Precise management and control system and method for unmanned aerial vehicle in low-altitude airspace

Abstract

The invention discloses a low-altitude airspace unmanned aerial vehicle accurate management and control system and method. The system comprises an unmanned aerial vehicle management and control platform, a navigation decoy device and a navigation protection device. The unmanned aerial vehicle management and control platform is used for controlling a predetermined low-altitude airspace managed and controlled by the navigation decoy equipment and realizing accurate management and control of the unmanned aerial vehicle in the low-altitude airspace; the navigation decoy equipment is used for sending a navigation decoy signal to a low-altitude airspace; the aircraft in the predetermined low-altitude airspace comprises a non-cooperative unmanned aerial vehicle and a cooperative unmanned aerial vehicle carrying navigation protection equipment; the cooperative unmanned aerial vehicle is used for receiving the protection signal sent by the unmanned aerial vehicle management and control platform and starting the navigation protection equipment to protect the cooperative unmanned aerial vehicle; and the non-cooperative unmanned aerial vehicle is trapped to fly to the target management and control area. Navigation decoy signals are effectively shielded through the navigation protection equipment, and task failure or navigation misguidance of cooperative unmanned aerial vehicles can be avoided; and the non-cooperative unmanned aerial vehicle is forced to deviate from the air route or execute a wrong flight path to the target management and control area.

Description

Technical Field

[0001] The present invention relates to the technical field of precise control of unmanned aerial vehicles (UAVs), and more specifically to a precise control system and method for UAVs in low-altitude airspace. Background Art

[0002] With the widespread use of low-altitude drones in the military and security fields, hostile drones have become a serious threat to regional security. Traditional low-altitude control methods respond by attacking all drones that enter the predetermined airspace, but this method cannot effectively distinguish between friend and foe and may affect the normal flight of legal or cooperative drones. The result is not only a waste of airspace resources, but also an increase in the complexity of flight missions. Therefore, it is urgent to develop precise and intelligent drone control technology to ensure the efficiency and safety of airspace use and avoid excessive intervention.

[0003] In the coordinated operations or joint missions of multiple drones in low-altitude airspace, the safety protection of the partner drone is particularly important. If the drone cannot effectively distinguish between decoy signals and protection signals, it may deviate from the route or lose control under the influence of the decoy signals.

[0004] In the existing technology, although there are certain protection modules that can be used to counter decoy signals, these technologies are mostly designed for the protection of a single UAV and lack the intelligent distinction and linkage control of cooperative and non-cooperative UAVs in low-altitude airspace.

[0005] Therefore, it is an urgent problem for technical personnel in this field to provide a more accurate drone protection and deception control system and method to ensure that the flight of cooperative drones in low-altitude airspace is not affected while effectively attacking the navigation system of non-cooperative drones. Summary of the invention

[0006] In view of this, the present invention provides a low-altitude UAV precise control system and method, which improves the effect of multi-UAV coordinated combat and ensures that cooperative UAVs are not affected while effectively attacking the navigation systems of non-cooperative UAVs.

[0007] In order to achieve the above object, the present invention adopts the following technical solution:

[0008] First, a low-altitude UAV precision control system, including: a UAV control platform, a navigation decoy device, and a navigation protection device;

[0009] The drone control platform is used to control the predetermined low-altitude airspace controlled by the navigation decoy device to achieve precise control of drones in the low-altitude airspace;

[0010] The navigation decoy device is used to receive the navigation decoy request signal sent by the drone control platform, and send the navigation decoy signal to the low-altitude airspace;

[0011] Among them, the aircraft within the predetermined low-altitude airspace include non-cooperative drones and cooperative drones carrying the navigation protection equipment;

[0012] The cooperative UAV is used to receive the protection signal sent by the UAV control platform and activate the navigation protection device to protect the cooperative UAV from the navigation decoy signal sent by the navigation decoy device, and feed back the processing result of the navigation protection device to the UAV control platform;

[0013] The non-cooperative UAV is used to be interfered by the signal of the navigation deception device and be lured to fly to the target control area.

[0014] Furthermore, the UAV control platform includes a registration module, a low-altitude aircraft and navigation protection equipment access module, a navigation deception algorithm module, a navigation deception operation module and a navigation deception equipment access module;

[0015] The registration module is used to register the operator, identity, drone information and mission information of the cooperative drone;

[0016] The navigation deception operation module is used to control the operation of the navigation deception device and view relevant parameter information during the operation;

[0017] The navigation deception algorithm module is used to generate a navigation deception request signal according to the relevant parameter information of the navigation deception operation module and the information of the registration module;

[0018] The low-altitude aircraft and navigation protection equipment access module is used to send a protection signal corresponding to the navigation deception request signal to the cooperative UAV;

[0019] The navigation decoy device access module is used to send the navigation decoy request signal to the navigation decoy device and manage the navigation decoy device in real time.

[0020] Further, the navigation protection device includes: a navigation information capture unit, a data communication unit, a core processing unit and a cMMC storage unit;

[0021] The data communication unit is used to communicate with the drone control platform, receive the protection signal sent by the drone control platform and send it to the core processing unit; and send the processing result of the core processing unit to the drone control platform;

[0022] The navigation information acquisition unit is used to collect navigation signals from satellites and the environment and send them to the core processing unit;

[0023] The core processing unit is used to analyze and process the protection signal and the received navigation signal;

[0024] The cMMC storage unit is used to store the processing results of the core processing unit.

[0025] Further, the core processing unit includes: a frequency domain analysis subunit, a time domain analysis subunit, a demodulation analysis subunit and a trajectory analysis subunit;

[0026] The frequency domain analysis subunit is used to perform fast Fourier transform on the protection signal, convert the time domain signal into a frequency domain signal, and obtain a signal spectrum;

[0027] The time domain analysis subunit is used to analyze the time synchronization of the navigation signal to obtain the code sequence and delay of the positioning signal;

[0028] The demodulation and analysis subunit is used to perform BPSK demodulation of the signal and check whether the signal complies with the modulation and coding method of the navigation signal standard;

[0029] The trajectory analysis subunit is used to perform positioning calculations, analyze the trajectory and determine whether there is an abnormality based on the signal PRN code and pseudorange information.

[0030] In a second aspect, a method for precise control of low-altitude UAVs is provided, which uses a precise control system for low-altitude UAVs as described in any one of the first aspects to achieve control of UAVs in low-altitude airspace, and the method includes:

[0031] S1. The navigation decoy device receives a navigation decoy request signal sent by the drone control platform, and sends a navigation decoy signal to a predetermined low-altitude airspace; wherein the aircraft in the predetermined low-altitude airspace includes a non-cooperative drone and a cooperative drone carrying a navigation protection device;

[0032] S2, the cooperative UAV receives navigation signals from satellites and the environment and activates the navigation protection device to protect the cooperative UAV from being affected by the navigation decoy signal sent by the navigation decoy device, and feeds back the processing result of the navigation protection device to the UAV control platform;

[0033] The non-cooperative UAV is interfered with by the signal of the navigation decoy device and is lured to fly to the target control area.

[0034] Further, in step S1, the navigation decoy device in the designated airspace receives the navigation decoy request signal sent by the drone control platform, and sends the navigation decoy signal to the predetermined low-altitude airspace; specifically including:

[0035] S11. The drone control platform registers the operator, identity, drone information and mission information of the cooperative drone through a registration module; controls the operation of the navigation deception device through a navigation deception operation module and obtains relevant parameter information during the operation;

[0036] S12, the UAV control platform generates a navigation deception request signal according to the relevant parameter information and the information of the cooperative UAV through the navigation deception algorithm module;

[0037] S13. The UAV control platform sends the protection signal corresponding to the navigation deception request signal to the cooperative UAV through the low-altitude aircraft and navigation protection equipment access module; sends the navigation deception request signal to the navigation deception device through the navigation deception device access module, and manages it in real time.

[0038] Furthermore, the relevant parameter information includes: frequency, power, waveform, time synchronization and delay, modulation mode, target selection and simulated satellite number and trajectory.

[0039] Further, in step S2, the cooperative UAV receives the navigation signals from the satellite and the environment and the protection signals sent by the UAV control platform and activates the navigation protection equipment to protect the UAV from navigation deception, and feeds back the processing results of the navigation protection equipment to the UAV control platform; specifically including:

[0040] S21, the cooperative UAV receives the protection signal sent by the UAV control platform through the data communication unit; and collects the navigation signals from the satellite and the environment through the navigation information capture unit;

[0041] S22, the cooperative UAV processes the protection signal and the navigation signal respectively through the core processing unit, and stores the processing result data in the cMMC storage unit;

[0042] S23. The data communication unit feeds back the processing result to the drone management and control platform to optimize the navigation spoofing request signal.

[0043] Further, in step S22, the cooperative UAV processes the protection signal and the navigation signal respectively through the core processing unit, and stores the processing result data in the cMMC storage unit; specifically including:

[0044] The core processing unit analyzes the received protection signal, obtains the parameters of the current navigation decoy device decoy signal, and starts the navigation protection operation;

[0045] When the UAV communication link is interrupted and no protection signal is received, the core processing unit performs a fast Fourier transform on the captured navigation signal through the frequency domain analysis subunit, converts the time domain signal into a frequency domain signal, and obtains a signal spectrum;

[0046] Analyzing the time synchronization of the navigation signal through the time domain analysis subunit to obtain the code sequence and delay of the positioning signal;

[0047] The demodulation and analysis subunit performs BPSK demodulation of the signal and checks whether the signal complies with the modulation and coding method of the navigation signal standard;

[0048] The trajectory analysis subunit performs positioning calculations based on the signal PRN code and pseudorange information, analyzes the trajectory and determines whether there are any abnormalities.

[0049] Further, in step S23, the data communication unit feeds back the processing result to the drone control platform to optimize the navigation deception request signal; specifically including:

[0050] The UAV management and control platform optimizes the sending path, direction, strength and frequency of the navigation decoy request signal according to the processing result through the navigation decoy algorithm module.

[0051] It can be seen from the above technical solutions that, compared with the prior art, the present invention discloses a low-altitude airspace UAV precise control system and method, which has the following beneficial effects:

[0052] 1. Improve the safety of cooperative drones: cooperative drones can effectively shield navigation decoy signals through navigation protection equipment to avoid mission failure or navigation misleading.

[0053] 2. Precision strikes on non-cooperative drones: Navigation deception of non-cooperative drones is highly accurate, forcing them to deviate from their routes or execute incorrect flight trajectories.

[0054] 3. Intelligent drone identification: The system can intelligently distinguish between cooperative and non-cooperative drones, and minimize accidental damage to cooperative drones during the deception process.

[0055] 4. Real-time feedback and dynamic optimization: The real-time data transmission and feedback mechanism between navigation protection equipment, navigation decoy equipment and drone control platform ensures that the system can flexibly adjust its strategy according to environmental changes, thereby improving the system's resilience and reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0057] Figure 1 A structural diagram of a low-altitude UAV precision control system provided in an embodiment of the present invention.

[0058] Figure 2 A structural diagram of the navigation protection device provided in an embodiment of the present invention.

[0059] Figure 3 A flow chart of a method for precise control of low-altitude drones in airspace provided by an embodiment of the present invention.

[0060] Figure 4 Schematic diagram of a drone control method based on drone airport / ground station communication provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0061] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. 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 creative work are within the scope of protection of the present invention.

[0062] Embodiment 1

[0063] The embodiment of the present invention discloses a low-altitude airspace UAV precision control system, referring to Figure 1 As shown, it includes: UAV control platform, navigation deception equipment and navigation protection equipment;

[0064] The drone control platform is used to control the predetermined low-altitude airspace controlled by the navigation decoy equipment, and realize the precise control of drones in the low-altitude airspace; drones flying in the low-altitude airspace are remotely controlled through the ground station and the drone airport;

[0065] Navigation decoy equipment, used to receive navigation decoy request signals sent by the drone control platform and send navigation decoy signals to low-altitude airspace;

[0066] Among them, the aircraft in the predetermined low-altitude airspace include non-cooperative drones in the low-altitude airspace and cooperative drones carrying navigation protection equipment;

[0067] The cooperative UAV operates normally, receives navigation information and protection signals sent by the UAV control platform, activates the navigation protection equipment to protect the cooperative UAV from the navigation decoy signals sent by the navigation decoy equipment, and feeds back the processing results of the navigation protection equipment to the UAV control platform;

[0068] The non-cooperative UAV is used to be interfered with by the signal of the navigation decoy device and be lured to fly to the target control area.

[0069] In this embodiment, the drone control platform establishes connections with multiple navigation decoy devices and multiple cooperative drones carrying navigation protection devices through the network. The drone control platform controls multiple navigation decoy devices through communication means (network, satellite communication, data link, etc.) to start navigation decoy work in a specific area; the navigation decoy device interferes with the flight navigation of non-cooperative drones by sending false navigation signals, forcing non-cooperative drones to deviate from the predetermined route or enter a passive state.

[0070] For cooperative drones, the drone control platform first informs the cooperative drone to turn on the protection mode through notification or command. The protection mode is automatically activated by the navigation protection device of the cooperative drone, and the source of the navigation decoy signal is identified through intelligent algorithms, and a signal that interferes with the navigation decoy signal is generated to shield the false signal from the navigation decoy device, ensuring that the cooperative drone can fly safely according to the scheduled route and mission.

[0071] The following is a detailed description of them:

[0072] Reference Figure 1 As shown, the UAV management and control platform includes a registration module, a low-altitude aircraft and navigation protection equipment access module, a navigation deception algorithm module, a navigation deception operation module and a navigation deception equipment access module.

[0073] The registration module includes a low-altitude aircraft registration module and a pilot registration module, which are used to register the information of cooperative drones. The drone can connect to the server as soon as it is powered on and takes off. The drone management and control platform can obtain information, such as "xx operates xx aircraft to perform xx task at xx location."

[0074] The navigation deception operation module sets the relevant parameter information such as frequency, power, waveform, time synchronization and delay, modulation mode, target selection, and simulated satellite number and trajectory required during the operation of the navigation deception.

[0075] The navigation deception algorithm generation module forms a navigation deception request signal based on the parameter information obtained by the navigation deception operation module, which serves as the basic data for the operation of the navigation deception device and the navigation protection device.

[0076] The low-altitude aircraft and navigation protection equipment access module sends the navigation deception request signal to the cooperative UAV carrying the navigation protection equipment for self-protection processing.

[0077] The navigation decoy device access module sends the navigation decoy request signal in real time and manages the navigation decoy device in real time.

[0078] The drone control platform in this embodiment can intelligently identify and control drones according to their types (cooperative and non-cooperative). The drone control platform automatically distinguishes between cooperative and non-cooperative drones through navigation-induced strikes, and sends protection signals to cooperative drones before decoy operations to prevent them from being interfered with by navigation decoys.

[0079] The cooperative drones in this embodiment all carry navigation protection equipment. After receiving the navigation deception request signal from the drone control platform, the cooperative drone enters the navigation protection mode according to the navigation deception request signal. If the navigation protection device does not receive the navigation deception request signal sent by the control platform due to interference in the communication link, the navigation protection device will also collect the signal in real time, decode and identify the signal, detect the navigation deception request signal in real time and take shielding measures. Through the built-in anti-interference algorithm, the cooperative drone can maintain navigation accuracy in a strong interference environment.

[0080] Reference Figure 2 As shown, the navigation protection device includes a navigation information capture unit, a data communication unit, a core processing unit and a cMMC storage unit.

[0081] The data communication unit is responsible for exchanging information between the navigation protection equipment and the outside world, receiving the navigation deception request on / off signals and navigation deception request model data sent by the UAV control platform, and outputting the analysis and processing results of the navigation protection equipment.

[0082] The navigation information acquisition unit uses HackRF (acquisition range 1MHz to 6GHz) to collect all signals from satellites and the environment, and transmits the collected data stream to the core processing unit for real-time analysis;

[0083] The core processing unit performs signal spectrum analysis through the frequency domain analysis module, performs fast Fourier transform (FFT) on the captured navigation signal, converts the time domain signal into a frequency domain signal, and confirms whether there is an abnormal frequency (such as frequency deviation) by analyzing the signal spectrum.

[0084] The core processing unit performs time domain signal analysis through the time domain analysis module to analyze the time synchronization of the received navigation signal, whether the code sequence of the positioning signal (such as the C / A code of GPS) is correct, and whether the delay meets expectations.

[0085] The core processing unit performs modulation and coding analysis through the demodulation analysis module, performs BPSK demodulation on the received signal, and checks whether the signal conforms to the modulation and coding method of the navigation signal standard.

[0086] The core processing unit performs signal positioning and trajectory analysis through the trajectory analysis module, performs positioning calculations based on PRN and pseudorange information, analyzes the trajectory and determines whether there are any anomalies.

[0087] A comprehensive analysis of the above information shows that if it is a navigation deception request signal, the device switches to navigation protection mode.

[0088] The core processing unit regards the received navigation protection signal sent by the control platform and the current navigation signal analyzed by the core processing unit as the navigation decoy signal characteristics, generates a signal to interfere with the navigation decoy signal, and ensures the safety and reliability of the navigation signal.

[0089] In this embodiment, after receiving the analysis and processing results of the navigation spoofing request signal initiated by the drone control platform and the navigation protection equipment, HackRF generates a broadband noise signal in the navigation spoofing frequency band (the spoofing frequency band received by the cooperative drone from the drone control platform, generally the GPS L1 signal) through software radio technology, covering the vicinity of the navigation spoofing frequency band, thereby blocking the navigation spoofing request signal or reducing its effectiveness.

[0090] In this embodiment, the power of the interference signal is set within the range of -60dBm to -80dBm to avoid excessive impact on other surrounding radio systems, while also effectively covering the target signal, thereby covering the navigation deception request signal and reducing its impact on the cooperative UAV.

[0091] Embodiment 2

[0092] The embodiment of the present invention discloses a method for precise control of low-altitude UAVs, and uses a precise control system for low-altitude UAVs as described in any one of the embodiments to achieve control of UAVs in low-altitude airspace. Figure 3 As shown, the method includes:

[0093] S1. The navigation decoy device receives the navigation decoy request signal sent by the drone control platform and sends the navigation decoy signal to the predetermined low-altitude airspace; the aircraft in the predetermined low-altitude airspace includes non-cooperative drones and cooperative drones carrying navigation protection equipment;

[0094] S2, the cooperative UAV receives the protection signal sent by the UAV control platform from the satellite and the navigation signal in the environment, and activates the navigation protection equipment to protect the cooperative UAV from the navigation decoy signal sent by the navigation decoy equipment, and feeds back the processing result of the navigation protection equipment to the UAV control platform;

[0095] Non-cooperative drones are lured into flying to the controlled area based on the received navigation decoy signals.

[0096] In the embodiment of the present invention, a navigation decoy request signal is first generated according to the mission objective and the area range; wherein the navigation decoy request signal includes power, start time, frequency, timing, modulation and coding, information positioning and trajectory analysis; and the start and end of the navigation decoy device are controlled by signal instructions. The navigation decoy device can dynamically adjust parameters such as signal frequency and power, so that the navigation system of the non-cooperative UAV is misled, and can be controlled to a specified area.

[0097] Secondly, before starting the navigation decoy device, the drone control platform sends a navigation decoy request signal to the cooperative drone, and the cooperative drone enters the navigation protection mode according to the navigation decoy request signal (analysis of navigation decoy information in the environment when the communication / control network is interrupted);

[0098] Ultimately, the cooperative UAV is not affected and can maintain navigation accuracy in the navigation deception area and perform normal flight missions.

[0099] For non-cooperative targets, the drone control platform calculates the best sending path for decoy signals based on their flight status and location, and sends decoy signals in a targeted manner, forcing the non-cooperative drones to deviate from the planned route. Throughout the process, the intensity and frequency of the decoy signals can be adjusted in real time according to the responses of the non-cooperative drones to ensure the optimal decoy effect.

[0100] The navigation protection equipment and navigation decoy equipment work closely together; when the cooperative drone activates the protection mode, the navigation protection equipment can not only block the decoy signal, but also provide real-time feedback of the analysis and processing results, so that the drone control platform can further optimize the parameters such as the sending path, direction, strength and frequency of the navigation decoy request signal. In addition, the navigation protection equipment can also monitor the changes in the external environment in real time and dynamically adjust the protection strategy.

[0101] The present invention lists an embodiment to illustrate the principle of drone control. Figure 4 As shown, this embodiment operates the drone based on the drone airport / ground station to achieve low-altitude airspace control in the following execution order:

[0102] 1. The system starts and enters the initialization state.

[0103] 2. The operator operates the drone control platform to generate a navigation decoy request signal based on parameters (such as power, start time, frequency, timing, modulation and coding, etc.).

[0104] 3. The generated navigation decoy request signal includes navigation decoy signal positioning and trajectory analysis to ensure effective control of the drone.

[0105] 4. Wait for 10 seconds, for example, to proceed to the next step 5.

[0106] 5. The airport or ground station and navigation protection equipment are connected to the control platform to receive the data of the airborne navigation protection equipment generated by the control platform.

[0107] 6. The protection module generates a protection signal based on the received data and sends it to the airborne navigation protection equipment.

[0108] 7. The access of navigation protection equipment includes two modes. The navigation protection equipment can be connected to the flight control of low-altitude aircraft through the serial port. The airborne navigation protection equipment receives protection signals from the airport or ground station. The navigation protection equipment can also be installed separately, and the protection signals are received through self-organizing network / 4G / 5G and other signals, and a protection strategy is generated based on the received signals to deal with possible navigation decoy signals.

[0109] 8. Based on the generated navigation deception strategy request signal, the navigation deception device initiates the navigation deception operation and implements navigation deception to the designated low-altitude airspace, so that the non-cooperative target (i.e., non-cooperative UAV) is affected by the navigation deception.

[0110] 9. After receiving the protection signal, the airborne navigation protection equipment supports operations such as filtering and interference of the navigation decoy signal to ensure the normal flight of the cooperative target (i.e., the cooperative UAV).

[0111] 10. The navigation decoy device completes the navigation decoy operation, luring the non-cooperative UAV into the designated airspace for low-altitude control to ensure the safety of the low-altitude airspace.

[0112] Through the above steps, the embodiment of the present invention provides an effective drone management and control method, which can, under the control of the management and control platform, perform navigation deception on illegally invading drones while ensuring the normal operation of legitimate drones.

[0113] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0114] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A low-altitude UAV precision control system, characterized in that: include: UAV control platforms, navigation decoy equipment, and navigation protection equipment; The drone control platform is used to control the predetermined low-altitude airspace controlled by the navigation decoy device to achieve precise control of drones in the low-altitude airspace; The navigation decoy device is used to receive the navigation decoy request signal sent by the drone control platform, and send the navigation decoy signal to the low-altitude airspace; Among them, the aircraft within the predetermined low-altitude airspace include non-cooperative drones and cooperative drones carrying the navigation protection equipment; The cooperative UAV is used to receive the protection signal sent by the UAV control platform and activate the navigation protection device to protect the cooperative UAV from the navigation decoy signal sent by the navigation decoy device, and feed back the processing result of the navigation protection device to the UAV control platform; The non-cooperative UAV is used to be interfered by the signal of the navigation deception device and be lured to fly to the target control area.

2. A low-altitude airspace UAV control system as claimed in claim 1, characterized in that: The UAV control platform includes a registration module, a low-altitude aircraft and navigation protection equipment access module, a navigation deception algorithm module, a navigation deception operation module and a navigation deception equipment access module; The registration module is used to register the operator, identity, drone information and mission information of the cooperative drone; The navigation deception operation module is used to control the operation of the navigation deception device and view relevant parameter information during the operation; The navigation deception algorithm module is used to generate a navigation deception request signal according to the relevant parameter information of the navigation deception operation module and the information of the registration module; The low-altitude aircraft and navigation protection equipment access module is used to send a protection signal corresponding to the navigation deception request signal to the cooperative UAV; The navigation decoy device access module is used to send the navigation decoy request signal to the navigation decoy device and manage the navigation decoy device in real time.

3. A low-altitude airspace UAV control system as claimed in claim 1, characterized in that: The navigation protection device comprises: a navigation information capture unit, a data communication unit, a core processing unit and a cMMC storage unit; The data communication unit is used to communicate with the drone control platform, receive the protection signal sent by the drone control platform and send it to the core processing unit; and send the processing result of the core processing unit to the drone control platform; The navigation information acquisition unit is used to collect navigation signals from satellites and the environment and send them to the core processing unit; The core processing unit is used to analyze and process the protection signal and the received navigation signal; The cMMC storage unit is used to store the processing results of the core processing unit.

4. A low-altitude airspace UAV control system as claimed in claim 3, characterized in that: The core processing unit includes: a frequency domain analysis subunit, a time domain analysis subunit, a demodulation analysis subunit and a trajectory analysis subunit; The frequency domain analysis subunit is used to perform fast Fourier transform on the protection signal, convert the time domain signal into a frequency domain signal, and obtain a signal spectrum; The time domain analysis subunit is used to analyze the time synchronization of the navigation signal to obtain the code sequence and delay of the positioning signal; The demodulation and analysis subunit is used to perform BPSK demodulation of the signal and check whether the signal complies with the modulation and coding method of the navigation signal standard; The trajectory analysis subunit is used to perform positioning calculations, analyze the trajectory and determine whether there is an abnormality based on the signal PRN code and pseudorange information.

5. A method for precise control of UAVs in low-altitude airspace, characterized in that: A low-altitude UAV precision control system as described in any one of claims 1 to 4 is used to achieve precise control of UAVs in low-altitude airspace, the method comprising: S1. The navigation decoy device receives a navigation decoy request signal sent by the drone control platform, and sends a navigation decoy signal to a predetermined low-altitude airspace; wherein the aircraft in the predetermined low-altitude airspace includes a non-cooperative drone and a cooperative drone carrying a navigation protection device; S2, the cooperative UAV receives navigation signals from satellites and the environment and activates the navigation protection device to protect the cooperative UAV from being affected by the navigation decoy signal sent by the navigation decoy device, and feeds back the processing result of the navigation protection device to the UAV control platform; The non-cooperative UAV is interfered with by the signal of the navigation decoy device and is lured to fly to the target control area.

6. A method for precise control of low-altitude UAVs as claimed in claim 5, characterized in that: In step S1, the navigation decoy device receives a navigation decoy request signal sent by the drone control platform, and sends a navigation decoy signal to a predetermined low-altitude airspace; specifically, the steps include: S11. The drone control platform registers the operator, identity, drone information and mission information of the cooperative drone through a registration module; controls the operation of the navigation deception device through a navigation deception operation module and obtains relevant parameter information during the operation; S12, the UAV control platform generates a navigation deception request signal according to the relevant parameter information and the information of the cooperative UAV through the navigation deception algorithm module; S13. The UAV control platform sends the protection signal corresponding to the navigation deception request signal to the cooperative UAV through the low-altitude aircraft and navigation protection equipment access module; sends the navigation deception request signal to the navigation deception device through the navigation deception device access module, and manages it in real time.

7. A method for precise control of low-altitude UAVs as claimed in claim 6, characterized in that: The relevant parameter information includes: frequency, power, waveform, time synchronization and delay, modulation mode, target selection and simulated satellite number and trajectory.

8. A method for precise control of low-altitude UAVs as claimed in claim 5, characterized in that: In step S2, the cooperative UAV receives navigation signals from satellites and the environment and activates the navigation protection device to protect the cooperative UAV from the navigation decoy signal sent by the navigation decoy device, and feeds back the processing result of the navigation protection device to the UAV control platform; specifically, it includes: S21, the cooperative UAV receives the protection signal sent by the UAV control platform through the data communication unit; and collects the navigation signals from the satellite and the environment through the navigation information capture unit; S22, the cooperative UAV processes the protection signal and the navigation signal respectively through the core processing unit, and stores the processing result data in the cMMC storage unit; S23. The data communication unit feeds back the processing result to the drone management and control platform to optimize the navigation spoofing request signal.

9. A method for precise control of low-altitude UAVs as claimed in claim 8, characterized in that: Step S22, the cooperative UAV processes the protection signal and the navigation signal respectively through the core processing unit, and stores the processing result data in the cMMC storage unit; specifically includes: The core processing unit analyzes the received protection signal, obtains the parameters of the current navigation decoy device decoy signal, and starts the navigation protection operation; When the UAV communication link is interrupted and no protection signal is received, the core processing unit performs a fast Fourier transform on the captured navigation signal through the frequency domain analysis subunit, converts the time domain signal into a frequency domain signal, and obtains a signal spectrum; Analyzing the time synchronization of the navigation signal through the time domain analysis subunit to obtain the code sequence and delay of the positioning signal; The demodulation and analysis subunit performs BPSK demodulation of the signal and checks whether the signal complies with the modulation and coding method of the navigation signal standard; The trajectory analysis subunit performs positioning calculations based on the signal PRN code and pseudorange information, analyzes the trajectory and determines whether there are any abnormalities.

10. A method for precise control of low-altitude UAVs as claimed in claim 9, characterized in that: Step S23, the data communication unit feeds back the processing result to the drone control platform to optimize the navigation deception request signal; specifically includes: The drone management and control platform optimizes the sending path, direction, strength and frequency of the navigation decoy request signal according to the processing result through the navigation decoy algorithm module.

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