Unmanned aerial vehicle driving method and system using three-dimensional dynamic electronic fence and radio frequency interface

Abstract

The application provides a kind of three-dimensional dynamic electronic fence and radio frequency interface tube's UAV drive method and system. Among them, the application is first based on the real-time flight trajectory of target UAV and the geographical boundary of preset protection airspace, generates three-dimensional electronic fence, when target UAV crosses three-dimensional electronic fence, start radio frequency signal scanning to identify control protocol type and generate directional radio frequency interference signal, then while applying directional radio frequency interference signal to target UAV, continue to send preset guide instruction;Then by monitoring the response behavior of target UAV to preset guide instruction, dynamically adjust the intensity of directional radio frequency interference signal and the sending frequency of preset guide instruction, finally fly along preset safety path and leave protection airspace. The technical scheme provided by the application realizes intelligent dynamic protection of protection airspace, and also effectively overcomes the misjudgment or omission problem caused by the inability of traditional static electronic fence to adapt to the real-time flight path change of UAV.

Description

Technical Field

[0001] This application relates to the field of unmanned aerial vehicle (UAV) traffic control technology, and in particular to a method and system for driving away UAVs using a three-dimensional dynamic electronic fence and radio frequency control. Background Technology

[0002] With the widespread application of drones in logistics inspection, aerial photography and other fields, the security risks of drones accidentally entering or intruding into sensitive airspaces such as airports are becoming increasingly prominent. Such scenarios require rapid detection, accurate identification and controllable expulsion of intruding drones. Under the premise of avoiding shooting down and causing secondary disasters, it is necessary to interfere with their control links and guide them to a safe area. Existing technologies need to solve three core requirements at the same time: dynamic protection of three-dimensional airspace in complex environments, compatibility of protocols for multiple drone models and controllability of the expulsion process.

[0003] The current typical solution is a deterrent system based on static geofencing and broadband jamming. This system sets up a fixed electronic fence at the boundary of the protected airspace. When a drone crosses the fence, it triggers an omnidirectional broadband jamming signal to suppress its control link, forcing the drone to make an emergency landing or return to base. This solution covers the mainstream drone communication protocols by setting up the jamming frequency band and relies on the signal strength threshold to judge the intrusion behavior.

[0004] However, existing solutions have obvious drawbacks. First, static electronic fences cannot dynamically adjust the protection range based on the real-time flight path of drones, which may lead to misjudgment or missed judgment. Second, broadband interference signals lack specificity and have limited suppression effect on drones using frequency hopping or encryption protocols, and are likely to affect legitimate communication equipment in the vicinity. Furthermore, the driving-away process lacks an active guidance mechanism, and drones may cause secondary threats due to loss of control and crash or random flight, making it difficult to meet the requirements of precise and controllable driving-away paths in sensitive airspace. Summary of the Invention

[0005] This application provides a method and system for driving away drones using a three-dimensional dynamic electronic fence and radio frequency control, which solves the problems in the prior art where static electronic fences cannot dynamically adjust the protection range, leading to misjudgment or missed judgment; broadband interference signals lack specificity and easily affect surrounding legitimate communication equipment; and the lack of an active guidance mechanism in the driving away process may cause drones to lose control and cause secondary threats.

[0006] In a first aspect, this application provides a method for driving away drones using a three-dimensional dynamic electronic fence and radio frequency control, including:

[0007] Based on the real-time flight trajectory of the target drone and the geographical boundary of the preset protected airspace, a three-dimensional electronic fence is generated that dynamically adjusts with the position of the target drone.

[0008] When the target drone passes through the three-dimensional electronic fence, an radio frequency signal scan is initiated to identify the control protocol type of the target drone, and a directional radio frequency interference signal is generated based on the control protocol type.

[0009] While applying the directional radio frequency interference signal to the target drone, a preset guidance command is continuously sent to the target drone. The guidance command includes a coordinate sequence of a preset safe path, which avoids no-fly zones and high-risk facilities within a preset protected airspace.

[0010] By monitoring the target UAV's response to the preset guidance command, the strength of the directional radio frequency interference signal and the transmission frequency of the preset guidance command are dynamically adjusted until the target UAV flies away from the protected airspace along the preset safe path.

[0011] Optionally, based on the real-time flight trajectory of the target UAV and the geographical boundary of the preset protected airspace, a three-dimensional electronic fence is generated that dynamically adjusts with the position of the target UAV, including:

[0012] Obtain the real-time flight position coordinates and flight speed vector of the target UAV, and at the same time obtain the polygonal boundary point set of the preset protected airspace;

[0013] Calculate the distance set between the target UAV and each point in the preset protected airspace polygon boundary point set based on the real-time flight position coordinates of the target UAV, and determine the boundary point corresponding to the minimum distance value in the distance set as the initial reference anchor point;

[0014] An initial spherical boundary is constructed with the initial reference anchor point as the center, and the flight velocity vector of the target UAV is decomposed into normal and tangential components toward the preset protected airspace.

[0015] The radius of the initial spherical boundary is adjusted according to the magnitude of the normal component. When the normal component increases, the radius of the initial spherical boundary decreases accordingly. At the same time, the radius of the initial spherical boundary is elastically deformed along the surface of the protected airspace according to the direction of the tangential component, thus obtaining the deformed spherical boundary.

[0016] Perform a Boolean intersection operation between the radius of the deformed spherical boundary and the polygonal boundary of the preset protected airspace, and extract the portion located outside the preset protected airspace to form the current frame geometry of the three-dimensional electronic fence.

[0017] The current frame geometry is smoothly transitioned to the previous historical geometry to generate a continuously changing three-dimensional electronic fence.

[0018] The initial reference anchor point is updated based on the real-time flight position coordinates of the target UAV. The updated initial reference anchor point is used as the initial reference anchor point, and the steps of constructing the initial spherical boundary, deforming the initial spherical boundary, performing Boolean intersection operation, and smoothing transition processing are executed cyclically to achieve continuous dynamic adjustment of the three-dimensional electronic fence.

[0019] Optionally, when the target drone passes through the three-dimensional electronic fence, an radio frequency signal scan is initiated to identify the control protocol type of the target drone, and a directional radio frequency interference signal is generated based on the control protocol type, including:

[0020] At the moment the target drone crosses the three-dimensional electronic fence, the broadband radio frequency receiving equipment is activated to scan the wireless signals in the airspace where the target drone is located;

[0021] The signal pulse sequence with periodic characteristics is separated from the wireless signal, and the signal pulse sequence is matched item by item with multiple control protocol templates in the pre-stored protocol feature library, wherein the pre-stored protocol feature library contains signal features of various UAV control protocols;

[0022] When the matching degree between the signal pulse sequence and any control protocol template exceeds a preset threshold, it is determined to be the target control protocol type. Based on the determined target control protocol type, the pre-stored protocol feature library is queried to obtain the communication frequency band parameters and modulation mode parameters corresponding to the target control protocol type.

[0023] Set the carrier frequency according to the communication frequency band parameters, and configure the signal modulation mode according to the modulation method parameters;

[0024] A continuous wave carrier signal is generated by an RF signal generator according to the set carrier frequency, and the continuous wave carrier signal is modulated using the configured signal modulation mode to generate an RF interference signal.

[0025] The radio frequency interference signal is transmitted towards the target drone through a directional antenna, forming a directional radio frequency interference signal.

[0026] Optionally, while applying the directional radio frequency interference signal to the target drone, a preset guidance command is continuously sent to the target drone, including:

[0027] The directional radio frequency interference signal is loaded onto a directional antenna array, and beamforming technology is used to concentrate the radio frequency energy of the interference signal toward the real-time position of the target UAV.

[0028] During the same time interval when the directional radio frequency interference signal is applied, the coordinate sequence of the preset safe path is encapsulated by the guidance command transmitting device according to the preset guidance command data format;

[0029] During the encapsulation process, the coordinate sequence of the preset safe path is bound to the timestamp of the current moment to form a time navigation data packet;

[0030] Directional radio frequency jamming signals and time navigation data packets are transmitted alternately in a time-division multiplexing manner. The radio frequency jamming signals occupy the main time window, while the time navigation data packets are inserted and transmitted within a preset short time interval.

[0031] Based on the relative distance between the target UAV and the preset protected airspace boundary, the transmission power ratio of the directional radio frequency jamming signal and the time navigation data packet is adjusted to maintain the alternating transmission process of the directional radio frequency jamming signal and the time navigation data packet until the target UAV is detected to respond to the preset guidance command.

[0032] Optionally, by monitoring the target UAV's response to the preset guidance command, the strength of the directional radio frequency interference signal and the transmission frequency of the preset guidance command are dynamically adjusted until the target UAV flies away from the protected airspace along the preset safe path, including:

[0033] Monitoring steps: Continuously monitor the actual flight trajectory coordinates of the target UAV through the positioning system, and compare the actual flight trajectory coordinates with the coordinate sequence of the preset safe path;

[0034] Calculation steps: Calculate the angular deviation between the actual flight direction of the target UAV and the expected flight direction of the preset safe path based on the comparison results;

[0035] Measurement steps: Based on the comparison results, measure the speed difference between the actual flight speed of the target UAV and the expected flight speed along the preset safe path;

[0036] Adjustment steps: When the angle deviation exceeds the first threshold, increase the transmission power of the directional radio frequency interference signal and decrease the transmission time interval of the preset guidance command. When the speed difference exceeds the second threshold, adjust the waveform duty cycle of the directional radio frequency interference signal and increase the transmission density of waypoint coordinates in the preset guidance command. When the angle deviation is less than the first threshold and the speed difference is less than the second threshold, gradually decrease the transmission power of the directional radio frequency interference signal in fixed steps and restore the normal transmission time interval of the preset guidance command.

[0037] The distance between the flight trajectory coordinates of the target drone and the endpoint coordinates of the preset safe path is continuously monitored. When the distance is less than the set range, the transmission of directional radio frequency interference signals and preset guidance commands is stopped.

[0038] Repeat the monitoring, calculation, measurement, and adjustment steps until the distance between the target UAV's flight trajectory coordinates and the endpoint coordinates of the preset safe path is less than a set range.

[0039] Optionally, the radius of the initial spherical boundary is adjusted according to the magnitude of the normal component; as the normal component increases, the radius of the initial spherical boundary decreases accordingly. Simultaneously, the radius of the initial spherical boundary is elastically deformed along the surface of the protected airspace according to the direction of the tangential component, resulting in a deformed spherical boundary, including:

[0040] The radius adjustment coefficient is calculated based on the ratio between the value of the normal component and the preset radius reference value.

[0041] Multiply the baseline radius of the initial spherical boundary by the radius adjustment factor to obtain the adjusted radius of the spherical boundary;

[0042] The extension range of the preset protected airspace surface in the direction of the tangential component is determined based on the direction angle of the tangential component.

[0043] Centered on the initial reference anchor point, the adjusted spherical boundary radius remains unchanged in the normal component direction, while the shape of the initial spherical boundary is stretched according to the extension range in the tangential component direction to form an ellipsoidal boundary structure that is oriented and stretched along the surface of the preset protected airspace.

[0044] The ellipsoidal boundary structure is used as the deformed spherical boundary, and the geometric parameters of the deformed spherical boundary are recorded. The geometric parameters include the major axis radius, the minor axis radius, and the stretching direction angle.

[0045] Optionally, a continuous wave carrier signal is generated by a radio frequency signal generator according to a set carrier frequency, and the continuous wave carrier signal is modulated using a configured signal modulation mode to generate a radio frequency interference signal, including:

[0046] A fundamental sine wave signal is generated based on the carrier frequency as a continuous wave carrier signal;

[0047] Based on the signal modulation mode parameters, identify the modulation type to be used;

[0048] When the modulation type is amplitude modulation, the amplitude of the continuous wave carrier signal is periodically changed according to the preset modulation depth parameter. When the modulation type is frequency modulation, the frequency of the continuous wave carrier signal is periodically shifted according to the preset frequency offset parameter. When the modulation type is phase modulation, the phase of the continuous wave carrier signal is periodically changed according to the preset phase shift parameter.

[0049] The modulated continuous wave carrier signal is sent to a power amplifier for signal amplification to obtain an amplified continuous wave carrier signal.

[0050] Bandpass filtering is performed on the amplified continuous wave carrier signal to retain the target frequency band signal centered on the carrier frequency, thus obtaining the radio frequency interference signal.

[0051] Secondly, this application provides a three-dimensional dynamic electronic fence and radio frequency control drone deterrence system, comprising:

[0052] The generation module is used to generate a three-dimensional electronic fence that dynamically adjusts with the position of the target UAV based on the real-time flight trajectory of the target UAV and the geographical boundary of the preset protected airspace.

[0053] The scanning module is used to initiate radio frequency signal scanning to identify the control protocol type of the target drone when the target drone passes through the three-dimensional electronic fence, and generate a directional radio frequency interference signal based on the control protocol type;

[0054] The transmitting module is used to continuously send a preset guidance command to the target drone while applying the directional radio frequency interference signal to the target drone. The guidance command includes a coordinate sequence of a preset safe path, which avoids no-fly zones and high-risk facilities within a preset protected airspace.

[0055] The adjustment module is used to dynamically adjust the strength of the directional radio frequency interference signal and the transmission frequency of the preset guidance command by monitoring the response behavior of the target UAV to the preset guidance command, until the target UAV flies away from the protected airspace along the preset safe path.

[0056] Thirdly, this application provides a computing device, including a processing component and a storage component; the storage component stores one or more computer instructions; the one or more computer instructions are invoked and executed by the processing component to implement a three-dimensional dynamic electronic fence and radio frequency control drone driving-off method as described in the first aspect above.

[0057] Fourthly, this application provides a computer storage medium storing a computer program, which, when executed by a computer, implements a method for driving away drones using a three-dimensional dynamic electronic fence and radio frequency control as described in the first aspect.

[0058] This application achieves intelligent dynamic protection of the protected airspace by constructing a three-dimensional electronic fence that dynamically adjusts with the position of the target UAV. This effectively overcomes the problem of misjudgment or missed judgment caused by the inability of traditional static electronic fences to adapt to real-time changes in UAV flight paths. When a UAV crosses the dynamic fence, the system can automatically start radio frequency signal scanning, accurately identify its control protocol type, and generate highly targeted directional radio frequency interference signals accordingly. This not only improves the effectiveness of interference against UAVs with different protocols, but also significantly reduces the electromagnetic impact on surrounding legitimate communication equipment.

[0059] Furthermore, while applying directional radio frequency interference signals, the system continuously sends guidance instructions containing a preset safe path coordinate sequence to the target UAV. By monitoring the UAV's response to the guidance instructions in real time, the system dynamically adjusts the interference signal strength and instruction transmission frequency, forming a coordinated control mechanism of interference suppression and path guidance. Ultimately, this drives the UAV to fly away from the protected airspace in an orderly manner along the preset safe path, completely avoiding the secondary safety threats caused by UAV loss of control and crash or random flight due to traditional broadband interference.

[0060] These or other aspects of this application will become more apparent in the following description of the embodiments. Attached Figure Description

[0061] To more clearly illustrate the technical solutions in this application or 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 some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0062] Figure 1 A flowchart of a method for driving away drones using a three-dimensional dynamic electronic fence and radio frequency control provided in this application is shown;

[0063] Figure 2 This paper presents a schematic diagram of a three-dimensional dynamic electronic fence and radio frequency control drone deterrence system provided in this application.

[0064] Figure 3 A schematic diagram of the structure of a computing device provided in this application is shown. Detailed Implementation

[0065] To enable those skilled in the art to better understand the present application, the technical solution of the present application will be clearly and completely described below with reference to the accompanying drawings.

[0066] In some of the processes described in the specification, claims, and accompanying drawings of this application, multiple operations appearing in a specific order are included. However, it should be clearly understood that these operations may not be executed in the order they appear herein, or may be executed in parallel. The operation numbers, such as 101, 102, etc., are merely used to distinguish different operations and do not themselves represent any execution order. Furthermore, these processes may include more or fewer operations, and these operations may be executed sequentially or in parallel. It should be noted that the descriptions such as "first," "second," etc., in this document are used to distinguish different messages, devices, modules, etc., and do not represent a chronological order, nor do they limit "first" and "second" to different types.

[0067] The technical solutions of this application will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0068] Figure 1 This application provides a flowchart of a method for driving away drones using a three-dimensional dynamic electronic fence and radio frequency control, as shown in the flowchart. Figure 1 As shown, the method includes:

[0069] Step 101: Based on the real-time flight trajectory of the target UAV and the geographical boundary of the preset protected airspace, generate a three-dimensional electronic fence that dynamically adjusts with the position of the target UAV.

[0070] Optionally, step 101 may specifically include the following steps:

[0071] Step 1011: Obtain the real-time flight position coordinates and flight speed vector of the target UAV, and at the same time obtain the polygon boundary point set of the preset protected airspace;

[0072] Step 1012: Calculate the distance set between the target UAV and each point in the preset protected airspace polygon boundary point set based on the real-time flight position coordinates of the target UAV, and determine the boundary point corresponding to the minimum distance value in the distance set as the initial reference anchor point.

[0073] Step 1013: Construct an initial spherical boundary with the initial reference anchor point as the center of the sphere, and decompose the flight velocity vector of the target UAV into the normal component and the tangential component toward the preset protected airspace;

[0074] Step 1014: Adjust the radius of the initial spherical boundary according to the magnitude of the normal component. When the normal component increases, the radius of the initial spherical boundary decreases accordingly. At the same time, according to the direction of the tangential component, the radius of the initial spherical boundary is elastically deformed along the surface of the protected airspace to obtain the deformed spherical boundary.

[0075] Step 1014 may specifically include the following steps:

[0076] Based on the proportional relationship between the normal component value and the preset radius reference value, the radius adjustment coefficient is calculated; the reference radius of the initial spherical boundary is multiplied by the radius adjustment coefficient to obtain the adjusted spherical boundary radius; the extension range of the preset protected airspace surface in the tangential component direction is determined according to the direction angle of the tangential component; with the initial reference anchor point as the center, the adjusted spherical boundary radius is kept unchanged in the normal component direction, and the shape of the initial spherical boundary is stretched according to the extension range in the tangential component direction to form an ellipsoidal boundary structure oriented and stretched along the preset protected airspace surface; the ellipsoidal boundary structure is used as the deformed spherical boundary, and the geometric parameters of the deformed spherical boundary are recorded, including the major axis radius, minor axis radius, and stretching direction angle.

[0077] Step 1015: Perform a Boolean intersection operation between the radius of the deformed spherical boundary and the polygonal boundary of the preset protected airspace, and extract the part located outside the preset protected airspace to form the current frame geometry of the three-dimensional electronic fence.

[0078] Step 1016: Perform a smooth transition process between the current frame geometry and the historical geometry of the previous moment to generate a continuously changing three-dimensional electronic fence.

[0079] Step 1017: Update the initial reference anchor point according to the real-time flight position coordinates of the target UAV, use the updated initial reference anchor point as the initial reference anchor point, and repeatedly execute the steps of constructing the initial spherical boundary, the deformation of the initial spherical boundary, the Boolean intersection operation, and the smooth transition processing to achieve continuous dynamic adjustment of the three-dimensional electronic fence.

[0080] In the above scheme, the target drone refers to the specific drone individual that needs to be monitored and driven away, and is used as the operation object of the whole method, which is obtained through radar or radio monitoring system;

[0081] Real-time flight trajectory refers to the path of spatial position change of the target UAV at continuous points in time, used to describe its motion trend, and is continuously acquired through positioning sensors;

[0082] Pre-defined protected airspace refers to a pre-delineated three-dimensional geographic area that requires key protection. It is used to define security boundaries and is set through a geographic information system.

[0083] Geographic boundary refers to the outer outline of the pre-defined protected airspace, used to delineate the protected area, and is defined by a set of three-dimensional spatial coordinate points;

[0084] A 3D electronic fence refers to a 3D virtual boundary that dynamically changes according to the location of the target drone, used to define intrusion behavior in real time, and is generated through computational geometry algorithms;

[0085] Real-time flight position coordinates refer to the three-dimensional spatial coordinates (x, y, z) of the target UAV at a certain moment, which are used to determine its precise position and are obtained through GPS or Beidou navigation system;

[0086] The flight velocity vector is a physical quantity that simultaneously contains information about the magnitude and direction of the target UAV's velocity. It is used to analyze its motion trend and is obtained by differentiating it with respect to continuous position coordinates.

[0087] A polygon boundary point set refers to a series of sequentially connected three-dimensional coordinate points used to describe the geographic boundary of a pre-defined protected airspace. These points are used for geometric calculations and are obtained from a geographic information database.

[0088] The distance set refers to the set of distances between the real-time flight position coordinates of the target UAV and every point in the polygon boundary point set. It is used to find the nearest point and is calculated using the Euclidean distance formula.

[0089] The minimum distance value is the smallest value among all the values ​​in the distance set. It is used to determine the most critical boundary points and is obtained by comparing the elements in the distance set.

[0090] The initial spherical boundary refers to a regular spherical space with an initial radius and an initial reference anchor point as its center. It is used as the initial geometric shape of the dynamic fence and is obtained through three-dimensional geometric modeling.

[0091] The normal component refers to the component of the flight velocity vector that points into the pre-defined protected airspace (i.e., perpendicular to the boundary surface). It is used to assess the strength of the UAV's intrusion intent and is obtained through vector decomposition.

[0092] The tangential component refers to the component of the flight velocity vector along the surface of the preset protected airspace. It is used to assess the tendency of the UAV to fly parallel to the boundary and is obtained through vector decomposition.

[0093] The deformed spherical boundary refers to the irregular three-dimensional shape formed after the initial spherical boundary is adjusted based on the velocity vector. It is used to more accurately match the dynamics of the UAV and is obtained through an elastic deformation algorithm.

[0094] The radius adjustment factor is a scaling factor calculated based on the magnitude of the normal component. It is used to dynamically adjust the radius of the spherical boundary and is calculated by the ratio between the value of the normal component and the preset radius reference value.

[0095] The extension range refers to the length of the spherical boundary that needs to be stretched in the tangential component direction. It is used to control the degree of deformation and is determined by the orientation angle and the curvature of the protected airspace surface.

[0096] Boundary points refer to the three-dimensional spatial coordinates of each corner of the pre-defined protected airspace outline, used to accurately depict the shape and extent of the protected area, and are obtained directly from the geographic information database.

[0097] The initial reference anchor point refers to the specific boundary point selected from all boundary points at a certain moment that is closest to the target UAV. It is used as the geometric center reference point for constructing the current dynamic fence. It is obtained by calculating and comparing the distances from the UAV to each boundary point and selecting the point corresponding to the minimum value.

[0098] The radius of the initial spherical boundary refers to a fixed distance value used when initially constructing the spherical boundary, defining the initial protection area of ​​this initial sphere.

[0099] The value of the normal component refers to the speed of the target UAV in the direction pointing towards the interior of the protected airspace. It is used to measure the urgency of the UAV entering the protected area and is calculated by decomposing the flight velocity vector in a directional manner.

[0100] The preset radius reference value refers to a pre-set reference distance value used to calculate changes in fence size, providing a comparison benchmark for dynamically adjusting the fence range;

[0101] The adjusted spherical boundary radius refers to the new distance value obtained by scaling the initial spherical boundary radius according to the urgency of the drone intrusion. It is used to determine the real-time size of the fence and is obtained by multiplying the initial radius by an adjustment coefficient calculated based on the normal component.

[0102] The azimuth angle is the angle formed by the target UAV's flight speed along the surface of the protected airspace and the reference direction. It is used to determine in which direction the dynamic fence should be stretched and deformed. It is obtained by calculating the azimuth angle of the tangential component vector.

[0103] The ellipsoidal boundary structure refers to the egg-shaped or rugby-shaped three-dimensional shape formed by stretching the spherical boundary along the flight direction of the drone parallel to the protected area. It is used to make the fence shape better match the movement trend of the drone and is obtained by directional stretching of the spherical boundary.

[0104] Geometric parameters refer to a set of mathematical values ​​used to accurately describe the shape and orientation of an ellipsoidal boundary structure. These parameters are used to define and reconstruct the three-dimensional shape in a computer and mainly include the major axis radius, minor axis radius, and stretching direction angle.

[0105] The major axis radius refers to the length of the ellipsoidal boundary structure in the direction of longest stretching, and is used to describe the length of the ellipsoid.

[0106] The minor axis radius refers to the length of the ellipsoidal boundary structure in the shortest direction. It is usually perpendicular to the stretching direction and is used to describe the width of the ellipsoid. In this scenario, it is usually equal to the adjusted spherical boundary radius.

[0107] The stretching direction angle refers to the direction angle pointed to by the major axis of the ellipsoidal boundary structure that is being stretched. It is used to determine the orientation of the ellipsoid in space and is consistent with the calculated direction angle.

[0108] The current frame geometry refers to the specific three-dimensional shape of the 3D electronic fence calculated and generated at this instant. It is the protection boundary that the system will use at this moment. It is obtained by performing Boolean operations on the deformed boundary and the protected space and then truncating the outer part.

[0109] Historical geometry refers to the three-dimensional shape of the electronic fence generated and used in the last instant, which is used to connect with the shape of the current frame to achieve a smooth transition. It is saved by the system in the previous processing cycle.

[0110] The updated initial reference anchor point refers to the latest nearest boundary point that is recalculated and determined based on the target UAV's new position after it moves. This point is used as the new geometric center in the next processing cycle and is obtained by repeatedly executing the process of finding the nearest boundary point.

[0111] Boolean intersection is a commonly used operation in 3D computer graphics to find the common part of the overlap between two 3D shapes. In this case, it is used to find the area where the deformed boundary and the protected space intersect, which is calculated by a specialized geometric algorithm.

[0112] In this scheme, firstly, the system uses positioning sensors to obtain the real-time flight position coordinates of the target UAV and calculates its flight speed vector through differential calculation. Simultaneously, the system retrieves a pre-stored set of polygonal boundary points for the protected airspace from a pre-stored Geographic Information Database (GIS) and provides the basic data for all subsequent calculations. Secondly, the system uses a traversal algorithm to calculate the Euclidean distance from the UAV's current position to each boundary point of the protected airspace, generating a distance set. Then, a minimum value search algorithm is applied to find the minimum distance value from this set and locate the boundary point corresponding to that minimum value, defining it as the initial reference anchor point. This initial reference anchor point is the geometric center for constructing the dynamic fence in this phase. Next, through 3D modeling and vector decomposition steps, the system uses the initial reference anchor point as the center of a sphere and a pre-set fixed value as the radius of the initial spherical boundary. Using a 3D graphics library, a regular initial spherical boundary is generated. Then, a vector projection algorithm is used to decompose the flight speed vector into two components: a normal component perpendicular to the protected airspace boundary surface and pointing inwards, and a tangential component parallel to the boundary surface.

[0113] Subsequently, through a dynamic deformation step, the system calculates the radius adjustment coefficient based on the ratio of the normal component's value (scalar) to a preset radius reference value. Then, using scalar multiplication, the radius of the initial spherical boundary is multiplied by this coefficient to obtain the adjusted spherical boundary radius. Simultaneously, the direction angle is obtained by calculating the azimuth angle of the tangential component, and the extension range of the stretching is determined accordingly. Finally, a three-dimensional scaling and stretching transformation algorithm is used, with the initial reference anchor point as the center, keeping the adjusted spherical boundary radius unchanged in the normal component direction, and stretching according to the extension range in the tangential component direction, thereby transforming the sphere into an ellipsoidal boundary structure and recording its geometric parameters. Afterwards, through a geometric clipping and smooth transition step, the system uses Boolean operation algorithms in computer graphics to perform Boolean intersection operations on the ellipsoidal boundary structure and the polygonal body of the preset protected airspace, and deliberately clips the part located outside the airspace to form the current frame's geometric structure. To avoid the fence shape jumping between consecutive moments, the system uses a linear interpolation algorithm to merge the current frame's geometric structure with the historical geometric structure stored in the previous moment, generating a visually continuously changing three-dimensional electronic fence.

[0114] Finally, through the iterative update steps, when the target UAV moves, the system repeats the above geometric calculation steps based on its new real-time flight position coordinates to obtain an updated initial reference anchor point. The entire system iteratively executes all steps from 3D modeling to smooth transition, thereby enabling the 3D electronic fence to continuously and dynamically adjust and closely follow the movement of the target UAV.

[0115] For example, within the airspace protection zone of an airport, the system detects an unauthorized drone (target drone) approaching the runway tip. The system obtains its position and speed via radar and retrieves the airport's preset protected airspace boundary. Calculations show the boundary point closest to the southern end of the runway, which the system sets as the initial reference anchor point. After generating an initial spherical boundary centered on this reference anchor point, the system analyzes the drone's speed: it is rapidly approaching the runway and shows a tendency to move eastward along the boundary. Given its strong intrusion intent, the system immediately reduces the radius of the spherical boundary and adjusts its direction based on its eastward movement. The system stretches the sphere eastward, forming an egg-shaped ellipsoidal boundary structure. Then, through Boolean intersection operations, the part of the egg-shaped structure that overlaps with the airport airspace is cut off, leaving the outer shell as the fence shape at this moment. To make the fence change smooth, the system merges this shape with the fence from the previous second, ultimately generating a three-dimensional electronic fence that closely follows the drone, dynamically deforms, and extends eastward. As the drone continues to fly east, the system immediately calculates the updated initial reference anchor point based on the new position and repeats the entire process to ensure that the three-dimensional electronic fence continuously tracks the target drone.

[0116] This step intelligently couples static geographic boundaries with the real-time position, speed, and direction of drones to generate a three-dimensional electronic fence that can accurately predict intrusion intentions and adaptively adjust its shape. This effectively overcomes the false alarm and missed alarm problems of fixed fences, upgrading the traditional passive boundary into an intelligent boundary that actively senses and dynamically defends. It provides a key and reliable trigger judgment basis for subsequent implementation of precise and controllable radio frequency interference and guided expulsion.

[0117] Step 102: When the target drone passes through the three-dimensional electronic fence, start radio frequency signal scanning to identify the control protocol type of the target drone, and generate directional radio frequency interference signal based on the control protocol type.

[0118] Optionally, step 102 may specifically include the following steps:

[0119] Step 1021: At the moment when the target drone passes through the three-dimensional electronic fence, start the broadband radio frequency receiving device to scan the wireless signals in the airspace where the target drone is located.

[0120] Step 1022: Separate the signal pulse sequence with periodic characteristics from the wireless signal, and match the signal pulse sequence with multiple control protocol templates in the pre-stored protocol feature library one by one. The pre-stored protocol feature library contains signal features of various UAV control protocols.

[0121] Step 1023: When the matching degree between the signal pulse sequence and any control protocol template exceeds a preset threshold, it is determined to be a target control protocol type. Based on the determined target control protocol type, the pre-stored protocol feature library is queried to obtain the communication frequency band parameters and modulation mode parameters corresponding to the target control protocol type.

[0122] Step 1024: Set the carrier frequency according to the communication frequency band parameters, and configure the signal modulation mode according to the modulation method parameters;

[0123] Step 1025: A continuous wave carrier signal is generated by an RF signal generator according to the set carrier frequency, and the continuous wave carrier signal is modulated using the configured signal modulation mode to generate an RF interference signal.

[0124] Step 1025 may specifically include the following steps:

[0125] A fundamental sine wave signal is generated based on the carrier frequency as a continuous wave carrier signal; the required modulation type is identified based on the signal modulation mode parameters; when the modulation type is amplitude modulation, the amplitude of the continuous wave carrier signal is periodically varied according to a preset modulation depth parameter; when the modulation type is frequency modulation, the frequency of the continuous wave carrier signal is periodically shifted according to a preset frequency offset parameter; when the modulation type is phase modulation, the phase of the continuous wave carrier signal is periodically jumped according to a preset phase shift parameter; the modulated continuous wave carrier signal is sent to a power amplifier for signal amplification to obtain an amplified continuous wave carrier signal; the amplified continuous wave carrier signal is bandpass filtered to retain the target frequency band signal centered on the carrier frequency to obtain a radio frequency interference signal.

[0126] Step 1026: The radio frequency interference signal is transmitted towards the target UAV through a directional antenna to form a directional radio frequency interference signal.

[0127] In the above scheme, radio frequency signals refer to electromagnetic waves in a specific frequency range used for wireless communication, which are used to carry information, generated by transmitting equipment and propagated in space;

[0128] Control protocol type refers to the unique communication rules and data formats used by different brands or models of drones. It is used to distinguish the control methods of drones and is identified by analyzing their wireless signal characteristics.

[0129] Directional radio frequency jamming signals refer to radio waves with energy concentrated in a specific direction, used to block the communication links of target drones. They are generated by transmitting radio frequency jamming signals through directional antennas.

[0130] The trigger moment refers to the precise point in time when the flight trajectory of the target drone intersects with the boundary of the three-dimensional electronic fence. It is used to initiate the subsequent radio frequency scanning process and is obtained by monitoring the fence status in real time.

[0131] A broadband radio frequency receiving device is a device that can simultaneously listen to radio signals in a wide frequency range. It is used to capture various communication signals that the target drone may use, which is obtained by activating the device's scanning operation.

[0132] Wireless signals refer to all radio frequency signals that propagate in the air. They are obtained by scanning with broadband radio frequency receiving equipment as raw data for analysis.

[0133] A signal pulse sequence refers to the portion of a wireless signal that exhibits repetitive and regular changes. It is used to identify protocol characteristics and is separated from the original wireless signal using digital signal processing techniques.

[0134] The pre-stored protocol feature library refers to a pre-established database that stores signal feature templates of various known UAV control protocols for comparison and identification of unknown signals;

[0135] Multiple control protocol templates refer to data models of standard communication rules used by various types of UAVs that are pre-stored in the feature library. They are used as reference standards for comparison and identification and are obtained by collecting and analyzing the communication signals of various UAVs and extracting their features before storage.

[0136] The signal characteristics of a drone control protocol refer to the unique patterns exhibited by a specific drone control protocol in wireless signals, such as the pulse interval, width, and shape. These characteristics are used to uniquely identify a protocol, much like a fingerprint, and are obtained through in-depth analysis of the protocol's communication samples.

[0137] The preset threshold refers to a pre-set numerical standard used to determine whether the reliability of the signal matching is sufficient. When the calculated matching degree exceeds this value, the recognition is considered successful.

[0138] The target control protocol type refers to the control protocol used by the target UAV after identification and final confirmation. It is the target that the entire jamming operation needs to deal with specifically. It is determined by successfully matching the captured signal with the protocol template library.

[0139] The communication frequency band parameter refers to the specific radio frequency range used by the target control protocol type, which is used to determine which frequency band the jamming signal should be targeted. It is obtained by querying the frequency information corresponding to the protocol in the protocol feature library.

[0140] Modulation mode parameters refer to the specific method used by the target control protocol type to load control command information onto radio waves. They are used to determine the modulation mode that the interference signal needs to imitate and are obtained by querying the modulation information corresponding to the protocol in the protocol feature library.

[0141] The carrier frequency refers to the center frequency of radio waves. It is the basis for signal transmission. Interference signals can only be effective if they are near this frequency. It is set according to the center frequency of the communication band parameters.

[0142] The signal modulation mode refers to the working mode that the jamming signal generator needs to simulate, so that the jamming signal can effectively disrupt the other party's communication. It is obtained by configuring the modulation mode parameters.

[0143] A continuous wave carrier signal refers to a pure radio wave with a stable frequency and amplitude. It serves as the base signal for generating interference signals and is generated by a radio frequency signal generator according to a set carrier frequency.

[0144] Radio frequency interference signals refer to the radio waves that are ultimately generated to block the communication of drones. They are the direct implementers of interference and are obtained by modulating and amplifying the power of continuous carrier signals.

[0145] A power amplifier is an electronic component used to amplify a weak electrical signal into a strong signal with sufficient energy, so as to ensure that interference signals can propagate over long distances.

[0146] Amplified continuous wave carrier signal refers to a continuous wave carrier signal whose power has been amplified by a power amplifier. Its waveform characteristics remain unchanged, but its energy is significantly increased.

[0147] The target frequency band signal refers to the interference signal with pure frequency components obtained after filtering. Its energy is concentrated in the frequency band used by the target protocol. It is obtained by passing the amplified signal through a filter that only allows the target frequency band to pass.

[0148] A directional antenna is an antenna that can concentrate radio wave energy in a specific direction, like a flashlight focusing light, and is used to accurately project jamming signals onto target drones.

[0149] A basic sine wave signal refers to a reference electrical signal with a smooth, continuous, and periodically changing waveform, used as the underlying carrier of information, and generated by an RF signal generator oscillating at a set frequency.

[0150] Modulation type refers to the specific method used to load information onto the basic sine wave signal. It determines which property of the carrier wave is changed to simulate interference, such as amplitude, frequency, or phase. It can be determined by interpreting the configuration parameters of the signal modulation mode.

[0151] Amplitude modulation is a type of modulation that simulates an interference signal by changing the peak height of a basic sine wave signal according to a certain rule. It is used to match the characteristics of the interference signal with the target signal.

[0152] The preset modulation depth parameter refers to a quantized value that is pre-set to control the degree of change in peak height during amplitude modulation. It is used to ensure that the amplitude change is just right and is obtained through the parameter configuration of the corresponding modulation method in the protocol feature library.

[0153] Frequency modulation refers to a type of modulation that simulates an interference signal by finely adjusting the frequency of a basic sine wave signal's vibration within one second according to a certain rule, in order to achieve another form of targeted interference.

[0154] The preset frequency offset parameter refers to a quantization value that is pre-set during frequency modulation to control the range of frequency variation. It is used to ensure that the width of the frequency swing meets the requirements and is obtained through the parameter configuration of the corresponding modulation method in the protocol feature library.

[0155] Phase modulation refers to a type of modulation that simulates interference signals by suddenly changing the starting phase of the waveform period of a basic sine wave signal according to a certain rule, and is used to achieve more complex signal imitation.

[0156] The preset phase shift parameter refers to a quantized value, such as 180 degrees, that is pre-set to control the transition angle of the waveform's starting point during phase modulation. It is used to precisely control the amount of phase transition and is obtained through the parameter configuration of the corresponding modulation method in the protocol feature library.

[0157] In this scheme, firstly, through the triggering and scanning steps, when the system detects that the target UAV has crossed the three-dimensional electronic fence, the broadband radio frequency receiving device is immediately activated at the triggering moment to scan and capture the wireless signal in the airspace where the UAV is located across the entire frequency band, so as to collect the original electromagnetic environment data. Secondly, through the signal analysis and protocol identification steps, the system uses digital signal processing (DSP) algorithms to analyze the captured wireless signal, separate out the signal pulse sequence with regular repetition, and then uses a pattern matching algorithm to compare this signal pulse sequence with multiple control protocol templates stored in the pre-stored protocol feature library one by one, calculate the similarity, and when the matching degree of a certain template exceeds a preset threshold, the system determines that the protocol is the target control protocol type. Subsequently, the system queries the pre-stored protocol feature library to obtain the communication frequency band parameters and modulation mode parameters corresponding to this target control protocol type.

[0158] Next, through the signal generation and modulation steps, the system sets the carrier frequency in the radio frequency signal generator according to the acquired communication frequency band parameters, and generates a pure basic sine wave signal as a continuous wave carrier signal. At the same time, the system configures the signal modulation mode according to the modulation method parameters, and determines the specific modulation type and corresponding parameters, such as preset modulation depth parameters, preset frequency offset parameters, or preset phase shift parameters.

[0159] Subsequently, the RF signal generator modulates the continuous wave carrier signal using a pre-configured signal modulation mode, changing its amplitude, frequency, or phase. Then, through signal amplification and filtering steps, the modulated signal is sent to a power amplifier for power boosting, resulting in an amplified continuous wave carrier signal. A bandpass filter is then used to filter the amplified continuous wave carrier signal, removing unwanted frequency components other than the carrier frequency, retaining only the pure target frequency band signal as the RF interference signal. Finally, through a directional transmission step, the RF interference signal is fed to a directional antenna, utilizing the antenna's directionality to concentrate the interference energy towards the target UAV, thus forming an effective directional RF interference signal.

[0160] Following the specific implementation of the previous scheme, the system has determined that the target UAV uses Protocol B, and its modulation method parameter is frequency modulation. Accordingly, the system first controls the radio frequency signal generator to generate a pure 2.4GHz basic sine wave signal as a continuous wave carrier signal. Then, the system determines that it is frequency modulation according to the modulation type and calls the preset frequency offset parameter corresponding to Protocol B in the protocol feature library. For example, it specifies that the frequency should fluctuate 5MHz above and below 2.4GHz. Then, the radio frequency signal generator starts to work. It no longer outputs a fixed frequency carrier, but according to the preset frequency offset parameter, it makes the frequency of the continuous wave carrier signal change periodically thousands of times per second with an amplitude of 5MHz, centered on 2.4GHz, thereby completing the frequency modulation process and generating a modulated wave that imitates the signal characteristics of Protocol B. This protocol signal is then amplified by the power amplifier and filtered to ensure frequency purity, finally forming a powerful radio frequency interference signal, which is radiated towards the UAV by the directional antenna.

[0161] This step achieves an automated closed loop from intrusion detection to precise jamming; by intelligent signal analysis, the drone control protocol is identified, and then targeted jamming signals are generated in a "tailor-made" manner, replacing the indiscriminate suppression mode of traditional broadband jamming; this targeted jamming greatly improves the suppression effect on specific drones, while significantly reducing the electromagnetic impact on surrounding legitimate communication equipment, achieving efficient and environmentally friendly precise radio frequency takeover.

[0162] Step 103: While applying the directional radio frequency interference signal to the target UAV, continuously send a preset guidance command to the target UAV. The guidance command includes a coordinate sequence of a preset safe path, which avoids no-fly zones and high-risk facilities within a preset protected airspace.

[0163] Optionally, step 103 may specifically include the following steps:

[0164] Step 1031: Load the directional radio frequency interference signal onto the directional antenna array, and use beamforming technology to concentrate the radio frequency energy of the radio frequency interference signal toward the real-time position of the target UAV.

[0165] Step 1032: During the same time interval of applying the directional radio frequency interference signal, the guidance command transmitting device encapsulates the coordinate sequence of the preset safety path according to the preset guidance command data format;

[0166] Step 1033: During the encapsulation process, the coordinate sequence of the preset safe path is bound to the timestamp of the current moment to form a time navigation data packet;

[0167] Step 1034: The directional radio frequency jamming signal and the time navigation data packet are transmitted alternately in a time-division multiplexing manner. The radio frequency jamming signal occupies the main time window, and the time navigation data packet is inserted and transmitted in a preset short time interval.

[0168] Step 1035: Based on the relative distance between the target UAV and the preset protected airspace boundary, adjust the transmission power ratio of the directional radio frequency jamming signal and the time navigation data packet to maintain the alternating transmission process of the directional radio frequency jamming signal and the time navigation data packet until the target UAV is detected to respond to the preset guidance command.

[0169] In the above scheme, the preset guidance command refers to a pre-planned sequence of control commands used to guide the UAV to a safe area. It is used to take over and control the UAV's flight path after interference. It is obtained by pre-setting and storing the command in the system through the ground control station.

[0170] The coordinate sequence of the preset safe path refers to a series of sequentially connected three-dimensional spatial coordinate points, which is used to define a complete flight route from the current location to the safe area. It is obtained by planning the route to avoid no-fly zones and high-risk facilities.

[0171] No-fly zones are core areas within protected airspace where drones are absolutely prohibited from entering, such as the airspace above runways and buildings. They are designated by airspace management regulations to ensure the absolute safety of safe flight paths.

[0172] High-risk facilities refer to sensitive or dangerous equipment that needs to be avoided in the protected airspace, such as radar antennas and oil depots. They are identified through safety risk assessments to further optimize safety paths.

[0173] A directional antenna array is a system composed of multiple antenna elements arranged in a certain pattern, used to precisely control the transmission direction of radio waves, and is constructed through physical assembly and circuit connection;

[0174] Beamforming is a technique that controls the phase of the signal transmitted by each element in an antenna array to enhance the energy of radio waves in a specific direction in space. It is used to form directional radio frequency interference signals and is implemented through digital signal processing algorithms.

[0175] Radio frequency energy refers to the electromagnetic energy carried by radio waves, which is used to suppress the control signals of target drones. It is obtained by amplifying the radio frequency interference signal through a power amplifier.

[0176] The real-time position of the target UAV refers to the instantaneous coordinates of the target UAV in three-dimensional space, which is used to guide the direction of beam alignment and is continuously tracked and acquired through radar or GPS positioning systems.

[0177] A guidance command transmitter is a radio transmission device specifically designed to send navigation commands to drones. It is used to transmit preset guidance commands and operates through an independent transmission channel.

[0178] The current timestamp refers to the precise time information when the data packet was generated, which is used to ensure the timeliness and order of navigation instructions, and is read from the system clock;

[0179] Time navigation data packets refer to data units formed by binding the coordinate sequence of a preset safe path with timestamps. They are used to ensure that the UAV receives path points in the correct time sequence and are generated through a data encapsulation protocol.

[0180] The main time window refers to the longer period of time allocated within a transmission cycle for transmitting directional radio frequency interference signals, which is used to ensure effective suppression of the UAV control link and is set through a time division multiplexing protocol.

[0181] The preset short time gap refers to a very short time segment interspersed between the main time windows within a transmission cycle, used to send guidance commands in a timely manner without interrupting interference;

[0182] Relative distance refers to the shortest straight-line distance between the target UAV's current position and the preset protected airspace boundary. It is used to assess the threat level and adjust the signal ratio, and is calculated using real-time coordinates.

[0183] The transmit power ratio specifies the distribution ratio between the transmit energy of the radio frequency interference signal and the time navigation data packet, which is used to balance the interference effect and the guidance success rate, and is dynamically adjusted according to the relative distance;

[0184] Response behavior refers to the observable changes in the flight attitude or trajectory of the target UAV after receiving guidance instructions. It is used to determine whether the guidance is effective and is obtained by comparing the expected path with the actual flight trajectory.

[0185] In this scheme, firstly, through a precise interference step, the system inputs the generated radio frequency interference signal into the directional antenna array. The system uses a beamforming algorithm to dynamically calculate and adjust the phase of the transmitted signal of each antenna element in the directional antenna array based on the real-time position of the target UAV, so that these transmitted signals are superimposed in phase in the direction of the UAV, thereby concentrating the radio frequency energy into a sharp beam of directional radio frequency interference signal, which is continuously pointed at the UAV. Secondly, through an instruction encapsulation step, during the same time period when interference is applied, the guidance instruction transmitting device starts to work. It reads the coordinate sequence of the preset safe path according to the data format specified by the preset guidance instruction. During the encapsulation process, the device binds the coordinates of each path point with the timestamp of the current moment obtained from the system clock to form a complete time navigation data packet to ensure the timeliness and order of the instruction.

[0186] Next, through a time-division multiplexing transmission step, the system employs communication timing control technology to divide the transmission time into repeating periods. Within each period, radio frequency interference signals are continuously transmitted within the main time window to maintain suppression. Between two main time windows, the system inserts a preset short time gap, during which time navigation data packets are rapidly transmitted. Subsequently, through a power adaptive adjustment step, the relative distance between the target UAV and the protected airspace boundary is calculated in real time, and the transmission power ratio is dynamically adjusted based on this distance: when the UAV is close to the boundary, the power of the interference signal is appropriately reduced, while the power of the guidance command is increased to enhance the guidance effect; when the UAV is far from the boundary, the interference is increased to ensure suppression. This adjustment process is continuous to maintain the alternating transmission of interference and guidance until the UAV's response behavior is detected.

[0187] Following the specific implementation of the previous scheme, the system initiates a guidance process while the target UAV continuously transmits directional radio frequency jamming signals. The guidance command transmitting device reads the coordinate sequence of a pre-planned safe path, which guides the UAV eastward away from the airport, bypassing no-fly zones and high-risk facilities. The device packages the coordinates of each path point with a precise timestamp of the current moment to form a time navigation data packet. The system employs a time-division multiplexing strategy: for up to 95% of the main time window, the directional antenna array continuously transmits a powerful jamming beam; in the remaining 5% of the time, i.e., a pre-set short time gap, the system quickly switches to transmitting time navigation data packets. Simultaneously, the system dynamically adjusts the transmission power ratio according to the relative distance between the UAV and the airport boundary: when the UAV begins to move away, the jamming power is slightly reduced while the transmission power of the navigation data packet is increased to increase the probability of successful reception; until the system detects through radar that the UAV's flight trajectory begins to deviate from the pre-set safe path, i.e., its response behavior is detected.

[0188] This step innovatively combines time-division multiplexing and beamforming technology to achieve the simultaneous transmission of suppressive jamming and navigation guidance commands. It breaks the limitation of the separation between jamming and guidance in traditional expulsion methods. While effectively depriving the UAV of its control, it provides it with a clear and safe escape path, upgrading simple signal suppression to controllable active guidance. This fundamentally avoids the secondary safety risks caused by the UAV going out of control and crashing due to simple jamming, and realizes the leap from expulsion to takeover guidance.

[0189] Step 104: By monitoring the target UAV's response to the preset guidance command, dynamically adjust the strength of the directional radio frequency interference signal and the transmission frequency of the preset guidance command until the target UAV flies away from the protected airspace along the preset safe path.

[0190] Optionally, step 104 may specifically include the following steps:

[0191] Step 1041, Monitoring Step: Continuously monitor the actual flight trajectory coordinates of the target UAV through the positioning system, and compare the actual flight trajectory coordinates with the coordinate sequence of the preset safe path;

[0192] Step 1042, Calculation step: Calculate the angle deviation between the actual flight direction of the target UAV and the expected flight direction of the preset safe path based on the comparison results;

[0193] Step 1043, Measurement Step: Measure the speed difference between the actual flight speed of the target UAV and the expected flight speed of the preset safe path based on the comparison results;

[0194] Step 1044, Adjustment steps: When the angle deviation exceeds the first threshold, increase the transmission power of the directional radio frequency interference signal and reduce the transmission time interval of the preset guidance command. When the speed difference exceeds the second threshold, adjust the waveform duty cycle of the directional radio frequency interference signal and increase the transmission density of waypoint coordinates in the preset guidance command. When the angle deviation is less than the first threshold and the speed difference is less than the second threshold, gradually reduce the transmission power of the directional radio frequency interference signal by a fixed step size and restore the normal transmission time interval of the preset guidance command.

[0195] Step 1045: Continuously monitor the distance between the flight trajectory coordinates of the target UAV and the endpoint coordinates of the preset safe path. When the distance is less than the set range, stop transmitting directional radio frequency interference signals and preset guidance commands.

[0196] Step 1046: Repeat the monitoring step, calculation step, measurement step and adjustment step until the distance between the flight trajectory coordinates of the target UAV and the end point coordinates of the preset safe path is less than the set range.

[0197] In the above scheme, the intensity of the directional radio frequency interference signal refers to the magnitude of the interference signal energy, which is used to control the degree of suppression of the UAV link and is changed by adjusting the transmission power and waveform duty cycle.

[0198] The preset guidance command sending frequency refers to the number of times guidance commands are sent to the drone per unit time. It is used to control the update rate of guidance information and is achieved by adjusting the sending time interval.

[0199] A positioning system refers to a device used to determine the spatial location of a target drone, such as radar or GPS, which provides the drone's real-time location information by continuously tracking the target.

[0200] The actual flight trajectory coordinates refer to the continuous position points of the target UAV actually measured by the positioning system, which are used to reflect its true flight path and are obtained in real time through the positioning system;

[0201] The coordinate sequence of the preset safe path refers to the set of ideal path points that are planned in advance and expected to be used as a benchmark for comparison.

[0202] The comparison result refers to the difference information obtained by comparing the actual flight trajectory coordinates with the coordinate sequence of the preset safe path, which is used to assess the deviation of the flight status;

[0203] The actual flight direction refers to the current flight orientation of the target UAV, which is used to determine whether it has deviated from the expected flight path. It is calculated by using the coordinates of two consecutive actual flight trajectories.

[0204] The expected flight direction refers to the flight direction specified by the current coordinates of the UAV on the preset safe path, and is used as a correct reference for direction comparison;

[0205] The angle deviation value refers to the angle between the actual flight direction and the desired flight direction. It is used to quantify the degree of directional deviation and is calculated by vector angle.

[0206] Actual flight speed refers to the current speed of the target UAV, used to determine whether it is flying at the expected speed, and is calculated by the rate of change of position;

[0207] The expected flight speed refers to the recommended flight speed for the corresponding flight segment on the preset safe path, which is used as a benchmark value for speed comparison.

[0208] The speed difference refers to the numerical difference between the actual flight speed and the expected flight speed. It is used to quantify the degree of speed deviation and is obtained through arithmetic subtraction.

[0209] The waveform duty cycle refers to the ratio of the effective transmission time of the interference signal to the total time within one cycle. It is used to finely adjust the interference effect and is achieved by changing the pulse waveform parameters.

[0210] The waypoint coordinate transmission density refers to the number of waypoints included in the guidance instructions sent per unit path length. It is used to provide more detailed path guidance and is achieved by encrypting the transmission of waypoints.

[0211] The distance to the endpoint coordinates refers to the straight-line distance from the current position of the target drone to the final coordinate point of the preset safe path. It is used to determine whether the expulsion is completed and is calculated through coordinates.

[0212] The first threshold refers to a pre-set angle deviation threshold value, which is used to determine whether the drone's flight direction deviates too much. When the calculated angle deviation value exceeds this value, the direction adjustment strategy is triggered.

[0213] The transmission power of a directional radio frequency jamming signal refers to the amount of energy generated when the jamming signal is transmitted. It directly determines the strength of the jamming signal and the suppression effect on the drone. It is adjusted by controlling the amplification factor of the power amplifier.

[0214] Fixed step size refers to a pre-set, fixed adjustment value used to make small, gradual adjustments to parameters such as transmission power to avoid control instability caused by excessively rapid parameter changes. It is used as the quantitative value for each increase or decrease in the adjustment process.

[0215] The transmission interval refers to the length of time between two consecutive transmissions of preset guidance commands to the drone. It is used to control the transmission frequency of guidance commands. The shorter the interval, the higher the transmission frequency. This is achieved by adjusting the timing control parameters of the transmitting device.

[0216] The second threshold refers to a pre-set speed difference threshold value, which is used to determine whether the drone's flight speed meets expectations. When the calculated speed difference exceeds this value, an adjustment strategy for the speed is triggered.

[0217] The set range refers to a pre-set distance threshold value used to determine whether the expulsion mission is completed. When the distance to the calculated destination coordinates is less than this range, the drone is considered to have safely flown away.

[0218] In this scheme, firstly, the target UAV is continuously tracked using a positioning system to obtain a series of actual flight trajectory coordinates. These actual coordinates are then compared point by point with the coordinate sequence of a preset safe path to generate comparison results describing the positional differences. Secondly, based on the comparison results, a vector calculation method is used to select the current and previous positions of the UAV to calculate the actual flight direction. At the same time, the expected flight direction of the corresponding point on the preset path is found, and the angular deviation between the two is calculated. Simultaneously, the actual flight speed is obtained by calculating the displacement of the UAV per unit time, and the difference is calculated with the expected flight speed for that segment to obtain the speed difference value.

[0219] Next, the calculated angle deviation value is compared with the first threshold. If the deviation is too large, the transmission power of the directional radio frequency interference signal is increased to strengthen the suppression, while the transmission interval of the preset guidance command is reduced to enhance guidance. At the same time, the speed difference is compared with the second threshold. If the speed does not match, the waveform duty cycle is adjusted, for example, by increasing the duty cycle to enhance the continuous interference effect and increasing the transmission density of waypoint coordinates to provide the UAV with more detailed path indication. Conversely, if the deviations are all within the threshold, the transmission power is gradually reduced by a fixed step size, and the normal transmission interval is restored to gradually reduce the intervention. Then, the distance between the current position of the UAV and the coordinates of the path endpoint is continuously calculated. When this distance is less than the set range, it indicates that the UAV has safely flown away, and the system stops transmitting all signals. The entire process from monitoring to adjustment is repeated to form a closed-loop control that adjusts in real time based on the UAV's response behavior until the drive-away mission is completed.

[0220] Following the specific implementation of the previous scheme, the system detected that the target UAV had begun flying eastward under interference and guidance. The positioning system continuously transmitted back the actual flight trajectory coordinates, which the system compared in real time with the coordinate sequence of the preset safe path. Calculation revealed that the UAV's actual flight direction deviated by 15 degrees north from the required due east direction, exceeding the first threshold, and its flight speed was slightly lower than the expected flight speed. The system immediately initiated adjustment steps: firstly, the transmission power of the directional radio frequency interference signal was increased to further suppress its erroneous control commands; simultaneously, the transmission interval of guidance commands was shortened from 2 seconds to 1 second to increase the command update frequency; to address the slow speed issue, the waveform duty cycle was adjusted to make the interference more persistent, and the transmission density of waypoint coordinates was increased, inserting denser intermediate points between the original path points to provide more precise guidance; as the UAV gradually corrected its course, once the angle deviation and speed difference returned to within the threshold, the system began to gradually reduce the interference power in fixed steps and restored the command transmission interval; the system continuously calculated the distance between the UAV and the coordinates of the safe zone endpoint, and when the distance was close enough, it finally stopped all signal transmission, completing the safe departure.

[0221] This step involves real-time monitoring of the drone's flight status and precise comparison with a preset path to construct a closed-loop feedback control system, achieving a shift from brute-force signal suppression to precise behavioral guidance. This adaptive adjustment mechanism ensures just the right amount of control over the drone, effectively correcting its deviations while gradually reducing intervention as it obeys guidance, ultimately achieving safe, smooth, and reliable removal with minimal control costs.

[0222] Figure 2 This application provides a structural schematic diagram of a three-dimensional dynamic electronic fence and radio frequency control drone deterrence system, as shown below. Figure 2 As shown, the system includes:

[0223] The generation module 21 is used to generate a three-dimensional electronic fence that dynamically adjusts with the position of the target UAV based on the real-time flight trajectory of the target UAV and the geographical boundary of the preset protected airspace.

[0224] The scanning module 22 is used to initiate radio frequency signal scanning to identify the control protocol type of the target drone when the target drone passes through the three-dimensional electronic fence, and generate a directional radio frequency interference signal based on the control protocol type;

[0225] The transmitting module 23 is used to continuously send a preset guidance command to the target drone while applying the directional radio frequency interference signal to the target drone. The guidance command includes a coordinate sequence of a preset safe path, which avoids no-fly zones and high-risk facilities within a preset protected airspace.

[0226] The adjustment module 24 is used to dynamically adjust the strength of the directional radio frequency interference signal and the transmission frequency of the preset guidance command by monitoring the response behavior of the target UAV to the preset guidance command, until the target UAV flies away from the protected airspace along the preset safe path.

[0227] Figure 2 The aforementioned three-dimensional dynamic electronic fence and radio frequency control drone deterrence system can perform... Figure 1 The implementation principle and technical effects of the three-dimensional dynamic electronic fence and radio frequency control drone deterrence method described in the illustrated embodiment will not be repeated here. The specific operation methods of each module and unit in the three-dimensional dynamic electronic fence and radio frequency control drone deterrence system described in the above embodiments have been described in detail in the embodiments related to this method, and will not be elaborated upon here.

[0228] In one possible design, Figure 2 The three-dimensional dynamic electronic fence and radio frequency control drone deterrence system of the embodiment shown can be implemented as a computing device, such as... Figure 3 As shown, the computing device may include a storage component 31 and a processing component 32;

[0229] The storage component 31 stores one or more computer instructions, wherein the one or more computer instructions are invoked and executed by the processing component 32.

[0230] The processing component 32 is used for the above Figure 1 The embodiment describes a method for driving away drones using a three-dimensional dynamic electronic fence and radio frequency control.

[0231] The processing component 32 may include one or more processors to execute computer instructions to complete all or part of the steps in the above-described method. Alternatively, the processing component may be implemented as one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the above-described method.

[0232] Storage component 31 is configured to store various types of data to support operations at the terminal. The storage component can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.

[0233] Of course, computing devices may also include other components, such as input / output interfaces, display components, communication components, etc.

[0234] Input / output interfaces provide interfaces between processing components and peripheral interface modules, which can be output devices, input devices, etc.

[0235] The communication components are configured to facilitate wired or wireless communication between computing devices and other devices.

[0236] The computing device can be a physical device or an elastic computing host provided by a cloud computing platform. In this case, the computing device can refer to a cloud server, and the aforementioned processing components, storage components, etc., can be basic server resources rented or purchased from the cloud computing platform.

[0237] This application also provides a computer storage medium storing a computer program, which, when executed by a computer, can perform the above-described functions. Figure 1 The embodiment shown illustrates a method for driving away drones using a three-dimensional dynamic electronic fence and radio frequency control.

[0238] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0239] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0240] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0241] Finally, it should be noted that the above 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 method for driving away drones using a three-dimensional dynamic electronic fence and radio frequency control, characterized in that, include: Based on the real-time flight trajectory of the target UAV and the geographical boundary of the preset protected airspace, a 3D electronic fence is generated that dynamically adjusts with the position of the target UAV. This includes: acquiring the real-time flight position coordinates and flight velocity vector of the target UAV, and simultaneously acquiring the polygonal boundary point set of the preset protected airspace; calculating the distance set between the target UAV and each point in the polygonal boundary point set of the preset protected airspace based on the real-time flight position coordinates of the target UAV, and determining the boundary point corresponding to the minimum distance value in the distance set as the initial reference anchor point; constructing an initial spherical boundary with the initial reference anchor point as the center, and decomposing the flight velocity vector of the target UAV into normal and tangential components towards the preset protected airspace; adjusting the radius of the initial spherical boundary according to the magnitude of the normal component, with the radius decreasing accordingly as the normal component increases. The radius of the initial spherical boundary is elastically deformed along the surface of the protected airspace according to the direction of the tangential component, resulting in a deformed spherical boundary. A Boolean intersection operation is performed between the radius of the deformed spherical boundary and the polygonal boundary of the preset protected airspace, and the portion located outside the preset protected airspace is extracted to form the current frame geometry of the 3D electronic fence. The current frame geometry is then smoothly transitioned to the previous historical geometry to generate a continuously changing 3D electronic fence. The initial reference anchor point is updated based on the real-time flight position coordinates of the target UAV, and the updated initial reference anchor point is used as the initial reference anchor point. The steps of constructing the initial spherical boundary, deforming the initial spherical boundary, performing the Boolean intersection operation, and smoothing the transition are executed iteratively to achieve continuous dynamic adjustment of the 3D electronic fence. When the target drone passes through the three-dimensional electronic fence, an radio frequency signal scan is initiated to identify the control protocol type of the target drone, and a directional radio frequency interference signal is generated based on the control protocol type. While applying the directional radio frequency interference signal to the target drone, a preset guidance command is continuously sent to the target drone. The guidance command includes a coordinate sequence of a preset safe path, which avoids no-fly zones and high-risk facilities within a preset protected airspace. By monitoring the target UAV's response to the preset guidance command, the strength of the directional radio frequency interference signal and the transmission frequency of the preset guidance command are dynamically adjusted until the target UAV flies away from the protected airspace along the preset safe path.

2. The method according to claim 1, characterized in that, When the target drone crosses the three-dimensional electronic fence, an radio frequency signal scan is initiated to identify the target drone's control protocol type, and a directional radio frequency interference signal is generated based on the control protocol type, including: At the moment the target drone crosses the three-dimensional electronic fence, the broadband radio frequency receiving equipment is activated to scan the wireless signals in the airspace where the target drone is located; The signal pulse sequence with periodic characteristics is separated from the wireless signal, and the signal pulse sequence is matched item by item with multiple control protocol templates in the pre-stored protocol feature library, wherein the pre-stored protocol feature library contains signal features of various UAV control protocols; When the matching degree between the signal pulse sequence and any control protocol template exceeds a preset threshold, it is determined to be the target control protocol type. Based on the determined target control protocol type, the pre-stored protocol feature library is queried to obtain the communication frequency band parameters and modulation mode parameters corresponding to the target control protocol type. Set the carrier frequency according to the communication frequency band parameters, and configure the signal modulation mode according to the modulation method parameters; A continuous wave carrier signal is generated by an RF signal generator according to the set carrier frequency, and the continuous wave carrier signal is modulated using the configured signal modulation mode to generate an RF interference signal. The radio frequency interference signal is transmitted towards the target drone through a directional antenna, forming a directional radio frequency interference signal.

3. The method according to claim 1, characterized in that, While applying the directional radio frequency interference signal to the target drone, preset guidance commands are continuously sent to the target drone, including: The directional radio frequency interference signal is loaded onto a directional antenna array, and beamforming technology is used to concentrate the radio frequency energy of the interference signal toward the real-time position of the target UAV. During the same time interval when the directional radio frequency interference signal is applied, the coordinate sequence of the preset safe path is encapsulated by the guidance command transmitting device according to the preset guidance command data format; During the encapsulation process, the coordinate sequence of the preset safe path is bound to the timestamp of the current moment to form a time navigation data packet; Directional radio frequency jamming signals and time navigation data packets are transmitted alternately in a time-division multiplexing manner. The radio frequency jamming signals occupy the main time window, while the time navigation data packets are inserted and transmitted within a preset short time interval. Based on the relative distance between the target UAV and the preset protected airspace boundary, the transmission power ratio of the directional radio frequency jamming signal and the time navigation data packet is adjusted to maintain the alternating transmission process of the directional radio frequency jamming signal and the time navigation data packet until the target UAV is detected to respond to the preset guidance command.

4. The method according to claim 1, characterized in that, By monitoring the target UAV's response to the preset guidance command, the strength of the directional radio frequency interference signal and the transmission frequency of the preset guidance command are dynamically adjusted until the target UAV flies away from the protected airspace along the preset safe path, including: Monitoring steps: Continuously monitor the actual flight trajectory coordinates of the target UAV through the positioning system, and compare the actual flight trajectory coordinates with the coordinate sequence of the preset safe path; Calculation steps: Calculate the angular deviation between the actual flight direction of the target UAV and the expected flight direction of the preset safe path based on the comparison results; Measurement steps: Based on the comparison results, measure the speed difference between the actual flight speed of the target UAV and the expected flight speed along the preset safe path; Adjustment steps: When the angle deviation exceeds the first threshold, increase the transmission power of the directional radio frequency interference signal and decrease the transmission time interval of the preset guidance command. When the speed difference exceeds the second threshold, adjust the waveform duty cycle of the directional radio frequency interference signal and increase the transmission density of waypoint coordinates in the preset guidance command. When the angle deviation is less than the first threshold and the speed difference is less than the second threshold, gradually decrease the transmission power of the directional radio frequency interference signal in fixed steps and restore the normal transmission time interval of the preset guidance command. The distance between the flight trajectory coordinates of the target drone and the endpoint coordinates of the preset safe path is continuously monitored. When the distance is less than the set range, the transmission of directional radio frequency interference signals and preset guidance commands is stopped. Repeat the monitoring, calculation, measurement, and adjustment steps until the distance between the target UAV's flight trajectory coordinates and the endpoint coordinates of the preset safe path is less than a set range.

5. The method according to claim 1, characterized in that, The radius of the initial spherical boundary is adjusted according to the magnitude of the normal component; as the normal component increases, the radius of the initial spherical boundary decreases accordingly. Simultaneously, based on the direction of the tangential component, the radius of the initial spherical boundary undergoes elastic deformation along the surface of the protected airspace, resulting in the deformed spherical boundary, including: The radius adjustment coefficient is calculated based on the ratio between the value of the normal component and the preset radius reference value. Multiply the baseline radius of the initial spherical boundary by the radius adjustment factor to obtain the adjusted radius of the spherical boundary; The extension range of the preset protected airspace surface in the direction of the tangential component is determined based on the direction angle of the tangential component. Centered on the initial reference anchor point, the adjusted spherical boundary radius remains unchanged in the normal component direction, while the shape of the initial spherical boundary is stretched according to the extension range in the tangential component direction to form an ellipsoidal boundary structure that is oriented and stretched along the surface of the preset protected airspace. The ellipsoidal boundary structure is used as the deformed spherical boundary, and the geometric parameters of the deformed spherical boundary are recorded. The geometric parameters include the major axis radius, the minor axis radius, and the stretching direction angle.

6. The method according to claim 2, characterized in that, A continuous wave carrier signal is generated by an RF signal generator according to a set carrier frequency, and the continuous wave carrier signal is modulated using a configured signal modulation mode to generate an RF interference signal, including: A fundamental sine wave signal is generated based on the carrier frequency as a continuous wave carrier signal; Based on the signal modulation mode parameters, identify the modulation type to be used; When the modulation type is amplitude modulation, the amplitude of the continuous wave carrier signal is periodically changed according to the preset modulation depth parameter. When the modulation type is frequency modulation, the frequency of the continuous wave carrier signal is periodically shifted according to the preset frequency offset parameter. When the modulation type is phase modulation, the phase of the continuous wave carrier signal is periodically changed according to the preset phase shift parameter. The modulated continuous wave carrier signal is sent to a power amplifier for signal amplification to obtain an amplified continuous wave carrier signal. Bandpass filtering is performed on the amplified continuous wave carrier signal to retain the target frequency band signal centered on the carrier frequency, thus obtaining the radio frequency interference signal.

7. A three-dimensional dynamic electronic fence and radio frequency control (RFC) drone deterrence system, applied to the drone deterrence method of any one of claims 1-6, characterized in that, include: The generation module is used to generate a three-dimensional electronic fence that dynamically adjusts with the position of the target UAV based on the real-time flight trajectory of the target UAV and the geographical boundary of the preset protected airspace. The scanning module is used to initiate radio frequency signal scanning to identify the control protocol type of the target drone when the target drone passes through the three-dimensional electronic fence, and generate a directional radio frequency interference signal based on the control protocol type; The transmitting module is used to continuously send a preset guidance command to the target drone while applying the directional radio frequency interference signal to the target drone. The guidance command includes a coordinate sequence of a preset safe path, which avoids no-fly zones and high-risk facilities within a preset protected airspace. The adjustment module is used to dynamically adjust the strength of the directional radio frequency interference signal and the transmission frequency of the preset guidance command by monitoring the response behavior of the target UAV to the preset guidance command, until the target UAV flies away from the protected airspace along the preset safe path.

8. A computing device, characterized in that, It includes a processing component and a storage component; the storage component stores one or more computer instructions; the one or more computer instructions are invoked and executed by the processing component to implement a drone driving-off method with a three-dimensional dynamic electronic fence and radio frequency control as described in any one of claims 1 to 6.

9. A computer storage medium, characterized in that, The device contains a computer program that, when executed by a computer, implements a method for driving away drones using a three-dimensional dynamic electronic fence and radio frequency control as described in any one of claims 1 to 6.

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