the detailed process introduction of step S8.

[0070] S81: Cluster head anti-jamming decision. After each terminal in the unmanned cluster completes interference perception and measurement and control link performance evaluation, it reports to the cluster head of the unmanned cluster, and the cluster head completes the fusion and aggregation of the interference perception results and measurement and control link performance evaluation results. In this embodiment, the cluster head makes a centralized anti-jamming decision based on the overall interference situation of the unmanned cluster. At this time, the unmanned cluster is strongly interfered. The cluster head automatically selects the best measurement and control link from the measurement and control link library according to parameters such as interference intensity, interference frequency band, and interference type to avoid the interference frequency band and outputs the code number of the best measurement and control link. Since the computing resources and storage resources of the unmanned cluster are limited, the link optimization decision space is small, which can improve the speed and success rate of the cluster head's decision.

[0071] S82: Broadcast the link optimization result and send it to the measurement and control station. After completing the centralized anti-jamming decision, the cluster head sends the code number of the best measurement and control link obtained by the decision to other terminals through the shared collaborative link within the unmanned cluster, and also sends it to the measurement and control station by broadcast.

[0072] S83: Reconstruct the link for each terminal and the measurement and control station. After the other terminals and the measurement and control station in the unmanned cluster receive and confirm the code number of the best measurement and control link, they immediately switch the currently interfered measurement and control link to the optimized measurement and control link to complete the reconstruction of the new measurement and control link.

[0073] S84: Measurement and control link performance evaluation. After performing the above link switching processing measures, each terminal performs the measurement and control link performance evaluation again to judge the effectiveness of the inter-terminal autonomous protection.

[0074] S85: Determine whether the performance of the measurement and control link meets the requirements. If the performance evaluation of the measurement and control link shows that the performance of the measurement and control link has met the preset requirements, proceed to step S86; if the performance of the measurement and control link still does not meet the preset requirements, return to step S81 to re - conduct the centralized anti - interference decision of the cluster head.

[0075] S86: Restore the measurement and control link. At this time, the performance of the measurement and control link has met the preset requirements, completing the end - to - end autonomous protection against external electromagnetic interference, and the link returns to normal.

[0076] Example 4

[0077] Based on any of the above - mentioned embodiments, this embodiment details the end - to - end autonomous protection strategy at the third level. When the unmanned cluster is strongly interfered with, but only some terminals are interfered with, resulting in the disconnection of the measurement and control link, the station - end joint protection method is adopted. Through cluster - distributed perception and station - end precise decision - making, combined with active and passive methods, cognitive strong - interference protection processing is achieved. The specific process schematic shown in Figure 4 can be referred to synchronously. Figure 4 The content within the dashed box in

[0078] S91: Transmit the interference perception results and link evaluation results of each terminal to the measurement and control station. The unmanned cluster transmits the interference perception results and measurement and control link performance evaluation results of each terminal to the measurement and control station.

[0079] S92: The measurement and control station completes the aggregation of the interference perception results and link evaluation results. The measurement and control station receives the interference perception results and measurement and control link performance evaluation results corresponding to each terminal and makes a determination, and aggregates and fuses the corresponding information data to obtain the overall interference situation and measurement and control link status of the unmanned cluster.

[0080] S93: The measurement and control station makes an intelligent anti - interference decision. Based on the interference perception results and measurement and control link performance evaluation results of each terminal, combined with the preset requirements of the measurement and control link performance, as well as the usage of its own hardware resources and spectrum resources, the measurement and control station uses decision - making methods such as deep reinforcement learning to make an intelligent anti - interference decision, and obtains the corresponding measures of the protection means that are most suitable and match the current external electromagnetic interference signal as the decision result.

[0081] In this embodiment, the measures corresponding to the decision result include passive interference suppression measures and link parameter reconstruction measures; the passive interference suppression measures include time - domain interference suppression, frequency - domain interference suppression, and transform - domain interference suppression; the link parameter reconstruction measure is to establish a new measurement and control link, and the measurement and control station determines the frequency, bandwidth, information rate, spreading code rate, modulation method, code type, and transmit power in the new measurement and control link according to the resource status of its own measurement and control system.

[0082] S94: Determine anti-interference means. If the measure corresponding to the decision result obtained from the intelligent anti-interference decision is a passive interference suppression measure, proceed to step S95; if the measure corresponding to the decision result obtained from the intelligent anti-interference decision is a link parameter reconstruction measure, proceed to step S97.

[0083] S95: Report the passive interference suppression measure to the unmanned cluster. The measurement and control station sends the decision result corresponding to the passive interference suppression measure to the unmanned cluster, and the unmanned cluster sends it to each terminal through its internal shared cooperation link.

[0084] S96: The terminal activates the passive interference suppression means. After each terminal receives and confirms the decision result, it starts to execute the passive interference suppression measure, and then proceeds to step S99.

[0085] S97: Report the link parameter reconstruction measure to the unmanned cluster. The measurement and control station sends the decision result corresponding to the link parameter reconstruction measure to the unmanned cluster, and the unmanned cluster sends it to each terminal through its internal shared cooperation link.

[0086] S98: The terminal and the measurement and control station reconstruct the measurement and control link. After each terminal receives and confirms the decision result, it modifies the measurement and control link parameters in the radio frequency and baseband to reconstruct the measurement and control link.

[0087] S99: Evaluate the performance of the measurement and control link. After performing the above cognitive strong interference protection process, each terminal conducts a performance evaluation of the measurement and control link again to determine the effectiveness of the joint protection at the station end.

[0088] S910: Determine whether the performance of the measurement and control link meets the requirements. If the performance evaluation of the measurement and control link indicates that the performance of the measurement and control link has met the preset requirements, proceed to step S911; if the performance of the measurement and control link still does not meet the preset requirements, return to step S91 to re-perform the intelligent anti-interference decision of the measurement and control station in the joint protection at the station end.

[0089] S911: Restore the measurement and control link. At this time, the performance of the measurement and control link has met the preset requirements, and the joint protection at the station end against external electromagnetic interference is completed, and the link returns to normal.

Claims

1. A cognitive anti-interference method for unmanned cluster hierarchical linkage, characterized by: For each unmanned system terminal in the unmanned cluster, the interference threat level of each terminal is evaluated according to the strength of the external electromagnetic interference signal, and the interference cognitive evaluation result of the unmanned cluster is obtained; based on the interference cognitive evaluation result, a three-level cognitive anti-interference strategy is used to suppress the interference of the external electromagnetic interference signal, so that the measurement and control link of the unmanned cluster can be restored to normal; Among them, the three-level cognitive anti-interference strategy includes the first-level intra-terminal passive suppression strategy, the second-level inter-terminal autonomous protection strategy, and the third-level station-end joint protection strategy; the intra-terminal passive suppression strategy is that each terminal independently performs passive interference suppression, the inter-terminal autonomous protection strategy is that all terminals in the unmanned cluster cooperate to perform active interference avoidance, and the station-end joint protection strategy is that the measurement and control station and the unmanned cluster perform data linkage, and perform cognitive strong interference protection processing based on the decision results of the measurement and control station; In the first-level passive suppression strategy, each terminal in the unmanned cluster is configured with a preset passive cognitive anti-interference strategy. Each terminal makes independent decisions by autonomously sensing external electromagnetic interference signals and completes passive interference suppression based on the time-frequency domain. In the second-level terminal-to-terminal autonomous protection strategy, each terminal in the unmanned cluster uses autonomous collaboration to enable the unmanned cluster to perform distributed perception. The cluster head of the unmanned cluster completes centralized decision-making and uses link optimization to achieve active interference avoidance. In the third-level station-side joint protection strategy, the unmanned cluster sends the relevant data obtained by distributed perception to the measurement and control station. The measurement and control station determines the corresponding decision results based on the resource status of its own measurement and control system and sends them to the unmanned cluster. The unmanned cluster completes the cognitive strong interference protection processing based on the decision results. The interference cognitive assessment results of the unmanned cluster are divided into weak and strong levels according to the preset threshold. When the interference cognitive assessment result of the unmanned cluster is a weak level, only the first-level passive suppression strategy is used to suppress the external electromagnetic interference signal through passive interference suppression, so that the measurement and control link of the unmanned cluster can be restored to normal. When the interference cognition assessment result of the unmanned cluster is a strong level, the cluster head of the unmanned cluster summarizes the result information of distributed perception and centralized decision-making, and chooses to adopt the second-level end-to-end autonomous protection strategy or the third-level station-end joint protection strategy according to whether the uplink between the unmanned cluster and the measurement and control station is available. After the corresponding strategy is executed, it is judged whether the performance of the measurement and control link meets the preset requirements, so as to complete the recovery of the measurement and control link or make a new anti-interference decision.

2. The cognitive anti-interference method of unmanned cluster hierarchical linkage according to claim 1 is characterized by: In the first-level intra-terminal passive suppression strategy, all terminals in the unmanned cluster are subject to interference below the preset threshold. Each terminal independently makes its own anti-interference decision based on the interference perception results and measurement and control link performance evaluation results obtained internally, and completes passive interference suppression.

3. The cognitive anti-interference method of unmanned cluster hierarchical linkage according to claim 2 is characterized in that: The process of the first-level intra-terminal passive suppression strategy is as follows: Each terminal in the unmanned cluster makes anti-interference decisions based on its own interference perception results and measurement and control link performance evaluation results. It selects passive protection measures that match the current external electromagnetic interference signal based on the type of external electromagnetic interference signal and its own configured passive cognitive anti-interference strategy. Passive protection measures include time domain, frequency domain and transform domain interference suppression measures. Subsequently, each terminal performs corresponding passive interference suppression processing measures at the terminal baseband through passive protection means according to the decision result obtained by its own anti-interference decision; After the passive interference suppression measures are executed, the terminal performs measurement and control link performance evaluation again to determine the effectiveness of the passive interference suppression measures; If the measurement and control link performance evaluation shows that the measurement and control link performance has met the preset requirements, it means that the measurement and control link has returned to normal and passive interference suppression is completed; If the measurement and control link performance evaluation shows that the measurement and control link performance still does not meet the preset requirements, the anti-interference decision of the terminal is re-made, new passive protection measures are selected, and new passive interference suppression processing measures are implemented until the measurement and control link performance meets the preset requirements.

4. The cognitive anti-interference method of unmanned cluster hierarchical linkage according to claim 1 is characterized by: In the second-level terminal-to-terminal autonomous protection strategy, all terminals in the unmanned cluster are subject to interference higher than the preset threshold, and the measurement and control links between all terminals and the measurement and control stations are disconnected. At this time, the cluster head of the unmanned cluster summarizes the interference perception results of each terminal, makes a centralized anti-interference decision, and obtains the measurement and control link optimization result; the cluster head of the unmanned cluster then sends the measurement and control link optimization result to all other terminals and measurement and control stations in the unmanned cluster. All terminals and measurement and control stations in the unmanned cluster modify the corresponding measurement and control link parameters based on the measurement and control link optimization result to complete active interference avoidance.

5. The cognitive anti-interference method of unmanned cluster hierarchical linkage according to claim 4 is characterized in that: The process of the second-level terminal-to-terminal autonomous protection strategy is as follows: each terminal in the unmanned cluster sends its own interference perception results and measurement and control link performance evaluation results to the cluster head of the unmanned cluster. After receiving the corresponding information data, the cluster head aggregates and integrates the results to obtain the overall interference situation of the unmanned cluster and the cluster measurement and control link performance; The cluster head of the unmanned cluster makes a centralized anti-interference decision based on the overall interference situation and the cluster measurement and control link performance, and sends the measurement and control link optimization result to all other terminals in the unmanned cluster. At the same time, the measurement and control link optimization result is sent to the measurement and control station in the form of broadcast; All terminals and the measurement and control stations of the unmanned cluster execute link switching processing measures to rebuild the measurement and control link based on the measurement and control link optimization results; then, each terminal performs its own measurement and control link performance evaluation again to determine the effectiveness of the link switching processing measures; If the measurement and control link performance evaluation shows that the measurement and control link performance has met the preset requirements, it means that the measurement and control link has returned to normal and active interference avoidance is completed; If the measurement and control link performance evaluation shows that the measurement and control link performance still does not meet the preset requirements, a centralized anti-interference decision is made again until the measurement and control link performance meets the preset requirements.

6. The cognitive anti-interference method of unmanned cluster hierarchical linkage according to claim 1 is characterized by: In the third-level station-side joint protection strategy, all terminals in the unmanned cluster are subject to interference higher than the preset threshold, but there is at least one terminal that still maintains a measurement and control link with the measurement and control station. At this time, these terminals that still maintain the measurement and control link send the distributed perception results of the unmanned cluster and the measurement and control link performance evaluation results corresponding to these terminals to the measurement and control station. The measurement and control station makes intelligent anti-interference decisions based on the resource status of its own measurement and control system and obtains decision results. The measurement and control station sends the decision results to these terminals that still maintain the measurement and control link, which share the results with the unmanned cluster and execute corresponding measures to complete the cognitive strong interference protection processing.

7. The cognitive anti-interference method of unmanned cluster hierarchical linkage according to claim 6 is characterized by: After the intelligent anti-interference decision is made, the measures corresponding to the decision results include passive interference suppression measures and link parameter reconstruction measures; passive interference suppression measures include time domain interference suppression, frequency domain interference suppression and transform domain interference suppression; link parameter reconstruction measures are to establish a new measurement and control link. The measurement and control station determines the frequency, bandwidth, information rate, spread spectrum code rate, modulation mode, code type and transmission power in the new measurement and control link based on the resource status of its own measurement and control system.

8. The cognitive anti-interference method of unmanned cluster hierarchical linkage according to claim 6 is characterized in that: The process of the third-level station-side joint protection strategy is as follows: each terminal in the unmanned cluster sends its own interference perception results and measurement and control link performance evaluation results to the measurement and control station through the terminal that still maintains the measurement and control link. After the measurement and control station receives the corresponding information data, it aggregates and integrates the results; The measurement and control station makes intelligent anti-interference decisions based on the interference perception results of each terminal and the measurement and control link performance evaluation results, combined with the preset requirements of the measurement and control link performance, and the measurement and control station's own hardware resource usage and spectrum resource usage, and obtains corresponding protection measures that match the current external electromagnetic interference signal as the decision result; the corresponding protection measures include passive interference suppression measures and link parameter reconstruction measures. The measurement and control station sends the obtained passive interference suppression measures or link parameter reconstruction measures to the terminals that still maintain the measurement and control link, and then these terminals share them with the unmanned cluster. All terminals in the unmanned cluster perform interference suppression or link reconstruction under the action of the corresponding protection measures, thereby completing cognitive strong interference protection processing.

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