Territorial defense method, system, electronic device, and readable storage medium

Abstract

The application discloses a kind of air defense method, system, electronic equipment and readable storage medium, it is related to aviation safety technical field, the method comprises: constructing at least include first spatial hierarchy and second spatial hierarchy three-dimensional defense model;Running first perception mode to obtain the actual motion vector of intrusion target, and running second perception mode to obtain the planned motion vector of compliant aircraft;Based on the actual motion vector and the plan motion vector in the space-time coupling relationship in the three-dimensional defense model, determine pre-empty area;Wherein, the pre-empty area is with the plan motion vector as axis heart dynamically generated dynamic tubular envelope space, and the generation logic of the tubular envelope space includes the type characteristics of the compliant aircraft;Control interception execution mechanism executes interception intervention in the pre-empty area;Current environmental parameters are obtained, and the output parameters of the interception execution mechanism are corrected according to the environmental parameters.

Description

Technical Field

[0001] This invention relates to the field of aviation safety technology, and in particular to a method, system, electronic device, and readable storage medium for airspace defense. Background Technology

[0002] Airspace interception technology is a technique that uses specific equipment or methods to prevent intrusive targets such as birds and drones from entering or driving them away from sensitive areas within a specific protected airspace (such as an airport airspace protection zone). This technology plays a crucial role in ensuring the safety of aircraft take-off and landing and avoiding airspace conflicts.

[0003] Existing airspace interception methods typically employ fixed triggering mechanisms, such as deploying radar, infrared sensors, or optoelectronic observation equipment to monitor specific areas. When an intruding target is detected entering a preset warning range, interception equipment such as sound waves, light waves, or directed energy is directly activated to drive the target away.

[0004] However, the airspace environment in real-world applications is highly dynamic and complex, and the movement trajectories of intruding targets often exhibit significant randomness and uncertainty. Existing interception methods are mostly based on single-dimensional static response mechanisms, making it difficult to respond flexibly and effectively to the complex and ever-changing actual situation within the airspace. This leads to situations where interception is delayed or defenses fail when facing intruding targets in different motion states, resulting in insufficient overall defense reliability. Summary of the Invention

[0005] The main objective of this invention is to propose an airspace defense method, system, electronic device, and readable storage medium, which aims to solve the problem that existing airspace interception methods are based on a single-dimensional static response mechanism, making it difficult to respond flexibly and effectively to the complex and ever-changing actual situation in the airspace, resulting in untimely interception or defense failure and insufficient overall defense reliability.

[0006] This invention provides a method for airspace defense, comprising: Construct a three-dimensional defense model that includes at least a first spatial layer and a second spatial layer; Run the first perception mode to obtain the actual motion vector of the intruding target, and run the second perception mode to obtain the planned motion vector of the compliant aircraft; Based on the spatiotemporal coupling relationship between the actual motion vector and the planned motion vector in the three-dimensional defense model, a pre-clearing area is determined; wherein, the pre-clearing area is a dynamically generated tubular envelope space with the planned motion vector as the axis, and the generation logic of the tubular envelope space includes the type characteristics of the compliant aircraft; The control interception mechanism performs interception intervention in the pre-cleared area; Obtain the current environmental parameters and correct the output parameters of the interception execution mechanism based on the environmental parameters.

[0007] In one embodiment, the step of the control interception execution mechanism performing interception intervention in the pre-cleared area includes: When the intrusion target is located at the first spatial level, the first interception strategy is matched and executed; When the intrusion target is located in the second spatial layer, a second interception strategy is matched and executed, and the intervention strength of the second interception strategy is higher than that of the first interception strategy.

[0008] In one embodiment, the step of matching and executing a first interception strategy when the intrusion target is located at the first spatial level includes: The first interception strategy is continuously executed, and real-time response data of the intrusion target is collected; The response status of the intrusion target is determined based on the real-time response data, and the response status includes effective deviation status and adaptive retention status. If the response state is an adaptive stagnation state, then the first interception strategy is revoked, and an upgraded interception strategy with a higher intervention intensity than the first interception strategy is switched to be implemented.

[0009] In one embodiment, the step of matching and executing a second interception strategy when the intrusion target is located at the second spatial level includes: By shielding real-time detection data for the intrusion target and controlling the interception execution mechanism to perform normalized full-power intervention output at the second spatial level based solely on the time window corresponding to the planned motion vector of the compliant aircraft; wherein, the full-power intervention output includes full-band or full-space sweeping intervention of at least one physical field among laser, acoustic and electromagnetic.

[0010] In one embodiment, the steps of running the first perception mode to obtain the actual motion vector of the intruding target and running the second perception mode to obtain the planned motion vector of the compliant aircraft include: Local closed-loop detection is performed using the first sensing mode to extract the physical feature data of the intrusion target to generate the actual motion vector; the first sensing mode is configured to have the highest interception decision priority; The second sensing mode interacts with the flight management system or low-altitude traffic management system to obtain flight plan timings in order to generate the planned motion vector. The planned motion vector includes takeoff and landing timings, approach and departure tilt angles, and secondary path correction data of the aircraft after an emergency obstacle avoidance.

[0011] In one embodiment, the three-dimensional defense model further includes a third spatial layer; the step of constructing a three-dimensional defense model that includes at least a first spatial layer and a second spatial layer includes: Obtain the flight phase and altitude threshold of compliant aircraft to obtain the spatial hierarchy classification benchmark; Based on the spatial hierarchy classification criteria, the three-dimensional defense model is divided into a first spatial hierarchy, a second spatial hierarchy, and a third spatial hierarchy. The second spatial hierarchy includes the near-ground effect zone of the compliant aircraft. The first spatial hierarchy is the approach and departure path space above the ground effect zone. The third spatial hierarchy is the ground core asset zone, which includes charging facilities and / or liquid cooling modules. The airspace defense method also includes: For the third spatial level, the first sensing modality is linked to perform ground intrusion target intrusion prediction, and the interception execution mechanism is controlled to perform non-contact behavior guidance.

[0012] In one embodiment, the step of acquiring current environmental parameters and correcting the output parameters of the interception execution mechanism based on the environmental parameters includes: collecting environmental data of the area where the three-dimensional defense model is located, and calculating an environmental interference vector based on the environmental data. The environmental interference vector includes at least one of a meteorological offset vector, a space medium attenuation factor, an airborne downwash airflow offset vector generated by the rotor of a compliant aircraft, and a transient gust vector formed within an urban building complex; calculating energy compensation parameters based on the environmental interference vector, and dynamically adjusting the output direction and energy distribution of the interception execution mechanism based on the energy compensation parameters. And / or, after the control and interception execution mechanism performs the interception intervention step in the pre-cleared area, it further includes: recording the corresponding interception event information into a pre-stored database, the interception event information including the characteristic information of the intrusion target, its spatial level, response status, the actual interception strategy executed, and a flight path deterministic clearance certificate, the flight path deterministic clearance certificate being used to support the airworthiness certification and insurance loss assessment basis of the compliant aircraft; and updating the strategy matching rules in the pre-stored database according to the interception event information.

[0013] The present invention also provides a navigation defense system, the navigation defense system comprising: The spatial model construction module is used to construct a three-dimensional defense model that includes at least a first spatial level and a second spatial level. The multi-source vector acquisition module is used to acquire the actual motion vector of the intruding target and the planned motion vector of the compliant aircraft; The prediction and calculation module is used to determine the pre-clearing area based on the spatiotemporal coupling relationship between the actual motion vector and the planned motion vector in the three-dimensional defense model. The pre-clearing area is a dynamically generated tubular envelope space with the planned motion vector as the axis, and the generation logic of the tubular envelope space includes the type characteristics of the compliant aircraft. The interception execution module is used to control the interception execution mechanism to perform interception intervention in the pre-cleared area; An environment adaptive module is used to acquire current environment parameters and correct the output parameters of the interception execution mechanism based on the environment parameters.

[0014] The present invention also provides an electronic device comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the airspace defense method described above.

[0015] The present invention also provides a readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the airspace defense method described above.

[0016] This solution achieves a shift from static, fixed defense to dynamic, spatiotemporal collaborative defense. The combination of a three-dimensional defense model and dual-modal perception breaks the limitations of a single dimension, enabling the system to simultaneously grasp the dynamic trajectories of both intruding targets and compliant aircraft. This provides a data foundation for flexible responses. Furthermore, the tubular envelope space dynamically generated based on spatiotemporal coupling allows the defense boundary to move in real time along with the planned flight paths of compliant aircraft. It also adaptively adjusts the airspace clearance based on aircraft type characteristics, thereby accurately predicting potential conflict locations and effectively addressing the randomness and uncertainty of intruding target trajectories. This avoids the delays in interception caused by fixed alert ranges. Simultaneously, the dynamic correction of interception output parameters based on environmental parameters enables the interception methods to overcome the attenuation interference of complex weather conditions, ensuring that interception energy is accurately and effectively applied to the intruding target. This avoids defense failure in complex environments, thereby significantly improving the overall reliability and effectiveness of the defense. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from the structures shown in these drawings without creative effort.

[0018] Figure 1 This is a flowchart illustrating a first embodiment of a navigation area defense method according to the present invention; Figure 2 This is a flowchart illustrating a second embodiment of a navigation area defense method according to the present invention; Figure 3 This is a flowchart illustrating a third embodiment of a navigation area defense method according to the present invention; Figure 4 This is a flowchart illustrating the fourth embodiment of a navigation area defense method according to the present invention; Figure 5 This is a structural block diagram of the first embodiment of the airspace defense system of the present invention; Figure 6 This is a schematic diagram of the airspace defense system structure of the hardware operating environment involved in the embodiments of the present invention.

[0019] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0020] It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the invention.

[0021] Reference Figure 6 , Figure 6 This is a schematic diagram of the airspace defense system structure of the hardware operating environment involved in the embodiments of the present invention.

[0022] like Figure 6As shown, the airspace defense system may include: a processor 1001 (such as an industrial-grade ARM Cortex series microcontroller or FPGA), a communication bus 1002, a user interface 1003, a network interface 1004, a memory 1005, a sensing module, an interception execution module, an environmental monitoring module, and a power supply module. The communication bus 1002 is used to enable communication between these components. The user interface 1003 may include physical buttons (such as a defense start button, an emergency stop button, and a mode switch button) and status indicator lights. The physical buttons are used to receive manual operation commands from the user, and the status indicator lights use different colors or flashing frequencies to reflect the device's power-on / power-off status, defense operation status, network connection status, and intrusion alarm status. Optionally, the user interface 1003 may also include an industrial communication interface (such as an RS485 interface or an Ethernet port) to accommodate both device power supply and command center data interface requirements. All interfaces are equipped with dustproof and surge-proof components to adapt to complex electromagnetic environments in the field. The network interface 1004 is a wired Ethernet module or an industrial wireless communication module, used to establish a network connection with terminal devices (host computer, low-altitude traffic management system, etc.) to achieve low-latency transmission of intrusion target data and defense commands. It also supports users to remotely set defense parameters and switch defense strategies through terminal devices. In some scenarios, an I / O control module can be integrated to receive external trigger signals. The memory 1005 uses high-reliability solid-state memory (such as eMMC or industrial-grade Flash Memory) to store the operating system, airspace defense program, preset defense model (including parameters of the three-dimensional defense model at the first and second spatial levels), user-defined parameters (such as type feature mapping table, environmental interference vector compensation coefficient), collected historical sensing data, and interception log data, ensuring secure data storage and rapid retrieval.

[0023] The perception module includes a first perception mode and a second perception mode. The first perception mode includes local detection equipment such as phased array radar and electro-optical infrared thermal imager, which is used to independently acquire the physical characteristic data of intruding targets in a closed loop. The second perception mode includes ADS-B receiver, 5G low-altitude communication private network module, etc., which is used to perform protocol handshake with flight management system, etc., to obtain the planned motion vector of compliant aircraft.

[0024] The interception execution module integrates physical field emission devices such as a directional acoustic wave deflector, a full-band electromagnetic jammer, and a gimbal laser generator, and can perform interception interventions of different intensities in the pre-cleared area according to the processor's instructions.

[0025] The environmental monitoring module includes an anemometer, temperature and humidity sensors, and an atmospheric particulate matter concentration meter, which are used to collect the current environmental parameters of the area where the three-dimensional defense model is located in real time, providing a data basis for the dynamic correction of the interception output.

[0026] The power supply module includes an industrial-grade switching power supply, an isolated power supply module, and a power protection circuit: the power supply module is adapted to the field's 220V AC or 24V DC power supply requirements, and supports wide voltage input and low ripple output; the isolated power supply module realizes electrical isolation between analog sensing circuits and digital control circuits; the power protection circuit can prevent abnormalities such as short circuits and overloads, and together with the whole machine's anti-static grounding design, ensures the safe and stable power supply of the air defense system.

[0027] Those skilled in the art will understand that the structure shown in the figure does not constitute a limitation on the device and may include more or fewer components than shown, or combine certain components, or have different component arrangements, such as adding a downwash airflow ultrasonic detection array, to adapt to the full-scenario needs of airspace defense.

[0028] like Figure 6 As shown, the memory 1005, which serves as a storage medium, may include an operating system, a network communication module, a user interface module, and a navigation defense program.

[0029] exist Figure 6 In the illustrated device, the user interface module interfaces with the device's physical buttons, status indicator lights, and other interactive components, processes user manual operation commands, and provides feedback on the device's status. The airspace defense program is the core functional module, integrating logic such as spatial hierarchy calculation, bimodal vector alignment, spatiotemporal coupling determination, dynamic envelope generation, strategy matching, and output correction. It drives the perception module and interception execution module to complete the automated defense function against intrusion targets. The processor 1001, communication bus 1002, user interface 1003, network interface 1004, memory 1005, perception module, interception execution module, environmental monitoring module, and power supply module in the device of this invention can be installed inside the airspace defense tower or mobile defense station. The device calls the airspace defense program stored in the memory 1005 through the processor 1001 and executes the airspace defense method provided in this embodiment of the invention.

[0030] Please refer to Figure 1 , Figure 1 This is a schematic flowchart of a first embodiment of a navigation area defense method according to the present invention. In one embodiment, the navigation area defense method proposed by the present invention includes the following steps: S100. Construct a three-dimensional defense model that includes at least a first spatial level and a second spatial level.

[0031] It should be noted that the three-dimensional defense model is a three-dimensional data model that logically abstracts and hierarchically depicts the physical airspace. The first and second spatial levels are differentiated defense zones divided according to dimensions such as defense sensitivity, aircraft operational phase, or airspace altitude. The purpose of constructing this model is to break away from the traditional flat, single-dimensional definition of airspace boundaries and provide a spatial indexing framework for subsequent implementation of refined, graded interception.

[0032] In this step, there are two implementation methods: In the first implementation method, the processor 1001 performs a hard division based on absolute altitude, dividing the airspace from 100 meters to 300 meters above the ground into a first spatial level, and dividing the airspace below 100 meters above the ground into a second spatial level; In the second implementation method, the processor 1001 performs a dynamic division based on the aircraft flight phase and the topology of sensitive assets, dividing the three-dimensional corridor where the arrival and departure paths are located into a first spatial level, and dividing the ground effect zone surrounding the take-off and landing points and core ground facilities into a second spatial level.

[0033] S200: Run the first perception mode to obtain the actual motion vector of the intruding target, and run the second perception mode to obtain the planned motion vector of the compliant aircraft.

[0034] It should be noted that the first perception mode is an independently deployed active detection hardware and software system on the local defense site. The actual motion vector represents the dynamic parameters characterizing the real-time position, speed, and heading of the intrusion target (such as an unauthorized drone or bird). The second perception mode is a data interaction interface for communicating with an external air traffic management system. The planned motion vector represents the scheduling parameters characterizing the expected flight trajectory of compliant aircraft. The parallel operation of the two modes enables bidirectional dynamic capture of both the "intrusion target" and the "compliant aircraft."

[0035] In this step, there are two implementation methods: In the first implementation method, the first sensing mode uses phased array radar to acquire Doppler frequency shift data to generate the three-dimensional velocity vector of the intruding target, and the second sensing mode uses an ADS-B receiver to acquire the automatic dependent surveillance data of the compliant aircraft to generate the planned motion vector; In the second implementation method, the first sensing mode uses an electro-optical infrared tracking system to calculate the trajectory vector of the intruding target using the image frame difference method, and the second sensing mode uses a 5G low-altitude private network to communicate with the urban low-altitude traffic management system (UTM) in real time to obtain the four-dimensional trajectory vector of the compliant aircraft.

[0036] S300. Based on the spatiotemporal coupling relationship between the actual motion vector and the planned motion vector in the three-dimensional defense model, a pre-clearing area is determined; wherein, the pre-clearing area is a dynamically generated tubular envelope space with the planned motion vector as the axis, and the generation logic of the tubular envelope space includes the type characteristics of the compliant aircraft.

[0037] It should be noted that the spatiotemporal coupling relationship refers to the mathematical relationship between an intruding target and a compliant aircraft intruding or colliding in three-dimensional spatial coordinates within the same time window; the pre-clearing zone is the defense range that the system determines requires to forcibly remove the intruding target; the dynamic tubular envelope space is a three-dimensional protective shield extending along the flight path axis and sliding over time; type characteristics refer to attributes that affect the aircraft's safety envelope scale or defense level, including not only physical dimensions (such as wingspan and fuselage length), but also payload characteristics (such as carrying personnel or cargo), power redundancy (such as multi-rotor or tiltrotor), and acoustic characteristic levels (such as noise emission levels). Introducing this logic allows the defense zone to adaptively expand or contract according to aircraft size and risk tolerance.

[0038] In this step, there are two implementation methods: In the first implementation method, the processor 1001 calculates the predicted closest distance (CPA) between the actual motion vector and the planned motion vector. If it is less than the safety threshold, it is determined that there is a spatiotemporal coupling relationship. Then, taking the planned trajectory as the axis, the wingspan and fuselage length (physical dimensions) and the manned and cargo attributes (load properties) of the compliant aircraft are extracted as type features. The cylindrical dynamic tubular envelope space is expanded according to a fixed ratio as a pre-clearing area. In the second implementation method, the processor 1001 calculates the spatiotemporal coupling relationship based on the collision probability model, extracts the maximum takeoff weight, rotor size (physical dimensions), tilt rotor configuration (power redundancy), and noise emission level (acoustic characteristic level) of the compliant aircraft as type features, and combines the aerodynamic inertial influence caused by the current flight speed to generate a streamlined capsule-shaped dynamic tubular envelope space with a sharp front end and a wide rear end as a pre-clearing area.

[0039] Specifically, the geometric solution process of the dynamic tubular envelope space includes: Step 1, determining the axis center vector: Based on the compliant aircraft flight plan obtained from the second sensing mode, the trajectory within the next T seconds is discretized into a series of continuous spatial points P1, P2, ..., P n The axisymmetric vector L is the spline curve connecting these points; Step 2, define the dynamic radius: set the cross-sectional radius R of the pre-cleared area as a function of height h and tilt angle θ, i.e., R(t) = R_base·K_type·(1+sinθ(t)), where R_base is the basic safety radius, K_type is the aircraft type characteristic coefficient (this coefficient is determined by a comprehensive weighted average of physical dimensions, load characteristics, power redundancy and acoustic characteristic level, for example, the value of manned eVTOL is much larger than that of cargo aircraft, tiltrotor aircraft have a larger value than conventional multirotor due to the complexity of downwash airflow, and high noise level aircraft have a larger value due to the acoustic masking effect requiring an expanded defense radius), the sinθ(t) correction term reflects that when the tilt angle θ increases (transitioning to vertical landing), the defense radius needs to expand accordingly due to the enhanced ground effect downwash airflow; Step 3, generate the tubular envelope surface: with each track point Pi Centered on a point with radius R(i), a circular cross-section is generated within its normal plane. All cross-sections are sequentially enclosed to form a dynamic tubular space with a non-uniform diameter. When the sensing system detects the real-time gust vector W, the system performs a global translation correction on the position of the tubular space, i.e., P_corrected = P i +∫0 t Δv(W)dt ensures that the defense conduit always precisely wraps around the actual flight path after wind deviation. The generation logic of this dynamic tubular envelope space combines the real-time change characteristics of the downwash airflow influence range caused by the change of tilt angle during approach and landing of eVTOL. Unlike the fixed spherical or conical warning zones in existing technologies, it solves the unique safety guarantee problem of eVTOL's "tilt transition state". Under the premise of ensuring absolute safety, it minimizes the occupation of surrounding unrelated airspace and improves the efficiency of multi-aircraft concurrent operation at busy hubs.

[0040] S400, The control interception execution mechanism performs interception intervention in the pre-cleared area.

[0041] It should be noted that the interception execution mechanism is a hardware device with physical field emission capabilities; interception intervention refers to actions that deter, interfere with, or drive away intruding targets by applying physical field energy such as sound, light, and electromagnetic energy. Strictly limiting interception actions to the pre-cleared area can avoid ineffective energy diffusion that could interfere with nearby legitimate aircraft or facilities.

[0042] In this step, there are two implementation methods: In the first implementation method, the processor 1001 controls the directional acoustic wave generator to emit high-frequency strong acoustic waves into the pre-clearing area for acoustic repulsion intervention; In the second implementation method, the processor 1001 controls the laser emitter mounted on the multi-axis gimbal to emit a dazzling laser beam into the photoelectric sensor of the intruding target in the pre-clearing area for optical suppression intervention.

[0043] S500: Obtain the current environmental parameters and correct the output parameters of the interception execution mechanism based on the environmental parameters.

[0044] It should be noted that the current environmental parameters are meteorological and space medium data that affect the attenuation of physical field energy propagation; the output parameters are control quantities such as the intensity, frequency, and direction of the physical field emitted by the interception actuator. Corrections based on environmental parameters are made to overcome energy attenuation caused by wind field deviation and air absorption, ensuring that the intervention energy reaching the target remains above the effective threshold.

[0045] In this step, there are two implementation methods: In the first implementation method, the processor 1001 acquires meteorological parameters collected by the anemometer and the thermo-hygrometer, and dynamically corrects the transmission power and beam yaw angle of the sound wave generator as output parameters based on the propagation attenuation model of the sound wave at the current temperature and wind speed; In the second implementation method, the processor 1001 acquires atmospheric parameters collected by the visibility meter and the particulate matter concentration sensor, and dynamically corrects the output power and focusing distance of the laser as output parameters based on the scattering loss model of the laser at the current aerosol concentration.

[0046] This solution achieves a shift from static, fixed defense to dynamic, spatiotemporal collaborative defense. The combination of a three-dimensional defense model and dual-modal perception breaks the limitations of a single dimension, enabling the system to simultaneously grasp the dynamic trajectories of both intruding targets and compliant aircraft. This provides a data foundation for flexible responses. Furthermore, the tubular envelope space dynamically generated based on spatiotemporal coupling allows the defense boundary to move in real time along with the planned flight paths of compliant aircraft. It also adaptively adjusts the airspace clearance based on aircraft type characteristics, thereby accurately predicting potential conflict locations and effectively addressing the randomness and uncertainty of intruding target trajectories. This avoids the delays in interception caused by fixed alert ranges. Simultaneously, the dynamic correction of interception output parameters based on environmental parameters enables the interception methods to overcome the attenuation interference of complex weather conditions, ensuring that interception energy is accurately and effectively applied to the intruding target. This avoids defense failure in complex environments, thereby significantly improving the overall reliability and effectiveness of the defense.

[0047] Please refer to Figure 2 , Figure 2 This is a schematic flowchart of a second embodiment of a navigation area defense method according to the present invention. In this embodiment, step S400 includes: S410. When the intrusion target is located at the first spatial level, match and execute the first interception strategy.

[0048] It should be noted that the first spatial level is usually the outer early warning space that is far from the core protection area, where the threat level of intrusion targets is still in its infancy; the first interception strategy is a mild driving-away method designed for long-range, low-urgency targets, which aims to give the target warning and yaw guidance with low energy consumption.

[0049] In this step, there are two implementation methods: In the first implementation method, the first interception strategy matched by the processor 1001 is to emit a wide-beam, medium sound pressure level sweeping sound wave for warning-style deterrence; In the second implementation method, the first interception strategy matched by the processor 1001 is to emit a low-power, wide-spot scintillation laser beam for visual interference deterrence.

[0050] S420. When the intrusion target is located in the second spatial layer, a second interception strategy is matched and executed, wherein the intervention strength of the second interception strategy is higher than that of the first interception strategy.

[0051] It should be noted that the second space level is usually the close-range high-risk space near the core area of ​​aircraft take-off and landing, where intruding targets have an extremely high risk of air collision; the second interception strategy is a strong suppression method designed for close-range, high-urgency targets, with significantly increased intervention intensity, aiming to forcibly block the target's path of advance or render it incapable of action.

[0052] In this step, there are two implementation methods: In the first implementation method, the second interception strategy matched by the processor 1001 is to emit a narrow beam, high sound pressure level fixed frequency strong sound wave for suppression and drive away, and its sound pressure level is more than 20dB higher than that of the first interception strategy; In the second implementation method, the second interception strategy matched by the processor 1001 is to simultaneously activate the electromagnetic interference device to block and suppress the remote control frequency band of the intrusion target, and supplement it with high power laser for physical damage intervention.

[0053] In this embodiment, by matching and executing interception strategies with different intervention intensities according to the different spatial levels of the intrusion target, precise deployment of defense resources and dynamic adaptation to risk levels are achieved. A low-intensity strategy is employed at the first spatial level, serving both as an early warning and deterrent while avoiding the waste of high-intensity energy and collateral damage. A seamless switch to a high-intensity strategy at the second spatial level ensures instantaneous suppression of lethal threats approaching the core area. This tiered response mechanism ensures the effectiveness of interception while also considering the system's economy and security.

[0054] Please refer to Figure 3 , Figure 3 This is a flowchart illustrating a third embodiment of a navigation area defense method according to the present invention. In this embodiment, step S410 includes: S411. Continuously execute the first interception strategy and collect real-time response data of the intrusion target.

[0055] It should be noted that real-time response data is measurement information reflecting the behavioral changes of intruding targets after receiving intervention from the physical field. Continuous execution and synchronous data collection are to construct a closed-loop detection link of "stimulus-feedback" to determine whether the preceding intervention has achieved the expected deportation effect.

[0056] In this step, there are two implementation methods: In the first implementation method, the processor 1001 continuously collects the rate of change of flight speed and heading deflection angle of the intruding target under the action of sound waves as real-time response data through radar; In the second implementation method, the processor 1001 collects the attitude roll rate and altitude drop rate of the intruding target under laser illumination as real-time response data through an optoelectronic tracking device.

[0057] S412. Determine the response status of the intrusion target based on the real-time response data. The response status includes effective deviation status and adaptive retention status.

[0058] It should be noted that an effective deviation state refers to a positive response where the intruding target, influenced by intervention, tends to move away from the pre-cleared area; an adaptive loitering state refers to a negative response where the intruding target develops immunity or resistance to the intervention energy, remaining in its original airspace or only making slight prowls. Determining the response state is the direct basis for deciding whether to upgrade interception measures.

[0059] In this step, there are two implementation methods: In the first implementation method, the processor 1001 calculates the heading deflection angle in the real-time response data. If the deflection angle is directed towards the outside of the pre-cleared area and is greater than a set threshold, it is determined to be a valid deviation state; otherwise, it is determined to be an adaptive lingering state. In the second implementation method, the processor 1001 introduces a machine learning classifier, inputs multi-dimensional response data such as velocity and angular velocity into the classifier, and the classifier outputs the probability value of the target belonging to the adaptive lingering state. When the probability value exceeds 0.7, it is determined to be an adaptive lingering state.

[0060] S413. If the response state is an adaptive stagnation state, then the first interception strategy is revoked, and an upgraded interception strategy with a higher intervention intensity than the first interception strategy is switched to be implemented.

[0061] It should be noted that withdrawing the first interception strategy is to stop the ineffective energy pouring on targets that have developed resistance, thus avoiding resource waste; upgrading the interception strategy involves using backup measures with different physical mechanisms or higher energy levels, aiming to break through the target's adaptive defenses. This closed-loop logic of "probing-evaluating-upgrading" effectively addresses intrusive targets with randomness and uncertainty.

[0062] In this step, there are two implementation methods: In the first implementation method, if the adaptive lingering state is determined, the processor 1001 immediately cuts off the sound wave drive-away output and switches to an upgraded interception strategy that transmits high-frequency electromagnetic pulses to block the control link; In the second implementation method, the processor 1001 seamlessly switches the sound wave frequency from the audible frequency band to the infrasound frequency band and raises the sound pressure level to the device's safety limit, using a dual transition of frequency and energy as an upgraded interception strategy.

[0063] In this embodiment, an intelligent adaptive closed-loop interception mechanism is constructed by continuously monitoring the target's response and determining whether it is a valid deviation or adaptive stagnation. Upon stagnation, the original strategy is revoked and intervention is upgraded, thus breaking the blindness of traditional one-way open-loop expulsion. This mechanism enables the system to flexibly adjust tactics based on the target's real-time feedback. For stubborn intrusion targets that can adapt to conventional expulsion methods, it promptly cuts off invalid outputs and implements escalated attacks, effectively avoiding defense failures and greatly improving the reliability of interception in complex adversarial scenarios.

[0064] In one embodiment, step S420 includes: S421. Shield the real-time detection data against the intrusion target, and control the interception execution mechanism to perform normalized full-power intervention output to the second spatial level only based on the time window corresponding to the planned motion vector of the compliant aircraft; wherein, the full-power intervention output includes full-band or full-space sweeping intervention of at least one physical field among laser, acoustic and electromagnetic.

[0065] It should be noted that in the second space level (the high-risk core area near the ground), the safety of compliant aircraft has absolute priority. If real-time detection loop is still relied upon at this level, it may lead to fatal gaps in defense due to detection delays or target camouflage. Shielding real-time detection data is to eliminate feedback delays and hesitation in judgment. The time window is a specific period when the aircraft is in an extremely dangerous phase. Full-power intervention output is an extreme suppression method that disregards energy consumption and hardware lifespan. Full-band or full-space sweeping intervention is a comprehensive strike with no blind spots that does not rely on precise positioning.

[0066] In this step, there are two implementation methods: In the first implementation method, within a time window of 60 seconds before the compliant aircraft lands, the processor 1001 cuts off the radar guidance circuit and controls the sound wave generator to perform a 360-degree omnidirectional full-band sound field bombardment at the second spatial level with maximum power; In the second implementation method, the processor 1001 controls the laser array to perform a gridded full-power sweep on the spatial cross-section of the second spatial level with a high-frequency scanning cycle, while being supplemented by full-band electromagnetic jamming to form a physical field interwoven with no dead angle intervention network.

[0067] In this embodiment, by shielding real-time detection at the second spatial level and executing full-power sweeping intervention based on a time window, an ultimate physical protection network is constructed for the critical phases of aircraft takeoff and landing. Shielding detection data eliminates the time delay risk of closed-loop control, ensuring a zero-hysteresis defense response; time window triggering based on planned motion vectors achieves precise synchronization with the aircraft's dangerous phase; full-band, full-space full-power sweeping intervention completely abandons "point-to-point" precision strikes, instead adopting "face-to-face" absolute suppression, eliminating any missed detection or penetration of intrusion targets in high-risk areas, and providing the most solid bottom-line security guarantee for compliant aircraft.

[0068] Please refer to Figure 4 , Figure 4 This is a flowchart illustrating a fourth embodiment of a navigation area defense method according to the present invention. In this embodiment, step S200 includes: S210. Local closed-loop detection is performed through the first perception mode to extract the physical feature data of the intrusion target to generate the actual motion vector; the first perception mode is configured to have the highest interception decision priority.

[0069] It should be noted that local closed-loop detection is a detection link that is completed independently by the defense system's own sensors without relying on external network data transmission; physical characteristic data includes the target's RCS cross-sectional area, infrared radiation characteristics, or rotor Doppler characteristics; the highest interception decision priority means that when local detection results conflict with external scheduling information or the system faces an imminent threat, the system unconditionally uses the local perception results as the highest criterion for triggering interception, in order to prevent the defense line from being breached due to external communication interruption or delay.

[0070] In this step, there are two implementation methods: In the first implementation method, the first perception mode extracts the micro-Doppler features and range change rate of the intruding target through local millimeter-wave radar, directly calculates and generates the actual motion vector, and assigns it the highest weight in the system arbitration logic; In the second implementation method, the first perception mode extracts the optical flow field and pixel displacement of the intruding target through local binocular infrared vision, generates the actual motion vector, and when the target is detected to be approaching the second spatial level, it directly bypasses the external data verification link to trigger interception.

[0071] S220. Through the second sensing mode, data is exchanged with the flight management system or low-altitude traffic management system to obtain the flight plan timing to generate the planned motion vector. The planned motion vector includes takeoff and landing timing, approach and departure tilt angles, and secondary path correction data of the aircraft after an emergency obstacle avoidance.

[0072] It should be noted that data interaction is the method by which the defense system obtains flight plans from external management nodes. Data interaction includes at least one of the following: real-time protocol handshake, asynchronous data synchronization, offline plan import, or broadcast channel monitoring. Real-time protocol handshake establishes a highly reliable encrypted data channel between the defense system and external management nodes; asynchronous data synchronization involves periodically downloading flight plans from the cloud or other nodes; offline plan import loads pre-set flight routes in a network-free environment; and broadcast channel monitoring passively receives flight intentions broadcast by aircraft. Flight plan sequence is the preset time and temperature sequence for compliant aircraft; secondary path correction data is information on new routes dynamically replanned by the aircraft after encountering unexpected obstacles. Acquiring this multi-dimensional data allows the defense system to understand the future intentions and emergency changes of aircraft, enabling proactive defense.

[0073] In this step, there are two implementation methods: In the first implementation method, the second sensing mode performs real-time protocol handshake or asynchronous data synchronization with the Low Altitude Traffic Management System (UTM) through the 5G low-altitude private network to obtain the expected take-off time, climb heading angle, and real-time obstacle avoidance route change data of the UAV cluster, and generates a planned motion vector containing the predicted trajectory for the next 30 seconds; In the second implementation method, the second sensing mode listens to the broadcast channel through the ADS-B IN receiver to obtain the three-dimensional glide slope inclination angle, touchdown timing, and go-around route data of the manned aircraft during the approach and landing phase, and generates a high-precision planned motion vector, or reads the pre-stored flight take-off and landing timetable through offline plan import.

[0074] In this embodiment, a three-dimensional perception system with dual internal and external sources and a high-low combination is constructed by configuring a local closed-loop first perception mode with the highest decision priority and a second perception mode that deeply interacts with external systems. The first perception mode ensures independent defense autonomy in extreme situations, preventing defense paralysis caused by communication delays or network attacks; the second perception mode deeply acquires detailed flight plans including secondary path corrections, enabling the system to anticipate the emergency avoidance intentions of compliant aircraft and dynamically adjust the prediction baseline of the pre-clearing area, achieving a leap in perception capability from passive tracking to proactive prediction.

[0075] In one embodiment, the three-dimensional defense model further includes a third spatial layer; step S100 includes: S110. Obtain the flight phase and altitude threshold of compliant aircraft to obtain the spatial hierarchy classification benchmark.

[0076] It should be noted that the threat range and vulnerability of compliant aircraft to ground assets vary at different stages of flight; the altitude threshold is the critical altitude parameter that distinguishes aircraft operations from ground activities. Combining these two as a dividing line allows for the scientific definition of the physical boundaries at each level.

[0077] In this step, there are two implementation methods: In the first implementation method, the processor 1001 obtains the standard operating height of the UAV take-off and landing gear, 10 meters, as the height threshold, and generates a spatial hierarchy division benchmark by combining the three stages of take-off, hovering, and landing; In the second implementation method, the processor 1001 obtains the minimum descent altitude of the manned helicopter airport for approach, and generates a spatial hierarchy division benchmark by combining the approach, departure, and ground taxiing stages.

[0078] S120. Based on the spatial hierarchy division benchmark, the three-dimensional defense model is divided into a first spatial hierarchy, a second spatial hierarchy, and a third spatial hierarchy. The second spatial hierarchy includes the near-ground effect zone of the compliant aircraft. The first spatial hierarchy is the approach and departure path space above the ground effect zone. The third spatial hierarchy is the ground core asset zone, which includes charging facilities and / or liquid cooling modules.

[0079] It should be noted that the near-ground effect zone is the area of ​​airflow disturbance caused by the ground effect when an aircraft hovers near the ground, and it is also a sensitive area where foreign objects are easily inhaled or impacted; the approach and departure path space is the corridor that an aircraft must pass through during its climb or descent; and the ground core asset zone is the area where the critical infrastructure supporting aircraft operations is located, which is vulnerable to damage by ground intruders. Clearly defining the physical characteristics of these three levels delineates a clear boundary for implementing targeted defenses.

[0080] In this step, there are two implementation methods: In the first implementation method, the processor 1001 divides the 0 to 5 meters into the third spatial level, which includes the charging pile and liquid cooling pipeline; the 5 to 20 meters into the near-ground effect zone, which includes the rotor downwash airflow area, i.e., the second spatial level; and the area above 20 meters into the approach and departure paths, i.e., the first spatial level. In the second implementation method, the processor 1001 dynamically adjusts the level height, and adaptively adjusts the height of the second spatial level (near-ground effect zone) to 1.5 times the rotor diameter of the aircraft model, with the third spatial level below it and the first spatial level above it.

[0081] The airspace defense method also includes: S130. For the third spatial level, the first perception mode is linked to perform ground intrusion target intrusion prediction, and the interception execution mechanism is controlled to perform non-contact behavior guidance.

[0082] It should be noted that the main threat faced by the third space level is no longer flying intrusion targets, but ground intrusion targets that bite and damage cables and liquid cooling pipelines or illegally interfere with the safe operation of facilities. These ground intrusion targets include, but are not limited to, rodents, stray animals, or unauthorized personnel. Ground intrusion target intrusion prediction is based on identification logic based on specific morphological, heat source characteristics, or behavioral characteristics. Non-contact behavior guidance uses a gentle physical field to drive the target away from the core area, avoiding damage to it while protecting facility safety.

[0083] In this step, there are two implementation methods: In the first implementation method, the processor 1001, in conjunction with an infrared thermal imaging probe, identifies targets with heat source outlines and movement trajectories of rodents or stray animals within the third spatial layer, or identifies the heat source characteristics of unauthorized personnel, and controls an ultrasonic generator to emit specific frequency sound waves that make animals uncomfortable for non-contact decoy guidance, or warns and drives away unauthorized personnel through an audible and visual alarm; In the second implementation method, the processor 1001, in conjunction with a millimeter-wave radar, identifies small entities moving at low speeds on the ground (such as rodents or stray animals), or detects unauthorized personnel through visual recognition, and controls a laser projection device to project moving light spots as virtual fences or laser red lines as warnings on the ground, using the animal's avoidance instinct or the person's aversion to safety warnings to guide behavior in a frightening manner.

[0084] In this embodiment, by introducing a third spatial layer and clarifying its core ground asset attributes, the system addresses the unique threats posed by ground intrusion targets (including rodents, stray animals, and personnel) at this layer. It then leverages sensory modalities to make specific predictions and implement non-contact behavioral guidance, expanding the defensive dimensions of the three-dimensional defense model. This allows the defense system to not only cover flight safety in high-altitude flight paths and near-ground effect zones but also safeguard the physical security of critical ground infrastructure. Through tailored, non-lethal deterrence strategies, it eliminates underlying operational risks at minimal cost, constructing a truly comprehensive, closed-loop airspace protection system.

[0085] In one embodiment, step S500 includes: S510. Collect environmental data of the area where the three-dimensional defense model is located, and calculate the environmental interference vector based on the environmental data. The environmental interference vector includes at least one of the following: meteorological offset vector, space medium attenuation factor, airborne downwash airflow offset vector generated by the rotor of a compliant aircraft, and instantaneous gust vector formed in urban building clusters. S520. Calculate energy compensation parameters based on the environmental interference vector, and dynamically adjust the output direction and energy distribution of the interception actuator based on the energy compensation parameters.

[0086] It should be noted that the meteorological offset vector is the vector that causes the physical field to deflect due to wind direction and speed; the space medium attenuation factor is the coefficient of energy scattering loss caused by rain, snow, fog, and haze; the airborne downwash offset vector is the severe disturbance caused by the strong airflow pushed down by the aircraft rotor on the energy of interference such as sound waves; and the instantaneous gust vector is the unpredictable crosswind generated by the urban canyon effect. Quantifying these composite disturbances into vectors and calculating compensation parameters is the core of achieving precise energy delivery in complex environments.

[0087] In this step, there are two implementation methods: In the first implementation method, the processor 1001 collects wind speed, wind direction, and rain / snow concentration data, calculates the meteorological offset vector and medium attenuation factor, and calculates the beam deflection angle and power gain as energy compensation parameters to dynamically adjust the beam pre-deflection angle and output power of the acoustic wave transmitter; In the second implementation method, the processor 1001 collects aircraft rotor speed and near-field wind field data, calculates the airborne downwash airflow offset vector and instantaneous gust vector, calculates the energy compensation parameters in three-dimensional space, and dynamically adjusts the galvanometer deflection compensation amount of the laser transmitter to counteract the optical path deflection caused by the airflow.

[0088] In one embodiment, after step S400, the method further includes: S401. Record the corresponding interception event information into a pre-stored database. The interception event information includes the characteristic information of the intrusion target, its spatial level, response status, the actual interception strategy executed, and the airway deterministic clearance certificate. The airway deterministic clearance certificate is used to support the airworthiness certification of the compliant aircraft and the basis for insurance loss assessment. S402. Update the policy matching rules in the pre-stored database according to the interception event information.

[0089] It should be noted that the airway deterministic clearance certificate is a digital credential generated by the system based on successful interception records. It serves to prove the absolute safety of the airway within a specific time and space window and has legal and commercial evidentiary value. Airworthiness certification and insurance loss assessment are compliance and economic requirements for aircraft operations. By binding interception data with clearance certificates and updating policy rules accordingly, the defense system achieves self-learning and compliant operation.

[0090] In this step, there are two implementation methods: In the first implementation method, the processor 1001 packages the interception event information, which includes the image of the intrusion target, the duration of laser suppression, and the target's escape trajectory, adds a timestamp and digital signature to generate a deterministic airspace clearance certificate, stores it in the database, and updates the threshold parameters in the policy matching rules based on the target's escape trajectory characteristics using a reinforcement learning algorithm; In the second implementation method, the processor 1001 generates a structured interception log and stores it on the blockchain to form an immutable deterministic airspace clearance certificate; at the same time, it periodically counts the frequency of adaptive loitering states in each spatial level and manually or automatically fine-tunes the triggering rules for upgrading the interception strategy.

[0091] In this embodiment, a dual guarantee mechanism of environmental toughness and data closure is constructed by refining the calculation of environmental interference vectors containing various complex meteorological and airflow disturbances and implementing energy compensation, and by transforming interception event information into clearance certificates with compliance proof value and feeding back into strategy optimization. The calculation and compensation of environmental interference vectors ensures the accurate delivery of interception energy in extremely complex micro-meteorological environments, especially overcoming the traditional blind spot of rotor downwash airflow; the generation of clearance certificates transforms defensive actions into credible legal basis for aircraft airworthiness and damage assessment, breaking down the barriers between security defense and commercial operation; and strategy updates based on interception data enable the system to continuously evolve in actual combat, continuously improving its defensive effectiveness against unknown intrusion characteristics.

[0092] In addition, please see Figure 5 This invention also proposes a navigation area defense system, which includes: The spatial model construction module 10 is used to construct a three-dimensional defense model that includes at least a first spatial level and a second spatial level. The multi-source vector acquisition module 20 is used to acquire the actual motion vector of the intruding target and the planned motion vector of the compliant aircraft. The prediction and calculation module 30 is used to determine the pre-clearing area based on the spatiotemporal coupling relationship between the actual motion vector and the planned motion vector in the three-dimensional defense model. The pre-clearing area is a dynamic tubular envelope space dynamically generated with the planned motion vector as the axis, and the generation logic of the tubular envelope space includes the type characteristics of the compliant aircraft. Interception execution module 40 is used to control the interception execution mechanism to perform interception intervention in the pre-cleared area; The environment adaptive module 50 is used to obtain the current environment parameters and correct the output parameters of the interception execution mechanism according to the environment parameters.

[0093] It should be noted that the spatial model construction module 10 is the spatial indexing engine of the entire system, responsible for transforming physical airspace into logical layers; the multi-source vector acquisition module 20 is the perception center, providing bidirectional dynamic data sources through internal and external integration; the prediction and solution module 30 is the brain of the system, dynamically delineating moving security shields based on coupling relationships and type characteristics; the interception execution module 40 is the scheduling center of physical strike methods, responsible for accurately deploying interception energy to the pre-cleared area; and the environmental adaptation module 50 is a compensation filter, ensuring that intervention energy penetrates complex environments to reach the target. Through the pipelined collaborative operation between modules, this system breaks through the limitations of traditional single-flat defense, realizing a highly reliable closed-loop airspace defense from spatial layering, situation prediction, precision strike to environmental adaptation.

[0094] Since this system adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be repeated here.

[0095] Furthermore, embodiments of the present invention also propose an electronic device, the electronic device comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the airspace defense method as described above.

[0096] Furthermore, embodiments of the present invention also propose a readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the airspace defense method described above.

[0097] It should be noted that the readable storage medium can be non-volatile storage media such as flash memory, embedded multimedia cards, and secure digital cards to ensure the secure and persistent storage of computer programs, three-dimensional defense model parameters, perception mode calibration data, and interception event logs. It supports stable reading and writing in complex electromagnetic and meteorological environments and meets the service life requirements of long-term high-frequency operation of the airspace defense system.

[0098] The computer program is stored in a readable storage medium in binary machine code format. It contains all the logical steps from spatial hierarchy division, dual-modal perception calculation, spatiotemporal coupling prediction to graded interception and environmental compensation in the above method embodiments. When the readable storage medium is connected to the device's processor, the processor reads the computer program in the storage medium through the storage controller, loads the program into the running memory and executes it sequentially, realizing the fully automated closed-loop function of airspace defense.

[0099] It should be noted that the workflow described above is merely illustrative and does not limit the scope of protection of this invention. In practical applications, those skilled in the art can select some or all of the workflow to achieve the purpose of this embodiment according to actual needs, and no restrictions are imposed here.

[0100] In addition, for technical details not described in detail in this embodiment, please refer to the airspace defense method provided in any embodiment of the present invention, which will not be repeated here.

[0101] Furthermore, it should be noted that, in this document, 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. Unless otherwise specified, 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 that element.

[0102] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0103] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary hardware platforms, and of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a readable storage medium (such as flash memory, eMMC, SD card), and includes several instructions to cause a device (which may be an air defense tower, a low-altitude security host, etc.) to execute the methods described in the various embodiments of the present invention.

[0104] Furthermore, the complete technical solution proposed in this invention, encompassing a three-dimensional defense model, dual-sensor modal vector acquisition, spatiotemporal coupling judgment, dynamic tubular envelope pre-clearing of the area, graded interception intervention, and dynamic correction of environmental parameters, has applications beyond aviation airspace defense scenarios. It can be widely extended to various locations requiring proactive security control. Currently, most mainstream protection methods in the industry involve passively driving away threats after they are detected, resulting in shortcomings such as delayed response, fixed defense range, and insufficient ability to deal with complex dynamic targets. This solution, relying on the core logic of trajectory prediction, spatial layering, and dynamic defense, enables an upgrade from passive response to proactive control. Through equivalent mapping of technical features, this solution can be extended to various non-aviation security scenarios, including high-speed rail transit, wind and photovoltaic new energy power plants, substations, oil and gas petrochemical and automated ports, and high-security perimeter security. In various extended scenarios, the on-site operation scheduling plan, production operation trajectory, equipment operation path, and personnel and vehicle control flow can be uniformly and equivalently mapped to the planned motion vector of compliant aircraft as described in claim 1 of this invention; illegal intruders, external vehicles, floating foreign objects, non-compliant operating equipment, and various intrusion hazards in the scenario can be uniformly and equivalently mapped to intrusion targets, and the first spatial level, second spatial level, and third spatial level can be completed in combination with the site protection attributes, so as to realize the reuse of the entire core technology architecture in multiple industry scenarios.

[0105] When applied to high-speed rail transit scenarios, train timetables, track scheduling plans, train trajectories, section speed limits and lane change sequences, and emergency avoidance and rerouting paths can be equivalently mapped into planned motion vectors. Personnel intruding along the track, illegal vehicles, falling objects from above, and various foreign objects intruding into the track area are considered as intrusion targets. A three-dimensional rail transit defense model is constructed based on protective attributes, dividing the space into three layers: the high-altitude area above the track, the train's near-track operating area, and the ground protection zone for signal equipment and power supply facilities along the track. The train's near-track operating area corresponds to the near-ground effect zone in aviation scenarios. The system relies on the first sensing mode, equipped with radar and photoelectric recognition equipment, to complete local closed-loop detection, collecting the actual motion vectors of intrusion targets and maintaining the highest interception decision priority configuration. The second sensing mode interfaces with the rail transit scheduling system and the ATS (Automatic Train Protection) system, synchronizing relevant data such as train scheduling sequences, travel angles, and emergency rerouting to generate planned motion vectors. The system combines the planned motion vector corresponding to the train's trajectory, train type, train formation length, and operating speed to dynamically generate a dynamic tubular envelope space centered on the train's trajectory as a pre-clearing area for the track. It also analyzes the intrusion risk in advance based on the spatiotemporal coupling relationship between the intrusion target and the train, preventing problems before they occur. When the intrusion target is in the first spatial level above the track, the system executes low-intensity first-level interception strategies such as audible and visual warnings and voice deterrence. When the target intrudes into the second high-risk spatial level where the train is running close to the track, it automatically switches to a second-level interception strategy with higher intervention intensity, such as strong audible and visual suppression, directional warnings, and temporary track alarms. For stubborn targets exhibiting adaptive lingering behavior, the original interception strategy is simultaneously canceled and an upgraded interception strategy is initiated. For the core equipment area along the track belonging to the third spatial level, the system uses a linkage sensing module to predict the intrusion of ground-based targets and executes non-contact behavioral guidance operations. The system collects environmental parameters such as wind speed, rain and snow, tunnel airflow, and train passing airflow along the track in real time, calculates the corresponding environmental interference vectors, and dynamically adjusts the output power and transmission direction of acoustic, optical, and electromagnetic interception devices to counteract energy propagation attenuation and propagation path deviation caused by weather and airflow. Simultaneously, the system comprehensively records track intrusion event information, intrusion target characteristics, target spatial hierarchy, target response status, and actual interception strategies implemented, generating a deterministic clearance certificate for the track section. This certificate serves as a valid basis for track safety inspections, accident damage assessment, and equipment maintenance, and the system continuously updates its internal strategy matching rules based on accumulated interception event data.

[0106] When applied to wind power and photovoltaic (PV) new energy power plant scenarios, the rotation trajectory of wind turbine rotors, wind turbine start-up and shutdown scheduling plans, PV site inspection robot operation routes, maintenance vehicle travel plans, and equipment maintenance operation sequences can be equivalently mapped into planned motion vectors. Unauthorized personnel, external vehicles, birds, floating debris, and unauthorized construction equipment are all defined as intrusion targets. A three-dimensional defense spatial hierarchy is defined based on the plant layout. The high-altitude area of ​​the plant is designated as the first spatial level, the near-ground effect zone corresponding to the wind turbine rotor rotation is designated as the second spatial level, and the area containing key ground assets such as PV panels, transformer substations, energy storage modules, and charging facilities is designated as the third spatial level. The first perception mode relies on radar and photoelectric detection equipment to complete local detection and generate the actual motion vector of the intrusion target. The second perception mode connects to the new energy power plant operation and maintenance management system and equipment scheduling platform to obtain data such as wind turbine operation sequences, inspection paths, and equipment maintenance modification routes, and generate planned motion vectors. The system uses the planned motion vector corresponding to the wind turbine's rotation trajectory and inspection route as the axis, and combines this with characteristics such as wind turbine model, blade size, and equipment type to generate a dynamic tubular envelope space. This space serves as a pre-clearing area for equipment operations, allowing for advance assessment of the spatiotemporal conflict risks between foreign objects, personnel, and on-site operating equipment. For intrusion targets in the first spatial level (high altitude), low-intensity acoustic and optical deterrence is employed. For the second high-risk spatial level (near-wind turbine operation), redundant detection data is shielded according to core protection requirements, and full-power acoustic, optical, and electromagnetic full-space sweeping intervention is executed based on the equipment's operating time window. For the third spatial level (ground core asset area), non-contact deterrence guidance is used for intruders and wild animals. The system collects environmental data such as outdoor gusts, dust, temperature, humidity, and downwash airflow generated by wind turbine operation, and calculates environmental interference vectors. Based on the calculation results, it dynamically compensates for the output energy and emission angle of the interception equipment, adapting to the complex operating conditions of new energy power stations in the field.

[0107] When applied to substation scenarios, the patrol trajectory of in-station inspection robots, equipment maintenance operation routes, planning of energized operating areas of high-voltage equipment, and standard operating routes of maintenance personnel can be equivalently mapped into planned motion vectors. Unauthorized personnel crossing the perimeter, unauthorized vehicles, floating debris, wild animals, and unauthorized construction equipment are considered intrusion targets. A three-dimensional defense model is established based on protective functions. The area above substation equipment is the first spatial level; the area near energized high-voltage equipment is designated as the high-risk core area, the second spatial level; and the ground-based core asset areas such as distribution cabinets, cable trenches, and energy storage modules are designated as the third spatial level. The first perception mode integrates infrared, radar, and video acquisition equipment to achieve local closed-loop detection, generating the actual motion vector of the intrusion target and retaining the highest decision priority. The second perception mode interfaces with the substation operation and maintenance scheduling system, synchronizing inspection sequence, maintenance routes, and temporary work detours, and generating planned motion vectors. The system uses the planned motion vector corresponding to the inspection trajectory and work route as the axis, and combines characteristic parameters such as high-voltage equipment model, voltage level, and equipment size to generate a dynamic tubular envelope-shaped pre-clearing area, thus proactively avoiding safety risks caused by foreign objects or personnel touching high-voltage equipment. When an intrusion target appears in the outer first spatial layer, the system activates voice and light warnings to drive it away. When the target enters the second spatial layer close to the high-voltage equipment, it performs routine full-power sound, light, and electromagnetic full-space sweep intervention based on the work time window. In the third spatial layer, non-contact behavioral guidance is implemented for small wild animals and unauthorized intruders. Addressing environmental conditions such as electromagnetic interference, wind, rain, and condensation on equipment surfaces in the substation area, the system collects corresponding environmental parameters and calculates environmental interference vectors, correcting the output parameters of sound, light, and electromagnetic interception equipment to offset the equipment attenuation and propagation path deviation caused by the strong electromagnetic environment in the high-voltage area.

[0108] When applied to oil and gas petrochemical plants and automated ports, in oil and gas petrochemical plants, the trajectories of inspection vehicles and robots, pipeline inspection routes, loading and unloading sequence, hazardous chemical transfer routes, and equipment maintenance planning paths can be equivalently mapped to planned motion vectors. Unauthorized personnel, external vehicles, open flames, floating flammable debris, and equipment operating in violation of regulations are identified as intrusion targets. In automated port scenarios, the operating trajectories of quay cranes and gantry cranes, truck transport routes, AGV (Automated Guided Vehicle) driving plans, ship berthing and unberthing sequence, and container handling lines can be equivalently mapped to planned motion vectors. Unrelated personnel, civilian vehicles, falling objects from heights, floating objects on the water, and illegal vessels and small boats are identified as intrusion targets. Both scenarios are uniformly designed with a three-dimensional defense model based on regional attributes. The airspace above the plant and port areas is the first spatial level; high-risk areas for close-range operations of large equipment are the second spatial level; and the ground-based core asset areas such as storage tanks, pipelines, control rooms, loading and unloading equipment, and power modules are the third spatial level. The first sensing mode, equipped with explosion-proof radar and explosion-proof optoelectronic equipment, completes local closed-loop detection and generates the actual motion vector of the intruding target. The second sensing mode interfaces with the petrochemical DCS control system, port terminal scheduling system, and automated operation platform, synchronizing the operation sequence, running trajectory, and emergency diversion path of various equipment and generating planned motion vectors. The system uses the planned motion vectors corresponding to the equipment operation trajectory and material transfer route as the axis, combined with the characteristics of petrochemical equipment and port machinery such as their dimensions, operation type, and hazardous chemical level, to generate a dynamic tubular envelope pre-clearing area, proactively avoiding operational conflicts and various safety accidents. The first spatial level uses low-intensity sound, light, and voice warnings for intervention. The second spatial level, where equipment is close to high-risk areas, executes full-power, full-band, full-space sweeping interception intervention. The third spatial level, in the core ground asset area, completes intrusion prediction and implements non-contact expulsion operations. The system collects relevant data such as sea breeze, fog, dust, airflow generated by the operation of large machinery, and special media in flammable and explosive areas in the site and port area. It calculates the corresponding environmental interference vectors and dynamically adjusts the output energy, launch direction, and working mode of the interception equipment to meet the usage requirements of special working conditions such as explosion-proof, corrosion-proof, high humidity, and high dust.

[0109] When applying high-security perimeter security scenarios, including classified parks, supervised sites, and key security areas, the movement routes of perimeter patrol robots, the fixed-point patrol trajectories of security personnel, the driving plans of security inspection vehicles, and the dynamic control lines of restricted areas can be equivalently mapped into planned motion vectors. Unauthorized intruders, unauthorized vehicles, intruding drones, and objects thrown into the area are all considered intrusion targets. A three-dimensional defense hierarchy is established based on the perimeter protection layout. The low-altitude area above the perimeter is the first spatial level; the perimeter walls and fences, serving as the core warning zone, are designated as the second spatial level; and the areas containing buildings, core facilities, and classified assets within the restricted zones are designated as the third spatial level. The first perception mode relies on perimeter radar, infrared beams, and intelligent video analysis equipment to complete local detection, generate the actual motion vector of the intrusion target, and set it as the highest decision priority. The second perception mode connects to the security management platform and patrol dispatch system, synchronizing patrol routes, shift schedules, temporary control and rerouting data, and generating planned motion vectors. The system uses the planned movement vectors corresponding to patrol trajectories and restricted area control routes as axes, combined with features such as perimeter protection levels and area usage attributes, to generate dynamic tubular envelope pre-clearing areas, dynamically delineate warning zones, and provide early risk warnings. For intrusion targets at the first spatial level above the perimeter, long-range audio-visual and laser warnings are used to drive them away. At the second warning spatial level near the perimeter, routine full-power electromagnetic and audio-visual sweeping interventions are implemented. At the third spatial level, the internal core area completes intrusion prediction and conducts non-contact behavioral guidance. The system collects environmental parameters in real time, including wind, rain, fog, localized gusts from buildings, and terrain obstruction, calculates environmental interference vectors, and dynamically corrects various output parameters of the interception equipment, ensuring the effectiveness of security operations under complex terrain and weather conditions.

[0110] In the aforementioned extended scenarios, the operational scheduling plan, production operation trajectory, equipment and personnel inspection routes, and emergency diversion paths all completely and equivalently replace the planned motion vector of compliant aircraft in the aviation scenario of this invention. All core technical features, such as intrusion target definition, three-dimensional spatial hierarchy division, dynamic tubular envelope pre-clearing area, dual-sensor modal collaborative working mode, graded interception strategy, adaptive correction of environmental parameters, interception event data archiving, and system rule self-optimization, correspond one-to-one with the original technical solution and claims of this invention. Compared to the passive driving mode commonly used in the industry, this solution relies on trajectory prediction, spatiotemporal coupling analysis, and dynamic defense to achieve proactive pre-control in all scenarios, effectively solving the problems of delayed response, rigid defense, and insufficient reliability in traditional protection. The technical solution of this invention breaks through the limitations of traditional aviation applications and can be comprehensively applied to industrial security and infrastructure security fields such as rail transit, new energy, power, petrochemical ports, and general high-security perimeters. It relies on a unified technical architecture to meet the security defense needs of multiple industries, effectively expanding the protection boundaries of patents and practical application scenarios.

[0111] The above are merely preferred embodiments of the present invention and do not limit the scope of the patent. Any equivalent structural or procedural transformations made based on the description and drawings of the present invention, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of the present invention.

Claims

1. A method for airspace defense, characterized in that, include: Construct a three-dimensional defense model that includes at least a first spatial layer and a second spatial layer; Run the first perception mode to obtain the actual motion vector of the intruding target, and run the second perception mode to obtain the planned motion vector of the compliant aircraft; Based on the spatiotemporal coupling relationship between the actual motion vector and the planned motion vector in the three-dimensional defense model, a pre-clearing area is determined; wherein, the pre-clearing area is a dynamically generated tubular envelope space with the planned motion vector as the axis, and the generation logic of the tubular envelope space includes the type characteristics of the compliant aircraft; The control interception mechanism performs interception intervention in the pre-cleared area; Obtain the current environmental parameters and correct the output parameters of the interception execution mechanism based on the environmental parameters.

2. The airspace defense method as described in claim 1, characterized in that, The steps of the control and interception execution mechanism performing interception intervention in the pre-cleared area include: When the intrusion target is located at the first spatial level, the first interception strategy is matched and executed; When the intrusion target is located in the second spatial layer, a second interception strategy is matched and executed, and the intervention strength of the second interception strategy is higher than that of the first interception strategy.

3. The airspace defense method as described in claim 2, characterized in that, The step of matching and executing the first interception strategy when the intrusion target is located at the first spatial level includes: The first interception strategy is continuously executed, and real-time response data of the intrusion target is collected; The response status of the intrusion target is determined based on the real-time response data, and the response status includes effective deviation status and adaptive retention status. If the response state is an adaptive stagnation state, then the first interception strategy is revoked, and an upgraded interception strategy with a higher intervention intensity than the first interception strategy is switched to be implemented.

4. The airspace defense method as described in claim 2, characterized in that, The step of matching and executing the second interception strategy when the intrusion target is located at the second spatial level includes: By shielding real-time detection data for the intrusion target and controlling the interception execution mechanism to perform normalized full-power intervention output at the second spatial level based solely on the time window corresponding to the planned motion vector of the compliant aircraft; wherein, the full-power intervention output includes full-band or full-space sweeping intervention of at least one physical field among laser, acoustic and electromagnetic.

5. The airspace defense method as described in any one of claims 1 to 4, characterized in that, The steps of running the first perception mode to obtain the actual motion vector of the intruding target and running the second perception mode to obtain the planned motion vector of the compliant aircraft include: Local closed-loop detection is performed using the first sensing mode to extract the physical feature data of the intrusion target to generate the actual motion vector; the first sensing mode is configured to have the highest interception decision priority; The second sensing mode interacts with the flight management system or low-altitude traffic management system to obtain flight plan timings in order to generate the planned motion vector. The planned motion vector includes takeoff and landing timings, approach and departure tilt angles, and secondary path correction data of the aircraft after an emergency obstacle avoidance.

6. The airspace defense method as described in any one of claims 1 to 4, characterized in that, The three-dimensional defense model further includes a third spatial layer; the steps of constructing a three-dimensional defense model that includes at least a first spatial layer and a second spatial layer include: Obtain the flight phase and altitude threshold of compliant aircraft to obtain the spatial hierarchy classification benchmark; Based on the spatial hierarchy classification criteria, the three-dimensional defense model is divided into a first spatial hierarchy, a second spatial hierarchy, and a third spatial hierarchy. The second spatial hierarchy includes the near-ground effect zone of the compliant aircraft. The first spatial hierarchy is the approach and departure path space above the ground effect zone. The third spatial hierarchy is the ground core asset zone, which includes charging facilities and / or liquid cooling modules. The airspace defense method also includes: For the third spatial level, the first sensing modality is linked to perform ground intrusion target intrusion prediction, and the interception execution mechanism is controlled to perform non-contact behavior guidance.

7. The airspace defense method as described in any one of claims 1 to 4, characterized in that, The step of acquiring current environmental parameters and correcting the output parameters of the interception execution mechanism based on the environmental parameters includes: collecting environmental data of the area where the three-dimensional defense model is located, and calculating environmental interference vectors based on the environmental data. The environmental interference vectors include at least one of meteorological offset vectors, space medium attenuation factors, airborne downwash airflow offset vectors generated by compliant aircraft rotors, and instantaneous gust vectors formed within urban building clusters; calculating energy compensation parameters based on the environmental interference vectors, and dynamically adjusting the output direction and energy distribution of the interception execution mechanism based on the energy compensation parameters. And / or, after the control and interception execution mechanism performs the interception intervention step in the pre-cleared area, it further includes: recording the corresponding interception event information into a pre-stored database, the interception event information including the characteristic information of the intrusion target, its spatial level, response status, the actual interception strategy executed, and a flight path deterministic clearance certificate, the flight path deterministic clearance certificate being used to support the airworthiness certification and insurance loss assessment basis of the compliant aircraft; and updating the strategy matching rules in the pre-stored database according to the interception event information.

8. A navigational defense system, characterized in that, The airspace defense system includes: The spatial model construction module is used to construct a three-dimensional defense model that includes at least a first spatial level and a second spatial level. The multi-source vector acquisition module is used to acquire the actual motion vector of the intruding target and the planned motion vector of the compliant aircraft; The prediction and calculation module is used to determine the pre-clearing area based on the spatiotemporal coupling relationship between the actual motion vector and the planned motion vector in the three-dimensional defense model. The pre-clearing area is a dynamically generated tubular envelope space with the planned motion vector as the axis, and the generation logic of the tubular envelope space includes the type characteristics of the compliant aircraft. The interception execution module is used to control the interception execution mechanism to perform interception intervention in the pre-cleared area; An environment adaptive module is used to acquire current environment parameters and correct the output parameters of the interception execution mechanism based on the environment parameters.

9. An electronic device, characterized in that, The electronic device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the airspace defense method as described in any one of claims 1 to 7.

10. A readable storage medium, characterized in that, The readable storage medium stores a computer program that, when executed by a processor, implements the steps of the airspace defense method as described in any one of claims 1 to 7.

Images