Reverse takeover system and method for unmanned aerial vehicle

Abstract

The invention provides an unmanned aerial vehicle reverse takeover system and method, and the system comprises a radio frequency signal collection module which is used for carrying out the real-time scanning and obtaining a radio frequency signal in a target airspace, and determining the communication frequency band and modulation characteristics of a target unmanned aerial vehicle through spectrum analysis; the protocol identification and analysis module is used for identifying and analyzing a communication link and a communication protocol of the target unmanned aerial vehicle according to the communication frequency band and the modulation characteristics to obtain an analysis result of the target unmanned aerial vehicle; the link simulation and identity simulation module is used for constructing a simulation communication link and a virtual remote controller identity of the target unmanned aerial vehicle based on the analysis result; the control instruction injection module is used for injecting a control instruction to the target unmanned aerial vehicle through the virtual remote controller identity and the simulation communication link and taking over the control link of the target unmanned aerial vehicle; and the sensing feedback module is used for monitoring the response state of the target unmanned aerial vehicle to the control instruction in real time, verifying the takeover effect and completing closed-loop management and control of the target unmanned aerial vehicle.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to a UAV reverse takeover system and method. Background Technology

[0002] With the widespread application of civilian drones, they have played a vital role in aerial photography, logistics transportation, and agricultural plant protection. However, improper modifications to drones can lead to unauthorized image capture, disruption of normal aviation or traffic order, and threats to the safety of key areas. These frequent occurrences pose a significant threat to public safety, railway transportation safety, airport navigation safety, and the protection of key areas. Existing countermeasures against drones mainly include physical interference (such as net guns and lasers) and communication interference (such as GPS spoofing and signal suppression), but these methods suffer from drawbacks such as high destructiveness, high risk of accidental injury, or the inability to control drones beyond their ability to deter them. These methods fail to meet the current demand for precise, safe, and controllable drone protection. Specifically: 1. Radio interference suppression By using a high-powered signal jammer to completely suppress the drone's GPS, remote control, and image transmission links, it is forced into an "out-of-control mode." Disadvantages include: inability to precisely control the drone, potentially leading to crashes; easy interference with surrounding normal communications, resulting in high legal risks; and ineffective against drones with autonomous navigation or anti-jamming capabilities.

[0003] 2. GNSS deception and manipulation By sending false GPS signals, the drone's location is induced to drift, leading it away from the mission area. Disadvantages include: it only works for GPS-dependent drone systems and is not suitable for visual navigation, RTK positioning, or inertial navigation systems; once the signal is restored, the target can continue the mission or return to base.

[0004] 3. Physical attack methods Examples include net guns, lasers, and drone interception. Disadvantages include: destructive potential and risk of collateral damage; reliance on visual tracking and positioning, with effectiveness limited by weather and occlusion; and inability to meet the needs for multi-target, long-range, and real-time response.

[0005] Therefore, there is an urgent need for a technical means based on protocol parsing and communication link intervention, which can accurately take over control of illegal or hostile drones without damaging the drone itself, and realize preset response strategies such as safe landing, returning to the original route or hovering, so as to improve the active airspace security protection capabilities of key areas. Summary of the Invention

[0006] The purpose of this invention is to provide a reverse takeover system and method for unmanned aerial vehicles (UAVs) to solve the aforementioned problems in the prior art.

[0007] This invention provides a reverse takeover system for unmanned aerial vehicles (UAVs), comprising: The radio frequency signal acquisition module, connected to the protocol identification and parsing module, is used to scan and acquire radio frequency signals in the target airspace in real time, and determine the communication frequency band and modulation characteristics of the target UAV through spectrum analysis; The protocol identification and parsing module, connected to the radio frequency signal acquisition module and the link simulation and identity simulation module, is used to identify and parse the communication link and communication protocol of the target UAV based on the communication frequency band and modulation characteristics, and obtain the parsing result of the target UAV; The link simulation and identity simulation module is connected to the protocol identification and parsing module and the control command injection module, and is used to construct the simulated communication link and virtual remote controller identity of the target UAV based on the parsing results; The control command injection module is connected to the link simulation and identity simulation module and the perception feedback module. It is used to inject control commands into the target UAV using the identity of the virtual remote controller and through the simulation communication link, and to take over the control link of the target UAV according to the control commands. The perception feedback module, connected to the control command injection module, is used to monitor the response status of the target UAV to the control commands in real time through multimodal perception devices, verify the takeover effect of the system, and complete the closed-loop management and control of the target UAV.

[0008] This invention provides a method for reverse takeover of a drone, comprising: The radio frequency signal acquisition module scans and acquires radio frequency signals in the target airspace in real time, and determines the communication frequency band and modulation characteristics of the target UAV through spectrum analysis. The protocol identification and parsing module identifies and parses the communication link and communication protocol of the target UAV based on the communication frequency band and modulation characteristics, and obtains the parsing result of the target UAV. The link simulation and identity simulation modules construct the simulated communication link and virtual remote controller identity of the target UAV based on the analysis results. The control command injection module uses the identity of the virtual remote controller and injects control commands into the target drone through the simulated communication link, and takes over the control link of the target drone according to the control commands. The perception feedback module uses multimodal sensing devices to monitor the target UAV's response to the control commands in real time, and verifies the system's takeover effect, thus completing the closed-loop management and control of the target UAV.

[0009] This invention also provides an electronic device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, implements the steps of the above-described UAV reverse takeover method.

[0010] This invention also provides a computer-readable storage medium storing an information transmission implementation program, which, when executed by a processor, implements the steps of the above-described UAV reverse takeover method.

[0011] The following beneficial effects can be achieved by adopting the embodiments of the present invention: The embodiments of the present invention propose a UAV reverse takeover control system and method based on communication protocol parsing and link intervention, which is used to implement non-destructive control of UAVs with abnormal states or potential safety risks, so as to realize their effective response to commands such as safe landing, return to home or hovering, thereby ensuring the safety of the relevant area. Attached Figure Description

[0012] To more clearly illustrate the technical solutions in one or more embodiments of this specification or in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this specification. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0013] Figure 1 This is a schematic diagram of the unmanned aerial vehicle reverse takeover system according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the hardware architecture of an embodiment of the present invention; Figure 3 This is a schematic diagram of the SDR radio frequency structure according to an embodiment of the present invention; Figure 4 This is a flowchart of the drone signal processing and control according to an embodiment of the present invention; Figure 5 This is a flowchart of signal recognition, parsing, and reverse takeover according to an embodiment of the present invention; Figure 6 This is a flowchart of the unmanned aerial vehicle reverse takeover method according to an embodiment of the present invention. Detailed Implementation

[0014] To enable those skilled in the art to better understand the technical solutions in one or more embodiments of this specification, the technical solutions in one or more embodiments of this specification will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this specification, and not all of the embodiments. Based on one or more embodiments of this specification, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of this document.

[0015] System Implementation Examples According to embodiments of the present invention, a reverse takeover system for unmanned aerial vehicles (UAVs) is provided. Figure 1 This is a schematic diagram of the unmanned aerial vehicle (UAV) reverse takeover system according to an embodiment of the present invention, as shown below. Figure 1 As shown, the unmanned aerial vehicle (UAV) reverse takeover system according to an embodiment of the present invention specifically includes: The radio frequency signal acquisition module 10 is connected to the protocol identification and parsing module. It is used to scan and acquire radio frequency signals in the target airspace in real time, and determine the communication frequency band and modulation characteristics of the target UAV through spectrum analysis. The protocol identification and parsing module 12 is connected to the radio frequency signal acquisition module and the link simulation and identity simulation module, and is used to identify and parse the communication link and communication protocol of the target UAV according to the communication frequency band and modulation characteristics, so as to obtain the parsing result of the target UAV; The protocol identification and parsing module includes: A signal acquisition unit, connected to a data processing unit, is used to extract digital baseband signals related to the target protocol from the radio frequency signal according to the communication frequency band and modulation characteristics; A data processing unit, connected to the signal acquisition unit and the protocol library, is used to perform feature extraction and pattern matching on the digital baseband signal based on relevant information in the protocol library to obtain the communication link and communication protocol type of the target UAV, and to perform reverse parsing of the data frame structure to extract the control command format of the target UAV; wherein, the parsing result includes the communication link and communication protocol type of the target UAV, as well as the control command format of the target UAV; The protocol library, connected to the data processing unit, is used to store information related to various UAV communication protocols.

[0016] The link simulation and identity simulation module 14 is connected to the protocol identification and parsing module and the control command injection module, and is used to construct the simulated communication link and virtual remote controller identity of the target UAV based on the parsing results; The link simulation and identity simulation module includes a protocol simulator and a frequency hopping synchronization unit that are interconnected. The protocol simulator is used to reproduce the control command format of the target UAV based on the parsing results, simulate the communication interaction process between the target UAV and the ground station, and send signals according to the transmission rate and command sending sequence specified by the target protocol to keep the system and the target UAV's receiving rhythm synchronized. The frequency hopping synchronization unit is used to capture the frequency hopping pattern of the target UAV, adjust the system's transmission frequency in real time according to the frequency hopping pattern, keep the communication frequency currently used by the system consistent with that of the target UAV, and perform anti-frequency hopping interference adaptation when an abnormal frequency jump is detected in the target UAV to maintain stable transmission of the communication link.

[0017] The control command injection module 16 is connected to the link simulation and identity simulation module and the perception feedback module. It is used to inject control commands into the target UAV using the identity of the virtual remote controller and through the simulation communication link, and to take over the control link of the target UAV according to the control commands. The perception feedback module 18 is connected to the control command injection module and is used to monitor the response status of the target UAV to the control command in real time through the multimodal perception device, verify the takeover effect of the system, and complete the closed-loop management and control of the target UAV. The system also includes a main control board and an SDR radio frequency board that are interconnected. The main control board is the control and data processing center of the system, used for overall system operation scheduling and data interaction; the main control board includes a network card, a main control chip, and GPIO pins; The SDR RF board is the core RF signal processing unit of the system, used for the transmission, analysis and processing of RF signals of the system; the SDR RF board includes an FPGA programmable logic chip, an AD / DA data acquisition module, an analog front end and an integrated RF transceiver.

[0018] The system further includes: a high-precision positioning module, used to take over the navigation system of the target UAV through real-time dynamic differential positioning technology RTK or visual simultaneous localization and mapping (SLAM) technology; The system further includes a directional energy jamming device for interfering with the electronic systems of a target unmanned aerial vehicle via a microwave beam.

[0019] The following describes the above-mentioned technical solutions of the present invention in detail with reference to the specific circumstances of the unmanned aerial vehicle reverse takeover system of the present invention.

[0020] This invention proposes a non-destructive, controllable, and verifiable UAV reverse takeover system. By identifying the target UAV's communication protocol, parsing its data, and simulating its link, the system enables the takeover and intervention of its control. Combined with a multimodal perception mechanism, the system ensures that the entire takeover process is safe, effective, and traceable.

[0021] I. Core of the Embodiments of the Invention 1. Accurately identify the communication protocol of the target drone. Faced with different remote controllers and radio frequency chips (such as MAVLINK, SX1280, AFHDS 2A, CRSF, etc.), this embodiment of the invention uses protocol feature extraction and comparison algorithms (such as machine learning models and fuzzy matching technology) to determine the link type and communication format used by the target UAV.

[0022] 2. Synchronization and Simulation of Communication Links To address the issue that existing solutions cannot access frequency hopping and binding protection mechanisms, this invention constructs a protocol simulator and a frequency hopping synchronization module, and utilizes the simulated remote control terminal in the module to simulate the identity of a legitimate remote controller, thereby achieving effective binding of the target link.

[0023] 3. Safety Injection Control Command The embodiments of the present invention no longer use crude interference or destructive interception; instead, they propose a control frame construction method based on protocol standards, which can accurately inject control commands such as "hover", "land", and "return" (that is, obtain the UAV control signals and response mechanisms by parsing the data frame structure (determine the communication protocol used by the UAV), and simulate the communication link of the target UAV by simulating the remote control terminal to realize the control takeover of the target UAV).

[0024] 4. Verify the takeover effect in real time and implement closed-loop control. This invention integrates multi-source sensing systems such as radar, photoelectric, and image recognition to achieve closed-loop tracking and verification of target response status, thereby improving the accuracy and security of countermeasures.

[0025] 5. Adaptable to multiple targets and various protocol types By constructing a modular identification and control process, this embodiment of the invention supports concurrent identification of multiple protocols, adapts to multi-target UAV scenarios, and has good scalability and engineering implementation capabilities.

[0026] II. Working Principle The core principle of this invention is to hijack the drone's control link by cracking the target drone's communication link, analyzing the communication network protocol, and further injecting the drone's communication data protocol.

[0027] The countermeasure system scans the target drone's operating frequency band using a broadband receiver (software-defined radio platform), captures its control signals, decodes the captured signals, analyzes its wireless communication link and protocol, and then cracks the communication link to extract key parameters such as keys and serial numbers. After identifying the protocol, the countermeasure system generates forged control commands (such as return-to-home, landing, or hovering) and injects them into the target drone's receiver through a high-power directional antenna, allowing it to take over the drone and fly it to a designated location.

[0028] III. System Architecture The hardware architecture of the drone reverse takeover system is based on a software-defined radio (SDR) system, consisting of a main control board and an SDR radio frequency board. The system architecture is as follows: Figure 2 As shown: 1. Main control board section: 1) Network Interface Card (NIC): Responsible for receiving and sending network data; it is the interface between the device and the external network. 2) Main control chip: As the core of the main control board, it undertakes the main calculation and control tasks of the system and has strong data processing capabilities; 3) GPIO pins (PCIe): General purpose input / output pins, used for data transmission and communication control between the main control chip and other devices through the PCIe (High-Speed ​​Serial Computer Expansion Bus Standard) interface.

[0029] 2. SDR RF board section: 1) FPGA programmable logic chip: It has high flexibility and programmability, and can implement specific logic functions and signal processing algorithms according to different SDR application requirements; 2) AD / DA data acquisition: AD (analog-to-digital conversion) converts analog signals into digital signals, while DA (digital-to-analog conversion) does the opposite, used to acquire and output radio frequency signal data; 3) Analog Front End (AFE): Preprocesses radio frequency signals, such as amplification and filtering, to facilitate subsequent AD conversion and digital signal processing. Finally, it realizes the transmission and reception of wireless signals through receiving and transmitting antennas.

[0030] IV. SDR Radio Frequency Board Structure The drone takeover system employs a closed-loop design of "detection-identification-penetration-control," with its core SDR radio frequency board utilizing an integrated system structure, such as... Figure 3 As shown.

[0031] The SDR (Signal Receiver) RF board (detection) is the core RF signal processing unit of the system. Its main functions include signal transmission and reception, vulnerability exploitation, and protocol penetration. The SDR device captures communication signals between the drone and the control unit, reverse-analyzes the protocol structure, generates malicious data packets, and disrupts the normal communication link. Its core components are: 1. FPGA Programmable Logic Chip (Identification-Penetration): As the core of hardware acceleration, it is responsible for real-time processing of high-frequency signals, performing spectrum analysis, signal demodulation, and protocol reverse engineering. The high parallel computing capability of the FPGA can quickly complete signal feature extraction, and implement spectrum analysis through algorithms to identify the communication frequency bands of UAVs (such as 2.4GHz, 5.8GHz, etc.). 2. Integrated RF transceiver (control): Covering a wide frequency band (e.g., 300MHz-6GHz), supporting multi-channel signal acquisition and transmission. Through various protocol drone control links, false commands (such as forced return or landing commands) can be injected to hijack the drone's signal.

[0032] V. Working Methods This invention provides a UAV reverse takeover control system, which aims to take over the flight control of unauthorized or threatening UAVs in real time through communication protocol analysis, signal link simulation, and security command injection, and force them to execute commands such as safe landing, return to home, or hovering. The UAV signal processing and control process is as follows: Figure 4 As shown, it covers a series of steps from signal acquisition to identification and takeover: 1. Signal Acquisition and Processing Path 1) Acquisition and Retrieval: The process starts with "Start Signal Acquisition", followed by "Frequency Search and Signal Retrieval" to search for and locate the UAV signal; 2) Processing and Demodulation: After acquiring the signal, the "signal processing" and "demodulation" operations are performed sequentially to convert the signal into a readable form; 3) Decoding and Packaging: Then, "decode the valid information" to extract the useful data, and then "pack the protocol frames" to organize the data; 4) Identification and Judgment: After obtaining "valid UAV data", the UAV database and standard library are compared with artificial intelligence algorithms. If there is no corresponding information in the database, the UAV database is "added". If the match is successful, the UAV information can be "identified" and connected to the "Communications and Air Traffic Control Surveillance and Protection System".

[0033] 2. Signal transmission and takeover path 1) Information extraction and modulation: Starting from the "drone takeover command", first "adapt to the drone database and standard library", obtain "drone takeover data", "extract effective information" and then "modulate" it; 2) Link establishment and transmission: After “signal processing”, “link establishment” is achieved, and finally “takeover signal transmission” is realized. The above content presents the complete process of drone signal collection, analysis, control, and takeover.

[0034] VI. Reverse Takeover Implementation Methods Drone reverse takeover technology uses a broadband receiver to acquire multi-band (e.g., 300MHz~6GHz) high-bandwidth radio frequency signals. It employs polling scanning technology to quickly cover commonly used drone communication frequency bands and utilizes digital channelization processing to monitor, analyze, and reverse control the signals. Figure 5 As shown.

[0035] 1. Signal Monitoring and Analysis: First, the system receives radio frequency signals and extracts key information through feature extraction. Then, the protocol matching engine matches the extracted features with protocol templates in the database to determine the communication protocol used. Next, the data frame parser parses the matched protocol and extracts valid data content. Finally, if an abnormal protocol is detected during parsing, the judgment unit triggers the corresponding exception handling mechanism to ensure the stability and reliability of the system. The specific process is as follows: (1) Signal acquisition: The high-speed SDR dynamically scans and analyzes the signal spectrum occupancy characteristics within the frequency range (400MHz / 900MHz / 2.4GHz / 5.8GHz band) of the UAV remote controller signal to determine the UAV remote controller frequency band; (2) Synchronization cracking: Crack the synchronization and frequency hopping sequence to synchronize with the UAV remote control signal time; (3) Demodulation and error correction: Demodulation, decoding and error correction of the signal; (4) Protocol cracking: cracking network protocols and decoding data to extract useful information.

[0036] 2. Signal Reverse Control: After protocol identification and parsing, the communication link of the target UAV is simulated through a remote control terminal to achieve control takeover of the UAV. The specific process includes: listening to the target frequency, establishing a virtual remote controller identity, ensuring synchronization with the target UAV, sending control frames (such as landing, return to home, or hovering commands) after accessing the control channel, and maintaining or exiting the takeover state as needed.

[0037] (1) Protocol data extraction: Extracting protocol data from decoded data; (2) Data packet generation: Generate protocol data packets; (3) Control signal injection: Synchronize the UAV heartbeat packet and inject control signals; (4) Signal modulation: High-speed SDR signal modulation is performed, and the control of the UAV is taken over in reverse through the wireless communication link.

[0038] In summary, the key to the embodiments of the present invention lies in: 1. Frequency band detection and signal acquisition: Through radio spectrum analysis equipment, the wireless signals in the target airspace are monitored in real time, and parameters such as the communication frequency band, modulation method, and frequency hopping characteristics of the target UAV control link are extracted.

[0039] 2. Protocol Identification and Data Decoding: Based on the collected signal data, the communication protocol is identified through a protocol identification algorithm, and the data frame structure is parsed to obtain the UAV control signals and response mechanisms.

[0040] 3. Link Simulation and Control Takeover: After identifying and parsing the protocol, the communication link of the target UAV is simulated through a simulated remote control terminal to achieve control takeover of the target UAV and send commands such as safe landing, return to home, or hovering.

[0041] 4. Feedback verification and multi-modal perception: Through multi-modal perception devices such as radar, infrared thermal imaging, and cameras, the response status of the target UAV is monitored in real time to verify the takeover effect and carry out closed-loop management.

[0042] Preferably, in addition to traditional protocol cracking and communication link emulation, embodiments of the present invention can also use high-precision positioning technologies (such as RTK (Real-Time Kinematics) or visual SLAM (Visual Simultaneous Localization and Mapping)) for reverse takeover of the UAV. In this scheme, control of the target UAV is achieved by taking over the UAV's navigation system. Utilizing precise positioning, the target UAV can be directly controlled to perform tasks such as return and landing without relying on the communication link. This scheme can solve certain communication interruption situations and is particularly suitable for environments with severe radio interference or damaged links.

[0043] In addition to traditional radio jamming methods, embodiments of the present invention can also use directional energy jamming devices (such as microwave beams) to interfere with the electronic systems of drones. Directional energy jamming devices can transmit energy in a targeted manner with high precision and low power consumption, interfering with the communication, navigation, or sensing systems of drones without causing significant interference to the surrounding environment. This alternative can be effective in situations requiring precise, low-power jamming and offers highly efficient target locking capabilities.

[0044] Example 1: Reverse Takeover Control System for Unmanned Aerial Vehicles The system proposed in this embodiment of the invention mainly includes the following modules: Radio frequency signal acquisition module (frequency sweeping to determine the specific type and frequency band of the UAV): This module is used to capture radio signals in the airspace in real time. It scans and detects the communication frequency band and signal characteristics of the target UAV using an radio frequency spectrum analysis instrument.

[0045] Protocol identification and parsing module: This module uses protocol identification algorithms (such as machine learning models and fuzzy matching techniques) to determine the type of communication protocol used by the target UAV (e.g., MAVLINK, AFHDS, CRSF, Wi-Fi, LoRa, etc.) based on the collected radio signals, and performs reverse parsing on the data frames to extract the control command format of the target UAV.

[0046] The protocol identification and parsing module includes a signal acquisition unit, a data processing unit, and a protocol library. The signal acquisition unit is used to capture the communication signals of the target UAV (only for parsing specific narrow bandwidth protocols), the data processing unit performs feature extraction and pattern matching on the acquired signals, and the protocol library is used to store and identify common UAV communication protocols (such as MAVLINK, AFHDS, AFHDS 2A, Wi-Fi, etc.).

[0047] Link Simulation and Identity Simulation Module: By simulating the legitimate remote controller communication process, and utilizing the target UAV's communication protocol and frequency hopping characteristics, a simulated communication link is constructed to achieve takeover of the target UAV.

[0048] Control command injection module: This module is used to generate and send safety control commands to the target drone, such as landing, returning to home, hovering, etc., to ensure that the drone performs its mission according to the preset commands.

[0049] Perception Feedback Module: Through multimodal perception devices such as radar, cameras, and infrared sensors, it tracks the flight status of the target drone in real time to ensure that the takeover process is error-free and to verify the drone's status.

[0050] Method Implementation Examples According to an embodiment of the present invention, a method for reverse takeover of a drone is provided. Figure 6 This is a flowchart of the unmanned aerial vehicle reverse takeover method according to an embodiment of the present invention, as follows: Figure 6 As shown, the UAV reverse takeover method according to an embodiment of the present invention specifically includes: Step S601: The radio frequency signal acquisition module scans and acquires the radio frequency signal in the target airspace in real time, and determines the communication frequency band and modulation characteristics of the target UAV through spectrum analysis; Step S602: The protocol identification and parsing module identifies and parses the communication link and communication protocol of the target UAV based on the communication frequency band and modulation characteristics to obtain the parsing result of the target UAV; Step S603: Based on the parsing results, the link simulation and identity simulation module constructs the simulated communication link and virtual remote controller identity of the target UAV. Step S604: Using the identity of the virtual remote controller, the control command injection module injects control commands into the target drone through the simulated communication link, and takes over the control link of the target drone according to the control commands. Step S605: The multimodal sensing device is used through the perception feedback module to monitor the response status of the target UAV to the control command in real time, and to verify the takeover effect of the system, thereby completing the closed-loop management and control of the target UAV.

[0051] The following describes in detail the above-mentioned technical solutions of the present invention with reference to the specific circumstances of the unmanned aerial vehicle reverse takeover method of the present invention.

[0052] The reverse takeover method of this invention includes the following steps: Frequency band detection and signal acquisition: Deploy radio spectrum scanning instruments in the target airspace to collect the communication frequency bands and signal characteristics of the target UAV.

[0053] Protocol identification and decoding: Decode the acquired signals, identify the protocol type used by the target UAV, and parse the data frame structure.

[0054] Link simulation and identity emulation: Based on the protocol identification results, a legitimate control signal is generated by emulating a remote controller to simulate the communication link of the target drone, thereby completing the binding or hijacking of the target drone.

[0055] Control command injection: Inject commands into the target drone, including commands such as forced landing, automatic return to home, or hovering.

[0056] Feedback verification and closed-loop control: The response of the target UAV is monitored through the perception feedback module to confirm whether the takeover is successful and to complete the closed-loop control.

[0057] In summary, the beneficial effects of the embodiments of the present invention include: 1. Non-destructive countermeasures: This embodiment of the invention avoids the destructive risks of traditional physical interference methods by using communication protocol parsing and link simulation technology, and can accurately and harmlessly take over the target drone, ensuring the flight safety of the drone.

[0058] 2. Highly efficient drone takeover capability: The system can quickly identify and take over various mainstream drone communication protocols, including MAVLINK, AFHDS 2A, CRSF, etc., to achieve efficient control of the target drone.

[0059] 3. Multimodal feedback verification: Through multimodal sensing equipment such as radar and video surveillance, the flight status of the target UAV after takeover is ensured to conform to the preset instructions, thereby improving the accuracy and safety of takeover.

[0060] 4. Wide applicability: This technology is applicable to airspace security supervision in transportation hubs, critical infrastructure, and high-security areas, and can effectively prevent the intrusion threat of illegal drones.

[0061] Device Example 1 This invention provides an electronic device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor. When the computer program is executed by the processor, it performs the steps described in the method embodiment.

[0062] Device Example 2 This invention provides a computer-readable storage medium storing an information transmission implementation program, which, when executed by a processor, performs the steps described in the method embodiment.

[0063] The computer-readable storage media described in this embodiment include, but are not limited to, ROM, RAM, disk, or optical disk.

[0064] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A drone reverse takeover system, characterized by The system comprises: a radio frequency signal acquisition module connected with a protocol identification and analysis module, for real-time scanning and acquiring radio frequency signals in a target airspace, and determining the communication frequency band and modulation characteristics of the target unmanned aerial vehicle through spectrum analysis; a protocol identification and analysis module connected with the radio frequency signal acquisition module and a link simulation and identity simulation module, for identifying and analyzing the communication link and communication protocol of the target unmanned aerial vehicle according to the communication frequency band and modulation characteristics, and obtaining an analysis result of the target unmanned aerial vehicle; a link simulation and identity simulation module connected with the protocol identification and analysis module and a control instruction injection module, for constructing a simulated communication link and a virtual remote controller identity of the target unmanned aerial vehicle based on the analysis result; a control instruction injection module connected with the link simulation and identity simulation module and a perception feedback module, for injecting control instructions into the target unmanned aerial vehicle by using the virtual remote controller identity and through the simulated communication link, and taking over the control link of the target unmanned aerial vehicle according to the control instructions; a perception feedback module connected with the control instruction injection module, for monitoring the response state of the target unmanned aerial vehicle to the control instructions in real time through a multi-modal perception device, verifying the takeover effect of the system, and completing closed-loop control of the target unmanned aerial vehicle.

2. The system of claim 1, wherein, The protocol identification and analysis module comprises: a signal acquisition unit connected with a data processing unit, for extracting a digital baseband signal related to a target protocol from the radio frequency signals according to the communication frequency band and modulation characteristics; a data processing unit connected with the signal acquisition unit and a protocol library, for performing feature extraction and pattern matching on the digital baseband signal based on related information in the protocol library, obtaining the communication link and communication protocol type of the target unmanned aerial vehicle, and performing reverse analysis on the data frame structure to extract the control instruction format of the target unmanned aerial vehicle; wherein the analysis result comprises the communication link and communication protocol type of the target unmanned aerial vehicle, and the control instruction format of the target unmanned aerial vehicle; a protocol library connected with the data processing unit, for storing related information of various unmanned aerial vehicle communication protocols.

3. The system of claim 1, wherein, The link simulation and identity simulation module comprises a protocol simulator and a frequency hopping synchronization unit in communication connection with each other; The protocol simulator is used for reproducing the control instruction format of the target unmanned aerial vehicle based on the analysis result, simulating the communication interaction process between the target unmanned aerial vehicle and the ground station, and sending signals according to the transmission rate and instruction sending time sequence specified by the target protocol, so as to keep the receiving rhythm of the system and the target unmanned aerial vehicle synchronized; The frequency hopping synchronization unit is used for capturing the frequency hopping law of the target unmanned aerial vehicle, adjusting the transmission frequency of the system in real time according to the frequency hopping law, keeping the system consistent with the current communication frequency of the target unmanned aerial vehicle, and performing anti-frequency hopping interference adaptation when detecting abnormal frequency hopping of the target unmanned aerial vehicle, so as to maintain stable transmission of the communication link.

4. The system of claim 1, wherein, The system further comprises a main control board and an SDR radio frequency board in communication connection with each other; The main control board is used for operation scheduling and data interaction of the whole system; The SDR radio frequency board is used for transmission, analysis and processing of system radio frequency signals.

5. The system of claim 4, wherein, The master board comprises a network card, a master chip and GPIO pins. The SDR radio board comprises an FPGA programmable logic chip, an AD / DA data acquisition module, an analog front end and an integrated radio frequency transceiver.

6. The system of claim 1, wherein, The system further comprises: A high-precision positioning module for taking over the navigation system of the target UAV through real-time kinematic differential positioning technology (RTK) or visual simultaneous localization and mapping (SLAM) technology.

7. The system of claim 1, wherein, The system further comprises: A directional energy interference device for interfering with the electronic system of the target UAV through a microwave beam. 8.A method for reverse takeover of a UAV, the method comprising: It comprises: Real-time scanning and acquisition of radio frequency signals in the target airspace through a radio frequency signal acquisition module, and determination of the communication frequency band and modulation characteristics of the target UAV through spectrum analysis; Identification and analysis of the communication link and communication protocol of the target UAV according to the communication frequency band and modulation characteristics through a protocol identification and analysis module to obtain the analysis result of the target UAV; Construction of a simulated communication link and a virtual remote controller identity of the target UAV based on the analysis result through a link simulation and identity simulation module; Injection of control instructions into the target UAV using the virtual remote controller identity and through the simulated communication link through a control instruction injection module, taking over the control link of the target UAV according to the control instructions; Real-time monitoring of the response state of the target UAV to the control instructions using multi-modal sensing devices through a perception feedback module, verifying the takeover effect of the system, and completing the closed-loop control of the target UAV.

9. An electronic device, comprising: It comprises: A memory, a processor and a computer program stored on the memory and executable on the processor, which when executed by the processor implements the steps of the UAV reverse takeover method as claimed in claim 8.

10. A computer-readable storage medium, characterized in that, The computer readable storage medium stores an information transmission implementation program, and the program is executed by the processor to implement the steps of the UAV reverse takeover method as claimed in claim 8.

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