Autonomous confrontation target drone based on radar alarm

Abstract

The invention discloses an autonomous confrontation target drone based on radar alarm, the target drone mainly comprises a target drone airborne system and a ground display control system, the target drone airborne system mainly comprises an electromagnetic wave alarm detection antenna, an electromagnetic wave alarm host, an airborne flight control platform, an airborne power supply, a target drone power device, an airborne measurement and control channel and a communication antenna; the ground display and control system mainly comprises a ground display and control computer and ground measurement and control equipment. Before the target aircraft flies, information such as electromagnetic wave detection parameters, alarm levels, flight routes and evasion strategies can be set on ground display and control software. In the flight process, threat electromagnetic waves can be identified autonomously, and identification signals comprise complete information such as interception time, threat level, amplitude, frequency, pulse width and threat orientation. And meanwhile, the target drone can induce or perform maneuvering actions such as climbing, diving and maneuvering turning to autonomously fly to avoid threats. The autonomous confrontation target drone is of great significance in testing the actual combat strike ability of a ground air defense weapon.

Description

Technical Field

[0001] The invention belongs to the field of ground air defense weapon system training, and in particular relates to an autonomous counter-target aircraft based on radar warning. Background Art

[0002] Airborne electromagnetic wave warning equipment is an important airborne sensor of fighter jets. It intercepts, analyzes and identifies electromagnetic wave signals irradiated to the carrier platform. When it intercepts enemy electromagnetic wave signals, it can quickly identify the type, purpose and threat level of the radar, and provide the operator with information such as the direction, distance and threat type of the threatening radar. Airborne electromagnetic wave warning equipment has the advantages of long detection distance, hidden detection and omnidirectional reception. The operator can obtain the type, number and status of the threatening target in the battlefield environment based on the warning information of the airborne radar warning device, so as to carry out combat strategies such as electronic interference, missile attack and tactical avoidance. Therefore, in the process of obtaining battlefield electromagnetic situation, perceiving threat information and making tactical decisions, airborne warning equipment plays a key role, and its technical level plays an important role in the outcome of the battle.

[0003] In the training of ground-to-air missile forces, target aircraft are usually used to play the role of invading enemy aircraft. The ground air defense weapon system uses electromagnetic wave radar to search and find target aircraft, track target aircraft, and launch air defense missiles to destroy target aircraft to achieve the full process of ground air defense. Conventional target aircraft cannot detect whether ground air defense weapons are locating and tracking them, and cannot identify the electromagnetic wave environment. In a real combat environment, enemy invading aircraft are equipped with electromagnetic wave warning receivers to intercept, analyze, and identify enemy radar signals, judge their threat level in real time and issue warnings in time. According to relevant information, pilots make evasive or escaping actions, thereby improving the battlefield survivability of fighter equipment. This process cannot be simulated in the training of conventional target aircraft. In order to simulate the real battlefield combat scene more realistically, the autonomous confrontation target aircraft based on electromagnetic wave warning, after intercepting, analyzing and identifying enemy radar signals, autonomously interferes, induces or performs maneuvers such as climbing, diving, and turning to evade or escape the incoming threat, which can more realistically simulate the enemy invading aircraft's ability to counter-track and actively escape, greatly increasing the authenticity of confrontation and anti-confrontation during training. Therefore, autonomous confrontation target drones with electromagnetic wave warning play an important role in the transformation from traditional target drones to intelligent target drones, and are of great significance for testing the close combat strike capability of ground air defense weapon systems. Summary of the invention

[0004] Purpose of the invention: to provide an autonomous confrontation target drone based on radar warning, which is used to achieve the autonomous confrontation mentioned in the above background technology.

[0005] The technical solution adopted by the present invention to achieve the above technical problems is:

[0006] An autonomous countermeasure target drone based on radar warning, comprising a target drone airborne system and a ground display and control system;

[0007] The target drone airborne system comprises an electromagnetic wave warning detection antenna (1), an electromagnetic wave warning host (2), an airborne flight control platform (6), an airborne power supply (3), an airborne measurement and control channel (8), a communication antenna (9) and a target drone power device (5); the ground display and control system comprises a ground display and control computer and ground measurement and control equipment;

[0008] The ground display and control computer shown uses a human-machine interface interaction to set the frequency bands of interest and array parameters, and load the threat signal library and background signal library; the threat signal library contains signals that need to be kept on alert, and the background signal library contains signals that need to be filtered; and sets flight routes, detection parameters, warning levels, avoidance strategies, etc., and sends them to the target aircraft's onboard system through ground measurement and control equipment to remotely control the target aircraft.

[0009] The electromagnetic wave warning detection antenna (1) comprises two 2-20 GHz antennas using dual arrays to cover an azimuth angle of 180°, arranged at the front end of the target drone head, and used for receiving external electromagnetic wave source signals and transmitting the signals to the electromagnetic wave warning host (2).

[0010] The electromagnetic wave alarm host (2) comprises a microwave unit, a signal processing unit and a main control unit:

[0011] The microwave unit scans the signal within the adaptive frequency band by switching the matrix switch, and sends the radio frequency signal to the frequency converter for limiting, filtering, amplification, frequency conversion decoding, and finally obtains a 1-2.3 GHz intermediate frequency settlement signal, and sends the signal to the signal processing unit for signal parameter measurement; at the same time, the frequency converter also generates a 1 GHz clock signal to the main control unit and a 2.4 GHz clock signal to the signal processing unit;

[0012] The main control unit scans the electromagnetic wave signals in the low-frequency band and the high-frequency band according to the preset track and the GPS information of the target aircraft, and starts the local oscillator of the corresponding frequency band inside the microwave, and sends the detected electromagnetic wave signals to the signal processing unit for channelization processing; when the low-frequency radar signal is scanned, an alarm message is sent to the target aircraft, and the high-frequency signal is continued to be detected. When the high-frequency signal is scanned, the detection of the low-frequency signal is stopped, and an alarm message is sent to the target aircraft, and the target aircraft is guided to change the track;

[0013] The signal processing unit includes a signal processing K7 board, which is used to measure signal parameters, detect and channelize the signal, and finally obtain the direction, frequency, threat level of the electromagnetic wave signal, and radar model information that generates the threat signal of the received electromagnetic wave signal, and transmit the information to the airborne flight control platform (6).

[0014] The airborne flight control platform (6) exchanges information with the electromagnetic wave warning host (2) in real time. When receiving the incoming low-frequency electromagnetic wave warning information, it issues an alarm and continues to detect and receive low-frequency and high-frequency signals. When receiving the high-frequency signal, it no longer receives the low-frequency signal, judges the threat and autonomously escapes according to the evasive action configured in response. The target aircraft changes its flight track to escape, and after the escape is completed, it continues to control the target aircraft to fly along the route.

[0015] The airborne flight control platform (6) adopts an ARM+FPGA architecture, and the embedded processor is responsible for data collection and processing, flight control, navigation solution, task management, and measurement and control data transmission and reception based on the uC-OS operating system; the FPGA is responsible for interface conversion with the electromagnetic wave warning host, external sensors, actuators and related input and output signals; the ARM and FPGA adopt a bus communication method; the airborne flight control platform (6) also controls the flight of the target aircraft in real time, communicates with and controls the power device of the target aircraft, and integrates an OEM719 board with a data refresh rate of 20Hz to record the detected electromagnetic wave information, the flight attitude of the target aircraft and the parameters of the power device of the target aircraft, providing support for various subsequent data analyses; the airborne flight control platform (6) sends the received electromagnetic wave parameter information to the ground display and control system through a communication link.

[0016] The airborne measurement and control channel (8) is responsible for connecting the airborne flight control system (6) and the ground measurement and control equipment to ensure the real-time interaction of two-way information between the target aircraft and the ground. The airborne measurement and control channel (8) adopts a half-duplex, time division multiple access communication system, the working frequency band adopts the UHF band standard frequency band, and the measurement and control antenna adopts a vertical and horizontal dual polarization form, which can meet the effective measurement and control of the target aircraft in a maneuverable state.

[0017] The ground display and control system is capable of receiving detection parameters, locating target aircraft faults, displaying alarms and setting flight routes. By adopting electromagnetic wave signal sorting algorithms and database matching, the frequency, pulse width and repetition period of the signal can be analyzed in real time and displayed. The display content includes the frequency, pulse width, debugging mode, amplitude and time of the detected radar signal, and the alarm level is displayed through the preset radar alarm information level.

[0018] The ground measurement and control equipment comprises a multi-machine co-space control module, a measurement and control radio station, a duplexer, and an omnidirectional antenna. The duplexer radio frequency antenna port is connected to the omnidirectional antenna to transmit and receive signal waves, and the omnidirectional antenna performs radio electromagnetic wave communication with the target drone communication antenna (9);

[0019] The measurement and control radio station realizes measurement and control data interaction with multiple machine co-location control modules and computer software through serial ports and network ports;

[0020] The multi-machine co-air control module determines the communication cycle (the total time used by the ground measurement and control equipment to interact with all the target aircraft once) according to the actual number of co-air target aircraft, and divides the cycle into several equal-length time slots. In the first time slot of each cycle, the ground measurement and control equipment sends a time synchronization signal to all the target aircraft in the form of broadcast; after the target aircraft group receives the time synchronization signal, it sends telemetry information downward in order. In each subsequent time slot, the ground station completes a communication interaction with a target aircraft, and this cycle is repeated, thereby achieving the purpose of one ground measurement and control equipment controlling multiple target aircraft.

[0021] The installation of the target drone's onboard equipment needs to consider aspects such as heat dissipation, electromagnetic compatibility, structural strength, space margin, signal shielding and maintainability. The electromagnetic wave warning detection antenna (1), the electromagnetic wave warning host (2), the onboard flight control system (6), the onboard power supply system (3) and the onboard measurement and control system (8) are all installed in the target drone's head equipment compartment bracket (7); the target drone's power system (5) is installed at the target drone's tail to provide the target drone with flight power.

[0022] The wingtips of the target drone are equipped with interference and induction wingtips (4), which can release interference quickly and conveniently to induce incoming threats; the electromagnetic wave warning detection antenna (1) is arranged at the front end of the target drone head equipment compartment bracket, and the target drone communication antenna (9) is arranged at the rear end of the target drone tail to reduce the interference of the system to the electromagnetic wave environment when the target drone communicates wirelessly with the ground; each device uses a multi-layer printed circuit board, analog circuits and digital circuits are separated, and the power supply and ground wire are connected to the external power supply wire and ground wire through a filter device, etc. Some effective measures are taken to reduce electromagnetic compatibility and signal crosstalk and other problems.

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] 1) The target drone has the ability to sense electromagnetic wave radiation sources, can accurately intercept and analyze the complete information of electromagnetic wave radiation sources, identify that the signal and various parameters are consistent with the radiation source, and successfully match the identified threat with the real threat target; including: interception time, threat level, amplitude, frequency, pulse width, threat direction and other complete information, and transmit it to the ground display and control system in real time.

[0025] 2) Based on the intercepted electromagnetic waves, it can fly autonomously to interfere, induce, or perform maneuvers such as climb, dive, and maneuver turns to evade threats.

[0026] 3) It greatly expands the functions of traditional target drones and plays an important role in the transformation of autonomous confrontation target drones from traditional target drones to intelligent target drones.

[0027] 4) Expanding the simulation function of target drones in weapon equipment identification and air defense confrontation exercises is of great significance for testing ground air defense weapon systems and their close combat strike capabilities;

[0028] 5) Implement the design principles of universalization, serialization and modularization, and have good maintenance and expansion and upgrading capabilities. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments, and the above and other advantages of the present invention will become more clear.

[0030] Figure 1 This is a block diagram of the system structure of the electromagnetic wave warning autonomous countermeasure target aircraft described in the present invention.

[0031] Figure 2 This is a schematic diagram of the working principle of the electromagnetic wave alarm described in the present invention.

[0032] Figure 3 This is a block diagram of the microwave down-conversion principle of the present invention.

[0033] Figure 4 This is a block diagram of the main control unit of the electromagnetic wave alarm host described in the present invention.

[0034] Figure 5 This is the hardware function block diagram of the airborne flight control platform described in the present invention.

[0035] Figure 6 The figure is a schematic diagram of the flight logic of electromagnetic waves intercepted by the airborne flight control platform of the present invention.

[0036] Figure 7 It is a function for setting the electromagnetic wave alarm function of the ground display and control software described in the present invention.

[0037] Figure 8 It is a schematic diagram of the switching of the target drone escape maneuver flight mode according to the present invention.

[0038] Fig. 9 It is a schematic diagram of the dive and pull-up maneuver flight control of the target drone of the present invention.

[0039] Fig.10 The figure is a schematic diagram of the communication between the ground measurement and control equipment and the target drone onboard system of the present invention.

[0040] Fig.11a The figure is a layout diagram of the onboard space structure of the target drone airborne system of the present invention.

[0041] Fig.11b The figure is a layout diagram of the onboard space structure of the target drone airborne system of the present invention. DETAILED DESCRIPTION

[0042] like Figure 1 , Fig.11a , Fig.11bAs shown, the present invention provides an autonomous confrontation target drone based on radar warning, including a target drone airborne system and a ground display and control system (the corresponding names in the attached figure are: 1-electromagnetic wave warning device detection antenna, 2-electromagnetic wave warning device host, 3-airborne power supply, 4-interference and induction wing tip loading, 5-airborne power device, 6-airborne flight control platform, 7-target drone head equipment compartment bracket, 8-airborne measurement and control channel, 9-target drone communication antenna); the target drone airborne system includes an electromagnetic wave warning detection antenna, an electromagnetic wave warning host, an airborne flight control platform, an airborne power supply, an airborne measurement and control channel, a communication antenna and a target drone power loading. The ground display and control system includes a ground display and control computer and a ground measurement and control device. In air defense confrontation exercises, the target drone is used to simulate an aerial hostile target, and the airborne system is used to capture electromagnetic wave signals during flight, autonomously fly according to the avoidance strategy set in advance, and wirelessly communicate the captured electromagnetic wave information to the ground display and control system. During the ground debugging process, the ground display and control system uses human-computer interface interaction to set the flight route required for the test, as well as set the detection parameters, warning levels, and avoidance strategies according to the threat signal library and background signal library; during the flight, it displays the electromagnetic wave information intercepted by the target aircraft and displays various states of the target aircraft during flight.

[0043] The electromagnetic wave warning detection antenna 1 is arranged at the front end of the equipment compartment of the target drone head, using a double array to cover an azimuth angle of 180°, and is used to receive external electromagnetic wave source signals and transmit the signals to the electromagnetic wave warning host 2.

[0044] like Figure 2 As shown, the electromagnetic wave alarm host includes a microwave unit, a signal processing unit and a main control unit.

[0045] The function of the microwave unit is to receive the RF signal from the antenna, filter and limit the signal, and then down-convert the signal to the signal processing unit; detect the RF signal received from the antenna, and send the detection information to the main control unit for analysis. The microwave down-conversion principle block diagram is as follows Figure 3 shown.

[0046] The signal processing unit is mainly implemented by the K7 digital processing board designed based on the programmable Xilinx XC7K325T-2FFG900I FPGA. Its main function is to receive down-converted data and perform data processing and analysis.

[0047] The main control unit is a domestic SoC processing board based on the ARM Cortex-A9 core processor and FPGA structure. It mainly includes level conversion, interface, parameter solution, AXI register group, PDW sorting and identification, FIFO buffer, DMA transmission, ARM controller and other parts. The level conversion part realizes the level conversion of the external signal level to the control solution module; the interface part performs data cache, realizes the conversion function of the clock domain, and provides a reset signal at the same time; the parameter solution part realizes the message parsing and parameter calculation of the target signal; the AXI register group part realizes the parameter configuration of the parameter solution part by the ARM controller through the AXI bus; the PDW sorting and identification part realizes the parameter filtering and database comparison processing of the radar pulse description word to realize signal sorting; the FIFO buffer part realizes data caching and provides a buffer area for DMA transmission; the DMA transmission part realizes high-speed internal data transmission; the ARM controller part realizes data storage, message data analysis, interface communication and other functions. The block diagram of the main control unit is as follows Figure 4 shown.

[0048] The airborne flight control platform adopts the ARM+FPGA architecture. The embedded processor is responsible for data collection and processing, flight control, navigation solution, task management, measurement and control data transmission and reception based on the uC-OS operating system; the FPGA is mainly responsible for the interface conversion with the electromagnetic wave warning host, external sensors, actuators and related input and output signals; ARM and FPGA use bus communication. In addition, the airborne flight control platform also controls the flight of the target aircraft in real time, communicates and controls the power unit of the target aircraft, and integrates the OEM719 board with a data refresh rate of 20Hz to record the received electromagnetic wave information, the flight attitude of the target aircraft and the parameters of the power unit of the target aircraft, providing support for various subsequent data analysis. The received electromagnetic wave parameter information is sent to the ground display and control system through the communication link. As follows Figure 5 Shown is the hardware functional block diagram of the airborne flight control platform.

[0049] as follows Figure 6 Schematic diagram of the target aircraft's flight logic after intercepting electromagnetic waves. According to GPS information, route map, and the approximate direction of the radar signal, the corresponding antenna array is selected; the radar signals in the low-frequency and high-frequency bands are scanned, and the slow local oscillator of the corresponding frequency band inside the microwave is started at the same time, and the received radar signals are sent to the K7 board for channelization processing. After channelization processing, the signals are sorted and processed to obtain the final radar signal parameters; when a low-frequency radar signal is scanned, an alarm message is sent to the ground display and control system, and the high-frequency signal is continued to be detected. The alarm information includes the radar signal frequency, radar signal direction, and radar model; when a high-frequency signal is scanned, the low-frequency signal is stopped, and an alarm message is sent to the ground display and control system, and the target aircraft is controlled to change the track and perform evasive actions.

[0050] as follows Figure 7 The ground display and control software is shown as being able to set electromagnetic wave alarms and display information. The display and control software can receive data sent back by the reconnaissance equipment in real time through the network port and analyze the electromagnetic wave data. The system uses electromagnetic wave signal sorting algorithms and database matching to analyze the signal's frequency, pulse width, repetition period and other parameters in real time and display them through the software. The display content includes the frequency, pulse width, debugging method, amplitude and time of the detected radar signal, and the alarm level is displayed through the preset radar alarm information level. The target drone can pre-set evasion strategies such as releasing bait, infrared interference, and performing various maneuvers, and autonomously evade incoming threats according to the electromagnetic wave alarm level.

[0051] After capturing the electromagnetic wave threat, the target drone performs autonomous maneuvering flight, and the maneuvering flight control adopts overload control. The normal overload command is delayed in acting on the control system relative to the roll command. The purpose is to reduce the motion coupling caused by the simultaneous existence of the angle of attack and the roll angular rate. The throttle control of the onboard power unit is linked to the maneuvering subject, but instead of closed-loop continuous linear control, discrete open-loop command control is adopted. The target drone completes the escape maneuvering flight actions through autonomous navigation commands, such as horizontal circular circling maneuvers, dive and pull-up to level off, S-shaped maneuvers, half-roll inverted flight, barrel roll flight, etc. The schematic diagram of the target drone's escape maneuvering flight mode switching is shown in the figure below. Figure 8 shown.

[0052] like Fig. 9 The figure shows the control diagram of the target aircraft's dive and pull-up maneuver flight, which is mainly achieved through the design of the dive angle reference trajectory. The target aircraft dives at a fixed angle from a specified height, and when it reaches the leveling height point, it enters the process of exponential leveling trajectory. The control scheme is easy to implement and has high accuracy. Its design idea is to reduce the vertical descent speed of the target aircraft accordingly as the height H decreases, so that the target aircraft's descent speed at each moment is proportional to its current height:

[0053]

[0054] From this we can find the height:

[0055]

[0056] Where C is the control rate constant, H0 is the initial height of leveling, H(t) is the descending height at time t, is the vertical velocity at time t and the time constant of the exponential curve τ, so as to realize the height precision control of the target aircraft's dive and pull-up maneuver.

[0057] like Fig.10The figure shows a schematic diagram of the communication between the ground measurement and control equipment and the target drone airborne system, in order to ensure the real-time interaction of two-way information between the target drone and the ground, and to realize the ground measurement and control equipment to control multiple target drones by one station. The radio frequency antenna port of the airborne measurement and control channel is connected to the communication antenna (9) to transmit and receive radio electromagnetic waves, and the data port interacts with the airborne flight control platform measurement and control data through an asynchronous serial interface. The radio frequency antenna port of the ground measurement and control equipment is connected to the omnidirectional antenna to transmit and receive signal waves, and the internal serial port and network port are used to realize the interaction of measurement and control data with the multi-machine co-space control module and computer software. The multi-machine co-space control module determines the communication cycle (the total time used by the ground measurement and control equipment to interact with all the target drones once) according to the actual number of co-space target drones, and divides the cycle into several equal-length time slots. In the first time slot of each cycle, the ground measurement and control equipment sends a time synchronization signal to all the target drones in the form of broadcast. After the target drone group receives the time synchronization signal, it sends telemetry information downward in order. In each subsequent time slot, the ground station completes a communication interaction with a target drone, and this cycle repeats. This enables one ground measurement and control device to control multiple target drones.

[0058] like Fig.11a , Fig.11b The above diagram shows the spatial structure layout of the target drone's airborne system. The target drone's airborne system components are centrally installed inside the target drone's head. The installation needs to consider heat dissipation, electromagnetic compatibility, structural strength, space margin, signal shielding, and equipment maintainability.

[0059] 1. The dual arrays of the electromagnetic wave warning detection antenna cover an azimuth angle of 180°, which is convenient for detecting incoming electromagnetic wave signals; the electromagnetic wave warning host (2), the airborne flight control platform (6), the airborne power supply (3) and the airborne measurement and control channel (8) are all installed in the equipment compartment bracket (7) at the head of the target aircraft;

[0060] 2. The target drone power device (5) is installed at the tail of the target drone to provide the target drone with escape flight maneuvering power. During the maneuvering process, the target drone avionics platform autonomously controls the power device parameters according to the escape action;

[0061] 3. To facilitate release, the jamming and induction wing tip loading 4 is installed on the wing tip to release jamming and induction incoming threats;

[0062] 4. The electromagnetic wave alarm detection antenna 1 and the electromagnetic wave alarm host 2 are connected by a feeder line for transmitting the captured electromagnetic wave signal;

[0063] 5. The electromagnetic wave warning host 2, the airborne flight control platform 6, the airborne power supply 3, the airborne measurement and control channel 8 and the target drone power system 5 and other equipment are all connected to the fuselage cable, and each device completes data exchange and power supply through the fuselage cable.

[0064] 6. The target drone communication antenna (9), the electromagnetic wave warning detection antenna (1) is arranged at the front end of the target drone head cover, and the target drone communication antenna (9) is arranged at the rear end of the target drone tail, so as to reduce the interference of the system to the electromagnetic wave environment when the target drone communicates with the ground wirelessly;

[0065] 7. Each device uses multi-layer printed circuit boards, separates analog circuits from digital circuits, and connects the power supply and ground wires to the external power supply and ground wires through filtering devices to reduce electromagnetic compatibility and signal crosstalk.

[0066] The present invention provides an autonomous anti-target drone based on radar warning. There are many methods and ways to implement the technical solution. The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the protection scope of the present invention. All components not specified in this embodiment can be implemented by existing technologies.

Claims

1. An autonomous countermeasure drone based on radar warning, characterized in that: Including target drone onboard system and ground display and control system; The target drone airborne system comprises an electromagnetic wave warning detection antenna (1), an electromagnetic wave warning host (2), an airborne flight control platform (6), an airborne power supply (3), an airborne measurement and control channel (8), a communication antenna (9) and a target drone power device (5); the ground display and control system comprises a ground display and control computer and ground measurement and control equipment; The ground display and control computer shown uses a human-machine interface interaction to set the frequency bands of interest and array parameters, and load the threat signal library and background signal library; the threat signal library contains signals that need to be kept on alert, and the background signal library contains signals that need to be filtered; and sets flight routes, detection parameters, warning levels, avoidance strategies, etc., and sends them to the target aircraft's onboard system through ground measurement and control equipment to remotely control the target aircraft.

2. The autonomous anti-target drone based on radar warning according to claim 1 is characterized in that: The electromagnetic wave warning detection antenna (1) comprises two 2-20 GHz antennas using dual arrays to cover an azimuth angle of 180°, arranged at the front end of the target drone head, and used for receiving external electromagnetic wave source signals and transmitting the signals to the electromagnetic wave warning host (2).

3. The autonomous anti-target drone based on radar warning according to claim 2 is characterized in that: The electromagnetic wave alarm host (2) comprises a microwave unit, a signal processing unit and a main control unit: The microwave unit scans the signal within the adaptive frequency band by switching the matrix switch, and sends the radio frequency signal to the frequency converter for limiting, filtering, amplification, frequency conversion decoding, and finally obtains a 1-2.3 GHz intermediate frequency settlement signal, and sends the signal to the signal processing unit for signal parameter measurement; at the same time, the frequency converter also generates a 1 GHz clock signal to the main control unit and a 2.4 GHz clock signal to the signal processing unit; The main control unit scans the electromagnetic wave signals in the low-frequency band and the high-frequency band according to the preset track and the GPS information of the target aircraft, and starts the local oscillator of the corresponding frequency band inside the microwave, and sends the detected electromagnetic wave signals to the signal processing unit for channelization processing; when the low-frequency radar signal is scanned, an alarm message is sent to the target aircraft, and the high-frequency signal is continued to be detected. When the high-frequency signal is scanned, the detection of the low-frequency signal is stopped, and an alarm message is sent to the target aircraft, and the target aircraft is guided to change the track; The signal processing unit includes a signal processing K7 board, which is used to measure signal parameters, detect and channelize the signal, and finally obtain the direction, frequency, threat level of the electromagnetic wave signal, and radar model information that generates the threat signal of the received electromagnetic wave signal, and transmit the information to the airborne flight control platform (6).

4. The autonomous anti-target drone based on radar warning according to claim 3 is characterized in that: The airborne flight control platform (6) exchanges information with the electromagnetic wave warning host (2) in real time. When receiving the incoming low-frequency electromagnetic wave warning information, it issues an alarm and continues to detect and receive low-frequency and high-frequency signals. When receiving the high-frequency signal, it no longer receives the low-frequency signal, judges the threat and autonomously escapes according to the evasive action configured in response. The target aircraft changes its flight track to escape, and after the escape is completed, it continues to control the target aircraft to fly along the route. The airborne flight control platform (6) also controls the flight of the target drone in real time, communicates with and controls the power unit of the target drone, and integrates an OEM719 board to record the detected electromagnetic wave information, the flight attitude of the target drone and the parameters of the power unit of the target drone; the airborne flight control platform (6) sends the received electromagnetic wave parameter information to the ground display and control system via a communication link.

5. The autonomous anti-target drone based on radar warning according to claim 4 is characterized in that: The airborne measurement and control channel (8) is responsible for connecting the airborne flight control system (6) and the ground measurement and control equipment to ensure the real-time interaction of two-way information between the target aircraft and the ground. The airborne measurement and control channel (8) adopts a half-duplex, time division multiple access communication system, the working frequency band adopts the UHF band standard frequency band, and the measurement and control antenna adopts a vertical and horizontal dual polarization form, which can meet the effective measurement and control of the target aircraft in a maneuverable state.

6. The autonomous countermeasure drone based on radar warning according to claim 5 is characterized in that: The ground display and control system is capable of receiving detection parameters, locating target aircraft faults, displaying alarms and setting flight routes. By adopting electromagnetic wave signal sorting algorithms and database matching, the frequency, pulse width and repetition period of the signal can be analyzed in real time and displayed. The display content includes the frequency, pulse width, debugging mode, amplitude and time of the detected radar signal, and the alarm level is displayed through the preset radar alarm information level.

7. The autonomous anti-target drone based on radar warning according to claim 6 is characterized in that: The ground measurement and control equipment comprises a multi-machine co-space control module, a measurement and control radio station, a duplexer, and an omnidirectional antenna. The duplexer radio frequency antenna port is connected to the omnidirectional antenna to transmit and receive signal waves, and the omnidirectional antenna performs radio electromagnetic wave communication with the target drone communication antenna (9); The measurement and control radio station realizes measurement and control data interaction with multiple machine co-location control modules and computer software through serial ports and network ports; The multi-machine co-air control module determines the communication cycle according to the actual number of co-air target aircraft, and divides the cycle into several equal-length time slots. In the first time slot of each cycle, the ground measurement and control equipment sends a timing signal to all target aircraft in the form of a broadcast; after the target aircraft group receives the timing signal, it sends telemetry information downward in order and regularly; in each subsequent time slot, the ground station completes a communication interaction with a target aircraft, and repeats this cycle, thereby achieving the purpose of one ground measurement and control equipment controlling multiple target aircraft.

8. The autonomous countermeasure drone based on radar warning according to claim 7 is characterized in that: The electromagnetic wave warning detection antenna (1), the electromagnetic wave warning host (2), the airborne flight control system (6), the airborne power supply system (3) and the airborne measurement and control system (8) are all installed in the head equipment compartment bracket (7) of the target aircraft; the target aircraft power system (5) is installed at the tail of the target aircraft to provide flight power for the target aircraft.

9. The autonomous countermeasure drone based on radar warning according to claim 8 is characterized in that: The wingtips of the target drone are equipped with interference and induction wingtip loading (4); the electromagnetic wave warning detection antenna (1) is arranged at the front end of the target drone head equipment compartment bracket, and the target drone communication antenna (9) is arranged at the rear end of the target drone tail.

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