Communication-interference integrated base station method and system for low-altitude safety problem of unmanned aerial vehicle

Abstract

The invention discloses a communication and interference integrated base station method and system for a low-altitude safety problem of an unmanned aerial vehicle, and relates to the technical field of low-altitude safety problems, and the method comprises the steps of unmanned aerial vehicle flight frequency band analysis, base station communication and interference perception evaluation, base station perception frequency modulation analysis and base station communication and interference decision making. Whether the unmanned aerial vehicle adopts the frequency modulation technology is known by analyzing the frequency band change condition of the unmanned aerial vehicle in the flight process, and the influence of the frequency band change on the flight precision of the unmanned aerial vehicle in the target area sensed by the base station is analyzed, so that the change of the unmanned aerial vehicle is flexibly coped, and the frequency modulation mode corresponding to the unmanned aerial vehicle in the target area is predicted. Therefore, the accuracy and effectiveness of perception are guaranteed, the flight purpose of the current unmanned aerial vehicle is efficiently identified, targeted communication measures are taken in time, safety factors in the area are prevented from being invaded or leaked, the safety and privacy in the area are comprehensively and effectively guaranteed, and the risk of privacy leakage is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of low-altitude safety issues, and specifically relates to a communication and interference integrated base station method and system for low-altitude safety issues of unmanned aerial vehicles (UAVs). Background Art

[0002] With the widespread application of UAVs on a large scale, the potential safety hazards they pose have emerged one after another. The frequent occurrence of illegal flights and privacy violations urgently needs to be effectively addressed to prevent the leakage of important secrets and further protect privacy and security. By monitoring the takeoff flight of UAVs, it can be determined whether the current UAV is in normal flight. If it is a UAV using frequency modulation technology, corresponding frequency modulation cracking needs to be carried out on the UAV to quickly track its whereabouts, so as to take timely communication and interference measures to prevent the occurrence of illegal UAV flights and protect the safety and privacy of the area.

[0003] The prior art, such as the communication and interference integrated base station method and system for low-altitude safety issues of UAVs disclosed in the invention patent application with publication number CN119562265A, relates to the fields of communication / UAVs / safety supervision, and particularly relates to a method and system for realizing low-altitude wireless signal coverage by using a wireless communication network base station, including communication signals and interference signals, to achieve low-altitude safety management of UAVs. "Low, slow, and small" UAVs have become the main users of the low-altitude airspace in our country, but it is difficult to achieve safety supervision of UAV flights in the low-altitude airspace. The present invention integrates the function of an interference signal generator into the base station (communication and interference integrated base station). Through the wide deployment of the base station network system, effective coverage of communication / interference signals in restricted areas can be economically achieved, giving the restricted areas obvious electromagnetic signal characteristics, thereby effectively preventing illegal flight UAVs from intruding. At the same time, through networked communication, the management and control of legal flight networked UAVs are realized, providing an electronic management technology means for low-altitude UAV flights.

[0004] For the above solution, the following technical problems exist: The above invention mainly integrates the function of the interference signal generator into the base station. Through the extensive deployment of the network system, it economically realizes the effective coverage of communication interference signals in restricted areas, endows the restricted areas with obvious electromagnetic signal characteristics, thus effectively preventing illegally flying drones from invading the base station. At the same time, through networked communication, it realizes the control of legally flying networked drones, providing an electronic management technical means for the low-altitude flight of drones. However, it does not analyze from the perspective of whether the drone uses frequency modulation technology, does not obtain the corresponding frequency band information of the drone in the target area during flight, and thus cannot know whether the frequency band change of the drone in the target area during flight is a normal change. Nor can it analyze the impact of the frequency band change on the accuracy of the base station's perception of the drone flight in the target area based on the frequency band change of the drone during flight, which will result in a fuzzy phenomenon of drone flight monitoring and cannot effectively guarantee the safety and privacy in the area. Summary of the Invention

[0005] Aiming at the above technical deficiencies, the purpose of the present invention is to provide a communication and interference integrated base station method and system for low-altitude drone safety issues.

[0006] To solve the above technical problems, the present invention adopts the following technical solutions: The present invention provides a communication and interference integrated base station method and system for low-altitude drone safety issues, including: Step 1, Drone flight frequency band analysis: Obtain the corresponding frequency band information of the drone in the target area during flight, and then analyze the frequency band change situation of the drone in the target area during flight.

[0007] Step 2, Base station communication and interference perception evaluation: Based on the frequency band change situation of the drone during flight, further analyze the impact of the frequency band change on the accuracy of the base station's perception of the drone flight in the target area.

[0008] Step 3, Base station perception frequency modulation analysis: Obtain the frequency modulation data corresponding to the drone during the base station perception acquisition time, and predict the corresponding frequency modulation mode of the drone in the target area based on the impact of the frequency band change on the accuracy of the base station's perception of the drone flight in the target area.

[0009] Step 4, Base station communication and interference decision: Obtain the echo signal data of the drone during flight, and then analyze whether the drone in the target area is a black flight phenomenon, and analyze the communication and interference measures of the base station corresponding to the drone in the target area.

[0010] In the second aspect, the present invention provides a communication and interference integrated base station system for low-altitude drone safety issues, including: A drone flight frequency band analysis module, used to obtain the corresponding frequency band information of the drone in the target area during flight, and then analyze the frequency band change situation of the drone in the target area during flight.

[0011] A base station communication interference perception evaluation module, which is used to analyze the influence of frequency band changes on the flight accuracy of drones in the target area sensed by the base station based on the frequency band changes during the flight of the drones.

[0012] A base station sensing frequency modulation analysis module, which is used to obtain the frequency modulation data corresponding to the drones during the base station sensing acquisition time, and predict the corresponding frequency modulation mode of the drones in the target area based on the influence of frequency band changes on the flight accuracy of the drones in the target area sensed by the base station.

[0013] A base station communication interference decision-making module, which is used to obtain the echo signal data of the drones during the flight, and then analyze whether the drones in the target area are black flying, and analyze the communication interference measures of the base station corresponding to the drones in the target area.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. The present invention provides a communication interference integrated base station method and system for the low-altitude safety problem of drones. By analyzing the frequency band changes during the flight of drones, it is understood whether the drones adopt frequency modulation technology, and the influence of frequency band changes on the flight accuracy of drones in the target area sensed by the base station is analyzed, so as to flexibly respond to the changes of drones, predict the corresponding frequency modulation mode of the drones in the target area, so as to ensure the accuracy and effectiveness of perception, efficiently identify the flight purpose of the current drones, and timely take targeted communication interference measures to prevent the safety factors in the area from being violated or leaked, effectively guarantee the overall safety and privacy in the area, reduce the risk of privacy leakage, make illegal black flying nowhere to hide, and improve the safety of the area.

[0015] 2. Obtain the frequency band information corresponding to the drones in the target area during the flight, and then analyze the frequency band changes during the flight of the drones in the target area to see whether the current drones apply frequency modulation technology, provide effective data support for subsequent analysis of the motivation of the drones, and analyze the influence of frequency band changes on the flight accuracy of the drones in the target area sensed by the base station based on the frequency band changes during the flight of the drones, so as to understand the current limitation degree of the base station in sensing the drones, and then carry out efficient response adjustment to ensure the continuous online of the base station sensing function.

[0016] 3. Obtain the frequency modulation data corresponding to the drones during the base station sensing acquisition time, and predict the corresponding frequency modulation mode of the drones in the target area based on the influence of frequency band changes on the flight accuracy of the drones in the target area sensed by the base station, so that the base station can form precise monitoring of the drones, thereby reducing the probability of the drones obtaining privacy and the risk of leakage, and further guaranteeing the privacy security in the area.

[0017] 4. Obtain the echo signal data of the drone during flight, and then analyze whether the drone in the target area is engaged in illegal flight. Also, analyze the communication interference measures of the base station corresponding to the drones in the target area, so as to timely and effectively handle existing security risks, expose illegal flights, and enhance the security of the area. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following described drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0019] Figure 1 It is a schematic flowchart of the implementation steps of the method of the present invention.

[0020] Figure 2 It is a schematic connection diagram of the system structure of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0021] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0022] Please refer to Figure 1 As shown, the communication interference integrated base station method for low-altitude drone safety issues includes: Step 1. Drone flight frequency band analysis: Obtain the corresponding frequency band information of the drones in the target area during flight, and then analyze the frequency band change situation of the drones in the target area during flight.

[0023] It should be noted that the frequency modulation technology will cause the drone signal frequency to change over time. For example, when the base station initially detects that the frequency characteristics of the drone are continuous frequency modulation at the beginning, when the drone activates the frequency modulation technology, it will change to discrete frequency hopping.

[0024] It should be noted that when a drone appears in the target area, the integrated communication and interference base station will automatically sense the drone accordingly, and based on the technical algorithm of the integrated base station, it will automatically convert the spectrum data of the drone in the target area during flight into the spectrum time domain, obtain the spectrum distribution map of the drone in the target area during flight, observe the signal frequency points at the beginning and several time periods in the spectrum distribution map, obtain the initial signal fluctuation type, and at the same time extract the initial signal bandwidth and flight signal bandwidth within several time periods from the spectrum distribution map; obtain the initial sensing speed, flight sensing rate, and sensing data volume corresponding to the base station when sensing the drone from the corresponding database of the base station.

[0025] In a specific embodiment of the present invention, the frequency band information includes the initial signal fluctuation type, flight signal bandwidth, initial sensing speed, flight sensing rate, and sensing data volume.

[0026] In a specific embodiment of the present invention, the analysis of the frequency band change situation of the drone in the target area during flight is as follows: By establishing a frequency band evaluation model and a base station sensing evaluation model, and then analyzing the frequency band change situation of the drone in the target area during flight. The formula of the frequency band evaluation model is: , is the frequency band change corresponding to the drone in the target area at the flight moment, and are the initial signal fluctuation type and flight signal bandwidth corresponding to the drone in the target area during flight, is an exponential function, is the natural constant, is the flight moment of the drone, is the flight duration of the drone. The duration corresponding to the drone in the target area from the initial lift-off to the moment is .

[0027] Through the base station sensing evaluation model, its expression formula is: , is the sensing response corresponding to the base station sensing the drone in the target area at the flight moment, , and are the initial sensing speed, flight sensing rate, and sensing data volume corresponding to the base station sensing the drone in the target area during flight, is a cosine function, takes the value of .

[0028] Step 2: Base station interference perception assessment: Based on the frequency band changes during the flight of the drone, analyze the impact of the frequency band changes on the accuracy of the base station's perception of the drone's flight in the target area.

[0029] In a specific embodiment of the present invention, the analysis of the impact of the frequency band change on the accuracy of the base station's perception of the drone's flight in the target area is as follows: Based on the frequency band changes corresponding to the drone in the target area at the flight moment and the perception response of the base station to the drone in the target area at the flight moment, and then through the calculation formula: , obtain the change amount of the base station's perception function corresponding to the drone's frequency band , , are respectively the set frequency band change weight factor and function change amount weight factor, , .

[0030] It should be noted that and are set based on the existing technologies in the current related fields. According to a large amount of data and influencing factors in the drone scenario, the values of and are set.

[0031] Obtain the corresponding frequency band information of the drone in the target area during the flight process, and then analyze the frequency band change situation of the drone in the target area during the flight process to see whether the current drone applies frequency modulation technology, provide effective data support for subsequent analysis of the drone's motivation, and based on the frequency band change situation of the drone during the flight process, analyze the impact of the frequency band change on the accuracy of the base station's perception of the drone's flight in the target area, and then understand the current limitation degree of the base station's perception of the drone, so as to perform efficient response adjustment to ensure the continuous online of the base station's perception function.

[0032] Step 3: Base station perception frequency modulation analysis: Obtain the frequency modulation data corresponding to the drone during the base station perception acquisition time, and predict the corresponding frequency modulation mode of the drone in the target area based on the impact of the frequency band change on the accuracy of the base station's perception of the drone's flight in the target area.

[0033] It should be noted that the frequency modulation data corresponding to the UAV within the base station sensing acquisition time under the preset acquisition times is extracted as follows: obtain the start acquisition time period of the frequency modulation data corresponding to the UAV in each acquisition time period of the base station, record the start acquisition time period as the first acquisition, and based on the preset acquisition times, and so on, to obtain the frequency modulation data corresponding to the UAV within the acquisition time of the base station under the preset acquisition times; for example, if the preset acquisition times is 5 times, then extract the change data corresponding to the UAV in 5 acquisition time periods from each acquisition time period corresponding to the base station, and record the change data corresponding to the UAV in the 5 extracted acquisition time periods as the frequency modulation data corresponding to the UAV.

[0034] It should be noted that the preset acquisition times under the corresponding frequency band change of the UAV are set by professional base station personnel.

[0035] In a specific embodiment of the present invention, the process of obtaining the frequency modulation data corresponding to the UAV within the base station sensing acquisition time is as follows: based on the frequency band change situation of the UAV during flight in the target area, respectively extract the time interval from the first frequency band change to the second frequency band change and the time interval from the second frequency band change to the third frequency band change of the UAV during flight. According to the extracted frequency band change time intervals, set each acquisition time period, obtain the change data corresponding to the UAV in each acquisition time period corresponding to the base station, and based on the preset acquisition times under the corresponding frequency band change of the UAV, extract the frequency modulation data corresponding to the UAV within the base station sensing acquisition time under the preset acquisition times, including the frequency switching interval, the frequency sequence occurrence frequency, and the signal-to-noise ratio.

[0036] In a specific embodiment of the present invention, the process of predicting the frequency modulation mode corresponding to the UAV in the target area is as follows: based on the influence of the frequency band change on the accuracy of the base station sensing the flight of the UAV in the target area, obtain the filling value under the accuracy influence, and respectively perform data value superposition of the filling value under the accuracy influence on the frequency modulation data corresponding to the UAV within the base station sensing acquisition time to obtain the adjusted frequency switching interval, the adjusted frequency sequence occurrence frequency, and the adjusted signal-to-noise ratio after superposition.

[0037] Compare the adjusted frequency switching interval corresponding to the UAV within the base station sensing acquisition time with the frequency modulation frequency switching intervals in each sequential frequency modulation mode set stored in the database. If the adjusted frequency switching interval corresponding to the UAV within the base station sensing acquisition time is the same as the frequency modulation frequency switching interval in a certain sequential frequency modulation mode set stored in the database, then use the next frequency modulation interval of the frequency modulation frequency switching interval in this sequential frequency modulation mode set as the predicted frequency modulation data, and by analogy in this way to obtain the next frequency modulation sequence and the next frequency modulation signal-to-noise ratio.

[0038] Construct the frequency modulation mode corresponding to the UAV in the target area according to the next frequency modulation interval, the next frequency modulation sequence, and the next frequency modulation signal-to-noise ratio, so as to predict the frequency modulation mode corresponding to the UAV in the target area.

[0039] It should be noted that based on the influence of the frequency band change on the accuracy of the base station to sense the flight of the UAV in the target area, the filling value during UAV prediction is obtained: for example, if the base station sensing degree sets that the frequency modulation data monitored by the base station when sensing the UAV flight needs to be accurate to two decimal places, and the current monitored data is 5.5, which is one digit less than the set sensing accuracy, then 0.05 is superimposed according to the value after the decimal point of the current monitored data, and the superimposed data is recorded as 5.55. If the current monitored data is 5, then 0.55 is superimposed according to the value after the decimal point of the current monitored data, so as to fill the missing value of the influence accuracy of the frequency band change on the base station to sense the flight of the UAV in the target area.

[0040] It should be noted that each set of sequential frequency modulation modes: records the transformation of the frequency modulation data when the base station senses the appearance of the UAV each time under the application of frequency modulation technology.

[0041] Obtain the frequency modulation data corresponding to the UAV during the base station sensing acquisition time, and predict the frequency modulation mode corresponding to the UAV in the target area based on the influence of the frequency band change on the accuracy of the base station to sense the flight of the UAV in the target area, so that the base station can form a precise monitoring of the UAV, thereby reducing the probability of the UAV obtaining privacy and leaking risks, and further ensuring the privacy security in the area.

[0042] Step 4: Base station interference decision: Obtain the echo signal data of the UAV during flight, and then analyze whether the UAV in the target area is a black flight phenomenon, and analyze the interference measures of the base station corresponding to the UAV in the target area.

[0043] In a specific embodiment of the present invention, the echo signal data of the UAV during flight is obtained, and then it is analyzed to determine whether the UAV in the target area is engaged in illegal flight. The specific analysis process is as follows: Based on the predicted frequency modulation mode corresponding to the UAV in the target area, the base station will switch to the same monitoring frequency band according to the frequency modulation mode corresponding to the UAV in the target area, and obtain the echo signal data of the UAV during flight, including trajectory data, speed data, and distance indentation data. Then, the trajectory data safety interval, speed data safety interval, and distance indentation safety interval corresponding to the historical normally flying UAVs in the target area are obtained from the database, and then the evaluation result value of the corresponding flying UAV in the target area is obtained. If the evaluation result value of the corresponding flying UAV in the target area is 1, it is determined that the UAV in the target area does not constitute illegal flight and is in safe flight, and the monitoring of the UAV in the target area will continue. If the evaluation result value of the corresponding flying UAV in the target area is 0, it is determined that the UAV in the target area constitutes illegal flight and is in dangerous flight, and interference measures will be taken against the UAV in the target area.

[0044] It should be noted that the trajectory data safety interval, speed data safety interval, and distance indentation safety interval corresponding to the historical normally flying UAVs in the target area are set by professional base station personnel; the trajectory data safety interval is a reference value for determining whether the corresponding flying UAV in the current target area constitutes illegal flight behavior. The speed data safety interval and the distance indentation safety interval have the same function as the trajectory data safety interval, so they will not be elaborated here.

[0045] In a specific embodiment of the present invention, the state value corresponding to the flood discharge of the sluice is obtained through the following specific analysis process: Through the calculation formula: , is the th echo signal data of the UAV in the target area during flight, is the safety interval of the th echo signal data of the UAV in the target area during flight, , is the number of the echo signal data.

[0046] It should be noted that are respectively 3 echo signal data, which respectively represent the trajectory data, speed data, and distance indentation data in the echo signal data, and the 3 echo signal data respectively correspond to the corresponding safety intervals, which are the safety interval of the trajectory data, the safety interval of the speed data, and the safety interval of the distance indentation data.

[0047] It should be noted that one set of interference measures corresponds to one evaluation result value. Each set of interference measures includes the direction and gain of type-I beamforming, the direction and gain of type-II beamforming, and the direction and gain of type-III beamforming.

[0048] In a specific embodiment of the present invention, the interference measures corresponding to the UAVs in the target area obtained by the analysis are as follows: The evaluation result values corresponding to the flying UAVs in the target area are compared with the evaluation result values corresponding to the UAV illegal flight of each preset set of interference measures. If the evaluation result value corresponding to the UAV illegal flight of a certain preset set of interference measures is the same, then this set of interference measures is used as the interference measures corresponding to the UAVs in the target area of the base station, and the interference operation for the UAV illegal flight in the target area is automatically executed immediately, so as to obtain the interference measures corresponding to the UAVs in the target area of the base station through this analysis.

[0049] It should be noted that each set of interference measures corresponding to the evaluation result values of UAV illegal flight is set by professional base station personnel. Each set of interference measures is used for the interference operation under different UAV illegal flight phenomena, so as to effectively control the current situation of each UAV illegal flight.

[0050] Obtain the echo signal data of the UAV during flight, and then analyze whether the UAV in the target area is an illegal flight phenomenon, and analyze the interference measures corresponding to the UAVs in the target area of the base station, so as to timely and effectively handle the existing safety hazards, expose illegal illegal flights, and improve the safety of the area. Please refer to Figure 2 As shown in the figure, the integrated interference base station system for UAV low-altitude safety issues includes a UAV flight frequency band analysis module, a base station interference sensing and evaluation module, a base station sensing frequency modulation analysis module, a base station interference decision-making module, and a database.

[0051] The UAV flight frequency band analysis module is respectively connected to the base station interference sensing and evaluation module and the database. The base station interference sensing and evaluation module is respectively connected to the base station sensing frequency modulation analysis module and the database. The base station sensing frequency modulation analysis module is respectively connected to the base station interference decision-making module and the database.

[0052] The UAV flight frequency band analysis module is used to obtain the frequency band information corresponding to the UAV in the target area during flight, and then analyze the frequency band change situation of the UAV in the target area during flight.

[0053] The base station interference sensing and evaluation module is used to analyze the influence of the frequency band change on the accuracy of the base station to sense the flight of the UAV in the target area based on the frequency band change situation of the UAV during flight.

[0054] The base station sensing frequency modulation analysis module is used to obtain the frequency modulation data corresponding to the UAV during the base station sensing acquisition time, and predict the frequency modulation mode corresponding to the UAV in the target area based on the influence of the frequency band change on the flight accuracy of the UAV in the base station sensing target area.

[0055] The base station communication interference decision module is used to obtain the echo signal data of the UAV during flight, and then analyze whether the UAV in the target area is a black flight phenomenon, and analyze the communication interference measures of the base station corresponding to the UAV in the target area.

[0056] The database is used to store frequency band information, frequency modulation data, each sequential frequency modulation mode set, frequency modulation frequency switching interval, and echo signal data.

[0057] In the embodiment of the present invention, by analyzing the frequency band change situation of the UAV during flight, it is understood whether the UAV adopts frequency modulation technology, and the influence of the frequency band change on the flight accuracy of the UAV in the base station sensing target area is analyzed, so as to flexibly respond to the changes of the UAV, predict the frequency modulation mode corresponding to the UAV in the target area, thereby ensuring the accuracy and effectiveness of sensing, efficiently identifying the flight purpose of the current UAV, taking targeted communication interference measures in a timely manner, preventing the safety factors in the area from being violated or leaked, realizing a comprehensive and effective guarantee for the safety and privacy in the area, reducing the risk of privacy leakage, making illegal black flights nowhere to hide, and enhancing the security of the area.

[0058] The above content is only an example and illustration of the concept of the present invention. Those skilled in the art of this technology can make various modifications or supplements to the described specific embodiments or use similar methods to replace them, as long as they do not deviate from the concept of the invention or exceed the scope defined in this specification, they should all belong to the protection scope of the present invention.

Claims

1. A method for an integrated communication and interference base station for low-altitude safety problems of unmanned aerial vehicles, characterized in that Including: Step 1, UAV flight frequency band analysis: Obtain the corresponding frequency band information of the UAV during flight in the target area, and then analyze the frequency band change situation of the UAV during flight in the target area; Step 2, Base station interference perception evaluation: Based on the frequency band change situation of the UAV during flight, further analyze the influence of the frequency band change on the accuracy of the base station's perception of the UAV flight in the target area; Step 3, Base station perception frequency modulation analysis: Obtain the corresponding frequency modulation data of the UAV during the base station perception acquisition time, and based on the influence of the frequency band change on the accuracy of the base station's perception of the UAV flight in the target area, predict the corresponding frequency modulation mode of the UAV in the target area; Step 4, Base station interference decision: Obtain the echo signal data of the UAV during flight, and then analyze whether the UAV in the target area is an illegal flight phenomenon, and analyze the interference measures of the base station corresponding to the UAV in the target area.

2. The integrated communication and interference suppression base station method for low-altitude safety problems of unmanned aerial vehicles according to claim 1, characterized in that, The frequency band information includes the initial signal fluctuation type, flight signal bandwidth, initial perception speed, flight perception rate, and perception data volume.

3. The integrated communication and interference suppression base station method for low-altitude UAV safety problems according to claim 2, characterized in that, The specific analysis process of analyzing the frequency band change situation of the UAV during flight in the target area is as follows: By establishing a frequency band evaluation model and a base station perception evaluation model, and then analyzing the frequency band change situation of the UAV during flight in the target area, the formula of the frequency band evaluation model is: , is the frequency band change corresponding to the UAV in the target area during flight at the corresponding moment, and are the initial signal fluctuation type and the flight signal bandwidth corresponding to the UAV during flight in the target area, is an exponential function, is the natural constant, is the flight time of the UAV, is the flight duration of the UAV. The duration corresponding to the UAV in the target area from the initial lift-off to at the moment is ; Through the base station sensing evaluation model, its expression formula is: , is the sensing response corresponding to the UAV in the target area sensed by the base station during flight at the corresponding moment, , and are the initial sensing speed, flight sensing rate and sensed data volume corresponding to the UAV in the target area sensed by the base station during flight, is the cosine function, takes the value of .

4. The integrated communication and interference suppression base station method for low-altitude UAV safety problems according to claim 3, characterized in that, The specific analysis process of analyzing the influence of the frequency band change on the accuracy of the base station's perception of the UAV flight in the target area is as follows: Based on the frequency band change corresponding to the moment when the drone is flying within the target area and the base station senses the perception response corresponding to the moment when the drone is flying within the target area, and then through the calculation formula: At the moment, and the base station senses the perception response corresponding to the moment when the drone is flying within the target area At the moment, and then through the calculation formula: , the change amount of the sensing function of the base station corresponding to the drone frequency band is obtained , , Are respectively the set weight factor of the frequency band change and the weight factor of the function change amount, , .

5. The integrated communication and interference suppression base station method for low-altitude UAV safety problems according to claim 4, characterized in that, The specific acquisition process of obtaining the corresponding frequency modulation data of the UAV during the base station perception acquisition time is as follows: Based on the frequency band change situation of the UAV during flight in the target area, respectively extract the time intervals from the first frequency band change to the second frequency band change and from the second frequency band change to the third frequency band change during the UAV flight. According to the extracted frequency band change time intervals, set each acquisition time period, obtain the change data corresponding to the UAV of the base station for each acquisition time period, and based on the preset number of acquisitions corresponding to the UAV frequency band change, extract the corresponding frequency modulation data of the UAV during the base station perception acquisition time under the preset number of acquisitions, including the frequency switching interval, the frequency sequence occurrence frequency, and the signal-to-noise ratio.

6. The integrated communication and interference suppression base station method for low-altitude UAV safety problems according to claim 5, characterized in that, The specific prediction process of predicting the corresponding frequency modulation mode of the UAV in the target area is as follows: Based on the influence of the frequency band change on the accuracy of the base station's perception of the UAV flight in the target area, obtain the filling value under the accuracy influence, and perform data value superposition of the corresponding frequency modulation data of the UAV during the base station perception acquisition time with the filling value under the accuracy influence, to obtain the adjusted frequency switching interval, adjusted frequency sequence occurrence frequency, and adjusted signal-to-noise ratio after superposition; Compare the adjusted frequency switching interval of the UAV during the base station perception acquisition time with the frequency modulation frequency switching intervals under each sequential frequency modulation mode set stored in the database. If the adjusted frequency switching interval of the UAV during the base station perception acquisition time is the same as the frequency modulation frequency switching interval under a certain sequential frequency modulation mode set stored in the database, then use the next frequency modulation interval of the frequency modulation frequency switching interval under this sequential frequency modulation mode set as the predicted frequency modulation data, and by analogy in this way to obtain the next frequency modulation sequence and the next frequency modulation signal-to-noise ratio; Construct the frequency modulation mode corresponding to the UAV in the target area according to the next frequency modulation interval, the next frequency modulation sequence, and the next frequency modulation signal-to-noise ratio, and predict the frequency modulation mode corresponding to the UAV in the target area accordingly.

7. The integrated communication and interference suppression base station method for low-altitude UAV safety problems according to claim 6, characterized in that, Obtain the echo signal data of the UAV during flight, and then analyze whether the UAV in the target area is engaged in illegal flight. The specific analysis process is as follows: Based on the predicted frequency modulation mode corresponding to the UAV in the target area, the base station will switch to the same monitoring frequency band according to the frequency modulation mode corresponding to the UAV in the target area, obtain the echo signal data of the UAV during flight, including trajectory data, speed data, and distance shrinkage data, and obtain the trajectory data safety interval, speed data safety interval, and distance shrinkage safety interval corresponding to the historical normally flying UAVs in the target area from the database, and then obtain the evaluation result value of the corresponding flying UAV in the target area. If the evaluation result value of the corresponding flying UAV in the target area is 1, it is determined that the UAV in the target area does not constitute an illegal flight phenomenon and is in safe flight, and the monitoring of the UAV in the target area will continue. If the evaluation result value of the corresponding flying UAV in the target area is 0, it is determined that the UAV in the target area constitutes an illegal flight phenomenon and is in dangerous flight, and interference measures will be taken against the UAV in the target area.

8. The integrated communication and interference suppression base station method for low-altitude safety problems of unmanned aerial vehicles according to claim 7, characterized in that, Analyze and obtain the corresponding state value during the gate flood discharge. The specific analysis process is as follows: Through the calculation formula: , is the th echo signal data during the flight of the UAV in the target area, is the safety interval of the th echo signal data during the flight of the UAV in the target area, , is the number of the echo signal data.

9. The integrated communication and interference suppression base station method for low-altitude safety problems of unmanned aerial vehicles according to claim 8, wherein Analyze and obtain the communication and interference measures of the base station corresponding to the UAV in the target area. The specific analysis process is as follows: The evaluation result value corresponding to the flying drone within the target area is compared with the evaluation result value corresponding to the unauthorized flight of drones in each preset interference measure set. If the evaluation result value corresponding to the unauthorized flight of drones in a certain preset interference measure set is the same, then this interference measure set is used as the interference measure for the drones in the target area corresponding to the base station, and the interference operation for the unauthorized flight of drones in the target area is automatically executed immediately, so as to analyze and obtain the interference measure for the drones in the target area corresponding to the base station.

10. An integrated communication and interference base station system for low-altitude UAV safety problems, which implements the method of the integrated communication and interference base station for low-altitude UAV safety problems according to any one of claims 1-9, is characterized in that Including: A UAV flight frequency band analysis module, which is used to obtain the frequency band information corresponding to the UAV in the target area during flight, and then analyze the frequency band change situation of the UAV in the target area during flight; A base station communication and interference perception evaluation module, which is used to analyze the impact of the frequency band change on the accuracy of the base station's perception of the UAV flight in the target area based on the frequency band change situation of the UAV during flight; A base station perception frequency modulation analysis module, which is used to obtain the frequency modulation data corresponding to the UAV during the base station perception acquisition time, and predict the frequency modulation mode corresponding to the UAV in the target area based on the impact of the frequency band change on the accuracy of the base station's perception of the UAV flight in the target area; A base station communication and interference decision-making module, which is used to obtain the echo signal data of the UAV during flight, and then analyze whether the UAV in the target area is engaged in illegal flight, and analyze the communication and interference measures of the base station corresponding to the UAV in the target area.

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