Unmanned aerial vehicle countering equipment and countering method

Abstract

The invention discloses an unmanned aerial vehicle countering device and countering method, the unmanned aerial vehicle countering device comprises a detection module, a cooperative control module and a transmitting module, the cooperative control module comprises a trajectory prediction unit, a transmitting decision unit and a sequential control unit, and the transmitting module comprises transmitting tubes arranged in a preset matrix. The launching decision unit judges the motion type of the unmanned aerial vehicle according to the motion data, determines a launching mode corresponding to the motion type, predicts the striking opportunity according to the future trajectory, and issues a striking instruction to the time sequence control unit. And the time sequence control unit receives the strike instruction, and determines the time sequence of one or more launching tubes started in the launching mode according to a future trajectory. And the launching module controls the one or more launching tubes to launch the capture bombs according to the time sequence. According to the self-adaptive launching mode based on the motion state of the unmanned aerial vehicle, the interception precision and the ammunition economy are balanced.

Description

Technical Field

[0001] This invention relates to the field of drone countermeasures technology, and in particular to a drone countermeasure device and method. Background Technology

[0002] With the rapid popularization of drone technology, the problem of illegal flights by low-altitude micro and low-speed drones has become increasingly prominent, posing a serious threat to urban security, protection of critical facilities, and public safety. Counter-drone interception technology has become a research hotspot in the security field. Currently, counter-drone interception systems are mainly divided into electronic jamming, hard-kill, and soft-kill interception systems. Among them, soft-kill interception (such as capture-and-shoot interception) is widely used in densely populated areas and sensitive facilities due to its advantages such as no secondary damage and environmental friendliness.

[0003] In related technologies, soft-kill interception technology generally adopts a fixed firing mode, such as single-shot mode or multi-shot mode. However, the fixed single-shot mode has a low success rate in intercepting targets with complex trajectories, while the fixed multi-shot mode wastes ammunition for intercepting targets with simple trajectories. It is impossible to achieve flexible adaptation between the target's trajectory and the firing mode.

[0004] Therefore, this specification provides a countermeasure device for unmanned aerial vehicles (UAVs). Summary of the Invention

[0005] This invention provides a countermeasure device and method for unmanned aerial vehicles (UAVs) to at least partially solve the aforementioned problems existing in the prior art.

[0006] The present invention adopts the following technical solution: This invention provides a countermeasure device for unmanned aerial vehicles (UAVs). The countermeasure device includes a detection module, a cooperative control module, and a launch module. The cooperative control module includes a trajectory prediction unit, a launch decision unit, and a timing control unit. The launch module includes launch tubes arranged in a preset matrix. The detection module is used to collect motion data of the UAV; The trajectory prediction unit predicts the future trajectory of the drone based on the motion data; The launch decision unit determines the motion type of the UAV based on the motion data and determines the launch mode corresponding to the motion type. The launch mode is used to instruct the launch module to activate the number and position arrangement of the launch tubes. The launch decision unit is also used to predict the attack timing based on the future trajectory and issue an attack command to the timing control unit. The timing control unit receives the strike command and determines the timing of one or more launch tubes to be activated in the launch mode based on the future trajectory. The launching module controls one or more launching tubes to launch capture projectiles according to the timing sequence.

[0007] Optionally, the type of motion includes any of the following: Uniform linear flight; Variable speed linear flight; Variable speed and direction flight.

[0008] Optionally, if the launch decision unit determines that the motion type of the UAV is uniform linear flight and determines that the launch mode is a test strike mode, the launch tube corresponding to the test strike mode is the central launch tube located at the center of the matrix. If the launch decision unit determines that the motion type of the UAV is variable speed linear flight and determines that the launch mode is vertical coverage mode, the launch tubes corresponding to the vertical coverage mode are a vertically arranged row of launch tubes. If the launch decision unit determines that the UAV's motion type is variable speed and direction flight, and determines that the launch mode is saturation strike mode, then the launch tubes corresponding to the saturation strike mode are all launch tubes.

[0009] Optionally, the launch decision unit includes a motion classification module and a probability judgment module; If the motion classification module determines that the UAV's motion type is uniform linear flight based on motion data, the probability judgment module determines the strike area of ​​the launch module, calculates the overlap rate between the area corresponding to the center launch tube in the strike area and the future trajectory based on the future trajectory, and controls the launch tube to start the strike when the overlap rate is greater than a specified value. If the motion classification module determines that the motion type of the UAV is variable speed straight flight based on the motion data, the probability judgment module determines the strike area of ​​the launch module, calculates the overlap rate between the area corresponding to a vertically arranged column of launch tubes in the strike area and the future trajectory based on the future trajectory, and controls the column of launch tubes to start the strike when the overlap rate is greater than a specified value. If the motion classification module determines that the UAV's motion type is variable speed and direction flight based on the motion data, the probability judgment module determines the strike area of ​​the launch module, calculates the overlap rate between the strike area and the future trajectory based on the future trajectory, and controls all the launch tubes to start the strike when the overlap rate is greater than a specified value.

[0010] Optionally, the timing control unit includes a transmit mode switching module and a timing calculation module; If the motion classification module determines that the motion type of the UAV is uniform linear flight based on the motion data, the launch mode switching module switches to the test strike mode, and the timing calculation module controls the central launch tube to launch the capture projectile. If the motion classification module determines that the motion type of the UAV is variable speed straight flight based on the motion data, the launch mode switching module switches to the vertical coverage mode, and the timing control module calculates the time when the future trajectory coincides with the strike area corresponding to the vertically arranged column of launch tubes, and determines the launch sequence and launch interval of each launch tube included in the column of launch tubes along the forward and backward direction of the future trajectory. If the motion classification module determines that the motion type of the UAV is variable speed and change of direction flight based on the motion data, the launch mode switching module switches to the saturation strike mode, and the timing control module calculates the spatiotemporal probability of the UAV passing through the strike area of ​​the launch module for each launch tube based on the future trajectory, and determines the launch timing of each launch tube based on the spatiotemporal probability.

[0011] Optionally, the detection module and the transmission module are each equipped with a two-axis gimbal, and the cooperative control module further includes a calibration unit; The detection module includes an industrial camera and a solid-state lidar, which are mounted on a two-axis gimbal of the detection module. The launch tube is placed on the two-axis gimbal of the launch module; The calibration unit calibrates the coordinate system of the two-axis gimbal of the detection module and the transmission module.

[0012] Optionally, the transmitting module further includes: A mechanical locking structure is used to lock the two-axis gimbal of the launch module and the launch frame of the launch tube before controlling the launch of the capture missile after the launch module receives the strike command; wherein, the mechanical locking structure adopts an electromagnetic lock and a gear meshing structure, and the electromagnetic lock is located between the base of the two-axis gimbal of the launch module and the launch frame of the launch tube.

[0013] Optionally, the launch tube is deflected outward by a preset angle, which is set according to the expected strike range of the launch tube.

[0014] Optionally, the timing control unit determines the airburst time of the capture missile based on the future trajectory and the interception distance, and sends the airburst time to the launch module. The interception distance is the distance between the two-axis gimbal of the launch module and the predicted interception point. The launching module controls one or more launching tubes to launch capture projectiles according to the timing sequence and the airburst time.

[0015] This invention also provides a method for countering unmanned aerial vehicles (UAVs) based on an anti-UAV device, wherein the anti-UAV device is deployed in the target airspace and includes: The drone countermeasure equipment is activated, and the calibration unit of the collaborative control module calibrates the detection module and the launch module. The detection module is controlled to continuously scan the target airspace and collect the UAV's motion data; Predict the future trajectory of the drone based on the motion data; The motion type of the UAV is determined based on the motion data, and the corresponding launch mode is determined based on the motion type. The attack timing is predicted based on the future trajectory, and an attack command is issued. The launch mode is used to indicate the number and position arrangement of the launch tubes activated by the launch module. Based on the future trajectory, determine the timing of one or more transmitter tubes activated in the transmission mode; The timing control controls the launch of the capture missile from one or more launch tubes.

[0016] The above-mentioned at least one technical solution adopted in this invention can achieve the following beneficial effects: The UAV countermeasure device provided by this invention includes a detection module, a cooperative control module, and a launch module. The cooperative control module includes a trajectory prediction unit, a launch decision unit, and a timing control unit. The launch module includes launch tubes arranged in a preset matrix. The launch decision unit determines the UAV's motion type based on the motion data and determines the launch mode corresponding to the motion type. It then predicts the attack timing based on the future trajectory and issues an attack command to the timing control unit. The timing control unit receives the attack command and, based on the future trajectory, determines the timing sequence of one or more launch tubes activated under the launch mode. The launch module controls the one or more launch tubes to launch acquisition missiles according to the timing sequence. This invention utilizes an adaptive launch mode based on the UAV's motion state to balance interception accuracy and ammunition economy. Attached Figure Description

[0017] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this invention, illustrate exemplary embodiments of the invention and are used to explain the invention, but do not constitute an undue limitation of the invention. In the drawings: Figure 1 This is a schematic diagram of the structure of a drone countermeasure device provided in an embodiment of the present invention; Figure 2 A schematic diagram of a transmitting module provided for an embodiment of this specification; Figure 3 This is a schematic diagram of the structure of a transmission decision unit provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of a timing control unit provided in an embodiment of the present invention; Figure 5 This is a schematic diagram of the structure of a collaborative control module provided in an embodiment of the present invention; Figure 6 This is a schematic diagram of the structure of a calibration unit provided in an embodiment of the present invention; Figure 7 This is a schematic diagram of the structure of a drone countermeasure device provided in an embodiment of the present invention; Figure 8 A schematic diagram of a detection module and a cooperative control module provided in an embodiment of the present invention; Figure 9 A flowchart illustrating a method for countering unmanned aerial vehicles (UAVs) provided in the embodiments of this specification; Figure 10 This is a flowchart illustrating the operation of a drone countermeasure device provided in an embodiment of this specification. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0019] The technical solutions provided by the various embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0020] Figure 1 This is a schematic diagram of the structure of a drone countermeasure device provided in an embodiment of the present invention, as shown below. Figure 1 As shown, the UAV countermeasure device 00 includes a detection module 10, a cooperative control module 20, and a launch module 30. The cooperative control module 20 includes a trajectory prediction unit 201, a launch decision unit 202, and a timing control unit 203.

[0021] The transmitting tubes used in the transmitting module of this invention are transmitting tubes arranged in a preset matrix. This specification does not limit the shape of the matrix. Figure 2 This is a schematic diagram of a transmitting module provided in an embodiment of this specification, such as... Figure 2 As shown, the launch module uses nine launch tubes arranged in a 3×3 matrix. In drone interception, the matrix arrangement of the launch tubes provides ammunition redundancy, allowing for multiple launches and improving the drone capture rate.

[0022] The detection module 10 is used to collect motion data of the UAV.

[0023] In some embodiments, the detection module includes an industrial camera and a solid-state lidar, and the motion data acquired by the industrial camera and the solid-state lidar is multimodal data.

[0024] The trajectory prediction unit 201 predicts the future trajectory of the UAV based on the motion data.

[0025] In some embodiments, the trajectory prediction unit applies deep learning algorithms to analyze multimodal data and predict future trajectories. For example, the trajectory prediction unit uses a Long Short-Term Memory (LSTM) network algorithm and employs multimodal fusion technology to predict the UAV's trajectory over a set time period based on the input multimodal data.

[0026] The launch decision unit 202 determines the motion type of the UAV based on the motion data and determines the launch mode corresponding to the motion type. The launch mode is used to indicate the number and position arrangement of the launch tubes activated by the launch module.

[0027] In some embodiments, the motion type of the drone includes any of the following: uniform linear flight, variable linear flight, and variable direction flight.

[0028] Among them, drones flying at a constant speed in a straight line are relatively stable and easy to intercept, requiring only a small number of interceptor missiles. Drones flying at variable speed in a straight line exhibit acceleration or deceleration, and can be targeted sequentially with interceptor missiles arranged in a vertical line. Drones flying with variable speed and direction have highly uncertain flight trajectories, requiring a saturation attack using all launchers within a matrix to cover multiple directions and improve the hit rate.

[0029] Therefore, in some embodiments, the firing modes include a test strike mode, a vertical coverage mode, and a saturation strike mode. The test strike mode corresponds to the central firing tube, which, in a 3×3 matrix arrangement, is firing tube number 5 located in the second row and second column of the nine firing tubes. The vertical coverage mode corresponds to a vertically arranged column of firing tubes. The saturation strike mode corresponds to all firing tubes. These three strike modes correspond to three different states of motion.

[0030] In some embodiments, the transmitters corresponding to the vertical coverage mode can also be set as a column of transmitters arranged vertically in the middle of the matrix. In the transmitters arranged in a 3×3 matrix, the transmitters corresponding to the vertical coverage mode are transmitters numbered 2, 5, and 8.

[0031] Specifically, the launch decision unit determines the UAV's motion type as uniform linear flight and the launch mode as test strike mode. The launch decision unit determines the UAV's motion type as variable-speed linear flight and the launch mode as vertical coverage mode. The launch decision unit determines the UAV's motion type as variable-speed, variable-direction flight and the launch mode as saturation strike mode.

[0032] The launch decision unit 202 is also used to predict the timing of the strike based on the future trajectory and issue the strike command to the timing control unit.

[0033] The timing control unit 203 receives the strike command and determines the timing of one or more launch tubes to be activated in the launch mode based on the future trajectory.

[0034] The launching module 30 controls one or more launching tubes to launch capture projectiles according to the timing sequence.

[0035] The UAV countermeasure device of this invention, based on a matrix arrangement of launch tubes, uses a cooperative control module to implement an adaptive launch mode based on the UAV's motion state, balancing interception accuracy and ammunition economy. Simultaneously, the launch module fires acquisition missiles according to the timing of one or more launch tubes determined by the cooperative control module, utilizing the time difference to allow multiple launch tubes to cover a wider strike area, further increasing interception accuracy.

[0036] In existing countermeasures devices, the lack of coupling between trajectory prediction and launch execution leads to missed targets despite accurate trajectory prediction due to system response delays. The trajectory prediction unit of this invention uses a deep learning algorithm to predict the future trajectory of the UAV and maps this future trajectory to the target position aimed at by the launch module's gimbal through a timing control unit.

[0037] In some embodiments, such as Figure 3 As shown, the launch decision unit 202 includes a motion classification module 2021 and a probability judgment module 2022.

[0038] The motion classification module 2021 determines the motion type of the UAV based on motion data. The probability judgment module 2022 determines, based on the future trajectory, that the probability of the UAV passing through the strike area of ​​the launch tube exceeds a preset value, and then issues a strike command to the timing control unit.

[0039] In some embodiments, the motion classification module 2021 extracts one or more motion features from the speed, acceleration, and turning angle of the UAV based on the motion data, and classifies the UAV into uniform linear flight, variable linear flight, or variable direction flight based on the motion features.

[0040] For example, the motion type of a UAV can be determined based on the rate of change of speed and the turning angle. If the rate of change of speed is ≤2m / s² and the turning angle is ≤5°, it is determined to be uniform linear flight. If the rate of change of speed is >2m / s² and the turning angle is ≤5°, it is determined to be variable speed linear flight. If the rate of change of speed is >2m / s² and the turning angle is >5°, it is determined to be variable speed and change-of-direction flight.

[0041] In some embodiments, if the motion classification module determines that the motion type of the UAV is uniform linear flight based on motion data, the probability judgment module determines the strike area of ​​the launch module, calculates the overlap rate between the area corresponding to the central launch tube in the strike area and the future trajectory based on the future trajectory, and controls the central launch tube to start the strike when the overlap rate is greater than a specified value.

[0042] If the motion classification module determines that the UAV's motion type is variable speed straight flight based on the motion data, the probability judgment module determines the strike area of ​​the launch module, calculates the overlap rate between the area corresponding to the vertically arranged column of launch tubes in the strike area and the future trajectory based on the future trajectory, and controls the vertically arranged column of launch tubes to start the strike when the overlap rate is greater than a specified value.

[0043] If the motion classification module determines that the UAV's motion type is variable speed and direction flight based on the motion data, the probability judgment module determines the strike area of ​​the launch module, calculates the overlap rate between the strike area and the future trajectory based on the future trajectory, and controls the launch tube to start the strike when the overlap rate is greater than a specified value.

[0044] In some embodiments, if the vertical coverage mode is specified as the transmitters in the middle column of the matrix, the probability determination module only needs to determine the firing sequence of the transmitters in that middle column based on the predicted future trajectory. If the vertical coverage mode is not specified as the transmitters in the middle column of the matrix, the probability determination module only needs to determine the transmitters in the column with the highest overlap rate between the corresponding strike area and the future trajectory based on the predicted future trajectory, and then determine the firing sequence of the transmitters in that column with the highest overlap rate.

[0045] In some embodiments, the probability judgment module 2022 determines the probability that the UAV will pass through the strike area based on the overlap rate between the UAV's future trajectory and the strike area of ​​the launch module. When the probability exceeds a set threshold, the strike is initiated, and a strike command is sent to the timing control unit; otherwise, the tracking of the UAV continues. In some embodiments, the set threshold can be 85%, and the strike is initiated when the probability is greater than or equal to 85%.

[0046] In this embodiment, controlling the activation of the strike command based on a set threshold can effectively avoid invalid firing and wasting ammunition.

[0047] In some embodiments, such as Figure 4 As shown, the timing control unit 203 includes a transmit mode switching module 2031 and a timing calculation module 2032.

[0048] Since different launch modes use different numbers and positions of launch tubes, the launch mode switching module 2031 switches to the corresponding launch mode after receiving the attack command from the launch decision unit, and calculates the launch timing for the launch tubes enabled in that launch mode. For example, launches at intervals of 0ms, 50ms, and 100ms, using time differences to cover the uncertain areas of the prediction.

[0049] In some embodiments, if the motion classification module determines that the motion type of the UAV is uniform linear flight based on motion data, the launch mode switching module switches to test strike mode, and the timing calculation module controls the central launch tube to launch the capture projectile.

[0050] If the motion classification module determines that the motion type of the UAV is variable speed linear flight based on the motion data, the launch mode switching module switches to vertical strike mode, and the timing control module calculates the time when the future trajectory coincides with the strike area corresponding to a vertically arranged column of launch tubes, and determines the launch order and launch interval of the multiple launch tubes included in the column of launch tubes along the forward and backward direction of the future trajectory.

[0051] If the motion classification module determines that the motion type of the UAV is variable speed and change of direction flight based on the motion data, the launch mode switching module switches to saturation strike mode, and the timing control module calculates the spatiotemporal probability of the UAV passing through the strike area of ​​the launch module for each launch tube based on the future trajectory, and determines the launch timing of each launch tube based on the spatiotemporal probability.

[0052] In this embodiment, during uniform linear motion, a central launch tube is used for precise strikes, achieving accurate interception with minimal ammunition consumption. During variable-speed linear motion, based on the direction of acceleration, a vertically aligned column of launch tubes is used to fire acquisition projectiles in different sequences along the predicted future trajectory, covering a longer straight-line distance and improving the hit rate. During variable-speed, variable-direction motion, all launch tubes engage in saturation firing, covering a larger spatial area.

[0053] In some embodiments, under saturation strike mode, the timing calculation module 302 maps the future trajectory of the UAV to the strike area of ​​the launch module, determines the overlap rate between the launch trajectory and the strike area corresponding to each launch tube, calculates the strike order of the strike area corresponding to each launch tube and the launch time of each launch tube based on the future trajectory, determines the launch timing of each capture missile corresponding to all launch tubes, and the launch tube selection corresponding to each capture missile, so that the launch module can activate each launch tube in sequence for precise strike.

[0054] In saturation attack mode, the timing of firing is set by setting firing intervals (e.g., 50ms) using multiple different launch tubes. For example, the first shot covers the predicted center point, the second shot covers the left area that may escape, and the third shot covers the right area. The time difference is used to make up for the uncertainty of spatial prediction.

[0055] In this embodiment, the launch interval between different launch tubes is calculated by the timing calculation module based on the future trajectory of the UAV mapped to the strike area corresponding to the different launch tubes. The result may be uniform launch between different launch tubes or non-uniform launch.

[0056] In some embodiments, the UAV may not always be in one type of motion during flight; for example, it may change from uniform linear motion to variable speed and direction motion. The detection module 10 collects the UAV's motion data in real time, and the launch decision unit 202 also determines the UAV's motion type in real time. When the UAV's motion type changes, the mode switching module 2031 switches to the corresponding launch mode based on the latest UAV motion data.

[0057] In some embodiments, the detection module 10 and the transmission module 20 are each equipped with a two-axis gimbal, and the collaborative control module 30 further includes a calibration unit 204, such as... Figure 5 As shown.

[0058] The detection module 10 includes an industrial camera 101 and a solid-state lidar 102, which are mounted on a two-axis gimbal of the detection module. A transmitter tube is mounted on the two-axis gimbal of the transmitter module.

[0059] The calibration unit calibrates the coordinate system of the two-axis gimbals of the detection module and the transmission module.

[0060] In this embodiment, the detection module and the launch module are equipped with independent two-axis gimbals. The industrial camera and solid-state LiDAR of the detection module can continuously track the UAV's trajectory on the two-axis gimbal and perform high-frequency data acquisition. The launch tube can be adjusted in attitude and aimed on the two-axis gimbal of the launch module. The tracking motion of the industrial camera and solid-state LiDAR of the detection module and the striking motion of the launch tube of the launch module do not interfere with each other, thus improving the striking accuracy.

[0061] In some embodiments, such as Figure 6 As shown, the calibration unit 204 includes a hardware reference module 2041, an algorithm calibration module 2042, and an online verification module 2043.

[0062] The hardware reference module uses a dedicated laser calibration target (accuracy ±0.01mm) to establish an absolute coordinate system for the dual gimbals. The laser calibration target serves as a spatial reference point, used to determine the coordinate transformation relationship between the gimbals of the detection module and the transmission module.

[0063] The algorithm calibration module employs a dual calibration method combining visual calibration and laser calibration. Visual calibration uses a checkerboard calibration board to determine the camera's intrinsic parameters and the extrinsic parameters between the camera and the LiDAR. Laser calibration uses a laser rangefinder or LiDAR to measure calibration points at known locations, calibrating the distance measurement error. Performance parameters are set as follows: calibration error ≤ 0.05°, dynamic compensation threshold 0.02°, and calibration process ≤ 50ms.

[0064] The online calibration module uses virtual targets (with preset 3D coordinates) to set up multiple virtual targets with known 3D coordinates within the target airspace of the countermeasure equipment. The detection module measures the coordinates of the virtual targets, transforms them to the launch module's coordinate system, performs a simulated launch, and compares the results with the actual launch to verify and correct errors. The online calibration module can operate at a calibration frequency of 1Hz, continuously monitoring the accuracy of calibration parameters and compensating for errors caused by temperature changes, mechanical wear, etc.

[0065] In this embodiment, the calibration unit 204 forms a closed loop of "detection-conversion-emission-verification" by setting up a hardware reference module 2041, an algorithm calibration module 2042, and an online verification module 2043.

[0066] In some embodiments, the launch module 30 further includes a mechanical locking structure. This mechanical locking structure is used to lock the two-axis gimbal of the launch module and the launcher of the launch tube before controlling the launch of the capture missile after the launch module receives the strike command. Specifically, the mechanical locking structure employs an electromagnetic lock coupled with a gear engagement mechanism, with the electromagnetic lock located between the base of the two-axis gimbal of the launch module and the launcher of the launch tube.

[0067] Without locking, recoil, motor vibration, or external wind load during launch can cause slight displacement of the gimbal, leading to trajectory deviation. In this embodiment, after the launch module receives the strike command, a mechanical locking module brings the two-axis gimbal of the launch module to a stationary state at the moment of launch, eliminating firing errors caused by jitter.

[0068] In some embodiments, the transmitter tube of the transmitting module is deflected outward by a preset angle, which is set according to the expected strike range of the transmitter tube. In some embodiments, the preset angle may be set to 0.8~1.2°, for example, 1°.

[0069] Existing single-barrel or dual-barrel layouts require the gimbal to rotate frequently at large angles to cover the target's maneuvering range, resulting in significant mechanical wear and slow response. In contrast, multi-barrel parallel layouts lead to overly concentrated trajectories and insufficient dispersion.

[0070] In this embodiment, the multiple launch tubes of the launch module are not parallel, but deflected outward at a preset angle. This arrangement allows the launch module to form a dispersed strike surface. When all launch tubes are fired simultaneously, an interception array is formed in the target airspace. With the launch module's gimbal stationary, the launch tubes can cover a more comprehensive area, eliminating the need for high-frequency fine-tuning of the gimbal to track maneuvering targets and the need for multiple reloading of acquisition missiles, thus increasing the probability of intercepting highly maneuverable UAV targets.

[0071] In some embodiments, the timing control unit 203 determines the airburst time of the capture missile based on the future trajectory and the interception distance, and sends the airburst time to the launch module. The interception distance is the distance between the two-axis gimbal of the launch module and the predicted interception point.

[0072] The launching module controls one or more launching tubes to launch capture projectiles according to the timing sequence and the airburst time.

[0073] In some embodiments, the trajectory prediction unit outputs the future trajectory of the UAV based on the UAV's historical trajectory using a deep learning algorithm. The timing control unit aims at the target point that the UAV will pass through in the future trajectory according to the future trajectory, predicts the time and distance of the capture missile reaching the target point, and calculates the airburst time of the capture missile to ensure that the capture missile airbursts exactly when it reaches the target point.

[0074] In some embodiments, such as Figure 7 As shown, the UAV countermeasure device 00 includes a detection module 10, a cooperative control module 20, a launch module 30, and a power supply module 40. Among them: The detection module 10 uses a two-axis gimbal as the mounting carrier and integrates an industrial camera and a solid-state LiDAR to collect multimodal data such as the three-dimensional coordinates, velocity, acceleration, and attitude of the UAV. The launch module 30 uses another two-axis gimbal as the mounting carrier and is equipped with nine cylindrical launch tubes arranged in a 3×3 matrix. Each launch tube is deflected outward by 1° and uses a pneumatic launch method to launch UAV capture missiles. It is equipped with a mechanical locking mechanism to fix the gimbal during the launch phase. The collaborative control module 20 includes a trajectory prediction unit 201, a launch decision unit 202, a timing control unit 203, and a calibration unit 204. The trajectory prediction unit 201 uses an LSTM algorithm and multimodal fusion technology to predict the future trajectory of the UAV based on data collected by the detection module. The launch decision unit 202 classifies the UAV's flight motion type as uniform straight-line flight, variable-speed straight-line flight, and variable-speed directional flight, and determines whether the probability of the UAV passing through the strike area reaches a set threshold. The timing control unit 203 controls the launch timing of the nine launch tubes according to the predicted trajectory and flight motion type. The calibration unit 204 constructs a three-level joint calibration system of "hardware benchmark + algorithm calibration + online verification" to achieve high-precision attitude calibration of the detection and launch modules.

[0075] The power module 40 provides stable power to the entire system and is suitable for different deployment scenarios such as outdoor and indoor environments.

[0076] This embodiment addresses the technical problems of existing anti-drone soft-kill interception systems, such as low detection and launch coordination accuracy, poor launch process stability, lack of adaptability in launch strategies, poor trajectory prediction and launch compatibility, and unreasonable multi-tube layout. It provides an anti-drone interception system that achieves full-process coordination, precise interception, and strong adaptability. Specifically, it achieves the following effects: (1) To solve the problem of insufficient coordination between the detection module and the launch module, a high-precision joint calibration system is constructed to achieve unbiased mapping from detection coordinates to launch trajectory coordinates, thus avoiding "accurate detection but inaccurate launch". (2) To solve the problem of mechanical vibration and reduced launch accuracy caused by real-time tracking during the launch phase, a mechanical locking aiming mechanism is proposed. During the launch phase, the motor locks and fixes the launch gimbal, and feedback compensation is performed when necessary to eliminate vibration interference and improve launch stability and accuracy. (3) To address the lack of adaptability in existing launch strategies, an adaptive launch strategy based on the UAV's motion state is designed to achieve adaptive switching between three modes: test strike, vertical coverage, and saturation strike, balancing interception accuracy and ammunition economy. (4) Solve the problem of trajectory prediction and launch disconnection, deeply adapt deep learning trajectory prediction with launch decision, launch timing and multi-tube layout, and realize the full-process linkage of "prediction-aiming-airburst setting-decision-timing launch"; (5) To solve the problem of unreasonable multi-tube layout, a directional layout with 9 tubes deflected outward at 0.8~1.2° is designed, which reserves redundant space for multiple launches, eliminating the need for frequent gimbal adjustments and improving interception efficiency.

[0077] This invention enables efficient, accurate, and safe interception of low-altitude micro and low-speed unmanned aerial vehicles (UAVs), improves the system's environmental adaptability, interception success rate, and ammunition economy, meets the UAV management needs of different scenarios such as urban security and critical facility protection, avoids problems such as ammunition waste, interception failure, and secondary damage in existing technologies, and promotes the upgrading of anti-UAV soft-kill interception technology.

[0078] In some embodiments, the structures of the detection module 10 and the cooperative control module 20 are as follows: Figure 8 As shown.

[0079] The detection module 10 uses a two-axis gimbal (5kg load capacity, rotation angle: horizontal 0-360°, vertical -45° to 90°, rotation speed: 10° / s) as its mounting platform and integrates the following two core components: (1) Industrial camera (12 million pixels resolution, 60fps frame rate, 16mm lens focal length, 0.5-50m recognition distance, ±1cm recognition accuracy, used to collect the attitude, contour and other feature data of UAVs). (2) Solid-state lidar (model: RoboSense EM4, detection range 0.5-600m, ranging accuracy ±2cm, point cloud density 25,920,000 points / second, used to collect motion data such as three-dimensional coordinates, velocity, and acceleration of UAVs).

[0080] The detection module works by combining an industrial camera with a solid-state lidar to collect multimodal data from the UAV in real time. The data is then transmitted to the collaborative control module via Ethernet at a frequency of 60Hz to ensure the real-time performance and integrity of the data.

[0081] In some embodiments, the launch module 30 uses another two-axis gimbal (load capacity 10kg, rotation angle: horizontal 0-360°, vertical -30° to 90°, rotation speed: 15° / s) as the mounting carrier, with the specific structure as follows: (1) Launch tubes: 9 cylindrical launch tubes (30mm in diameter and 200mm in length) are arranged in a 3×3 matrix. Each launch tube is deflected outward by 0.8-1.2° relative to the central axis of the gimbal (adjusted according to the expected coverage area). The launch tubes are made of lightweight aluminum alloy and are equipped with pneumatic launch valves at the bottom. (2) Mechanical locking mechanism: An electromagnetic lock (locking force 1000N, response time ≤20ms) is used in conjunction with a gear meshing structure. The electromagnetic lock is installed between the gimbal base and the launcher. The gear meshing structure is used to enhance the locking stability. After locking, the launch tube axis jitter is ≤0.01° and the unlocking response time is ≤15ms. (3) Pneumatic launch system: High-pressure gas cylinder (pressure 1.6MPa) is used to provide launch power, launch speed is 34m / s, launch interval is adjustable (10-100ms) to adapt to different launch modes; (4) Capture projectile: The capture net is made of biodegradable nylon material with a diameter of 3m (after airburst). The effective capture range is ≤5m and the airburst time is adjustable (1-5s). It is set by the collaborative control module according to the predicted trajectory and interception distance.

[0082] (5) Inertial Measurement Unit (IMU) and camera: During the control phase, the IMU is used to control the gimbal to achieve the target angle.

[0083] During the calibration phase, the detection device and the transmitting device share a checkerboard calibration plate for relative pose calibration; IMU self-calibration is achieved by visually recognizing QR codes during movement.

[0084] In some embodiments, the collaborative control module 20 employs a high-performance edge computing module + industrial controller (Nvidia Jetson Orin NX + STM32H743), integrating a trajectory prediction unit, a launch decision unit, a timing control unit, and a calibration unit. The specific design of each unit is as follows: (1) Trajectory prediction unit: The LSTM algorithm + multimodal fusion technology is adopted. The LSTM algorithm has 3 hidden layers, each with 64 neurons, a learning rate of 0.001, and 1000 iterations. The multimodal fusion module adopts a lightweight network of CSPPMSA + LGFFM with an inference latency of ≤4.4ms / frame. It integrates data from industrial cameras and LiDAR to predict the flight trajectory of the UAV in the next 2-5 seconds with a prediction error of ≤0.3m. (2) Launch Decision Unit: Includes a motion classification module and a probability judgment module; the motion classification module extracts features such as the speed, acceleration, and turning angle of the UAV to classify flight motion into uniform linear flight (speed change rate ≤ 2m / s², turning angle ≤ 5°), variable speed linear flight (speed change rate > 2m / s², turning angle ≤ 5°), and variable speed and direction-changing flight (speed change rate > 2m / s², turning angle > 5°); the probability judgment module calculates the overlap between the future trajectory of the UAV and the strike area to obtain the probability that the UAV will pass through the strike area, sets a threshold of 85%, and initiates the strike when the probability is ≥ 85%; (3) Timing control unit: includes a launch mode switching module and a timing calculation module; the launch mode switching module switches the launch mode according to the UAV's motion type, and the timing calculation module calculates the launch timing and launch tube selection for each capture missile based on the predicted trajectory. The launch timing interval is adjustable (10-100ms). (4) Calibration unit: includes hardware reference module, algorithm calibration module and online verification module; the hardware reference module adopts a dedicated laser calibration target (accuracy ±0.01mm) to establish a dual gimbal absolute coordinate system; the algorithm calibration module adopts a dual calibration method combining visual calibration and laser calibration, with calibration error ≤0.05°, dynamic compensation threshold 0.02°, and calibration process ≤50ms; the online verification module forms a closed loop of "detection-conversion-emission-verification" through a virtual target (preset three-dimensional coordinates), with a verification frequency of 1Hz.

[0085] In some embodiments, the power module 40 adopts a 24V DC power supply with a capacity of 100Ah, supports mains power supply and lithium battery backup power supply, mains power supply range is 110-220V, lithium battery life is ≥8h, and is equipped with overvoltage, overcurrent and short circuit protection functions, suitable for outdoor deployment in scenarios without mains power.

[0086] This manual also provides an application. Figure 1 The method for countering a drone countermeasure device shown is described. This drone countermeasure device is deployed in the target airspace, for example, at the edge of an airport.

[0087] Figure 9 A flowchart of a drone countermeasure method provided for an embodiment of this specification is as follows: S901: The UAV countermeasure device is activated, and the calibration unit of the cooperative control module calibrates the detection module and the launch module; S903: Control the detection module to continuously scan the target airspace and collect the UAV's motion data; S905: Predict the future trajectory of the drone based on the motion data; S907: Determine the motion type of the UAV based on the motion data, determine the launch mode corresponding to the motion type, and predict the attack timing based on the future trajectory, and issue an attack command. The launch mode is used to indicate the number and position arrangement of the launch tubes activated by the launch module. S909: Based on the future trajectory, determine the timing of one or more transmitters activated in the transmission mode; S911: Control the one or more launch tubes to launch capture missiles according to the timing sequence.

[0088] Figure 10 This is a flowchart illustrating a process of a drone countermeasure device provided in the embodiments of this specification, combined with... Figure 10 This manual describes the methods for countering drones, including the following steps: Step 1: System Deployment and Calibration The detection module, transmission module, collaborative control module, and power supply module are deployed at the edge of the airport's airspace clearance area. The cables connecting each module (Ethernet and power cables) are then connected, and the system power is turned on. The calibration unit of the collaborative control module initiates a three-level joint calibration. 1.1 Hardware benchmark calibration: Place the QR code calibration board at a standard position 3m away from the system, and control the detection gimbal and the transmitter gimbal to align with the calibration target, the industrial camera of the transmitter and the detector to collect feature points, and record the relative pose parameters of the detection module and the transmitter module.

[0089] 1.2 Online verification: The collaborative control module generates a virtual target (3D coordinates: X=50m, Y=0m, Z=150m), the detection module collects the virtual target data and converts it into a launch command, the launch gimbal drives the launch tube to aim, and the lidar and vision sensor verify the overlap between the launch tube axis and the virtual target coordinates. If the overlap is ≥99%, the calibration is completed and the system enters standby mode.

[0090] 1.3 Recoil Compensation Calibration The launcher fires a capture projectile, and the motor records the effect of the launcher's recoil on the angle. In subsequent launches, the motor actively compensates for the error caused by the recoil.

[0091] Step 2: Target Detection The detection module is activated and continuously scans the surrounding airspace. Industrial cameras and solid-state LiDAR collect multimodal data (3D coordinates, velocity, acceleration, attitude, etc.) of the UAV in real time. The data acquisition frequency is 30Hz and the data is transmitted to the collaborative control module via Ethernet.

[0092] Step 3: Trajectory Prediction and Airburst Timing Setting The trajectory prediction unit of the collaborative control module receives the detection data, extracts the UAV's motion features (such as speed, acceleration, and attitude angle) and environmental features (such as wind speed and wind direction) through the multimodal fusion module, inputs them into the LSTM algorithm, and predicts the UAV's flight trajectory in the next 3 seconds (predicted coordinates: X=50m, Y=0m, Z=150m (after 3 seconds)), with a prediction error of 0.2m; at the same time, the timing control unit calculates the airburst time of the capture missile as 2.5s based on the predicted trajectory and the interception distance (50m), and sends the airburst time setting command to the launch module.

[0093] Step 4: Aiming and Mechanical Locking According to the predicted trajectory, the collaborative control module drives the launch gimbal to quickly turn to the target interception area (turning speed 15° / s). After aiming, it triggers the electromagnetic lock of the mechanical locking mechanism. The gear meshing structure locks the launch gimbal, achieving mechanical fixation during the launch phase. The locking response time is 18ms. After locking, the launch tube axis jitters by 0.008°, ensuring launch stability.

[0094] Step 5: Launch Decision The system enters the launch decision mode. The motion classification module of the launch decision unit analyzes the UAV's motion data in real time and determines that the UAV is currently flying in a straight line at a constant speed (speed 8m / s, speed change rate 1m / s², turning angle 3°). The probability judgment module calculates that the probability of the UAV passing through the strike area is 92%, which is greater than the set threshold of 85%. Therefore, the strike command is triggered and sent to the timing control unit.

[0095] When the launch decision unit determines that the UAV is flying with variable speed and direction (speed change rate 6m / s², turning angle 20°), the timing control unit automatically switches to vertical coverage mode and selects three launch tubes (tubes 2, 5, and 8) in the vertical column of the 9-tube layout. The launch timing interval is 10ms, and three capture missiles are launched in sequence. Utilizing the layout of the launch tubes deflected outward by 1°, the three capture missiles form a vertical ballistic barrier after airbursing, covering the UAV's change-of-direction path and ensuring successful interception. After the interception is completed, the system is reset.

[0096] When the detection module's drone path is highly random (variable speed and direction flight), the timing control unit switches to saturation strike mode, controlling the nine launch tubes to fire in sequence (10ms interval). After the nine capture missiles explode in the air, a coverage area with a diameter of 10m is formed, achieving full-area interception of the drone.

[0097] The motion classification module analyzes parameters such as velocity change rate (acceleration) and turning angle, classifying drones into three categories: uniform linear flight (velocity change rate ≤ 1m / s², turning angle ≤ 3°): stable trajectory, predictable, suitable for single-shot precision strikes.

[0098] Variable speed and direction flight (speed change rate 6m / s², turning angle 20°): Enhanced maneuverability, single prediction point may fail, ballistic coverage required.

[0099] Highly random flight: The specific path cannot be predicted, and comprehensive coverage is required.

[0100] The probability assessment module calculates the probability (92%) that the drone will pass through the predetermined interception area and compares it with a threshold (85%). This is based on prediction error distribution and drone maneuverability modeling to ensure no ammunition is wasted while guaranteeing a high success rate.

[0101] Step 6: Adaptive Launch and Timing Control The timing control unit switches to test strike mode based on the uniform linear flight motion of the UAV, selects the center launch tube (launch tube 5) in the 9-tube layout, calculates the launch timing based on the predicted trajectory (delayed by 0.5s to ensure that the capture projectile and the UAV coincide in the predicted area), triggers the pneumatic launch system, releases pressure from the high-pressure gas cylinder, drives the capture projectile to launch at a launch speed of 15m / s, and there is no obvious vibration during the launch process.

[0102] Step 7: Interception complete and system reset The capture missile detonates in the core area of ​​the predicted flight path of the drone (X=50m, Y=0m, Z=150m) according to the set airburst time of 2.5s, releasing a capture net with a diameter of 3m, successfully capturing the illegal drone; the drone is slowly lowered to a safe area by the capture net, and security personnel go to handle the situation; the collaborative control module triggers the mechanical locking mechanism to unlock, the launch module gimbal resets, the detection module continues monitoring, and the system returns to standby mode, waiting for the next counter-interception mission.

[0103] In some embodiments, the present invention can be applied to low-altitude drone management scenarios such as security in urban core areas (e.g., administrative centers, business districts, airport perimeters) and protection of critical facilities (e.g., power substations, military bases, museums).

[0104] The following example, "Interception of unauthorized drone intrusion around airports," illustrates the complete process by which users can use this solution to solve practical problems.

[0105] An airport security department deployed this anti-drone interception system to prevent unauthorized drones from intruding into the airport's airspace and affecting normal flight takeoffs and landings. After deployment, security personnel first initiated a three-level joint calibration process using the collaborative control module: the laser calibration target was placed at a standard position within the airport's airspace; the detection and launch gimbals were aligned with the target; the lidar emitted a calibration laser; an industrial camera collected target feature points to establish an absolute coordinate system reference; the algorithm-based collaborative calibration module dynamically corrected for pose drift caused by temperature changes; and the online verification module completed closed-loop verification using a virtual target to ensure calibration accuracy met requirements (calibration error ≤ 0.05°).

[0106] When airport radar detects a micro-drone illegally intruding into the airspace (150m altitude, 8m / s speed), security personnel issue a strike mission through the system. Upon mission issuance, the industrial camera and solid-state lidar of the detection module immediately activate, collecting real-time multimodal data such as the drone's 3D coordinates, velocity, and attitude, and transmitting this data to the trajectory prediction unit of the collaborative control module. The trajectory prediction unit uses an LSTM algorithm combined with multimodal fusion technology to quickly process the collected data and predict the drone's flight trajectory for the next 3 seconds (prediction error ≤ 0.3m). Simultaneously, it sets the airburst time for the interceptor missile (calculated based on the predicted trajectory and interception distance, set to airburst after 2.5 seconds).

[0107] After prediction is complete, the collaborative control module drives the launch gimbal to quickly turn towards the target interception area. After aiming, it triggers the mechanical locking mechanism (electromagnetic lock + gear engagement) to mechanically fix the launch gimbal, preventing vibration caused by gimbal movement during launch (axis jitter ≤0.01° after locking). The system then enters the launch decision mode. In the launch decision mode, the detector continuously collects UAV motion data, classifying its flight motion as "uniform straight-line flight" (it is determined that the UAV's current speed is stable and there is no significant change in direction). At the same time, it calculates that the probability of the UAV passing through the strike area is 92%, which is greater than the set threshold (85%), and the system automatically initiates the strike procedure.

[0108] Based on the drone's uniform linear flight motion, the timing control unit of the cooperative control module activated the "test strike mode" in the adaptive launch strategy. This controlled the central launch tube in the 9-tube configuration to trigger aerodynamic launch according to the launch sequence corresponding to the predicted trajectory, firing one capture missile. The capture missile detonated in the core area of ​​the drone's predicted flight trajectory according to the set airburst time, releasing the capture net and successfully capturing the violating drone. The drone was then carried by the capture net and slowly descended to a safe area, without causing any impact on airport flights.

[0109] If, during the interception process, the drone suddenly changes direction rapidly (change of direction ≥ 15°), the system's launch decision unit will immediately reclassify its flight motion as "variable speed and change of direction flight," automatically switch to "vertical coverage mode," and control the three launch tubes in the vertical column of the nine-tube layout to launch three capture missiles in sequence (interval ≤ 10ms). Utilizing the 1° outward deflection of the launch tubes, a vertical ballistic barrier is formed, covering the drone's change of direction path and ensuring successful interception. If a swarm of multiple drones is detected, the system switches to "saturation strike mode," launching all nine capture missiles in sequence to achieve full coverage of the interception area and completely eliminate the risk of drone intrusion.

[0110] The entire interception process requires no human intervention. Through the coordinated work of four core innovations, the system achieves rapid detection, accurate prediction, stable aiming, and efficient interception of drones, solving the practical problems of "low accuracy, slow response, and wasted ammunition" in airport security and ensuring the safety of airport airspace.

[0111] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0112] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to interchangeably. Each embodiment focuses on describing the differences from other embodiments. In particular, the system embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments.

[0113] The above description is merely an embodiment of this specification and is not intended to limit the scope of this specification. Various modifications and variations can be made to this specification by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this specification should be included within the scope of the claims of this invention.

Claims

1. A drone countermeasure device, characterized in that, The countermeasure device includes a detection module, a cooperative control module, and a transmission module. The cooperative control module includes a trajectory prediction unit, a transmission decision unit, and a timing control unit. The transmission module includes transmission tubes arranged in a preset matrix. The detection module is used to collect motion data of the UAV; The trajectory prediction unit predicts the future trajectory of the drone based on the motion data; The launch decision unit determines the motion type of the UAV based on the motion data and determines the launch mode corresponding to the motion type. The launch mode is used to instruct the launch module to activate the number and position arrangement of the launch tubes. The launch decision unit is also used to predict the attack timing based on the future trajectory and issue an attack command to the timing control unit. The timing control unit receives the strike command and determines the timing of one or more launch tubes to be activated in the launch mode based on the future trajectory. The launching module controls one or more launching tubes to launch capture projectiles according to the timing sequence.

2. The countermeasure device according to claim 1, characterized in that, The type of exercise includes any of the following: Uniform linear flight; Variable speed linear flight; Variable speed and direction flight.

3. The countermeasure device according to claim 2, characterized in that, in: If the launch decision unit determines that the motion type of the UAV is uniform linear flight and determines that the launch mode is test strike mode, the launch tube corresponding to the test strike mode is the central launch tube located at the center of the matrix. If the launch decision unit determines that the motion type of the UAV is variable speed linear flight and determines that the launch mode is vertical coverage mode, the launch tubes corresponding to the vertical coverage mode are a vertically arranged row of launch tubes. If the launch decision unit determines that the UAV's motion type is variable speed and direction flight, and determines that the launch mode is saturation strike mode, then the launch tubes corresponding to the saturation strike mode are all the launch tubes.

4. The countermeasure device according to claim 3, characterized in that, in, The launch decision unit includes a motion classification module and a probability judgment module; If the motion classification module determines that the UAV's motion type is uniform linear flight based on the motion data, the probability judgment module determines the strike area of ​​the launch module, calculates the overlap rate between the area corresponding to the central launch tube in the strike area and the future trajectory based on the future trajectory, and controls the central launch tube to start the strike when the overlap rate is greater than a specified value. If the motion classification module determines that the motion type of the UAV is variable speed straight flight based on the motion data, the probability judgment module determines the strike area of ​​the launch module, calculates the overlap rate between the area corresponding to a vertically arranged column of launch tubes in the strike area and the future trajectory based on the future trajectory, and controls the column of launch tubes to start the strike when the overlap rate is greater than a specified value. If the motion classification module determines that the UAV's motion type is variable speed and direction flight based on the motion data, the probability judgment module determines the strike area of ​​the launch module, calculates the overlap rate between the strike area and the future trajectory based on the future trajectory, and controls all the launch tubes to start the strike when the overlap rate is greater than a specified value.

5. The countermeasure device according to claim 4, characterized in that, in, The timing control unit includes a transmit mode switching module and a timing calculation module; If the motion classification module determines that the motion type of the UAV is uniform linear flight based on the motion data, the launch mode switching module switches to the test strike mode, and the timing calculation module controls the central launch tube to launch the capture projectile. If the motion classification module determines that the motion type of the UAV is variable speed straight flight based on the motion data, the launch mode switching module switches to the vertical coverage mode, and the timing control module calculates the time when the future trajectory coincides with the strike area corresponding to the vertically arranged column of launch tubes, and determines the launch sequence and launch interval of each launch tube in the column of launch tubes along the forward and backward direction of the future trajectory. If the motion classification module determines that the motion type of the UAV is variable speed and change of direction flight based on the motion data, the launch mode switching module switches to the saturation strike mode, and the timing control module calculates the spatiotemporal probability of the UAV passing through the strike area of ​​the launch module for each launch tube based on the future trajectory, and determines the launch timing of each launch tube based on the spatiotemporal probability.

6. The countermeasure device according to claim 1, characterized in that, The detection module and the transmission module are each equipped with a two-axis gimbal, and the collaborative control module also includes a calibration unit; The detection module includes an industrial camera and a solid-state lidar, which are mounted on a two-axis gimbal of the detection module. The launch tube is placed on the two-axis gimbal of the launch module; The calibration unit calibrates the coordinate system of the two-axis gimbal of the detection module and the transmission module.

7. The countermeasure device according to claim 6, characterized in that, The transmitting module also includes: A mechanical locking structure is used to lock the two-axis gimbal of the launch module and the launch frame of the launch tube before controlling the launch of the capture missile after the launch module receives the strike command; wherein, the mechanical locking structure adopts an electromagnetic lock and a gear meshing structure, and the electromagnetic lock is located between the base of the two-axis gimbal of the launch module and the launch frame of the launch tube.

8. The countermeasure device according to claim 1, characterized in that, The launch tube is deflected outward by a preset angle, which is set according to the expected strike range of the launch tube.

9. The countermeasure device according to claim 1, characterized in that, The timing control unit determines the airburst time of the capture missile based on the future trajectory and the interception distance, and sends the airburst time to the launch module. The interception distance is the distance between the two-axis gimbal of the launch module and the predicted interception point. The launching module controls one or more launching tubes to launch capture projectiles according to the timing sequence and the airburst time.

10. A method for countering unmanned aerial vehicles (UAVs) based on the UAV countermeasure device of claim 1, characterized in that, The drone countermeasure equipment is deployed in the target airspace and includes: The drone countermeasure equipment is activated, and the calibration unit of the collaborative control module calibrates the detection module and the launch module. The detection module is controlled to continuously scan the target airspace and collect the UAV's motion data; Predict the future trajectory of the drone based on the motion data; The motion type of the UAV is determined based on the motion data, and the corresponding launch mode is determined based on the motion type. The attack timing is predicted based on the future trajectory, and an attack command is issued. The launch mode is used to indicate the number and position arrangement of the launch tubes activated by the launch module. Based on the future trajectory, determine the timing of one or more transmitter tubes activated in the transmission mode; The timing control controls the launch of the capture missile from one or more launch tubes.

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