Detection countering method and system of traversing machine

Abstract

The invention relates to the technical field of unmanned aerial vehicles, and discloses a crossing machine detection countering method and system, and the method comprises the steps: determining a target frequency hopping sequence based on a LoRa signal transmitted by a crossing machine in real time; determining a frequency matching code of the traversing machine based on the target frequency hopping sequence; according to the technical scheme of countering the traversing machine based on the frequency code, the target frequency hopping sequence and the traversing machine, the traversing machine can be countered in a targeted manner based on the frequency code of the traversing machine instead of the interference of the whole frequency band, so that the targeted countering of the traversing machine is realized, no interference is caused to other communication equipment, and the communication efficiency is improved. And the influence of countering of the traversing machine on peripheral equipment is reduced to the minimum.

Description

A method and system for detecting and countering racing drones Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to a method and system for detecting and countering racing drones. Background Technology

[0002] First Person View (FPV) drones are small unmanned aerial vehicles (UAVs) characterized by high speed and maneuverability. Therefore, detecting and countering FPV drones is of great significance for low-altitude airspace safety.

[0003] Traditional countermeasures for racing drones involve radio frequency (RF) jamming, which involves widely transmitting jamming signals within a specific frequency band to disrupt the drone's communication links, forcing it to circle and land, thus achieving the countermeasure. However, since RF jamming is a broadcast jamming signal, it lacks specificity and, while interfering with the target's communication, also affects all other communication devices within the same frequency band.

[0004] Therefore, traditional countermeasures against racing drones cannot specifically target the drones that need to be countered, and they also affect the normal communication of other non-targeted drones. Summary of the Invention

[0005] In view of this, the present invention proposes a method and system for detecting and countering racing drones, which solves the problem that traditional racing drone countermeasures cannot specifically counter racing drones and also affect the normal communication of other non-countermeasure targets.

[0006] On one hand, embodiments of the present invention provide a method for detecting and countering racing drones. The method includes: determining a target frequency hopping sequence based on LoRa signals transmitted by the racing drone in real time; determining the pairing code of the racing drone based on the target frequency hopping sequence; and countering the racing drone based on the pairing code and the target frequency hopping sequence.

[0007] In some implementations, before determining the target frequency hopping sequence based on the LoRa signals transmitted in real-time by the racing drone, the racing drone detection and countermeasure method further includes: monitoring the LoRa signals transmitted in real-time by the racing drone based on the target frequency. Determining the target frequency hopping sequence based on the LoRa signals transmitted in real-time by the racing drone includes: in response to the LoRa signal monitored at the target frequency being identified as a target LoRa signal, continuing to monitor the LoRa signals transmitted in real-time by the racing drone based on the frequency band to which the target frequency belongs, in order to determine the target frequency hopping sequence.

[0008] In some implementations, the method for detecting and countering a drone also includes: constructing a basic frequency hopping sequence based on the frequency tuning point corresponding to the frequency band to which the target frequency belongs.

[0009] Based on the frequency band to which the target frequency belongs, continue to monitor the LoRa signals transmitted in real time by the racing drone to determine the target frequency hopping sequence, including: performing frequency consistency determination based on the frequency tuning points in the basic frequency hopping sequence and the LoRa signals monitored at the frequency tuning points; and determining the target frequency hopping sequence based on the frequency consistency determination result and the basic frequency hopping sequence.

[0010] In some implementations, frequency consistency determination based on the frequency modulation points in the basic frequency hopping sequence and the LoRa signals monitored at the frequency modulation points includes: traversing the frequency modulation points in the basic frequency hopping sequence; monitoring the LoRa signals transmitted in real time by the racing camera based on the frequencies corresponding to the traversed frequency modulation points; and determining frequency consistency based on the strength of the monitored LoRa signals.

[0011] In some implementations, determining the target frequency hopping sequence based on the frequency consistency determination result and the basic frequency hopping sequence includes: in response to the frequency consistency determination result being frequency consistent, determining the position of the corresponding tuning point in the target frequency hopping sequence based on the time when the LoRa signal is detected; and determining the target frequency hopping sequence based on the position of the corresponding tuning point in the target frequency hopping sequence.

[0012] In some implementations, countering the racing drone based on the frequency pairing code and the target frequency hopping sequence includes: generating a countermeasure command for countering the racing drone based on the frequency pairing code; determining command transmission parameters based on the target frequency hopping sequence; and sending the countermeasure command to the racing drone based on the command transmission parameters to counter the racing drone.

[0013] In some implementations, generating a countermeasure command for countering the racing drone based on the frequency pairing code includes: determining the checksum of the racing drone based on the frequency pairing code; and generating the countermeasure command based on the frequency pairing code and the checksum.

[0014] In some implementations, the instruction sending parameters include instruction sending time and instruction sending frequency.

[0015] In some implementations, before generating a countermeasure command for countering the racing drone based on the frequency pairing code, the method further includes: acquiring target information to generate a synchronization command based on the target information and the frequency pairing code; and sending the synchronization command to the racing drone to hijack the racing drone.

[0016] On the other hand, embodiments of the present invention also provide a drone detection and countermeasure system, which includes an electronic device configured to perform the steps of the drone detection and countermeasure method described above.

[0017] The present invention has at least the following beneficial effects: The present invention provides a method and system for detecting and countering racing drones. By determining the target frequency hopping sequence based on the LoRa signal transmitted by the racing drone in real time; determining the pairing code of the racing drone based on the target frequency hopping sequence; and countering the racing drone based on the pairing code and the target frequency hopping sequence, the technical solution can target the racing drone based on its pairing code, rather than interfering with the entire frequency band. This achieves targeted countermeasures against the racing drone without interfering with other communication devices, minimizing the impact of racing drone countermeasures on surrounding equipment. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other embodiments can be obtained based on these drawings without creative effort.

[0019] Figure 1 is a flowchart of a drone detection and countermeasure method provided in an embodiment of the present invention; Figure 2 is a flowchart of another drone detection and countermeasure method provided in an embodiment of the present invention; Figure 3 is a flowchart of determining a target frequency hopping sequence in a drone detection and countermeasure method provided in an embodiment of the present invention; Figure 4 is a flowchart of countermeasures against drones in a drone detection and countermeasure method provided in an embodiment of the present invention; Figure 5 is a flowchart of yet another countermeasures against drones in a drone detection and countermeasure method provided in an embodiment of the present invention; Figure 6 is a flowchart of yet another drone detection and countermeasure method provided in an embodiment of the present invention; Figure 7 is a schematic diagram of the structure of a drone detection and countermeasure system provided in an embodiment of the present invention. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of the present invention clearer, the embodiments of the present invention will be further described in detail below with reference to specific examples and the accompanying drawings.

[0021] It should be noted that all uses of "first" and "second" in the embodiments of the present invention are for the purpose of distinguishing two entities or parameters with the same name but different names. It is clear that "first" and "second" are only for the convenience of expression and should not be construed as limiting the embodiments of the present invention. Subsequent embodiments will not explain this in detail.

[0022] The first aspect of the present invention provides a method for detecting and countering racing drones, as shown in FIG1. ​​The method specifically includes steps S10 to S30.

[0023] S10. Determine the target frequency hopping sequence based on the LoRa signal transmitted in real time by the racing drone.

[0024] Specifically, the target frequency hopping sequence refers to the frequency hopping sequence used to counter the LoRa signal transmitted by the racing drone, deciphered from the signal. Since racing drones typically use the ELRS communication protocol, the target frequency hopping sequence can be a frequency hopping sequence based on the ELRS protocol. For example, racing drones can use frequency bands such as 2.4GHz and 900MHz based on the ELRS protocol; therefore, the target frequency hopping sequence can be a frequency hopping sequence corresponding to 2.4GHz or 900MHz. For instance, if the racing drone uses the 2.4GHz band to transmit its signal, then the target frequency hopping sequence corresponding to that 2.4GHz band could be a frequency hopping sequence with a length of 240 and a cycle of 80 tuning points.

[0025] In some embodiments, the target frequency hopping sequence may include a plurality of frequency modulation points. The frequency modulation point values ​​at the target location and the total number of frequency modulation points are determined by the ELRS communication protocol, while the frequency modulation point values ​​at the remaining locations are determined by the LoRa signal transmitted in real time by the drone. For example, if the frequency band used by the drone to transmit signals is the 2.4 GHz band, then the target frequency hopping sequence corresponding to the 2.4 GHz band can be a frequency hopping sequence with a length of 240 and a cycle of 80 frequency modulation points. The frequency modulation point at the beginning of each cycle (i.e., the target location) is the frequency hopping sequence of the target frequency point, which is set based on the ELRS communication protocol. For example, the target frequency point is a frequency modulation point with a value of 41. The frequency modulation points at the remaining locations in each cycle are determined by continuously monitoring the LoRa signal transmitted in real time by the drone. For example, the frequency modulation points at the remaining locations in each cycle of the target frequency hopping sequence are determined based on the frequency point corresponding to the frequency of the LoRa signal monitored in real time.

[0026] In this embodiment, the target frequency hopping sequence can be accurately determined through the above scheme, ensuring the accuracy and reliability of the racing drone countermeasures.

[0027] S20. Determine the pairing code of the racing drone based on the target frequency hopping sequence.

[0028] Specifically, the pairing code of the racing drone is an identification code used for communication between the racing drone and its remote controller. This pairing code can prevent other devices from interfering with the signal between the racing drone and its remote controller. This pairing code is assigned to the racing drone by the remote controller and is the unique identifier used by the racing drone and its remote controller for communication.

[0029] During the communication process between the racing drone remote controller and the racing drone, the frequency hopping sequence can be determined based on the frequency pairing code. Correspondingly, the frequency pairing code can also be determined in reverse based on the frequency hopping sequence. Based on this, the embodiment of the present invention determines the racing drone's frequency pairing code in reverse based on the target frequency hopping sequence. This frequency pairing code is important information for simulating the racing drone remote controller sending countermeasure information to the racing drone.

[0030] S30, based on frequency pairing codes and target frequency hopping sequences, counters racing drones.

[0031] Specifically, countermeasure commands can be generated by analyzing frequency codes, such as forced landing commands and deceleration commands. The timing and frequency of sending countermeasure commands to the racing drone can be determined by the target frequency hopping sequence, thereby achieving precise countermeasures against the racing drone without causing signal interference to other normal communication devices near the racing drone, thus minimizing the impact of racing drone countermeasures on surrounding devices.

[0032] This invention provides a technical solution for countering a racing drone by determining a target frequency hopping sequence based on the LoRa signal transmitted in real time by the drone; determining the drone's pairing code based on the target frequency hopping sequence; and countering the drone based on the pairing code and the target frequency hopping sequence. This solution allows for targeted countermeasures against the drone based on its pairing code, rather than interfering with the entire frequency band. This achieves targeted countermeasures against the drone without interfering with other communication devices, minimizing the impact of countermeasures on surrounding equipment.

[0033] In some embodiments of the present invention, as shown in FIG2, the method for detecting and countering racing drones provided by the embodiments of the present invention includes steps S200 to S230.

[0034] S200: Monitors LoRa signals transmitted in real-time by the racing drone based on the target frequency.

[0035] Specifically, the target frequency is determined based on the frequency band used by the racing drone to transmit LoRa signals. For example, if the racing drone uses the 2.4GHz band to transmit LoRa signals, then the target frequency is the frequency corresponding to tuning point 41.

[0036] In this embodiment, the LoRa signal transmitted in real time by the racing drone is monitored based on the target frequency. If a LoRa signal is detected based on the target frequency, the strength of the LoRa signal is obtained and compared with a set LoRa signal strength threshold. If the strength of the LoRa signal is greater than the set LoRa signal strength threshold, the LoRa signal is determined to be the target LoRa signal, and step S210 is executed. Otherwise, step S200 is repeated to continue monitoring the LoRa signal transmitted in real time by the racing drone based on the target frequency until the target LoRa signal is detected.

[0037] S210. Continue to monitor the LoRa signals transmitted in real time by the racing drone based on the frequency band to which the target frequency belongs, in order to determine the target frequency hopping sequence.

[0038] Specifically, when the LoRa signal detected based on the target frequency is the target LoRa signal, the system continues to monitor the LoRa signals transmitted in real time by the racing drone based on the frequencies included in the frequency band to which the target frequency belongs, and determines the target frequency hopping sequence based on the monitored LoRa signal and the frequency tuning point corresponding to the frequency at which the monitored LoRa signal is detected.

[0039] In some embodiments, if the frequency band used by the racing drone to transmit LoRa signals is the 2.4GHz band, then the band contains 80 tuning points. Based on the frequencies corresponding to these 80 tuning points, the LoRa signals transmitted by the racing drone in real time are continuously monitored. Based on the frequencies and times at which the racing drone transmits LoRa signals at different times, the position of the corresponding frequency point in the target frequency hopping sequence is determined, thereby obtaining the final target frequency hopping sequence.

[0040] In some embodiments, if the frequency band used by the racing drone to transmit LoRa signals is 900MHz, the final target frequency hopping sequence can be determined based on the frequency modulation points contained in that frequency band. The specific method for determining the target frequency hopping sequence is similar to the method for determining the target frequency hopping sequence when the frequency band used by the racing drone to transmit LoRa signals is 2.4GHz, and will not be elaborated here.

[0041] S220. Based on the target frequency hopping sequence, determine the pairing code of the racing drone.

[0042] S230, based on frequency pairing codes and target frequency hopping sequences, counters racing drones.

[0043] In this embodiment, steps S220 and S20 are the same, and steps S230 and S30 are the same. Therefore, the specific implementation of steps S220 and S230 will not be described in detail here.

[0044] This embodiment uses a technical solution to counter the LoRa signal transmitted in real time by monitoring the target frequency of the racing drone. In response to the LoRa signal detected at the target frequency being identified as the target LoRa signal, the system continues to monitor the LoRa signal transmitted in real time by the racing drone based on the frequency band to which the target frequency belongs, in order to determine the target frequency hopping sequence. Based on the target frequency hopping sequence, the system determines the pairing code of the racing drone. This countermeasure, based on the pairing code and the target frequency hopping sequence, can accurately determine the target frequency hopping sequence, thereby accurately determining the pairing code of the racing drone. This achieves targeted countermeasures against the racing drone, rather than indiscriminate interference across the entire frequency band, improving the reliability and accuracy of the countermeasures and minimizing the impact of the countermeasures on surrounding equipment. In some embodiments of this invention, the racing drone detection and countermeasure method provided by this invention, in addition to steps S200-S230, also includes constructing a basic frequency hopping sequence based on the tuning point corresponding to the frequency band to which the target frequency belongs. Step S210 involves continuing to monitor the LoRa signals transmitted in real time by the racing drone based on the frequency band to which the target frequency belongs, in order to determine the target frequency hopping sequence. This includes: performing frequency consistency determination based on the frequency tuning points in the basic frequency hopping sequence and the LoRa signals monitored at the frequency tuning points; and determining the target frequency hopping sequence based on the frequency consistency determination result and the basic frequency hopping sequence.

[0045] Specifically, in this embodiment, the constructed basic frequency hopping sequence includes the frequency modulation point corresponding to the frequency band to which the target frequency belongs. Since the racing drone uses the ELRS communication protocol for communication, in some embodiments, the basic frequency hopping sequence can be a frequency hopping sequence constructed based on the ELRS communication protocol. Because the ELRS communication protocol can use frequency bands including 2.4GHz and 900MHz, the frequency band to which the target frequency belongs can be either the 2.4GHz band or the 900MHz band. Correspondingly, when the target frequency belongs to the 2.4GHz band, the frequency modulation point in the basic frequency hopping sequence is the frequency modulation point corresponding to the 2.4GHz band; when the target frequency belongs to the 900MHz band, the frequency modulation point in the basic frequency hopping sequence is the frequency modulation point corresponding to the 900MHz band.

[0046] In this embodiment, each tuning point corresponds to a frequency, and the LoRa signal sent in real time by the racing drone can be monitored based on the frequency corresponding to the tuning point.

[0047] In this embodiment, the frequency consistency determination is used to determine whether the frequency of the LoRa signal detected is consistent with the frequency of the LoRa signal sent by the racing drone, so as to determine the target frequency hopping sequence based on the frequency consistency determination result.

[0048] In this embodiment, the frequency for monitoring LoRa signals can be determined based on the tuning points in the basic frequency hopping sequence. This determined frequency is then used to monitor the LoRa signals transmitted in real-time by the racing drone, and it is determined whether the frequency of the monitored LoRa signal matches the frequency of the LoRa signal transmitted by the racing drone. If they match, the frequency consistency determination result is consistent, and the target frequency hopping sequence is determined based on the tuning point corresponding to the monitored LoRa signal frequency and the monitoring time of the LoRa signal. If they do not match, the frequency of the LoRa signals transmitted in real-time by the racing drone is monitored again based on the frequencies corresponding to other tuning points in the basic frequency hopping sequence, and the above process is repeated to determine the final target frequency hopping sequence.

[0049] This embodiment constructs a basic frequency hopping sequence based on the frequency modulation points corresponding to the target frequency band. Frequency consistency is determined based on the frequency modulation points in the basic frequency hopping sequence and the LoRa signals detected at those points. The technical solution of determining the target frequency hopping sequence based on the frequency consistency determination result and the basic frequency hopping sequence allows for precise determination of the target frequency hopping sequence. This precise determination of the target frequency hopping sequence enables accurate determination of the racing drone's frequency pairing code, thus achieving targeted countermeasures against the racing drone, rather than indiscriminate interference across the entire frequency band. This improves the reliability and accuracy of racing drone countermeasures and minimizes the impact of racing drone countermeasures on surrounding equipment.

[0050] In some embodiments of the present invention, as shown in FIG3, the target frequency hopping sequence can be determined based on steps S300~S350.

[0051] S300 monitors the LoRa signal transmitted in real time by the racing drone based on the target frequency until the monitored LoRa signal is the target LoRa signal.

[0052] S308. Construct a basic frequency hopping sequence based on the frequency modulation point corresponding to the frequency band to which the target frequency belongs.

[0053] S310, Traverse the frequency modulation points in the basic frequency hopping sequence.

[0054] S320: Monitor the LoRa signal sent in real time by the racing drone based on the frequency corresponding to the traversed frequency tuning point.

[0055] S330: Determine frequency consistency based on the strength of the detected LoRa signal.

[0056] S340. In response to the frequency consistency determination result being frequency consistent, the position of the corresponding frequency modulation point in the target frequency hopping sequence is determined based on the time when the LoRa signal is detected.

[0057] S350. Determine the target frequency hopping sequence based on the position of the corresponding frequency modulation point in the target frequency hopping sequence.

[0058] In this embodiment, steps S300 and S200 are similar, and the specific implementation of step S308 has been described above. Therefore, the specific implementation of steps S300 and S308 will not be repeated here.

[0059] In steps S310 and S320, the frequency points in the basic frequency hopping sequence can be traversed to listen to the LoRa signal sent in real time by the racing drone based on the frequency corresponding to the traversed frequency point.

[0060] In steps S330, S340, and S350, the strength of the detected LoRa signal can be obtained and compared with a preset LoRa signal strength threshold (e.g., -30dB) to determine frequency consistency. If the LoRa signal strength is greater than the preset threshold, it indicates that the frequency of the detected LoRa signal is consistent with the frequency at which the RCD transmitter sent the LoRa signal. The position of the frequency modulation point in the target frequency hopping sequence is then determined based on the time the LoRa signal was detected (i.e., the listening time of the LoRa signal). Subsequently, based on the position of the frequency modulation point in the target frequency hopping sequence, the frequency modulation point is filled into the corresponding position in the target frequency hopping sequence.

[0061] In this embodiment, when traversing the frequency tuning points in the basic frequency hopping sequence, the corresponding listening frequency can be obtained based on the traversed frequency tuning point, and the LoRa signal sent in real time by the racing drone can be repeatedly listened to at a preset time interval (e.g., 4ms) based on the listening frequency, and the strength of the listened LoRa signal is obtained until the strength of the listened LoRa signal is greater than the preset LoRa signal strength threshold. The position of the corresponding frequency tuning point in the target frequency hopping sequence is determined based on the listening time of the LoRa signal.

[0062] In this embodiment, when traversing the frequency tuning points in the basic frequency hopping sequence, the corresponding listening frequency can be obtained based on the traversed frequency tuning point, and a preset number (e.g., 80) of the same listening frequencies can be generated based on the listening frequency. The listening time of each listening frequency is configured according to a preset time interval (e.g., 4ms) so that each listening frequency listens to the LoRa signal sent by the racing drone in real time according to the corresponding listening time until the strength of the LoRa signal listened to is greater than the preset LoRa signal strength threshold. The position of the corresponding frequency tuning point in the target frequency hopping sequence is determined based on the listening time of the corresponding listening frequency.

[0063] In some embodiments, the frequency tuning points in the basic frequency hopping sequence can be 0~79. In this case, when traversing the frequency tuning points in the basic frequency hopping sequence, if a frequency tuning point with a value of 41 is encountered, the above monitoring process does not need to be executed; the monitoring process can be executed directly by traversing the next frequency tuning point. In some embodiments, the frequency tuning points in the basic frequency hopping sequence can be 0~79, but do not include 41. In this case, when traversing the frequency tuning points in the basic frequency hopping sequence, the above monitoring process can be executed directly.

[0064] In some specific embodiments, the process of determining the target frequency hopping sequence is illustrated by taking as an example that the basic frequency hopping sequence contains 80 frequency modulation points with values ​​from 0 to 79, and the values ​​from 0 to 79 are arranged in order in the basic frequency hopping sequence (e.g., from largest to smallest, from smallest to largest, or other orders).

[0065] Specifically, the frequency modulation points in the basic frequency hopping sequence are traversed (this can be the first frequency modulation point or any other frequency modulation point; no specific limitation is made here). Based on the frequency corresponding to each frequency modulation point, 80 identical listening frequencies are generated to listen to the LoRa signal transmitted in real-time by the RCD drone at different listening times. The listening interval between any two adjacent listening frequencies can be set based on the ELRS protocol, for example, it can be set to 4ms. The time interval between the listening time of each listening frequency to be transmitted and the time interval between listening to the target LoRa signal can also be set based on the ELRS protocol, for example, it can also be set to 4ms or a multiple of 4ms. Therefore, when the strength of the listened LoRa signal is greater than a preset LoRa signal strength threshold, the position of the frequency modulation point corresponding to that listening frequency in the target frequency hopping sequence can be determined based on the time interval between the listening time of the listening frequency that listened to the LoRa signal and the time of listening to the target LoRa signal. For example, if the interval between the listening time corresponding to the listening frequency of the LoRa signal and the time of listening to the target LoRa signal is 100ms, then the position of the frequency modulation point corresponding to the listening frequency in the target frequency hopping sequence is 100 / 4+1=26.

[0066] In some embodiments, the process of determining the target frequency hopping sequence is described using an example of a frequency hopping sequence with a length of 240 and a cycle of 80 frequency tuning points, and the frequency tuning point at the beginning of each cycle being the target frequency point (e.g., 41).

[0067] Specifically, the target frequency hopping sequence contains three subsequences, each containing 80 frequency modulation points (FM points). These 80 FM points range from 0 to 79, and each FM point corresponds to a different value. Therefore, in this embodiment of the invention, after determining the position of the current FM point in the target frequency hopping sequence based on the time of the LoRa signal being detected in step S340, it can be determined whether all FM points in the basic frequency hopping sequence have been traversed. If the traversal is complete, it means that the FM point corresponding to each position in the current subsequence has been determined. Steps S310 to S340 can be repeated to continue determining the FM point corresponding to each position in the next subsequence, until three rounds of traversal are completed (each traversal of all FM points in the basic frequency hopping sequence is counted as one round of traversal). Since each round of traversal yields the position of all FM points in a subsequence, three rounds of traversal yield the position of all FM points in the target frequency hopping sequence. Finally, based on the positions of all FM points in the target frequency hopping sequence, the final target frequency hopping sequence is obtained.

[0068] The following specific embodiments illustrate the process of determining the target frequency hopping sequence in the racing drone detection and countermeasure method provided by the present invention. It should be understood that the following specific embodiments are only used to explain the present invention and are not intended to limit the present invention.

[0069] In this specific embodiment, the target frequency hopping sequence can be a frequency hopping sequence with a length of 240 and a cycle of 80 frequency tuning points, and a frequency hopping sequence with a frequency tuning point of 41 at the beginning of each cycle. The frequency tuning points at the remaining positions of each cycle are unknown and need to be determined through the following process.

[0070] Since the target frequency hopping sequence contains three subsequences, each determined by a combination of numbers from 0 to 79, and the value of the first tuning point in each subsequence is predefined as 41, in this embodiment, a basic frequency hopping sequence is constructed based on the combination of numbers from 0 to 79. After the target LoRa signal is detected at the frequency corresponding to tuning point 41, the basic frequency hopping sequence is polled. Due to the ELRS protocol, the frequency hopping sequence hops once every 4ms, with 240 hops constituting one cycle. Therefore, each polling time is 240 * 4 = 960 (ms), meaning the specific position of a tuning point in the basic frequency hopping sequence within the target frequency hopping sequence can be deciphered in approximately 1 second. Since the specific position of a tuning point in the basic frequency hopping sequence within the target frequency hopping sequence can be deciphered in approximately 1 second, and each subsequence contains 80 tuning points, all tuning points in one subsequence can be deciphered in approximately 80 seconds. With three subsequences, repeated three times, all tuning points in the target frequency hopping sequence can be deciphered in approximately 4 minutes.The following is an example of a target frequency hopping sequence deciphered through the above decryption process: 41 72 31 39 44 30 5 38 62 374 19 45 54 9 56 28 22 25 3450 76 73 0 57 79 63 36 13 6855 8 52 42 18 1 58 65 43 2135 27 74 7 3 46 77 16 2 4020 15 51 14 66 61 67 26 24 7571 29 60 10 32 53 49 69 78 7064 48 11 17 23 33 6 12 59 4741 11 14 4 31 66 57 44 18 5220 16 79 65 19 53 13 12 34 5942 73 54 37 62 7 26 10 15 7569 56 39 24 40 77 45 58 35 3822 72 32 78 27 76 3 43 46 5528 74 48 23 51 70 30 60 2 536 71 1 67 49 6 47 21 50 09 17 61 29 63 68 64 8 33 2541 37 13 8 17 22 65 14 10 511 49 53 69 74 63 38 27 20 6623 56 61 3 40 29 16 34 58 935 59 55 71 26 32 48 60 44 6833 51 73 47 19 43 2 42 50 4564 79 1 46 6 62 15 25 52 6775 76 78 72 36 77 54 0 24 57.

[0071] This embodiment, through the above-described technical solution, can accurately determine the target frequency hopping sequence, which is time-efficient and highly effective. Furthermore, by accurately determining the target frequency hopping sequence, this embodiment can accurately determine the frequency pairing code of the racing drone, thereby achieving targeted countermeasures against the racing drone, rather than indiscriminate interference across the entire frequency band. This improves the reliability and accuracy of the racing drone countermeasures and minimizes the impact of the racing drone countermeasures on surrounding equipment.

[0072] In some embodiments of the present invention, as shown in FIG4, through steps S410 to S430, the trekking machine can be countered based on the frequency pair code and the target frequency hopping sequence.

[0073] S410: Based on the frequency pairing code, generate countermeasure commands for countering racing drones.

[0074] Specifically, the pairing code is the unique identifier for communication between the racing drone and its remote controller. Therefore, by deciphering the pairing code in step S20, the countermeasure command sending device can be disguised as the racing drone's remote controller to generate pseudo control commands, including countermeasure commands, to control the racing drone's flight maneuvers, thereby achieving the purpose of countermeasures. In this embodiment of the invention, the countermeasure commands may include forced landing commands, deceleration commands, etc., and are not specifically limited here. In actual application scenarios, they can be generated based on the deciphered pairing code according to the usage requirements.

[0075] S420: Determine the command transmission parameters based on the target frequency hopping sequence.

[0076] Specifically, the command transmission parameters include command transmission time and command transmission frequency. In this embodiment, the command transmission time and command transmission frequency can be determined based on the target frequency hopping sequence. This determined command transmission time and frequency are used to send countermeasure commands to the racing drone.

[0077] S430 sends countermeasure commands to the racing drone based on command transmission parameters in order to counter the racing drone.

[0078] Specifically, a countermeasure command is sent to the racing drone based on the command transmission time and frequency determined in step S420 to counter the racing drone. The command transmission time specifies when the countermeasure command should be sent, and the command transmission frequency specifies the frequency and frequency at which the countermeasure command should be sent, thus ensuring that the racing drone accurately receives the countermeasure command. The countermeasure command controls the racing drone to perform corresponding operations, thereby achieving the purpose of countering the racing drone. In some specific embodiments, if the countermeasure command is a forced landing command, the racing drone is controlled to land at the destination location specified in the forced landing command. In some specific embodiments, if the countermeasure command is a deceleration command, the racing drone is controlled to fly towards the destination at a set speed.

[0079] This embodiment generates countermeasure commands for countering racing drones based on frequency matching codes; sends countermeasure commands to racing drones based on command transmission parameters; and determines command transmission parameters based on target frequency hopping sequences. This technical solution simulates control commands sent by the racing drone's remote controller to the racing drone through countermeasure commands. By specifying the time and frequency of sending the countermeasure command to the racing drone through command transmission time and frequency, precise countermeasures against the racing drone are achieved, improving the accuracy and reliability of the countermeasures.

[0080] In some embodiments of the present invention, as shown in FIG5, through steps S510 to S530, the trekking machine can be countered based on the frequency pair code and the target frequency hopping sequence.

[0081] S510. Based on the frequency pairing code, determine the check code of the racing drone.

[0082] S520 generates countermeasure instructions based on frequency matching code and check code.

[0083] S530: Determine the command transmission parameters based on the target frequency hopping sequence.

[0084] S540 sends countermeasure commands to the racing drone based on command transmission parameters in order to counter the racing drone.

[0085] Specifically, in steps S510 and S520, in order to ensure the security of communication, CRC verification is usually required when the racing drone and the racing drone remote controller communicate. Therefore, in order to further improve the accuracy and reliability of the racing drone countermeasure, in this embodiment, a CRC check code can be generated first according to the frequency pairing code CRC check algorithm, and then a countermeasure command can be generated according to the frequency pairing code and the CRC check code.

[0086] In steps S530 and S540, the command transmission time and frequency are first determined according to the target frequency hopping sequence, and then the countermeasure command with CRC check code is sent to the racing machine according to the command transmission time and frequency.

[0087] This embodiment achieves precise countermeasures against racing drones through the above-described scheme, further improving the accuracy and reliability of the countermeasures.

[0088] In some embodiments of the present invention, after determining the verification code of the racing drone based on the frequency pairing code, the verification code can be verified. After the verification is successful, a countermeasure command is generated based on the frequency pairing code and the verified verification code, thereby further improving the reliability of the racing drone's countermeasure.

[0089] Specifically, the verification process can involve first generating a verification command based on the frequency code and the verification code, and then sending the verification command to the racing machine. If a response is received from the racing machine, it means that the verification code has passed and the racing machine can be countered. Otherwise, the verification has failed and the countermeasure command is not sent, thereby further improving the reliability of the racing machine's countermeasure.

[0090] In some embodiments of the present invention, as shown in FIG6, the method for detecting and countering racing drones provided in the embodiments of the present invention includes steps S10 to S30, as well as steps S22 and S24.

[0091] S10. Determine the target frequency hopping sequence based on the LoRa signal transmitted in real time by the racing drone.

[0092] S20. Determine the pairing code of the racing drone based on the target frequency hopping sequence.

[0093] S22. Obtain target information and generate synchronization instructions based on the target information and frequency matching code.

[0094] S24. Send a synchronization command to the racing drone in order to hijack it.

[0095] S30, based on frequency pairing codes and target frequency hopping sequences, counters racing drones.

[0096] Specifically, the implementation methods for steps S10, S20, and S30 have been described above and will not be repeated here. The implementation methods for steps S22 and S24 will be described below.

[0097] In steps S22 and S24, the target information includes information that needs to be synchronized to the racing drone. By synchronizing the target information to the racing drone, it can be ensured that the racing drone is not controlled by the original remote controller. In some embodiments, the time information (e.g., timestamp) of the countermeasure command sending device can be used as the target information. A synchronization command is generated based on the time information and the frequency code and sent to the racing drone to synchronize the time information to the racing drone, so that the time of the racing drone is consistent with that of the countermeasure command sending device, thereby gaining control of the racing drone and causing the racing drone to disconnect from the original remote controller, preventing the racing drone from being controlled by the original remote controller again, thereby achieving the purpose of hijacking the racing drone for subsequent countermeasures.

[0098] This embodiment uses a technical solution to counter the racing drone by determining the target frequency hopping sequence based on the LoRa signal transmitted in real time; determining the pairing code of the racing drone based on the target frequency hopping sequence; acquiring target information; generating a synchronization command based on the target information and the pairing code; sending the synchronization command to the racing drone to hijack it; and countering the racing drone based on the pairing code and the target frequency hopping sequence. This solution gains control of the racing drone, causing it to disconnect from the original remote controller and preventing it from being controlled by the original remote controller again. This achieves precise countermeasures against the racing drone and further improves the accuracy and reliability of the countermeasures.

[0099] Based on the same inventive concept, according to another aspect of the present invention, as shown in FIG7, an embodiment of the present invention also provides a racing drone detection and countermeasure system 1, which includes an electronic device 10 configured to perform specific steps of the method described in any of the above embodiments.

[0100] The electronic device 10 may include a processor and a memory. The memory stores computer programs that can run on the processor, and the processor executes the specific steps of the method described above when executing the program. The memory, as a non-volatile storage medium, can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as the program instructions / modules corresponding to the methods described in the embodiments of this application. The processor executes various functional applications and data processing of the device by running the non-volatile software programs, instructions, and modules stored in the memory, thereby implementing the methods of the above-described method embodiments. The memory may include a program storage area and a data storage area. The program storage area may store the operating system and at least one application program required for a function; the data storage area may store data created according to the use of the device, etc. Furthermore, the memory may include high-speed random access memory and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory may optionally include memory remotely located relative to the processor, and these remote memories can be connected to the local module via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0101] In this embodiment of the invention, the detection and countermeasure system for racing drones can determine the target frequency hopping sequence based on the LoRa signal transmitted by the racing drone in real time; determine the pairing code of the racing drone based on the target frequency hopping sequence; and countermeasure the racing drone based on the pairing code and the target frequency hopping sequence. This achieves targeted countermeasures against the racing drone without interfering with other communication devices, minimizing the impact of racing drone countermeasures on surrounding devices.

[0102] In some embodiments, as shown in FIG1 and 7, the electronic device 10 may include a detection device 11 and a countermeasure device 12. The detection device 11 may be used to perform step S10 as shown in FIG1, and the countermeasure device 12 may be used to perform steps S20 to S30 as shown in FIG1.

[0103] In this embodiment of the invention, the detection device 11 of the racing drone detection and countermeasure system can accurately decipher the target frequency hopping sequence of the racing drone. The countermeasure device 12 can determine the frequency pairing code of the racing drone based on the target frequency hopping sequence. Thus, based on the frequency pairing code and the target frequency hopping sequence, the racing drone can be countered in a targeted manner without interfering with other communication devices, minimizing the impact of racing drone countermeasures on surrounding devices.

[0104] In some embodiments of the present invention, in order to improve the reliability of countermeasures, the distance between the countermeasure device 12 and the racing drone can be controlled to be less than the distance between the remote controller of the racing drone and the racing drone.

[0105] Those skilled in the art will also understand that the various exemplary logic blocks, modules, circuits, and algorithm steps described in conjunction with the disclosure herein can be implemented as electronic hardware, computer software, or a combination of both. To clearly illustrate this interchangeability between hardware and software, the functionality of various illustrative components, blocks, modules, circuits, and steps has been generally described. Whether this functionality is implemented as software or as hardware depends on the specific application and the design constraints imposed on the system as a whole. Those skilled in the art can implement the functionality in various ways for each specific application, but such implementation decisions should not be construed as departing from the scope of the embodiments disclosed herein.

[0106] The above are exemplary embodiments disclosed in this invention. However, it should be noted that various changes and modifications can be made without departing from the scope of the embodiments of this invention as defined by the claims. The functions, steps, and / or actions of the methods according to the disclosed embodiments described herein do not need to be performed in any particular order. The sequence numbers of the disclosed embodiments of this invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments. Furthermore, although the elements disclosed in the embodiments of this invention may be described or claimed individually, they may be understood as multiple unless explicitly limited to a singular number.

[0107] It should be understood that, as used herein, the singular form “a” is intended to include the plural form as well, unless the context clearly supports an exception. It should also be understood that, as used herein, “and / or” refers to any and all possible combinations of one or more of the associated listed items.

[0108] Those skilled in the art should understand that the discussion of any of the above embodiments is merely exemplary and is not intended to imply that the scope of the invention (including the claims) is limited to these examples. Within the framework of the invention, technical features of the above embodiments or different embodiments can be combined, and many other variations of different aspects of the invention exist, which are not provided in the details for the sake of brevity. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the invention should be included within the protection scope of the invention.

Claims

1. A method for detecting and countering racing drones, characterized in that, include: The target frequency hopping sequence is determined based on the LoRa signals transmitted in real time by the racing drone; Based on the target frequency hopping sequence, the pairing code of the racing drone is determined; Based on the frequency pairing code and the target frequency hopping sequence, countermeasures are taken against the racing machine.

2. The method according to claim 1, characterized in that, Before determining the target frequency hopping sequence based on the LoRa signal transmitted in real time by the racing drone, the method further includes: listening to the LoRa signal transmitted in real time by the racing drone based on the target frequency; determining the target frequency hopping sequence based on the LoRa signal transmitted in real time by the racing drone includes: in response to the LoRa signal listened to at the target frequency being the target LoRa signal, continuing to listen to the LoRa signal transmitted in real time by the racing drone based on the frequency band to which the target frequency belongs, in order to determine the target frequency hopping sequence.

3. The method according to claim 2, characterized in that, Also includes: Construct a basic frequency hopping sequence based on the frequency modulation point corresponding to the frequency band to which the target frequency belongs; Based on the frequency band to which the target frequency belongs, continue to monitor the LoRa signal sent in real time by the racing drone to determine the target frequency hopping sequence, which includes: frequency consistency determination based on the frequency tuning point in the basic frequency hopping sequence and the LoRa signal monitored at the frequency tuning point; Based on the frequency consistency determination result and the basic frequency hopping sequence, the target frequency hopping sequence is determined.

4. The method according to claim 3, characterized in that, Frequency consistency determination based on the frequency modulation points in the basic frequency hopping sequence and the LoRa signals monitored at the frequency modulation points includes: traversing the frequency modulation points in the basic frequency hopping sequence; monitoring the LoRa signals sent in real time by the racing camera based on the frequencies corresponding to the traversed frequency modulation points; and determining frequency consistency based on the strength of the monitored LoRa signals.

5. The method according to claim 3, characterized in that, Determining the target frequency hopping sequence based on the frequency consistency determination result and the basic frequency hopping sequence includes: in response to the frequency consistency determination result being frequency consistent, determining the position of the corresponding tuning point in the target frequency hopping sequence based on the time when the LoRa signal is detected; and determining the target frequency hopping sequence based on the position of the corresponding tuning point in the target frequency hopping sequence.

6. The method according to claim 1, characterized in that, Countering the racing drone based on the frequency pairing code and the target frequency hopping sequence includes: generating a countermeasure command for countering the racing drone based on the frequency pairing code; determining command transmission parameters based on the target frequency hopping sequence; and sending the countermeasure command to the racing drone based on the command transmission parameters to counter the racing drone.

7. The method according to claim 6, characterized in that, Generating a countermeasure command for countering the racing drone based on the frequency pairing code includes: determining the checksum of the racing drone based on the frequency pairing code; and generating the countermeasure command based on the frequency pairing code and the checksum.

8. The method according to claim 6, characterized in that, The command transmission parameters include command transmission time and command transmission frequency.

9. The method according to claim 6, characterized in that, Before generating a countermeasure command for countering the racing drone based on the frequency pairing code, the method further includes: acquiring target information to generate a synchronization command based on the target information and the frequency pairing code; and sending the synchronization command to the racing drone to hijack the racing drone.

10. A detection and countermeasure system for racing drones, characterized in that, The method includes an electronic device configured to perform the steps of the method as claimed in any one of claims 1 to 9.

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