Intelligent anti-unmanned aerial vehicle system

Abstract

The invention belongs to the technical field of low-altitude security and particularly relates to the field of unmanned aerial vehicle defense. Aiming at the problems that in the prior art, electronic interference accidentally damages legal equipment, the physical interception efficiency is low, physical evidences are damaged, and the whole-process dynamic decision-making capability is lacked, the invention provides a hierarchical anti-unmanned aerial vehicle system and method. According to the technical scheme, the method comprises the following steps: 1) constructing a multi-source detection module, fusing data through a phased array radar (the detection radius is greater than or equal to 3km), a frequency spectrograph and photoelectric equipment, and dynamically evaluating airspace risks based on a threat level formula; 2) a hierarchical response mechanism: starting electronic interference (dynamic power adjustment) within 2500m, triggering physical interception within 800m, and optimizing emission parameters through an interception success rate formula; and 3) the flexible interception net is combined with grading recovery design to realize target lossless capture and flight control data complete extraction.The method is suitable for airports, nuclear power stations and major activity places, and has all-weather and all-time protection, high interception efficiency and judicial-level evidence obtaining ability, and the false touch rate is lower than 0.1 time / month.

Description

Technical Field

[0001] The present invention belongs to the field of low-altitude security technology, and is used to deny and counter low, small, and slow aircraft. Specifically, it relates to a hierarchical anti-UAV system that integrates electromagnetic suppression, physical attack, and judicial evidence collection, and is particularly suitable for all-weather, all-time unmanned defense in highly sensitive areas such as major event venues, airports, and nuclear power plants. Background Art

[0002] With the opening of low-altitude airspace in my country, places that are under key protection or temporary use are often intruded by ignorant people who mistakenly operate drones. What's worse, some people secretly and illegally operate drones to intrude, causing harassment.

[0003] Statistics: In major global events in 2023, drone intrusion incidents increased by 67% year-on-year; Technical pain points: 1. Limitations of electronic jamming: ① It cannot counter autonomous navigation drones. ② When transmitting electronic signals of the same channel to invading drones, it will also interfere with other legitimate devices on the same channel and may accidentally damage legitimate devices; 2. Traditional interception defects: Traditional mobile rigid nets have large wind resistance and limited interception speed. The interception success rate is low (<15%) and does not meet practical requirements. It is also easy to damage physical evidence; 3. The human-on-duty observation method has low timeliness and is very costly. It is even more incapable of identifying flying intrusions at night; 4. Difficulty in judicial evidence collection: The existing system lacks data records for the entire process, and 60% of cases cannot be held accountable due to insufficient evidence. Summary of the invention

[0004] 1. A hierarchical anti-UAV system based on a single base station, characterized by comprising: (1) Multi-source detection module: Integrates ground phased array radar, radio spectrum monitor and optoelectronic tracking equipment to detect the location, speed and model information of invading drones in real time; (2) Multi-band jammer module: covers the 300MHz-6GHz frequency band and transmits directional beams to jam the navigation and control signals of the target drone; (3) Intercepting drone module: Each guard base station is equipped with a high-speed, highly maneuverable net-catching drone that can launch two sets of flexible nets; (4) Grading recovery module: Small targets (≤ preset weight threshold): brought back to the base station by the dragging mechanism; Large target (> preset weight threshold): Trigger parachute descent and activate locator beacon.

[0005] 2. Further, the multi-source detection module generates airspace threat levels (R1-R5) through a data fusion algorithm and preferentially activates radio interference to drive away. When the pre-stage electrical and magnetic interference fails to meet the expectations while the threat level reaches the set level, the subsequent-stage net-catching drone will be triggered to take off.

[0006] 3. Further, the launched interception drone is equipped with an electronic binocular vision system and a laser rangefinder, and autonomously completes precise locking and interception path planning after entering the target rough positioning range.

[0007] 4. Further, the air-to-air capture and interception net is a square flexible net woven continuously with equilateral fixed cross-knots using ultra-high molecular weight and high-strength ultra-light material fiber ropes. The four corners of the flexible net are towed by four alloy warheads. After the net is launched, the warheads carry high-speed kinetic energy. Under the traction of the kinetic energy inertia of the four warheads, when the net touches and hits a flying object, mechanical winding action will occur to net the outside of the unmanned aircraft body. At the same time, it also winds the external power propeller of the aircraft or the external moving control surface of the aircraft, causing the aircraft to lose flight power and controllability.

[0008] At the same time, after a successful air net capture, the dragging effect: (1) It is to obtain complete physical evidence; (2) To prevent uncertain secondary accidents caused by the falling of aircraft parts after net capture. The hierarchical recovery module measures through an on-board weight sensor and executes (bring back, parachute) actions based on time dynamics. The preset weight threshold is to carry back within 7 Kg. For those exceeding 7 Kg, they will be recovered by parachute.

[0009] This system solves the above problems through three-level technological innovations: 1. Intelligent hierarchical decision-making: The threat levels (R1-R5) are dynamically calculated based on the target speed, course deviation angle, and distance from the core area; Dual-threshold trigger mechanism (when R≥3, interference and interception are started simultaneously).

[0010] 2. Power interception optimization: Flexible net ballistic stability design: The four ends of the net body are connected to the center of gravity X-axis of the warhead through universal joints. Ensure that when the warhead drags the net, the net connection is not eccentric, so that the warhead does not tumble during forward flight and lose forward kinetic energy, reducing the net capture distance (yaw angle ≤ 0.5°). In the actual application scenario, the flexible net formed by the coaxial center setting of the warhead has a practical net spreading distance that can exceed 30% more than that of the warhead with eccentric connection under high-altitude and high-intensity airflows. Thus, it greatly improves the net capture distance and success rate.

[0011] 3. Judicial evidence collection enhancement: The data includes flight control logs, multi-view videos and mechanical parameters, which comply with the standard of GA / T 1468-2018; Blockchain evidence preservation: Double hashing (SHA-3 + SM3) is adopted to ensure the immutability of data.

[0012] Beneficial effects 1. Interception efficiency breakthrough: The interception speed of the flexible net is increased to 45 m / s, and the success rate for a 20 m / s target is 92.3% (measured 1000 times); The dual-net redundancy design increases the single-task success rate to 98.5%.

[0013] .2. Legal compliance: Certified by the Technical Specification for UAV Countermeasure Equipment of the Ministry of Public Security; The number of misfires on legal equipment is 0 (the traditional system has an average of 1.2 times per month).

[0014] 3. Economic advantages: The coverage radius of a single base station is 3000 meters, and the operation and maintenance cost is reduced by 57%; The interception cost in the whole life cycle: 1200 yuan per flight (laser system: 18,000 yuan per flight).

[0015] . The implementation manners of the present invention include, but are not limited to, the components, steps or method elements clearly described in the specification. Any equivalent replacement, structural change or process adjustment based on the core principle of the present invention, as long as it contains the necessary technical features of the present invention and does not deviate from the protection scope defined by the claims, shall be regarded as falling within the patent protection scope of the present invention.

[0016] Specifically: Non-exhaustiveness of elements: The term "including" should be interpreted as an open-ended limitation, that is, other elements or steps not explicitly listed are allowed; Example: Intercepting a UAV may include auxiliary sensors not mentioned (such as sonar or barometer), as long as they serve the hierarchical interception logic of the present invention.

[0017] Extensibility of the technical solution: Those skilled in the art can modify the embodiments without departing from the core principle defined by the claims; Example: Replacing the "phased array radar" with a lidar, or adjusting the weight threshold to 5 - 15 kg, is still protected by this patent.

[0018] Principle of claim interpretation: The protection scope of this patent shall be subject to the literal expression of the claims and cover all equivalent embodiments that meet the "substantially the same function - manner - effect" (in accordance with the doctrine of equivalent infringement).

[0019] Extended Declaration of Embodiment The above embodiments are only used to help those skilled in the art understand the technical solution of the present invention, and do not limit the present invention. Based on the teachings of this specification, those skilled in the art can make reasonable changes in the following aspects: Hardware configuration: adding redundant communication modules or upgrading sensor accuracy; Software algorithm: using different machine learning models to implement threat level assessment; Parameter adjustment: optimizing the wind resistance coefficient or the net deployment speed within the constraints of formula (1). Description of the Drawings

[0020] Figure 1 : System architecture diagram; Figure 2 : Full-process control logic diagram; Figure 3 : Flexible net structure; Figure 4 : Net head required for the netting tool; Figure 5 : Connecting the universal joint of the netting tool. Specific Embodiment

[0021] 1. System Deployment and Initialization Deployment parameters: Detection radius: 3 km; Electronic interference trigger distance: 2500 m; Physical strike radius: 800 m; Safe speed threshold: (If the target speed exceeds this value, it is regarded as a threat).

[0022] Hardware configuration: Radar: Active phased array radar; Jammer: Multi-band directional emission array (frequency 300 MHz - 6 GHz); Intercepting UAV: Multi-rotor aircraft (equipped with 2 sets of intercepting net bombs).

[0023] 2. Full-process Dynamic Interception Logic Step 1: Multi-source Detection and Data Fusion Radar detection: Real-time scanning of 3 km airspace, outputting target coordinates , speed , course angle ; Spectrum analysis: Identifying the target communication frequency band (such as DJI OcuSync 2.4 GHz / 5.8 GHz); Opto-electronic tracking: Infrared + visible light dual-mode locking, generating target contour features.

[0024] Data fusion formula: : Distance between the target and the core area (meters); (Weight adjustable).

[0025] Step 2: Dynamic threat level assessment (R1~R5) Threat level Trigger conditions (all met simultaneously) Response actions R1 >2500m Only log R2 2000m < ≤ 2500m Continuous monitoring R3 1500m < ≤ 2000m, v > 10m / s Audible and visual warning R4 800m < ≤ 1500m, v > 15m / s, θ < 45° Activate electronic interference R5 ≤800m, v > 20m / s, θ < 30° Intercept immediately

[0026] Step 3: Hierarchical response execution Electronic interference stage (triggered at 2500m): 1. Emit a directional interference beam, and the power is dynamically adjusted according to the distance: ; 2. Duration of continuous interference (Minimum 10 seconds, maximum 30 seconds).

[0027] Physical interception stage (triggered at 800m): 1. Eject an interception UAV, and the flight path planning formula: ; 2. Lock the target with machine vision and calculate the launch parameters of the interception net: .

[0028] Step 4: Real-time calculation of interception success rate ; Execution condition: Immediately launch the interception net when.

[0029] Step 5: Hierarchical recovery and evidence collection Small target (≤7kg): Drag force control formula: ; Large target (>7kg): Parachute deployment parameters: .

[0030] Embodiment (airport protection scenario) 1. Scenario configuration Airport parameters: Defense radius: 3 km (centered on the airport tower); Core protection area: runway area (coordinates: E 116.58°, N 40.08°, radius 500m); Device Deployment: Radar Station: Deployed on top of the tower, detecting elevation angles from 0° to 60°; Jammer Array: One set is installed every 500 meters along the airport perimeter; Intercept UAV Base Station: Deployed at both ends of the runway (one each), with a coverage radius of 800 meters.

[0031] 2. Intruding Target Parameters UAV Model: DJI Matrice 300 RTK (equipped with a high-definition camera); Flight Parameters: Weight: (including payload); Speed: (79.2 km / h); Flight Path: Approaching the core protected area from the northeast direction (heading angle 210°); Communication Bands: 2.4 GHz, 5.8 G, GPS L1 band.

[0032] 3. Full Process of System Dynamic Response Phase 1: Detection and Threat Assessment (0 - 12 seconds) 1. Radar Detection (T = 0 second): The target is first captured at 3 kilometers, and the coordinates (E 116.581°, N 40.082°) and altitude 120 m are output; Calculate the real-time speed , heading angle .

[0033] 2. Spectrum Identification (T = 2 seconds): Detect a 2.4 GHz video transmission signal and determine it as a DJI UAV; Mark the target communication protocol as "Potential Threat - Civilian Level".

[0034] 3. Optoelectronic Tracking (T = 4 seconds): The infrared camera locks on to the target heat source (motor temperature 62°C); Visible light identifies the fuselage identifier (DJI M300).

[0035] 4. Threat Level Calculation (T = 6 seconds): Dynamic Threat Confidence Level: ; Determined as a Level R4 threat.

[0036] Phase 2: Electronic Jamming (T = 12 - 42 seconds) 1. Jamming Activation (T = 12 seconds): When the target enters the 2500-meter range, directional interference is triggered; Interference frequency bands: 2.4 GHz (suppressing the remote control link) + 5.8 GHz (suppressing the video transmission).

[0037] 2. Dynamic power adjustment (T = 20 seconds): When the target distance is shortened to 1800 meters, the power is reduced Continuous interference until T = 42 seconds (total duration 30 seconds), and the target does not deviate from its course.

[0038] Phase Three: Physical interception (T = 4258 seconds) 1. UAV ejection (T = 42 seconds): Launch the interception UAV from a base station 800 meters away from the target.

[0039] 2. Path planning (T = 45 seconds): The radar roughly locates the target coordinates (E 116.579°, N 40.079°), with an error of ±20 m.

[0040] 3. Machine vision locking (T = 48 seconds): Binocular vision identifies the target (feature point matching rate 98%); Laser ranging: Real-time distance , with an error of ±5 cm.

[0041] 4. Interception parameter calculation (T = 50 seconds): Required interception speed: ; Air resistance correction: ; Interception success rate: ; 5. Interception net launch (T = 52 seconds): Launch angle 42°, initial velocity 60 m / s; The deployed diameter of the interception net is 8 m, coverage rate .

[0042] Phase Four: Target recovery and evidence collection (T = 5265 seconds) 1. Power deprivation (T = 52.5 seconds): The flexible interception net winds around the intruding aircraft, causing its propellers and motors to stop rotating due to entanglement; The target speed drops to 0 m / s (altitude 150 m).

[0043] 2. Slow descent recovery (T = 55 seconds): Weight determination is 9.3 kg (>7 kg), triggering the parachute; Descending speed: .

[0044] 3. Data forensics (T = 60 seconds): Flight control data extraction: Completely obtain the last 15 minutes of flight logs (including GPS coordinates); Video evidence: Intercept key frames during the intrusion process (resolution 3840×2160, 30fps); Hash value generation: Real-time chain storage for evidence.

[0045] Legal statement 1. In this embodiment, "including" is an open expression that covers all variant designs based on the same principle (such as adding an AI path planning module); 2. Any variant design adopting the technical route of "dynamic threat assessment - hierarchical interception - blockchain evidence storage" shall be regarded as equivalent infringement; 3. The radar detection radius (3km), interference trigger distance (2500m), and interception radius (800m) covered by the claims allow an engineering error of ±15%.

Claims

1. An intelligent hierarchical anti-drone system, characterized in that Includes the following modules: (1) Multi-source detection module: Integrates ground phased array radar, radio spectrum monitor and optoelectronic tracking equipment to obtain the three-dimensional coordinates, speed and communication frequency band characteristics of the invading UAV in real time; (2) Pre-jamming module: covers the 300MHz-6GHz frequency band, dynamically adjusts the jamming power, and prioritizes non-lethal electromagnetic suppression to drive away the target; (3) Post-interception module: - At least one high-speed interception drone (speed ≥ 45m / s, maneuvering angular velocity ≥ 1080 degrees / s), equipped with two sets of flexible interception net missiles; - Based on the real-time airspace threat level (R1-R5), interception is triggered after jamming fails. The dynamic threat level (R1-R5) is calculated by the following formula: Among them is the distance between the target and the core area is the course deviation angle; (4) Grading recovery module: Small targets (≤7kg): recovered to the base station without damage via a tensile tow cable (breaking strength ≥10kN); Large targets (>7kg): trigger the pneumatic parachute (slow descent speed ≤ 3m / s) and activate the Beidou / GPS dual-mode positioning beacon; (5) Control module: executes the dynamic decision logic of the entire process (as shown in the flowchart).

2. According to the system of claim 1, the flexible interception net bomb is characterized by: The flexible interception net is made of ultra-high molecular weight, high-strength, ultra-light fiber ropes, connected by diamond cross knots and mixed into an integrated square shape. After being launched, the net bullet is wound around the drone body and the external power propeller through the forward inertia. It is also wound around the external control surface of the aircraft, making it lose power and controllability, thereby achieving the goal of net capture.

3. The intelligent hierarchical anti-UAV system according to claim 2 is characterized in that: The net is a mesh-shaped structure, and the mesh of the net is a diamond structure; the net ropes used to weave the net have high strength and impact resistance; the thickness of the net ropes and the size of the net can be selected according to actual conditions.

4. The intelligent hierarchical anti-UAV system according to claim 2 is characterized in that: The four ends of the net lead out silk ropes, which are respectively connected to the universal joints, and the other end of the universal joint is connected to the X axis of the center of gravity of the projectile, so as to ensure that the projectile does not rotate when flying forward.

5. The system according to claim 1, wherein the high-speed drone interception is characterized by: The interception drone is equipped with machine vision (positioning accuracy ±5cm) and a laser rangefinder (sampling rate 1kHz). After entering the rough positioning range of the target, it can autonomously plan the interception path and can carry at least two sets of flexible interception net bombs.

6. The system according to claim 1, characterized in that: The interception success rate is calculated by the following formula: （1） Wherein: ; .

7. The system according to claim 1, characterized in that: The weight coefficient of the threat level formula satisfies any of the following combinations: 。 8. A hierarchical anti-drone method, characterized in that The following steps are involved: (1) Generate an airspace threat heat map by fusing data through multi-source detection modules; (2) Initiate directional interference and continuously monitor the target's response, triggering interception if the target does not move away; (3) The intercepting drone approaches the target through coarse positioning by radar and switches to precise locking by machine vision; (4) Based on formula (1), the optimal interception parameters are calculated, and the flexible net is launched from the air to capture the target in a entangled manner; (5) Select a recovery mode according to the weight threshold and upload an encrypted forensic data packet.

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