Unmanned aerial vehicle countering system and method

Abstract

The invention provides an unmanned aerial vehicle countering system and method, and the system is characterized in that a ground control center controls a ground detection system to carry out the omnibearing scanning detection of a target region based on the detection demands of the target region, carries out the discrimination of an invaded unmanned aerial vehicle based on the ground detection information fed back by the ground detection system in real time, and carries out the recognition of the invaded unmanned aerial vehicle after the invaded unmanned aerial vehicle is detected. And continuously monitoring the threat level of the invading unmanned aerial vehicle and generating a countering strategy, issuing an airborne equipment selection instruction corresponding to the countering strategy to the airborne equipment switching platform, and sending the countering strategy to the unmanned aerial vehicle flight platform, so that the airborne equipment switching platform mounts the corresponding airborne equipment to the unmanned aerial vehicle flight platform, and then the unmanned aerial vehicle flight platform carries the unmanned aerial vehicle flight platform. And the unmanned aerial vehicle flight platform executes a countering task based on the countering strategy and the installed airborne equipment. According to the method, the accuracy of the countering strategy can be improved, the reflecting time of countering the unmanned aerial vehicle flight platform can be shortened, the cruising ability of the unmanned aerial vehicle flight platform can be improved, and then the flexible, rapid and accurate countering effect is ensured to be achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle (UAV) countermeasures, and particularly to a UAV countermeasure system and method. Background Art

[0002] With the explosive development of the UAV market, UAVs have been widely used in aspects such as aerial photography, agricultural plant protection, environmental monitoring, and power line inspection. At the same time, various accidents such as "illegal flight" of UAVs, out-of-control crashes, and explosions of UAVs occur frequently, posing a serious threat to public safety. How to use professional equipment or systems for UAV counter-control to prevent unauthorized UAVs from invading public safety facility areas has become an issue of concern in the field.

[0003] Existing UAV countermeasure technologies are mainly divided into two major aspects: UAV detection technology and UAV countermeasure technology. Although these technologies can monitor, control, shoot down, or drive away UAV devices flying in no-fly zones, residential areas, airports, and other areas, currently, UAV countermeasure systems need to carry various airborne equipment such as cameras, radio detectors, omnidirectional signal jamming devices, capture nets, loudspeakers, and searchlights to counter UAVs. The large load not only increases the response time of the UAV countermeasure but also poses a great test to its endurance, thus having an adverse impact on the countermeasure effect. Therefore, there is an urgent need to provide a UAV countermeasure system that can achieve flexible, fast, and accurate countermeasure effects while reducing the load of the UAV countermeasure. Summary of the Invention

[0004] The purpose of the present invention is to provide a UAV countermeasure system. Through an air-ground collaborative countermeasure method that dynamically adjusts the countermeasure strategy based on continuous monitoring of the threat level of invading UAVs and combines a lightweight UAV countermeasure flight platform, it can effectively shorten the response time during the execution of the countermeasure task by reducing the load of the UAV countermeasure flight platform, and at the same time, effectively improve the endurance of the UAV countermeasure flight platform, thereby providing a reliable guarantee for achieving flexible and accurate countermeasure effects.

[0005] To achieve the above object, a UAV countermeasure system and method are provided.

[0006] In a first aspect, an embodiment of the present invention provides a UAV countermeasure system, which includes a ground control center, a ground detection system, an airborne equipment switching platform, and a UAV flight platform;

[0007] The ground control center is used to conduct detection control on the ground detection system based on the detection requirements of the target area, discriminate invading unmanned aerial vehicles (UAVs) based on the ground detection information received in real time from the ground detection system, continuously monitor the threat level of the invading UAVs and generate corresponding countermeasure strategies after detecting the invading UAVs, and send the onboard equipment selection instructions corresponding to the countermeasure strategies to the onboard equipment switching platform, and send the countermeasure strategies to the UAV flight platforms that need to be enabled;

[0008] The ground detection system is used to conduct omnidirectional scanning detection on the target area based on the detection control of the ground control center, and transmit the corresponding ground detection information to the ground control center in real time;

[0009] The onboard equipment switching platform is used to mount the corresponding onboard equipment on the UAV flight platforms that need to be enabled based on the onboard equipment selection instructions issued by the ground control center;

[0010] The UAV flight platforms are used to execute countermeasure tasks based on the countermeasure strategies sent by the ground control center and the onboard equipment mounted by the onboard equipment switching platform.

[0011] Furthermore, the ground control center includes a detection control module, an intrusion discrimination module, a threat assessment module, and a countermeasure decision module;

[0012] The detection control module is used to generate detection control instructions based on the detection requirements of the target area, send the detection control instructions to the ground detection system, and receive in real time the ground detection information fed back by the ground detection system; the ground detection information includes radio detection data, radar detection data, optoelectronic detection data, and sound detection data;

[0013] The intrusion discrimination module is used to conduct multi-source data fusion analysis on the received ground detection information to determine whether there are invading UAVs in the target area;

[0014] The threat assessment module is used to conduct threat level assessment on the determined invading UAVs based on the ground detection information to obtain the corresponding threat levels;

[0015] The countermeasure decision module is used to generate corresponding countermeasure strategies based on the threat levels of the invading UAVs, send the countermeasure strategies to the UAV flight platforms that need to be enabled, and at the same time send the onboard equipment selection instructions corresponding to the countermeasure strategies to the onboard equipment switching platform.

[0016] Furthermore, the threat assessment module includes a threat information acquisition unit and a threat level assessment unit;

[0017] The threat information acquisition unit is configured to acquire threat information of the intruding UAV based on the ground detection information; the threat information includes flight altitude, moving speed, moving direction, UAV model, and operating frequency; the moving direction is the angle between the straight line where the intruding UAV and the target protection object are located and the horizontal plane;

[0018] The threat level assessment unit is configured to calculate a corresponding threat assessment score based on the threat information and a preset threat scoring expression, and obtain a corresponding threat level based on the threat assessment score and a preset level matching rule.

[0019] Further, the threat information acquisition unit includes a first information acquisition unit, a second information acquisition unit, and a third information acquisition unit;

[0020] The first information acquisition unit is configured to analyze the target position and target motion state in the radar detection data to obtain the flight altitude, moving speed, and moving direction of the intruding UAV; the second information acquisition unit is configured to perform recognition and analysis on the sound detection data based on a preset voiceprint recognition model to obtain the UAV model of the intruding UAV;

[0021] The third information acquisition unit is configured to obtain the operating frequency of the intruding UAV based on the radio detection data.

[0022] Further, the preset threat scoring expression is:

[0023]

[0024] In the formula,

[0025] D = d 1 +(t 1 +t 2 )*V max

[0026] Wherein, L, α, V, M, and F respectively represent the flight altitude, moving direction, moving speed, UAV model variable, and UAV frequency variable of the intruding UAV; D and d 1 respectively represent the target protection distance and the preset regional safety boundary distance; t 1 represents the response duration required for performing countermeasures; t 2 represents the duration required for the intruding UAV to reach the position coordinates corresponding to the preset regional safety boundary distance from entering the target area; w 1 , w 2 , w 3 , w 4 and w 5 represent weight coefficients; V maxV represents the maximum moving speed of the intrusion UAV; TS represents the threat assessment score of the intrusion UAV.

[0027] Further, the weight coefficients in the preset threat scoring expression are dynamically adjusted based on preset constraint conditions; the preset constraint conditions include a first constraint condition and a second constraint condition;

[0028] The first constraint condition: w 1 + w 2 + w 3 + w 4 + w 5 = 10;

[0029] The second constraint condition: when (D - L) / D = 1, w 2 = w 3 = w 4 = w 5 = 0; or,

[0030] when (V / V max = 1) and ((90 - α) / 90 = 1), w 4 = w 5 = 0;

[0031] or,

[0032] when ((D - L) / D ≠ 1) and ((V / V max ≠ 1) or ((90 - α) / 90 ≠ 1)), w 1 + w 2 + w 3 > 8, w 1 、w 2 and w 3 are respectively proportional to the corresponding (D - L) / D, V / V max and (90 - α) / 90.

[0033] Further, the threat levels include no threat, low threat, medium threat, high threat, and extremely high threat; the countermeasure decision module includes a first strategy generation unit, a second strategy generation unit, a third strategy generation unit, a fourth strategy generation unit, and a fifth strategy generation unit;

[0034] The first strategy generation unit is configured to generate an assistance detection and evidence collection strategy when the threat level of the intrusion UAV is no threat, and generate a corresponding first airborne equipment selection instruction based on the assistance detection and evidence collection strategy; the assistance detection and evidence collection strategy is to enable a UAV flight platform that simultaneously mounts a detection device and an evidence collection device to detect and collect evidence of the intrusion UAV; the detection device includes a radio signal detector and an antenna array; the evidence collection device includes an optoelectronic pod;

[0035] The second strategy generation unit is configured to generate a strong light reminder countermeasure strategy when the threat level of the intruding drone is a low threat, and generate a corresponding second airborne device selection instruction based on the strong light reminder countermeasure strategy; the strong light reminder countermeasure strategy is to enable a drone flight platform equipped with a strong light warning device to give a strong light reminder to the intruding drone.

[0036] The third strategy generation unit is configured to generate a dynamic tracking interference countermeasure strategy when the threat level of the intruding drone is a medium-high threat, and generate a corresponding third airborne device selection instruction based on the dynamic tracking interference countermeasure strategy; the dynamic tracking interference countermeasure strategy is to use a drone flight platform equipped with a signal interference device to perform signal interference and dynamic tracking on the intruding drone.

[0037] The fourth strategy generation unit is configured to generate a net capture countermeasure strategy when the threat level of the intruding drone is an extremely high threat, and generate a corresponding fifth airborne device selection instruction based on the net capture countermeasure strategy; the net capture countermeasure strategy is to enable a drone flight platform equipped with a net capture device to perform net capture on the intruding drone.

[0038] Further, the airborne device switching platform includes a crawler on which a variety of airborne devices are arranged at equal intervals, a stepping motor for driving the crawler to move, and a controller for controlling the stepping motor.

[0039] The controller is configured to generate a corresponding stepping motor drive instruction based on the airborne device selection instruction, and control the crawler to transport the corresponding airborne device to directly below the drone flight platform to be enabled and install it based on the stepping motor drive instruction.

[0040] Further, the ground control center further includes:

[0041] A countermeasure effect monitoring module, configured to monitor the change in the threat level of the intruding drone after enabling the drone flight platform to execute the countermeasure strategy, and enable the net capture countermeasure strategy when the threat level continues to rise in a non-threat-free situation; the net capture countermeasure strategy is to enable a drone flight platform equipped with a net capture device to perform net capture on the intruding drone.

[0042] In a second aspect, an embodiment of the present invention provides a drone countermeasure method, and the method includes the following method steps:

[0043] The ground control center conducts detection control on the ground detection system based on the detection requirements of the target area, discriminates intruding drones based on the ground detection information received in real time from the ground detection system, and after detecting an intruding drone, continuously monitors the threat level of the intruding drone and generates corresponding countermeasure strategies, and issues the on-board equipment selection and installation instructions corresponding to the countermeasure strategies to the on-board equipment switching platform, and sends the countermeasure strategies to the drone flight platform that needs to be enabled;

[0044] In response to the detection control of the ground control center, the ground detection system conducts an omnidirectional scanning detection on the target area and transmits the corresponding ground detection information to the ground control center in real time;

[0045] In response to the on-board equipment selection and installation instructions issued by the ground control center, the on-board equipment switching platform mounts the corresponding on-board equipment to the drone flight platform that needs to be enabled based on the on-board equipment selection and installation instructions;

[0046] In response to the completion of the mounting and installation of the on-board equipment, the drone flight platform executes the countermeasure task based on the countermeasure strategy sent by the ground control center and the mounted on-board equipment.

[0047] The present invention provides a drone countermeasure system and method. By implementing the ground control center to control the ground detection system to conduct an omnidirectional scanning detection on the target area based on the detection requirements of the target area, discriminate intruding drones based on the ground detection information received in real time from the ground detection system, continuously monitor the threat level of the intruding drone and generate countermeasure strategies after detecting an intruding drone, issue the on-board equipment selection and installation instructions corresponding to the countermeasure strategies to the on-board equipment switching platform, and send them to the drone flight platform that needs to be enabled, so that after the on-board equipment switching platform mounts the corresponding on-board equipment to the drone flight platform that needs to be enabled based on the on-board equipment selection and installation instructions, the drone flight platform executes the countermeasure task based on the countermeasure strategy and the installed on-board equipment. Compared with the prior art, this drone countermeasure system, based on the ground-air collaborative cooperation countermeasure method of dynamically adjusting the countermeasure strategy by continuously monitoring the threat level of the intruding drone and combining a lightweight countermeasure drone flight platform, not only realizes a comprehensive and reliable assessment of the security threat of the intruding drone through a specific threat level assessment mechanism, effectively improves the accuracy of generating countermeasure strategies, but also effectively reduces the reaction time during the execution of the countermeasure task by reducing the load of the countermeasure drone flight platform, and can also effectively improve the endurance of the countermeasure drone flight platform, thereby providing a reliable guarantee for achieving a flexible and accurate countermeasure effect. Description of the Drawings

[0048] Figure 1 is a schematic structural diagram of the drone countermeasure system in an embodiment of the present invention;

[0049] Figure 2 It is a schematic structural diagram of the ground control center in an embodiment of the present invention;

[0050] Figure 3 It is another schematic structural diagram of the ground control center in an embodiment of the present invention;

[0051] Figure 4 It is a schematic flowchart of an unmanned aerial vehicle countermeasure method in an embodiment of the present invention;

[0052] Figure 5 It is another schematic flowchart of the unmanned aerial vehicle countermeasure method in an embodiment of the present invention. Detailed implementation manners

[0053] In order to make the objectives, technical solutions and beneficial effects of the present invention clearer and more understandable, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Obviously, the following described embodiments are part of the embodiments of the present invention, and are only used to illustrate the present invention, but not to limit the scope of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of the present invention.

[0054] In one embodiment, as Figure 1 shown, an unmanned aerial vehicle countermeasure system is provided. The system includes a ground control center 1, a ground detection system 2, an airborne equipment switching platform 3, and an unmanned aerial vehicle flight platform 4;

[0055] The ground control center 1 is used to perform detection control on the ground detection system 2 based on the detection requirements of the target area, determine the intrusion unmanned aerial vehicle based on the ground detection information continuously fed back by the ground detection system 2, and after detecting the intrusion unmanned aerial vehicle, continuously monitor the threat level of the intrusion unmanned aerial vehicle and generate corresponding countermeasure strategies, and send the airborne equipment selection and installation instructions corresponding to the countermeasure strategies to the airborne equipment switching platform 3, and send the countermeasure strategies to the required unmanned aerial vehicle flight platform 4; among them, the detection requirements of the target area may include the detection range centered on the target protection object and the corresponding scanning detection method. For example, perform all-round intrusion unmanned aerial vehicle detection and scanning on a circular area centered on a substation and with a preset protection distance as the radius. The specific target protection object and the corresponding detection range can be determined according to actual application requirements, and no specific limitation is made here.

[0056] The ground control center in this embodiment can be understood as the overall control platform in the entire UAV countermeasure system. In addition to being able to control the ground detection system 2 to detect the target area, it can also process and analyze the ground detection data transmitted back by the ground detection system 2 in real time, formulate corresponding countermeasure decisions based on the corresponding analysis results, and issue them to the airborne equipment switching platform 3 and the UAV flight platform 4, so that the assistance based on the airborne equipment switching platform 3 can effectively reduce the load of the UAV flight platform 4 performing the countermeasure task. Specifically, as Figure 2 shown, the ground control center 1 includes a detection control module 11, an intrusion discrimination module 12, a threat assessment module 13, and a countermeasure decision module 14;

[0057] The detection control module 11 is used to generate a detection control instruction based on the target area detection requirement, send the detection control instruction to the ground detection system 2, and receive the ground detection information feedback by the ground detection system 2 in real time; among them, the ground detection system 2 preferably includes a radio detection device, a radar detection device, an optoelectronic detection device, and a sound detection device; the radio detection device is used to monitor the UAV communication signal, and achieve the effect of identifying common civilian UAV models on the market by covering the common remote control and video transmission frequency bands of UAVs; the radar detection device is used to detect and track distant targets, and realize the positioning, speed measurement, and trajectory prediction of the intruding UAV, etc.; the optoelectronic detection device is based on a visible light detector and an infrared imaging detector, and captures the information of visible light and infrared light at the same time to provide more comprehensive and rich image information of the target area; the sound detection device is used to identify the intruding UAV by capturing and analyzing the unique sound pattern characteristics generated during the flight of the UAV; it should be noted that the radio detection device, radar detection device, optoelectronic detection device, and sound detection device in this embodiment only need to adopt existing devices that meet the above corresponding functions, and the specific structure and model can be selected according to actual application requirements, and no specific limitation is made here.

[0058] The detection control instructions generated by the detection control module 11 may include instruction information such as which detection devices or detection means in the ground detection system to activate based on the detection requirements of the target area, as well as the corresponding detection modes and detection periods for each device or means, which can also be set according to actual application requirements. Based on the design of the ground detection system including radio detection equipment, radar detection devices, optoelectronic detection devices, and sound detection devices in this embodiment, the corresponding ground detection information includes radio detection data, radar detection data, optoelectronic detection data, and sound detection data; among them, the radio detection data may include the intensity, frequency, modulation method, and duration of the detected radio signals, etc., the radar detection data may include the target position, target motion state, and target characteristics (shape and size), etc., the optoelectronic detection data may include visible light images, infrared images, and multispectral images of the target area, etc., and the sound detection data may include the intensity, frequency, and waveform of the sound signals, etc., so as to be used for accurately identifying the intrusion unmanned aerial vehicle based on multi-source data information and reliably evaluating and analyzing the threat level of the intrusion unmanned aerial vehicle.

[0059] The intrusion discrimination module 12 is used to perform multi-source data fusion analysis on the received ground detection information to determine whether there is an intrusion unmanned aerial vehicle in the target area; in actual applications, the process of specifically judging whether there is an intrusion unmanned aerial vehicle in the target area through multi-source data fusion analysis can be understood as first judging that there is an unmanned aerial vehicle in the target area based on the target characteristics in the radar detection data, and then when judging that the working frequency of the unmanned aerial vehicle matches the working frequency of the authorized unmanned aerial vehicle based on the radio detection data and determining that the unmanned aerial vehicle in the target area is a suspicious unmanned aerial vehicle, further confirming whether the suspicious unmanned aerial vehicle is an intrusion unmanned aerial vehicle by matching the unmanned aerial vehicle shape and pattern characteristics presented by the optoelectronic detection data of the suspected unmanned aerial vehicle and the voiceprint characteristics reflected by the sound detection data (the corresponding unmanned aerial vehicle model can be obtained based on the voiceprint characteristics of the unmanned aerial vehicle) with the relevant data of the authorized unmanned aerial vehicle respectively.

[0060] The threat assessment module 13 is used to evaluate the threat level of the determined intrusion unmanned aerial vehicle based on the ground detection information to obtain the corresponding threat level; among them, the threat level can be understood as the degree of security threat of the intrusion unmanned aerial vehicle to the target protection object, and it is the key basis for generating countermeasure strategies in the follow-up; in order to ensure the comprehensiveness and reliability of the threat level assessment, this embodiment preferably analyzes the key influencing factors of the threat level based on the ground detection information, and then performs real-time comprehensive analysis based on all the key influencing factors of the threat level to obtain the required threat level; specifically, the threat assessment module includes a threat information acquisition unit and a threat level assessment unit;

[0061] The threat information acquisition unit is configured to acquire the threat information of the intruding drone based on the ground detection information; wherein, the threat information can be understood as the key factor information affecting the security threat level of the intruding drone to the target protected object. Preferably, the threat information includes the flight altitude, moving speed, moving direction, drone model, and operating frequency of the intruding drone. The flight altitude of the intruding drone can be understood as the altitude of the intruding drone above the target protected object, and the moving direction is the acute angle between the straight line connecting the intruding drone and the target protected object and the horizontal plane.

[0062] Specifically, the threat information acquisition unit includes a first information acquisition unit, a second information acquisition unit, and a third information acquisition unit; wherein, the first information acquisition unit is configured to analyze the target position and target motion state in the radar detection data to obtain the flight altitude, moving speed, and moving direction of the intruding drone; wherein, the target position can be understood as the three-dimensional coordinates of the intruding drone obtained based on radar positioning, and the Z-axis coordinate value therein is the required flight altitude of the intruding drone. Moreover, based on the three-dimensional coordinates of the intruding drone and the position information of the target protected object, the moving direction of the intruding drone relative to the target protected object can be obtained; the target motion state may include the radial velocity, tangential velocity, and acceleration of the intruding drone, etc. The moving speed of the intruding drone can be obtained based on the synthesis of the radial velocity and the tangential velocity.

[0063] The second information acquisition unit is configured to identify and analyze the sound detection data based on a preset voiceprint recognition model to obtain the drone model of the intruding drone; wherein, the preset voiceprint recognition model can be understood as a deep learning model that is constructed by performing corresponding data preprocessing on the collected voice signal data (including intensity, frequency, waveform, etc.) of different drone models and then training based on this training dataset and can accurately preset the drone model based on the voice detection data of the drone. It should be noted that in practical applications, the deep learning model for constructing the preset voiceprint recognition model only needs to meet the corresponding recognition function. Convolutional neural networks or recurrent neural networks can be selected, or a combination of convolutional neural networks and recurrent neural networks can be used, etc., which is not specifically limited here. In addition, for the convenience of calculating the threat assessment score using the drone model later, after obtaining the drone model of the intruding drone, it is determined whether it is a national standard model based on the drone model. If so, the corresponding drone model variable identifier is marked as 1, otherwise, the corresponding drone model variable identifier is marked as 0.

[0064] The third information acquisition unit is configured to obtain the operating frequency of the intruding drone based on the radio detection data; where the operating frequency can be understood as the frequency of the radio signal obtained by performing spectrum analysis on the radio signal in the radio detection data. It should be noted that, for the convenience of calculating the threat assessment score using the drone operating frequency later, after obtaining the operating frequency of the intruding drone, it is determined whether it is a national standard frequency based on the operating frequency. If so, the corresponding drone frequency variable is marked as 1; otherwise, the corresponding drone frequency variable is marked as 0.

[0065] After the threat information of the intruding drone is obtained through the above-mentioned threat information acquisition unit, the threat information can be input into the threat level assessment unit to perform threat assessment on the intruding drone based on a preset threat scoring expression designed preferably; specifically, the threat level assessment unit is configured to calculate the corresponding threat assessment score based on the threat information and the preset threat scoring expression, and obtain the corresponding threat level based on the threat assessment score and the preset level matching rule.

[0066] In order to comprehensively analyze various threat influencing factors and at the same time reflect the contribution differences of different influencing factors, in this embodiment, the preset threat scoring expression is preferably set as:

[0067]

[0068] In the formula,

[0069] D = d 1 +(t 1 +t 2 ) * V max

[0070] where L, α, V, M, and F respectively represent the flight altitude, moving direction, moving speed, drone model variable, and drone frequency variable of the intruding drone, and the moving direction α can be understood as the angle between the displacement direction when the intruding drone moves towards the target protection object and the horizontal plane, and all are taken as acute angles; D represents the target protection distance, and it can be known from the above expression that it is determined based on the position of the protected target object, the flight speed of the intruding drone, and the response time required for the countermeasure action; d 1 represents the preset regional safety boundary distance, which can be understood as the distance from the minimum safety area boundary of the target protection object to the target protection object, such as the upper protection height of a substation; V max represents the maximum moving speed of the intruding drone, which can be determined based on the performance parameters of the corresponding model of the intruding drone; t 1 represents the response duration required for implementing the countermeasure, which can be determined based on empirical values or based on the load situation of the countermeasure drone flight platform; t 2Indicates the duration required for the intrusion drone to reach the position coordinates corresponding to the distance from entering the target area to the safety boundary of the preset area; w 1 and w 2 and w 3 and w 4 and w 5 represent the weight coefficients; TS represents the threat assessment score of the intrusion drone.

[0071] Considering that the intrusion drone is moving and the threat contributions of different threat level key influencing factors will also change during the movement, in order to ensure the continuous accuracy of the real-time threat level assessment of the intrusion drone, in this embodiment, the weight values of each threat level key influencing factor are preferably dynamically adjusted based on the change of real-time threat information. Specifically, the weight coefficients in the preset threat scoring expression are dynamically adjusted based on preset constraint conditions; among them, the preset constraint conditions include a first constraint condition and a second constraint condition, and the first constraint condition: w 1 +w 2 +w 3 +w 4 +w 5 = 10, that is, the sum of all weight coefficients is 10;

[0072] The second constraint condition: when (D - L) / D = 1, w 2 = w 3 = w 4 = w 5 = 0, that is, when the intrusion drone has reached the distance of the safety boundary of the preset area, the corresponding threat assessment score is determined only based on (D - L) / D and the corresponding weight coefficient w 1 and the corresponding threat level is extremely high threat;

[0073] Or, when (V / V max = 1) and ((90 - α) / 90 = 1), w 4 = w 5 = 0, that is, when the drone is approaching the protected area vertically at the maximum speed, regardless of the model and frequency of the drone, the corresponding threat assessment score is based on (D - L) / D, (90 - α), V / V max and the corresponding weight coefficients w 1 and w 2 and w 3 to determine;

[0074] Or, when ((D - L) / D ≠ 1) and ((V / V max ≠ 1) or ((90 - α) / 90 ≠ 1)), w 1 +w 2 +w 3 >, w 1 and w2 and w 3 are respectively proportional to the corresponding (D-L) / D, V / V max and (90-α) / 90, that is, w 1 , w 2 and w 3 are dynamically adjusted according to the three real-time measurement values of (D-L) / D, V / V max and (90-α) / 90. The closer the corresponding real-time measurement value is to 1, the larger the value of the weight coefficient is taken. However, it is necessary to ensure that the sum of the three weight coefficient values is greater than 8 and less than or equal to 10.

[0075] Based on the design under the above constraints, when a certain influencing parameter is close to 1, the proportion factor of this parameter will also be dynamically adjusted, that is, the proportion of each influencing parameter is dynamically adjusted according to the real-time state of the intruding drone, effectively improving the accuracy of the security threat judgment of the intruding drone, and ensuring that no security accidents will occur without misjudgment.

[0076] The preset level matching rule in this embodiment is shown in Table 1, which can be understood as a rule for dividing different threat levels based on the interval range of different threat assessment scores; in actual applications, after calculating the threat assessment score of the intruding drone through the above preset threat scoring expression, the corresponding threat level can be obtained based on the level division principle shown in Table 1.

[0077] Table 1 Preset Level Matching Rule

[0078] Serial number Threat level Threat assessment score 1 No threat 0 2 Low threat 0～3 3 Medium-high threat 3～8 4 Extremely high threat 8～10

[0079] In this embodiment, the comprehensive analysis of five aspects of factors such as the flight altitude, moving speed, moving direction, drone model, and working frequency of the intruding drone, combined with the method of dynamically adjusting the weighting coefficients of each factor according to the real-time changes of each factor, can adaptively and real-time adjust the calculation expression of the threat level assessment score based on the actual detection situation of the intruding drone, so as to ensure the comprehensiveness and reliability of the threat level assessment of the intruding drone.

[0080] The countermeasure decision module 14 is configured to generate corresponding countermeasure strategies based on the threat level of the intruding drone, send the countermeasure strategies to the required drone flight platforms to be enabled, and simultaneously send the optional installation instructions for the airborne devices corresponding to the countermeasure strategies to the airborne device switching platform; wherein, the threat levels include four levels: no threat (first level), low threat (second level), medium-high threat (third level), and extremely high threat (fourth level) as shown in Table 1. The countermeasure strategies can be understood as countermeasure measures pre-set for different threat levels based on the principle of lightweight design of the drone flight platform to reduce the load and improve the response flexibility and endurance, as shown in Table 2; the corresponding countermeasure decision module needs to timely give the corresponding countermeasure strategies obtained from the analysis in actual applications to the drone flight platform and the airborne device switching platform for use to ensure the timeliness and reliability of the execution of the countermeasure strategies; specifically, the countermeasure decision module includes a first strategy generation unit, a second strategy generation unit, a third strategy generation unit, a fourth strategy generation unit, and a fifth strategy generation unit, which are respectively used to generate corresponding assistance detection and evidence collection strategies, strong light reminder countermeasure strategies, dynamic tracking interference countermeasure strategies, signal interference countermeasure strategies, and net capture countermeasure strategies.

[0081] Table 2 Countermeasure Measures Corresponding to Threat Levels

[0082]

[0083] Among them, the first policy generation unit is used to generate an assistance detection and evidence collection policy when the threat level of the intruding drone is non-threatening, and generate a corresponding first airborne equipment selection instruction based on the assistance detection and evidence collection policy; the assistance detection and evidence collection policy is to enable a drone flight platform equipped with both a detection device and an evidence collection device to detect and collect evidence of the intruding drone; correspondingly, the first airborne equipment selection instruction can be understood as an instruction to enable the required drone flight platform to be equipped with both a detection device and an evidence collection device at the same time; the detection device includes a radio signal detector for communication feature recognition and an antenna array for signal direction determination (which can include directional antennas and omnidirectional antennas), and the evidence collection device includes an optoelectronic pod for obtaining image evidence of the intruding drone and its operator. In practical applications, for an intruding drone that has just entered the target area, the threat level determined based on the above threat level assessment method must be non-threatening. At this time, it is necessary to instruct the drone flight platform equipped with the detection device and the evidence collection device to take off immediately for corresponding detection and evidence collection until the entire anti-intruding drone mission ends (there is no intruding drone in the target area) and then return. It should be noted that the main purpose of the drone flight platform equipped with both the detection device and the evidence collection device taking off is to conduct close-range aerial detection and evidence collection of the intruding drone, and transmit the corresponding detection and evidence collection results back to the ground control center 1 in real time, so as to intuitively display the air situation in the target area and record the flight state of the intruding drone and the entire anti-intrusion process throughout the process.

[0084] The second policy generation unit is used to generate a strong light reminder countermeasure policy when the threat level of the intruding drone is low-threat, and generate a corresponding second airborne equipment selection instruction based on the strong light reminder countermeasure policy; the strong light reminder countermeasure policy is to enable a drone flight platform equipped with a strong light warning device to give a strong light reminder to the intruding drone; among them, the strong light warning device can be understood as an airborne strong light irradiation lamp that can emit strong light for warning the intruding drone, and no specific limitation is made here; correspondingly, the second airborne equipment selection instruction can be understood as an instruction to enable the required drone flight platform to be equipped with a strong light warning device. In practical applications, if the threat level of the intruding drone rises from non-threatening to low-threat, it is considered necessary to instruct the drone flight platform equipped with the strong light warning device to take off immediately to give a strong light warning to the intruding drone to remind it to leave as soon as possible; at the same time, the drone flight platform used for close-range aerial detection and evidence collection enabled before this still continues to perform the detection and evidence collection task without returning, so that the ground control center 1 can intuitively display the execution effect of the countermeasure policy based on the real-time returned aerial detection data.

[0085] The third strategy generation unit is used to generate a dynamic tracking interference countermeasure strategy when the threat level of the intruding drone is medium to high threat, and generate a corresponding third airborne equipment selection instruction based on the dynamic tracking interference countermeasure strategy; the dynamic tracking interference countermeasure strategy is that a drone flight platform equipped with a signal interference device performs signal interference and dynamic tracking on the intruding drone; among them, the signal interference device can be understood as a specific frequency band radio countermeasure device (such as 2.4 GHz, 5.8 GHz, etc.) that is selected according to the operating frequency of the intruding drone and will not interfere with the signals of the drone flight platform used for countermeasures, which can further reduce the load of the drone flight platform; correspondingly, the third airborne equipment selection instruction can be understood as an instruction to enable the required drone flight platform to mount a signal interference device. In practical applications, if the threat level of the intruding drone rises from no threat to medium to high threat, it is considered necessary to instruct the drone flight platform equipped with a signal interference device to take off immediately to perform signal interference and dynamic tracking on the intruding drone; at the same time, the drone flight platform used for air close-range detection and evidence collection enabled before this still continues to perform the detection and evidence collection task without returning, so that the ground control center 1 can intuitively display the execution effect of the countermeasure strategy based on the real-time returned air detection data.

[0086] The fourth strategy generation unit is used to generate a net capture countermeasure strategy when the threat level of the intruding drone is extremely high threat, and generate a corresponding fifth airborne equipment selection instruction based on the net capture countermeasure strategy; the net capture countermeasure strategy is to enable a drone flight platform equipped with a net capture device to perform net capture on the intruding drone; among them, the net capture device can be understood as an existing airborne capture net device, and the specific size of the capture net can be selected according to the model of the intruding drone, and the corresponding fifth airborne equipment selection instruction can be understood as an instruction to enable the required drone flight platform to mount a net capture device. In practical applications, if the threat level of the intruding drone rises from no threat to extremely high threat, it is considered necessary to instruct the drone flight platform equipped with a net capture device to take off immediately to perform net capture countermeasures on the intruding drone; at the same time, the drone flight platform used for air close-range detection and evidence collection enabled before this still continues to perform the detection and evidence collection task without returning, so that the ground control center 1 can intuitively display the execution effect of the countermeasure strategy based on the real-time returned air detection data.

[0087] It should be noted that only 5 types of airborne equipment are involved in the above countermeasure strategies, and in practical applications, the types of airborne equipment can be increased or replaced based on the introduction of specific countermeasure means.

[0088] The ground detection system 2 is used to perform an all-round scanning detection on the target area based on the detection control of the ground control center 1, and transmit the corresponding ground detection information to the ground control center in real time. That is, the ground detection system 2, based on the detection control of the ground control center 1, simultaneously enables detection devices such as radio detection equipment, radar detection devices, optoelectronic detection devices, and sound detection devices to perform non-stop 24-hour scanning detection on the target area, so as to timely sense whether there are intruding drones in the target area and quickly and accurately start the countermeasure task at different levels.

[0089] The airborne equipment switching platform 3 is used to mount the corresponding airborne equipment on the drone flight platform 4 to be enabled based on the airborne equipment selection instruction issued by the ground control center 1. That is, the airborne equipment switching platform 3 is used to selectively install the airborne equipment used according to the work task requirements, so that the drone flight platform 4 to be enabled can complete the corresponding countermeasure tasks in sequence according to the corresponding countermeasure strategies.

[0090] Specifically, the airborne equipment switching platform 3 includes a track on which a variety of airborne equipment is arranged at equal intervals, a stepping motor for driving the track to move, and a controller for controlling the stepping motor. The controller is used to generate a corresponding stepping motor drive instruction based on the airborne equipment selection instruction, and control the track to transport the corresponding airborne equipment to directly below the drone flight platform 4 to be enabled and install it based on the stepping motor drive instruction. In practical applications, all selectable airborne equipment is pre-arranged on the traveling track, the track is driven by a stepping motor, and each step of the track can switch an airborne equipment, and the required airborne equipment is transported to directly below the drone flight platform 4 to be enabled so as to install it at the corresponding preset installation position. After the drone flight platform 4 installs the required airborne equipment, it can start to execute the task, and the entire process control can be completed within 10 s, which can ensure the timeliness of starting the countermeasure task.

[0091] In this embodiment, the design and use of the airborne equipment switching platform can effectively avoid the problem that when the drone flight platform is enabled, it increases unnecessary load due to mounting more unnecessary countermeasure equipment, resulting in a reduction in its maneuverability and endurance during the execution of tasks, thereby affecting the actual countermeasure effect.

[0092] The drone flight platform 4 is used to execute countermeasure tasks based on the countermeasure strategy sent by the ground control center 1 and the airborne devices mounted on the airborne device switching platform 3. The drone flight platform in this embodiment can be understood as the execution carrier of mobile countermeasure tasks and can be implemented based on existing drone flight platforms for countermeasure tasks. It has autonomous flight capabilities (able to automatically plan flight routes according to mission requirements), rapid response capabilities (rapid takeoff and landing and maneuverability), multi-aircraft cooperation capabilities (able to interact and cooperate with other drone flight platforms in combat), target locking and tracking capabilities (able to automatically track and predict the trajectories of suspicious drones and have the ability to detect drone operations), and automatic alarm functions (able to automatically send alarms to relevant departments when detecting illegal intrusion drones), providing reliable guarantees for the effective execution of countermeasure tasks.

[0093] It should be noted that after the drone flight platform takes off, it has autonomous control and can work according to the countermeasure strategy sent by the ground control center 1, only receiving the recall instruction from the ground control center; all activated drone flight platforms return after the mission ends (there are no intrusion drones in the target area). This edge control method that places the task execution control of the drone flight platform on the drone flight platform itself and the ground control center only provides countermeasure task decision-making analysis and data display can effectively improve work efficiency and lay a reliable expansion foundation for the subsequent intelligent upgrade of the system.

[0094] In addition, to ensure the actual countermeasure effect, this embodiment preferably monitors the countermeasure effect based on the change of the threat level; in one embodiment, as Figure 3 shown, the ground control center 1 further includes:

[0095] A countermeasure effect monitoring module 15, which is used to monitor the change of the threat level of the intrusion drone after enabling the drone flight platform to execute the countermeasure strategy, and enable the net capture countermeasure strategy when the threat level continues to rise in a non-threat-free situation; the net capture countermeasure strategy is to enable the drone flight platform equipped with a net capture device to capture the intrusion drone. In practical applications, if it is not deliberate sabotage, the threat level of the intrusion drone will not increase after taking countermeasure measures. If the threat level increases after taking countermeasure measures, it is considered that there is a possibility of deliberate sabotage. To improve the countermeasure efficiency, it will be directly handled as an extremely high threat, and the drone flight platform equipped with a net capture device will be enabled to capture the intrusion drone as a fallback measure.

[0096] It should be noted that, for the purpose of intuitively displaying the position, status, and relevant warning information of the intruding drones in the target area, enabling the task execution of the drone flight platform, the working status of the ground detection system, the airborne equipment switching platform, and the drone flight platform (i.e., the ground control center can obtain the working status of the ground detection system, the airborne equipment switching platform, and the drone flight platform through the corresponding status monitoring mechanism), as well as the visual analysis results of historical ground detection information and the information transmitted back by the airborne detection equipment and the evidence collection equipment, etc., in this embodiment, a situation display module is preferably set in the ground control center to display the above information in real time, facilitating relevant staff to understand the actual operation of the system, and adjusting relevant countermeasure strategies when necessary, improving the usability of the countermeasure system. At the same time, each component or module in the drone countermeasure system provided in the embodiments of the present invention can be implemented in whole or in part by software, hardware, and their combinations. The above components or modules can be embedded in the processor of the computer device in the form of hardware or independent of it, or stored in the memory of the computer device in the form of software, so as to facilitate the processor to call and execute the operations corresponding to the above respective modules.

[0097] In the embodiment of the present invention, the ground control center controls the ground detection system to perform an all-round scanning detection of the target area based on the detection requirements of the target area, discriminates the intruding drones based on the ground detection information continuously fed back by the ground detection system, after detecting the intruding drones, continuously monitors the threat level of the intruding drones and generates countermeasure strategies, issues the airborne equipment selection and installation instructions corresponding to the countermeasure strategies to the airborne equipment switching platform, and sends them to the required enabled drone flight platform, so that after the airborne equipment switching platform mounts the corresponding airborne equipment to the required enabled drone flight platform based on the airborne equipment selection and installation instructions, the drone flight platform executes the countermeasure task based on the countermeasure strategies and the installed airborne equipment. The method of combining the dynamic adjustment of the countermeasure strategies based on continuously monitoring the threat level of the intruding drones with the air-ground collaborative cooperation countermeasure method of the lightweight countermeasure drone flight platform not only comprehensively and reliably evaluates the security threat of the intruding drones through a specific threat level assessment mechanism, effectively improving the accuracy of generating countermeasure strategies, but also effectively reduces the weight of the countermeasure drone flight platform, effectively shortening the response time during the execution of the countermeasure task, and at the same time, can effectively improve the endurance of the countermeasure drone flight platform, thus providing a reliable guarantee for achieving a flexible and accurate countermeasure effect.

[0098] In one embodiment, as Figure 4 shown, a drone countermeasure method is provided, and the method includes the following steps:

[0099] S11. The ground control center conducts detection control on the ground detection system based on the detection requirements of the target area, discriminates the intruding drones based on the ground detection information received in real time from the ground detection system, and after detecting the intruding drones, continuously monitors the threat levels of the intruding drones and generates corresponding countermeasure strategies, and issues the onboard equipment selection and installation instructions corresponding to the countermeasure strategies to the onboard equipment switching platform, and sends the countermeasure strategies to the drone flight platforms that need to be enabled.

[0100] S12. In response to the detection control of the ground control center, the ground detection system conducts an all-round scanning detection of the target area and transmits the corresponding ground detection information to the ground control center in real time.

[0101] S13. In response to the onboard equipment selection and installation instructions issued by the ground control center, the onboard equipment switching platform mounts the corresponding onboard equipment to the drone flight platforms that need to be enabled based on the onboard equipment selection and installation instructions.

[0102] S14. In response to the completion of the mounting and installation of the onboard equipment, the drone flight platforms execute countermeasure tasks based on the countermeasure strategies sent by the ground control center and the mounted onboard equipment.

[0103] In one embodiment, as Figure 5 shown, the method further includes:

[0104] S15. After enabling the drone flight platforms to execute the countermeasure strategies, monitor the changes in the threat levels of the intruding drones, and when the threat levels continue to rise in a non-threat-free situation, enable the net capture countermeasure strategy; the net capture countermeasure strategy is to enable the drone flight platforms equipped with net capture devices to conduct net capture on the intruding drones.

[0105] It should be noted that although the steps in the above flowcharts are shown in sequence according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless there is a clear description in this article, the execution of these steps has no strict order limit, and these steps can be executed in other orders. For the specific limitations on the implementation of the drone countermeasure method, reference can be made to the relevant limitations on the drone countermeasure system in the above text, and the corresponding technical effects can also be equivalently obtained, which will not be elaborated here.

[0106] In summary, the UAV countermeasure system and method provided by the embodiments of the present invention achieve the following: the ground control center controls the ground detection system to perform an all-round scanning detection of the target area based on the detection requirements of the target area, discriminates the intrusion UAV based on the ground detection information real-time feedback by the ground detection system, continuously monitors the threat level of the intrusion UAV and generates a countermeasure strategy after detecting the intrusion UAV, issues the onboard equipment selection and installation instruction corresponding to the countermeasure strategy to the onboard equipment switching platform, and sends it to the required UAV flight platform to be enabled, so that after the onboard equipment switching platform mounts the corresponding onboard equipment to the required UAV flight platform based on the onboard equipment selection and installation instruction, the UAV flight platform executes the countermeasure task based on the countermeasure strategy and the installed onboard equipment. Compared with the prior art, the provided air-ground collaborative countermeasure method that combines the dynamic adjustment of the countermeasure strategy based on the continuous monitoring of the threat level of the intrusion UAV with the lightweight countermeasure UAV flight platform not only comprehensively and reliably evaluates the security threat of the intrusion UAV through a specific threat level evaluation mechanism, effectively improving the accuracy of the generated countermeasure strategy, but also effectively reduces the weight of the countermeasure UAV flight platform, effectively shortening the response time during the execution of the countermeasure task, while also effectively improving the endurance of the countermeasure UAV flight platform, thereby providing a reliable guarantee for achieving a flexible and accurate countermeasure effect.

[0107] The embodiments in this specification are all described in a progressive manner. For the parts that are the same or similar in each embodiment, reference can be made to each other. 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 refer to the partial description of the method embodiment. It should be noted that the technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.

[0108] The above embodiments only represent several preferred implementation manners of the present invention. The description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the invention patent. It should be pointed out that for those of ordinary skill in the art in this technical field, without departing from the technical principle of the present invention, several improvements and substitutions can be made, and these improvements and substitutions should also be regarded as the protection scope of the present invention. Therefore, the protection scope of the invention patent should be subject to the protection scope of the claims.

Claims

1. A drone countermeasure system, characterized in that: The system includes a ground control center, a ground detection system, an airborne equipment switching platform and a UAV flight platform; The ground control center is used to detect and control the ground detection system based on the detection requirements of the target area, identify the intruding UAV based on the ground detection information fed back in real time by the ground detection system, and after detecting the intruding UAV, continuously monitor the threat level of the intruding UAV and generate a corresponding countermeasure strategy, and send the airborne equipment selection instruction corresponding to the countermeasure strategy to the airborne equipment switching platform, and send the countermeasure strategy to the UAV flight platform that needs to be enabled; The ground detection system is used to perform omnidirectional scanning and detection of the target area based on the detection control of the ground control center, and transmit the corresponding ground detection information to the ground control center in real time; The airborne equipment switching platform is used to mount the corresponding airborne equipment to the UAV flight platform to be enabled based on the airborne equipment selection instruction issued by the ground control center; The UAV flight platform is used to perform countermeasure tasks based on the countermeasure strategy sent by the ground control center and the airborne equipment mounted on the airborne equipment switching platform.

2. The drone countermeasure system according to claim 1, characterized in that: The ground control center includes a detection control module, an intrusion discrimination module, a threat assessment module and a countermeasure decision module; The detection control module is used to generate a detection control instruction based on the target area detection requirement, send the detection control instruction to the ground detection system, and receive the ground detection information fed back by the ground detection system in real time; The ground detection information includes radio detection data, radar detection data, photoelectric detection data and sound detection data; The intrusion identification module is used to perform multi-source data fusion analysis on the received ground detection information to determine whether the intrusion drone exists in the target area; The threat assessment module is used to assess the threat level of the intruding drone determined to exist based on the ground detection information to obtain a corresponding threat level; The countermeasure decision module is used to generate a corresponding countermeasure strategy based on the threat level of the invading drone, and send the countermeasure strategy to the drone flight platform that needs to be enabled, and at the same time send the airborne equipment selection instruction corresponding to the countermeasure strategy to the airborne equipment switching platform.

3. The drone countermeasure system according to claim 2, characterized in that: The threat assessment module includes a threat information acquisition unit and a threat level assessment unit; The threat information acquisition unit is used to acquire the threat information of the invading drone based on the ground detection information; the threat information includes flight altitude, moving speed, moving direction, drone model and operating frequency; the moving direction is the angle between the straight line where the invading drone and the target protected object are located and the horizontal plane; The threat level assessment unit is used to calculate a corresponding threat assessment score based on the threat information and a preset threat scoring expression, and obtain a corresponding threat level based on the threat assessment score and a preset level matching rule.

4. The UAV countermeasure system according to claim 3, characterized in that: The threat information acquisition unit includes a first information acquisition unit, a second information acquisition unit and a third information acquisition unit; The first information acquisition unit is used to obtain the flight altitude, moving speed and moving direction of the invading UAV based on analyzing the target position and target motion state in the radar detection data; The second information acquisition unit is used to identify and analyze the sound detection data based on a preset voiceprint recognition model to obtain the drone model of the intruding drone; The third information acquisition unit is used to obtain the operating frequency of the invading drone based on the radio detection data.

5. The drone countermeasure system according to claim 3, characterized in that: The preset threat score expression is: In the formula, D=d1+(t1+t2)*V max Among them, L, α, V, M and F represent the flight altitude, moving direction, moving speed, drone model variable and drone frequency variable of the invading drone respectively; D and d1 represent the target protection distance and the preset area safety boundary distance respectively; V max represents the maximum moving speed of the invading drone; t1 represents the response time required to execute countermeasures; t2 represents the time required for the invading drone to enter the target area and reach the position coordinates corresponding to the safety boundary distance of the preset area; w1, w2, w3, w4 and w5 represent weight coefficients; TS represents the threat assessment score of the invading drone.

6. The UAV countermeasure system according to claim 5, characterized in that: The weight coefficient in the preset threat score expression is dynamically adjusted based on preset constraints; the preset constraints include a first constraint and a second constraint; The first constraint condition: w1+w2+w3+w4+w5=10; The second constraint condition: when (DL) / D=1, w2=w3=w4=w5=0; or, When (V / V max =1) and ((90-α) / 90=1), w4=w5=0; or, When ((DL) / D≠1) and ((V / V max ≠1) or ((90-α) / 90≠1)), w1+w2+w3>8, w1, w2 and w3 are respectively related to the corresponding (DL) / D, V / V max Proportional to (90-α) / 90.

7. The drone countermeasure system according to claim 2, characterized in that: The threat levels include no threat, low threat, medium threat, high threat and extremely high threat; the countermeasure decision module includes a first strategy generation unit, a second strategy generation unit, a third strategy generation unit and a fourth strategy generation unit; The first strategy generating unit is used to generate an assisting detection and evidence collection strategy when the threat level of the intruding UAV is no threat, and generate a corresponding first airborne equipment selection instruction based on the assisting detection and evidence collection strategy; the assisting detection and evidence collection strategy is to enable a UAV flight platform equipped with both a detection device and an evidence collection device to detect and collect evidence from the intruding UAV; the detection device includes a radio signal detector and an antenna array; the evidence collection device includes an optoelectronic pod; The second strategy generating unit is used to generate a strong light warning countermeasure strategy when the threat level of the intruding UAV is low threat, and generate a corresponding second airborne device selection instruction based on the strong light warning countermeasure strategy; the strong light warning countermeasure strategy is to enable the UAV flight platform equipped with the strong light warning device to perform a strong light warning on the intruding UAV; The third strategy generating unit is used to generate a dynamic tracking interference countermeasure strategy when the threat level of the intruding UAV is medium or high, and generate a corresponding third airborne device installation instruction based on the dynamic tracking interference countermeasure strategy; The dynamic tracking interference countermeasure strategy is that the UAV flight platform equipped with the signal jammer performs signal jamming and dynamic tracking on the intruding UAV; The fourth strategy generation unit is used to generate a net capture countermeasure strategy when the threat level of the invading drone is extremely high, and generate a corresponding fifth airborne equipment selection instruction based on the net capture countermeasure strategy; the net capture countermeasure strategy is to enable the drone flight platform equipped with the net capture device to perform net capture on the invading drone.

8. The drone countermeasure system according to claim 1, characterized in that: The airborne equipment switching platform includes a crawler with various airborne equipment arranged at equal intervals, a stepper motor driving the crawler, and a controller for controlling the stepper motor; The controller is used to generate corresponding stepper motor drive instructions based on the airborne equipment selection instructions, and control the crawler based on the stepper motor drive instructions to transport the corresponding airborne equipment to the bottom of the UAV flight platform to be activated and install it.

9. The UAV countermeasure system according to claim 2, characterized in that: The ground control center also includes: The countermeasure effect monitoring module is used to monitor the change of the threat level of the invading drone after the drone flight platform is enabled to execute the countermeasure strategy, and to enable the net capture countermeasure strategy when the threat level continues to increase in a non-threat-free situation; the net capture countermeasure strategy is to enable the drone flight platform equipped with a net capture device to capture the invading drone with a net.

10. A method for countering a drone, characterized in that: Applied to the drone countermeasure system according to any one of claims 1 to 9, the method comprises the following steps: The ground control center detects and controls the ground detection system based on the detection requirements of the target area, identifies the intruding UAV based on the ground detection information fed back in real time by the ground detection system, and after detecting the intruding UAV, continuously monitors the threat level of the intruding UAV and generates a corresponding countermeasure strategy, sends the airborne equipment selection instruction corresponding to the countermeasure strategy to the airborne equipment switching platform, and sends the countermeasure strategy to the UAV flight platform that needs to be enabled; In response to the detection control of the ground control center, the ground detection system performs omnidirectional scanning and detection of the target area, and transmits the corresponding ground detection information to the ground control center in real time; In response to the airborne equipment installation instruction issued by the ground control center, the airborne equipment switching platform mounts the corresponding airborne equipment to the UAV flight platform to be activated based on the airborne equipment installation instruction; In response to the completion of the mounting and installation of the airborne equipment, the UAV flight platform performs a countermeasure mission based on the countermeasure strategy sent by the ground control center and the mounted and installed airborne equipment.

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