Unmanned aerial vehicle countering method and device, computer equipment, readable storage medium and program product
By establishing communication and authenticating drones when they enter the target area, driving away unauthenticated drones, determining the level of threat, and implementing countermeasures, the accuracy and security issues of drone control are solved, ensuring the low-altitude safety of power facilities.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-11-05
- Publication Date
- 2026-03-31
AI Technical Summary
Existing technologies struggle to distinguish between legitimate inspection drones and malicious targets, leading to false interceptions or missed detections, and are unable to effectively defend against drone threats to power facilities.
By establishing communication and conducting location tracking, responding to identity authentication, driving away drones that fail to pass identity authentication, allowing drones that pass identity authentication to enter key areas, and determining threat level scores based on distance data, precise countermeasures can be implemented.
It enables precise control of drones, reduces the probability of misjudging legitimate drones, identifies malicious targets and takes effective countermeasures, and ensures the safety of power facilities.
Smart Images
Figure CN121768249A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of unmanned aerial vehicle (UAV) control technology, and in particular to a UAV countermeasure method, apparatus, computer equipment, computer-readable storage medium, and computer program product. Background Technology
[0002] With the development of the low-altitude economy and the rapid popularization of civilian drone technology, drones are being used more and more widely. Power transmission lines, especially those in dense corridors, are facing increasingly severe low-altitude safety threats. Unauthorized drones engaging in illegal filming, material dropping, or deliberate collisions near power facilities can easily cause short circuits, insulator damage, or even large-scale power outages.
[0003] In related technologies, since drones are also used for the inspection of power transmission lines, traditional radar and radio detection technologies have difficulty distinguishing between legitimate inspection drones and malicious targets, which can easily lead to false interception or missed detection. Summary of the Invention
[0004] Therefore, it is necessary to provide a method, device, computer equipment, computer-readable storage medium, and computer program product for countering drones that can accurately counter drones according to actual conditions, addressing the aforementioned technical problems.
[0005] Firstly, this application provides a method for countering unmanned aerial vehicles (UAVs), including:
[0006] When the drone under test enters the buffer identification zone of the target monitoring area, communication is established with the drone under test and positioning and tracking are performed; the target monitoring area includes the buffer identification zone, the key area and the countermeasure area.
[0007] Once communication with the drone under test is successfully established, the drone under test will be authenticated by responding.
[0008] If the drone under test fails to pass the identity authentication, the drone under test will be driven away and evidence will be collected.
[0009] If the drone under test passes the identity authentication, it is permitted to enter the key area and a permitted stay duration is allocated.
[0010] Based on the distance data between the drone under test and key areas and countermeasure areas, the threat level score of the drone under test is determined.
[0011] Based on the threat level score and preset strategies, countermeasures are taken against the drone under test.
[0012] In one embodiment, the response authentication of the drone under test includes:
[0013] Send a pre-set action command to the drone under test;
[0014] If the drone under test executes a secret command action within a preset time period and the flight trajectory constructed based on the secret command action is verified to be correct, the drone under test's response identity authentication is successful; the secret command action is obtained by the drone under test decrypting the preset action secret command.
[0015] In one embodiment, the verification of the flight trajectory constructed based on the secret command action includes:
[0016] Acquire video data and operational data of the drone under test within a preset time period;
[0017] Based on the video data and the operational data, the location information of the UAV under test is extracted, and the operational actions of the UAV under test are determined.
[0018] The flight trajectory of the UAV under test is obtained by fitting the location information and the operation action;
[0019] If the flight trajectory is the same as the preset trajectory, the flight trajectory of the UAV under test is correct.
[0020] In one embodiment, the method further includes:
[0021] Acquire backup video data captured by backup surveillance cameras within a preset time period;
[0022] Based on the backup video data, determine the backup operating actions of the drone under test;
[0023] Based on the aforementioned backup operation actions, the verification flight trajectory of the UAV under test is determined;
[0024] The verification is successful if the verified flight trajectory is the same as the flight trajectory.
[0025] In one embodiment, the threat level score is calculated using the following formula:
[0026] ;
[0027] in, The threat level score is defined as follows: t is the duration of the tested UAV's stay in the key area; TC is the permitted duration of the tested UAV's stay in the key area; D1 is the distance between the straight line of the tested UAV's direction of travel at time t and the edge of the key area; D2 is the minimum distance between the tested UAV and the edge of the key area at time t; D3 is the distance between the center point of the countermeasures area and the straight line of the tested UAV's direction of travel at time t; D4 is the distance between the center point of the countermeasures area and the tested UAV at time t; and DC is the distance the tested UAV travels towards the center point of the countermeasures area after entering the countermeasures area. Specify the exemption distance value.
[0028] In one embodiment, the method further includes:
[0029] Randomly select drones that have entered the key area and reached the preset time limit, and send a random key to the drones under test;
[0030] Receive verification information generated by the drone under test based on the random key;
[0031] If the verification information is successfully verified, the permitted stay time of the drone under test will be extended.
[0032] If the verification of the information fails, the drone under test will be driven away and evidence will be collected.
[0033] Secondly, this application also provides a drone countermeasure device, comprising:
[0034] A module is established to establish communication and perform positioning and tracking with the UAV under test when the UAV under test enters the buffer identification zone of the target monitoring area; the target monitoring area includes the buffer identification zone, the key area, and the countermeasure area;
[0035] The authentication module is used to authenticate the identity of the drone under test when communication between the drone and the test drone is successfully established.
[0036] The authentication module is also used to drive away and collect evidence from the drone under test if the drone's response identity authentication fails.
[0037] The authentication module is also used to allow the drone under test to enter the key area and allocate an allowed stay time when the drone under test passes the identity authentication response.
[0038] The determination module is used to determine the threat level score of the drone under test based on the distance data between the drone under test and the key area and the countermeasure area;
[0039] The countermeasure module is used to counter the drone under test based on the threat level score and preset strategies.
[0040] Thirdly, this application also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps:
[0041] When the drone under test enters the buffer identification zone of the target monitoring area, communication is established with the drone under test and positioning and tracking are performed; the target monitoring area includes the buffer identification zone, the key area and the countermeasure area.
[0042] Once communication with the drone under test is successfully established, the drone under test will be authenticated by responding.
[0043] If the drone under test fails to pass the identity authentication, the drone under test will be driven away and evidence will be collected.
[0044] If the drone under test passes the identity authentication, it is permitted to enter the key area and a permitted stay duration is allocated.
[0045] Based on the distance data between the drone under test and key areas and countermeasure areas, the threat level score of the drone under test is determined.
[0046] Based on the threat level score and preset strategies, countermeasures are taken against the drone under test.
[0047] Fourthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, performs the following steps:
[0048] When the drone under test enters the buffer identification zone of the target monitoring area, communication is established with the drone under test and positioning and tracking are performed; the target monitoring area includes the buffer identification zone, the key area and the countermeasure area.
[0049] Once communication with the drone under test is successfully established, the drone under test will be authenticated by responding.
[0050] If the drone under test fails to pass the identity authentication, the drone under test will be driven away and evidence will be collected.
[0051] If the drone under test passes the identity authentication, it is permitted to enter the key area and a permitted stay duration is allocated.
[0052] Based on the distance data between the drone under test and key areas and countermeasure areas, the threat level score of the drone under test is determined.
[0053] Based on the threat level score and preset strategies, countermeasures are taken against the drone under test.
[0054] Fifthly, this application also provides a computer program product, including a computer program that, when executed by a processor, performs the following steps:
[0055] When the drone under test enters the buffer identification zone of the target monitoring area, communication is established with the drone under test and positioning and tracking are performed; the target monitoring area includes the buffer identification zone, the key area and the countermeasure area.
[0056] Once communication with the drone under test is successfully established, the drone under test will be authenticated by responding.
[0057] If the drone under test fails to pass the identity authentication, the drone under test will be driven away and evidence will be collected.
[0058] If the drone under test passes the identity authentication, it is permitted to enter the key area and a permitted stay duration is allocated.
[0059] Based on the distance data between the drone under test and key areas and countermeasure areas, the threat level score of the drone under test is determined.
[0060] Based on the threat level score and preset strategies, countermeasures are taken against the drone under test.
[0061] The aforementioned drone countermeasure methods, devices, computer equipment, computer-readable storage media, and computer program products first establish communication and perform location tracking with the drone when it enters the buffer identification zone of the target monitoring area. If communication with the drone is successfully established, the drone undergoes response authentication. If the drone fails the response authentication, it is driven away and evidence is collected. If the drone passes the response authentication, it is permitted to enter the key area and a permitted stay time is allocated. Based on the distance data between the drone and the key and countermeasure areas, a threat level score is determined for the drone. Based on the threat level score and a preset strategy, countermeasures are taken against the drone. In this way, by constructing a layered dynamic defense system for the monitoring area, the accuracy and security challenges of low-altitude drone control along power transmission channels are effectively solved. The buffer identification zone, key area, and countermeasure area are spatially coupled, and the countermeasure area is precisely delineated based on the power transmission channel's orientation, ensuring a high degree of alignment between the defense range and the physical boundaries of power facilities. Attached Figure Description
[0062] To more clearly illustrate the technical solutions in the embodiments of this application or related technologies, the drawings used in the description of the embodiments of this application or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.
[0063] Figure 1 This is a diagram illustrating the application environment of a drone countermeasure method in one embodiment.
[0064] Figure 2 This is a flowchart illustrating a drone countermeasure method in one embodiment;
[0065] Figure 3 This is a structural block diagram of a drone countermeasure device in one embodiment;
[0066] Figure 4 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation
[0067] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.
[0068] It should be noted that the terms "first," "second," etc., used in this application can be used to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish the first element from the second element. The terms "comprising" and "having," and any variations thereof, used in this application, are intended to cover non-exclusive inclusion. The term "multiple" used in this application refers to two or more. The term "and / or" used in this application refers to one of the embodiments, or any combination of multiple embodiments.
[0069] The drone countermeasure method provided in this application embodiment can be applied to, for example, Figure 1In the application environment shown, terminal 102 communicates with server 104 via a network. A data storage system can store the data that server 104 needs to process. The data storage system can be integrated onto server 104 or located on the cloud or other network servers. Terminal 102 can be, but is not limited to, various personal computers, laptops, smartphones, tablets, drones, low-altitude aircraft, IoT devices, and portable wearable devices. IoT devices can include smart speakers, smart TVs, smart air conditioners, smart in-vehicle devices, projection devices, etc. Portable wearable devices can include smartwatches, smart bracelets, head-mounted devices, etc. Head-mounted devices can be virtual reality (VR) devices, augmented reality (AR) devices, smart glasses, etc. Server 104 can be a standalone physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server providing cloud computing services.
[0070] In one exemplary embodiment, such as Figure 2 As shown, a method for countering unmanned aerial vehicles (UAVs) is provided, which can be applied to... Figure 1 Taking terminal 102 as an example, the explanation includes the following steps 202 to 212. Wherein:
[0071] Step 202: When the UAV under test enters the buffer identification zone of the target monitoring area, establish communication with the UAV under test and perform positioning and tracking.
[0072] The target monitoring area includes a buffer identification zone, a key area, and a countermeasure zone.
[0073] In one embodiment, the target monitoring area includes a buffer identification area, a key area, and a countermeasure area. The buffer identification area surrounds the key area and the boundaries of the two areas are connected. The countermeasure area is located within the key area and is set along the power transmission channel of the power grid.
[0074] For example, the maximum monitoring range along the power grid is pre-defined as the target monitoring area. When the drone under test enters the buffer identification area of the target monitoring area, a communication link is proactively established to broadcast and perform positioning and tracking.
[0075] Step 204: If communication between the test drone and the drone under test is successfully established, the test drone will be authenticated.
[0076] Optionally, if communication with the drone under test is successfully established, the drone under test may be authenticated by responding.
[0077] In another embodiment, if communication with the drone under test fails to be established, the drone under test is directly driven away.
[0078] Step 206: If the test drone fails to pass the identity authentication, drive away the test drone and collect evidence.
[0079] For example, if the drone under test fails to pass the identity authentication response, the drone under test is driven away and evidence is collected.
[0080] Step 208: If the drone under test passes the identity authentication, allow the drone under test to enter the key area and allocate an allowed stay time.
[0081] Optionally, if the drone under test passes the identity authentication, the drone under test is allowed to enter the key area and a permitted stay duration is allocated.
[0082] Step 210: Based on the distance data between the drone under test and the key area and the countermeasure area, determine the threat level score of the drone under test.
[0083] For example, the threat level score of the drone under test is determined based on the distance data between the drone under test and the key area and the countermeasure area.
[0084] Step 212: Countermeasures are taken against the drone under test based on the threat level score and preset strategies.
[0085] Optionally, the threat level of the drone under test can be classified according to its threat level score and preset strategies, and countermeasures can be taken against the drone under test based on the classification results.
[0086] In one embodiment, the threat level of the drone under test is categorized into low-threat, medium-threat, and high-threat situations based on its threat score. Low-threat situations, such as legitimate inspections / surveying, are managed through continuous monitoring, providing airspace information, and recording and filing. Medium-threat situations, such as suspected unauthorized entry / failure to report, are managed through voice / light warnings, guidance and expulsion, enhanced monitoring, and contacting the operator. High-threat situations, such as malicious approach / extended stay, involve initiating targeted and precise countermeasures within the countermeasure zone.
[0087] In another embodiment, the drone under test can be induced to deviate from its flight path to ensure that it does not affect the surrounding area; control of the drone under test can be cut off or control of the drone under test can be seized; in extreme cases, to ensure accurate hit and environmental safety, directed energy strikes (radio frequency / laser) can be used to force the drone under test to land or become disabled, and electromagnetic suppression and physical interception can be strictly limited to the countermeasures area in the power transmission channel.
[0088] In the aforementioned drone countermeasures method, when the drone under test enters the buffer identification zone within the target monitoring area, communication is established with the drone and its location is tracked. If communication with the drone is successfully established, the drone is authenticated. If the drone fails the authentication, it is driven away and evidence is collected. If the drone passes the authentication, it is permitted to enter the key area and a permitted stay time is allocated. Based on the distance data between the drone and the key and countermeasure areas, the threat level score of the drone is determined. Based on the threat level score and a preset strategy, countermeasures are taken against the drone. Thus, by constructing a layered dynamic defense system for the monitoring area, the accuracy and security challenges of low-altitude drone control along power transmission channels are effectively solved. The buffer identification zone, key area, and countermeasure area are spatially coupled, and the countermeasure area is precisely defined based on the power transmission channel's orientation, ensuring a high degree of alignment between the defense range and the physical boundaries of the power facilities.
[0089] In an exemplary embodiment, the response authentication of the drone under test includes: sending a preset action command to the drone under test; and if the drone under test executes the command action within a preset time period and verifies that the flight trajectory constructed based on the command action is correct, the response authentication of the drone under test is successful.
[0090] In practice, after the terminal establishes communication with the drone under test, a preset action command is sent to the drone under test. After receiving the preset action command, the drone under test decrypts it and executes the corresponding command action according to the decryption result to obtain the flight trajectory constructed by the drone under test. The flight trajectory is then verified. If the verification is correct, the drone under test's response identity authentication is successful.
[0091] In one embodiment, if the drone under test does not stop moving and hover within a specified time, the drone under test will be driven away.
[0092] In another embodiment, a preset action command is randomly selected from a preset command library and sent. The key required to decrypt the preset action command is pre-configured in the drone under test. The security level is far superior to the existing ID broadcast authentication, and it can effectively identify authorized drones in the "whitelist" and friendly or controllable drones with the correct key / protocol.
[0093] In the above embodiments, a preset action command is sent to the drone under test that enters the buffer identification zone. The drone under test needs to decrypt the command and hover in response within a specified time. This is a key security behavior verification. On the one hand, it can identify whether the drone under test has successfully decrypted the command action. On the other hand, it can increase the difficulty for the drone under test to directly pass through the buffer identification zone and enter the key area. The drone under test needs to perform the corresponding operation action according to the command action to pass the response identity authentication.
[0094] In an exemplary embodiment, verifying the flight trajectory constructed based on the secret command action includes: acquiring video data and operational data of the UAV under test within a preset time period; extracting the position information of the UAV under test based on the video data and operational data, and determining the operational actions of the UAV under test; fitting the position information and operational actions to obtain the flight trajectory of the UAV under test; and confirming that the flight trajectory of the UAV under test is correct if the flight trajectory is the same as the preset trajectory.
[0095] In practice, a fixed monitoring position closest to the drone under test is selected to acquire video data and operational data of the drone under test within a preset time period. The position information of the drone under test is extracted according to the dynamic adaptation frequency, and the operation actions are recorded and matched in real time. The position information and operation actions are fitted to obtain the flight trajectory of the drone under test. If the flight trajectory is the same as the preset trajectory, the flight trajectory of the drone under test is correct.
[0096] The flight trajectory includes markers associated with operational actions, which include flight attitude, specific actions, and lighting information.
[0097] Among them, the flight attitude is pitch / roll / yaw angle, which can be realized based on machine vision or determined directly through the report data returned by the drone; specific actions are drawing geometric shapes (circles, figure 8s), hovering in place, and altitude jumps; the light information is specific colors or flashing sequences, etc.
[0098] In one embodiment, a fixed monitoring position with pre-configured imaging quality and no obstruction is set on the power transmission line. The pixel coordinates of the UAV under test can be obtained by performing target detection (YOLO, etc.) and tracking algorithms (DeepSORT, etc.) on the video data. With the help of pre-calibrated camera intrinsic and extrinsic parameters, the position coordinates of the UAV in the current frame of the video data can be calculated.
[0099] In another embodiment, the flight trajectory fitting is smoothed by extracting discrete sampled data from the dynamic adaptation frequency, and the time point and type of the action are marked in the form of visual labels (icons, color flashing, text annotations) to generate a continuous animation. During the consistency judgment, the shooting angle between the UAV under test and the fixed monitoring position when the UAV starts to perform the operation determines the angle configuration selection of the verification trajectory animation. The consistency judgment must ensure the consistency requirements of trajectory shape, size, position error, action start / end time, duration deviation, whether all required actions (including light / attitude) are completed, and whether the expected markers meet the consistency requirements of space, time, action and marker matching.
[0100] In the above embodiments, verification requires matching the current monitoring perspective, which can prevent pre-recorded video attacks. The requirements for actions such as lighting / posture significantly increase the difficulty of simulating non-cooperative drones. The trajectory animation and markers make the authentication process intuitive and visual, facilitating manual review, thereby comprehensively improving the credibility of identity verification.
[0101] In one exemplary embodiment, the drone countermeasure method further includes: acquiring backup video data captured by backup monitoring within a preset time period; determining backup operating actions of the drone under test based on the backup video data; determining the verification flight trajectory of the drone under test based on the backup operating actions; and verifying the drone successfully if the verification flight trajectory is the same as the flight trajectory.
[0102] In practice, the backup monitoring position closest to the drone under test is selected, and the position information of the drone under test is extracted according to the dynamic adaptation frequency, and the backup operation actions are recorded in real time; the shooting angle of the backup monitoring position is different from that of the fixed monitoring position.
[0103] The flight trajectory corresponding to the backup monitoring position is compared with the verification flight trajectory. If the consistency judgment is passed, the identity authentication is passed; otherwise, it is not passed. The verification flight trajectory is associated with the backup operation and the shooting angle of the backup monitoring position.
[0104] In one embodiment, during the sampling process based on the dynamic adaptive frequency, if the UAV under test is in a low-speed / hovering state, low-frequency sampling (e.g., 1-2Hz) can be used to save computing power; if it is performing high-speed / complex maneuvers or performing specific actions (e.g., rolling, drawing circles), high-frequency sampling (e.g., 10-30Hz) can be used to avoid trajectory distortion; since the UAV under test generally has built-in obstacle avoidance or disturbance resistance functions, the current frequency can also be reduced during periods when the wind speed changes.
[0105] In the above embodiments, the consistency judgment is made by using the verification flight trajectory recorded by the backup monitoring position, which has a different shooting angle and position from the fixed monitoring position. This can prevent pre-recorded video attacks by the enemy. If the enemy imitates the flight movement of the fixed monitoring position, it is difficult to guarantee that the imitated movement can be verified by comparing the backup flight trajectory with the backup verification trajectory due to the randomness of the changing shooting angle. This further improves the reliability of identity verification.
[0106] In an exemplary embodiment, the threat level score is calculated using the formula shown in formula (1):
[0107] (1)
[0108] in, The threat level score is defined as follows: t is the duration of the tested UAV's stay in the key area; TC is the permitted duration of the tested UAV's stay in the key area; D1 is the distance between the straight line of the tested UAV's direction of travel at time t and the edge of the key area; D2 is the minimum distance between the tested UAV and the edge of the key area at time t; D3 is the distance between the center point of the countermeasures area and the straight line of the tested UAV's direction of travel at time t; D4 is the distance between the center point of the countermeasures area and the tested UAV at time t; and DC is the distance the tested UAV travels towards the center point of the countermeasures area after entering the countermeasures area. Specify the exemption distance value.
[0109] In the above embodiments, a dimensionless calculation method is used to quantify the threat level to obtain a threat level score. Then, the threat level score is compared with a pre-set level threshold to obtain a graded response strategy, making the results more intuitive.
[0110] In one exemplary embodiment, the drone countermeasure method further includes: randomly selecting a drone to be tested that has entered a key area and reached a preset time, and sending a random key to the drone to be tested; receiving verification information generated by the drone to be tested based on the random key; extending the permitted stay time of the drone to be tested if the verification information is successfully verified; and driving away and taking action to collect evidence if the verification information fails to be verified.
[0111] In practice, a drone is randomly selected to be tested after entering a key area and staying for a preset period of time. A random key is sent to the drone, which then performs calculations according to the preset algorithm required by the random key and sends back verification information. The system receives verification information generated by the drone based on the random key. The verification information is then verified for consistency. If the verification is successful, the permitted stay time of the drone is extended. If the verification fails, the drone is driven away and evidence is collected.
[0112] The random key can be a randomly generated string. After receiving the string, the UAV under test processes the string according to a preset algorithm.
[0113] In one embodiment, a preset algorithm can obtain the number of times the drone under test has been launched, its basic information, and the launch time of the current task. Based on the number of times the drone under test has been launched, the basic information is encrypted once to obtain first-level encrypted information.
[0114] Level 1 encryption can multiply the numerical part of the device model number by the number of times it has been used, and add the alphabetical part to the number of times it has been used sequentially. For example, if the device model is fly305 and it has been used 3 times, the corresponding Level 1 encryption information is iob915. The sequence of y is +3, which can be used to cycle to b according to the alphabet. In addition, the alphabet can also be made by itself to further improve the encryption strength.
[0115] The primary encrypted information is encrypted again based on the start time of the current mission to obtain the secondary encrypted information. The secondary encryption can directly load the start time of the current mission after the primary encrypted information. Because the start time of the drone is not the same as the time when the drone flies out of the drone cabin, it is more secretive and cannot be directly observed. For example, if the start time is 9:30:15, the corresponding secondary encrypted information is iob915-093015.
[0116] The secondary encrypted information is combined with a string (e.g., 365&acDaPU73D4*103) to form a hash value (e.g., iob915-093015+365&acDaPU73D4*103), and then written into a specified position in an image of a specified size. The hash value of the image is used as the identification and verification information. Specifically, the secondary encrypted information iob915-093015+365&acDaPU73D4*1035 can be embedded in a rectangular blank image of size 900*900 in a pixel-based manner. 'i' can correspond to 30 black pixels, 'o' to 40 white pixels, the first '9' to 9 black pixels, the second '9' to 9 white pixels, and so on. The correspondence between characters and the number of pixels is preset in advance. The black and white pixels constitute the information embedded in the image. The specified embedding position can be temporarily and randomly changed before each use. In this way, any slight change in the image will lead to a change in the hash value, which can fully guarantee the ability of the random key to resist cracking.
[0117] In the above embodiments, an allowable retention time is allocated to each drone under test that is permitted to enter the key area. The identity sampling authentication procedure can reduce the probability that the drone under test can be remotely attacked and maliciously controlled into a zombie drone.
[0118] This application effectively solves the problems of accuracy and security in the prevention and control of low-altitude drones in power transmission channels by constructing a layered dynamic defense system for monitoring areas. It spatially couples the buffer identification zone, key area and countermeasure zone, and refines the scope of the countermeasure zone based on the direction of the power transmission channel, so that the defense range is highly consistent with the physical boundary of the power facilities.
[0119] With active communication link establishment and real-time positioning and tracking as the basic guarantee, the dynamic secret command response mechanism is triggered immediately when the drone under test enters the buffer identification area. Through multi-dimensional verification of the drone under test's hovering response capability, the completeness of secret command execution and flight trajectory animation, the anti-spoofing authentication effect far exceeds that of traditional ID recognition, thereby significantly reducing the probability of legitimate inspection drones being misjudged. At the same time, it accurately identifies malicious targets that refuse to respond or forge authentication and automatically triggers the expulsion and electronic evidence collection process.
[0120] For certified drones under test, the system continuously conducts threat assessments and generates threat level scores after allowing them to enter key areas. This drives a tiered response strategy, enabling precise strikes within the area, from routine monitoring to targeted expulsion and even countermeasures. This ensures the safety of long-distance power transmission corridors while maintaining normal airspace order to the greatest extent possible, providing an efficient and engineerable solution for low-altitude power grid defense.
[0121] To illustrate the drone countermeasure method in this application in detail, an embodiment is described below. For example, this application describes a drone countermeasure method in a specific scenario.
[0122] First, the maximum monitoring range along the power grid is pre-defined as the target monitoring area. When the drone to be tested enters the buffer identification area of the target monitoring area, a communication link is proactively established to broadcast and perform positioning and tracking.
[0123] If communication with the drone under test is successfully established, the drone will respond for authentication. If communication with the drone under test fails, the drone will be directly driven away.
[0124] If the drone under test fails to pass the identity authentication, the drone under test will be driven away and evidence will be collected.
[0125] If the drone under test passes the identity authentication, it is permitted to enter the key area and a permitted stay duration is allocated.
[0126] The threat level score of the drone under test is determined based on the distance data between the drone under test and the key area and the countermeasure area.
[0127] Based on the threat level score of the drone under test and the preset strategy, the threat level of the drone under test is classified, and countermeasures are taken against the drone under test based on the classification results.
[0128] Based on the threat level score of the drone under test, the threat level of the drone under test is divided into low threat, medium threat, and high threat situations. Low threat situations, such as legitimate inspections / surveying, are managed by continuous monitoring, providing airspace information, and recording and filing. Medium threat situations, such as suspected unauthorized entry / failure to report, are managed by voice / light warnings, guidance and expulsion, enhanced monitoring, and contacting the operator. High threat situations, such as malicious approach / prolonged stay, are handled by targeted and precise countermeasures within the countermeasure zone.
[0129] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages in other steps. It is understood that the steps in different embodiments can be freely combined as needed, and all non-contradictory solutions formed by such combinations are within the scope of protection of this application.
[0130] Based on the same inventive concept, this application also provides a drone countermeasure device for implementing the drone countermeasure method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations in one or more drone countermeasure device embodiments provided below can be found in the limitations of the drone countermeasure method described above, and will not be repeated here.
[0131] In one exemplary embodiment, such as Figure 3 As shown, a drone countermeasure device is provided, comprising: an establishment module 301, an authentication module 302, a determination module 303, and a countermeasure module 304, wherein:
[0132] A module is established to establish communication and perform positioning and tracking with the UAV under test when the UAV under test enters the buffer identification zone of the target monitoring area; the target monitoring area includes the buffer identification zone, the key area, and the countermeasure zone.
[0133] The authentication module is used to authenticate the identity of the drone under test when communication between the drone and the test drone is successfully established.
[0134] The authentication module is also used to drive away and collect evidence from the drone under test if the drone's response authentication fails.
[0135] The authentication module is also used to allow the drone under test to enter the key area and allocate an authorized stay time when the drone under test passes the identity authentication response.
[0136] The determination module is used to determine the threat level score of the drone under test based on the distance data between the drone under test and the key area and the countermeasure area.
[0137] The countermeasure module is used to counter the drone under test based on the threat level score and preset strategies.
[0138] In one exemplary embodiment, the authentication module described above is further configured to:
[0139] Send a pre-set action command to the drone under test;
[0140] If the drone under test executes a secret command action within a preset time period and the flight trajectory constructed based on the secret command action is verified to be correct, the drone under test's response identity authentication is successful; the secret command action is obtained by the drone under test decrypting the preset action secret command.
[0141] In one exemplary embodiment, the above-described apparatus further includes a verification module for:
[0142] Acquire video data and operational data of the drone under test within a preset time period;
[0143] Based on the video data and the operational data, the location information of the UAV under test is extracted, and the operational actions of the UAV under test are determined.
[0144] The flight trajectory of the UAV under test is obtained by fitting the location information and the operation action;
[0145] If the flight trajectory is the same as the preset trajectory, the flight trajectory of the UAV under test is correct.
[0146] In one exemplary embodiment, the verification module described above is further configured to:
[0147] Acquire backup video data captured by backup surveillance cameras within a preset time period;
[0148] Based on the backup video data, determine the backup operating actions of the drone under test;
[0149] Based on the aforementioned backup operation actions, the verification flight trajectory of the UAV under test is determined;
[0150] The verification is successful if the verified flight trajectory is the same as the flight trajectory.
[0151] In one exemplary embodiment, the above-described apparatus further includes a computing module for:
[0152] The formula for calculating the threat level score is:
[0153] ;
[0154] in, The threat level score is defined as follows: t is the duration of the tested UAV's stay in the key area; TC is the permitted duration of the tested UAV's stay in the key area; D1 is the distance between the straight line of the tested UAV's direction of travel at time t and the edge of the key area; D2 is the minimum distance between the tested UAV and the edge of the key area at time t; D3 is the distance between the center point of the countermeasures area and the straight line of the tested UAV's direction of travel at time t; D4 is the distance between the center point of the countermeasures area and the tested UAV at time t; and DC is the distance the tested UAV travels towards the center point of the countermeasures area after entering the countermeasures area. Specify the exemption distance value.
[0155] In one exemplary embodiment, the verification module described above is further configured to:
[0156] Randomly select drones that have entered the key area and reached the preset time limit, and send a random key to the drones under test;
[0157] Receive verification information generated by the drone under test based on the random key;
[0158] If the verification information is successfully verified, the permitted stay time of the drone under test will be extended.
[0159] If the verification of the information fails, the drone under test will be driven away and evidence will be collected.
[0160] The modules in the aforementioned UAV countermeasures device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the computer device's memory as software, so that the processor can call and execute the corresponding operations of each module.
[0161] In one exemplary embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 4As shown, the computer device includes a processor, memory, input / output interfaces (I / O), a communication interface, a display unit, and input devices. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface, display unit, and input devices are also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides the environment for the operation of the operating system and computer programs in the non-volatile storage media. The database stores the authentication data of the UAV under test. The I / O interfaces are used for information exchange between the processor and external devices. The communication interface is used for communication with external terminals via a network connection. When the computer program is executed by the processor, it implements a UAV countermeasure method.
[0162] The display unit of this computer device is used to form a visually visible image and can be a display screen, a projection device, or a virtual reality imaging device. The display screen can be an LCD screen or an e-ink screen. The input device of this computer device can be a touch layer covering the display screen, or buttons, a trackball, or a touchpad set on the casing of the computer device, or an external keyboard, touchpad, or mouse, etc.
[0163] Those skilled in the art will understand that Figure 4 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.
[0164] In one exemplary embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps:
[0165] When the drone under test enters the buffer identification zone of the target monitoring area, communication is established with the drone under test and positioning and tracking are performed; the target monitoring area includes the buffer identification zone, the key area and the countermeasure area.
[0166] Once communication with the drone under test is successfully established, the drone under test will be authenticated by responding.
[0167] If the drone under test fails to pass the identity authentication, the drone under test will be driven away and evidence will be collected.
[0168] If the drone under test passes the identity authentication, it is permitted to enter the key area and a permitted stay duration is allocated.
[0169] Based on the distance data between the drone under test and key areas and countermeasure areas, the threat level score of the drone under test is determined.
[0170] Based on the threat level score and preset strategies, countermeasures are taken against the drone under test.
[0171] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, the computer program performing the following steps when executed by a processor:
[0172] When the drone under test enters the buffer identification zone of the target monitoring area, communication is established with the drone under test and positioning and tracking are performed; the target monitoring area includes the buffer identification zone, the key area and the countermeasure area.
[0173] Once communication with the drone under test is successfully established, the drone under test will be authenticated by responding.
[0174] If the drone under test fails to pass the identity authentication, the drone under test will be driven away and evidence will be collected.
[0175] If the drone under test passes the identity authentication, it is permitted to enter the key area and a permitted stay duration is allocated.
[0176] Based on the distance data between the drone under test and key areas and countermeasure areas, the threat level score of the drone under test is determined.
[0177] Based on the threat level score and preset strategies, countermeasures are taken against the drone under test.
[0178] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, performs the following steps:
[0179] When the drone under test enters the buffer identification zone of the target monitoring area, communication is established with the drone under test and positioning and tracking are performed; the target monitoring area includes the buffer identification zone, the key area and the countermeasure area.
[0180] Once communication with the drone under test is successfully established, the drone under test will be authenticated by responding.
[0181] If the drone under test fails to pass the identity authentication, the drone under test will be driven away and evidence will be collected.
[0182] If the drone under test passes the identity authentication, it is permitted to enter the key area and a permitted stay duration is allocated.
[0183] Based on the distance data between the drone under test and key areas and countermeasure areas, the threat level score of the drone under test is determined.
[0184] Based on the threat level score and preset strategies, countermeasures are taken against the drone under test.
[0185] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.
[0186] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, artificial intelligence (AI) processors, etc., and are not limited to these.
[0187] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.
[0188] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.
Claims
1. A method for drone countermeasure, characterized in that, The method comprises: In the case that the to-be-tested unmanned aerial vehicle enters a buffer identification area in a target monitoring area, communication is established with the to-be-tested unmanned aerial vehicle and positioning tracking is performed; the target monitoring area comprises the buffer identification area, a key area and a countermeasure area; In the case that the communication with the to-be-tested unmanned aerial vehicle is successfully established, the to-be-tested unmanned aerial vehicle is subjected to response identity authentication; In the case that the response identity authentication of the to-be-tested unmanned aerial vehicle fails, the to-be-tested unmanned aerial vehicle is driven away and action evidence is collected; In the case that the response identity authentication of the to-be-tested unmanned aerial vehicle is passed, the to-be-tested unmanned aerial vehicle is permitted to enter the key area and is allocated a permitted residence duration; Based on distance data between the to-be-tested unmanned aerial vehicle and the key area and the countermeasure area, a threat degree score of the to-be-tested unmanned aerial vehicle is determined; Based on the threat degree score and a preset strategy, the to-be-tested unmanned aerial vehicle is subjected to countermeasures.
2. The method of claim 1, wherein, The response identity authentication of the to-be-tested unmanned aerial vehicle comprises: A preset action order is sent to the to-be-tested unmanned aerial vehicle; In the case that the to-be-tested unmanned aerial vehicle performs the order action within a preset time period and it is verified that a flight track constructed according to the order action is correct, the response identity authentication of the to-be-tested unmanned aerial vehicle is passed; the order action is obtained by the to-be-tested unmanned aerial vehicle according to the preset action order.
3. The method of claim 2, wherein, The verification of the flight track constructed according to the order action comprises: Video data of the to-be-tested unmanned aerial vehicle within a preset time period and operation data of the to-be-tested unmanned aerial vehicle are acquired; Based on the video data and the operation data, position information of the to-be-tested unmanned aerial vehicle is extracted and operation action of the to-be-tested unmanned aerial vehicle is determined; The position information and the operation action are fitted to obtain the flight track of the to-be-tested unmanned aerial vehicle; In the case that the flight track is the same as a preset track, the flight track of the to-be-tested unmanned aerial vehicle is correct.
4. The method of claim 3, wherein, The method further comprises: Backup video data photographed by a backup monitoring device within a preset time period is acquired; Based on the backup video data, backup operation action of the to-be-tested unmanned aerial vehicle is determined; Based on the backup operation action, a verification flight track of the to-be-tested unmanned aerial vehicle is determined; In the case that the verification flight track is the same as the flight track, the verification is successful.
5. The method of claim 1, wherein, The threat degree score is calculated according to the following formula: ； wherein, is a threat degree score, t is the residence time of the to-be-tested UAV in the key area, TC is the permitted residence time of the to-be-tested UAV in the key area, D1 is the distance between the straight line in the direction of travel of the to-be-tested UAV at the t moment and the edge of the key area, D2 is the minimum distance between the to-be-tested UAV and the edge of the key area at the t moment, D3 is the distance between the center point of the countermeasure area and the straight line in the direction of travel of the to-be-tested UAV at the t moment, D4 is the distance between the center point of the countermeasure area and the to-be-tested UAV at the t moment, DC is the displacement distance of the to-be-tested UAV to the center point of the countermeasure area after entering the countermeasure area, is a specified exemption distance value.
6. The method of claim 1, wherein, The method further comprises: A to-be-tested unmanned aerial vehicle that enters the key area and reaches a preset duration is randomly extracted, and a random key is sent to the to-be-tested unmanned aerial vehicle; Verification information generated by the to-be-tested unmanned aerial vehicle according to the random key is received; In the case that the verification information is verified successfully, the permitted residence duration of the to-be-tested unmanned aerial vehicle is extended; In the case that the verification information fails to be verified, the to-be-tested unmanned aerial vehicle is driven away and action evidence is collected.
7. A drone countermeasure device, comprising: The device comprises: An establishment module, configured to, in the case that a to-be-tested unmanned aerial vehicle enters a buffer identification area in a target monitoring area, establish communication with the to-be-tested unmanned aerial vehicle and perform positioning tracking; the target monitoring area comprises the buffer identification area, a key area and a countermeasure area; An authentication module, configured to, in the case that the communication with the to-be-tested unmanned aerial vehicle is successfully established, perform response identity authentication on the to-be-tested unmanned aerial vehicle; The authentication module is further configured to, in the case that the response identity authentication of the to-be-tested unmanned aerial vehicle fails, drive the to-be-tested unmanned aerial vehicle away and collect action evidence. The authentication module is further configured to, in a case where the response identity authentication of the to-be-tested unmanned aerial vehicle is passed, permit the to-be-tested unmanned aerial vehicle to enter the key area and assign a permitted stay duration. The determination module is configured to determine a threat degree score of the to-be-tested unmanned aerial vehicle based on distance data between the to-be-tested unmanned aerial vehicle and the key area and the countermeasure area. The countermeasure module is configured to perform a countermeasure on the to-be-tested unmanned aerial vehicle based on the threat degree score and a preset strategy.
8. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that, The processor, when executing the computer program, implements the steps of the method of any one of claims 1 to 6.
9. A computer readable storage medium having stored thereon a computer program, characterized in that, The computer program, when executed by the processor, implements the steps of the method of any one of claims 1 to 6.
10. A computer program product comprising a computer program, characterized in that, The computer program, when executed by the processor, implements the steps of the method of any one of claims 1 to 6.