Unmanned aerial vehicle interception system based on searching, tracking and striking low, small and slow targets, control method, equipment and medium
By developing an interception system and control method based on search, tracking, and strike, the problem of intercepting small, slow-rotor drones in existing technologies has been solved, enabling precise strikes and active interception under conditions of limited sensor field of view and distance.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- SICHUAN HANKE COMPUTER INFORMATION TECH CO LTD
- Filing Date
- 2026-03-24
- Publication Date
- 2026-04-21
AI Technical Summary
Existing anti-drone technologies are insufficient to effectively counter the flexible threats posed by rotary-wing drones, especially in the defense of low-altitude, small, and slow-moving targets. Electronic jamming and laser equipment are not yet mature enough to achieve precise interception.
This invention provides an interceptor drone system and control method based on searching, tracking, and striking small, slow targets. The system uses an external reconnaissance system to provide the target's location, the interceptor drone takes off automatically, searches for the target, enters the tracking and guidance phase, uses the onboard interceptor device to strike the target, and achieves precision strike through attitude and throttle control.
It achieves precise interception of small, slow targets under conditions of limited field of view and distance of target detection sensors, has active interception capability, and can assess the strike effect and carry out a second strike or return to base.
Smart Images
Figure CN121900482A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of unmanned aerial vehicle (UAV) control technology, and more specifically, to an interception UAV system, control method, device, and medium based on searching, tracking, and engaging small, slow-moving targets. Background Technology
[0002] With breakthroughs in artificial intelligence, swarm control, and low-cost manufacturing technologies, rotary-wing drones, with their high maneuverability, low detectability, and asymmetric cost advantages, have completely overturned traditional offensive and defensive rules. However, their large-scale deployment has also created a defense vacuum against "low, small, and slow" aerial targets, necessitating the development of new countermeasures.
[0003] However, current mainstream anti-drone technologies have significant limitations, such as the failure of electronic jamming and the immaturity of laser equipment, making it difficult to deal with the flexible threats posed by rotary-wing drones. Summary of the Invention
[0004] The purpose of this invention is to provide an interception drone system, control method, device, and medium based on searching, tracking, and striking small, slow targets, in order to solve the above-mentioned problems in the prior art.
[0005] This invention is achieved through the following technical solution:
[0006] In a first aspect, the present invention provides a control method for an interceptor unmanned aerial vehicle (UAV) system based on searching, tracking, and engaging small, slow-moving targets, comprising: Obtain the current location of the reconnaissance target and issue a flight control signal to instruct the drone to fly towards the target area where the reconnaissance target is located; Upon reaching the target area, the system searches for the reconnaissance target. Once the target is detected, the system enters the tracking and guidance phase. Once the target enters the strike range, a control signal is sent to activate the drone to strike. After the interception is completed, the strike effect is assessed to either strike again or cease the strike. Upon receiving a signal to cease attacking, the drone is instructed to return to base or retrieve the next interception mission.
[0007] Preferably, the entry into the tracking and guidance phase includes entering the pure tracking phase or entering the post-tracking phase: The entry into the pure tracking phase includes: after the seeker locks onto the reconnaissance target, it enters the guidance phase, and the pure tracking phase is to control the UAV to fly directly toward the reconnaissance target; The post-tracking phase includes: after the seeker locks onto the reconnaissance target, it enters the guidance phase. The post-tracking phase includes setting a threshold for judging the angle between the UAV's flight direction and the reconnaissance target's flight direction. When the angle between the UAV's flight direction and the reconnaissance target's flight direction is greater than the threshold, the angle between the UAV's flight direction and the reconnaissance target's flight direction is reduced.
[0008] Preferably, the guidance phase includes: The pitch angle and sideslip of the UAV are obtained. The roll error is obtained based on the pitch angle and sideslip. The expected value of the roll angle of the UAV is calculated through the roll error. The expected pitch angle and expected yaw angle are obtained based on the expected UAV attitude. Obtain the PID coefficients for throttle control, obtain the throttle control quantity based on the PID coefficients for throttle control, and output the expected value of the UAV roll angle, expected pitch angle, expected yaw angle, and throttle control quantity.
[0009] Preferably, obtaining the drone's elevation angle includes:
[0010] In the formula, The elevation angle of the drone. For the northeast speed of the drone, The pitch angle of the sensor. It is the 0th element of the northeast direction vector. This is the first element of the northeast direction vector. It is the second element of the northeast direction vector; Obtaining the sideslip angle of the drone includes:
[0011] In the formula, For the sideslip angle of the drone, This is the yaw angle of the sensor.
[0012] Preferably, the roll error obtained based on the pitch angle and sideslip includes:
[0013] In the formula, Let this be the expected value of the drone's roll angle. This is the line-of-sight angle weighting coefficient. The horizontal azimuth angle of the target in the sensor.
[0014] Preferably, the expected value of the UAV roll angle is obtained by calculating the roll error, including:
[0015] In the formula, Let this be the expected value of the drone's roll angle. , and These are the PID coefficients for roll angle control. for The first derivative, This refers to the duration after the system starts up.
[0016] Preferably, the throttle control quantity obtained based on the PID coefficients of throttle control includes:
[0017]
[0018] In the formula, For throttle control amount, , and These are the PID coefficients for throttle control. for The first derivative, for The second derivative of .
[0019] Secondly, the present invention also provides an interceptor unmanned aerial vehicle (UAV) system based on searching, tracking, and engaging low, small, and slow targets, for executing the aforementioned control method for an interceptor UAV system based on searching, tracking, and engaging low, small, and slow targets, comprising: The pre-processing module is configured to acquire the current location of the reconnaissance target and issue a flight control signal to instruct the UAV to head towards the target area where the reconnaissance target is located; after arriving at the target area, it searches for the reconnaissance target, and enters the tracking and guidance phase when the reconnaissance target is detected; The strike module is configured to send a control signal to initiate a strike when a reconnaissance target enters the strike range. After the interception is completed, the module assesses the strike effect and either strikes again or stops the strike. When a stop strike signal is received, the module instructs the drone to return to base or retrieve the next interception mission.
[0020] Thirdly, the present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the above-described control method for an interceptor unmanned aerial vehicle system based on searching, tracking, and striking small and slow targets.
[0021] Fourthly, the present invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the above-described control method for an interceptor unmanned aerial vehicle system based on searching, tracking, and striking small, slow targets.
[0022] The technical solution of the present invention has at least the following advantages and beneficial effects: The method provided by this invention mainly includes: an external reconnaissance system providing the approximate location of the target; the intercepting drone automatically taking off and flying towards the target; searching for the target in a suspicious area; entering the tracking and guidance phase after the target is detected; activating the device after the target enters the strike range of the airborne interceptor; evaluating the strike effect and repeating the strike or ceasing the strike; and returning to base or deploying the next interception mission. Through this method, the drone can perform active interception, and based on the guidance phase provided by this method, precise strikes can be achieved even under conditions where the target detection sensor's field of view and distance are limited. Attached Figure Description
[0023] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.
[0024] Figure 1 This is a schematic diagram of the drone control process of the present invention; Figure 2 This is a schematic diagram of pure tracking and post-tracking in this invention. Detailed Implementation
[0025] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.
[0026] The module divisions described in this application are logical; in practical applications, different division methods may be used. For example, multiple modules may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the connections, couplings, or communications in this application can be direct connections, couplings, or communications between related objects, or indirect connections, couplings, or communications through other devices. Moreover, the connections, couplings, or communications between objects can be electrical or other similar forms, and are not limited in this application. Independently described modules or sub-modules may or may not be physically separated: they may be implemented in software or hardware, and some modules or sub-modules may be implemented in software, with the processor calling the software to implement the functions of these modules or sub-modules, while other modules or sub-modules are implemented in hardware, such as through hardware circuits. Furthermore, some or all of the modules can be selected to achieve the purpose of this application's solution according to actual needs.
[0027] Please refer to Figure 1 The present invention provides a control method for an interceptor unmanned aerial vehicle (UAV) system based on searching, tracking, and engaging small, slow-moving targets, comprising: S101: Obtain the current location of the reconnaissance target and issue a flight control signal to instruct the UAV to fly towards the target area where the reconnaissance target is located; S102: After reaching the target area, search for the reconnaissance target. Once the reconnaissance target is detected, enter the tracking and guidance phase. If the drone fails to lock onto the target after reaching the designated location due to loss of target guidance information or significant deviation in detection information, it will enter a circling search phase, in which the drone attempts to lock onto the enemy aircraft by scanning the surrounding airspace.
[0028] If there is no gimbal, attitude throttle control is used, and the target yaw and pitch angles rotate at a certain speed. If there is a seeker gimbal, the UAV hovers at that point and detects the target by rotating the UAV to yaw and rotating the gimbal.
[0029] The onboard computer controls the two sticks and one rudder, using sideslip turning combined with pitch angle changes to search the surrounding airspace.
[0030] If the detection information indicates that the target is far away, the UAV will enter pure tracking mode. If the seeker locks onto an enemy aircraft during the search, the UAV will enter tracking guidance mode.
[0031] S103: When a reconnaissance target enters the strike range, send a control signal to activate the drone to strike. After the interception is completed, assess the strike effect and strike again or stop the strike. S104: Upon receiving a signal to cease attack, instruct the drone to return to base or retrieve the next interception mission.
[0032] After completing its mission, the drone will automatically return to base. Alternatively, a human can take over the drone to initiate the return process. Once on the ground, the drone can proceed to other appropriate phases.
[0033] Multi-rotor: Call the return-to-home function to return to home.
[0034] Fixed-wing aircraft: Invoke the return-to-base command.
[0035] The method provided by this invention mainly includes: an external reconnaissance system providing the approximate location of the target; the intercepting drone automatically taking off and flying towards the target; searching for the target in a suspicious area; entering the tracking and guidance phase after the target is detected; activating the device after the target enters the strike range of the airborne interceptor; evaluating the strike effect and repeating the strike or ceasing the strike; and returning to base or deploying the next interception mission. Through this method, the drone can perform active interception, and based on the guidance phase provided by this method, precise strikes can be achieved even under conditions where the target detection sensor's field of view and distance are limited.
[0036] In this embodiment, the operator can switch to manual control at any time, and the drone can be completely taken over by the operator in the manual control state.
[0037] Multi-rotor drones: Manual mode, aerobatic mode, return-to-home mode, and altitude mode allow manual control of the drone. In the current state, the onboard computer ceases issuing commands to the drone. Manual control can be maintained using the corresponding control methods. When manual switching to hold mode during the guidance phase, the onboard computer regains control and continues the mission.
[0038] Fixed-wing drones: Workers can switch between manual control mode and onboard computer control mode using a remote controller. In manual control mode, the drone can be controlled using two sticks and one rudder, and commands such as takeoff and landing can be issued.
[0039] When switching from manual control to onboard computer control, the control system will enter different states depending on the current mission stage and the state of the UAV.
[0040] Ground Ready Status: At this point, the UAV is on the ground, powered on, has completed equipment initialization, and has established a connection with the ground station. After completing the initialization process, it is ready for takeoff at any time. Upon receiving the attack command and target telemetry information, the UAV issues the takeoff command. After detecting that takeoff has been completed, it enters pure tracking mode.
[0041] In one exemplary embodiment of the present invention, the entry into the tracking guidance phase includes entering a pure tracking phase or entering a post-tracking phase: Entering the pure tracking phase, after the seeker locks onto the reconnaissance target, it enters the guidance phase. The pure tracking phase involves controlling the UAV to fly directly toward the reconnaissance target. Specifically, the drone flies in a straight line toward the target, quickly shortening the distance between itself and the target aircraft, and trying to ensure that the target can be detected by the seeker.
[0042] Multi-rotor drones: Use attitude control mode to point the sensors toward the target direction and control speed and direction through throttle and roll.
[0043] Fixed-wing UAV: Control the two sticks and one rudder to point the UAV's nose towards the target, and control the angle of attack and sideslip angle within a controllable range. Once the seeker locks onto the target, it enters the guidance phase. If the post-tracking conditions are met, it enters the post-tracking phase.
[0044] Entering the post-tracking phase, after the seeker locks onto the target, the guidance phase begins. The post-tracking phase includes setting a threshold for judging the angle between the UAV's flight direction and the reconnaissance target's flight direction. When the angle between the UAV's flight direction and the reconnaissance target's flight direction is greater than the threshold, the angle between the UAV's flight direction and the reconnaissance target's flight direction is reduced.
[0045] Specifically, the system calculates the angle Δent between its own speed and the target speed using sensors or situational intelligence. If the angle is greater than a set value, it needs to enter a rear-tracking mode to calculate the target's position relative to the intercepting drone. Vector D after rotating clockwise and counterclockwise Ae around the heading axis 顺 D 逆 Then, the vector with the largest angle to the target velocity direction is selected as the target direction for the UAV. When the angle of Aent is less than the preset value, or the distance to the target is less than the preset value, the rear tracking mode is exited.
[0046] Specifically, when the target speed is high, a larger angle of entry will increase the overload required for the terminal maneuver, such as Figure 2 As shown on the left, when using pure tracking to approach an enemy aircraft, the target in the final stage has a large lateral velocity for the UAV. At this time, the attack aircraft needs a large lateral overload to strike the target. (If the seeker can lock onto the target at a long distance, starting proportional guidance as early as possible can alleviate the overload pressure, but it requires a high detection range from the seeker. If forward tracking is used, the accuracy of the detection information is required, otherwise the seeker may fail to lock onto the target.) like Figure 2 As shown on the right, although the speed at which the rear-tracking system approaches the enemy aircraft is not as fast as the pure tracking system on the left, the rear-tracking system can reduce the angle of entry in the terminal phase, thereby reducing the overload required for terminal guidance.
[0047] Multi-rotor: Uses speed control mode to calculate speed commands based on the desired speed direction and magnitude.
[0048] Fixed-wing aircraft: speed and direction are controlled via two sticks and one rudder. When the approach angle is small or the distance to the target is close enough for the seeker to detect the target, switch to pure tracking.
[0049] One exemplary embodiment of the present invention includes a guidance phase comprising: It flies to the target's vicinity based on the target position given by the seeker and strikes the target.
[0050] One of them is the multi-rotor interceptor guidance technology mentioned above, as shown below: The pitch angle and sideslip of the UAV are obtained. The roll error is obtained based on the pitch angle and sideslip. The expected value of the roll angle of the UAV is calculated through the roll error. The expected pitch angle and expected yaw angle are obtained based on the expected UAV attitude. Obtain the PID coefficients for throttle control, obtain the throttle control quantity based on the PID coefficients for throttle control, and output the expected value of the UAV roll angle, expected pitch angle, expected yaw angle, and throttle control quantity.
[0051] Another method is proportional guidance, which calculates the desired acceleration by using the relative angular rate and controls the two sticks and one rudder of the fixed-wing UAV to achieve the target acceleration and thus achieve guidance.
[0052] If, during the guidance phase, the sensor-calculated target distance is less than the interception distance, the strike device is triggered to assess the interception effect. If the interception is successful, the system returns to base; if the interception fails, it enters the search phase.
[0053] Specifically, airborne sensors typically operate only within a limited field of view and distance. Therefore, attitude control and throttle control are particularly critical during the guidance process for rotary-wing interceptor drones. Precise attitude control ensures that the target remains within the sensor's perception range throughout the guidance process, while throttle control determines the speed, ascent, and descent of the interceptor drone.
[0054] This patent proposes a guidance scheme combining attitude control and throttle control, enabling UAVs to intercept and engage targets within a limited sensor field of view. The relative attitude between the onboard target sensor and the intercepting UAV itself is considered as follows: The attitude of the intercepting drone relative to the northeastern land area during the movement is... Then the sensor's attitude can be obtained as follows: = .
[0055] The target's position relative to the intercepting drone can be inferred from the situational information and sensor detection information. Each dimension represents the distance to the northeast, so the relative azimuth and relative elevation of the target can be deduced as follows:
[0056]
[0057] In the formula, The relative azimuth of the target. The relative elevation angle of the target.
[0058] Setting the roll angle to 0, the desired sensor orientation can be obtained from the combined rotation matrix formula. Therefore, the desired interceptor drone attitude can be obtained as follows: When this posture is satisfied, the target is located at the center of the sensor's sensing range. The Euler angle extraction formula can be used to extract this. This is converted to Euler angles for further motion control. Since the relative roll angle between the target sensor and the interceptor body can be adjusted to 0 during installation, The calculated roll angle is approximately 0. It is the 0th element of the northeast direction vector. This is the first element of the northeast direction vector. It is the second element of the northeast direction vector.
[0059] Because the rotary-wing drone is in attitude Since the speed direction is not in the same direction as the sensor center, this solution designs a roll angle and throttle size control scheme to adjust the speed of the intercepting drone to overlap with the sensor's perception center, as shown below.
[0060] Obtaining the drone's elevation angle includes:
[0061] In the formula, The elevation angle of the drone. For the northeast speed of the drone, The elevation angle of the sensor; Obtaining the sideslip angle of the drone includes:
[0062] In the formula, For the sideslip angle of the drone, This is the yaw angle of the sensor.
[0063] The roll error, derived from the elevation angle and sideslip, includes:
[0064] In the formula, Let this be the expected value of the drone's roll angle. This is the line-of-sight angle weighting coefficient. The horizontal azimuth angle of the target in the sensor should be such that the installation yaw angle and roll angle of the target sensor relative to the carrier platform are almost zero.
[0065] The expected value of the UAV roll angle obtained by calculating the roll error includes:
[0066] In the formula, Let this be the expected value of the drone's roll angle. , and These are the PID coefficients for roll angle control. for The first derivative, This refers to the duration after the system starts up.
[0067] The throttle control quantities obtained from the PID coefficients of throttle control include:
[0068]
[0069] In the formula, For throttle control amount, , and These are the PID coefficients for throttle control. for The first derivative, for The second derivative of .
[0070] comprehensive Calculated desired pitch angle Desired yaw angle The combined attitude throttle control values for intercepting the drone are: [ , , , ].
[0071] Although this solution does not directly control the absolute speed of the interceptor, the absolute speed at the time of strike can be controlled by adjusting the relative pitch angle of the sensor during ground installation. The speed during guidance can also be adjusted by controlling the pitch angle of the sensor via a gimbal. Therefore, this solution is applicable to target sensor devices with various angle limitations, and the tracking and guidance speed can be controlled according to the requirements of the strike device.
[0072] An interceptor unmanned aerial vehicle (UAV) system based on searching, tracking, and engaging low-lying, small, and slow-moving targets, for executing the aforementioned control method for such an interceptor UAV system, includes: The pre-processing module is configured to acquire the current location of the reconnaissance target and issue a flight control signal to instruct the UAV to head towards the target area where the reconnaissance target is located; after arriving at the target area, it searches for the reconnaissance target, and enters the tracking and guidance phase when the reconnaissance target is detected; The strike module is configured to send a control signal to initiate a strike when a reconnaissance target enters the strike range. After the interception is completed, the module assesses the strike effect and either strikes again or stops the strike. When a stop strike signal is received, the module instructs the drone to return to base or retrieve the next interception mission.
[0073] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.
[0074] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. This computer software product, stored in a storage medium, includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.
[0075] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.
Claims
1. A control method for an interceptor unmanned aerial vehicle (UAV) system based on searching, tracking, and engaging small, slow-moving targets, characterized in that, include: Obtain the current location of the reconnaissance target and issue a flight control signal to instruct the drone to fly towards the target area where the reconnaissance target is located; Upon reaching the target area, the system searches for the reconnaissance target. Once the target is detected, the system enters the tracking and guidance phase. Once the target enters the strike range, a control signal is sent to activate the drone to strike. After the interception is completed, the strike effect is assessed to either strike again or cease the strike. Upon receiving a signal to cease attacking, the drone is instructed to return to base or retrieve the next interception mission.
2. The control method for an interceptor unmanned aerial vehicle system based on searching, tracking, and engaging low, small, and slow targets according to claim 1, characterized in that, The entry into the tracking guidance phase includes either entering the pure tracking phase or entering the post-tracking phase: The entry into the pure tracking phase includes: after the seeker locks onto the reconnaissance target, it enters the guidance phase, and the pure tracking phase is to control the UAV to fly directly toward the reconnaissance target; The post-tracking phase includes: after the seeker locks onto the reconnaissance target, it enters the guidance phase. The post-tracking phase includes setting a threshold for judging the angle between the UAV's flight direction and the reconnaissance target's flight direction. When the angle between the UAV's flight direction and the reconnaissance target's flight direction is greater than the threshold, the angle between the UAV's flight direction and the reconnaissance target's flight direction is reduced.
3. The control method for an interceptor unmanned aerial vehicle system based on searching, tracking, and striking small, slow targets according to claim 2, characterized in that, The guidance phase includes: The pitch angle and sideslip of the UAV are obtained. The roll error is obtained based on the pitch angle and sideslip. The expected value of the roll angle of the UAV is calculated through the roll error. The expected pitch angle and expected yaw angle are obtained based on the expected UAV attitude. Obtain the PID coefficients for throttle control, obtain the throttle control quantity based on the PID coefficients for throttle control, and output the expected value of the UAV roll angle, expected pitch angle, expected yaw angle, and throttle control quantity.
4. The control method for an interceptor unmanned aerial vehicle system based on searching, tracking, and striking small, slow targets according to claim 3, characterized in that, Obtaining the drone's elevation angle includes: In the formula, The elevation angle of the drone. For the northeast speed of the drone, The pitch angle of the sensor. It is the 0th element of the northeast direction vector. This is the first element of the northeast direction vector. It is the second element of the northeast direction vector; Obtaining the sideslip angle of the drone includes: In the formula, For the sideslip angle of the drone, This is the yaw angle of the sensor.
5. The control method for an interceptor unmanned aerial vehicle system based on searching, tracking, and striking low, small, and slow targets according to claim 4, characterized in that, The roll error, derived from the elevation angle and sideslip, includes: In the formula, Let this be the expected value of the drone's roll angle. This is the line-of-sight angle weighting coefficient. Let be the horizontal azimuth angle of the target in the sensor. This angle is defined as the horizontal azimuth angle of the target in the sensor.
6. The control method for an interceptor unmanned aerial vehicle system based on searching, tracking, and striking small, slow targets according to claim 5, characterized in that, The expected value of the UAV roll angle obtained by calculating the roll error includes: In the formula, Let this be the expected value of the drone's roll angle. , and These are the PID coefficients for roll angle control. for The first derivative, This refers to the duration after the system starts up.
7. The control method for an interceptor unmanned aerial vehicle system based on searching, tracking, and striking small, slow targets according to claim 6, characterized in that, The throttle control quantities obtained from the PID coefficients of throttle control include: In the formula, For throttle control amount, , and These are the PID coefficients for throttle control. for The first derivative, for The second derivative of .
8. An interceptor unmanned aerial vehicle (UAV) system based on searching, tracking, and engaging low-lying, small, and slow-moving targets, used to execute the control method for an interceptor UAV system based on searching, tracking, and engaging low-lying, small, and slow-moving targets as described in any one of claims 1-7, characterized in that, include: The pre-reconnaissance module is configured to acquire the current location of the target and issue a flight control signal to instruct the UAV to fly toward the target area where the target is located. Upon reaching the target area, the system searches for the reconnaissance target. Once the target is detected, the system enters the tracking and guidance phase. The strike module is configured to send a control signal to initiate a strike when a reconnaissance target enters the strike range. After the interception is completed, the module assesses the strike effect and either strikes again or stops the strike. When a stop strike signal is received, the module instructs the drone to return to base or retrieve the next interception mission.
9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the control method for an interceptor unmanned aerial vehicle system based on searching, tracking, and striking small and slow targets, as described in any one of claims 1-7.
10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, which, when executed by a processor, implements a control method for an interceptor unmanned aerial vehicle system based on searching, tracking, and striking small, slow targets as described in any one of claims 1-7.