Unmanned aerial vehicle detection warning method and portable unmanned aerial vehicle detection warning device

Abstract

The invention discloses an unmanned aerial vehicle detection warning method, which comprises the following steps: acquiring an RID remote identification signal sent by an unmanned aerial vehicle, and acquiring real-time latitude and longitude data of the unmanned aerial vehicle according to the RID remote identification signal; acquiring a positioning signal of a user, and acquiring real-time position data of the user according to the positioning signal; calculating a physical space relationship between the unmanned aerial vehicle and the user according to the real-time latitude and longitude data and the real-time position data, and judging a real-time state of the unmanned aerial vehicle according to the physical space relationship; and sending out a corresponding alarm according to the real-time state of the unmanned aerial vehicle. The invention also discloses a portable unmanned aerial vehicle detection and warning device for realizing the unmanned aerial vehicle detection and warning method. The position and the state of the nearby unmanned aerial vehicle are detected in real time, and the user is reminded, so that the user can know the condition of the unmanned aerial vehicle in time and take corresponding measures, the coping ability of the user in facing the threat of the unmanned aerial vehicle is improved, and the safety of a specific area is ensured.

Description

Technical Field

[0001] The present invention relates to the field of drone detection technology, and in particular to a drone detection and warning method and a portable drone detection and warning device. Background Art

[0002] With the widespread application of drone technology, drones are playing an important role in various fields, but they also bring a series of security issues. For example, in some specific places (such as military areas, important event sites, sensitive areas, etc.), unauthorized drones may pose a threat to security.

[0003] Currently, drone detection relies primarily on large, fixed equipment, such as radar, radio lateral tracking, and remote link brute force cracking. These devices are bulky and heavy, making them unsuitable for individual soldiers to carry and use. Individual soldiers lack effective portable drone detection and warning tools during missions, making it difficult to detect drones immediately and take appropriate action, thus failing to meet the needs of actual combat and security precautions.

[0004] Therefore, the applicant has found a solution to the above-mentioned problem through beneficial exploration and research. The technical solution to be introduced below is produced in this context. Summary of the Invention

[0005] One of the technical problems to be solved by the present invention is to provide a drone detection and warning method to address the shortcomings of the existing technology, which can detect the location and status of nearby drones in real time and remind users in various ways.

[0006] The second technical problem to be solved by the present invention is to provide a portable drone detection and warning device that implements the above-mentioned drone detection and warning method.

[0007] As a first aspect of the present invention, a drone detection and warning method includes:

[0008] Acquire the RID remote identification signal sent by the drone, and obtain the real-time latitude and longitude data of the drone based on the RID remote identification signal;

[0009] Obtaining a user's positioning signal and obtaining the user's real-time location data based on the positioning signal;

[0010] Calculating a physical spatial relationship between the drone and the user based on the real-time latitude and longitude data and the real-time location data, and determining a real-time state of the drone based on the physical spatial relationship; and

[0011] According to the real-time status of the drone, a corresponding alarm is issued to remind the user in time.

[0012] In a preferred embodiment of the present invention, calculating the physical spatial relationship between the drone and the user based on the real-time latitude and longitude data and the real-time location data includes:

[0013] According to the real-time longitude and latitude data, the coordinates of the drone are obtained as longitude λ1, latitude Height h1 (altitude above sea level);

[0014] According to the real-time location data, the user coordinates are obtained as longitude λ2, latitude Height h2;

[0015] Take the average radius of the Earth as R = 6371 km (WGS84 coordinate system standard) and convert the angle unit to 1° = π / 180 radians (the longitude and latitude must be converted to radians when calculating);

[0016] The physical space relationship includes the horizontal distance D_horizontal, the three-dimensional distance D_3D, the azimuth angle θ, and the elevation angle α; where:

[0017] Horizontal distance D_horizontal = R × 2 × atan2 (√a, √(1-a)), where

[0018] 3D distance D_3D=√(D_horizontal 2 +(h1-h2) 2 );

[0019] Azimuth

[0020] Pitch angle α=atan2(h1-h2,D_horizontal).

[0021] In a preferred embodiment of the present invention, the real-time status of the drone includes the drone approaching, the drone moving away normally, and the drone hovering in the air.

[0022] In a preferred embodiment of the present invention, the corresponding alarm is one or more combinations of beeps of different frequencies, vibrations of different intensities, and flashes of different rhythms.

[0023] In a preferred embodiment of the present invention, it also includes:

[0024] The running trajectory of the UAV is calculated based on the real-time latitude and longitude data of the UAV, and the calculated running trajectory and / or physical space relationship of the UAV is sent to the smart terminal device or the remote command center.

[0025] As a second aspect of the present invention, a portable drone detection and warning device comprises:

[0026] A RID receiver, which receives a RID remote identification signal from the drone via a RID antenna and obtains the real-time latitude and longitude data of the drone based on the RID remote identification signal;

[0027] A GNSS receiver, wherein the GNSS receiver obtains a user's positioning signal through a GNSS antenna and obtains the user's real-time position data based on the positioning signal;

[0028] a microprocessing unit, the microprocessing unit being connected to the RID receiver and the GNSS receiver, respectively, and configured to receive the real-time latitude and longitude data and the real-time position data, calculate a physical spatial relationship between the drone and the user based on the real-time latitude and longitude data and the real-time position data, determine a real-time state of the drone based on the physical spatial relationship, and generate a corresponding warning signal based on the real-time state of the drone;

[0029] an alarm component connected to the microprocessor unit and configured to receive an alarm signal generated by the microprocessor unit and issue a corresponding alarm according to the alarm signal; and

[0030] A power supply module is connected to the microprocessor unit and is used to provide working power to various components or assemblies.

[0031] In a preferred embodiment of the present invention, the warning component is a combination of one or more of a vibration motor, a flash light or a speaker; wherein the vibration motor is used to generate vibrations of different intensities according to the warning signal, the flash light is used to generate flashes of different rhythms according to the warning signal, and the speaker is used to generate beeps of different frequencies according to the warning signal.

[0032] In a preferred embodiment of the present invention, the power module includes a battery and a charge and discharge circuit, and the battery is connected to the microprocessor unit via the charge and discharge circuit.

[0033] In a preferred embodiment of the present invention, a wireless communication module is further included, which is used to send the operation trajectory and / or physical space relationship of the drone calculated by the microprocessor unit to an intelligent terminal device or a remote command center.

[0034] In a preferred embodiment of the present invention, the wireless communication module is a combination of one or more of a Bluetooth module, a 4G / 5G network module, and a Wi-Fi module.

[0035] Due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0036] 1. This invention can detect the location and status of nearby drones in real time and alert users, allowing them to promptly understand the drone's status and take appropriate measures. This improves users' ability to respond to drone threats and ensures the safety of specific areas.

[0037] 2. The present invention can be integrated into devices such as shoulder lights, handheld devices, and wearable devices. It is small and light, suitable for individual soldiers to carry and use, and can meet the needs of individual soldiers in different environments.

[0038] 3. This invention not only alerts users through various means such as sound, vibration, and flashing lights, but also transmits the drone's trajectory data and / or physical spatial relationships to other devices, facilitating remote monitoring and command.

[0039] 4. The present invention utilizes a positioning system and precise demodulation of drone signals to accurately calculate the physical spatial relationship between the drone and itself, thereby improving the accuracy and reliability of detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0041] Figure 1 It is a flow chart of the drone detection and warning method of the present invention.

[0042] Figure 2 It is a structural schematic diagram of the portable UAV detection and warning device of the present invention. DETAILED DESCRIPTION

[0043] In order to make the technical means, creative features, objectives and effects achieved by the present invention easier to understand, the present invention is further described below with reference to specific illustrations.

[0044] See also Figure 1 ,The figure shows a drone detection and warning method, which includes the following steps:

[0045] Step S10: Acquire the remote identification signal (RID) sent by the drone, and obtain the real-time latitude and longitude data of the drone based on the RID remote identification signal. RID (abbreviation for Remote ID, the latest national standard GB42590-2023 requires all drones after June 1, 2024 to have this function)

[0046] Step S20: Acquire the user's positioning signal, and acquire the user's real-time location data based on the positioning signal.

[0047] In step S30 , the physical space relationship between the drone and the user is calculated based on the real-time latitude and longitude data and the real-time location data, and the real-time status of the drone is determined based on the physical space relationship.

[0048] Step S40: A corresponding alarm is issued based on the drone's real-time status to promptly alert the user. In step S40, the corresponding alarm is a combination of beeps of varying frequencies, vibrations of varying intensities, and flashes of varying rhythms, with different rhythmic formats representing different meanings to alert the user to the drone's current status. For example, when a drone approaches, the alarm vibrates strongly, flashes rapidly, and beeps rapidly; when the drone moves away, the alarm vibrates gently, flashes slowly, and beeps slowly.

[0049] In step S30, the physical spatial relationship between the drone and the user is calculated based on the real-time latitude and longitude data and the real-time location data, including:

[0050] Step S31, obtain the coordinates of the drone as longitude λ1 and latitude λ2 according to the real-time longitude and latitude data. Height h1 (altitude above sea level);

[0051] Step S32, obtain the user coordinates as longitude λ2, latitude Height h2;

[0052] Step S33, taking the average value of the earth's radius R = 6371 km (WGS84 coordinate system standard), and converting the angle unit to 1° = π / 180 radians (the longitude and latitude need to be converted to radians during calculation);

[0053] In step S34, the physical spatial relationship includes the horizontal distance D_horizontal, the three-dimensional distance D_3D, the azimuth angle θ, and the pitch angle α; wherein:

[0054] Horizontal distance D_horizontal = R × 2 × atan2 (√a, √(1-a)), where

[0055] 3D distance D_3D=√(D_horizontal 2 +(h1-h2) 2 );

[0056] Azimuth

[0057] Pitch angle α=atan2(h1-h2,D_horizontal).

[0058] In step S30, the real-time state of the drone is determined based on the physical spatial relationship. The real-time states of the drone include approaching, normally moving away, and hovering. Specifically, if the three-dimensional distance D_3D decreases over time within a certain time interval, it indicates that the drone is approaching; if the three-dimensional distance D_3D increases over time within a certain time interval, it indicates that the drone is moving away; if the three-dimensional distance D_3D remains essentially unchanged over time within a certain time interval, it indicates that the drone is hovering.

[0059] The drone detection and warning method of the present invention further includes the following steps:

[0060] In step S50, the UAV's trajectory is calculated based on the UAV's real-time latitude and longitude data, and the calculated UAV's trajectory and / or physical space relationship is sent to a smart terminal device or a remote command center to facilitate remote monitoring and command.

[0061] In step S50, the trajectory of the UAV is calculated based on the real-time latitude and longitude data of the UAV, including the following steps:

[0062] Step S51, data processing: sort data points in ascending order by timestamp Where t is time;

[0063] Step S52, coordinate conversion: converting geographic coordinates into three-dimensional Cartesian coordinates;

[0064] Step S53, trajectory generation: connecting the coordinate points in chronological order to form a parameterized polyline.

[0065] In step S52, the coordinate conversion is performed as follows:

[0066] Taking the Earth ellipsoid model (WGS84 coordinate system as an example)

[0067] The major axis a = 6378137m, the flattening f = 1 / 298.257223563, the approximate radius of the earth R = 6371000m, the longitude and latitude use three-dimensional Cartesian coordinates (ellipsoid model), and the longitude and latitude of a point are Ignoring the ellipsoidal flattening (considered as a sphere), the formula is:

[0068]

[0069] Trajectory parameterization (time as parameter), let the time series be t1 <t2<...<t n , the corresponding coordinate point is (x i ,y i ,z i ), then the discrete trajectory (broken line);

[0070] The i-th trajectory (from t i to t i+1 )’s parametric equation:

[0071] x(t)=x i +(x i+1 -x i )×(tt i ) / (t i+1 -t i );

[0072] y(t)=y i +(y i+1 -y i )×(tt i ) / (t i+1 -t i );

[0073] z(t)=z i +(z i+1 -z i )×(tt i ) / (t i+1 -t i );

[0074] Among them, t∈[t i ,t i+1 ].

[0075] In step S53, the trajectory drawing mathematical expression is as follows:

[0076] The three-dimensional trajectory is represented by a vector, which can be expressed as a vector function of time:

[0077] r(t)=[x(t),y(t),z(t)]

[0078] On a 3D map, you can directly use (x, y, z) to connect each point in chronological order to draw a spatial curve and calculate the actual length of the trajectory:

[0079] If the trajectory is a smooth curve, the total length L of this segment is:

[0080]

[0081] In fact, the trajectory is a discrete point, so the total length L of the trajectory is:

[0082]

[0083] The present invention calculates the physical spatial relationship between the drone and the user based on the acquired real-time latitude and longitude data of the drone and the user's current real-time location data. Based on this physical spatial relationship, the present invention can detect the position and status of nearby drones in real time, and then remind the user in various ways, so that the user can understand the situation of the drone in a timely manner and take corresponding measures, thereby improving the user's ability to respond to drone threats and ensuring the safety of specific areas.

[0084] See also Figure 2 , the figure shows a portable UAV detection and warning device, including a RID receiver 100, a GNSS receiver 200, a microprocessor unit 300, a warning component 400 and a power module 500.

[0085] The RID receiver 100 receives the RID remote identification signal emitted by the drone via the RID antenna 110 and obtains the drone's real-time latitude and longitude data based on the RID remote identification signal. Specifically, the data transmission port of the RID receiver 100 is connected to the UART0 port of the microprocessor 300 via a cable, and its radio frequency port is connected to the RID antenna 110 via a coaxial cable.

[0086] GNSS receiver 200 acquires the user's positioning signal via GNSS antenna 120 and uses the positioning signal to obtain the user's real-time location data. Specifically, the data transmission port of GNSS receiver 200 is connected to the UART1 port of microprocessor 300 via a cable, and its radio frequency port is connected to GNSS antenna 120 via a coaxial cable.

[0087] Microprocessor unit 300 is connected to the RID receiver and GNSS receiver, respectively, to receive real-time latitude and longitude data and real-time location data. Based on these data, it calculates the physical spatial relationship between the drone and the user. It then determines the drone's real-time status based on this physical spatial relationship and generates a corresponding warning signal based on the drone's real-time status. In this embodiment, microprocessor unit 300 utilizes an AT32F435 microprocessor chip.

[0088] The warning component 400 is connected to the microprocessor unit 300 and is used to receive the warning signal generated by the microprocessor unit 300 and issue a corresponding alarm based on the warning signal. In this embodiment, the warning component 400 is a combination of one or more of a vibration motor 410, a flashlight 420, or a speaker 430. The vibration motor 410 is connected to the signal I / O output port of the microprocessor unit 300 and is used to generate vibrations of varying intensities based on the warning signal; the flashlight 420 is connected to the signal I / O output port of the microprocessor unit 300 and is used to generate flashes of varying rhythms based on the warning signal; and the speaker 430 is connected to the signal I / O output port of the microprocessor unit 300 and is used to generate chirps of varying frequencies based on the warning signal.

[0089] The power module 500 is connected to the microprocessor unit 300 and is used to provide operating power to various components or assemblies. In this embodiment, the power module 500 includes a battery 510 and a charge and discharge circuit 520. The battery 510 is connected to the microprocessor unit 300 through the charge and discharge circuit 520.

[0090] The portable drone detection and warning device of the present invention also includes a wireless communication module 600, which establishes a connection with a smart terminal device or a remote command center via a communication antenna 610. The wireless communication module 600 is used to send the drone's trajectory and / or physical spatial relationship calculated by the microprocessor unit 300 to the smart terminal device or the remote command center. In this embodiment, the wireless communication module 600 is a combination of one or more of a Bluetooth module, a 4G / 5G network module, and a Wi-Fi module. The data communication port of the wireless communication module 600 is connected to the UART2 port of the microprocessor unit 300 via a cable, and its radio frequency port is connected to the communication antenna 610 via a coaxial cable.

[0091] The working principle of the portable drone detection and warning device of the present invention is as follows:

[0092] 1. System startup: Turn on the switch of the charge and discharge circuit 520, the battery 510 supplies power to the various components of the device, and the RID receiver 100, GNSS receiver 200, etc. are initialized and enter the working state;

[0093] 2. Drone detection: The RID receiver 100 receives the RID remote identification signal sent by the drone through the RID antenna 110, demodulates the RID remote identification signal, obtains the real-time latitude and longitude data of the drone, and sends the real-time latitude and longitude data to the micro-processing unit 300. At the same time, the GNSS receiver 200 receives the positioning signal sent by the GNSS satellite (Beidou system, GPS system, etc.) through the GNSS antenna 120, calculates its own real-time position data, and sends it to the micro-processing unit 300.

[0094] 3. Spatial Relationship Calculation: The microprocessor 300 calculates the received real-time latitude and longitude data of the drone and its own real-time location data to determine the physical spatial relationship between the drone and itself. Based on this physical spatial relationship, it determines the real-time status of the drone, such as whether it is approaching, retreating, or hovering overhead.

[0095] 4. Warning: Based on the drone's real-time status, the microprocessor 300 controls the vibration motor 410 to generate varying vibration intensities, the flashlight 420 to flash at varying rhythms, and the speaker 430 to emit chirps at varying frequencies to alert the user to the drone's current status. For example, when a drone approaches, the vibration motor 410 vibrates strongly, the flashlight 420 flashes rapidly, and the speaker 430 chirps rapidly. When the drone moves away, the vibration motor 410 vibrates slightly, the flashlight 420 flashes slowly, and the speaker 430 chirps slowly.

[0096] 5. Data Transmission: The microprocessor unit 300 connects to a smart terminal device, such as a mobile phone or other device with a screen, via the wireless communication module 600, and displays the drone's trajectory and its physical spatial relationship with the drone on the screen of the smart terminal. Alternatively, the drone's trajectory and / or physical spatial relationship can be simultaneously sent to a remote command center for convenient remote monitoring and command.

[0097] The basic principles, main features, and advantages of the present invention are shown and described above. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and modifications may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and modifications are intended to fall within the scope of the present invention. The scope of protection claimed in the present invention is defined by the appended claims and their equivalents.

Claims

1. A drone detection and warning method, characterized in that: include: Acquire the RID remote identification signal sent by the drone, and obtain the real-time latitude and longitude data of the drone based on the RID remote identification signal; Obtaining a user's positioning signal and obtaining the user's real-time location data based on the positioning signal; Calculating a physical spatial relationship between the drone and the user based on the real-time latitude and longitude data and the real-time location data, and determining a real-time state of the drone based on the physical spatial relationship; and According to the real-time status of the drone, a corresponding alarm is issued to remind the user in time.

2. The drone detection and warning method according to claim 1, wherein: Calculating the physical spatial relationship between the drone and the user based on the real-time latitude and longitude data and the real-time location data includes: According to the real-time longitude and latitude data, the coordinates of the drone are obtained as longitude λ1, latitude Height h1 (altitude above sea level); According to the real-time location data, the user coordinates are obtained as longitude λ2, latitude Height h2; Take the average radius of the Earth as R = 6371 km (WGS84 coordinate system standard) and convert the angle unit to 1° = π / 180 radians (the longitude and latitude must be converted to radians when calculating); The physical space relationship includes the horizontal distance D_horizontal, the three-dimensional distance D_3D, the azimuth angle θ, and the elevation angle α; where: Horizontal distance D_horizontal = R × 2 × atan2 (√a, √(1-a)), where 3D distance D_3D=√(D_horizontal 2 +(h1-h2) 2 ); Azimuth Pitch angle α = atan2(h1-h2, D_horizontal).

3. The drone detection and warning method according to claim 1, wherein: The real-time status of the drone includes the drone approaching, the drone moving away normally, and the drone hovering in the air.

4. The drone detection and warning method according to claim 1, wherein: The corresponding alarm is one or more combinations of beeps of different frequencies, vibrations of different intensities, and flashes of different rhythms.

5. The drone detection and warning method according to any one of claims 1 to 4, characterized in that: Also includes: The running trajectory of the UAV is calculated based on the real-time latitude and longitude data of the UAV, and the calculated running trajectory and / or physical space relationship of the UAV is sent to the smart terminal device or the remote command center.

6. A portable drone detection and warning device for implementing the drone detection and warning method according to any one of claims 1 to 5, characterized in that: include: A RID receiver, which receives a RID remote identification signal from the drone via a RID antenna and obtains the real-time latitude and longitude data of the drone based on the RID remote identification signal; A GNSS receiver, wherein the GNSS receiver obtains a user's positioning signal through a GNSS antenna and obtains the user's real-time position data based on the positioning signal; a microprocessing unit, the microprocessing unit being connected to the RID receiver and the GNSS receiver, respectively, and configured to receive the real-time latitude and longitude data and the real-time position data, calculate a physical spatial relationship between the drone and the user based on the real-time latitude and longitude data and the real-time position data, determine a real-time state of the drone based on the physical spatial relationship, and generate a corresponding warning signal based on the real-time state of the drone; an alarm component connected to the microprocessor unit, configured to receive an alarm signal generated by the microprocessor unit and issue a corresponding alarm according to the alarm signal; as well as A power supply module is connected to the microprocessor unit and is used to provide working power to various components or assemblies.

7. The portable drone detection and warning device according to claim 6, characterized in that: The warning component is a combination of one or more of a vibration motor, a flash light or a speaker; wherein the vibration motor is used to generate vibrations of different intensities according to the warning signal, the flash light is used to generate flashes of different rhythms according to the warning signal, and the speaker is used to generate beeps of different frequencies according to the warning signal.

8. The portable drone detection and warning device according to claim 6, characterized in that: The power supply module includes a battery and a charge and discharge circuit, and the battery is connected to the microprocessor unit through the charge and discharge circuit.

9. The portable drone detection and warning device according to claim 6, characterized in that: It also includes a wireless communication module, which is used to send the operation trajectory and / or physical space relationship of the drone calculated by the microprocessor unit to an intelligent terminal device or a remote command center.

10. The portable drone detection and warning device according to claim 6, characterized in that: The wireless communication module is a combination of one or more of a Bluetooth module, a 4G / 5G network module, and a Wi-Fi module.

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