Integrated low-slow-small unmanned aerial vehicle passive detection system and working method thereof

Abstract

The invention discloses an integrated low-slow-small unmanned aerial vehicle passive detection system and a working method thereof, and the system combines conventional radio detection and external radiation source detection technologies, and is composed of a broadband antenna, a receiver and a signal processor. The system can monitor the low, slow and small unmanned aerial vehicle in real time, and realizes the functions of direction finding, positioning, monitoring and the like of the unmanned aerial vehicle and the unmanned aerial vehicle pilot. The system fuses signal information acquired by radio detection and external radiation source detection technologies to form more accurate and more comprehensive unmanned aerial vehicle target information. And the target information of the unmanned aerial vehicle is displayed in real time through the display control equipment. Radio detection positioning and passive radar detection are combined, advantages are complementary, the false alarm rate is reduced, and reliability and accuracy are improved; the method is integrally realized, a hardware system is shared, software is used for parallel processing, the cost is reduced, the flexibility is improved, and the method is suitable for low-slow small unmanned aerial vehicle detection under multiple scenes and tasks.

Description

Technical Field

[0001] The present invention relates to the field of radio detection technology, and in particular to an integrated low-speed and slow small unmanned aerial vehicle passive detection system and a working method thereof. Background Art

[0002] With the continuous development of the application field of drones, especially after the opening of the low-altitude field, the widespread use of "low, slow and small" drones has brought great threats to national security and regional stability. Therefore, it is urgent to study the detection and countermeasure technology of low, slow and small drones. At present, the main radio detection technologies of drones are the time difference of arrival (TDOA) positioning method and the angle of arrival (AOA) direction finding. TDOA is a method of positioning using time difference. By comparing the time difference of the signal arriving at multiple monitoring stations, a hyperbola with the monitoring station as the focus and the distance difference as the major axis can be drawn. The intersection of the hyperbola is the position of the signal. AOA is based on the direction information of the signal received by the wireless device. Each receiving point will measure the arrival angle of the transmitted signal relative to itself. By comparing the angles measured by multiple receiving points, the location of the signal source can be inferred.

[0003] When the unknown UAV is in a radio silence state or there is strong interference in the environment, conventional radio detection technologies such as TDOA will find it difficult to play its role effectively. In this case, radar can be used to detect the target. Active radar uses its own directional electromagnetic waves to illuminate the target and receive the echo to achieve detection, positioning and tracking. However, in practical applications, active detection not only requires additional equipment investment and energy consumption, but may also cause electromagnetic pollution, which is particularly likely to be opposed in densely populated areas. Passive radar uses third-party civilian radiation sources (such as radio, analog TV, digital TV signals, etc.) to detect and locate target UAVs. It only receives signals without emitting any electromagnetic waves. However, in complex environments, it is difficult to estimate the direct wave parameters, and the target echo may be submerged in various multipath interferences, making it difficult to identify the target delay-Doppler spectrum peak. Conventional radio detection methods and external radiation source detection methods each have their own advantages and limitations, and conventional radio detection and external radiation source detection are two independent sets of equipment, which are large in size and heavy in equipment, not easy to carry and arrange, and cost-effective.

[0004] Therefore, there is an urgent need for a method that can achieve high-precision positioning of low-speed, small UAVs. Summary of the invention

[0005] Conventional radio detection and external radiation source detection are two independent sets of equipment, which are large and heavy, and cost-effective. According to my country's spectrum resource planning, the frequency range of FM broadcasting is stipulated as 87-108MHz, while the reception parameters of terrestrial digital TV mainly include VHF band (47-230MHz) and UHF band (470-862MHz). The frequency range of radio detection is usually 30MHz to 6GHz, which covers most civilian signal radiation sources, so the hardware system can be shared.

[0006] Based on this, in order to solve the above-mentioned technical problems, the present invention provides an integrated low-speed and slow small UAV passive detection system and a working method thereof.

[0007] The technical solution adopted by the present invention to solve the above problems is as follows:

[0008] The integrated low-speed and slow small UAV passive detection system includes: broadband antenna, receiver, signal processor, display and control equipment and peripheral interface;

[0009] Wideband antenna, used to receive target drone signals, pilot remote control signals, direct waves from third-party radiation sources, and echo signals from third-party radiation sources reflected by target drones;

[0010] The receiver is used to pre-process the signals received by the broadband antenna to obtain the UAV radio baseband signal, the pilot remote control baseband signal, the third-party radiation source direct wave baseband signal and the echo baseband signal; the pre-processing includes bandpass filtering, amplification, down-conversion and sampling;

[0011] The signal processor is used to perform signal time-frequency processing and feature information extraction on the UAV radio baseband signal, the pilot remote control baseband signal, the third-party radiation source direct wave baseband signal and the echo baseband signal, and perform corresponding processing according to different feature information, weight the results, and obtain the precise positioning information of the target UAV; the feature information includes the arrival time difference and phase angle of the UAV radio signal, and the Doppler frequency shift and delay of the third-party radiation source direct wave and echo;

[0012] Display and control equipment, used to display three-dimensional map information, third-party radiation source information, multiple drone target positioning information and system status;

[0013] Peripheral interface, used to connect and exchange data with external devices. External devices include network ports, optical fiber interfaces, power supply interfaces and other general input and output interfaces.

[0014] Preferably, the wideband antenna covers the radio detection frequency band, including the civilian radiation source frequency band, and can achieve simultaneous reception of UAV radio signals, third-party radiation source direct waves and target echoes.

[0015] Preferably, the receiver comprises: a filtering module, a low noise amplifier, and a sampling module.

[0016] Preferably, the signal processor includes a central processing unit, a communication module, a storage module and a power module;

[0017] The central processing unit is used to perform corresponding technical processing on each baseband signal, including: estimation of the arrival time difference positioning method based on the arrival time difference of the UAV radio signal received by each subsystem; direction finding estimation based on the arrival phase angle, and using the angle positioning method to estimate the target position information based on the direction finding results of each detection system; for the direct wave and echo baseband signal of the third-party radiation source, an external radiation source positioning algorithm is used, and the Doppler-delay characteristic diagram is obtained through coherent accumulation, and the dual-base radar method is used according to the Doppler frequency shift to solve the positioning information of the target UAV;

[0018] The communication module is responsible for communicating with other subsystems, including data exchange and instruction transmission between the main system and other subsystems, ensuring data synchronization and collaborative work among various systems;

[0019] Storage module, used to store computer programs, computer data, target positioning information, etc.;

[0020] Power supply module, which generates various DC power supplies required by the integrated detection system;

[0021] Display and control equipment, showing three-dimensional environment information, third-party radiation source information, drone target positioning information, and system status.

[0022] The working method of the integrated low-speed and slow small UAV passive detection system specifically includes the following steps:

[0023] Determine the number of detection systems according to the size of the positioning scene, and deploy multiple detection systems in the positioning scene;

[0024] Power-on inspection to ensure that all parts of the system are operating normally, test the communication connection with other subsystems, generate work instructions and parameters, and send them to other detection systems to ensure synchronous operation;

[0025] Receive third-party radiation sources in the environment and determine their location information, waveform and frequency band;

[0026] Detect UAV radio signals and reflected echo signals from third-party radiation sources through UAVs through broadband antennas;

[0027] Convert, process and analyze the received target drone related signals. The baseband signals are obtained through filtering, amplification, sampling and analog-to-digital conversion in the receiver; the baseband signals are processed accordingly in the signal processor: the arrival time difference positioning method is used to use the time difference of the drone radio signal reaching each detection system; the angle positioning direction estimation is performed according to the phase angle of the drone signal, and the angle positioning method is used to estimate the target drone position information based on the direction finding results of each detection system; the direct wave of the third-party radiation source and the echo baseband signal are coherently accumulated with mutual fuzzy functions, and the results are condensed and smoothed to obtain the Doppler frequency shift-delay estimation, and the distance-angle positioning method is further used to solve the drone position, so as to achieve the positioning and tracking of the target drone.

[0028] At least one of the above technical solutions adopted by the present invention can achieve the following beneficial effects:

[0029] The shared hardware system, parallel software processing, and integrated implementation have greatly saved hardware and energy costs, reduced equipment size, facilitated mobility and deployment, increased detection flexibility and efficiency, and reduced cost-effectiveness; the system fully combines conventional radio detection technology and external radiation source radar detection technology, and multiple detection systems work together to generate more comprehensive and accurate target information, efficiently realizing real-time positioning and tracking of drones, greatly improving the ability to monitor low-speed, slow, and small drones; loading offline three-dimensional environmental information has enhanced the system's environmental perception capabilities; the peripheral universal interface has strong scalability, and can be flexibly expanded and deployed in conjunction as needed to adapt to different environments and mission requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0031] Figure 1 The schematic diagram of the integrated UAV passive detection system provided by the present invention;

[0032] Figure 2 The integrated low-speed and slow small UAV passive detection system provided by the present invention;

[0033] Figure 3 A processing flow chart of the integrated low-speed and slow small UAV passive detection method provided by the present invention;

[0034] 1. Detection system A; 2. Unknown drone; 3. Detection system B; 4. Pilot; 5. Third-party radiation source; 6. Detection system C. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the specific embodiments of the present invention and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0036] The present invention is further described in detail below with reference to specific embodiments.

[0037] The schematic diagram of the integrated UAV passive detection system is as follows: Figure 1 As shown in the figure, conventional radio detection technology and external radiation source detection technology are combined and shared hardware equipment can be used to efficiently monitor the presence of drones in the surrounding area in real time, perform direction finding, positioning, identify drones and pilots, and track them. The spectrum, time, angle and other information obtained by conventional radio detection and external radiation source detection technology are deeply integrated to form more accurate and comprehensive drone target information, improve cost-effectiveness, reduce costs and increase efficiency. Conventional radio detection technologies include TDOA and AOA.

[0038] In an exemplary embodiment, the integrated low-speed and slow small UAV passive detection system combines conventional radio detection and external radiation source detection technology; the integrated low-speed and slow small UAV passive detection system is as follows: Figure 2 As shown, it includes: a wide-band antenna, a receiver, a signal processor, a display and control device, and a peripheral interface.

[0039] The wideband antenna is used to receive target UAV signals, pilot remote control signals, direct waves from third-party radiation sources, and echo signals from third-party radiation sources reflected by target UAVs.

[0040] The receiver is used to pre-process the signals received by the wide-band antenna to obtain the UAV radio baseband signal, the pilot remote control baseband signal, the third-party radiation source direct wave baseband signal and the echo baseband signal; the pre-processing includes bandpass filtering, amplification, down-conversion and sampling.

[0041] The signal processor is used to perform signal time-frequency processing and feature information extraction on the UAV radio baseband signal, the pilot remote control baseband signal, the third-party radiation source direct wave baseband signal and the echo baseband signal, and perform corresponding processing according to different feature information, weight the results, and obtain the precise positioning information of the target UAV; the feature information includes the arrival time difference and phase angle of the UAV radio signal, and the Doppler frequency shift and delay of the third-party radiation source direct wave and echo.

[0042] Display and control equipment, used to display three-dimensional map information, third-party radiation source information, various UAV target positioning information and system status.

[0043] Peripheral interface, used to connect and exchange data with external devices. External devices include network ports, optical fiber interfaces, power supply interfaces and other general input and output interfaces.

[0044] Specifically, the receiver pre-processes the target UAV signal, the pilot remote control signal, the direct wave of the third-party radiation source, and the echo signal reflected by the third-party radiation source from the target UAV received by the wide-band antenna to obtain the UAV radio baseband signal, the pilot remote control baseband signal, the third-party radiation source direct wave baseband signal and the echo baseband signal.

[0045] Specifically, the signal processor is used to perform signal time-frequency processing and feature information extraction on the baseband signal of the UAV radio signal, the baseband signal of the pilot remote control, the baseband signal of the direct wave of the third-party radiation source, and the baseband signal of the echo. The extracted feature information includes the arrival time difference, phase angle, Doppler frequency shift and delay of the direct wave and echo of the third-party radiation source of the UAV radio signal, and performs corresponding processing according to different feature information, and weights the results to obtain the precise positioning information of the target UAV. If the feature information is the arrival time difference of the wireless human-machine radio signal, the TDOA method is used to locate the UAV to obtain the TDOA positioning result. If the feature information is the phase angle, the AOA method is used to find the direction of the UAV. Combined with the direction finding results of each detection system, the angle positioning method is used to obtain the AOA positioning result. If the feature information is the Doppler frequency shift and delay of the direct wave and echo of the third-party radiation source, the external radiation source positioning technology is used to locate the UAV to obtain the external radiation source positioning result. The TDOA positioning result, the AOA positioning result and the external radiation source detection positioning result are weighted to obtain the precise positioning result of the UAV.

[0046] Specifically, the display and control equipment is used to display three-dimensional map information, third-party radiation source information, various drone target positioning information and system status. Three-dimensional map information includes geographical information such as altitude, longitude and latitude, topography, building height, etc. Third-party radiation source information includes radiation source type, signal strength, frequency range, location, etc. Various drone target positioning information includes target type, speed, heading, and real-time location estimated by various detection methods. System status includes system operation status, equipment working status, signal processing status, alarm information, etc.

[0047] In an exemplary embodiment, the wideband antenna covers the radio detection frequency band, including the civilian radiation source frequency band, and can simultaneously receive UAV radio signals, third-party radiation source direct waves, and target echoes.

[0048] Specifically, the wide-band antenna covers the frequency band of 30MHz to 6GHz, and can simultaneously monitor drone radio signals, direct waves from third-party radiation sources, and target echoes.

[0049] In an exemplary implementation, the receiver includes: a down-conversion module and a sampling module; the down-conversion module is used to receive a radio frequency signal, filter, amplify and down-convert it, and convert it into a baseband analog signal; the sampling module is used to perform analog-to-digital conversion on the down-converted signal and convert it into a digital signal.

[0050] Specifically, the baseband analog signal includes the UAV radio baseband signal, the third-party radiation source direct wave baseband signal and the echo signal echo baseband signal, and the digital signal includes the digital signal corresponding to the UAV radio baseband signal, the third-party radiation source direct wave baseband signal and the echo signal echo baseband signal.

[0051] In an exemplary embodiment, the signal processor includes a central processing unit, a communication module, a storage module and a power module; the central processing unit is used to perform corresponding technical processing on each baseband signal, including: estimating the arrival time difference positioning method based on the arrival time difference of the drone radio signal received by each subsystem; estimating the direction finding based on the arrival phase angle, and using the angle positioning method to estimate the target position information according to the direction finding results of each detection system; for the direct wave of the third-party radiation source and the echo baseband signal, an external radiation source positioning algorithm is used, and a Doppler-time delay characteristic diagram is obtained through coherent accumulation, and a dual-base radar method is used according to the Doppler frequency shift to solve the positioning information of the target drone; the communication module is responsible for communicating with other subsystems, including: data exchange and instruction transmission between the main system and other subsystems to ensure data synchronization and collaborative work between various systems; the storage module is used to store computer programs, computer data, target positioning information, etc.; the power module generates various DC power supplies required for the integrated detection system; the display and control equipment displays three-dimensional environmental information, third-party radiation source information, drone target positioning information, and system status.

[0052] Specifically, the central processing unit adopts a high-performance Field Programmable Gate Array (FPGA) chip to perform corresponding technical processing on the UAV radio baseband signal, the direct wave baseband signal of the third-party radiation source and the echo baseband signal, and performs TDOA positioning estimation based on the arrival time difference of the radio signals received by each subsystem to obtain the TDOA positioning result; uses the AOA technology based on the amplitude-phase to perform direction finding to obtain the AOA positioning result; for the direct wave of the third-party radiation source and the echo baseband signal, executes the external radiation source positioning algorithm, obtains the Doppler-time delay characteristic diagram through coherent accumulation, adopts the distance-angle positioning method according to the Doppler frequency shift, obtains the external radiation source detection positioning result, and weights the TDOA positioning result, the AOA positioning result and the external radiation source detection positioning result to solve the positioning information of the target UAV.

[0053] Specifically, the power module includes an external power supply and a battery, which generates various DC power supplies required by the integrated detection system. When the external power supply is disconnected, the battery is automatically used for power supply.

[0054] Specifically, the display and control equipment uses a glass touch panel to display three-dimensional environmental information, third-party radiation source information, drone target positioning information, and system status; three-dimensional map information includes geographical information such as altitude, longitude and latitude, topography, and building height; third-party radiation source information includes radiation source type, signal strength, frequency range, location, etc., and multiple drone target positioning information includes target type, speed, heading, and real-time location estimated by multiple detection methods. System status includes system operation status, equipment working status, signal processing status, alarm information, etc.

[0055] In an exemplary embodiment, the present invention also discloses a working method of an integrated low-speed and slow small UAV passive detection system, comprising the following steps:

[0056] S1. Determine the number of detection systems according to the size of the positioning scene, and deploy multiple detection systems in the positioning scene.

[0057] S2. Power-on inspection to ensure that all parts of the system are operating normally, and test the communication connection with other subsystems, generate work instructions and parameters, and send them to other detection systems to ensure coordinated work.

[0058] S3, receiving the signal of the third-party radiation source in the environment, and determining its location information and waveform frequency band;

[0059] Specifically, a third-party radiation source signal existing in the environment is received, and the location information and waveform frequency band of the third-party radiation source signal are determined according to conventional detection technology.

[0060] S4. Detect the UAV radio signal and the echo signal reflected by the UAV from the third-party radiation source through the wide-band antenna.

[0061] Specifically, the radio frequency of a certain "illegal" drone is 2.4GHz. In order to locate it, the system selects a wide-band receiving antenna with a coverage range of 30MHz to 6GHz, and selects China National Radio (hereinafter referred to as the radio station) as the third-party civilian radiation source. The frequency of its frequency-modulated (FM) signal is 104.9MHz and the bandwidth is 7.56MHz, which is within the antenna reception range.

[0062] S5. Convert, process and analyze the received target drone related signals. The receiver obtains the baseband signals through filtering, amplification, sampling and analog-to-digital conversion. The signal processor processes the baseband signals accordingly: the time difference between the drone radio signal reaching each detection system and the known position of each detection system are used to calculate the drone position information by using the TDOA positioning method; the AOA direction finding is estimated according to the phase angle of the drone signal, and the angle positioning method is used to estimate the target drone position information based on the direction finding results of each detection system; the direct wave of the third-party radiation source and the echo baseband signal are coherently accumulated by mutual ambiguity function, and constant false alarm detection is performed to eliminate interference information. The results are condensed and smoothed to obtain Doppler frequency shift-delay estimation, and the distance-angle positioning method is further used to calculate the drone position to achieve the positioning and tracking of the target drone.

[0063] In an exemplary embodiment, there is provided Figure 3 The processing flow chart of an integrated low-speed and slow small UAV passive detection method is shown. First, the wide-band antenna receives the signal frequency band of the UAV, and obtains the preliminary baseband signal through low-noise amplification, filtering, down-conversion and other pre-processing; the arrival delay and angular phase difference of the signals from each platform are measured, and the arrival delay and angular phase difference of the signals from each platform are processed using TDOA and AOA technology to obtain the position estimate of the UAV; at the same time, the direct wave signal and echo signal of the received civil radiation source are coherently accumulated by mutual fuzzy function, and then constant false alarm detection is performed, and finally the target condensation and smoothing processing are performed to obtain the UAV position information; the position information of the UAV obtained by the three methods is weighted and fused to obtain the final UAV position. Combining radio positioning with passive radar detection, the advantages are complementary, the false alarm rate is reduced, and the detection capability is improved; the integrated implementation, sharing antennas, receivers, and processors, effectively reduces the detection cost.

[0064] The present invention also provides a computer-readable storage medium, which stores a computer program, and the computer program can be used to execute the working method of the integrated low-speed and slow small unmanned aerial vehicle passive detection system provided above.

[0065] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided by the present invention can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory or optical memory, etc. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).

[0066] The above-described embodiments are intended to help readers understand the implementation methods of the present invention, and it should be understood that the scope of protection of the present invention is not limited to such special statements and embodiments. In order to make the description concise, all possible combinations of the various technical features in the above-described embodiments are not described. Those skilled in the art can make any combination of the technologies disclosed in the present invention without departing from the essence of the present invention. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of the present invention.

Claims

1. Integrated low speed and small UAV passive detection system, characterized by: It combines conventional radio detection and external radiation source detection technology; The integrated low-speed and slow small UAV passive detection system includes: broadband antenna, receiver, signal processor, display and control equipment and peripheral interface; Wideband antenna, used to receive target drone signals, pilot remote control signals, direct waves from third-party radiation sources, and echo signals from third-party radiation sources reflected by target drones; The receiver is used to pre-process the signals received by the broadband antenna to obtain the UAV radio baseband signal, the pilot remote control baseband signal, the third-party radiation source direct wave baseband signal and the echo baseband signal; the pre-processing includes bandpass filtering, amplification, down-conversion and sampling; The signal processor is used to perform signal time-frequency processing and feature information extraction on the UAV radio baseband signal, the pilot remote control baseband signal, the third-party radiation source direct wave baseband signal and the echo baseband signal, and perform corresponding processing according to different feature information, weight the results, and obtain the precise positioning information of the target UAV; the feature information includes the arrival time difference and phase angle of the UAV radio signal, and the Doppler frequency shift and delay of the third-party radiation source direct wave and echo; Display and control equipment, used to display three-dimensional map information, third-party radiation source information, multiple drone target positioning information and system status; Peripheral interface, used to connect and exchange data with external devices. External devices include network ports, optical fiber interfaces, power supply interfaces and other general input and output interfaces.

2. The system according to claim 1, characterized in that The wideband antenna covers the radio detection frequency band, including the civilian radiation source frequency band, and can simultaneously receive UAV radio signals, direct waves from third-party radiation sources, and target echoes.

3. The system according to claim 1, characterized in that The receiver includes: Filter module, low noise amplifier, sampling module.

4. The system according to claim 1, characterized in that The signal processor includes a central processing unit, a communication module, a storage module and a power module; The central processing unit is used to perform corresponding technical processing on each baseband signal, including: estimation of the arrival time difference positioning method based on the arrival time difference of the UAV radio signal received by each subsystem; direction finding estimation based on the arrival phase angle, and using the angle positioning method to estimate the target position information based on the direction finding results of each detection system; for the direct wave and echo baseband signal of the third-party radiation source, an external radiation source positioning algorithm is used, and the Doppler-delay characteristic diagram is obtained through coherent accumulation, and the dual-base radar method is used according to the Doppler frequency shift to solve the positioning information of the target UAV; The communication module is responsible for communicating with other subsystems, including data exchange and instruction transmission between the main system and other subsystems, ensuring data synchronization and collaborative work among various systems; Storage module, used to store computer programs, computer data, target positioning information, etc.; Power supply module, which generates various DC power supplies required by the integrated detection system; Display and control equipment, showing three-dimensional environment information, third-party radiation source information, drone target positioning information, and system status.

5. A working method of an integrated low-speed and slow small UAV passive detection system, characterized in that: The working method is implemented on the basis of the integrated low-speed and slow small UAV passive detection system according to any one of claims 1 to 4, and specifically comprises the following steps: Determine the number of detection systems according to the size of the positioning scene, and deploy multiple detection systems in the positioning scene; Power-on inspection to ensure that all parts of the system are operating normally, test the communication connection with other subsystems, generate work instructions and parameters, and send them to other detection systems to ensure synchronous operation; Receive third-party radiation sources in the environment and determine their location information, waveform and frequency band; Detect UAV radio signals and reflected echo signals from third-party radiation sources through UAVs through broadband antennas; Convert, process and analyze the received target drone related signals. The baseband signals are obtained through filtering, amplification, sampling and analog-to-digital conversion in the receiver; the baseband signals are processed accordingly in the signal processor: the arrival time difference positioning method is used to use the time difference of the drone radio signal reaching each detection system; the angle positioning direction estimation is performed according to the phase angle of the drone signal, and the angle positioning method is used to estimate the target drone position information based on the direction finding results of each detection system; the direct wave of the third-party radiation source and the echo baseband signal are coherently accumulated with mutual fuzzy functions, and the results are condensed and smoothed to obtain the Doppler frequency shift-delay estimation, and the distance-angle positioning method is further used to solve the drone position, so as to achieve the positioning and tracking of the target drone.

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