Individual-soldier network capturing and anti-unmanned aerial vehicle cooperative intercepting system and method

Abstract

The invention provides an individual soldier net capturing anti-unmanned aerial vehicle collaborative interception system and method, the system is composed of an intelligent emission gun and a net capturing interception unmanned aerial vehicle, the total weight is less than or equal to 6kg, and the system has individual soldier portability and rapid deployment capability. The method comprises the steps that a high-precision launching attitude reference is solved through flight control linkage of an RTK module in a launching gun and an interception unmanned aerial vehicle; after an operator performs optical aiming, an airborne radar seeker searches and stably locks a target; after locking, the system authorizes launching, the interception unmanned aerial vehicle is guided to fly dynamically based on the composite control law of radar tracking and proportional guidance, when the interception unmanned aerial vehicle enters the optimal capture interval, the interception net is released to wind the target unmanned aerial vehicle, and the recovery parachute is opened to enable the two unmanned aerial vehicles to descend slowly and land together. According to the method, high-precision interception (the position deviation is smaller than or equal to 2 m, and the success rate is larger than or equal to 90%) under single-soldier operation is achieved, non-explosive soft killing is adopted in the whole process, and the problems that an existing single-soldier anti-unmanned-aerial-vehicle means is low in precision, slow in response and poor in safety are effectively solved.

Description

Technical Field

[0001] This invention relates to the field of anti-drone technology, and in particular to a single-soldier net-capture anti-drone collaborative interception system and method. Background Technology

[0002] With the popularization of civilian drone technology, incidents of drones illegally intruding, illegally filming, and interfering with public safety are increasing, placing higher demands on the mobility, response speed, and interception security of counter-drone equipment. Currently, mainstream drone countermeasures mainly fall into three categories: swarm deployment, individual soldier operation, and large-scale equipment, but all have significant limitations. Cluster deployment systems (such as fixed or vehicle-mounted drone launch clusters) rely on fixed facilities or vehicle platforms, have long deployment cycles, poor mobility, and are difficult to cope with sudden and flexible protection needs.

[0003] Existing individual soldier equipment mainly includes electromagnetic jamming guns and simple net guns: Electromagnetic jamming guns are easily affected by the environment and the target's anti-jamming capabilities, which may accidentally interfere with surrounding electronic equipment and cannot achieve physical capture and evidence collection; Simple net guns usually fire unpowered, unguided net bullets, lacking initial attitude calibration and precise guidance, resulting in short range, low accuracy, and insufficient interception success rate. Moreover, there is often no recovery design after interception, and the target is prone to causing secondary safety accidents after falling.

[0004] Large equipment systems (such as laser weapons and large radar systems with interceptor missiles) are bulky, energy-intensive, costly, and complex to operate, making them difficult to deploy and use quickly in field or emergency scenarios.

[0005] Therefore, there is an urgent need for a physical interception solution for drones that can be carried by a single soldier, is easy to operate, has high interception accuracy, and can be safely recovered, in order to fill the gaps in existing technologies in the above-mentioned application scenarios. Summary of the Invention

[0006] To address the shortcomings of existing technologies, this invention provides a collaborative interception system and method for anti-drone operations using a single-soldier net. Through a technical chain of "RTK (Real-Time Kinematic) initial attitude calibration - radar guidance for precise locking - composite control law trajectory adjustment - controllable deployment of the interception net - synchronous slow descent and recovery," it solves the technical problems of poor portability, low interception accuracy, slow response, lack of safe recovery capability, and complex operation of existing single-soldier anti-drone methods.

[0007] The first aspect of this invention provides a single-soldier net-catching and anti-drone collaborative interception system, the interception system being implemented based on a single-soldier operating unit, comprising: The individual soldier's operating unit includes a net-capture and interception drone and a smart launcher; Among them, the net-catching and intercepting drone is equipped with a radar seeker, flight control computer, GPS module, four-in-one ESC, motor, propeller, net release mechanism and recovery parachute in the fuselage; the smart firing gun integrates RTK module, optical / infrared sight, status display screen and trigger release mechanism.

[0008] A second aspect of the present invention provides a method for coordinated interception of unmanned aerial vehicles (UAVs) by a single soldier using a net-catching system, comprising: S1. System Deployment and Initial Attitude Calibration: The net-capture interceptor drone is installed into the adapter slot of the smart launcher. A real-time data link is established between the RTK module integrated in the smart launcher and the flight control computer of the net-capture interceptor drone via a point-to-point connection. The RTK module calculates the drone's current high-precision attitude data in real time and transmits it to the flight control computer as the initial attitude reference for launch. The high-precision attitude data includes, but is not limited to, the yaw angle, pitch angle, and roll angle at the moment of launch. The initial attitude reference is used to automatically compensate for handheld jitter errors at the moment of launch. The operator checks the startup and working status of the optical / infrared sight, status display screen, and radar seeker to complete the system deployment. S2. Target Discovery and Aiming Guidance: The operator aims at the target drone through the optical or infrared sight on the smart launcher, and the radar seeker on the drone is activated simultaneously to scan and search the target area; the radar seeker performs clustering, classification and tracking filtering on the scanned point cloud data. S3. Target tracking, lock-on, and launch preparation: Once the radar seeker has continuously and stably tracked and locked onto the target, it sends a lock signal to the flight control computer and provides visual feedback on the status display screen. The flight control computer then controls the motors of the net-capture and interception UAV to start and preheat to a preset speed. The visual feedback includes the lock signal, the battery level of the net-capture and interception UAV, and the motor preheating status. S4. Unmanned Aerial Vehicle Launch and Dynamic Guidance: The operator pulls the trigger, the trigger release mechanism unlocks, and the net-capture interceptor drone flies out along the launch gun guide slot; the flight control computer dynamically generates flight control commands based on the initial launch attitude reference and the target information fed back in real time by the radar seeker, through a composite control law that combines continuous radar tracking and proportional guidance, and guides the net-capture interceptor drone to approach the target drone. S5. Controllable net capture and synchronized parachute recovery: When the relative distance between the net-capturing interceptor drone and the target drone enters the optimal capture range calculated in real time by the flight control computer, the flight control computer sends a net release command. Upon receiving the command, the four-in-one ESC instantly cuts off the power supply to the four motors and triggers the net release mechanism. Under the action of centrifugal force and inertial force, the four motors are simultaneously thrown out, causing the net attached to the net box below the end of the motor mount to quickly unfold and entangle the target drone. At the same time, the recovery parachute inside the fuselage opens, and the net-capturing interceptor drone and the target drone descend slowly to the ground together under the action of the recovery parachute, completing the non-explosive soft-kill interception.

[0009] Furthermore, in step S1, the RTK module integrates GNSS (Global Navigation Satellite System) carrier phase observations with MEMS (Micro-Electro-Mechanical Systems) inertial measurement unit data, and calculates the attitude in real time using a Kalman filter algorithm. The attitude calculation accuracy is ≤0.1° and the calculation delay is ≤100ms.

[0010] Furthermore, in step S3, the determination condition for the radar seeker to continuously and stably track and lock onto the target is: the radar seeker's tracking confidence score for the target continuously exceeds the first threshold for a predetermined duration, and the target's predicted motion trajectory is within the radar seeker's continuous tracking field of view.

[0011] Furthermore, in step S4, the flight control computer dynamically generates flight control commands through a composite control law to guide the net-capture interceptor drone towards the target drone, including: During the initial phase of flight, the flight control computer prioritizes fusing initial attitude reference data to maintain the heading; In the final stage of flight, the radar seeker calculates in real time the relative distance, relative speed, and line-of-sight angle change rate between the target UAV and the interceptor UAV. The flight control computer then switches the composite control law to one based on the target's line-of-sight angle rate. The system uses a proportional guidance law as the main guide and calculates and updates trajectory adjustment commands in real time with a control cycle of ≤10ms. The power output of the motor is dynamically adjusted through the commands to control the flight trajectory of the UAV in real time, ensuring that the relative position deviation between the net-capturing interceptor UAV and the target UAV is ≤2m when the net is deployed.

[0012] Furthermore, the flight control computer's real-time calculation of trajectory adjustment commands includes: The flight control computer calculates the normal acceleration command required for net-capture and interception of the drone in real time based on the proportional guidance formula. The calculation formula is as follows: In the formula, N represents the navigation constant, and V c This indicates the approach speed between the intercepting drone and the target drone. This represents the rate of change of the line-of-sight angle measured by the radar; combined with the UAV dynamics model, the normal acceleration command is decomposed into control commands for the pitch and yaw channels, and finally transformed into differential throttle commands to control the speed of the four motors; at the same time, based on the relative distance and relative velocity calculated in real time by the radar seeker, the axial throttle command is generated.

[0013] Furthermore, in step S5, the optimal capture range is determined based on the deployed size of the interception net and the ranging error of the radar seeker, expressed as follows: , where L net The value represents the unfolded size of the fishing net. k1 and k2 are both coefficients corresponding to the fishing net, with k1 ranging from 0.8 to 1.2 and k2 ranging from 1.5 to 2.0.

[0014] Furthermore, in step S5, the trap net is made of high-strength Kevlar fiber material, with a mesh size ≤0.3m×0.3m.

[0015] Furthermore, in step S5, the opening of the recovery parachute inside the drone's fuselage and the net release command are triggered synchronously.

[0016] Compared with the prior art, the present invention has the following beneficial effects: 1) High portability for individual soldiers: The total weight of the entire operating unit (launch gun + drone) is ≤6kg, which supports single-person carrying and rapid deployment. It does not rely on vehicles or fixed facilities and is suitable for mobile combat scenarios.

[0017] 2) High interception accuracy: It provides a high-precision initial reference through RTK / IMU (Inertial Measurement Unit) and achieves closed-loop guidance by combining radar proportional guidance. The terminal interception position deviation is ≤2 meters, and the theoretical interception success rate is ≥90%, which is better than the existing individual soldier net capture method.

[0018] 3) Net capture is safe and controllable: It adopts a "soft kill" method of pure physical entanglement, without electromagnetic pollution. The unique synchronous parachute opening and slow descent mechanism avoids secondary damage caused by the target falling and can preserve evidence.

[0019] 4) Simplified operation process: The entire process status is visualized, and the display screen provides real-time feedback on key statuses. Operators only need to complete three core operations: "aiming-locking-firing". The response time is ≤10s (from target detection to firing), reducing the operational threshold. Attached Figure Description

[0020] Figure 1 This is a flowchart of a method for coordinated interception of anti-drone drones by a single soldier according to the present invention.

[0021] Figure 2 This is an embodiment of the collaborative interception method for anti-drone net capture according to the present invention. Detailed Implementation

[0022] To enable those skilled in the art to better understand the technical solutions in this specification, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this specification, and not all embodiments. Based on the embodiments in this specification, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this specification.

[0023] Please see Figure 1 , Figure 1 A flowchart of a method for coordinated interception of anti-drone drones by a single soldier, provided in an embodiment of the present invention, includes the following steps: S1. System deployment and initial attitude calibration; S2, Target Discovery and Aiming Guidance; S3, Target Tracking, Lock-in, and Launch Preparation; S4. Unmanned Aerial Vehicle Launch and Dynamic Guidance; S5, controllable net capture and synchronized parachute recovery.

[0024] Please see Figure 2 , Figure 2 This diagram illustrates an embodiment of a collaborative interception method for anti-drone surveillance provided by a single soldier using a net to capture drones. For subsequent detailed implementation procedures, please refer to... Figure 2 Please provide an explanation.

[0025] In one specific embodiment of this example, the system deployment and initial attitude calibration process includes: First, the drone operator inserts the net-capturing interceptor drone into the adapter slot of the smart launcher until the clamping mechanism locks in, completing a secure mechanical connection.

[0026] Subsequently, the launcher's built-in power supply module is activated, and the integrated RTK module establishes a real-time data link with the UAV's flight control computer via a point-to-point connection. The RTK module within the intelligent launcher receives GNSS differential signals from a base station or network RTK service and integrates them with inertial data from its internal MEMS inertial measurement unit (IMU). Using a Kalman filter algorithm, it calculates the high-precision attitude angles (yaw (ψ), pitch (θ), and roll (φ)) of the UAV relative to the launcher in real time at a frequency of no less than 10Hz, with a calculation accuracy of ≤0.1° and a calculation delay of ≤100ms. At the moment of launch, this set of high-precision attitude angles (ψ0, θ0, φ0) recorded by the flight control computer is stored as the initial launch attitude reference, used to automatically compensate for handheld jitter errors at the moment of launch during subsequent flight control.

[0027] Finally, the operator checks the clarity of the optical / infrared sight, confirms that the status display is functioning properly, and that the radar seeker has been successfully started. The status display shows "Seeker Ready," at which point the system deployment and calibration are complete, and the system enters the aiming state.

[0028] In one specific implementation of this embodiment, the target discovery and aiming guidance process includes: Once the operator spots the target drone within visual range, they immediately use the intelligent launcher to visually acquire and roughly aim at it through its integrated optical / infrared sight (field of view ≥8°, magnification adjustable from 4-8x, ​​supports day and night use). Simultaneously, the system activates the small-aperture millimeter-wave phased array radar seeker (detection range ≥1.5km for targets with RCS ≥0.1m²) mounted on the drone. This radar seeker rapidly scans the airspace pointed to by the sight, acquiring point cloud data in real time. Through clustering, classification, and tracking filtering of the point cloud data, it initially obtains real-time information such as the target's position and velocity, laying the foundation for precise tracking and locking in the next stage.

[0029] In one specific embodiment of this example, the target tracking, locking, and launch preparation process includes: After the radar seeker initially acquires target information, it continuously tracks and locks onto the target. After capturing the potential target point cloud, it first performs real-time signal processing. The specific process includes: clutter filtering (using Doppler and spatial filters to remove background interference such as ground and vegetation), target clustering (aggregating spatially adjacent detection points into independent objects), and target classification and screening (identifying the real threat targets that match the characteristics of the UAV based on motion characteristics, size range and trajectory continuity).

[0030] For the system to determine that a target has reached a lockable, interceptable state, the following two conditions must be met simultaneously: Tracking confidence criteria: The radar seeker generates a real-time confidence score ranging from 0 to 1 by comprehensively considering the target echo intensity, motion continuity, and RCS feature matching degree. When this score is consistently not lower than 0.8 and remains stable for more than 500 milliseconds, the target tracking is considered sufficiently reliable.

[0031] Trajectory prediction conditions: Based on the current tracking data, the trajectory of the target in the next few seconds is predicted. The predicted trajectory must be completely within the continuous tracking field of view of the radar seeker to ensure that the target is not lost immediately after launch.

[0032] When all the above conditions are met, the radar seeker immediately sends a digital lock-on signal to the flight control computer. The flight control computer then activates the human-machine interface to provide clear multi-state visual feedback on the status display screen of the smart launcher: displaying a prominent "Lock Successful" indicator, and simultaneously updating the target distance, target approach speed, remaining battery power of the net-capture interceptor drone, and motor warm-up progress in real time.

[0033] While providing feedback on the interface, the flight control computer automatically executes the power system preparation commands: controlling the four brushless motors of the net-capture interceptor drone to start and accelerate them to the preset cruise speed of 5000 rpm, ensuring that the drone can obtain optimal initial thrust at the moment of launch and deorbiting. When all status parameters are normal and the motors have warmed up, the display finally shows a "Launch Ready" prompt, indicating that the system has completed all automatic preparations and entered the launch waiting phase, where the operator makes the final decision.

[0034] In one specific embodiment of this example, the UAV launch and dynamic guidance process includes: After confirming the status display shows "Launch Ready," the operator pulls the trigger of the smart launcher. The trigger's mechanical linkage unlocks the release mechanism, and the net-capturing interceptor drone is launched at high speed along the launcher's guide groove.

[0035] After the UAV deorbits, its flight control computer immediately activates a composite control law of "continuous radar tracking + proportional guidance" to implement dynamic guidance. This process is divided into two phases according to time and mission logic: Initial heading maintenance phase (within 1-2 seconds after launch): The flight control computer prioritizes the fusion of initial launch attitude reference data to control the UAV to maintain a stable launch heading, avoid violent maneuvers caused by initial disturbances, and ensure a smooth transition of flight attitude.

[0036] Mid-to-final proportional guidance phase: This is the core guidance stage. The radar seeker continuously measures and feeds back the relative distance (R), relative velocity (V), and line-of-sight angle (q) between the target and the interceptor at a high frequency. The flight control computer switches the control law to one based on the rate of change of the line-of-sight angle (q). The proportional guidance mode uses ) as the core input.

[0037] Command Calculation: The flight control computer calculates the normal acceleration command (ac) required by the interceptor in real time according to the proportional guidance formula (1): (1) In the formula, N represents the navigation constant (typically 4), and V c This indicates the approach speed between the intercepting drone and the target drone. This represents the rate of change of the line-of-sight angle as measured by radar. Command allocation and execution: The flight control system, combined with the UAV's dynamics model, decomposes the AC (autopilot) into control commands for pitch and yaw channels, and simultaneously generates axial throttle commands based on relative motion. These commands are then translated into differential throttle commands for the four motors.

[0038] Power execution: The four-in-one ESC receives commands and dynamically adjusts the speed of each motor with a control cycle of ≤10ms (the working range is usually 5000~12000 RPM), thereby precisely adjusting the drone's flight trajectory, acceleration and approach speed.

[0039] Through the above closed-loop control, it is ensured that the net-catching and intercepting drone can approach the target with the optimal path, and the relative position deviation at the moment of net deployment is strictly controlled within ≤2 meters.

[0040] In one specific embodiment of this example, the controllable net capture and synchronized parachute descent recovery includes: Determining the timing of net capture: Throughout the entire process of the net-captured UAV approach, the radar seeker continuously measures the echo time difference and Doppler frequency shift to provide high-precision information on the relative distance (R) and relative velocity between the intercepting UAV and the target UAV. The flight control computer dynamically calculates the optimal effective capture range in real time. The calculation of the optimal effective capture range requires comprehensive consideration of the physical characteristics of the net and the measurement accuracy of the sensors. The specific formula definition is shown in equation (2): (2) In the formula, L net This represents the characteristic dimensions of the fishing net when deployed, and k1 and k2 represent the corresponding coefficients of the fishing net. For a 3m × 3m fishing net, its L... net The range is approximately 4.2 meters, with a theoretical acquisition range of approximately 3.8 to 7.6 meters. The range error tolerance of the radar seeker (e.g., ±1 meter) must also be factored into the calculation. Additionally, coefficient k1 is typically set to 0.8–1.2 to ensure sufficient target coverage; coefficient k2 is typically set to 1.5–2.0 to prevent premature release and target escape.

[0041] When the real-time relative distance enters the optimal effective capture range, the system determines that the best time for net capture has been reached.

[0042] Deployment and deployment of the capture net: The moment the system determines that the optimal net-capturing time has been reached, the flight control computer immediately issues a net-release command. Upon receiving the command, the four-in-one ESC simultaneously performs two operations: instantly cutting off the power supply to the four brushless DC motors and triggering the motor release mechanism.

[0043] After the mechanical lock is released, the four motors, under the combined effect of centrifugal force and the forward inertia of the aircraft, simultaneously launch the capture net tethered in the net box at the end of the motor mount. The capture net can rapidly unfold to its designed area of ​​3m × 3m within approximately 0.4 seconds, effectively entangled and locking the rotor or fuselage of the target drone, instantly disabling its flight power. The capture net used in this invention is woven from high-strength Kevlar fiber, with a mesh size ≤ 0.3m × 0.3m, exhibiting excellent tensile and cut resistance.

[0044] Synchronized parachute drop and safe recovery: To achieve true "soft kill" and avoid secondary damage, the deployment of the recovery parachute and the release of the net are strictly synchronized. At the same moment the net capture command is issued, the flight control computer triggers the deployment of the recovery parachute located inside the interceptor drone's fuselage. The deployed area of ​​the recovery parachute is no less than 1.5 square meters. The resulting aerodynamic drag causes the two drones, already entangled in the net, to descend slowly together, preventing potential ground casualties or property damage from the target drones' freefall from high altitude. This also facilitates subsequent evidence collection and analysis of the targets.

[0045] In one specific embodiment of this invention, a single-soldier network capture and anti-drone cooperative interception system is also provided, comprising: Individual soldier operating unit: consists of a net-capture and interception drone and an intelligent launcher; Net-capture and interception drone: equipped with radar seeker, flight control computer, GPS module, four-in-one ESC, motor, propeller, net release mechanism and recovery parachute in the fuselage; Smart firing gun: integrates RTK module, optical / infrared sight, status display screen and trigger release mechanism.

[0046] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions conceived without inventive effort should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope defined in the claims.

[0047] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application 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 of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A single-soldier net-catch anti-drone cooperative interception system, characterized in that, The interception system is realized based on a single-soldier operation unit, and comprises: The single-soldier operation unit comprises a net-capture interception unmanned aerial vehicle and an intelligent launching gun; The net-capture interception unmanned aerial vehicle is provided with a radar seeker, a flight control computer, a GPS module, a four-in-one electronic speed controller, a motor, a propeller, a net-capture releasing mechanism and a recovery parachute in a cabin of the body; and the intelligent launching gun is integrated with an RTK module, an optical / infrared sighting scope, a state display screen and a trigger releasing mechanism.

2. A single-soldier net-catch anti-drone cooperative interception method, characterized in that, The method comprises the following steps: S1, system deployment and initial attitude calibration: The net-capture interception unmanned aerial vehicle is loaded into an adaptive slot of the intelligent launching gun, a real-time data link between the RTK module integrated in the intelligent launching gun and the flight control computer of the net-capture interception unmanned aerial vehicle is established through point-touch connection, the RTK module calculates real-time high-precision attitude data of the unmanned aerial vehicle and transmits the high-precision attitude data to the flight control computer as a launching initial attitude reference, the high-precision attitude data comprises but is not limited to a yaw angle, a pitch angle and a roll angle at a launching moment, the initial attitude reference is used for automatically compensating a handheld jitter error at a launching moment, an operator checks starting and working states of the optical / infrared sighting scope, the state display screen and the radar seeker, and completes system deployment; S2, target discovery and aiming guidance: The operator aims at a target unmanned aerial vehicle through the optical or infrared sighting scope on the intelligent launching gun, the radar seeker carried by the net-capture interception unmanned aerial vehicle is started synchronously, and a scanning search is performed on a target area; the radar seeker performs clustering, classification and tracking filtering on scanned point cloud data; S3, target tracking and locking and launching preparation: When the radar seeker continuously and stably tracks and locks the target, a locking signal is sent to the flight control computer, and visual feedback is performed on the state display screen, the flight control computer controls the motor of the net-capture interception unmanned aerial vehicle to start and preheat to a preset rotating speed; the visual feedback comprises the locking signal, a battery capacity of the net-capture interception unmanned aerial vehicle and a motor preheating state; S4, unmanned aerial vehicle launching and dynamic guidance: The operator pulls the trigger, the trigger releasing mechanism is unlocked, and the net-capture interception unmanned aerial vehicle flies out along a launching gun guide groove; the flight control computer generates flight control instructions dynamically based on the launching initial attitude reference and target information fed back by the radar seeker in real time, and guides the net-capture interception unmanned aerial vehicle to approach the target unmanned aerial vehicle through a composite control law combining continuous tracking and proportional guidance of the radar; S5, controllable net capture and synchronous parachute recovery: When a relative distance between the net-capture interception unmanned aerial vehicle and the target unmanned aerial vehicle enters a best capture interval calculated by the flight control computer in real time, the flight control computer sends a net releasing instruction, the four-in-one electronic speed controller receives the instruction and instantaneously cuts off power supply of the four motors and triggers the net-capture releasing mechanism to act, the four motors are synchronously thrown out under the action of centrifugal force and inertial force, the net-capture interception unmanned aerial vehicle and the target unmanned aerial vehicle are synchronously thrown out under the action of centrifugal force and inertial force, the net-capture releasing mechanism is triggered to act, the four motors are synchronously thrown out, the net-capture interception unmanned aerial vehicle and the target unmanned aerial vehicle are synchronously thrown out under the action of centrifugal force and inertial force, the net in the net box at the lower end of the motor seat is rapidly unfolded and wound to capture the target unmanned aerial vehicle; at the same time, the recovery parachute in the cabin of the body is opened, the net-capture interception unmanned aerial vehicle and the target unmanned aerial vehicle are jointly and slowly lowered to the ground under the action of the recovery parachute, and non-explosive soft-killing interception is completed.

3. The method of claim 2, wherein, In step S1, the RTK module fuses GNSS carrier phase observations and MEMS inertial measurement unit data, and solves the attitude in real time through Kalman filtering algorithm, with the attitude solution accuracy ≤0.1° and the solution delay ≤100 ms.

4. The method of claim 2, wherein, In step S3, the determination condition for the radar seeker to continuously and stably track and lock the target is that the tracking confidence score of the radar seeker on the target continuously exceeds the first threshold for a predetermined length of time, and the predicted motion trajectory of the target is within the continuous tracking field of view of the radar seeker.

5. The method of claim 2, wherein, In step S4, the flight control computer dynamically generates flight control instructions through a compound control law, and guides the net-capturing interceptor UAV to approach the target UAV, including: In the initial stage of flight, the flight control computer preferentially fuses the initial attitude reference data to maintain the heading; In the terminal phase of flight, the radar seeker calculates the relative distance, relative speed and the rate of change of the line of sight angle between the target UAV and the interceptor UAV in real time. The flight control computer switches the compound control law to the target line of sight angle rate dominant proportional guidance law, and calculates and updates the trajectory adjustment command in real time with a control period of ≤10 ms. The power output of the motor is dynamically adjusted through the command to control the flight trajectory of the UAV in real time, ensuring that the relative position deviation between the net-capturing interceptor UAV and the target UAV is ≤2 m when the net is deployed.

6. The method of claim 5, wherein, The flight control computer solves the trajectory adjustment instructions in real time, including: The flight control computer calculates the normal acceleration command required for net-capture and interception of the drone in real time based on the proportional guidance formula. The calculation formula is as follows: In the formula, N represents the navigation constant, and V c This indicates the approach speed between the intercepting drone and the target drone. This represents the rate of change of the line-of-sight angle measured by the radar; combined with the UAV dynamics model, the normal acceleration command is decomposed into control commands for the pitch and yaw channels, and finally transformed into differential throttle commands to control the speed of the four motors; at the same time, based on the relative distance and relative velocity calculated in real time by the radar seeker, the axial throttle command is generated.

7. The method of claim 2, wherein, In step S5, the optimal capture range is determined based on the deployment size of the capture net and the ranging error of the radar seeker, and the expression is wherein, L net represents the deployment size of the capture net, k1 and k2 both represent the corresponding coefficients of the capture net, and k1 takes 0.8-1.2, and k2 takes 1.5-2.

0.

8. The method of claim 2, wherein, In step S5, the capturing net is made of high-strength Kevlar fiber material, and the mesh size is ≤0.3m×0.3m.

9. The method of claim 2, wherein, In step S5, the opening of the recovery parachute in the cabin of the net-capturing interceptor UAV and the release of the net are triggered synchronously.

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