Unmanned aerial vehicle countering system and method based on dynamic motion area

Abstract

The invention relates to the technical field of unmanned aerial vehicle countering, and discloses an unmanned aerial vehicle countering system and method based on a dynamic motion area, and the system comprises a detection unit, a control unit and a countering unit. The detection unit is used for performing trajectory tracking on a protection target in a dynamic motion area, sending a motion trajectory to the control unit, performing intrusion detection and positioning on the dynamic motion area, and sending positioning information to the control unit; the control unit is used for analyzing the received movement track, determining a protection boundary of the protection area, generating a following instruction, sending the following instruction to the countering unit, generating a countering instruction according to the positioning information, and sending the countering instruction to the countering unit; and the countering unit is used for performing following protection on the protection target according to the following instruction, and executing a countering strategy according to the countering instruction. The method can adapt to the change of a moving target area in real time, and achieves accurate and efficient intrusion detection and precise intrusion unmanned aerial vehicle countering.

Description

Technical Field

[0001] The present invention relates to the technical field of drone countermeasures, and in particular to a drone countermeasure system and method based on a dynamic motion area. Background Art

[0002] The rapid development of drone technology has promoted its widespread application in various fields. For example, drones have become an indispensable key tool in scenarios such as drone light shows, public event security, and on-site monitoring of large gatherings. At the same time, drones are also becoming more and more widely used for personal use. With the widespread application of drones in various fields, the security challenges they face are becoming more and more severe. On the one hand, the invasion of illegal drones may pose a threat to crowded areas or important performance areas; on the other hand, when personally controlled drones are shooting large drone application scenarios, there may be a risk of accidental entry, and accidental drones may interfere with the arrangement of light shows or cause public safety hazards. Due to these large drone application scenarios, the movement area of ​​the drone is dynamically changeable, and the current drone prevention and control countermeasures are mostly applied to static areas. Therefore, how to effectively prevent and control drone threats in dynamic moving areas has become a difficult problem that needs to be solved urgently. Summary of the invention

[0003] In order to solve the above technical problems, the present invention provides a drone countermeasure system and method based on dynamic motion areas, so as to achieve tracking protection and intrusion countermeasures for dynamic motion areas, thereby improving the accuracy of intrusion detection and achieving precise countermeasures against invading drones.

[0004] In a first aspect, the present invention provides a UAV countermeasure system based on a dynamic motion area, the system comprising:

[0005] A detection unit, a control unit and a countermeasure unit that are sequentially communicatively connected;

[0006] The detection unit is used to track the trajectory of the protected target in the dynamic motion area and send the obtained motion trajectory to the control unit, and detect and locate the invading drone in the dynamic motion area according to the air-ground collaborative detection strategy, and send the positioning information to the control unit;

[0007] The control unit is used to analyze the received motion trajectory, determine the protection boundary of the protection area according to the analysis result and the preset protection distance, generate a follow-up instruction according to the protection boundary, and send the follow-up instruction to the countermeasure unit, and generate a countermeasure strategy according to the received positioning information, generate a countermeasure instruction according to the countermeasure strategy, and send the countermeasure instruction to the countermeasure unit, wherein the protection distance is determined by the safety distance and the countermeasure time intrusion distance;

[0008] The countermeasure unit is arranged at the protection boundary of the protection area according to a preset layout rule, and is used to follow and protect the protection target according to the received follow-up instruction, and to execute the countermeasure strategy according to the received countermeasure instruction.

[0009] Further, the detection unit includes a ground detection unit and an aerial detection unit;

[0010] The ground detection unit is installed on the ground, and is used to track the trajectory of the protected target in the dynamic motion area, and send the obtained motion trajectory to the control unit, and detect and locate the invading drone in the area below the dynamic motion area according to the air-ground collaborative detection strategy, and send the positioning information to the control unit;

[0011] The aerial detection unit includes a plurality of detection drones, which fly above the dynamic motion area and are used to detect intrusion drones in the area above the dynamic motion area according to the air-ground coordinated detection strategy;

[0012] The air-ground collaborative detection strategy includes:

[0013] The ground detection unit and the aerial detection unit independently perform detection tasks. When the ground detection unit detects an intruding UAV, it obtains control of the detection UAV, controls the detection UAV to fly above the intruding UAV for detection verification, and locates the intruding UAV after verification and confirmation;

[0014] When the detection drone detects an intruding drone, the control right of the ground detection unit is obtained, the ground detection unit is controlled to adjust the detection frequency, and a verification detection is performed. After the verification is confirmed, the ground detection unit locates the intruding drone;

[0015] When the ground detection unit and the detection drone detect an intruding drone at the same time, the detection drone continues to perform the detection task, and the ground detection unit performs the intruding drone positioning task.

[0016] Further, the control unit includes a follow-up control unit and a counter-control control unit;

[0017] The following control unit is used to analyze the received motion trajectory, determine the motion boundary of the dynamic motion area according to the analysis result and the safety distance, determine the protection boundary of the protection area according to the analysis result and the countermeasure time intrusion distance, and generate a following instruction according to the protection boundary and send it to the countermeasure unit, wherein the countermeasure time intrusion distance is the maximum flight distance of the UAV within the countermeasure response time of the countermeasure UAV;

[0018] The countermeasure control unit is used to generate a countermeasure tracking instruction based on the positioning information and send it to the countermeasure unit so that the countermeasure unit tracks the invading drone, and calculates the relative azimuth between the countermeasure unit and the protected target in real time, adjusts the interference distance of the countermeasure unit according to the relative azimuth, generates a countermeasure instruction based on the adjusted interference distance, and sends it to the countermeasure unit so that the countermeasure unit counters the invading drone.

[0019] Furthermore, the countermeasure unit includes a plurality of countermeasure drones, each of which is provided with an airborne gimbal, an electromagnetic interference device is installed on the airborne gimbal, the airborne gimbal is an adjustable gimbal with two degrees of freedom, and the number of the countermeasure drones is determined by the transmission beam angle of the electromagnetic interference device;

[0020] The countermeasure drones are deployed at the protection boundary of the protection area, the horizontal projection plane angle between the countermeasure drones is the transmission beam angle, and the height plane distance between the countermeasure drones is determined by the protection distance and the transmission beam angle;

[0021] The number of the countermeasure drones is expressed by the following formula:

[0022] N=360 / α

[0023] Where α represents the transmit beam angle;

[0024] The height plane distance is expressed by the following formula:

[0025] L=D z *β / (360 / α-1)

[0026] Where D z It represents the z-axis distance of the protection distance, and β represents the distance multiple.

[0027] Furthermore, the countermeasure control unit is used to generate a countermeasure tracking instruction according to the positioning information, select a first countermeasure UAV that performs a countermeasure task from the countermeasure unit, and send the countermeasure tracking instruction to the first countermeasure UAV, so that the first countermeasure UAV tracks the invading UAV;

[0028] Calculate the relative azimuth between the first counter-drone and the protected target in real time, and determine whether the relative azimuth is greater than an angle threshold; if so, set the interference distance of the first counter-drone according to the distance between the first counter-drone and the protected boundary; otherwise, set the interference distance according to the actual distance between the first counter-drone and the intruding drone;

[0029] A countermeasure instruction is generated according to the interference distance and sent to the first countermeasure UAV, so that the first countermeasure UAV counters the invading UAV.

[0030] Furthermore, the countermeasure control unit is used to generate a countermeasure auxiliary instruction and send it to a countermeasure drone adjacent to the first countermeasure drone after the first countermeasure drone flies away, so as to control the airborne gimbal of the adjacent countermeasure drone to rotate and scan at a preset angle, and the scanning angle covers the protection range of the first countermeasure drone.

[0031] Furthermore, the countermeasure control unit is used to calculate the threat level of each invading drone according to a preset algorithm in response to the presence of multiple invading drones, and counter each invading drone in turn according to the threat level.

[0032] Furthermore, the control unit also includes a fault-tolerant control unit;

[0033] The fault-tolerant control unit is used to monitor the working status and remaining energy of each counter-drone in the counter-drone unit, and determine whether each counter-drone is in an abnormal state, wherein the abnormal state includes a malfunction of the drone and insufficient energy;

[0034] In response to the occurrence of an abnormal state, a corresponding emergency response mechanism is initiated, and the emergency response mechanism includes a deployment position replanning mechanism and a backup drone replacement mechanism.

[0035] Furthermore, the fault-tolerant control unit is used to obtain the number of countermeasure drones in abnormal state and determine whether the abnormal number is greater than the number threshold. If so, the backup drone replacement mechanism is started, otherwise, the deployment position re-planning mechanism is started.

[0036] In a second aspect, the present invention provides a method for countering a UAV based on a dynamic motion area, the method comprising:

[0037] Track the protected target in the dynamic motion area through the detection unit, and send the obtained motion trajectory to the control unit;

[0038] The control unit analyzes the received motion trajectory, determines the protection boundary of the protection area according to the analysis result and the preset protection distance, generates a following instruction according to the protection boundary, and sends it to the countermeasure unit, so that the countermeasure unit follows and protects the protection target according to the received following instruction;

[0039] The detection unit detects and locates intruding drones in the dynamic motion area according to the air-ground collaborative detection strategy, and sends the positioning information to the control unit;

[0040] The control unit generates a countermeasure strategy according to the received positioning information, generates a countermeasure instruction according to the countermeasure strategy, and sends the countermeasure instruction to the countermeasure unit, so that the countermeasure unit executes the countermeasure strategy according to the received countermeasure instruction.

[0041] The present invention provides a UAV countermeasure system and method based on dynamic motion areas. Through the method, the present invention can effectively improve the timeliness and accuracy of intrusion detection through an air-ground collaborative detection strategy, thereby ensuring that intrusion situations can be discovered in a timely manner, and can adapt to changes in the mobile target area in real time through a dynamic motion area tracking mechanism based on a protection distance, thereby achieving all-round dynamic tracking and protection of the protected target, and through a collaborative countermeasure strategy, can achieve precise countermeasures against invading UAVs. The UAV countermeasure system provided by the present invention can not only achieve accurate and efficient intrusion detection, but also can adapt to changes in the mobile target area in real time, and achieve precise countermeasures against invading UAVs. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 is a schematic structural diagram of a UAV countermeasure system in an embodiment of the present invention;

[0043] Figure 2 is another structural schematic diagram of the UAV countermeasure system in an embodiment of the present invention;

[0044] Figure 3 It is a flow chart of the UAV countermeasure method in an embodiment of the present invention. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are 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.

[0046] See also Figure 1 The first embodiment of the present invention proposes a UAV countermeasure system based on a dynamic motion area, comprising a detection unit 10, a control unit 20 and a countermeasure unit 30 which are sequentially connected in communication. The detection unit 10 is used to track the trajectory of the protected target in the dynamic motion area, and send the obtained motion trajectory to the control unit 20, and detect and locate the invading UAV in the dynamic motion area according to the air-ground collaborative detection strategy, and send the positioning information to the control unit 20;

[0047] The control unit 20 is used to analyze the received motion trajectory, determine the protection boundary of the protection area according to the analysis result and the preset protection distance, generate a follow-up instruction according to the protection boundary, and send the follow-up instruction to the countermeasure unit 30, and generate a countermeasure strategy according to the received positioning information, generate a countermeasure instruction according to the countermeasure strategy, and send the countermeasure instruction to the countermeasure unit 30, and the protection distance is determined by the safety distance and the countermeasure time intrusion distance;

[0048] The countermeasure unit 30 is arranged at the protection boundary of the protection area according to a preset layout rule, and is used to follow and protect the protection target according to the received follow-up instruction, and to execute the countermeasure strategy according to the received countermeasure instruction.

[0049] The drone countermeasure system provided by the present invention is mainly used to prevent and control the dynamic motion area of ​​drones in large drone application scenarios. Before describing the drone countermeasure system provided by the present invention in detail, the definitions of the relevant names used in the present invention are first described:

[0050] Protection target: refers to the protected object that is easily interfered by the invading drone, including drones or other flying devices;

[0051] Dynamic motion area: refers to the motion range of the protected target in three-dimensional space;

[0052] Movement trajectory: refers to the path along which the protected target moves;

[0053] Safety distance: refers to the distance between the protected target and the protected target that needs to be reserved by the industry to ensure safe operation or operation of the protected target;

[0054] Counterattack time intrusion distance: refers to the flight distance of the drone within the counterattack response time of the counterattack drone;

[0055] Protection area: refers to the area extending a certain length outward from the motion area. The distance between the boundary of this area and the protection target is the protection distance. Invading objects are not allowed in this area.

[0056] In the present invention, the countermeasures against drones for protecting targets can be divided into three stages: intrusion target detection, protection target following, and intrusion drone countermeasures. Among them, intrusion target detection is achieved by the detection unit 10. In this embodiment, the detection unit 10 is used to perform target detection and target positioning of intrusion drones in the dynamic motion area composed of multiple drones. In order to ensure the detection effect of intrusion drones, the detection unit 10 of this embodiment adopts an air-ground collaborative detection strategy, including a ground detection unit 101 and an aerial detection unit 102, wherein the ground detection unit 101 is installed on the ground, including a radio spectrum detection device, a radar detection device, and a sound detection device, which is used to detect and locate targets in the lower half of the dynamic motion area.

[0057] Specifically, the radio spectrum detection equipment is used to monitor the communication signals of drones, covering the remote control image transmission frequency bands commonly used by drones, and can identify common civilian drone models on the market; the radar detection equipment is used for long-range target detection and trajectory tracking, and can obtain the positioning information of invading drones and the movement trajectory of protected targets. The radar detection equipment is arranged according to full-space detection, including horizontal detection arrays and vertical detection arrays. The horizontal detection array consists of at least four 120-degree sector scanning radars to achieve 360-degree detection without blind spots. The vertical detection array includes upward-looking radar and downward-looking radar, with detection ranges of +60 degrees and -60 degrees respectively; the sound detection equipment is used to identify drones through voiceprint features.

[0058] The aerial detection unit 102 includes a plurality of detection drones for performing target detection on the upper half of the dynamic moving area. The aerial detection unit 102 arranges one or more detection drones for target detection according to the range of the dynamic moving area. The detection drones are mounted with detection devices to realize radio analysis detection and image target recognition detection. When the aerial detection unit 102 performs aerial target detection, when one detection drone is used for target detection, the detection drone patrols and detects the movement range of the protected target according to a certain patrol rule. The patrol rule is determined by the size of the movement area, the exploration distance and angle of the drone. As long as each round of patrol can cover the entire movement area, when multiple detection drones are used for target detection, each detection drone detects a different area, and the entire movement area is covered by multiple detection drones.

[0059] When the detection unit 10 performs target detection, the ground detection unit 101 and the air detection unit 102 perform detection tasks independently. When any unit finds an invading drone, an air-ground collaborative detection strategy is used to perform detection confirmation, which specifically includes:

[0060] When the ground detection unit 101 detects an invading drone, it obtains control of the detection drone that is performing the detection mission, controls the detection drone to fly above the invading drone for detection verification, and when the detection drone confirms the presence of an invading drone through radio analysis or image recognition, the ground detection unit 101 locates and tracks the target through radar detection equipment, and sends the positioning information to the control unit 20.

[0061] When the aerial detection unit 102 detects an invading drone, it will take over the control of the ground detection unit 101 and perform detection verification by adjusting the detection frequency output by the ground detection unit 101. When the ground detection unit 101 confirms the presence of an invading drone, the ground detection unit 101 locates and tracks the target through radar detection equipment and sends the positioning information to the control unit 20.

[0062] When the ground detection unit 101 and the aerial detection unit 102 detect an intruding drone at the same time, the detection drone continues to perform the detection verification task, and the radar detection equipment performs the target positioning task.

[0063] In the air-ground collaborative detection strategy provided in this embodiment, the ground detection unit 101 and the air detection unit 102 work independently, and are responsible for the upper and lower parts of the movement area respectively. When one party detects an intrusion, it can obtain control of the other party to confirm the detection. Through the mutual verification of this collaborative detection, not only the reliability of detection is increased and the time for detection confirmation is reduced, but also the investment in high-power ground equipment is reduced, thereby reducing the monitoring cost.

[0064] The detection unit 10 can realize all-round intrusion detection in the dynamic motion area. For the countermeasure of the intrusion target, the countermeasure strategy is generated by the control unit 20, and the execution of the countermeasure strategy is implemented by the countermeasure unit 30. Before executing the intrusion countermeasure, the countermeasure unit 30 will fly along the boundary of the protection area according to the preset layout and provide escort protection for the protected targets in the area. The following instruction is generated by the control unit 20, and after receiving the countermeasure instruction, the countermeasure strategy is executed. The following is an explanation of the steps for generating the following instruction and the countermeasure instruction of the control unit 20.

[0065] See also Figure 2 In this embodiment, the control unit 20 includes a following control unit 201 and a countermeasure control unit 202, wherein the following control unit 201 is used to parse the received motion trajectory, determine the motion boundary of the dynamic motion area according to the parsing result and the safety distance, determine the protection boundary of the protection area according to the parsing result and the countermeasure time intrusion distance, and generate a following instruction according to the protection boundary, wherein the protection distance is determined by the safety distance and the countermeasure time intrusion distance.

[0066] Specifically, the motion trajectory, i.e., radar data, obtained by the radar detection device is first preprocessed, the radar data is converted from a polar coordinate system to a Cartesian coordinate system, and the Kalman filter algorithm is used to eliminate the noise in the radar data. Then, the trajectory feature extraction is performed on the denoised radar data, i.e., the maximum speed, average acceleration, and steering angle standard deviation in the sliding window are calculated, and the dynamic convex hull calculation is performed, such as using Andrew's monotone chain algorithm to generate the convex hull boundary in real time. Then, the drone path planning is performed based on the convex hull boundary, i.e., the convex hull boundary is extended outward by the safety distance to obtain a new boundary point, which is the boundary coordinate of the motion boundary of the dynamic motion area. In this embodiment, the dynamic motion area is an area with a safety distance from the protected target, i.e., the motion boundary and the protected target are set according to a preset safety distance. Then, on the basis of the motion boundary, the counter-time intrusion distance is continued to be extended outward to obtain the boundary coordinates of the protection boundary of the protection area, where the counter-time intrusion distance is a preset distance, and the specific calculation process will be described later.

[0067] Then, waypoints are generated based on the boundary coordinates of the protection boundary, that is, the Dubins path planning algorithm is used to generate a smooth path, and the waypoint sequence is optimized based on model predictive control (MPC). The minimum turning radius can be set as:

[0068] R_min=v2 / (g·tanφ_max)

[0069] Where v represents the speed of the drone, φ_max represents the maximum roll angle, and g represents the acceleration of gravity.

[0070] Finally, a follow-up instruction is generated based on the waypoint sequence and sent to the countermeasure unit 30. The countermeasure unit 30 then performs accompanying flight protection on the protected target according to the follow-up instruction to achieve protection of the target in the protected area.

[0071] The countermeasure control unit 202 is used to generate a countermeasure strategy according to the received positioning information, and convert it into a countermeasure instruction and send it to the countermeasure unit 30, so that the countermeasure unit 30 performs the countermeasure task. Before the countermeasure control unit 202 is described in detail, the composition and layout structure of the countermeasure unit 30 are described first.

[0072] In this embodiment, the countermeasure unit 30 is composed of a plurality of countermeasure drones, each of which is provided with an airborne gimbal, which is an adjustable gimbal with at least two degrees of freedom, that is, the adjustable gimbal includes a horizontal rotation mechanism and a pitch adjustment mechanism, and a directional electromagnetic interference device is installed on the airborne gimbal, and the interference coverage of 360 degrees in azimuth and -30 degrees to +90 degrees in pitch angle can be achieved by adjusting the adjustable gimbal. The electromagnetic interference device also has a power adjustment function, and the interference distance can be adjusted by adjusting the transmission power. Assuming that the adjustment range is 0.1W to 50W, the interference distance range of 10 meters to 1000 meters can be achieved.

[0073] The number of counter-drones is determined by the transmission beam angle of the electromagnetic interference device installed on the counter-drone. Assuming that the transmission beam angle of the electromagnetic interference device is a conical area of ​​α, the number of counter-drones can be set to 360 / α, thereby achieving all-round interference. Assuming that the transmission beam angle range of the electromagnetic interference device is 60 degrees, the number of counter-drones can be set to 6. At the same time, the counter-drone has the function of posture stability, which can supplement the disturbance during the flight, thereby ensuring the stability of the electromagnetic interference device. These counter-drones are deployed at the protection boundary of the protection area. At the initial stage, the protection boundary is determined by the radar coordinate position of the hovering protection target according to the above steps. When the protection target starts to move, the control unit 20 generates a corresponding follow-up instruction based on the motion trajectory of the protection target detected by the ground detection unit 101 to achieve accompanying flight protection.

[0074] According to the above description, it can be known that in this embodiment, the protection distance D is actually composed of the safety distance d1 and the counter-attack time intrusion distance d2. The safety distance d1 is the distance required to be reserved to ensure the safe operation of the target. No intruding objects can appear within this distance. Since the counter-attack UAV requires response time from startup to counter-attack, a certain response distance needs to be reserved for the counter-attack UAV, that is, the counter-attack time intrusion distance. The counter-attack time intrusion distance d2 refers to the maximum flight distance of the UAV within the counter-attack response time of the counter-attack UAV, and more specifically, the maximum distance that the intruding UAV can travel within the counter-attack response time. In this way, the intrusion within the safety distance can be avoided to the greatest extent.

[0075] In this embodiment, the countermeasure time and intrusion distance are determined by two parameters, one is the countermeasure response time, and the other is the flight speed of the intruding UAV. The countermeasure response time includes the time t1 for the countermeasure UAV to identify the intruding UAV, and the time t2 for the onboard interference countermeasure device to start and aim at the target after identification. The flight speed of the intruding UAV is determined according to the maximum moving speed v of the current civil UAV. max Therefore, the countermeasure time intrusion distance can be expressed as:

[0076] d2=(t1+t2)*v max

[0077] The protection distance is expressed as:

[0078] D=d1+d2

[0079] On the basis of the protection distance, each counter-drone actually surrounds the entire protection area into a three-dimensional space range, thereby achieving all-round protection. For the spatial layout of the counter-drone, the angle between each counter-drone on the horizontal projection plane of the three-dimensional space, that is, the xy projection plane, is the transmission beam angle of the electromagnetic interference device, thereby ensuring a 360-degree interference range. On the height plane of the z-axis, the distance between each counter-drone is determined by the protection distance and the transmission beam angle, that is, the preset distance multiple of the maximum length of the protection distance in the z-axis direction is (360 / α-1), and the formula is expressed as follows:

[0080] L=D z *β / (360 / α-1)

[0081] Where D z represents the z-axis distance of the protection distance, β represents the distance multiple, and preferably, the distance multiple is set to 1.2.

[0082] With respect to the layout structure of the above-mentioned countermeasure unit 30, when the countermeasure UAV does not find an invading object, it will fly around the boundary of the protection area to protect the protected target. When an intrusion occurs, the countermeasure control unit 202 generates a countermeasure tracking instruction based on the positioning information and sends it to the countermeasure unit 30, so that the countermeasure unit 30 can track the invading UAV, and calculate the relative azimuth between the countermeasure unit 30 and the protected target in real time, adjust the interference distance of the countermeasure unit 30 according to the relative azimuth, generate a countermeasure instruction according to the adjusted interference distance, and send it to the countermeasure unit 30, so that the countermeasure unit 30 can counter the invading UAV.

[0083] Specifically, the countermeasure strategy of the countermeasure control unit 202 can be divided into two steps. The first step is to track the invading drone. According to the positioning information of the invading drone, a countermeasure tracking instruction is generated. At the same time, a countermeasure drone closest to the invading drone is selected from multiple countermeasure drones and used as the first countermeasure drone. The countermeasure control unit 202 will send the countermeasure tracking instruction to the first countermeasure drone, and the first countermeasure drone will fly towards the invading drone to track the invading drone.

[0084] The second step is the countermeasure after tracking. The countermeasure strategy is different based on the different intrusion positions of the intruding drone. There are two possible intrusion positions of the intruding drone. One is that the intruding drone approaches the protection area from a farther distance, and the other is that the intruding drone enters the protection area, that is, enters the area between the countermeasure drone and the dynamic motion area. When the intrusion is the first case, when the countermeasure drone executes the countermeasure tracking command, its flight direction is away from the protection area. At this time, the interference distance of the countermeasure interference signal only needs to consider the distance between the countermeasure drone and the boundary of the protection area, and there is no need to adjust the direction and power of the interference signal; when the intrusion is the second case, the countermeasure drone actually flies towards the protection area. In order to avoid interference to the protected target in the protection area, when interfering with the intruding drone, the setting of the interference distance is related to the distance between the countermeasure drone and the intruding drone. At the same time, the direction and transmission power of the interference signal must be considered, and the normal operation of the protected target must not be affected.

[0085] Based on the above principle, in this embodiment, the relative direction angle between the counter-drone and the protected target is used to determine the intrusion direction of the intruding drone. If the relative direction angle is greater than 90 degrees, it means that the counter-drone is flying away from the protection area, that is, the intruding drone is the first invasion situation. At this time, the interference distance of the counter-drone is set to the distance between the counter-drone and the protection boundary of the protection area, and the interference direction and output power use the preset values ​​without adjustment; if the relative direction angle is less than 90 degrees, it means that the counter-drone is flying toward the protection area, that is, the intruding drone is the second invasion situation. At this time, the interference distance of the counter-drone is set to the actual distance between the counter-drone and the intruding drone, and based on the position of the intruding drone and the position of the protected target, the interference direction of the interference signal is adjusted so that its beam is directed toward the intruding drone, deviating from the protection target to the greatest extent, and at the same time, the transmission power of the interference signal is adjusted to ensure that the interference signal achieves the optimal interference effect when it reaches the position of the intruding drone. Finally, according to the countermeasure strategy based on the interference distance, interference direction and transmission power, the corresponding countermeasure instruction is generated and sent to the first countermeasure UAV, which then counters the invading UAV, thus realizing a complete tracking and countermeasure process.

[0086] When the first counter-attack UAV performs the counter-attack mission, in order to ensure that the remaining counter-attack UAVs can still provide all-round protection to the protected area, in a preferred embodiment, the counter-attack control unit 202 generates a counter-attack auxiliary instruction and sends it to the two counter-attack UAVs adjacent to the first counter-attack UAV on the left and right after the first counter-attack UAV flies away. The counter-attack auxiliary instruction is used to control the onboard gimbals of the two counter-attack UAVs to perform rotational scanning, and the rotation angle is half of the transmission beam angle, that is, α / 2. Through the rotational scanning of the two counter-attack UAVs, the scanning viewing angle covers the protection range of the first counter-attack UAV, thereby ensuring that there is no protection dead zone.

[0087] Furthermore, when there are multiple invading drones, the countermeasure control unit 202 will evaluate the threat level of each invading drone according to a preset threat level assessment algorithm, wherein the threat level assessment algorithm can perform a weighted comprehensive assessment based on parameters such as the invading location, flight speed, and flight direction of the invading drone, or other assessment algorithms may be used, and no excessive restrictions are made here.

[0088] After determining the threat level of each invading drone, they are sorted according to the threat level and countered in turn. If there are multiple invading drones with the same threat level, multiple counter-attack drones are dispatched at the same time to counter them, and the scanning angles of other counter-attack drones are adjusted to ensure that there are no protection blind spots. When full coverage of the protection range cannot be achieved by adjusting the scanning angle, the counter-attack mission is given priority, and a backup drone is dispatched to fill the original position of the drone performing the mission.

[0089] In a preferred embodiment, the control unit 20 also includes a fault-tolerant control unit 203, which is used to monitor the working state and remaining energy of each counter-drone, determine whether it is in an abnormal state, where the abnormal state includes drone failure and insufficient energy, and start the corresponding emergency response mechanism according to the determined abnormal state. Specifically, first determine the size relationship between the number of counter-drones in abnormal state and the preset number threshold, the number threshold can be determined based on the total number of counter-drones, such as one tenth of the total number, if it is less than the number threshold, then by re-planning the deployment position, the scanning angle of other counter-drones covers the scanning area of ​​the abnormal state drone, if it is greater than the number threshold, it means that it is difficult to achieve full coverage of the protection area through the re-planning of the deployment position of other counter-drones, at this time, it is necessary to immediately dispatch a backup drone to replace the abnormal state drone. Of course, the emergency response mechanism can also be that when an abnormal state drone is detected, the deployment position is first re-planned so that other drones temporarily monitor the scanning area of ​​the abnormal state drone, and the backup drone is immediately dispatched to replace it. When the backup drone is in place, the layout is readjusted to the initial optimal layout. The specific emergency response mechanism can be flexibly set according to actual conditions and no excessive restrictions are imposed here.

[0090] This embodiment provides a UAV countermeasure system based on dynamic motion areas. The present invention can effectively improve the timeliness and accuracy of intrusion detection through air-ground collaborative detection strategies, thereby ensuring that intrusion situations can be discovered in a timely manner. Through a dynamic motion area tracking mechanism based on protection distance, it can adapt to changes in the mobile target area in real time, thereby achieving all-round dynamic tracking protection of the protected target, and through a collaborative countermeasure strategy, it can achieve precise countermeasures against invading UAVs. The UAV countermeasure system provided by the present invention can not only achieve accurate and efficient intrusion detection, but also can adapt to changes in the mobile target area in real time, and achieve precise countermeasures against threatening UAVs. The UAV countermeasure system provided by the present invention can be applied to various UAV scenarios, has good applicability and scalability, and provides an intelligent, efficient and safe protection solution for the application of UAVs.

[0091] See also Figure 3 Based on the same inventive concept, a second embodiment of the present invention proposes a method for countering a UAV based on a dynamic motion area. The method is applied to the system as described above, and includes steps S10 to S40:

[0092] Step S10, tracking the trajectory of the protected target in the dynamic motion area by the detection unit, and sending the obtained motion trajectory to the control unit;

[0093] Step S20, the control unit analyzes the received motion trajectory, determines the protection boundary of the protection area according to the analysis result and the preset protection distance, generates a follow-up instruction according to the protection boundary, and sends it to the countermeasure unit, so that the countermeasure unit follows and protects the protection target according to the received follow-up instruction;

[0094] Step S30, detecting and locating the intruding UAV in the dynamic motion area by the detection unit according to the air-ground coordinated detection strategy, and sending the positioning information to the control unit;

[0095] Step S40, generating a countermeasure strategy according to the received positioning information by the control unit, generating a countermeasure instruction according to the countermeasure strategy, and sending the countermeasure instruction to the countermeasure unit, so that the countermeasure unit executes the countermeasure strategy according to the received countermeasure instruction.

[0096] The technical features and technical effects of the drone countermeasure in the dynamic motion area proposed in the embodiment of the present invention are the same as those of the system proposed in the embodiment of the present invention, and will not be repeated here. Each module in the above-mentioned drone countermeasure system in the dynamic motion area can be implemented in whole or in part by software, hardware and a combination thereof. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory in the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0097] In summary, an embodiment of the present invention proposes a drone countermeasure system and method based on a dynamic motion area, the system comprising a detection unit, a control unit and a countermeasure unit that are communicatively connected in sequence; the detection unit is used to track the trajectory of the protected target in the dynamic motion area, and send the obtained motion trajectory to the control unit, as well as detect and locate the invading drone in the dynamic motion area according to the air-ground collaborative detection strategy, and send the positioning information to the control unit; the control unit is used to parse the received motion trajectory, determine the protection boundary of the protected area according to the analysis result and the preset protection distance, generate a follow-up instruction according to the protection boundary, and send the follow-up instruction to the countermeasure unit, as well as generate a countermeasure strategy according to the received positioning information, generate a countermeasure instruction according to the countermeasure strategy, and send the countermeasure instruction to the countermeasure unit, the protection distance is determined by the safety distance and the countermeasure time intrusion distance; the countermeasure unit is arranged at the protection boundary of the protected area according to the preset layout rules, and is used to follow and protect the protected target according to the received follow-up instruction, and execute the countermeasure strategy according to the received countermeasure instruction. The present invention can effectively improve the timeliness and accuracy of intrusion detection through the air-ground collaborative detection strategy, thereby ensuring that intrusion situations can be discovered in a timely manner. Through the dynamic motion area tracking mechanism based on the protection distance, it can adapt to the changes in the mobile target area in real time, thereby realizing all-round dynamic tracking protection of the protected target, and through the collaborative countermeasure strategy, it can realize accurate countermeasures against invading drones. The drone countermeasure system provided by the present invention can not only realize accurate and efficient intrusion detection, but also can adapt to the changes in the mobile target area in real time, and realize accurate countermeasures against invading drones. The drone countermeasure system provided by the present invention can be applied to various drone scenarios with good applicability and scalability, and provides an intelligent, efficient and safe protection solution for the application of drones.

[0098] Each embodiment in this specification is described in a progressive manner, and the same or similar parts of each embodiment can be directly referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment. It should be noted that the technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, all possible combinations of the technical features in the above-mentioned embodiments are not described. 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 this specification.

[0099] The above-mentioned embodiments only express several preferred implementation modes of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in the technical field, several improvements and substitutions can be made without departing from the technical principles of the present invention, and these improvements and substitutions should also be regarded as the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be based on the protection scope of the claims.

Claims

1. A UAV countermeasure system based on dynamic motion area, characterized in that: include: A detection unit, a control unit and a countermeasure unit that are sequentially communicatively connected; The detection unit is used to track the trajectory of the protected target in the dynamic motion area and send the obtained motion trajectory to the control unit, and detect and locate the invading drone in the dynamic motion area according to the air-ground collaborative detection strategy, and send the positioning information to the control unit; The control unit is used to analyze the received motion trajectory, determine the protection boundary of the protection area according to the analysis result and the preset protection distance, generate a follow-up instruction according to the protection boundary, and send the follow-up instruction to the countermeasure unit, and generate a countermeasure strategy according to the received positioning information, generate a countermeasure instruction according to the countermeasure strategy, and send the countermeasure instruction to the countermeasure unit, wherein the protection distance is determined by the safety distance and the countermeasure time intrusion distance; The countermeasure unit is arranged at the protection boundary of the protection area according to a preset layout rule, and is used to follow and protect the protection target according to the received follow-up instruction, and to execute the countermeasure strategy according to the received countermeasure instruction.

2. The UAV countermeasure system based on dynamic motion area according to claim 1 is characterized in that: The detection unit includes a ground detection unit and an aerial detection unit; The ground detection unit is installed on the ground, and is used to track the trajectory of the protected target in the dynamic motion area, and send the obtained motion trajectory to the control unit, and detect and locate the invading drone in the area below the dynamic motion area according to the air-ground collaborative detection strategy, and send the positioning information to the control unit; The aerial detection unit includes a plurality of detection drones, which fly above the dynamic motion area and are used to detect intrusion drones in the area above the dynamic motion area according to the air-ground coordinated detection strategy; The air-ground collaborative detection strategy includes: The ground detection unit and the aerial detection unit independently perform detection tasks. When the ground detection unit detects an intruding UAV, it obtains control of the detection UAV, controls the detection UAV to fly above the intruding UAV for detection verification, and locates the intruding UAV after verification and confirmation; When the detection drone detects an intruding drone, the control right of the ground detection unit is obtained, the ground detection unit is controlled to adjust the detection frequency, and a verification detection is performed. After the verification is confirmed, the ground detection unit locates the intruding drone; When the ground detection unit and the detection drone detect an intruding drone at the same time, the detection drone continues to perform the detection task, and the ground detection unit performs the intruding drone positioning task.

3. The UAV countermeasure system based on dynamic motion area according to claim 1 is characterized in that: The control unit includes a following control unit and a counter-control control unit; The following control unit is used to analyze the received motion trajectory, determine the motion boundary of the dynamic motion area according to the analysis result and the safety distance, determine the protection boundary of the protection area according to the analysis result and the countermeasure time intrusion distance, and generate a following instruction according to the protection boundary and send it to the countermeasure unit, wherein the countermeasure time intrusion distance is the maximum flight distance of the UAV within the countermeasure response time of the countermeasure UAV; The countermeasure control unit is used to generate a countermeasure tracking instruction based on the positioning information and send it to the countermeasure unit so that the countermeasure unit tracks the invading drone, and calculates the relative azimuth between the countermeasure unit and the protected target in real time, adjusts the interference distance of the countermeasure unit according to the relative azimuth, generates a countermeasure instruction based on the adjusted interference distance, and sends it to the countermeasure unit so that the countermeasure unit counters the invading drone.

4. The UAV countermeasure system based on dynamic motion area according to claim 3 is characterized in that: The countermeasure unit includes a plurality of countermeasure drones, each of which is provided with an airborne gimbal, on which an electromagnetic interference device is installed, the airborne gimbal is an adjustable gimbal with two degrees of freedom, and the number of the countermeasure drones is determined by the transmission beam angle of the electromagnetic interference device; The countermeasure drones are deployed at the protection boundary of the protection area, the horizontal projection plane angle between the countermeasure drones is the transmission beam angle, and the height plane distance between the countermeasure drones is determined by the protection distance and the transmission beam angle; The number of the countermeasure drones is expressed by the following formula: N＝360 / α Where α represents the transmit beam angle; The height plane distance is expressed by the following formula: L=D z *b / (360 / a-1) Where D z It represents the z-axis distance of the protection distance, and β represents the distance multiple.

5. The UAV countermeasure system based on dynamic motion area according to claim 4 is characterized in that: The countermeasure control unit is configured to generate a countermeasure tracking instruction according to the positioning information, select a first countermeasure UAV that performs a countermeasure task from the countermeasure unit, and send the countermeasure tracking instruction to the first countermeasure UAV, so that the first countermeasure UAV tracks the invading UAV; Calculate the relative azimuth between the first counter-drone and the protected target in real time, and determine whether the relative azimuth is greater than an angle threshold; if so, set the interference distance of the first counter-drone according to the distance between the first counter-drone and the protected boundary; otherwise, set the interference distance according to the actual distance between the first counter-drone and the intruding drone; A countermeasure instruction is generated according to the interference distance and sent to the first countermeasure UAV, so that the first countermeasure UAV counters the invading UAV.

6. The UAV countermeasure system based on dynamic motion area according to claim 5 is characterized in that: The countermeasure control unit is used to generate a countermeasure auxiliary instruction and send it to a countermeasure drone adjacent to the first countermeasure drone after the first countermeasure drone flies away, so as to control the airborne gimbal of the adjacent countermeasure drone to rotate and scan at a preset angle, and the scanning angle covers the protection range of the first countermeasure drone.

7. The UAV countermeasure system based on dynamic motion area according to claim 3 is characterized in that: The countermeasure control unit is used to calculate the threat level of each intruding drone according to a preset algorithm in response to the existence of multiple intruding drones, and counter each intruding drone in turn according to the threat level.

8. The UAV countermeasure system based on dynamic motion area according to claim 4, characterized in that: The control unit also includes a fault-tolerant control unit; The fault-tolerant control unit is used to monitor the working status and remaining energy of each counter-drone in the counter-drone unit, and determine whether each counter-drone is in an abnormal state, wherein the abnormal state includes a malfunction of the drone and insufficient energy; In response to the occurrence of an abnormal state, a corresponding emergency response mechanism is initiated, and the emergency response mechanism includes a deployment position replanning mechanism and a backup drone replacement mechanism.

9. The UAV countermeasure system based on dynamic motion area according to claim 8, characterized in that: The fault-tolerant control unit is used to obtain the number of countermeasure drones in abnormal state and determine whether the abnormal number is greater than the number threshold. If so, the backup drone replacement mechanism is started, otherwise, the deployment position re-planning mechanism is started.

10. A method for countering drones based on dynamic motion areas, characterized in that: The method is applied to the system according to any one of claims 1 to 9, and the method comprises: Track the protected target in the dynamic motion area through the detection unit, and send the obtained motion trajectory to the control unit; The control unit analyzes the received motion trajectory, determines the protection boundary of the protection area according to the analysis result and the preset protection distance, generates a following instruction according to the protection boundary, and sends it to the countermeasure unit, so that the countermeasure unit follows and protects the protection target according to the received following instruction; The detection unit detects and locates intruding drones in the dynamic motion area according to the air-ground collaborative detection strategy, and sends the positioning information to the control unit; The control unit generates a countermeasure strategy according to the received positioning information, generates a countermeasure instruction according to the countermeasure strategy, and sends the countermeasure instruction to the countermeasure unit, so that the countermeasure unit executes the countermeasure strategy according to the received countermeasure instruction.

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