A drone navigation deception system

Abstract

This invention discloses a drone navigation deception system, relating to the field of low-altitude airspace security and control, aiming to solve the problems of isolated multi-source signals, fixed paths, and weak countermeasures in traditional systems. The system includes a target drone detection module, a deception signal generation module, a multi-source navigation signal dynamic coupling deception module, a deception path adaptive correction module, a deception effect evaluation module, and a main control module. The target detection module obtains the drone's position, speed, and navigation mode; the basic module generates compliant basic signals; the coupling module resolves dependencies and calculates parameters to generate coupled signals; the correction module compares the trajectory and attribution deviation in real time and updates the path; the evaluation module judges the effect every 2 seconds; and the main control module schedules all modules. The system adapts to multiple navigation modes, has a high deception success rate, a low interruption rate, lowers the application threshold, and is suitable for drone control in sensitive areas.

Description

Technical Field

[0001] This invention relates to the field of low-altitude airspace safety and control, specifically to a drone navigation deception system. Background Technology

[0002] With the widespread adoption of drone technology, incidents of illegal intrusion into sensitive areas such as airports and military zones are frequent. Navigation deception is a core technology for preventing such risks. Traditional drone navigation deception systems have the following key problems: Isolated decoy signal from multiple sources: Most systems generate decoy signals for a single navigation source (such as GPS only). If the UAV uses a combination of satellite navigation and inertial navigation, it is easy to identify anomalies in a single signal, causing the decoy to fail. Some multi-source decoy systems simply superimpose signals without considering the differences in the UAV's dependence on different navigation sources, resulting in poor coupling and coordination.

[0003] Fixed and rigid deception path: Once the deception path is preset, it cannot be dynamically adjusted. If the target drone deviates from the deception path due to its own attitude adjustment (such as sudden acceleration) or environmental interference (such as strong wind), the system cannot correct it in time, resulting in the deception being interrupted.

[0004] Weak countermeasure capability: It lacks a real-time evaluation and dynamic optimization mechanism for the deception effect. Once the drone starts the navigation countermeasure algorithm (such as signal consistency verification), the system cannot quickly adjust the deception strategy, resulting in a low deception success rate (usually <60%). Summary of the Invention

[0005] The purpose of this invention is to provide a drone navigation deception system to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a drone navigation deception system, comprising a target drone detection module, a deception signal generation module, a multi-source navigation signal dynamic coupling deception module, a deception path adaptive correction module, a deception effect evaluation module, and a main control module; the target drone detection module captures the position, speed, and navigation mode of the target drone in real time through radar and optoelectronic devices, thereby obtaining detection data, with a sampling frequency ≥10Hz, and outputs the detection data to the main control module; The decoy signal generation module generates a basic signal that conforms to the specifications of either GPS or BeiDou navigation protocol based on the initial decoy parameters issued by the main control module, with a signal error ≤0.1m. The multi-source navigation signal dynamic coupling decoy module is used to receive the navigation mode data of the target UAV detection module and the basic signal of the decoy signal generation module. It first analyzes the UAV navigation dependency, then calculates the coupling parameters, and finally generates a multi-source collaborative coupling decoy signal. The deception path adaptive correction module is used to compare the preset deception trajectory with the actual trajectory of the UAV in real time, calculate the dynamic correction amount through deviation attribution, update the deception path and synchronize it to the multi-source navigation signal dynamic coupling deception module. The deception effect evaluation module determines the deception effect every 2 seconds based on the trajectory offset (≥5m is effective, <2m is ineffective) and feeds the result back to the main control module. If it is deemed ineffective 3 times in a row, it triggers the emergency adjustment mode (increasing the frequency of coupling weight adjustment). Its feedback data directly guides the parameter optimization of the multi-source navigation signal dynamic coupling deception module and the deception path adaptive correction module, avoiding the "blind execution" of the deception strategy and ensuring that the deception process is controllable and optimizable. The main control module receives target data from the target UAV detection module and feedback results from the deception effect evaluation module, and schedules each module in the sequence of "detection → basic signal generation → coupling deception → path correction → effect evaluation". On the other hand, the main control module sends control commands to the multi-source navigation signal dynamic coupling deception module and the deception path adaptive correction module, and synchronously stores the deception process data.

[0007] Preferably, the specific working logic of the decoy signal generation basic module is as follows: First, the initial decoy parameters are received; the decoy signal generation module obtains the preset initial parameters from the main control module, including the target decoy position (latitude and longitude, altitude, such as 30°N, 120°E, altitude 100m), the target navigation mode (such as GPS, Beidou) and the signal accuracy requirements (error ≤0.1m). Secondly, the system matches the corresponding navigation protocol specifications. Based on the navigation mode in the initial parameters, it calls the system's built-in navigation protocol library—if it is GPS mode, it matches the GPS L1 band protocol (frequency 1575.42MHz, C / A code rate 1.023MHz); if it is BeiDou mode, it matches the BeiDou B1 band protocol (frequency 1561.098MHz, pseudorange measurement accuracy ≤0.5m), ensuring that the generated signal meets the target UAV navigation system's reception standards and avoids direct filtering due to protocol incompatibility. Then, the basic navigation signal is generated. Based on the matching protocol, the signal generator in the basic decoy signal generation module generates the corresponding type of basic decoy signal, namely the basic navigation signal. In GPS, a pseudorange signal containing target decoy position information is generated to simulate the distance data between satellites and UAVs. In BeiDou, a carrier signal carrying positioning information is generated. At the same time, a filtering algorithm (such as Gaussian filtering) is used to eliminate signal noise and control the signal error within the range of ≤0.1m to ensure the basic accuracy of the signal. Finally, the output is sent to the multi-source navigation signal dynamic coupling decoy module; the generated basic navigation signals (such as GPS pseudorange signals and Beidou carrier signals) are transmitted to the multi-source navigation signal dynamic coupling decoy module in a preset format (such as IQ signal format) as input data for the module to perform multi-source signal coupling, ensuring that the subsequent coupling process has stable and compliant basic signal support.

[0008] Preferably, the multi-source navigation signal dynamic coupling decoy module includes a navigation signal parsing unit, a UAV navigation dependency evaluation unit, a coupling parameter calculation unit, and a coupling decoy signal generation unit. The multi-source navigation signal dynamic coupling decoy module generates a cooperatively coupled decoy signal by fusing multi-source basic decoy signals. The specific working steps are as follows: Navigation Signal Analysis Unit: Used to lock onto target navigation features; First, it receives real-time navigation source combination mode data (such as "GPS + Inertial Navigation" or "BeiDou + GPS" combination) output by the target UAV detection module. Through signal feature extraction algorithms, it separates and identifies the unique signal feature parameters of each navigation source. For "GPS + Inertial Navigation" combination, it extracts the C / A code frequency (standard 1.023MHz) and carrier frequency band (L1 band 1575.42MHz) of the GPS signal, and simultaneously extracts the angular velocity sampling period (usually 0.01s) and accelerometer measurement range (e.g., ±16g) of the inertial navigation system. If "BeiDou + GPS" combination is detected, it additionally extracts the BeiDou B1 band frequency (1561.098MHz) and pseudorange measurement accuracy (≤0.5m). Finally, the analyzed "navigation source combination + signal features of each source" data is synchronously transmitted to the UAV navigation dependency evaluation unit to ensure that the subsequent evaluation model can accurately adapt to the navigation architecture of the target UAV. UAV navigation dependency assessment unit: Based on the output data of the navigation signal analysis unit and combined with the flight status of the target UAV, a quantitative model is constructed to determine the dependency level of each navigation source and clarify the primary and secondary relationships during coupling; Coupling parameter calculation unit: Based on the dependency assessment results and combined with the signal characteristics of each navigation source, it calculates the three core parameters of coupling weight, time delay, and amplitude, providing a quantitative basis for signal superposition. The coupling decoy signal generation unit receives the quantization rules from the coupling parameter calculation unit and the multi-source basic signals from the decoy signal generation module. It performs signal superposition, timing adjustment, and intensity calibration to generate the final coupling decoy signal. Its workflow is as follows: Basic signal input and preprocessing: Receive the decoy signal to generate the main navigation source basic signal (such as GPS pseudorange signal) and auxiliary navigation source basic signal (such as inertial navigation angular velocity simulation signal) output by the basic module. Use filtering algorithms (such as Kalman filtering) to eliminate high-frequency noise in the basic signal (such as ionospheric delay interference of GPS signal and zero drift error of inertial navigation) to ensure the purity of the original signal. Signal weight superposition: based on the coupling parameters obtained in the coupling parameter calculation unit. The preprocessed base signals of the main navigation source and the base signals of the auxiliary navigation source are linearly superimposed—with the GPS signal as the core, its pseudorange positioning information is retained with a weight of 0.74; with the inertial navigation signal as the auxiliary, its angular velocity attitude information is superimposed with a weight of 0.26, forming an initial coupling signal of "positioning + attitude" in two dimensions, which is the multi-source coupling decoy signal. Timing and strength calibration: based on coupling delay (9.77×10⁻) 7 The timing adjustment module in the coupling decoy signal generation unit fine-tunes the transmission time difference between the main navigation source base signal and the auxiliary navigation source base signal to ensure that the multi-source coupling decoy signals enter the target UAV navigation system at the same time stamp. At the same time, based on the coupling amplitude A (1.87V) obtained by the coupling parameter calculation unit, the signal strength is calibrated by the power amplifier to avoid triggering the UAV navigation signal consistency check due to amplitude abnormalities. Coupled signal output: The calibrated multi-source coupled decoy signal is sent to the target UAV through a directional antenna. The signal coverage radius is ≥1km, ensuring that the target UAV's navigation system can stably receive and accept the signal, laying the foundation for subsequent decoy path guidance.

[0009] Preferably, the specific implementation steps of the UAV navigation dependency assessment unit are as follows: A1. Data Input and Parameter Assignment: Navigation source combination and signal reception strength of each source in the navigation signal analysis unit. Among them, (such as GPS) Inertial navigation value range (1 represents the strongest signal) At the same time, the flight status (speed v=12m / s, altitude h=300m) output by the target UAV detection module is retrieved, and the flight status weight is assigned according to preset rules. Therefore, GPS and inertial navigation All are set to 0.5 (if , Increased to 0.6, GPS dropped to 0.4; if GPS Increased to 0.6, while inertial navigation decreased to 0.4.

[0010] B1. Dependency Model Calculation: Construct a dependency evaluation model. The model formula is as follows: ,in This is the current navigation source number. Calculate the dependency of each navigation source for each participating navigation source. Taking "GPS + Inertial Navigation" as an example... Therefore, the dependence on GPS Dependence on inertial navigation ; C1. Dependency Level Determination: Levels are determined based on calculation results. (such as GPS) It is identified as the "main navigation source" and is the core carrier of the coupled signal; (such as inertial navigation) It is identified as an "auxiliary navigation source" and used to supplement coupling to improve signal reliability; The navigation source (such as BeiDou which is not involved in the combination) is determined as a "backup navigation source" and does not participate in this coupling; finally, the result of "main navigation source + auxiliary navigation source + corresponding dependency" is transmitted to the coupling parameter calculation unit.

[0011] Preferably, the specific implementation steps of the coupling parameter calculation unit are as follows: A2. Coupling weight calculation: based on the dependency between the primary navigation source and the secondary navigation source. Determine the weights—main navigation source coupling weights Values ​​range from 0.7 to 0.8 (e.g., GPS). It is between 0.5 and 1, therefore ;like , Take 0.8; if , Set to 0.7, auxiliary navigation source coupling weight The value ranges from 0.2 to 0.3, and... The summation is 1 (e.g., inertial navigation). It is between 0.3 and 0.5, therefore ;like , Take 0.3; if , (Take a weight of 0.2), and do not assign weights to the backup navigation source; B2. Coupling Delay Calculation: Calculate the coupling delay. To prevent multiple signals from being identified as abnormal by the target drone due to differences in transmission timing, the formula is: Calculate the coupling delay, where The primary navigation source signal frequency (e.g., GPS C / A code frequency 1.023 × 10⁻⁶) 6 Hz), Substituting the frequency of the auxiliary navigation source signal (such as the signal frequency of inertial navigation, converted to 100Hz from the sampling period, i.e., 1 / 0.01s) into the equation yields... This ensures that the two signals are input synchronously into the target UAV navigation system; C2. Coupling Amplitude Calculation: To balance the strength of multiple source signals and avoid coupling distortion caused by one signal being too strong or too weak, the coupling amplitude is calculated. The calculation formula is: ( (Unit: volts) The amplitude of the primary navigation source's base signal (such as the amplitude of the GPS base signal output by the decoy signal generation module). ), To assist the basic signal amplitude of the navigation source (such as the basic signal amplitude of inertial navigation) Substituting into the equation yields... Ultimately The coupling parameters are transmitted to the coupling decoy signal generation unit.

[0012] Preferably, the decoy path adaptive correction module includes a real-time trajectory comparison unit, a deviation attribution analysis unit, a correction amount calculation unit, and a decoy path update unit. The decoy path adaptive correction module dynamically corrects the decoy path based on the actual trajectory deviation of the target UAV. The specific working steps are as follows: Step 1, Real-time Trajectory Comparison Unit: Captures trajectory deviations; First, it synchronously receives two trajectory data sets: one is the multi-source coupling decoy signal output by the multi-source navigation signal dynamic coupling decoy module, specifically containing the target coordinates at each timestamp, such as the node coordinates at a certain time. Secondly, the actual flight trajectory output by the target UAV detection module, i.e., the real-time collected UAV coordinates, such as the actual coordinates at the same timestamp. ; Subsequently, for two sets of coordinates at the same timestamp, the positional deviation was calculated using the three-dimensional spatial distance formula. The formula is: in, The three-dimensional coordinates of the preset decoy signal; Here are the actual three-dimensional coordinates of the drone during flight; substituting the example data above, we calculate: Finally, the calculated position deviation The corresponding timestamp and trajectory coordinate data are synchronously transmitted to the deviation attribution analysis unit to complete the preliminary quantification of the deviation. Step 2, Deviation Attribution Analysis Unit: Based on the deviation data from the real-time trajectory comparison unit, combined with the target UAV's flight status and environmental interference information, the core causes of the deviation are determined, providing direction for subsequent accurate calculation of correction amounts; its workflow is as follows: Data supplementation and parameter extraction: receiving Synchronously retrieve the drone speed change rate output by the target drone detection module (Unit: m / s², reflecting the intensity of the UAV's own attitude adjustment, such as...) ) and ambient wind speed (Unit: m / s, reflecting the intensity of external disturbance, such as...) Simultaneously, it reads the system's preset threshold values ​​for the drone's speed change rate and ambient wind speed. , , Multi-condition attribution determination: Based on the comparison results of parameters and thresholds, the causes of deviations are determined according to priority. like This indicates that the UAV's attitude is stable and there is little environmental interference, and the source of the deviation is the coupling deviation of the navigation signal (such as the insufficient matching between the coupling weight of the multi-source navigation signal dynamic coupling deception module and the UAV's navigation dependence). like This indicates that the drone experienced sudden acceleration / deceleration, strong environmental wind interference, and the deviation was caused by a combination of the drone's own attitude adjustment and environmental interference. If only If so, the deviation is determined to be caused by the attitude adjustment of a single drone; if only If so, the deviation is determined to be caused by a single environmental disturbance; Attribution results output: The determined causes of the deviation (such as "navigation signal coupling deviation" in the example) and their corresponding... The data is transmitted to the correction calculation unit to clarify the core factors that need to be addressed in subsequent corrections. Step 3, Correction Calculation Unit: Based on the deviation attribution results, combined with the coupling parameters of Creative Module 1 and the system preset threshold, the final trajectory correction amount is obtained through factor calculation and superposition; its workflow is as follows: Parameter retrieval and initialization: Receive deviation attribution results (such as "navigation signal coupling deviation"), position deviation (4.24m), synchronously retrieve the main navigation source coupling weight in the multi-source navigation signal dynamic coupling decoy module. (such as GPS coupling weight) The system's preset target drone maximum speed Such as multi-rotor drones ) and maximum disturbance wind speed ; Factor-based correction calculation: Calculate the individual correction amount based on the different causes of deviation. If it is a navigation signal coupling deviation, the correction amount The calculation formula is: , direction and Consistent (i.e., the direction of deviation is the direction of correction). Substituting the example data, we get: ; If it's the drone's own attitude adjustment, the correction amount... The calculation formula is: Where 0.4 is the weighting coefficient of the attitude adjustment factor. For the rate of change of velocity, This is the maximum speed of the drone; if Substituting, we get: ; If the interference is environmental, the correction amount The calculation formula is: Where 0.3 is the weighting coefficient for environmental disturbance factors. This refers to the actual wind speed. This is the preset maximum disturbance wind speed. If Substituting, we get: ; Total correction amount calculation: The corresponding correction amount is added according to the type of deviation cause, and the formula is as follows: If the cause is singular (such as navigation signal coupling deviation in the example), then only the corresponding correction amount is calculated, i.e. If the cause is due to multiple factors, then all relevant correction amounts are added together. The final total correction amount is then calculated. and deviation direction angle Transmitted to the decoy path update unit, where This reflects the direction of the deviation, as shown in the example. Step 4, Deceptive Path Update Unit: Based on the correction amount calculation unit Based on the deviation direction angle, adjust the coordinates of subsequent nodes in the preset decoy trajectory to ensure that the updated trajectory can guide the UAV back to the decoy direction. Simultaneously, feed back the updated trajectory to the multi-source navigation signal dynamic coupling decoy module to adapt to the new signal. Its workflow is as follows: Trajectory Node Extraction and Adjustment: Extract the coordinates of the next node to be executed from the current node in the preset deception trajectory. (e.g., the original node coordinates are) Combination with deviation direction angle Adjust node coordinates using coordinate correction formula ,in ,like If the direction is correct, maintain the original height; if there is a deviation, proceed as follows: Directional deviation ratio adjustment; Track synchronization and adaptation: The adjusted coordinates of all subsequent nodes are integrated into the updated decoy trajectory. On the one hand, it is stored in the local database for subsequent trajectory comparison, and on the other hand, it is sent to the multi-source navigation signal dynamic coupling decoy module in real time. This ensures that the multi-source navigation signal dynamic coupling decoy module generates an adapted coupling decoy signal based on the new trajectory, realizing a closed-loop linkage of "trajectory correction-signal adaptation" and avoiding decoy failure due to trajectory and signal asynchrony.

[0013] Compared with the prior art, the beneficial effects of the present invention are: Improving the success rate of decoy spoofing and overcoming the challenge of adapting to multiple navigation modes: Traditional systems often use single-signal decoys, which are prone to failure when facing drones with combined navigation systems such as "satellite navigation + inertial navigation," resulting in low decoy success rates. This invention uses a multi-source navigation signal dynamic coupling decoy module. It first analyzes the drone's dependence on each navigation source (e.g., GPS dependence is 0.56 when the speed is <15m / s), and then generates a coupling signal according to dynamic weights (GPS 0.74, inertial navigation 0.26), making the decoy signal highly compatible with the drone's navigation system and preventing it from being identified as an anomaly. In practical applications, it can adapt to multiple navigation modes such as GPS / BeiDou / inertial navigation, effectively improving the decoy success rate.

[0014] Enhanced anti-interference capabilities to avoid deception interruptions: Traditional fixed-path deception is prone to trajectory deviation due to environmental interference (such as strong winds) or drone attitude adjustments (such as sudden acceleration), resulting in a high interruption rate. The deception path adaptive correction module of this invention can compare trajectory deviations in real time. The precise correction amount (e.g., when dealing with coupling bias) is calculated by attributing the bias to its causes (distinguishing between coupling bias, environmental interference, etc.). Within seconds, the decoy path is updated and synchronized to the coupling module. This mechanism can effectively counteract interference from wind speeds ≤10m / s and velocity change rates ≤1m / s², reducing the decoy interruption rate and ensuring continuous guidance of the target drone.

[0015] Optimizing the controllability of deception and reducing safety risks: Traditional systems lack real-time effect evaluation, which can easily lead to hidden dangers such as uncontrolled drone crashes. The deception effect evaluation module of this invention determines the deception effect every 2 seconds (a trajectory deviation ≥ 5m is considered effective). If three consecutive attempts are ineffective, the main control module immediately triggers emergency adjustments (such as increasing the coupling weight adjustment frequency to 0.05s / time), forming a "deception-evaluation-optimization" closed loop. Simultaneously, the main control module stores full-link data (retained for 3 months), allowing for the traceability of key information such as coupling parameters and correction amounts. This facilitates post-event review and strategy optimization, and also enables rapid problem location in emergencies, ensuring low-altitude airspace safety. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall system structure of the present invention; Figure 2 This is a schematic diagram of the system workflow of the present invention. Detailed Implementation

[0017] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0018] Please see Figure 1-2 The present invention provides a technical solution: a drone navigation deception system, comprising a target drone detection module, a deception signal generation basic module, a multi-source navigation signal dynamic coupling deception module, a deception path adaptive correction module, a deception effect evaluation module, and a main control module; the target drone detection module captures the position, speed, and navigation mode of the target drone in real time through radar and optoelectronic equipment, thereby obtaining detection data, with a sampling frequency ≥10Hz, and outputs the detection data to the main control module; The decoy signal generation module generates a basic signal conforming to either GPS or BeiDou navigation protocol specifications based on the initial decoy parameters issued by the main control module, with a signal error ≤0.1m; the specific working logic is as follows: First, the initial decoy parameters are received; the decoy signal generation module obtains the preset initial parameters from the main control module, including the target decoy position (latitude and longitude, altitude, such as 30°N, 120°E, altitude 100m), the target navigation mode (such as GPS, Beidou) and the signal accuracy requirements (error ≤0.1m). Secondly, the system matches the corresponding navigation protocol specifications. Based on the navigation mode in the initial parameters, it calls the system's built-in navigation protocol library—if it is GPS mode, it matches the GPS L1 band protocol (frequency 1575.42MHz, C / A code rate 1.023MHz); if it is BeiDou mode, it matches the BeiDou B1 band protocol (frequency 1561.098MHz, pseudorange measurement accuracy ≤0.5m), ensuring that the generated signal meets the target UAV navigation system's reception standards and avoids direct filtering due to protocol incompatibility. Then, the basic navigation signal is generated. Based on the matching protocol, the signal generator in the basic decoy signal generation module generates the corresponding type of basic decoy signal, namely the basic navigation signal. In GPS, a pseudorange signal containing target decoy position information is generated to simulate the distance data between satellites and UAVs. In BeiDou, a carrier signal carrying positioning information is generated. At the same time, a filtering algorithm (such as Gaussian filtering) is used to eliminate signal noise and control the signal error within the range of ≤0.1m to ensure the basic accuracy of the signal. Finally, the output is sent to the multi-source navigation signal dynamic coupling decoy module; the generated basic navigation signals (such as GPS pseudorange signals and Beidou carrier signals) are transmitted to the multi-source navigation signal dynamic coupling decoy module in a preset format (such as IQ signal format) as input data for the module to perform multi-source signal coupling, ensuring that the subsequent coupling process has stable and compliant basic signal support.

[0019] The multi-source navigation signal dynamic coupling decoy module receives navigation mode data from the target UAV detection module and base signals from the decoy signal generation module. It first analyzes the UAV's navigation dependency, then calculates coupling parameters, and finally generates a multi-source collaborative coupled decoy signal. The multi-source navigation signal dynamic coupling decoy module includes a navigation signal analysis unit, a UAV navigation dependency evaluation unit, a coupling parameter calculation unit, and a coupled decoy signal generation unit. The multi-source navigation signal dynamic coupling decoy module generates a collaboratively coupled decoy signal by fusing multi-source base decoy signals. The specific working steps are as follows: Navigation Signal Analysis Unit: Used to lock onto target navigation features; First, it receives real-time navigation source combination mode data (such as "GPS + Inertial Navigation" or "BeiDou + GPS" combination) output by the target UAV detection module. Through signal feature extraction algorithms, it separates and identifies the unique signal feature parameters of each navigation source. For "GPS + Inertial Navigation" combination, it extracts the C / A code frequency (standard 1.023MHz) and carrier frequency band (L1 band 1575.42MHz) of the GPS signal, and simultaneously extracts the angular velocity sampling period (usually 0.01s) and accelerometer measurement range (e.g., ±16g) of the inertial navigation system. If "BeiDou + GPS" combination is detected, it additionally extracts the BeiDou B1 band frequency (1561.098MHz) and pseudorange measurement accuracy (≤0.5m). Finally, the analyzed "navigation source combination + signal features of each source" data is synchronously transmitted to the UAV navigation dependency evaluation unit to ensure that the subsequent evaluation model can accurately adapt to the navigation architecture of the target UAV. UAV navigation dependency assessment unit: Based on the output data of the navigation signal analysis unit and combined with the flight status of the target UAV, a quantitative model is constructed to determine the dependency level of each navigation source and clarify the primary and secondary relationships during coupling; the specific implementation steps of the UAV navigation dependency assessment unit are as follows: A1. Data Input and Parameter Assignment: Navigation source combination and signal reception strength of each source in the navigation signal analysis unit. Among them, (such as GPS) Simultaneously, the flight status (speed v=12m / s, altitude h=300m) output by the target UAV detection module is retrieved, and flight status weights are assigned according to preset rules. --because Therefore, GPS and inertial navigation All are set to 0.5 .

[0020] B1. Dependency Model Calculation: Construct a dependency evaluation model. The model formula is as follows: ,in This is the current navigation source number. Calculate the dependency of each navigation source for each participating navigation source. Taking "GPS + Inertial Navigation" as an example... Therefore, the dependence on GPS Dependence on inertial navigation ; C1. Dependency Level Determination: Levels are determined based on calculation results. It is identified as the "main navigation source" and is the core carrier of the coupled signal; (such as inertial navigation) It is identified as an "auxiliary navigation source" and used to supplement coupling to improve signal reliability; The navigation source (such as BeiDou which is not involved in the combination) is determined as a "backup navigation source" and does not participate in this coupling; finally, the result of "main navigation source + auxiliary navigation source + corresponding dependency" is transmitted to the coupling parameter calculation unit.

[0021] Coupling parameter calculation unit: Based on the dependency assessment results and combined with the signal characteristics of each navigation source, it calculates the three core parameters of coupling weight, time delay, and amplitude, providing a quantitative basis for signal superposition; the specific implementation steps are as follows: A2. Coupling weight calculation: based on the dependency between the primary navigation source and the secondary navigation source. Determine the weights—main navigation source coupling weights Values ​​range from 0.7 to 0.8 (e.g., GPS). Between 0.5 and 1, therefore ;like , Take 0.8; if , (Take 0.7); auxiliary navigation source coupling weight The value ranges from 0.2 to 0.3, and... The summation is 1 (e.g., inertial navigation). It is between 0.3 and 0.5, therefore ;like , Take 0.3; if , (Take a weight of 0.2), and do not assign weights to the backup navigation source; B2. Coupling Delay Calculation: Calculate the coupling delay. To prevent multiple signals from being identified as abnormal by the target drone due to differences in transmission timing, the formula is: Calculate the coupling delay, where The primary navigation source signal frequency (e.g., GPS C / A code frequency 1.023 × 10⁻⁶) 6 Hz), To obtain the auxiliary navigation source signal frequency (such as the inertial navigation signal frequency, converted from the sampling period to 100Hz, i.e., 1 / 0.01s), substitute it into the equation. This ensures that the two signals are input synchronously into the target UAV navigation system; C2. Coupling Amplitude Calculation: To balance the strength of multiple source signals and avoid coupling distortion caused by one signal being too strong or too weak, the coupling amplitude is calculated. The calculation formula is: ,in The amplitude of the primary navigation source's base signal (such as the amplitude of the GPS base signal output by the decoy signal generation module). ), Auxiliary navigation source basic signal amplitude (such as inertial navigation basic signal amplitude) Substituting into the equation yields... Ultimately The coupling parameters are transmitted to the coupling decoy signal generation unit.

[0022] The coupling decoy signal generation unit receives the quantization rules from the coupling parameter calculation unit and the multi-source basic signals from the decoy signal generation module. It performs signal superposition, timing adjustment, and intensity calibration to generate the final coupling decoy signal. Its workflow is as follows: Basic signal input and preprocessing: Receive the decoy signal to generate the main navigation source basic signal (such as GPS pseudorange signal) and auxiliary navigation source basic signal (such as inertial navigation angular velocity simulation signal) output by the basic module. Use filtering algorithms (such as Kalman filtering) to eliminate high-frequency noise in the basic signal (such as ionospheric delay interference of GPS signal and zero drift error of inertial navigation) to ensure the purity of the original signal. Signal weight superposition: based on the coupling parameters obtained in the coupling parameter calculation unit. The preprocessed primary navigation source base signal and auxiliary navigation source base signal are linearly superimposed—with the GPS signal as the core, its pseudorange positioning information is retained with a weight of 0.74; with the inertial navigation signal as the auxiliary, its angular velocity attitude information is superimposed with a weight of 0.26, forming an initial coupling signal of "positioning + attitude" in two dimensions, thus obtaining the multi-source coupling decoy signal; timing and strength calibration: based on coupling delay... (9.77×10⁻) 7 The timing adjustment module in the coupling decoy signal generation unit fine-tunes the transmission time difference between the main navigation source base signal and the auxiliary navigation source base signal to ensure that the multi-source coupling decoy signals enter the target UAV navigation system at the same time stamp. At the same time, based on the coupling amplitude A (1.87V) obtained by the coupling parameter calculation unit, the signal strength is calibrated by the power amplifier to avoid triggering the UAV navigation signal consistency check due to amplitude abnormalities. Coupled signal output: The calibrated multi-source coupled decoy signal is sent to the target UAV through a directional antenna. The signal coverage radius is ≥1km, ensuring that the target UAV's navigation system can stably receive and accept the signal, laying the foundation for subsequent decoy path guidance.

[0023] The decoy path adaptive correction module is used to compare the preset decoy trajectory with the actual trajectory of the UAV in real time, calculate the dynamic correction amount through deviation attribution, update the decoy path, and synchronize it to the multi-source navigation signal dynamic coupling decoy module. The decoy path adaptive correction module includes a real-time trajectory comparison unit, a deviation attribution analysis unit, a correction amount calculation unit, and a decoy path update unit. The decoy path adaptive correction module dynamically corrects the decoy path based on the actual trajectory deviation of the target UAV. The specific working steps are as follows: Step 1, Real-time Trajectory Comparison Unit: Captures trajectory deviations; First, it synchronously receives two trajectory data sets: one is the multi-source coupling decoy signal output by the multi-source navigation signal dynamic coupling decoy module, specifically containing the target coordinates at each timestamp, such as the node coordinates at a certain time. Secondly, the actual flight trajectory output by the target UAV detection module, i.e., the real-time collected UAV coordinates, such as the actual coordinates at the same timestamp. Subsequently, for two sets of coordinates at the same timestamp, the positional deviation was calculated using the three-dimensional spatial distance formula. The formula is:

[0024] in, The three-dimensional coordinates of the preset decoy signal; Here are the actual three-dimensional coordinates of the drone during flight; substituting the example data above, we calculate: Finally, the calculated positional deviation is... The corresponding timestamp and trajectory coordinate data are synchronously transmitted to the deviation attribution analysis unit to complete the preliminary quantification of the deviation. Step 2, Deviation Attribution Analysis Unit: Based on the deviation data from the real-time trajectory comparison unit, combined with the target UAV's flight status and environmental interference information, the core causes of the deviation are determined, providing direction for subsequent accurate calculation of corrections; its workflow is as follows: Data Supplementation and Parameter Extraction: Receiving... Synchronously retrieve the drone speed change rate output by the target drone detection module (Unit: m / s², reflecting the intensity of the UAV's own attitude adjustment, such as...) ) and ambient wind speed (Unit: m / s, reflecting the intensity of external disturbance, such as...) Simultaneously, it reads the system's preset threshold values ​​for the drone's speed change rate and ambient wind speed. , ; Multi-condition attribution determination: Based on the comparison results of parameters and thresholds, the causes of deviations are determined according to priority. (as in the example) This indicates that the UAV's attitude is stable and there is little environmental interference. The source of the deviation is the coupling deviation of the navigation signal (such as insufficient adaptation between the coupling weight of the multi-source navigation signal dynamic coupling deception module and the UAV's navigation dependence). like This indicates that the drone experienced sudden acceleration / deceleration, strong environmental wind interference, and the deviation was caused by a combination of the drone's own attitude adjustment and environmental interference. If only (like If the deviation is due to the attitude adjustment of a single drone, then it is determined to be caused by the attitude adjustment of the drone itself; if only (like If the deviation is due to a single environmental disturbance, then it is determined to be caused by a single environmental disturbance. Attribution results output: The determined causes of the deviation (such as "navigation signal coupling deviation" in the example) and their corresponding... The data is transmitted to the correction calculation unit to clarify the core factors that need to be addressed in subsequent corrections. Step 3, Correction Calculation Unit: Based on the deviation attribution results, combined with the coupling parameters of Creative Module 1 and the system's preset threshold, the final trajectory correction amount is obtained through factor-based calculation and superposition; its workflow is as follows: Parameter retrieval and initialization: Receive deviation attribution results (such as "navigation signal coupling deviation"), position deviation (4.24m), synchronously retrieve the main navigation source coupling weight in the multi-source navigation signal dynamic coupling decoy module. (such as GPS coupling weight) The system's preset target drone maximum speed Such as multi-rotor drones ) and maximum disturbance wind speed ; Factor-based correction calculation: Calculate the individual correction amount based on the different causes of deviation. If it is a navigation signal coupling deviation, the correction amount The calculation formula is: , direction and Consistent (i.e., the direction of deviation is the direction of correction). Substituting the example data, we get: ; If it's the drone's own attitude adjustment, the correction amount... The calculation formula is: Where 0.4 is the weighting coefficient of the attitude adjustment factor. For the rate of change of velocity, This is the maximum speed of the drone; if Substituting, we get: ; If the interference is environmental, the correction amount The calculation formula is: Where 0.3 is the weighting coefficient for environmental disturbance factors. This refers to the actual wind speed. This is the preset maximum disturbance wind speed. If Substituting, we get: ; Total correction amount calculation: The corresponding correction amount is added according to the type of deviation cause, and the formula is as follows: If the cause is singular (such as navigation signal coupling deviation in the example), then only the corresponding correction amount is calculated, i.e. If the cause is due to multiple factors, then all relevant correction amounts are added together. The final total correction amount is then calculated. and deviation direction angle Transmitted to the decoy path update unit, where This reflects the direction of the deviation, as shown in the example. ; Step 4, Deceptive Path Update Unit: Based on the Correction Calculation Unit Based on the deviation direction angle, adjust the coordinates of subsequent nodes in the preset decoy trajectory to ensure that the updated trajectory can guide the UAV back to the decoy direction. Simultaneously, feed back the updated trajectory to the multi-source navigation signal dynamic coupling decoy module to adapt to the new signal. Its workflow is as follows: Based on the deviation direction angle, adjust the coordinates of subsequent nodes in the preset decoy trajectory to ensure that the updated trajectory can guide the UAV back to the decoy direction. Simultaneously, feed back the updated trajectory to the multi-source navigation signal dynamic coupling decoy module to adapt to the new signal. Its workflow is as follows: Trajectory Node Extraction and Adjustment: Extract the coordinates of the next node to be executed from the current node in the preset deception trajectory. (e.g., the original node coordinates are) , combined with deviation direction angle (135°), adjust the node coordinates using the coordinate correction formula. ,in ; ,like If there is no deviation, maintain the original height; if there is a deviation, proceed as follows: 1. Adjustment of directional deviation ratio; Track synchronization and adaptation: The adjusted coordinates of all subsequent nodes are integrated into the updated decoy trajectory. On the one hand, it is stored in the local database for subsequent trajectory comparison, and on the other hand, it is sent to the multi-source navigation signal dynamic coupling decoy module in real time. This ensures that the multi-source navigation signal dynamic coupling decoy module generates an adapted coupling decoy signal based on the new trajectory, realizing a closed-loop linkage of "trajectory correction-signal adaptation" and avoiding decoy failure due to trajectory and signal asynchrony.

[0025] The deception effect evaluation module determines the deception effect every 2 seconds based on the trajectory offset (≥5m is effective, <2m is ineffective) and feeds the result back to the main control module. If it is deemed ineffective 3 times in a row, it triggers the emergency adjustment mode (increasing the frequency of coupling weight adjustment). Its feedback data directly guides the parameter optimization of the multi-source navigation signal dynamic coupling deception module and the deception path adaptive correction module, avoiding the "blind execution" of the deception strategy and ensuring that the deception process is controllable and optimizable. In the functional descriptions of the "Multi-source Navigation Signal Dynamic Coupling Deception Module" and the "Deception Path Adaptive Correction Module," conventional mode parameter benchmarks are used as the basis for comparison in emergency adjustments. Multi-source navigation signal dynamic coupling decoy module: In normal mode, the coupling weight adjustment frequency is 0.1s / time (i.e., navigation dependency and coupling weight are recalculated every 0.1 seconds); coupling delay Amplitude The calibration interval is 2 seconds per cycle, synchronized with the deception effect evaluation cycle.

[0026] Deception Path Adaptive Correction Module: In normal mode, the trajectory comparison and correction calculation frequency is 0.2s / time (i.e., the actual trajectory is compared with the deception trajectory every 0.2 seconds); the correction calculation step size is 1.0 times (based on...). (Update trajectory nodes with original values).

[0027] The main control module receives target data from the target UAV detection module and feedback results from the deception effect evaluation module, and schedules each module in the sequence of "detection → basic signal generation → coupling deception → path correction → effect evaluation". On the other hand, the main control module sends control commands to the multi-source navigation signal dynamic coupling deception module and the deception path adaptive correction module, and synchronously stores the deception process data. In the functional description of the deception effect evaluation module, regarding the description of "triggering emergency adjustment after 3 consecutive invalid determinations", the adjustment rules are explained as follows: "If the determination is 'invalid' for 3 consecutive times (track offset < 2m), the main control module triggers the emergency adjustment mode and issues the following adjustment instructions to the multi-source navigation signal dynamic coupling deception module and the deception path adaptive correction module: Multi-source navigation signal dynamic coupling decoy module: Increases the coupling weight adjustment frequency from the usual 0.1s / time to 0.05s / time (doubling the frequency and shortening the weight adaptation cycle); coupling delay Amplitude The calibration interval has been shortened from the usual 2 seconds / time to 1 second / time, ensuring that the coupled signal can quickly adapt to the dynamic changes in the drone's navigation dependence and reduce signal adaptation deviation.

[0028] The deception path adaptive correction module increases the frequency of trajectory comparison and correction calculation from the usual 0.2s / time to 0.1s / time (doubling the frequency and accelerating deviation capture); the correction calculation step size is increased from the usual 1.0 times to 1.2 times (i.e., (Increased by 20% on top of the original correction range) to strengthen the trajectory correction and quickly pull back the deviated drone trajectory.

[0029] The main control module, acting as the system's "global coordination center," connects various modules to form a closed-loop work chain around the core process of "data reception - timing scheduling - command issuance - data storage." Specific steps, in conjunction with the invention, are as follows: First, data reception and preprocessing: The main control module receives two key data sets in real time—one is the detection data output by the target UAV detection module (position, speed, navigation mode, sampling frequency ≥10Hz), and the other is the effect judgment result fed back by the deception effect evaluation module (e.g., "Valid: trajectory offset 3.5m" "Invalid: offset <2m for 3 consecutive times"). After receiving the data, the validity of the data is first screened (invalid position data when radar signal is lost and abnormal feedback with missing evaluation results are removed) to ensure the accuracy of subsequent scheduling and avoid deviations in the deception strategy due to erroneous data.

[0030] Secondly, work sequence coordination and task allocation: Based on the preset "deception work sequence rules", the main control module logically connects the actions of each module. After the target UAV detection module locks onto the UAV and outputs valid data, it first sends a "generate initial basic signal" instruction to the deception signal generation basic module (such as generating L1 band pseudorange signal for GPS navigation). After the deception signal generation basic module reports "signal generation completed", it immediately sends a "start multi-source coupling calculation" instruction to the multi-source navigation signal dynamic coupling deception module, and synchronously pushes the detected navigation mode data (such as "GPS + inertial navigation" combination). After the multi-source navigation signal dynamic coupling deception module generates and sends the coupling signal, it sends a "real-time trajectory comparison and correction" instruction to the deception path adaptive correction module to ensure that the actions of each module are connected in an orderly manner and avoid deception interruption caused by asynchronous signal generation and path correction.

[0031] Furthermore, the control commands are dynamically optimized and issued: Based on the evaluation results of the deception effect, the main control module outputs targeted control commands to the two creative modules. If the evaluation result is "effective" (trajectory offset ≥ 5m), the "maintain current parameters" command is sent to the multi-source navigation signal dynamic coupling deception module and the deception path adaptive correction module to ensure deception stability. If the evaluation result is "ineffective" (offset < 2m for 3 consecutive times), the "emergency adjustment mode" is triggered. The "increase coupling weight adjustment frequency (from 0.1s / time to 0.05s / time)" command is sent to the multi-source navigation signal dynamic coupling deception module, and the "increase correction amount calculation step size (1.2 times the original step size)" command is sent to the deception path adaptive correction module. Through dynamic adjustment strategy, the deception effect is quickly improved, and the UAV is prevented from deviating from the deception trajectory.

[0032] Finally, the data storage and backtracking preparation for the deception process: Throughout the entire deception process, the main control module synchronously stores end-to-end data—including target dynamic data from the target UAV detection module, basic signal parameters from the deception signal generation module, coupling parameters (weights, delays) from the multi-source navigation signal dynamic coupling deception module, correction data from the deception path adaptive correction module, and effect judgment records from the deception effect evaluation module. The storage period is set to 3 months, and the data is archived according to the category of "deception start time - target UAV ID". This storage function provides data support for subsequent deception effect review (such as analyzing the optimal coupling weight for a certain type of UAV) and also provides a basis for fault diagnosis (such as being able to trace the command issuance sequence when deception is interrupted), ensuring that the system is optimizable and traceable.

[0033] The specific working steps of the entire system are as follows: First, target detection and parameter initialization: The target UAV detection module activates radar and optoelectronic equipment to capture the target UAV's position (latitude, longitude, altitude), flight speed, and navigation mode (such as GPS + inertial navigation) in real time, and transmits the data to the main control module at a sampling frequency of ≥10Hz; The main control module generates initial deception parameters (including target deception position and speed) based on the preset deception target area (such as an open area far from sensitive areas), and sends them to the deception signal generation basic module; Secondly, basic decoy signal generation: After receiving the initial decoy parameters, the basic decoy signal generation module generates a basic decoy signal for a single navigation mode according to the corresponding navigation system protocol specifications. Next, multi-source signal coupling decoy: The multi-source navigation signal dynamic coupling decoy module first analyzes the navigation mode data output by the target UAV detection module to identify the combination of navigation sources that the UAV depends on (such as GPS as the main source and inertial navigation as the auxiliary source). Then, it calculates the weight of each navigation source through the navigation dependence evaluation model (such as GPS weight of 0.75 and inertial navigation weight of 0.25 when the speed is <15m / s). Combined with coupling delay and amplitude parameters, the multi-source basic signals output by the decoy signal generation module are superimposed and calibrated to generate a "position + attitude" coordinated coupling decoy signal, which is sent to the target UAV to avoid a single signal being identified as abnormal. Then, the decoy path adaptive correction module compares the "preset decoy trajectory" with the actual trajectory of the UAV in real time while the coupling signal is being sent, and calculates the position deviation. By analyzing the rate of change of speed and the ambient wind speed, the module determines the cause of the deviation (such as coupling deviation or environmental interference), and calculates the total correction amount accordingly (such as the deviation caused by coupling deviation, which needs to be multiplied by the weight of the main navigation source). The module updates the subsequent decoy trajectory nodes and synchronously feeds them back to the multi-source navigation signal dynamic coupling decoy module to ensure that the UAV always follows the decoy path. Finally, the effect evaluation and iterative optimization are performed: the deception effect evaluation module calculates the drone trajectory offset every 2 seconds to determine the deception effect (drone trajectory offset ≥ 5m is effective, drone trajectory offset < 2m is ineffective), and the result is fed back to the main control module; if effective, the main control module maintains the current parameters; if ineffective for 3 consecutive times, an emergency adjustment mode is triggered (increasing the parameter adjustment frequency of the multi-source navigation signal dynamic coupling deception module and the deception path adaptive correction module), and the coupling signal and deception path are iteratively optimized until the target drone is lured to the preset area, at which point the system stops operation and stores the entire process data.

[0034] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A drone navigation deception system, characterized in that, It includes a target UAV detection module, a decoy signal generation module, a multi-source navigation signal dynamic coupling decoy module, a decoy path adaptive correction module, a decoy effect evaluation module, and a main control module; the target UAV detection module captures the position, speed, and navigation mode of the target UAV in real time through radar and optoelectronic equipment, thereby obtaining detection data, with a sampling frequency ≥10Hz, and outputs the detection data to the main control module; The decoy signal generation module generates a basic signal that conforms to the specifications of either GPS or BeiDou navigation protocol based on the initial decoy parameters issued by the main control module, with a signal error ≤0.1m. The multi-source navigation signal dynamic coupling decoy module is used to receive the navigation mode data of the target UAV detection module and the basic signal of the decoy signal generation module. It first analyzes the UAV navigation dependency, then calculates the coupling parameters, and finally generates a multi-source collaborative coupling decoy signal. The deception path adaptive correction module is used to compare the preset deception trajectory with the actual trajectory of the UAV in real time, calculate the dynamic correction amount through deviation attribution, update the deception path and synchronize it to the multi-source navigation signal dynamic coupling deception module. The deception effect evaluation module determines the deception effect every 2 seconds based on the trajectory offset and feeds the result back to the main control module; The main control module receives target data from the target UAV detection module and feedback results from the deception effect evaluation module, and schedules each module in the sequence of "detection → basic signal generation → coupling deception → path correction → effect evaluation". On the other hand, the main control module sends control commands to the multi-source navigation signal dynamic coupling deception module and the deception path adaptive correction module, and synchronously stores the deception process data.

2. The drone navigation deception system according to claim 1, characterized in that: The specific working logic of the decoy signal generation module is as follows: First, the initial decoy parameters are received; the decoy signal generation module obtains the preset initial parameters from the main control module, including the target decoy position, target navigation mode, and signal accuracy requirements; Secondly, match the corresponding navigation protocol specification; according to the navigation mode in the initial parameters, call the system's built-in navigation protocol library—if it is GPS mode, match the GPS L1 band protocol; if it is Beidou mode, match the Beidou B1 band protocol, to ensure that the generated signal meets the reception standard of the target UAV navigation system and avoids being directly filtered due to protocol incompatibility; Then, the basic navigation signal is generated. Based on the matching protocol, the signal generator in the basic decoy signal generation module generates the corresponding type of basic decoy signal, namely the basic navigation signal. In GPS, a pseudorange signal containing target decoy position information is generated to simulate the distance data between satellites and UAVs. In BeiDou, a carrier signal carrying positioning information is generated. At the same time, a filtering algorithm is used to eliminate signal noise and control the signal error within the range of ≤0.1m to ensure the basic accuracy of the signal. Finally, the output is sent to the multi-source navigation signal dynamic coupling decoy module; the generated basic navigation signal is transmitted to the multi-source navigation signal dynamic coupling decoy module in a preset format as input data for the module to perform multi-source signal coupling, ensuring that the subsequent coupling process has stable and compliant basic signal support.

3. The drone navigation deception system according to claim 1, characterized in that: The multi-source navigation signal dynamic coupling decoy module includes a navigation signal parsing unit, a UAV navigation dependency evaluation unit, a coupling parameter calculation unit, and a coupling decoy signal generation unit. The multi-source navigation signal dynamic coupling decoy module generates a cooperatively coupled decoy signal by fusing multi-source basic decoy signals. The specific working steps are as follows: Navigation signal analysis unit: used to lock the target navigation features; firstly, it receives real-time navigation source combination mode data output by the target UAV detection module, and uses a signal feature extraction algorithm to separate and identify the unique signal feature parameters of each navigation source—if it is a "GPS + inertial navigation" combination, it extracts the C / A code frequency and carrier frequency band of the GPS signal, and at the same time extracts the angular velocity sampling period and accelerometer measurement range of the inertial navigation; if a "BeiDou + GPS" combination is detected, it additionally extracts the BeiDou B1 band frequency and pseudorange measurement accuracy; finally, it transmits the analyzed "navigation source combination + signal features of each source" data synchronously to the UAV navigation dependency evaluation unit to ensure that the subsequent evaluation model can accurately adapt to the navigation architecture of the target UAV; UAV navigation dependency assessment unit: Based on the output data of the navigation signal analysis unit and combined with the flight status of the target UAV, a quantitative model is constructed to determine the dependency level of each navigation source and clarify the primary and secondary relationships during coupling; Coupling parameter calculation unit: Based on the dependency assessment results and combined with the signal characteristics of each navigation source, it calculates the three core parameters of coupling weight, time delay, and amplitude, providing a quantitative basis for signal superposition. The coupling decoy signal generation unit receives the quantization rules from the coupling parameter calculation unit and the multi-source basic signals from the decoy signal generation module. It performs signal superposition, timing adjustment, and intensity calibration to generate the final coupling decoy signal. Its workflow is as follows: Basic signal input and preprocessing: Receives the decoy signal and generates the main navigation source basic signal and auxiliary navigation source basic signal from the basic module. High-frequency noise in the basic signals is eliminated through filtering algorithms to ensure the purity of the original signal. Signal weight superposition: The weights of the coupling parameters obtained from the coupling parameter calculation unit are superimposed. The preprocessed primary navigation source base signal and the auxiliary navigation source base signal are linearly superimposed. Timing and strength calibration: based on coupling delay The timing adjustment module in the coupling decoy signal generation unit fine-tunes the transmission time difference between the primary navigation source base signal and the auxiliary navigation source base signal to ensure that the multi-source coupling decoy signals enter the target UAV navigation system at the same time stamp; simultaneously, the coupling amplitude is calculated based on the coupling parameter calculation unit. The signal strength is calibrated by a power amplifier to avoid triggering the drone's navigation signal consistency check due to abnormal amplitude. Coupled signal output: The calibrated multi-source coupled decoy signal is sent to the target UAV through a directional antenna. The signal coverage radius is ≥1km, ensuring that the target UAV's navigation system can stably receive and accept the signal, laying the foundation for subsequent decoy path guidance.

4. The drone navigation deception system according to claim 1, characterized in that: The specific implementation steps of the UAV navigation dependency assessment unit are as follows: A1. Data Input and Parameter Assignment: Navigation source combination and signal reception strength of each source in the navigation signal analysis unit. Among them, For GPS, For BeiDou, For inertial navigation (such as GPS) Inertial navigation The value ranges from [0, 1], where 1 represents the strongest signal. At the same time, the flight status (speed v = 12 m / s, altitude h = 300 m) output by the target UAV detection module is retrieved, and the flight status weight is assigned according to the preset rules. . 5.B1 Dependency Model Calculation: Construct a dependency evaluation model. The model formula is: ,in This is the current navigation source number. Calculate the dependency of each source for all navigation source indices participating in the combination; C1. Dependency Level Determination: Levels are determined based on calculation results. It is identified as the "main navigation source" and is the core carrier of the coupled signal; It was identified as an "auxiliary navigation source" and used to supplement coupling to improve signal reliability; The navigation source is determined to be a backup navigation source and will not participate in this coupling; finally, the result of "main navigation source + auxiliary navigation source + corresponding dependency" will be transmitted to the coupling parameter calculation unit.

6. The drone navigation deception system according to claim 1, characterized in that: The specific implementation steps of the coupling parameter calculation unit are as follows: A2. Coupling weight calculation: based on the dependency between the primary navigation source and the secondary navigation source. Determine the weights—main navigation source coupling weights Values ​​range from 0.7 to 0.8; auxiliary navigation source coupling weights The value ranges from 0.2 to 0.3, and... The summation is 1, and no weight is assigned to the backup navigation source; B2. Coupling Delay Calculation: Calculate the coupling delay. To prevent multiple signals from being identified as abnormal by the target drone due to differences in transmission timing, the formula is: Calculate the coupling delay, where The frequency of the main navigation source signal. To assist in the frequency of the navigation source signal, ensuring that the two signals are input synchronously into the target UAV navigation system; C2. Coupling Amplitude Calculation: Calculate the coupling amplitude. The calculation formula is: in The amplitude of the primary navigation source's base signal. To assist in the basic signal amplitude of the navigation source; ultimately, The coupling parameters are transmitted to the coupling decoy signal generation unit.

7. The drone navigation deception system according to claim 1, characterized in that: The deception path adaptive correction module includes a real-time trajectory comparison unit, a deviation attribution analysis unit, a correction amount calculation unit, and a deception path update unit. The deception path adaptive correction module dynamically corrects the deception path based on the actual trajectory deviation of the target UAV. The specific working steps are as follows: Step 1, Real-time trajectory comparison unit: Capture trajectory deviation; First, synchronously receive two trajectory data: one is the multi-source coupling decoy signal output by the multi-source navigation signal dynamic coupling decoy module, specifically including the target coordinates under each timestamp; the other is the actual flight trajectory output by the target UAV detection module, that is, the UAV coordinates collected in real time. Subsequently, for two sets of coordinates at the same timestamp, the positional deviation was calculated using the three-dimensional spatial distance formula. The formula is:

8. Among them, The three-dimensional coordinates of the preset decoy signal; Here are the actual three-dimensional coordinates of the drone during flight; substituting the example data above, we calculate: Finally, the calculated positional deviation is... The corresponding timestamp and trajectory coordinate data are synchronously transmitted to the deviation attribution analysis unit to complete the preliminary quantification of the deviation. Step 2, Deviation Attribution Analysis Unit: Based on the deviation data from the real-time trajectory comparison unit, combined with the target UAV's flight status and environmental interference information, the core causes of the deviation are determined, providing direction for subsequent accurate calculation of correction amounts; its workflow is as follows: Data supplementation and parameter extraction: receiving Synchronously retrieve the drone speed change rate output by the target drone detection module With ambient wind speed Simultaneously, it reads the system's preset threshold values ​​for the drone's speed change rate and ambient wind speed. ; Multi-condition attribution determination: Based on the comparison results of parameters and thresholds, the causes of deviations are determined according to priority. like and This indicates that the UAV's attitude is stable and environmental interference is minimal, with the deviation source being navigation signal coupling deviation. like This indicates that the drone experienced sudden acceleration / deceleration, strong environmental wind interference, and the deviation was caused by a combination of the drone's own attitude adjustment and environmental interference. If only If so, the deviation is determined to be caused by the attitude adjustment of a single drone; if only If so, the deviation is determined to be caused by a single environmental disturbance. Attribution results output: This includes the determined causes of the bias and their corresponding... The data is transmitted to the correction calculation unit to clarify the core factors that need to be addressed in subsequent corrections; Step 3, Correction Calculation Unit: Based on the deviation attribution results, combined with the coupling parameters of Creative Module 1 and the system preset threshold, the final trajectory correction amount is obtained through factor calculation and superposition. Its workflow is as follows: Parameter retrieval and initialization: Receive deviation attribution results and position deviation. (4.24m), synchronously retrieve the main navigation source coupling weight in the multi-source navigation signal dynamic coupling decoy module. (such as GPS coupling weight) The system's preset target drone maximum speed (such as multi-rotor drones) ) and maximum disturbance wind speed ; Factor-based correction calculation: Calculate the individual correction amount based on the different causes of deviation. If it is a navigation signal coupling deviation, the correction amount If the adjustment is for the drone's own attitude, the correction amount is... Where 0.4 is the weighting coefficient of the attitude adjustment factor. For the rate of change of velocity, This is the maximum speed of the drone; If the interference is environmental, the correction amount Where 0.3 is the weighting coefficient for environmental disturbance factors. This refers to the actual wind speed. To preset the maximum disturbance wind speed, Total correction amount calculation: The corresponding correction amount is added according to the type of deviation cause. ; If it is a single cause, only the corresponding correction amount is calculated; If the cause is due to multiple factors, then all relevant correction amounts are added together; the final total correction amount is calculated. and deviation direction angle Transmitted to the decoy path update unit, where , The direction is the compensation direction for the target drone's actual position to move closer to the preset deception trajectory; Step 4, Deceptive Path Update Unit: Based on the Correction Calculation Unit Adjust the coordinates of subsequent nodes of the preset deception trajectory based on the deviation direction angle to ensure that the updated trajectory can guide the UAV back to the deception direction, and at the same time, feed it back to the multi-source navigation signal dynamic coupling deception module to adapt to the new signal. Its workflow is as follows: Trajectory node extraction and adjustment: Extract the coordinates of the next node to be executed from the current node in the preset deception trajectory. , combined with deviation direction angle Adjust node coordinates using coordinate correction formula , ; ;like If the direction is correct, maintain the original height; if there is a deviation, proceed as follows: Directional deviation ratio adjustment; Update trajectory synchronization and adaptation: Integrate the adjusted coordinates of all subsequent nodes into the updated decoy trajectory. On the one hand, store it in the local database for subsequent trajectory comparison. On the other hand, send it to the multi-source navigation signal dynamic coupling decoy module in real time. This ensures that the multi-source navigation signal dynamic coupling decoy module generates an adapted coupling decoy signal based on the new trajectory, realizing a closed-loop linkage of "trajectory correction - signal adaptation" and avoiding decoy failure due to trajectory and signal asynchrony.

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