Method for countering low-slow small unmanned aerial vehicle group and distributed system
By using a distributed system to identify, track, and simulate the ballistics of low-speed, small UAV swarms, the complexity and security issues of traditional countermeasures against such swarms are resolved, achieving efficient and secure countermeasures.
Patent Information
- Application Number
- CN202511654576.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-11-12
- Publication Date
- 2026-02-06
Smart Images
Figure CN121474944A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of drone swarm countermeasures technology, and relates to, but is not limited to, a method and distributed system for countering low, slow and small drone swarms. Background Technology
[0002] In recent years, with the increasingly mature application of drones in military and civilian fields such as surveying, inspection, exploration, reconnaissance, and surveillance, drone swarm technology has received much attention due to its ability to accomplish complex tasks that are difficult for a single drone to perform. However, this enhanced capability has also brought new security challenges, especially when drone swarms are used to collect information or attack targets such as military bases, airports, ports, large-scale water conservancy projects, power plants, and underground bunkers. Drone swarms, with their large numbers, wide spatial distribution, and high degree of coordination, pose a serious threat to traditional countermeasures systems.
[0003] Faced with such threats, traditional countermeasures against individual drones become significantly less effective when dealing with information gathering or attacks by drone swarms. This is because traditional countermeasure systems have limitations in countermeasure methods, command and control capabilities, countermeasure forces, and reaction time, making it difficult to effectively cope with large-scale, multi-directional, and coordinated swarm attacks. In particular, drone swarms composed of low-altitude, slow-moving, and small drones, with their low flight altitude, large operating space, large formation size, and low cost, further increase the difficulty for defense systems to detect, track, and intercept them.
[0004] For drone swarms composed of low, slow, and small drones, although traditional countermeasures such as anti-aircraft guns or shrapnel shells are relatively efficient in interception, they have problems in practical applications, such as high countermeasure costs, complex countermeasure system composition, slow countermeasure process, and poor safety guarantee for operators and the surrounding environment. Summary of the Invention
[0005] In view of this, embodiments of this application provide a method and distributed system for countering swarms of low-speed, small drones, which at least solves the problems of complex countermeasure system composition leading to high countermeasure costs, slow countermeasure processes, and poor security when countering swarms of drones composed of low-speed, small drones.
[0006] The technical solution of this application embodiment is implemented as follows: In a first aspect, embodiments of this application provide a method for countering swarms of low-speed, small unmanned aerial vehicles (UAVs), applied to a distributed system for countering swarms of low-speed, small UAVs. The system includes: a search and identification unit, a countermeasure task control unit, and multiple countermeasure devices; the method includes: The search and identification unit is used to identify and track the drone swarm, acquiring real-time flight data of each drone in the swarm. The countermeasure task control unit is used to predict the flight trajectory of each first drone requiring countermeasure based on the real-time flight data of each drone. Based on the flight trajectory of each first drone and the number of first drones, the position of at least one countermeasure point is calculated, and the target drone corresponding to each countermeasure point is determined. Using the countermeasure task control unit, for each countermeasure point, the effectiveness of each countermeasure device in counteracting the target drone at that point is verified. Using the countermeasure task control unit, for each countermeasure point, if a target countermeasure device effectively counters the corresponding target drone, the launch angle and timing of the countermeasure projectile of the target countermeasure device are determined through ballistic simulation based on the position of the target countermeasure device, the position of the corresponding countermeasure point, and the real-time flight data of the target drone at the countermeasure point. Based on the position of each countermeasure point and the launch angle and timing of the countermeasure projectile of the corresponding target countermeasure device, the corresponding target countermeasure device is used to execute the countermeasure task against the first drone requiring countermeasure.
[0007] Secondly, embodiments of this application provide a distributed system for countering swarms of low-speed, small unmanned aerial vehicles (UAVs), comprising: a search and identification unit, a countermeasure task control unit, and multiple countermeasures; the search and identification unit is used to identify and track the UAV swarm, and acquire real-time flight data of each UAV in the swarm; the countermeasure task control unit is used to predict the flight trajectory of each first UAV in the swarm that needs to be countered based on the real-time flight data of each UAV; calculate the position of at least one countermeasure point based on the flight trajectory of each first UAV and the number of first UAVs, and determine the target UAV corresponding to each countermeasure point; for each The location of the countermeasure point verifies whether each countermeasure device can effectively counter the target UAV corresponding to the countermeasure point; for each countermeasure point, if there is a target countermeasure device that can effectively counter the corresponding target UAV, based on the location of the target countermeasure device, the location of the corresponding countermeasure point, and the real-time flight data of the target UAV corresponding to the countermeasure point, the launch angle and launch timing of the countermeasure projectile of the target countermeasure device are determined through ballistic simulation; the multiple countermeasure devices are used to perform countermeasure tasks on the first UAV to be countered using the corresponding target countermeasure device, based on the location of each countermeasure point and the launch angle and launch timing of the countermeasure projectile of the corresponding target countermeasure device.
[0008] The beneficial effects of the technical solutions provided in this application include at least the following: This application utilizes a search and identification unit to identify and track drone swarms and acquire real-time flight data, enabling rapid detection and continuous monitoring of low-speed, small drone swarms, laying the foundation for subsequent precise countermeasures. The countermeasure mission control unit predicts the flight trajectory of the first drone based on real-time flight data and calculates the corresponding countermeasure point, achieving a leap from passive tracking to active prediction. Intelligent trajectory prediction provides a basis for resource allocation of countermeasure projectiles. By verifying the effectiveness of the countermeasure device at specific countermeasure points, it ensures that the countermeasure point location is within the effective countermeasure distance range of the device, avoiding resource waste and improving the reliability of the countermeasure. Ballistic simulation is used to determine the launch angle and launch timing, combining spatial positioning with temporal calculation to ensure the accuracy and synchronization of the countermeasure. Based on the calculated countermeasure angle and timing, the countermeasure device executes coordinated countermeasures, forming a countermeasure wall along the drone swarm's flight path, relying on the collision of countermeasure projectiles with the drones to destroy illegal drones. This results in a method and distributed system for countering low-speed, small drone swarms with high countermeasure efficiency, high success rate, low system cost, and high operational safety. Attached Figure Description
[0009] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort, wherein: Figure 1 A schematic flowchart of a method for countering low-speed, small unmanned aerial vehicle swarms provided in this application embodiment; Figure 2 A schematic diagram illustrating the specific process of a method for countering low-speed, small unmanned aerial vehicle swarms provided in this application embodiment; Figure 3 A schematic diagram of a distributed system architecture for countering low-speed, small unmanned aerial vehicle swarms provided in this application embodiment; Figure 4 A schematic diagram of the specific structure of a distributed system for countering low-speed, small unmanned aerial vehicle swarms provided in this application embodiment; Figure 5 This is a schematic diagram illustrating the implementation process of a distributed system for countering low-speed, small unmanned aerial vehicle (UAV) swarms, as provided in an embodiment of this application. Detailed Implementation
[0010] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. The following embodiments are used to illustrate this application, but are not intended to limit the scope of this application. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.
[0011] In the following description, references are made to “some embodiments,” which describe a subset of all possible embodiments. However, it is understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.
[0012] It should be noted that the terms "first, second, and third" used in the embodiments of this application are merely to distinguish similar objects and do not represent a specific ordering of objects. It is understood that "first, second, and third" can be interchanged in a specific order or sequence where permitted, so that the embodiments of this application described herein can be implemented in an order other than that illustrated or described herein.
[0013] It will be understood by those skilled in the art that, unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which the embodiments of this application pertain. It should also be understood that terms such as those defined in general dictionaries should be understood to have a meaning consistent with their meaning in the context of the prior art, and should not be interpreted in an idealized or overly formal sense unless specifically defined as herein.
[0014] This application provides a method for countering low-speed, small unmanned aerial vehicle (UAV) swarms. The method is applied to a distributed system for countering low-speed, small UAV swarms. The system includes: a search and identification unit, a countermeasure task control unit, and multiple countermeasures. Figure 1 A flowchart illustrating a method for countering low-altitude, slow, and small drone swarms provided in this application embodiment is shown below. Figure 1 As shown, the method includes at least the following steps: Step S110: Using the search and recognition unit, identify and track the drone swarm, and obtain real-time flight data of each drone in the drone swarm. The search and identification unit may include low-altitude search radar and electro-optical detectors.
[0015] Low-altitude search radar continuously performs wide-area, panoramic, or sector scans. Low-altitude search radar can be a phased-array radar, which can scan the horizontal plane and cover a large spatial area in a short time. Low-altitude search radar can determine the presence of flying targets at a specific azimuth and distance by detecting the echoes of electromagnetic waves.
[0016] Each drone in the swarm includes drones requiring countermeasures and drones not requiring countermeasures. The flight target can be the first drone requiring countermeasures, a drone not requiring countermeasures, a flock of birds, or other flying objects. The low-altitude search radar initially measures the initial real-time flight data of the flight target. This initial real-time flight data may include: initial real-time azimuth, initial real-time pitch angle, initial real-time slant range, and initial real-time flight speed.
[0017] The low-altitude search radar transmits initial real-time flight data to the countermeasure mission control unit in real time. Due to the influence of ground clutter and other factors, low-altitude, slow-moving, small UAVs are affected. The photoelectric detector accurately identifies and locates each UAV, obtaining real-time flight data for each UAV in the swarm. The real-time flight data includes: the first real-time image, the first real-time azimuth angle, the first real-time pitch angle, the first real-time slant range, and the first real-time flight speed.
[0018] The photoelectric detector acquires images of flying targets initially identified by the low-altitude search radar, obtaining the first real-time image of each UAV. The photoelectric detector then transmits the real-time flight data to the countermeasure mission control unit, which performs precise target identification based on the first real-time image transmitted by the photoelectric detector.
[0019] The photoelectric detector may include a two-degree-of-freedom turret, a support device, a television camera, an infrared thermal imager, and a laser rangefinder. The photoelectric detector acquires the first real-time image of the flying target through the television camera and the infrared thermal imager. The photoelectric detector measures the first real-time azimuth and first real-time pitch angle of the flying target through the shaft encoder of the two-degree-of-freedom turret.
[0020] The photoelectric detector illuminates the flying target with a laser rangefinder, obtaining a more accurate first real-time slant range and first real-time flight speed than low-altitude search radar.
[0021] Step S120: Using the countermeasure task control unit, based on the real-time flight data of each UAV, predict the flight trajectory of each first UAV in the UAV swarm that needs to be countered; based on the flight trajectory of each first UAV and the number of first UAVs, calculate the position of at least one countermeasure point, and determine the target UAV corresponding to each countermeasure point. At fixed intervals, the real-time position of the UAV is extrapolated by one step to obtain the flight trajectory of the first UAV.
[0022] Based on the flight trajectory of each first UAV and the number of first UAVs, the position of at least one countermeasure point is calculated, and the target UAV corresponding to each countermeasure device and each countermeasure point is determined. Each countermeasure device can fire countermeasure projectiles multiple times; therefore, one countermeasure device may correspond to one countermeasure point or multiple countermeasure points. Similarly, the number of first UAVs may be one or more. Countermeasure projectiles fired by a countermeasure device at a countermeasure point can counteract one or more target UAVs; therefore, one countermeasure point can also correspond to multiple target UAVs.
[0023] In other words, at least one countermeasure point should be calculated for each target drone. If the target drones are relatively dispersed, an independent countermeasure point should be set for each target drone; if the target drones are very densely distributed, a common countermeasure point that can cover the entire drone swarm may also be calculated.
[0024] Step S130: Using the countermeasure task control unit, for each countermeasure point, verify whether each countermeasure device can effectively counter the target UAV corresponding to the countermeasure point. In other words, by combining the position of the countermeasure and the position of the current countermeasure point, it is determined whether the position of the countermeasure point is within the range of the corresponding countermeasure.
[0025] Step S140: Using the countermeasure mission control unit, for each countermeasure point, when there is a target countermeasure device effectively countering the corresponding target UAV, based on the position of the target countermeasure device, the position of the corresponding countermeasure point, and the real-time flight data of the target UAV corresponding to the countermeasure point, the launch angle and launch timing of the countermeasure projectile of the target countermeasure device are determined by ballistic simulation. Ballistic simulation refers to the process by which the countermeasure mission control unit virtually conducts one or more countermeasure projectile launch experiments before launching countermeasure projectiles to predict the flight trajectory and final impact point of the countermeasure projectiles, thereby determining the launch angle and timing of the countermeasure projectiles that can hit the target UAV.
[0026] The launch angle ensures that the endpoint of the countermeasure projectile's flight trajectory roughly coincides with the countermeasure point. The launch timing coordinates the projectile's flight time with the UAV's flight time to ensure that the two achieve a spatiotemporal convergence at a predetermined spatial point.
[0027] Step S150: Based on the position of each countermeasure point and the launch angle and launch timing of the countermeasure projectile of the corresponding target countermeasure device, the first UAV to be countermeasured is executed using the corresponding target countermeasure device.
[0028] By calculating the launch angle and launch timing, the countermeasure command sent by the countermeasure mission control unit to the countermeasure device is supported by a clear countermeasure point and an appropriate launch timing, thereby significantly improving the countermeasure capability of the method of this application against low, slow and small UAVs and avoiding the waste of firepower and ineffective countermeasures of countermeasure projectiles.
[0029] This application utilizes a search and identification unit to identify and track drone swarms and acquire real-time flight data, enabling rapid detection and continuous monitoring of low-speed, small drone swarms, laying the foundation for subsequent precise countermeasures. The countermeasure mission control unit predicts the flight trajectory of the first drone based on real-time flight data and calculates the corresponding countermeasure point, achieving a leap from passive tracking to active prediction. Intelligent trajectory prediction provides a basis for resource allocation of countermeasure projectiles. By verifying the effectiveness of the countermeasure device at the countermeasure point, it ensures that the countermeasure point location is within the effective countermeasure distance range of the device, avoiding resource waste and improving the reliability of the countermeasure. Ballistic simulation is used to determine the launch angle and launch timing, combining spatial positioning with temporal calculation to ensure the accuracy and synchronization of the countermeasure. Based on the calculated countermeasure angle and timing, the countermeasure device executes coordinated countermeasures, forming a countermeasure wall along the drone swarm's flight path, relying on the collision of countermeasure projectiles with the drones to destroy illegal drones. This results in a method and distributed system for countering low-speed, small drone swarms with high countermeasure efficiency, high success rate, low system cost, and high operational safety.
[0030] In some embodiments, in step S120, "real-time flight data" includes a first real-time image, a first real-time azimuth angle, a first real-time pitch angle, a first real-time slant range, and a first real-time flight speed; "based on the flight trajectory of each of the first UAVs and the number of the first UAVs, calculating the position of at least one countermeasure point and determining the target UAV corresponding to each countermeasure point" includes: Step S1201: The countermeasure task control unit determines the first UAV to be countered based on the first real-time image, first real-time azimuth angle, first real-time pitch angle, first real-time slant range and first real-time flight speed of each UAV. Step S1202: The countermeasure mission control unit determines the real-time position of the first UAV based on the first real-time azimuth angle, the first real-time pitch angle, and the first real-time slant range of the first UAV. In step S1203, the countermeasure task control unit calculates the flight trajectory of each first UAV to be countered based on the real-time position and the first real-time flight speed.
[0031] Based on the first real-time image sent by the photoelectric detector, the countermeasure mission control unit accurately identifies the flying target using an image recognition algorithm, determining that the flying target is one of the following: a drone, a flock of birds, or other flying objects.
[0032] When a flight target is identified as a drone, a comprehensive analysis is conducted to assess the drone's threat level based on factors such as whether it deviates from its course, whether it carries a payload, and whether it is the leader in a drone swarm. Ultimately, this determines whether the identified drone is one that needs to be countered.
[0033] When a drone is identified as a drone that needs to be countered, the countermeasure mission control unit determines the real-time position of the first drone based on the first real-time azimuth angle, the first real-time pitch angle, and the first real-time slant range of the first drone.
[0034] The first drone in The real-time position of the three dimensions at any given time is represented as follows: The real-time velocity in three dimensions is expressed as .
[0035] The countermeasure mission control unit extrapolates the real-time position of the UAV in multiple steps. When extrapolating by one step, Each step size The time interval between them is The extrapolated flight trajectory of the first UAV was obtained. The formula for calculating the navigation trajectory is shown in formula (1): Formula (1); Where t represents time t.
[0036] In some embodiments, step S130, "using the countermeasure task control unit, for the location of each countermeasure point, verifies whether each countermeasure device can effectively counter the target UAV corresponding to the countermeasure point", includes: Step S1301: Use the countermeasure task control unit to obtain the position of each countermeasure device; Step S1302: Based on the position of each countermeasure device and the position of each countermeasure point, the distance between each countermeasure device and the corresponding countermeasure point is calculated using the countermeasure task control unit to obtain at least one countermeasure distance corresponding to each countermeasure device. Step S1303: Using the countermeasure task control unit, verify whether each countermeasure distance belongs to a preset distance range; Step S1304: Using the countermeasure task control unit, when a portion of the countermeasure distance falls within the preset distance range, determine that the target countermeasure device and the corresponding countermeasure point corresponding to the countermeasure distance within the preset distance range can effectively counter the corresponding target UAV.
[0037] by One of the points is used as the countermeasure point. First, calculate the first... One countermeasure (assuming there are) There are 1 countermeasures, and the position of each countermeasure is ( ). The maximum countermeasure range and the minimum countermeasure range are respectively and The countermeasures are numbered from (Start) Distance from the countermeasure point .
[0038] if The target drone is too close to the protected target, leaving no opportunity for countermeasures; the mission is terminated. If... At this point, the target drone is outside the range of the corresponding countermeasure and cannot be countered. It needs to return and re-determine the countermeasure point. Continue extrapolating. Among these, the countermeasure distance... The calculation is shown in formula (2): Formula (2); if Therefore, the target countermeasure device corresponding to the countermeasure distance and the corresponding countermeasure point can effectively counter the target UAV, entering the stage of countermeasure against the first UAV. Each countermeasure calculates the launch angle required for countermeasure. and the flight time of the countermeasures projectile after launch The process.
[0039] In some embodiments, step S140, "based on the position of the target countermeasure, the position of the corresponding countermeasure point, and the real-time flight data of the target UAV corresponding to the countermeasure point, determining the launch angle and launch timing of the countermeasure projectile of the target countermeasure through ballistic simulation," includes: Step S1401: Based on the position of the target countermeasure and the position of the corresponding countermeasure point, the countermeasure task control unit calculates the simulated launch angle of each target countermeasure firing a countermeasure projectile toward the corresponding countermeasure point. Step S1402: Using the countermeasure mission control unit, when the simulated launch angle is determined to meet the hit condition based on the motion law of the countermeasure projectile, the simulated launch angle is determined as the launch angle of the countermeasure projectile. Step S1403: Based on the launch angle, calculate the flight time of the projectile that launches the countermeasure projectile to the corresponding countermeasure point; based on the flight trajectory of the target UAV and the real-time flight data, calculate the flight time of the target UAV to the corresponding countermeasure point. Step S1404: Based on the projectile's flight time and the corresponding UAV's flight time, the launch timing of the countermeasure projectile is determined using the countermeasure mission control unit.
[0040] In some embodiments, step S1401, "calculating the simulated launch angle of each target countermeasure launching a countermeasure projectile towards the corresponding countermeasure point using the countermeasure task control unit based on the position of the target countermeasure and the position of the corresponding countermeasure point", includes: Step S14011: Based on the position of the target countermeasure and the position of the corresponding countermeasure point, the height difference and horizontal projection distance between the target countermeasure and the corresponding countermeasure point are calculated using the countermeasure task control unit. Step S14012: Based on the angle between the height difference and the horizontal projection distance, the countermeasure mission control unit determines the simulated launch angle at which the target countermeasure device launches the countermeasure projectile toward the corresponding countermeasure point.
[0041] No. Each countermeasure and its corresponding countermeasure point height difference The calculation is shown in formula (3): Formula (3); Horizontal projection distance The calculation is shown in formula (4): Formula (4); Simulated launch angle The calculation is shown in formula (5): Formula (5); In some embodiments, step S1402, "when it is determined that the simulated launch angle meets the hit condition based on the motion law of the anti-projectile, the simulated launch angle is determined as the launch angle of the anti-projectile," includes: Step S14021: Using the countermeasure mission control unit, the simulated launch angle is substituted into the ballistic equation of the countermeasure projectile to perform ballistic simulation. The ballistic simulation is terminated when the falling height of the countermeasure projectile is the same as the height of the countermeasure point, and the projectile range of the countermeasure projectile is obtained. Step S14022: Using the countermeasure mission control unit, compare the projectile range with the corresponding countermeasure distance to obtain the countermeasure distance deviation; Step S14023: When the countermeasure distance deviation is less than or equal to a preset error threshold, the simulated launch angle is determined as the launch angle of the countermeasure projectile using the countermeasure mission control unit.
[0042] by To simulate the launch angle, the simulated launch angle will be... Substituting into the ballistic equations of the counter-projectile, The calculation is terminated under the condition that the projectile range can be calculated. .
[0043] Projectile range Distance from horizontal projection By comparison, the countermeasure distance deviation is obtained. ,like ,but This is the launch angle; otherwise, proceed to the "correct launch angle" step. This is a preset error threshold.
[0044] The launch angle is corrected using formula (6): Formula (6); Re-enter " Substituting into the ballistic equations of the counter-projectile, The calculation is terminated under the condition that the projectile range can be calculated. The calculation process continues until the countermeasure distance deviation is reached. , The preset error threshold is used to obtain the emission angle at this time. The launch angle of the countermeasure .
[0045] Assuming the maximum launch angle of the countermeasure is The minimum launch angle is , judge the first The required launch angle for each countermeasure Does it meet the requirements? If the conditions are not met, the process of calculating the "flight trajectory of the first UAV" is returned, and... Continue extrapolating.
[0046] In some embodiments, step S1404, "determining the launch timing of the countermeasure projectile based on the projectile's flight time and the corresponding UAV flight time," includes: In step S14041, when the projectile's flight time is less than the corresponding UAV's flight time, the countermeasure mission control unit delays the launch timing of the countermeasure projectile based on the time difference between the projectile's flight time and the corresponding UAV's flight time.
[0047] After determining the countermeasure point, the countermeasure mission control unit initially calculates a simulated launch angle for each countermeasure. Based on the countermeasure location and corresponding countermeasure point, the countermeasure mission control unit conducts simulated test firings using a ballistic simulation model to estimate the launch timing of the countermeasure projectile.
[0048] Judge the first Flight time of the countermeasure projectile of each countermeasure Flight time with the target drone If the relationship, This means that when the target drone flies to At that time, the countermeasure projectile had not yet reached this position, making it impossible to complete the countermeasure mission; if Then the first , That is, the timing of the launch.
[0049] In some embodiments, the method of this application further includes: determining whether all counters have been calculated; if not, then... Continue calculating the launch angle and launch timing of the next countermeasure until all countermeasures have been calculated, and the positions of the countermeasure points of all countermeasures are obtained. and the corresponding launch angle of the countermeasures and launch timing .
[0050] In some embodiments, after countering multiple target drones, the detection and identification unit acquires images of the countermeasure results obtained from the countermeasures against the multiple target drones; the countermeasure task control unit identifies the images of the countermeasure results to obtain the countermeasure results; when the countermeasure results show that the countermeasures have failed, it is determined whether the preset conditions for countermeasures are met again; when the preset conditions for countermeasures are met, the process of re-executing the predicted flight trajectory calculation is returned.
[0051] This application can be used not only to counter individual drones but also to counter drone swarms. After calculating the launch angle and timing of each countermeasure using a countermeasure task processing unit, a large number of countermeasure projectiles are launched simultaneously to form an interceptor wall along the flight path of the drone swarm. The projectiles destroy drones by colliding with the swarm, and the quantity and distribution of the countermeasure projectiles enhance the countermeasure effect against the drone swarm. This application features a high degree of automation and high countermeasure efficiency. By using low-altitude search radar and electro-optical detectors, the probability of detecting and tracking drone swarms is improved, shortening the detection time. Furthermore, the countermeasure task processing unit quickly and automatically calculates the launch angle and timing for countermeasures, reducing preparation time and increasing efficiency.
[0052] Below, in conjunction with Figure 2 The steps of a method for countering low-speed, small unmanned aerial vehicle swarms according to this application are described. Figure 2 This is a schematic diagram illustrating the specific process of a method for countering low-speed, small unmanned aerial vehicle swarms provided in an embodiment of this application.
[0053] S1: Filter the real-time flight data obtained from low-altitude search radar and photoelectric detectors to obtain the data for each UAV. Real-time location at any moment The corresponding first real-time flight speed is ( ); S2: The countermeasure task control unit calculates the flight trajectory of the first UAV to be countered; extrapolates the flight trajectory of each UAV by a step size. The extrapolated track points are obtained. ; S3: with As the countermeasure point, first calculate the first... One countermeasure (assuming there are) There are 1 counters, and the position of each counter is 1. The maximum countermeasure range and the minimum countermeasure range are respectively and From the label (Start) Countermeasure distance from the countermeasure point ,if This means there is no opportunity for countermeasures, and the task is complete. If At this point, there is no way to counter it, so return to S2 and let... Continue extrapolating; S4: If Then for the first Each countermeasure calculates the launch angle required for its countermeasure. and the flight time of the countermeasures projectile after launch ; S5: Assume the maximum launch angle of the countermeasure is... The minimum launch angle is , judge the first The required launch angle for each countermeasure Does it meet the requirements? If the condition is not met, return to S2 and let Continue extrapolating; S6: Determine the first Flight time of the countermeasure projectile of each countermeasure Flight time of the target drone to be countered If the relationship, This means that when the target drone flies to At that time, the countermeasure projectile had not yet reached this position, making it impossible to complete the countermeasure mission; if Then the launch timing For the first The delayed launch time of the countermeasures.
[0054] S7: Determine if all counters have been calculated; if not, then... Return to S3 to continue calculating the counter-launch parameters for the next countermeasure, until all countermeasures have been calculated and the countermeasure point positions for all countermeasures are obtained. and the corresponding launch angle of the countermeasures and launch timing The location of the countermeasure point, the corresponding launch angle, and the launch timing are sent to the corresponding countermeasure device to execute the countermeasure task.
[0055] Figure 3 A schematic diagram of a distributed system architecture for countering low-speed, small unmanned aerial vehicle swarms is provided in this application embodiment, as shown below. Figure 3 As shown, this application proposes a distributed system 300 for countering low-speed and small unmanned aerial vehicle swarms, including: a search and identification unit 310, a countermeasure task control unit 320, and multiple countermeasures 330; The search and identification unit 310 is used to identify and track the drone swarm and obtain real-time flight data of each drone in the drone swarm. The countermeasure task control unit 320 is used to predict the flight trajectory of each first UAV to be countered in the UAV swarm based on the real-time flight data of each UAV; calculate the position of at least one countermeasure point based on the flight trajectory of each first UAV and the number of first UAVs, and determine the target UAV corresponding to each countermeasure point; verify whether each countermeasure device can effectively counter the target UAV corresponding to the countermeasure point for the position of each countermeasure point; and, for each countermeasure point, if there is a target countermeasure device that can effectively counter the corresponding target UAV, determine the launch angle and launch timing of the countermeasure projectile of the target countermeasure device through ballistic simulation based on the position of the target countermeasure device, the position of the corresponding countermeasure point, and the real-time flight data of the target UAV corresponding to the countermeasure point. The plurality of countermeasures 330 are used to perform countermeasures against the first UAV to be countered based on the position of each countermeasure point and the launch angle and launch timing of the countermeasure projectile of the corresponding target countermeasure.
[0056] In some embodiments, the search and identification unit 310 includes a low-altitude search radar 3101 and a photoelectric detector 3102; Figure 4 A schematic diagram of the specific structure of a distributed system for countering low-speed, small unmanned aerial vehicle swarms provided in this application embodiment is shown below. Figure 4 As shown, "340" represents the protected target, "320" represents the countermeasure mission control unit, "3101" represents the low-altitude search radar, "3102" represents the electro-optical detector, "330" represents multiple countermeasures, "350" represents the countermeasure projectile, and "360" represents the first UAV.
[0057] The low-altitude search radar 3101 is used to initially search for and track the drone swarm, and to acquire the initial real-time flight data of each drone in the drone swarm. The photoelectric detector 3102 is used to track and identify each of the UAVs based on the initial real-time flight data, obtain an image of each UAV and the real-time flight data, and send the image of each UAV and the real-time flight data to the countermeasure task control unit to determine the first UAV in the UAV swarm that needs to be countered.
[0058] The low-altitude search radar 3101 is responsible for performing long-range search missions for low-altitude UAV swarms and can send the search status to the countermeasure mission control unit in real time. After the UAVs are located, they can be initially identified and roughly tracked.
[0059] The photoelectric detector 3102 consists of a two-degree-of-freedom turret, a support device, a television camera, an infrared thermal imager, and a laser rangefinder. The photoelectric detector receives the UAV's position from the countermeasure mission control unit, performs close-range identification and precise tracking of the UAV, and can send real-time tracking images to the countermeasure mission control unit for display and judgment. The photoelectric detector may include: a two-degree-of-freedom turret, a support device, a television camera, an infrared thermal imager, and a laser rangefinder. The photoelectric detector acquires the first real-time image of the flying target through the television camera and the infrared thermal imager. The photoelectric detector measures the first real-time azimuth angle and the first real-time pitch angle of the flying target through the shaft encoder of the two-degree-of-freedom turret. The photoelectric detector illuminates the flying target through the laser rangefinder to obtain a more accurate first real-time slant range and first real-time flight speed than low-altitude search radar.
[0060] In some embodiments, the countermeasure task control unit includes: a power supply, a display, a processor, and a control device; The power supply is used to supply power to the display, the processor, the control device, the low-altitude search radar, the photoelectric detector, and the countermeasure. The display is used to show the real-time flight data, images of each of the drones, the flight trajectory of each of the first drones to be countered, the status of the countermeasure device, and the location of the countermeasure point; The processor is used to run the various calculation and control logics executed by the countermeasure task control unit; The control device is used to receive manual instructions input by the operator and convert the manual instructions into control signals that can be executed by the countermeasure task control unit.
[0061] The countermeasure mission control unit mainly consists of a power supply and conversion device, a display, a processor, and control equipment. The countermeasure mission control unit is connected to the low-altitude search radar, electro-optical detector, and multiple countermeasure devices via power and signal cables, providing power and information exchange to these devices. Initial real-time flight data and real-time flight data detected by the low-altitude search radar and electro-optical detector are transmitted to the processor of the countermeasure mission control unit via signal cables for decoding and display on the display for operator judgment and decision-making. Countermeasure commands generated by the countermeasure mission control unit after data processing and calculation are transmitted to the countermeasure devices via signal cables for countermeasure operations.
[0062] Multiple countermeasures 330 are geographically distributed. The countermeasures can receive countermeasure commands from the countermeasure mission control unit via signal cables, perform servo-follow-up to aim at the countermeasure point, and launch multiple countermeasure projectiles at the countermeasure point to counter the drone swarm by colliding with it.
[0063] This system employs a distributed deployment of multiple countermeasures devices, which can be remotely controlled to enhance operator safety. Operators can remotely control the countermeasures devices through the countermeasures task control unit, overcoming the risk of personnel injury associated with traditional manual operation of countermeasures equipment. This system has a wide range of applications and flexible deployment. It can be flexibly arranged according to the characteristics and location of the protected target. The countermeasures method imposes minimal constraints on the performance parameters of the countermeasures system, allowing for flexible replacement of the system as needed.
[0064] Figure 5 This is a schematic diagram illustrating the implementation process of a distributed system for countering low-speed, small unmanned aerial vehicle (UAV) swarms, as provided in an embodiment of this application. Figure 5 As shown, the implementation process of the system can be divided into five stages: (I) Radar Search and Tracking Phase S01: Depending on the protected area or the protected target, the system is deployed in a distributed manner along the possible attack routes of the drone swarm, and the system starts up upon power-up; S02: The low-altitude search radar performs automatic air search and sends the initial real-time flight data found to the countermeasure mission control unit for display. S03: If no drone swarm is detected, the low-altitude search radar continues its search. If a suspicious drone swarm is detected, the target is initially identified. If the identification result is not an illegal drone swarm, the search continues; otherwise, proceed to the next step. S04: Determine whether the drone swarm is within the tracking range of the photoelectric detector. If not, maintain coarse tracking with the low-altitude search radar. If so, proceed to the next step. (II) Photoelectric tracking and prediction stage S05: The photoelectric detector is powered on. The countermeasure mission control unit sends the initial real-time flight data of the UAV swarm from the low-altitude search radar to the photoelectric detector for precise tracking, and sends the first real-time image information to the countermeasure mission control unit. S06: The countermeasure mission control unit re-identifies the drone swarm using image recognition technology. If the identification result is not an illegal drone swarm, the countermeasure is abandoned and the low-altitude search radar continues to perform the search mission. S07: If the identification result is an illegal drone swarm (first drone), the countermeasure task control unit will use the Kalman filter algorithm to filter and predict the real-time flight data of the illegal drone swarm. (III) Countermeasure Calculation and Targeting Phase S08: The countermeasure mission control unit calculates the countermeasure mission based on the real-time flight data filtering and tracking results, and obtains the countermeasure command; S09: The countermeasure device performs servo movement according to the countermeasure command sent by the countermeasure task control unit to complete the follow-up aiming of the countermeasure point; (iv) Countermeasure Implementation Phase S10: The countermeasure mission control unit determines in real time whether the launch conditions are met. If not, it will fine-tune the countermeasure parameters through real-time mission calculation. Once the launch conditions are met, it will send a launch command to the countermeasure device, which will then launch the countermeasure projectile.
[0065] (V) Evaluation of Countermeasures S11: The photoelectric detector tracks the countermeasure situation in real time and sends the first real-time image to the countermeasure task control unit. The operator evaluates the countermeasure effect based on the first real-time image.
[0066] S12: Determine whether the countermeasure task is successful. If the countermeasure fails, determine whether it can be countered again. If it can, go to S8 to recalculate and process the countermeasure. If it cannot be countered again, it is judged as a countermeasure failure. At this time, it is necessary to determine whether it is necessary to continue working. If it is necessary to continue working, go to S2.
[0067] S13: If the system no longer needs to work, shut down the system.
[0068] It should be noted that the descriptions of the above device embodiments are similar to those of the above method embodiments, and have similar beneficial effects. For technical details not disclosed in the system embodiments of this application, please refer to the descriptions of the method embodiments of this application for understanding.
[0069] It should be noted that, in the embodiments of this application, if the above-mentioned method for countering low-speed, small unmanned aerial vehicle (UAV) swarms is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiments of this application, or the part that contributes to related technologies, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause an electronic device to execute all or part of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), magnetic disks, or optical disks. Thus, the embodiments of this application are not limited to any specific hardware and software combination.
[0070] Correspondingly, embodiments of this application provide a computer-readable storage medium storing a computer program thereon. When executed by a processor, the computer program implements the steps in any of the methods for countering low-speed, small unmanned aerial vehicle (UAV) swarms described in the above embodiments. Correspondingly, embodiments of this application also provide a computer program product, which, when executed by a processor of an electronic device, is used to implement the steps in any of the methods for countering low-speed, small UAV swarms described in the above embodiments.
[0071] It should be understood that the phrase "one embodiment" or "an embodiment" throughout the specification means that a specific feature, structure, or characteristic related to the embodiment is included in at least one embodiment of this application. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. Furthermore, these specific features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. It should be understood that in the various embodiments of this application, the sequence numbers of the above-described processes do not imply a sequential order of execution; the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application. The sequence numbers of the above-described embodiments are merely descriptive and do not represent the superiority or inferiority of the embodiments.
[0072] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.
[0073] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods, such as: multiple units or components can be combined, or integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the various components shown or discussed can be through some interfaces, and the indirect coupling or communication connection between devices or units can be electrical, mechanical, or other forms.
[0074] The units described above as separate components may or may not be physically separate, and the components shown as units may or may not be physical units; they may be located in one place or distributed across multiple network units; some or all of the units may be selected to achieve the purpose of the embodiments of this application according to actual needs. In addition, each functional unit in the embodiments of this application may be fully integrated into one processing unit, or each unit may be a separate unit, or two or more units may be integrated into one unit; the integrated unit may be implemented in hardware or in the form of hardware plus software functional units.
[0075] Alternatively, if the integrated units described above are implemented as software functional modules and sold or used as independent products, they can also be stored in a computer-readable storage medium. Based on this understanding, the technical solutions of the embodiments of this application, or the parts that contribute to related technologies, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause the device automatic test line to execute all or part of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as mobile storage devices, ROMs, magnetic disks, or optical disks.
[0076] The methods disclosed in the several method embodiments provided in this application can be arbitrarily combined to obtain new method embodiments without conflict. The features disclosed in the several method or device embodiments provided in this application can be arbitrarily combined to obtain new method embodiments or device embodiments without conflict.
[0077] The above description is merely an embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.
Claims
1. A method for countering swarms of low-speed, small unmanned aerial vehicles (UAVs), characterized in that, A distributed system for countering swarms of low-speed, small unmanned aerial vehicles (UAVs), the system comprising: a search and identification unit, a countermeasure task control unit, and multiple countermeasure devices; the method comprising: Using the search and recognition unit, the drone swarm is identified and tracked, and real-time flight data of each drone in the drone swarm is obtained; Using the countermeasure task control unit, based on the real-time flight data of each UAV, the flight trajectory of each first UAV to be countered in the UAV swarm is predicted; based on the flight trajectory of each first UAV and the number of first UAVs, the position of at least one countermeasure point is calculated, and the target UAV corresponding to each countermeasure point is determined. Using the countermeasure task control unit, for each countermeasure point, it is verified whether each countermeasure device can effectively counter the target UAV corresponding to the countermeasure point. Using the countermeasure mission control unit, for each countermeasure point, when there is a target countermeasure device effectively countering the corresponding target UAV, the launch angle and launch timing of the countermeasure projectile of the target countermeasure device are determined by ballistic simulation based on the position of the target countermeasure device, the position of the corresponding countermeasure point, and the real-time flight data of the target UAV corresponding to the countermeasure point. Based on the location of each countermeasure point and the launch angle and timing of the countermeasure projectile of the corresponding target countermeasure device, the first UAV to be countermeasured is countered using the corresponding target countermeasure device.
2. The method according to claim 1, characterized in that, The real-time flight data includes a first real-time image, a first real-time azimuth angle, a first real-time pitch angle, a first real-time slant range, and a first real-time flight speed. The prediction of the flight trajectory of each UAV requiring countermeasure within the UAV swarm, based on the real-time flight data of each UAV, includes: The countermeasure task control unit determines the first UAV to be countered based on the first real-time image, first real-time azimuth angle, first real-time pitch angle, first real-time slant range, and first real-time flight speed of each UAV. The countermeasure mission control unit determines the real-time position of the first UAV based on the first real-time azimuth angle, the first real-time pitch angle, and the first real-time slant range of the first UAV. The countermeasure task control unit calculates the flight trajectory of each first UAV that needs to be countered based on the real-time position and the first real-time flight speed.
3. The method according to claim 1, characterized in that, The step of using the countermeasure task control unit to verify whether each countermeasure device can effectively counter the target UAV corresponding to each countermeasure point includes: The location of each countermeasure is obtained using the countermeasure task control unit. Based on the position of each countermeasure device and the position of each countermeasure point, the distance between each countermeasure device and the corresponding countermeasure point is calculated using the countermeasure task control unit to obtain at least one countermeasure distance corresponding to each countermeasure device; The countermeasure task control unit is used to verify whether each countermeasure distance falls within a preset distance range. Using the countermeasure mission control unit, when a portion of the countermeasure distance falls within the preset distance range, it determines that the target countermeasure device and the corresponding countermeasure point corresponding to the countermeasure distance within the preset distance range can effectively counter the corresponding target UAV.
4. The method according to claim 1, characterized in that, The method of determining the launch angle and launch timing of the countermeasure projectile of the target countermeasure device through ballistic simulation based on the position of the target countermeasure device, the position of the corresponding countermeasure point, and the real-time flight data of the target UAV corresponding to the countermeasure point includes: Based on the position of the target countermeasure and the position of the corresponding countermeasure point, the countermeasure task control unit calculates the simulated launch angle of each target countermeasure firing a countermeasure projectile towards the corresponding countermeasure point; Using the countermeasure mission control unit, when the simulated launch angle is determined to meet the hit condition based on the motion law of the countermeasure projectile, the simulated launch angle is determined as the launch angle of the countermeasure projectile; Based on the launch angle, the flight time of the countermeasure projectile launched to the corresponding countermeasure point is calculated; based on the flight trajectory of the target UAV and the real-time flight data, the flight time of the target UAV to the corresponding countermeasure point is calculated. Based on the projectile's flight time and the corresponding UAV's flight time, the launch timing of the countermeasure projectile is determined using the countermeasure mission control unit.
5. The method according to claim 4, characterized in that, The step of calculating the simulated launch angle of each target countermeasure projectile towards the corresponding countermeasure point using the countermeasure mission control unit, based on the position of the target countermeasure and the position of the corresponding countermeasure point, includes: Based on the position of the target countermeasure and the position of the corresponding countermeasure point, the height difference and horizontal projection distance between the target countermeasure and the corresponding countermeasure point are calculated using the countermeasure task control unit. Based on the angle between the height difference and the horizontal projection distance, the countermeasure mission control unit determines the simulated launch angle at which the target countermeasure device launches a countermeasure projectile toward the corresponding countermeasure point.
6. The method according to claim 4, characterized in that, When the simulated launch angle is determined to meet the hit condition based on the motion law of the anti-projectile, the simulated launch angle is determined as the launch angle of the anti-projectile, including: Using the countermeasure mission control unit, the simulated launch angle is substituted into the ballistic equation of the countermeasure projectile to perform ballistic simulation. The ballistic simulation is terminated when the fall height of the countermeasure projectile is the same as the height of the countermeasure point, and the projectile range of the countermeasure projectile is obtained. Using the countermeasure mission control unit, the projectile range is compared with the corresponding countermeasure distance to obtain the countermeasure distance deviation; When the countermeasure distance deviation is less than or equal to a preset error threshold, the countermeasure mission control unit determines the simulated launch angle as the launch angle of the countermeasure projectile.
7. The method according to claim 4, characterized in that, The step of determining the launch timing of the countermeasure projectile based on the projectile's flight time and the corresponding UAV flight time, using the countermeasure mission control unit, includes: When the projectile's flight time is less than the corresponding UAV's flight time, the countermeasure mission control unit delays the launch timing of the countermeasure projectile based on the time difference between the projectile's flight time and the corresponding UAV's flight time.
8. A distributed system for countering swarms of low-speed, small unmanned aerial vehicles (UAVs), characterized in that, include: Search and identification unit, countermeasure task control unit, and multiple countermeasures; The search and identification unit is used to identify and track the drone swarm and obtain real-time flight data of each drone in the drone swarm. The countermeasure task control unit is configured to predict the flight trajectory of each first UAV to be countered in the UAV swarm based on the real-time flight data of each UAV; calculate the position of at least one countermeasure point based on the flight trajectory of each first UAV and the number of first UAVs, and determine the target UAV corresponding to each countermeasure point; verify whether each countermeasure device can effectively counter the target UAV corresponding to the countermeasure point for the position of each countermeasure point; and, for each countermeasure point, if there is a target countermeasure device that can effectively counter the corresponding target UAV, determine the launch angle and launch timing of the countermeasure projectile of the target countermeasure device through ballistic simulation based on the position of the target countermeasure device, the position of the corresponding countermeasure point, and the real-time flight data of the target UAV corresponding to the countermeasure point. The plurality of countermeasures are used to perform countermeasures against the first UAV to be countered, based on the position of each countermeasure point and the launch angle and launch timing of the countermeasure projectile of the corresponding target countermeasure.
9. The system according to claim 8, characterized in that, The search and identification unit includes a low-altitude search radar and an electro-optical detector; The low-altitude search radar is used to initially search for and track the drone swarm, and to acquire the initial real-time flight data of each drone in the drone swarm. The photoelectric detector is used to track and identify each of the UAVs based on the initial real-time flight data, obtain an image of each UAV and the real-time flight data, and send the image of each UAV and the real-time flight data to the countermeasure task control unit to determine the first UAV in the UAV swarm that needs to be countered.
10. The system according to claim 9, characterized in that, The countermeasure task control unit includes: a power supply, a display, a processor, and control devices; The power supply is used to supply power to the display, the processor, the control device, the low-altitude search radar, the photoelectric detector, and the countermeasure. The display is used to show the real-time flight data, images of each of the drones, the flight trajectory of each of the first drones to be countered, the status of the countermeasure device, and the location of the countermeasure point; The processor is used to run the various calculation and control logics executed by the countermeasure task control unit; The control device is used to receive manual instructions input by the operator and convert the manual instructions into control signals that can be executed by the countermeasure task control unit.