Unmanned aerial vehicle intrusion detection device and method based on distributed sound detection

Abstract

The invention relates to an unmanned aerial vehicle intrusion detection device and method, in particular to an unmanned aerial vehicle intrusion detection device and method based on distributed acoustic detection, and solves the technical problems that an existing acoustics-based unmanned aerial vehicle intrusion detection device is high in complexity and deployment cost and cannot meet the large-range unmanned aerial vehicle intrusion detection requirement. According to the invention, the detection of the flight direction of the unmanned aerial vehicle is realized by using a single sound detection array, and the detection of the flight height of the unmanned aerial vehicle in each region shaped like the Chinese character'ri 'is realized by using the cooperation of two sound detection arrays arranged in the region shaped like the Chinese character'ri'. All N acoustic detection arrays arranged in an unmanned aerial vehicle prevention and control area are utilized to jointly realize unmanned aerial vehicle intrusion detection in the unmanned aerial vehicle prevention and control area, and large-range unmanned aerial vehicle intrusion detection can be realized; meanwhile, each acoustic detection array only comprises five array elements, and the overall complexity and deployment cost of the device are reduced through a distributed detection method for simplifying the structure of the acoustic detection array and improving the number of the acoustic detection arrays.

Description

Technical Field

[0001] This invention relates to a drone intrusion detection device and method, specifically to a drone intrusion detection device and method based on distributed acoustic detection. Background Technology

[0002] As drone technology continues to mature and improve, it is widely used in many fields such as commercial photography, logistics transportation, agricultural operations, and power line inspection. Correspondingly, unauthorized drone flights and intrusion incidents are also increasing, posing significant security risks.

[0003] Radar, optoelectronics, radio, and acoustics are commonly used methods for detecting drones. Radar detection utilizes the principle of electromagnetic wave reflection from the drone's fuselage, analyzing the reflected radar waves to obtain information such as target position, speed, and flight trajectory. However, radar detection has a near-range blind zone and struggles to detect drones made of non-conductive materials like plastic or transparent metals. Furthermore, when a drone hovers or moves slowly, the low Doppler shift makes it difficult for radar to detect the target. Optoelectronic detection analyzes visible / infrared images to identify and track drone targets, obtaining information such as their type and location. However, limitations in imaging field of view and deployment costs make it difficult to effectively detect drones over large areas. Radio detection primarily relies on monitoring drone flight control signals and is most widely used in civilian applications. However, for drones with wired control (such as fiber optics) and pre-defined flight paths, radio detection technology also struggles to effectively detect drone targets.

[0004] The radiated noise of unmanned aerial vehicles (UAVs) is the sound wave signal generated by the friction between their power unit, propeller blades, and the air during flight. It is specific and extremely difficult to conceal or eliminate; that is, each UAV possesses unique acoustic characteristics. Therefore, acoustic detection methods can be combined with radar, photoelectric, and other methods to improve the detection effect on UAV targets, or they can be deployed independently. By detecting and analyzing the radiated noise of UAVs, effective detection and identification of UAVs can be achieved, possessing broad practical value and research significance.

[0005] Traditional acoustic-based UAV detection methods primarily improve effective detection range and accuracy by increasing the number of array elements and refining the array's element layout. However, due to the rapid attenuation of sound waves in the atmosphere and the superposition of UAV radiated noise with environmental noise, these methods are unlikely to significantly enhance detection performance. Conversely, increasing the number of array elements and the array structure will substantially increase the data processing complexity and deployment cost of the detection array, making it difficult to meet the detection needs for large-scale UAV intrusions. Summary of the Invention

[0006] The object of the present invention is to solve the technical problem that the existing acoustic-based drone intrusion detection devices have high complexity and deployment costs and are difficult to meet the requirements for detecting drone intrusion over a large range, and to provide a drone intrusion detection device and method based on distributed acoustic detection.

[0007] To achieve the above object, the technical solution adopted by the present invention is as follows:

[0008] A drone intrusion detection device based on distributed acoustic detection, characterized in that it includes N acoustic detection arrays arranged within the drone prevention and control area and all located on the acoustic detection array layout plane, N signal acquisition and transmission components respectively connected to the N acoustic detection arrays, a signal processing and display component connected to the N signal acquisition and transmission components respectively, and a timing and time synchronization component connected to the N signal acquisition and transmission components and the signal processing and display component respectively; wherein, N is an integer and N≥2, and the acoustic detection array layout plane is a plane parallel to the horizontal plane;

[0009] The drone prevention and control area includes M identical "day" - shaped areas each composed of two square areas, where M is an integer and M≥1; the N acoustic detection arrays are respectively arranged in the middle of the two long sides of the M "day" - shaped areas, and the acoustic detection arrays arranged in the middle of the shared long side of two adjacent "day" - shaped areas are reused;

[0010] The acoustic detection array is used to detect the acoustic signals emitted by drones. The acoustic detection arrays arranged in the middle of the shared long side of two adjacent "day" - shaped areas are used to detect the flight direction of drones within these two areas, and the two acoustic detection arrays arranged in the same "day" - shaped area are used to detect the flight altitude of drones within this area;

[0011] The signal acquisition and transmission component is used to acquire the acoustic signals detected by the corresponding acoustic detection array and transmit them to the signal processing and display component;

[0012] The signal processing and display component is used to process the acoustic signals transmitted by the N signal acquisition and transmission components, so as to obtain the flight direction and altitude of the drone and achieve the detection of drone intrusion;

[0013] The timing and time synchronization component is used to provide timing for the N signal acquisition and transmission components and the signal processing and display component, so that they operate under the same time reference.

[0014] Further, M≥4, and it further includes K backup acoustic detection arrays having the same structure as the acoustic detection arrays, where K is an integer and K≥1;

[0015] Define two "day-shaped" regions sharing a short side as a unit region, and arrange K of the backup acoustic detectors at the center of the rectangular region formed by every two unit regions sharing a long side.

[0016] Further, the acoustic detection array includes five array elements M0, M1, M2, M3, and M4;

[0017] M0, M1, and M3 are located on the plane where the acoustic detection array is arranged. The vertical distances from M2 and M4 to the plane where the acoustic detection array is arranged are equal, and the projection positions of M2 and M4 on the plane where the acoustic detection array is arranged and the positions of M1 and M3 form a square. M0, as the central array element, is located at the center of this square.

[0018] Further, the array elements M0, M1, M2, M3, and M4 are acoustic sensors.

[0019] Further, the timing and time synchronization component uses wireless transmission or wired transmission with N signal acquisition and transmission components and the signal processing and display component.

[0020] The present invention also provides a method for detecting unmanned aerial vehicle (UAV) intrusion based on distributed acoustic detection. Using the above-mentioned device for detecting UAV intrusion based on distributed acoustic detection, the special之处 is that it includes the following steps:

[0021] Step 1: The timing and time synchronization component provides timing to N signal acquisition and transmission components and the signal processing and display component, so that they work under the same time reference;

[0022] Step 2: After the UAV enters the UAV prevention and control area, when two acoustic detection arrays arranged in the "day-shaped" area where the UAV is located detect the acoustic signal emitted by the UAV, they send it to the corresponding signal acquisition and transmission component;

[0023] Step 3: The signal acquisition and transmission component acquires the acoustic signal detected by the corresponding acoustic detection array and transmits it to the signal processing and display component;

[0024] Step 4: The signal processing and display component solves the flight azimuth and altitude of the UAV according to the acoustic signals detected by the two acoustic detection arrays;

[0025] Step 5: After the UAV enters the next "day-shaped" area, according to the method of Steps 2 - Step 4, the two acoustic detection arrays arranged in this area detect the acoustic signal emitted by the UAV and solve the flight azimuth and altitude of the UAV to achieve the detection of UAV intrusion.

[0026] Further, Step 4 is specifically: [[ID=三十五]]

[0027] Step 4.1: Denote the two acoustic detection arrays arranged within the rectangular-shaped area as the first acoustic detection array and the second acoustic detection array respectively;

[0028] Step 4.2: Calculate the time delays between the acoustic signals detected by the central element and other elements in the first acoustic detection array based on the acoustic signals detected by each element in the first acoustic detection array;

[0029] Step 4.3: Solve for the azimuth angle and elevation angle of the UAV position relative to the first acoustic detection array based on the geometric position relationship between the UAV and each element in the first acoustic detection array, and the time delays between the acoustic signals detected by the central element and other elements obtained in Step 4.2, to obtain the flight azimuth of the UAV;

[0030] Step 4.4: Solve for the azimuth angle and elevation angle of the UAV position relative to the second acoustic detection array according to the method of Steps 4.2 - 4.3;

[0031] Step 4.5: Based on the azimuth angles of the UAV relative to the first acoustic detection array and the second acoustic detection array, and the distance between the central elements of the first acoustic detection array and the second acoustic detection array, solve for the distances between the projection points of the UAV position on the plane where the acoustic detection arrays are arranged and the central elements of the first acoustic detection array and the second acoustic detection array respectively through the sine theorem;

[0032] Step 4.6: Based on the distances between the projection points of the UAV position on the plane where the acoustic detection arrays are arranged and the central elements of the first acoustic detection array and the second acoustic detection array obtained in Step 4.5, and the elevation angles of the UAV position relative to the first acoustic detection array and the second acoustic detection array, obtain the flight altitude of the UAV through the tangent function.

[0033] Further, in Step 4.3, the azimuth angle and elevation angle of the UAV position relative to the first acoustic detection array are calculated by the following formula:

[0034]

[0035] where is the azimuth angle of the UAV position relative to the first acoustic detection array, θ1 is the elevation angle of the UAV position relative to the first acoustic detection array, k is the side length of the square formed by the projection positions of M2 and M4 in the plane where the acoustic detection array is arranged and M1 and M3 in the first acoustic detection array, t is the perpendicular distance between M2 and M4 in the first acoustic detection array and the plane where the acoustic detection array is arranged, and d1, d2, d3, and d4 are the differences between the distances between the UAV position and the central element M0 of the first acoustic detection array and the distances between the UAV position and M1, M2, M3, and M respectively;

[0036] d iThe distance between the UAV's position and the central element M0 of the first acoustic detection array is related to the UAV's position and M0's position. i The difference in distance between them, τ i For the first acoustic detection array, the central array elements M0 and M i The time delay between detected acoustic signals, where v is the speed of sound.

[0037] Further, in step 4.5, the distances between the projection point of the UAV's position on the plane of the acoustic detection array and the central elements of the first and second acoustic detection arrays are calculated using the following formulas:

[0038]

[0039] Where, a is the distance between the projection point of the UAV position on the plane of the acoustic detection array and the central element of the first acoustic detection array, b is the distance between the projection point of the UAV position on the plane of the acoustic detection array and the central element of the second acoustic detection array, and c is the distance between the central element of the first acoustic detection array and the central element of the second acoustic detection array.

[0040] A is the angle between the line connecting the UAV's position in the plane of the acoustic detection array to the position of the central element of the second acoustic detection array and the line connecting the position of the central element of the first acoustic detection array to the position of the central element of the second acoustic detection array; B is the angle between the line connecting the UAV's position in the plane of the acoustic detection array to the position of the central element of the first acoustic detection array and the line connecting the position of the central element of the first acoustic detection array to the position of the central element of the second acoustic detection array; C is the angle between the line connecting the UAV's position in the plane of the acoustic detection array to the position of the central element of the first acoustic detection array and the line connecting the UAV's position in the plane of the acoustic detection array to the position of the central element of the second acoustic detection array.

[0041] φ1 is the azimuth angle of the UAV's position relative to the first acoustic detection array. The azimuth angle of the UAV's position relative to the second acoustic detection array;

[0042] In step 4.6, the flight altitude of the UAV is calculated using the following formula:

[0043] h=a×tan(90°-θ1)=b×tan(90°-θ2)

[0044] Where h is the flight altitude of the UAV, and θ1 and θ2 are the pitch angles of the UAV relative to the first acoustic detection array and the second detection array, respectively.

[0045] Further, in step 2, if one of the acoustic detection arrays arranged in the "day-shaped" area where the UAV is located fails, the backup acoustic detection array arranged at the center of the rectangular area formed by the unit area where the "day-shaped" area is located and the unit area sharing the long side with it is used to detect the acoustic signal emitted by the UAV.

[0046] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0047] 1. An unmanned aerial vehicle (UAV) intrusion detection device based on distributed acoustic detection provided by the present invention can detect the flight direction of the UAV by using a single acoustic detection array, detect the flight altitude of the UAV in the area by using the cooperation of two acoustic detection arrays arranged in each "day-shaped" area, and jointly detect the UAV intrusion in the UAV prevention and control area by using all N acoustic detection arrays arranged in the UAV prevention and control area, so as to achieve large-range UAV intrusion detection;

[0048] 2. An unmanned aerial vehicle (UAV) intrusion detection device based on distributed acoustic detection provided by the present invention, the acoustic detection array only includes five array elements. By simplifying the structure of the acoustic detection array and improving the distributed detection method of the number of acoustic detection arrays, the overall complexity and deployment cost of the device are reduced;

[0049] 3. An unmanned aerial vehicle (UAV) intrusion detection method provided by the present invention. In each "day-shaped" area, by using the spatial position relationship of the array elements in a single acoustic detection array, the flight direction of the UAV in the unit area can be detected, and by using the spatial position relationship between two acoustic detection arrays, the flight altitude of the UAV in the unit area can be detected, which can effectively improve the accuracy of UAV intrusion detection. Description of the Drawings

[0050] Figure 1 It is the structural schematic diagram of the embodiment of the UAV intrusion detection device of the present invention;

[0051] Figure 2 It is the layout schematic diagram of the acoustic detection array in the embodiment of the UAV intrusion detection device of the present invention;

[0052] [[ID=并]] Figure 3 It is the structural schematic diagram of the acoustic detection array in the embodiment of the UAV intrusion detection device of the present invention;

[0053] Figure 4 It is the schematic diagram of the UAV position projection relationship in step 4.5 in the embodiment of the UAV intrusion detection method of the present invention;

[0054] The description of the reference numerals is as follows:

[0055] 1 - Acoustic detection array, 2 - Signal acquisition and transmission component, 3 - Signal processing and display component, 4 - Timing and time synchronization component. Specific Embodiments

[0056] The following further elaborates on a drone intrusion detection device and method based on distributed acoustic detection proposed by the present invention in conjunction with the accompanying drawings and specific embodiments. Those skilled in the art should understand that these embodiments are only used to explain the technical principle of the present invention, and the purpose is not to limit the protection scope of the present invention.

[0057] A drone intrusion detection device based on distributed acoustic detection, as Figure 1 shown, includes N acoustic detection arrays 1 arranged within the drone prevention and control area and all located on the acoustic detection array layout plane, N signal acquisition and transmission components 2 respectively connected to the N acoustic detection arrays 1, a signal processing and display component 3 respectively connected to the N signal acquisition and transmission components 2, and a timing and time synchronization component 4 respectively connected to the N signal acquisition and transmission components 2 and the signal processing and display component 3. Among them, N is an integer and N≥2, and the acoustic detection array layout plane is a plane parallel to the horizontal plane.

[0058] The drone prevention and control area includes M identical "day" - shaped areas composed of two square areas. Among them, M is an integer and M≥1. The N acoustic detection arrays 1 are respectively arranged in the middle of the two long sides of the M "day" - shaped areas, and the acoustic detection arrays 1 arranged in the middle of the shared long side of two adjacent "day" - shaped areas are reused.

[0059] The acoustic detection array 1 is used to detect the acoustic signals emitted by the drone. The acoustic detection array 1 arranged in the middle of the shared long side of two adjacent "day" - shaped areas is used to detect the flight direction of the drone within these two areas. The two acoustic detection arrays 1 arranged in the same "day" - shaped area are used to detect the flight altitude of the drone within this area. The signal acquisition and transmission component 2 is used to acquire the acoustic signals detected by the corresponding acoustic detection array 1 and transmit them to the signal processing and display component 3. The signal processing and display component 3 is used to process the acoustic signals transmitted by the N signal acquisition and transmission components 2, so as to obtain the flight direction and altitude of the drone and achieve the intrusion detection of the drone. The timing and time synchronization component 4 is used to provide timing for the N signal acquisition and transmission components 2 and the signal processing and display component 3, so that they operate under the same time reference. The timing and time synchronization component 4 and the N signal acquisition and transmission components 2, the signal processing and display component 3 use wireless transmission or wired transmission. Among them, wireless transmission includes radio transmission, and wired transmission includes optical fiber transmission.

[0060] As Figure 2As shown in the figure, taking a square UAV prevention and control area with a side length of L as an example, it is equally spaced and divided into 16 square areas, which are respectively represented by A1 - A4, B1 - B4, C1 - C4, and D1 - D4. Among them, A1 and A2, A3 and A4, B1 and B2, B3 and B4, C1 and C2, C3 and C4, D1 and D2, D3 and D4 respectively form a rectangular area like the Chinese character "ri". A sound detection array 1 is respectively arranged in the middle of the two long sides of each such rectangular area to detect the flight orientation and height of UAVs in the area. That is, a sound detection array 1 is arranged at points a and c, c and e, e and g, g and i, b and d, d and f, f and h, h and j respectively. Among them, the sound detection arrays 1 at points c, e, g, d, f, and h are reused. The two sound detection arrays 1 arranged at points a and c detect the flight orientation and height of UAVs in the rectangular area formed by A1 and A2. The two sound detection arrays 1 arranged at points c and e detect the flight orientation and height of UAVs in the rectangular area formed by B1 and B2. The two sound detection arrays 1 arranged at points b and d detect the flight orientation and height of UAVs in the rectangular area formed by A3 and A4. The two sound detection arrays 1 arranged at points d and f detect the flight orientation and height of UAVs in the rectangular area formed by B3 and B4.

[0061] In other embodiments, M≥4, and it further includes K backup sound detection arrays with the same structure as the sound detection array 1, where K is an integer and K≥1. Define two rectangular areas sharing a common short side as a unit area, and the K backup sound detections are respectively arranged at the centers of the rectangular areas formed by every two unit areas sharing a common long side.

[0062] As Figure 3 shown in the figure, the sound detection array 1 includes five array elements M0, M1, M2, M3, and M4. In this embodiment, M0, M1, M2, M3, and M4 are all sound sensors. M0, M1, and M3 are located on the plane where the sound detection array is arranged. The perpendicular distances from M2 and M4 to the plane where the sound detection array is arranged are equal, and the projection positions of M2 and M4 on the plane where the sound detection array is arranged form a square with a side length of k with the positions of M1 and M3. M0 is located at the center of this square as the central array element. Taking M0 as the coordinate origin and the plane where the sound detection array is arranged as the XOY plane to construct a space coordinate system O - XYZ, M0, M1, and M3 are located on the XOY plane. Then the space coordinates of M1, M2, M3, and M4 are (k / 2, k / 2, 0), (-k / 2, k / 2, t), (-k / 2, -k / 2, 0), (k / 2, -k / 2, t) respectively, where t is the perpendicular distance from M2 and M4 to the XOY plane.

[0063] This embodiment also provides a method for detecting unmanned aerial vehicle (UAV) intrusion based on distributed acoustic detection. By using the above-mentioned device for detecting UAV intrusion based on distributed acoustic detection, the method includes the following steps:

[0064] Step 1: The timing and time synchronization component 4 synchronizes the time of the N signal acquisition and transmission components 2 and the signal processing and display component 3, so that they operate under the same time reference.

[0065] Step 2: After the UAV enters the UAV prevention and control area, when the two acoustic detection arrays 1 arranged in the "day" - shaped area where the UAV is located detect the acoustic signal emitted by the UAV, they send it to the corresponding signal acquisition and transmission components 2.

[0066] In other embodiments, if a backup acoustic detection array is set, in Step 2, when one of the acoustic detection arrays 1 arranged in the "day" - shaped area where the UAV is located fails, the backup acoustic detection array arranged at the center of the rectangular area formed by the unit area where the "day" - shaped area is located and the unit area sharing the long side with it is used to detect the acoustic signal emitted by the UAV.

[0067] Step 3: The signal acquisition and transmission component 2 acquires the acoustic signal detected by the corresponding acoustic detection array 1 and transmits it to the signal processing and display component 3.

[0068] Step 4: The signal processing and display component 3 calculates the flight azimuth and altitude of the UAV according to the acoustic signals detected by the two acoustic detection arrays 1. Specifically:

[0069] Step 4.1: Denote the two acoustic detection arrays 1 arranged in the "day" - shaped area as the first acoustic detection array and the second acoustic detection array respectively.

[0070] Step 4.2: According to the acoustic signals detected by each element in the first acoustic detection array, calculate the time delay between the central element and the acoustic signals detected by other elements.

[0071] Step 4.3: According to the geometric position relationship between the UAV and each element in the first acoustic detection array, and the time delay between the central element and the acoustic signals detected by other elements obtained in Step 4.2, solve the azimuth angle and elevation angle of the UAV position relative to the first acoustic detection array to obtain the flight azimuth of the UAV.

[0072] As Figure 3 shown, if T is the UAV position, the geometric position relationship between the UAV position and each element in the first acoustic detection array can be expressed as:

[0073]

[0074] Where x, y, and z are the coordinates of the UAV's position on the X, Y, and Z axes, respectively; r is the distance between the UAV's position and the central element M0 of the first acoustic detection array; k is the side length of the square formed by the projection positions of M2 and M4 on the acoustic detection array's deployment plane and M1 and M3; t is the perpendicular distance between M2 and M4 and the acoustic detection array's deployment plane; d1, d2, d3, and d4 are the differences between the distance between the UAV's position and the central element M0 of the first acoustic detection array and the distances between the UAV's position and M1, M2, M3, and M4, respectively; d i =v×τ i i = 1, 2, 3, 4, d i The distance between the UAV's position and the central element M0 of the first acoustic detection array is related to the UAV's position and M0's position. i The difference in distance between them, τ i For the first acoustic detection array, the central array elements M0 and M i The time delay between detected sound signals, where v is the speed of sound, is taken as v = 340 m / s.

[0075] Considering that r is much larger than d i And k, ignore d i Solving the above system of equations by adding the squared terms of k and k, we get:

[0076]

[0077] Therefore, the azimuth and pitch angles of the UAV can be calculated using the following formula:

[0078]

[0079] in, θ1 is the azimuth angle of the UAV's position relative to the first acoustic detection array, and θ2 is the elevation angle of the UAV's position relative to the first acoustic detection array.

[0080] Step 4.4: Following the methods in Steps 4.2-4.3, solve for the azimuth and elevation angles of the UAV's position relative to the second acoustic detection array.

[0081] Step 4.5: Based on the azimuth angle of the UAV relative to the first and second acoustic detection arrays, and the distance between the central array elements of the first and second acoustic detection arrays, use the sine theorem to solve for the distance between the UAV's projection point on the acoustic detection array deployment plane and the central array elements of the first and second acoustic detection arrays, respectively.

[0082] Project the drone's position onto the XOY plane, such as Figure 4 As shown, T′ is the projection point of the UAV's position on the XOY plane, and M... 10 M 20Let M be the central array element of the first and second acoustic detection arrays, respectively. Then, according to the sine theorem, M... 10 M 20 The triangle formed by T and T′ satisfies the following relationship:

[0083]

[0084] Where a is the distance between the projection point of the UAV position on the plane of the acoustic detection array and the central element of the first acoustic detection array, b is the distance between the projection point of the UAV position on the plane of the acoustic detection array and the central element of the second acoustic detection array, and c is the distance between the central element of the first acoustic detection array and the central element of the second acoustic detection array.

[0085] A is the angle between the line connecting the UAV's position in the plane of the acoustic detection array to the position of the central element of the second acoustic detection array and the line connecting the position of the central element of the first acoustic detection array to the position of the central element of the second acoustic detection array; B is the angle between the line connecting the UAV's position in the plane of the acoustic detection array to the position of the central element of the first acoustic detection array and the line connecting the position of the central element of the first acoustic detection array to the position of the central element of the second acoustic detection array; C is the angle between the line connecting the UAV's position in the plane of the acoustic detection array to the position of the central element of the first acoustic detection array and the line connecting the UAV's position in the plane of the acoustic detection array to the position of the central element of the second acoustic detection array.

[0086] The azimuth angle of the UAV's position relative to the first acoustic detection array. The azimuth angle of the UAV's position relative to the second acoustic detection array.

[0087] Solving the above formulas yields the distances between the UAV's position projection point on the plane of the acoustic detection array and the central elements of the first and second acoustic detection arrays.

[0088] Step 4.6: Based on the distances between the projection points of the UAV's position on the acoustic detection array deployment plane obtained in Step 4.5 and the central elements of the first and second acoustic detection arrays, and the pitch angles of the UAV's position relative to the first and second acoustic detection arrays, the UAV's flight altitude is obtained using the following formula:

[0089] h=a×tan(90°-θ1)=b×tan(90°-θ2)

[0090] Where h is the flight altitude of the UAV, and θ1 and θ2 are the pitch angles of the UAV relative to the first acoustic detection array and the second detection array, respectively.

[0091] The flight altitude of the UAV can be calculated from the elevation angle of the UAV relative to any acoustic detection array 1 and the distance between the projection point of the corresponding UAV position in the plane where the acoustic detection array is arranged and the central element of the acoustic detection array.

[0092] Step 5: After the UAV enters the next "day" - shaped area, in accordance with the methods in Step 2 - Step 4, two acoustic detection arrays 1 arranged in this area detect the acoustic signals emitted by the UAV, and solve the flight azimuth and altitude of the UAV to achieve intrusion detection of the UAV.

[0093] Detecting the UAV through the radiation noise during the flight of the UAV belongs to passive acoustic detection technology. Since it is impossible to accurately detect the time of acoustic wave emission and arrival, this passive acoustic detection method cannot effectively detect the flight altitude of the UAV. The present invention effectively detects the flight altitude of the UAV through the spatial position relationship between two adjacent acoustic detection arrays 1 and the detection result of the flight azimuth of the UAV. At the same time, through the distributed detection of multiple acoustic detection arrays 1 within the UAV prevention and control area, large - range intrusion detection of the UAV is achieved.

Claims

1. An unmanned aerial vehicle intrusion detection device based on distributed acoustic detection, characterized by: The unmanned aerial vehicle control area includes M identical and composed of two square regions Hada region, wherein M is an integer, and M≥1; N acoustic detection arrays (1) are arranged in the middle of the two long sides of the M Hada regions, and the acoustic detection arrays (1) arranged in the middle of the long side of two adjacent Hada regions are multiplexed; The acoustic detection array (1) is used for detecting the acoustic signal emitted by the unmanned aerial vehicle, and the acoustic detection array (1) arranged in the middle of the long side of two adjacent Hada regions is used for realizing the detection of the flight direction of the unmanned aerial vehicle in the two regions, and the two acoustic detection arrays (1) arranged in the same Hada region are used for realizing the detection of the flight height of the unmanned aerial vehicle in the region; The signal acquisition and transmission component (2) is used for acquiring the acoustic signal detected by the corresponding acoustic detection array (1) and transmitting it to the signal processing and display component (3); The signal processing and display component (3) is used for processing the acoustic signals transmitted by the N signal acquisition and transmission components (2), so as to obtain the flight direction and height of the unmanned aerial vehicle, and realize the intrusion detection of the unmanned aerial vehicle; The time service and time unification component (4) is used for time service for the N signal acquisition and transmission components (2) and the signal processing and display component (3), so that they work under the same time reference. M≥4, further comprising K backup acoustic detection arrays which are the same as the acoustic detection array (1) in structure, wherein K is an integer, and K≥1; 2.The UAV intrusion detection device based on distributed acoustic detection according to claim 1, wherein: Define two Hada regions sharing a short side as a unit region, and the K backup acoustic detection arrays are arranged in the center of the rectangular region composed of every two unit regions sharing a long side. The acoustic detection array (1) includes five elements M0, M1, M2, M3 and M4; 3.The UAV intrusion detection device based on distributed acoustic detection according to claim 1 or 2, characterized in that: M0, M1 and M3 are located on the acoustic detection array arrangement plane, M2 and M4 have equal vertical distance from the acoustic detection array arrangement plane, and the projection positions of M2 and M4 on the acoustic detection array arrangement plane and the positions of M1 and M3 form a square, and M0 as the center element is located at the center of the square. The elements M0, M1, M2, M3 and M4 are acoustic sensors. 4.The UAV intrusion detection device based on distributed acoustic detection according to claim 3, wherein: The time service and time unification component (4) and the N signal acquisition and transmission components (2) and the signal processing and display component (3) adopt wireless transmission or wired transmission.

5. The unmanned aerial vehicle intrusion detection apparatus based on distributed acoustic detection according to claim 4, wherein: The method comprises the following steps:

6. An unmanned aerial vehicle intrusion detection method based on distributed acoustic detection, using the unmanned aerial vehicle intrusion detection device based on distributed acoustic detection according to any one of claims 1-5, characterized in that, Step 1, the time service and time unification component (4) time services the N signal acquisition and transmission components (2) and the signal processing and display component (3), so that they work under the same time reference; ​ Step 2, after the unmanned aerial vehicle enters the unmanned aerial vehicle prevention and control area, the two acoustic detection arrays (1) arranged in the sun-shaped area where the unmanned aerial vehicle is located detect the acoustic signals emitted by the unmanned aerial vehicle, and transmit the acoustic signals to the corresponding signal acquisition and transmission assembly (2); Step 3, the signal acquisition and transmission assembly (2) acquires the acoustic signals detected by the corresponding acoustic detection array (1), and transmits the acoustic signals to the signal processing and display assembly (3); Step 4, the signal processing and display assembly (3) solves the flight direction and height of the unmanned aerial vehicle according to the acoustic signals detected by the two acoustic detection arrays (1); Step 5, after the unmanned aerial vehicle enters the next sun-shaped area, the two acoustic detection arrays (1) arranged in the area detect the acoustic signals emitted by the unmanned aerial vehicle according to the method of steps 2-4, and solve the flight direction and height of the unmanned aerial vehicle, realizing the intrusion detection of the unmanned aerial vehicle. 7.The UAV intrusion detection method based on distributed acoustic detection of claim 6, wherein, Step 4 is specifically: Step 4.1, the two acoustic detection arrays (1) arranged in the sun-shaped area are respectively denoted as a first acoustic detection array and a second acoustic detection array; Step 4.2, according to the acoustic signals detected by each element in the first acoustic detection array, the time delay between the acoustic signals detected by the central element and other elements is calculated; Step 4.3, according to the geometric position relationship between the unmanned aerial vehicle and each element in the first acoustic detection array, and the time delay between the acoustic signals detected by the central element and other elements obtained in step 4.2, the azimuth angle and the pitch angle of the unmanned aerial vehicle position relative to the first acoustic detection array are solved, and the flight direction of the unmanned aerial vehicle is obtained; Step 4.4, according to the method of steps 4.2-4.3, the azimuth angle and the pitch angle of the unmanned aerial vehicle position relative to the second acoustic detection array are solved; Step 4.5, according to the azimuth angle of the unmanned aerial vehicle relative to the first acoustic detection array and the second acoustic detection array, and the distance between the central elements of the first acoustic detection array and the second acoustic detection array, the distance between the projection point of the unmanned aerial vehicle position in the acoustic detection array arrangement plane and the central elements of the first acoustic detection array and the second acoustic detection array is solved by the sine theorem; Step 4.6, according to the distance between the projection point of the unmanned aerial vehicle position in the acoustic detection array arrangement plane and the central elements of the first acoustic detection array and the second acoustic detection array obtained in step 4.5, and the pitch angle of the unmanned aerial vehicle position relative to the first acoustic detection array and the second acoustic detection array, the flight height of the unmanned aerial vehicle is obtained by the tangent function. 8.The UAV intrusion detection method based on distributed acoustic detection of claim 7, wherein, In step 4.3, the azimuth angle and the pitch angle of the unmanned aerial vehicle position relative to the first acoustic detection array are calculated by the following formula: wherein, is the azimuth angle of the UAV position relative to the first acoustic detection array, θ1 is the pitch angle of the UAV position relative to the first acoustic detection array, k is the side length of the square formed by M1, M3 and the projection positions of M2, M4 in the acoustic detection array arrangement plane in the first acoustic detection array, t is the vertical distance from M2, M4 to the acoustic detection array arrangement plane in the first acoustic detection array, d1, d2, d3, d4 are the differences between the distances from the UAV position to the center element M0 of the first acoustic detection array and the distances between the UAV position and M1, M2, M3, M4 respectively; d i is the difference between the distance of the UAV position and the center element M0 of the first acoustic detection array and the distance of the UAV position and M i is the difference between the distance of the UAV position and the center element M0 of the first acoustic detection array and the distance of the UAV position and M i is the time delay between the acoustic signals detected by the first acoustic detection array center element M0 and M i is the time delay between the acoustic signals detected by the first acoustic detection array center element M0 and M 9.The UAV intrusion detection method based on distributed acoustic detection of claim 8, wherein, In step 4.5, the distance between the projection point of the unmanned aerial vehicle position in the acoustic detection array arrangement plane and the central elements of the first acoustic detection array and the second acoustic detection array is solved by the following formula: Wherein, a is the distance between the projection point of the unmanned aerial vehicle position in the acoustic detection array arrangement plane and the central element of the first acoustic detection array, b is the distance between the projection point of the unmanned aerial vehicle position in the acoustic detection array arrangement plane and the central element of the second acoustic detection array, and c is the distance between the central elements of the first acoustic detection array and the second acoustic detection array. A is the angle between the line connecting the projection point of the UAV position in the sound detection array layout plane and the center element position of the second sound detection array and the line connecting the center element position of the first sound detection array and the center element position of the second sound detection array, B is the angle between the line connecting the projection point of the UAV position in the sound detection array layout plane and the center element position of the first sound detection array and the line connecting the center element position of the first sound detection array and the center element position of the second sound detection array, C is the angle between the line connecting the projection point of the UAV position in the sound detection array layout plane and the center element position of the first sound detection array and the line connecting the projection point of the UAV position in the sound detection array layout plane and the center element position of the second sound detection array; the azimuth of the UAV position relative to the first acoustic detection array, the azimuth of the UAV position relative to the second acoustic detection array; In step 4.6, the flight height of the UAV is calculated by the following formula: h=a×tan(90°-θ1)=b×tan(90°-θ2) Wherein, h is the flight height of the UAV, θ1, θ2 are the pitch angles of the UAV position relative to the first sound detection array and the second detection array respectively.

10. The unmanned aerial vehicle intrusion detection method based on distributed acoustic detection according to any one of claims 6-9, characterized in that, In step 2, if one of the sound detection arrays (1) arranged in the H-shaped region where the UAV is located fails, a backup sound detection array arranged at the center of the rectangular region formed by the unit region where the H-shaped region is located and the unit region sharing the long side with it is used to detect the sound signal emitted by the UAV.

Images