Attachment machine control method and device and unmanned aerial vehicle countering system

Abstract

The invention relates to the technical field of unmanned aerial vehicle countering, in particular to an interception machine control method and device, an unmanned aerial vehicle countering system and a computer readable storage medium. According to the method, a target object in a to-be-detected area is automatically detected, if the target object enters the range of a short-range defense circle, configuration information for the interception machine is automatically generated according to information such as the flight attitude of the target object, and the interception machine is automatically configured, so that the interception machine is automatically in a standby state; an operator only needs to confirm whether interception is carried out or not, and after the operator confirms interception, the interception machine automatically tracks the target object and adjusts the posture of the interception machine to intercept the target object. In this way, the task interaction complexity in a short-range defense scene is greatly reduced, and fast decision making for short-range interception is facilitated.

Description

Technical Field

[0001] This application relates to the field of unmanned aerial vehicle (UAV) countermeasures technology, specifically to an interceptor control method, device, UAV countermeasures system, and computer-readable storage medium. Background Technology

[0002] A drone countermeasure system is a comprehensive defense system specifically designed to detect, identify, track, and interfere with or physically intercept drones. It is an important technological means to deal with the growing drone threat.

[0003] In our research, we discovered that, for scenarios such as the "last 1km" of close-range defense, traditional systems rely heavily on manual confirmation for task commands, status monitoring, and anomaly handling. This results in insufficient interaction efficiency and fault tolerance, hindering timely and secure interception and control in dynamic environments with clearly defined strike radius constraints. Therefore, under conditions of tight timeframes for close-range interception, a drone countermeasure method focusing on reachability, security, and real-time interactive control is needed. Summary of the Invention

[0004] In view of the above problems, embodiments of this application provide an interceptor control method, device, unmanned aerial vehicle (UAV) countermeasure system, and computer-readable storage medium to solve the above-mentioned technical problems existing in the prior art.

[0005] According to one aspect of the embodiments of this application, an interceptor control method is proposed, comprising: Acquire detection information of a target object within a detection area, wherein a short-range defense circle is set within the detection area, and the detection information includes attitude information and position information; and obtain the target distance of the target object from the short-range defense circle based on the position information; If the target distance is less than a preset safe distance threshold, configuration information for the interceptor is generated based on the attitude information of the target object, and the interceptor is configured according to the configuration information. In response to an interception command for the target, the interceptor is controlled to intercept the target according to the interception command; Obtain the tracking information generated by the interceptor; The interceptor adjusts its attitude based on the tracking information and intercepts the target.

[0006] Preferably, in some embodiments, before generating configuration information for the interceptor based on the attitude information of the target, the method further includes: The geometric reachability of the interceptor is determined based on the target distance of the target object; The dynamic reachability of the interceptor is determined based on the attitude information of the target object; The interceptor to be called is determined based on the geometric reachability and the dynamic reachability.

[0007] Preferably, in some embodiments, configuring the interceptor according to the configuration information includes: Displays information about the interceptor to be called up; In response to the selection operation for the interceptor to be invoked, the configuration of the interceptor is completed.

[0008] Preferably, in some embodiments, obtaining the tracking information generated by the interceptor includes: The interceptor acquires at least two of the following information: wide-range environmental information of the target captured by its wide-angle camera, detailed information of the target captured by its telephoto camera, laser ranging information of the target from the interceptor, and millimeter-wave radar information of the target from the interceptor. The tracking information is generated by fusing the at least two types of information.

[0009] Preferably, in some embodiments, adjusting the attitude of the interceptor based on the tracking information further includes: The relative attitude information of the target object is obtained based on the tracking information; The relative distance, relative height difference, relative velocity vector, and relative azimuth angle between the target and the interceptor are synchronized based on the real-time attitude information of the target.

[0010] Preferably, in some embodiments, the interception of the target object further includes: If at least two pieces of information are consistent, and the interceptor enters the terminal guidance zone, then the relative attitude information of the interceptor is obtained; If the relative attitude information meets the conditions for interception, then an interception operation is performed on the target object.

[0011] Preferably, in some embodiments, the method further includes: If at least two types of information are consistent, and the interceptor enters the terminal guidance zone, then the relative attitude information of the interceptor is obtained; If the relative attitude information meets the conditions for performing the interception operation, the interception operation confirmation interface will be displayed. In response to input regarding the interception operation, either the interception operation is executed or the interception operation is terminated.

[0012] Preferably, in some embodiments, the method further includes: If the target object exceeds the interception range of the interceptor, an alarm message is generated; In response to input of the alarm information, the interception operation is terminated.

[0013] According to another aspect of the embodiments of this application, an interceptor control device is proposed, comprising: a processor, a memory, a communication interface, and a communication bus, wherein the processor, the memory, and the communication interface communicate with each other through the communication bus; The memory is used to store at least one program that causes the processor to execute the interceptor control method described in the above embodiments.

[0014] According to a third aspect of the embodiments of this application, a drone countermeasure system is proposed, comprising: a detection and identification device, an interceptor control device as described in the above embodiments, and an interceptor; The detection and identification device is used to detect targets within the detection area and generate detection information. The interceptor control device is used to invoke the interceptor based on the detection information; The interceptor is used to intercept the target object under the control of the interceptor control equipment.

[0015] According to a fourth aspect of the embodiments of this application, a readable computer storage medium is provided, the storage medium storing at least one program, which, when run on an interceptor control device, causes the interceptor control device to perform the interceptor control method described in the above embodiments.

[0016] In summary, this application's embodiments automatically identify targets within the detection area. If a target enters the close-range defense range, the system automatically generates configuration information for the interceptor based on the target's flight attitude and other information, and automatically configures the interceptor, putting it into a standby state. The operator only needs to confirm whether to intercept. Once the operator confirms the interception, the interceptor automatically tracks the target and adjusts its attitude to intercept it. This approach enables the interceptor to possess stable, real-time human-machine collaborative decision-making capabilities in high-speed close-range defense. The operator only needs to confirm or reject the system's suggestions, significantly reducing the complexity of task interaction in close-range defense scenarios and facilitating rapid decision-making for close-range interception.

[0017] The above description is merely an overview of the technical solutions of the embodiments of this application. In order to better understand the technical means of the embodiments of this application and to implement them in accordance with the contents of the specification, and to make the above and other objects, features and advantages of the embodiments of this application more obvious and understandable, specific implementation methods of this application are described below. Attached Figure Description

[0018] The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings: Figure 1 This is a schematic diagram of the structure of the unmanned aerial vehicle (UAV) countermeasure system proposed in the embodiments of this application; Figure 2 This is a flowchart illustrating the interceptor control method proposed in an embodiment of this application; Figure 3 This is a schematic diagram of the execution flow of the interceptor control method proposed in the embodiments of this application; Figure 4 This is a schematic diagram of the interceptor control device proposed in an embodiment of this application. Detailed Implementation

[0019] Exemplary embodiments of the present application will now be described in more detail with reference to the accompanying drawings. Although exemplary embodiments of the present application are shown in the drawings, it should be understood that the present application may be implemented in various forms and should not be limited to the embodiments set forth herein.

[0020] Unmanned aerial vehicle (UAV) countermeasure systems typically consist of detection, identification, tracking, and physical interception, and are a crucial technological means to address the growing threat of UAVs. The detection unit is responsible for detecting the presence and location of UAVs using technologies such as radar, electro-optical detection, and radio. Radar systems are suitable for long-range detection, providing position and speed information; electro-optical detection technology uses infrared and optical sensors to capture the thermal radiation and images of UAVs, suitable for high-precision short-range detection; radio technology primarily achieves multi-dimensional detection and identification of target signals through high-precision acquisition of radio frequency signals, full-band spectrum feature analysis, and protocol layer parsing. The identification unit uses image recognition and signal analysis to confirm the identity and threat level of detected UAVs. This process involves complex algorithms and database comparisons to ensure accurate differentiation between friendly UAVs and potential threats. The tracking unit continuously tracks detected UAVs, updating their position and trajectory in real time. This function is crucial for subsequent interception operations, ensuring the defense system can respond promptly to the dynamic changes of UAVs. The physical interception unit uses physical means (such as interceptors, net guns, and lasers) to directly intercept or destroy UAVs. An interceptor is a specially designed unmanned aerial vehicle (UAV) used to escort and ram intruding UAVs for close-range defense. Physical interception requires a high degree of maneuverability and precision to ensure the mission can be completed safely and effectively in high-speed, close-range airspace.

[0021] In existing drone countermeasure systems, for the "last 1km" scenario of short-range defense, manual collision is often initiated via remote control image transmission. However, cloud-based command and control systems are inadequate in target reachability verification, execution risk warnings, and emergency abort / evasion mechanisms. Operators often need to switch between multiple interfaces to confirm mission status, lacking a unified interaction logic and closed-loop control mechanism, resulting in decreased mission execution accuracy and user experience. Furthermore, existing drone countermeasure systems rely heavily on manual confirmation for mission instructions, status monitoring, and anomaly handling, leading to insufficient interaction efficiency and fault tolerance, which is detrimental to achieving timely and safe interception and control in dynamic environments with clearly defined strike radius constraints.

[0022] In view of this, this application proposes an interceptor control method, device, and UAV countermeasure system. Since the time for interception is extremely limited within the short-range defense range of a UAV, traditional methods relying on operator confirmation and operation are ineffective and untimely in countering high-risk targets. This application automatically identifies targets within the detection area. If a target enters the warning range of the short-range defense circle, it is identified as high-risk. Configuration information for the interceptor is automatically generated based on the target's flight attitude and other information, and the interceptor is automatically configured, putting it in a standby state. The operator only needs to confirm whether to intercept. Once the operator confirms the interception, the interceptor automatically tracks the target and adjusts its attitude to intercept it. This approach enables the interceptor to have stable, real-time human-machine collaborative decision-making capabilities in high-speed short-range defense. The operator only needs to confirm or reject the system's suggestions, greatly reducing the complexity of task interaction in short-range defense scenarios and facilitating rapid decision-making in close-range interception.

[0023] Furthermore, in order to improve the accuracy of interceptor interception, the embodiments of this application also perform a final threshold verification again when the impact operation conditions are met. This includes verifying whether the camera viewpoint is consistent, whether the attitude angle threshold meets the conditions, relative speed, communication quality, and battery limit, etc., to ensure that the final safety constraint judgment is implemented within the shortest time window, avoiding interceptor overstepping the boundary or blind collision. This improves the effectiveness of UAV countermeasures while taking into account safety and compliance.

[0024] like Figure 1 The diagram shows an architecture schematic of a drone countermeasure system proposed in an embodiment of this application. The system includes a detection and identification device, an interceptor control device, and an interceptor.

[0025] The detection and identification equipment is used to detect the area to be detected and to determine the direction or identify detected objects. This equipment can be radar, camera, infrared, sonar, etc., capable of scanning and identifying objects within the detection area to determine the type, location, speed, and flight attitude of the target. The aforementioned detection and identification equipment can also be used in conjunction with various types of detection devices. The detection equipment primarily works in conjunction with the interceptor control equipment. After detecting the area to be detected, it sends the detection information to the interceptor control equipment so that the interceptor control equipment can intercept or track the target. Simultaneously, during the interception and tracking process, the detection and identification equipment continuously detects the target and reports the detection information in real time, allowing the interceptor control equipment to adjust the interceptor's flight status.

[0026] The interceptor is the physical interception unit in the UAV countermeasure system, used to escort and collide with intruding UAVs for close-range defense. Based on different design and technical characteristics, interceptors can be classified as fixed-wing interceptors, rotary-wing interceptors, laser interceptors, and electronic warfare interceptors, etc. Under the control of the interceptor control equipment, the interceptor intercepts and adjusts the attitude of the target. In this embodiment, the UAV countermeasure system may include multiple interceptors, and the interceptor control equipment selects and schedules appropriate interceptors as needed.

[0027] The interceptor control device is used in conjunction with the detection and identification device to schedule and control the interceptor for escorting and intercepting targets within the detection area. The interceptor control device can be a handheld remote control operated by a personnel hand. This remote control can operate the interceptor control method independently or in conjunction with a cloud server, serving as the operating interface for the cloud server. The two interact and cooperate to complete relevant operations. Alternatively, the interceptor control device can be a cloud server, which can be equipped with a CUAS command and control system. The CUAS command and control system connects to the detection and identification device and the interceptor via a network. The remote control or cloud server runs the interceptor control method and provides a visual operating interface through its own display screen or a connected display device.

[0028] Specifically, the interceptor control device operates the interceptor control method proposed in the embodiments of this application.

[0029] like Figure 2 As shown in the embodiment of this application, the interceptor control method is executed by the aforementioned interceptor control device and includes the following steps: Step S100: Obtain detection information of a target object within the detection area, wherein a short-range defense circle is set within the detection area, and the detection information includes attitude information and position information; and obtain the target distance of the target object from the short-range defense circle based on the position information; The detection information is obtained by scanning and identifying the area to be detected by the detection and identification device in the UAV detection system. The detection and identification device can use common detection methods and identification methods to identify the target object, including but not limited to radar, image, radio, infrared, etc.

[0030] The target distance is the distance between the target and the close-range defense circle. The detection information includes the target's position information and attitude information, including azimuth information, flight speed, flight altitude, etc. The above information can be easily measured by the detection and identification device.

[0031] Step S200: If the target distance is less than a preset safe distance threshold, then generate configuration information for the interceptor based on the attitude information of the target object, and configure the interceptor according to the configuration information; When the target distance is greater than a preset safe distance threshold, the system can track or intercept the target object according to the preset settings. This can be done manually or in other ways.

[0032] When the target distance is less than a preset safe distance threshold, for example, less than 1 km, it indicates that the target is very close to the close-range defense zone and close-range defense is required. When conducting close-range defense, time is extremely tight, requiring rapid decision-making, which is precisely the problem this embodiment aims to solve. When the system determines that the target is very close, it automatically activates the close-range defense mode and automatically generates the interceptor's configuration information based on the target's attitude information. This process requires no operator intervention.

[0033] The configuration information includes attitude information settings, cue color threshold settings, camera calibration pixels, compensation parameter settings, and altitude parameter settings. The attitude information settings include horizontal angle and pitch angle settings. The cue color threshold is used in UAV countermeasure systems to indicate the operator's current task status or risk level by setting specific color thresholds. It is typically used to visually reflect the system's judgment results, helping the operator make quick decisions. The camera calibration pixel settings mainly calibrate the camera's pixel size and image resolution, ensuring that each pixel in the image corresponds to an accurate distance in actual space. Pixel calibration improves image measurement accuracy, enabling the system to more accurately determine the distance, speed, and direction of the target UAV. The compensation parameter settings mainly set parameters to compensate for camera distortion, environmental factors (such as lighting and weather), and other system errors, reducing measurement errors caused by camera distortion and environmental factors, and improving the accuracy and stability of target detection. The altitude parameter setting is mainly used to set the interceptor's flight altitude and the relative altitude of the target, ensuring that the system can effectively detect and intercept within a suitable altitude range. By setting reasonable altitude parameters, the detection range and interception effect can be optimized, avoiding detection blind spots or interception failures caused by improper altitude.

[0034] In some embodiments, when multiple interceptors are available for dispatch, in order to determine the most suitable interceptor for interception, in this application embodiment, the interceptor control device first determines the geometric reachability of the interceptor based on the target distance of the target object, and determines the dynamic reachability of the interceptor based on the attitude information of the target object; then, it determines the interceptor to be dispatched based on the geometric reachability and the dynamic reachability.

[0035] The geometric reachability refers to whether the target drone is within the interceptor's maximum pursuit speed and compensable time range, i.e., whether the interceptor can catch up with the target in geographic space. The judgment conditions include the target distance and the pursuit time. That is, the distance of the target drone must be within the range that the difference in the interceptor's maximum pursuit speed can compensate for. At the same time, the time required for the interceptor to catch up with the target does not exceed the system's preset threshold, which is usually the maximum time limit of the drone's battery power.

[0036] The dynamic reachability refers to whether the interceptor can achieve path convergence and stably approach the target under the current speed and maximum overload conditions. The judgment conditions include speed and overload, and the target's maneuvering range. Among them, speed and overload refer to whether the interceptor can achieve path convergence under the current speed and maximum overload conditions, that is, whether it can adjust its flight path to approach the target; the target maneuvering range refers to whether the interceptor can maintain a stable approach within the target UAV's maneuvering range and will not lose tracking due to the target's maneuvering actions.

[0037] This application's embodiments, by comprehensively judging the geometric and dynamic reachability of the interceptor, can assess in real time whether the interceptor can successfully intercept the target drone and determine the appropriate interceptor for scheduling. These judgment mechanisms ensure the real-time performance and security of the interception mission, improving the overall effectiveness of the drone countermeasure system.

[0038] Optionally, in addition to the interceptor control device automatically selecting a suitable interceptor, the operator can also select the UAV to be deployed. Once the geometric and dynamic reachability of the interceptor is determined, the interceptor control device displays information about available interceptors on the interface and recommends them in priority order for the operator to select, ultimately determining the interceptor to be deployed. In response to the operator's selection of the interceptor to be deployed, the interceptor control device designates the user-selected interceptor as the one to be deployed.

[0039] Step S300: In response to an interception command for the target, control the interceptor to escort and intercept the target according to the interception command; After the interceptor to be called is determined, the interceptor control device actively pops up a confirmation interface on the display screen asking whether to perform the interception.

[0040] Since deciding whether to intercept the target is a crucial decision point, in this embodiment of the application, a confirmation interface is proactively popped up at this decision point for the operator to confirm. During the confirmation process, the operator only needs to confirm whether to intercept, without needing to perform any other operations or judgments, which greatly simplifies the confirmation process.

[0041] If interception is required, proceed to step S400; if interception is not required, terminate the process.

[0042] Step S400: Obtain the tracking information generated by the interceptor; Once the operator selects an interceptor aircraft for interception, the interceptor takes off and flies according to the above configuration information and interception instructions. During flight, the interceptor will use its onboard cameras or radar equipment to photograph and track the target object. That is, it will escort the target object before interception and take pictures and collect evidence of the target object during the escort flight to complete the collection of evidence chain, including taking pictures, recording videos, and locating the pilot.

[0043] The interceptor aircraft is typically equipped with wide-angle cameras, telephoto cameras, lidar, or millimeter-wave radar. The wide-angle camera provides a broad field of view, covering a wider area, and is primarily used to capture extensive environmental information about the target, helping the operator understand the target drone's position and movement trends over a larger spatial area, ensuring the target is not lost. In the initial stages of a mission, the wide-angle camera quickly detects and locates the target drone, providing initial information for subsequent interception and ensuring a rapid system response. During the escort phase, the wide-angle camera monitors the relative position and attitude between the interceptor and the target drone, ensuring the interceptor remains stable and does not deviate from the target. The telephoto camera is mainly used for identifying local details, providing high-magnification magnification to clearly capture detailed information about the target, helping the operator confirm the target drone's identity, direction, and position, ensuring the accuracy of the interception. During the tracking and interception phase, the telephoto camera precisely locks onto the target drone, providing high-precision position information, ensuring the interceptor can accurately align itself when approaching and intercepting the target, improving the impact success rate. The lidar is used for laser ranging of targets, generating laser ranging information, and can accurately obtain the target's position and attitude information. The millimeter-wave radar ranges the target by emitting millimeter waves, generating millimeter-wave radar information, complementing the lidar and compensating for each other's shortcomings.

[0044] Step S500: Adjust the attitude of the interceptor according to the tracking information, and escort and intercept the target. This step fuses at least two types of information from wide-angle cameras, telephoto cameras, LiDAR, and millimeter-wave radar into the system, providing more comprehensive and accurate target situational awareness to ensure the interceptor intercepts in the optimal posture. By combining the wide-area situational awareness of the wide-angle camera with the precise detail recognition of the telephoto camera, the system can provide reliable information support at different stages, thereby improving the overall mission success rate and security. Through the collaborative work of the wide-angle and telephoto cameras, the UAV countermeasure system can effectively cope with various UAV threats in complex environments, ensuring the successful completion of the interception mission. LiDAR enables high-definition modeling of targets, while millimeter-wave radar avoids the influence of weather, achieving all-weather interception.

[0045] Furthermore, to improve the interception effect, the interceptor control device can also synchronize the relative attitude between the interceptor and the target object based on the real-time attitude information of the target object provided by the tracking information, so as to help the interceptor control device to correct the attitude of the interceptor in real time and improve the interception effect.

[0046] The synchronization of the relative attitude between the interceptor and the target mainly includes synchronizing the relative distance, relative height difference, relative velocity vector, and relative azimuth angle between the two. The relative distance refers to the real-time distance between the interceptor and the target, ensuring the target is within the interceptor's effective interception range. The relative height difference refers to the height difference between the interceptor and the target. The relative velocity vector refers to the difference in velocity between the interceptor and the target in the horizontal or vertical direction. The relative azimuth angle refers to the angle between the nose direction of the interceptor and the nose direction of the target; this angle is primarily used to determine the impact window. The interceptor control equipment can calculate the estimated arrival time of the interceptor to the target using the aforementioned relative distance, relative height difference, relative velocity vector, and relative azimuth angle, providing a reference for the final interception operation.

[0047] During the interceptor's approach phase, the interceptor's wide-angle camera generates visual cues (positioning boxes) for the target and displays relative distance arrows and horizontal / tilt angle cursors at the front end to facilitate further judgment by the operator. This method allows for real-time situational awareness before entering the aiming phase, shortening the correction response chain. Simultaneously, position correction can be performed using lidar or millimeter-wave radar, integrated with the wide-angle camera data.

[0048] After entering the tracking phase, the telephoto lens video stream, wide-angle lens video stream, and lidar or millimeter-wave radar are used together for stable locking. The interceptor control equipment calculates attitude and heading errors and iterates the optimal interception attitude. If a deviation is detected, the interceptor control equipment provides interactive correction. By using multi-view information fusion, the stability and position accuracy of target locking are improved, thereby increasing the success rate of subsequent impact alignment.

[0049] Furthermore, in this embodiment, to implement the safest decision-making within the shortest time window, a safety constraint judgment and a final threshold check are performed before the interceptor impacts the target to avoid boundary crossing or blind collision. Specifically, if the view from the wide-angle camera and the captured view from the telephoto camera are superimposed and displayed consistently (i.e., the normalized deviation between the projected coordinates of the target center in the wide-angle view and the center coordinates in the telephoto view is less than a preset threshold), and the interceptor enters the terminal guidance zone, then the relative attitude information of the interceptor is acquired. If the relative attitude information meets the conditions for interception, then the target is intercepted. Optionally, the view from the wide-angle camera and the captured view from the telephoto camera can be combined with detection data from lidar or millimeter-wave radar for mutual verification. It should be noted that any two of the above-mentioned wide-angle camera view, telephoto camera captured view, lidar ranging information, and millimeter-wave radar information can be fused to generate tracking information; this is not specifically limited in this embodiment.

[0050] During safety constraint judgment and final threshold verification, if any two of the views from the wide-angle camera, the telephoto camera, the laser ranging information, and the millimeter-wave radar information are consistent, it indicates that the interceptor and the target are in a stable escort phase, and a "Stable Escort" prompt can be displayed on the display interface of the interceptor control device. Simultaneously, it is determined whether the interceptor has entered the terminal guidance zone. The terminal guidance zone refers to a series of conditions and ranges that the interceptor must meet in the final stage of approaching and preparing to intercept the target UAV. Within this zone, the system will perform precise attitude and position adjustments to ensure the accuracy and safety of the impact. If the interceptor is in the stable escort phase and has entered the terminal guidance zone, the relative attitude information of the interceptor is acquired. This relative attitude information is used to determine whether the interceptor meets the minimum conditions for executing the action, such as whether communication is normal, whether the battery is sufficient, and whether the command link is normal. The relevant status of the interceptor can be displayed on the display interface. If the above conditions are met, the interceptor will intercept the target. This interception can be achieved by the interceptor directly impacting the target, or by the interceptor using its onboard capture net to capture the target. If the above conditions are not met, the interceptor will automatically block the attack and prompt for manual intervention or a switch to alternative methods, such as laser interception or radio interference.

[0051] Furthermore, optionally, to provide final confirmation or cancellation of the interceptor's impact operation, in this embodiment, the above embodiments may further include displaying an interception operation confirmation interface when the relative attitude information meets the conditions for executing the interception operation; the operator only needs to click the confirmation or cancellation button on the interface to complete the final confirmation. When the operator selects confirmation, the interceptor control device responds to the input for the interception operation and executes the interception operation. When the operator selects cancellation, the interceptor control device responds to the input for the interception operation, terminates the interception operation, and the interceptor returns to base.

[0052] Meanwhile, if, during the interception process, the interceptor determines that the target has exceeded its interception range based on the target's location information, an alarm message can be automatically generated and displayed on the operation interface for the operator to confirm. Upon confirmation of the alarm message, the interception operation of the interceptor is automatically terminated, causing the interceptor to return to base automatically.

[0053] In this embodiment of the application, the operator does not need to make any complex judgments during operation. He only needs to confirm or cancel the operation according to the system's suggestion. While improving combat effectiveness, taking into account safety and compliance, it simplifies the user operation and decision-making process and can better adapt to user confirmation under the tight conditions of close-range interception.

[0054] Optionally, in addition to manual operation by the operator, the confirmation operation during the interceptor escort and interception process can also be triggered by voice commands, which can further reduce the operator's operation time.

[0055] In summary, the interceptor control method proposed in this application enables the interceptor to have stable and real-time human-machine collaborative decision-making capabilities in high-speed close-range defense. The operator only needs to confirm or reject the system's suggestions, which greatly reduces the complexity of task interaction in close-range defense scenarios and is conducive to rapid decision-making in response to close-range interception.

[0056] like Figure 3 The diagram shows a schematic representation of the entire process by which the interceptor control device controls the interceptor.

[0057] S10: Control the identification device to identify the area to be detected, identify high-risk targets, and send the identified high-risk targets to the interceptor control device.

[0058] S11: The interceptor control device determines the target distance of the high target from the close-range defense circle. If the target distance from the close-range defense circle is less than a preset safe distance threshold, proceed to step S12.

[0059] S12: Based on the attitude information of the high-risk target, determine the interceptor that meets the geometric reachability and dynamic reachability conditions, generate the interceptor information to be called, and generate configuration information for the interceptor to be called.

[0060] S13: Determine whether the interceptor to be called is at the top of the list; In a drone countermeasure system, determining whether the interceptor is prioritized is crucial to ensure that the interceptor is in optimal condition and can respond to mission requests first. Checking whether the interceptor is in standby mode and at the top of the mission execution sequence ensures that the interceptor can respond and execute the mission immediately when needed, avoiding mission delays due to equipment insecurity or insufficient priority. By determining the interceptor's priority before mission execution, the system ensures that the interceptor is in optimal condition and prioritizes the current mission, thereby improving the overall effectiveness and reliability of the drone countermeasure system.

[0061] S14: If the interceptor to be called is not at the top of the queue, then bring the interceptor to the top of the queue.

[0062] S15: If the connection is successful, proceed to step S12 and repeat the process of determining the interceptor to be called; if the connection fails, repeat the connection process until it is successful or an operator intervenes.

[0063] S16: After the interceptor is in position, initiate escort and interception operations; S17: A confirmation button is displayed in a pop-up window on the display interface of the interceptor control device; In this step, the interceptor control equipment completes the scheduling and online deployment of the interceptors, and the operator only needs to make a confirmation decision. If the operator clicks the confirm button, proceed to step 18; if the operator clicks the deny button, the interceptor scheduling is restarted.

[0064] S18: The interceptor takes off and approaches the high-risk target according to the configuration information, calls the wide-angle camera and telephoto camera to acquire video streams, and reports the relative attitude and equipment status information to the interceptor control equipment.

[0065] S19: During the approach, the interceptor's wide-angle camera generates a visual cue (positioning frame) for the target and displays information by drawing a relative distance arrow and a cursor indicating the horizontal and vertical angles at the front end.

[0066] S20: During tracking, the telephoto video stream and wide-angle stabilized lock are used together. The system calculates attitude / heading errors and iterates to find the optimal interception attitude. If a deviation is detected, the system provides interactive correction (manual operation via external remote control) or automatic correction suggestions (program control). The system interface will synchronize the "wide-angle main screen + telephoto sub-screen" in real time. When the target in the two screens is significantly inconsistent, for example, the target is still centered in the wide-angle screen, but the target is off-center or cropped at the edge in the telephoto screen, the display interface will provide visual feedback (color prompts, border flashing, changes in alignment marks, etc.) to prompt the operator with "attitude deviation" or make automatic adjustments.

[0067] S21: When the interceptor is in the optimal interception state, the display interface of the interceptor control device will pop up a confirmation interface to ask whether to make an impact.

[0068] S22: Confirm whether to proceed with a collision; The final confirmation step before interception requires no complex judgment from the operator. They simply confirm or cancel the operation based on the system's suggestion. This improves operational efficiency while ensuring safety and compliance, simplifying user operation and decision-making processes, and better adapting to the time-sensitive conditions of close-range interception. If the collision is confirmed, proceed to step S23; if the collision is canceled, proceed to step S25.

[0069] S23: After the interceptor strikes the target, confirm whether the interception was successful; The process is automatically determined by the interceptor's control equipment. If successful, the interceptor returns to base; otherwise, it readjusts to the optimal interception state to prepare for the next impact.

[0070] S24: Interceptor aircraft returns to base; S25: Mission terminated, interceptor returns to base.

[0071] As can be seen from the process of intercepting high-risk targets by the interceptor control equipment described above, during the entire interception process, the interceptor control equipment automatically determines whether the target has entered the close-range defense range. If it has entered the close-range defense range, it automatically generates configuration information for the interceptor based on the target's flight attitude and other information, and automatically configures the interceptor, putting it into a standby state. The operator only needs to confirm whether to intercept. After the operator confirms the interception, the interceptor automatically tracks the target and adjusts its own attitude to intercept the target, greatly reducing the task interaction complexity in close-range defense scenarios.

[0072] In other embodiments, such as Figure 4As shown in the embodiments of this application, an interceptor control device is also proposed. The interceptor control device is used to run the interceptor control method proposed in the above embodiments. The interceptor control device may include: a processor 402, a memory 406, a communication interface 404, and a communication bus 408.

[0073] The processor 402, memory 406, and communication interface 404 communicate with each other via communication bus 408. The memory 406 stores at least one program 410, which causes the processor 402 to execute steps related to the interceptor control method proposed in this application embodiment.

[0074] Specifically, program 410 may include program code, which includes computer-executable instructions.

[0075] Processor 402 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application. The interceptor control device includes one or more processors, which may be processors of the same type, such as one or more CPUs; or they may be processors of different types, such as one or more CPUs and one or more ASICs.

[0076] Memory 406 is used to store program 410. Memory 406 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0077] Specifically, program 410 can be called by processor 402 to cause the interceptor control device to execute the above-described interceptor control method proposed in the embodiments of this application, which will not be repeated here.

[0078] This application also provides a computer-readable storage medium storing executable instructions. When the executable instructions are executed on the interceptor control device, the interceptor control device performs the interceptor control method provided in any of the above embodiments.

[0079] This application also provides an interceptor control program for executing the interceptor control method provided in the above embodiments.

[0080] The algorithms or displays provided herein are not inherently related to any particular computer, virtual system, or other device. Various general-purpose systems can also be used in conjunction with the teachings herein. The required structure for constructing such systems is apparent from the above description. Furthermore, the embodiments of this application are not directed to any particular programming language. It should be understood that the content of this application described herein can be implemented using various programming languages, and the above description of specific languages ​​is for the purpose of disclosing the best mode of implementation of this application.

[0081] Numerous specific details are set forth in the specification provided herein. However, it will be understood that embodiments of this application may be practiced without these specific details. In some instances, well-known methods, structures, and techniques have not been shown in detail so as not to obscure the understanding of this specification.

[0082] Similarly, it should be understood that, in order to simplify this application and aid in understanding one or more of the various aspects of the invention, in the above description of exemplary embodiments of this application, various features of the embodiments of this application are sometimes grouped together into a single embodiment, figure, or description thereof.

[0083] Those skilled in the art will understand that modules in the device of the embodiments can be adaptively changed and placed in one or more devices different from that embodiment. Modules, units, or components in the embodiments can be combined into a single module, unit, or component, and can be divided into multiple sub-modules, sub-units, or sub-components. Except where at least some of such features and / or processes or units are mutually exclusive, any combination can be used to combine all features disclosed in this specification (including the accompanying abstract and drawings) and all processes or units of any method or device so disclosed. Unless expressly stated otherwise, each feature disclosed in this specification (including the accompanying abstract and drawings) may be replaced by an alternative feature that serves the same, equivalent, or similar purpose.

[0084] It should be noted that the above embodiments are illustrative of this application and not restrictive, and those skilled in the art can design alternative embodiments without departing from the scope. Unless otherwise specified, the steps in the above embodiments should not be construed as limiting the order of execution.

Claims

1. A method for controlling an interceptor, characterized in that, include: Acquire detection information of a target object within a detection area, wherein a short-range defense circle is set within the detection area, and the detection information includes attitude information and position information; and obtain the target distance of the target object from the short-range defense circle based on the position information; If the target distance is less than a preset safe distance threshold, configuration information for the interceptor is generated based on the attitude information of the target object, and the interceptor is configured according to the configuration information. In response to an interception command for the target, the interceptor is controlled to intercept the target according to the interception command; Obtain the tracking information generated by the interceptor; The interceptor adjusts its attitude based on the tracking information and intercepts the target.

2. The method according to claim 1, characterized in that, Before generating configuration information for the interceptor based on the attitude information of the target, the method further includes: The geometric reachability of the interceptor is determined based on the target distance of the target object; The dynamic reachability of the interceptor is determined based on the attitude information of the target object; The interceptor to be called is determined based on the geometric reachability and the dynamic reachability.

3. The method according to claim 1, characterized in that, The step of configuring the interceptor according to the configuration information includes: Displays information about the interceptor to be called up; In response to the selection operation for the interceptor to be invoked, the configuration of the interceptor is completed.

4. The method according to claim 1, characterized in that, The acquisition of the tracking information generated by the interceptor includes: The interceptor acquires at least two of the following information: wide-range environmental information of the target captured by its wide-angle camera, detailed information of the target captured by its telephoto camera, laser ranging information of the target from the interceptor, and millimeter-wave radar information of the target from the interceptor. The tracking information is generated by fusing the at least two types of information.

5. The method according to claim 4, characterized in that, Adjusting the attitude of the interceptor based on the tracking information further includes: The real-time attitude information of the target object is obtained based on the tracking information; The relative distance, relative height difference, relative velocity vector, and relative azimuth angle between the target and the interceptor are synchronized based on the real-time attitude information of the target.

6. The method according to claim 4, characterized in that, The interception of the target object further includes: If at least two types of information are consistent, and the interceptor enters the terminal guidance zone, then the relative attitude information of the interceptor is obtained; If the relative attitude information meets the conditions for interception, then an interception operation is performed on the target object.

7. The method according to claim 4, characterized in that, The method further includes: If at least two types of information are consistent, and the interceptor enters the terminal guidance zone, then the relative attitude information of the interceptor is obtained; If the relative attitude information meets the conditions for performing the interception operation, the interception operation confirmation interface will be displayed. In response to input regarding the interception operation, either the interception operation is executed or the interception operation is terminated.

8. The method according to claim 1, characterized in that, The method further includes: If the target object exceeds the interception range of the interceptor, an alarm message is generated; In response to input of the alarm information, the interception operation is terminated.

9. An interceptor control device, characterized in that, include: The processor, memory, communication interface, and communication bus are provided, wherein the processor, memory, and communication interface communicate with each other via the communication bus. The memory is used to store at least one program that causes the processor to execute the interceptor control method as described in any one of claims 1-8.

10. A drone countermeasure system, characterized in that, include: Detection and identification equipment, interceptor control equipment as described in claim 9, and interceptor; The detection and identification device is used to detect targets within the detection area and generate detection information. The interceptor control device is used to invoke the interceptor based on the detection information; The interceptor is used to intercept the target object under the control of the interceptor control equipment.

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