All-weather low-altitude unmanned aerial vehicle active defense method and system

Abstract

This invention discloses an all-weather active defense method and system for low-altitude unmanned aerial vehicles (UAVs). The method includes: pre-set defense nodes actively detecting the protected airspace and identifying detected UAVs to determine whether they are intrusion targets; assessing the threat level based on specified characteristic information of the intrusion targets; determining corresponding countermeasure strategies based on the threat assessment results; and, when a countermeasure strategy is executed by a defense node, synchronizing the real-time specified characteristic information of the intrusion target to neighboring nodes through a cooperative network. Upon receiving the information, the neighboring nodes adjust their scanning direction to form joint monitoring of the intrusion target. By relying on distributed node hierarchical detection and fusion, on-site graded analysis, and multi-level gradient fully automatic countermeasures to shorten response time, the system achieves unattended all-weather operation, improves the reliability of UAV intrusion interception in key energy areas and the stability of system operation, and comprehensively strengthens the low-altitude security protection capabilities of critical national energy infrastructure.

Description

Technical Field

[0001] This invention relates to the field of low-altitude unmanned aerial vehicle (UAV) management technology, specifically to an all-weather active defense method and system for low-altitude UAVs. Background Technology

[0002] Energy hubs (including nuclear power plants, large substations, oil reserves, natural gas gate stations, wind farms, and photovoltaic power plants) are crucial components of the nation's critical infrastructure, and their security is directly related to national energy security and public safety. In recent years, with the rapid development of the low-altitude economy, incidents of unauthorized drone flights have become frequent, posing a serious threat to these energy hubs. According to public reports, several incidents of drones intruding into the airspace surrounding nuclear power plants and oil reserves have occurred domestically, forcing relevant authorities to activate emergency response procedures. The risks of drones illegally filming, carrying dangerous items, and intentionally crashing into other drones persist, while traditional security measures (video surveillance, perimeter fencing, and manual patrols) primarily target ground intrusion, leaving significant blind spots in protection against low-altitude drone threats.

[0003] Existing defense solutions mainly employ the following technical approaches: 1. Early warning systems based on a single detection method. These systems typically deploy radar or radio detection equipment to detect and alert drones entering protected airspace. Their core technology lies in identifying drone targets through signal characteristics and issuing alarms to personnel upon detecting anomalies. While this approach achieves basic intrusion detection, its limitation is that it "detects but doesn't counter"—human intervention is still required after intrusion detection, resulting in a time lag between alarm and interception, often missing the optimal interception window. Furthermore, single detection methods have inherent blind spots: radar's ability to detect low, slow, and small targets is significantly affected by environmental clutter, and radio detection cannot detect autonomous drones with their communication links disabled.

[0004] 2. Systems with Separated Detection and Countermeasures. These systems, building upon the aforementioned detection and early warning systems, add countermeasure equipment (such as jamming guns and navigation decoys). However, detection and countermeasures are typically operated by different personnel, or require manual confirmation before initiating countermeasures. The technical problem lies in the "detection-countermeasure disconnect"—the human decision-making process causes response delays of up to several minutes. In scenarios where drones approach at high speeds, a delay of several minutes is sufficient for the target to breach the core protection zone. Furthermore, these systems often employ limited countermeasures, unable to flexibly select different levels of countermeasures such as decoys, jamming, or physical attacks based on the threat level, resulting in a dilemma of either "under-response" or "over-reaction."

[0005] 3. Centralized Point-Based Defense Systems. These systems centrally deploy detection and countermeasures equipment in key core areas, forming a "point-to-area" protection model. Their technical limitation lies in "single-point protection"—when the protected area is large or obstructed, single-point deployment inevitably creates blind spots. More importantly, these systems lack multi-node coordination capabilities; if a single device fails, a gap will appear in the protected area, making continuous, uninterrupted protection impossible. Furthermore, the centralized deployment model is highly dependent on communication links; the system loses its protective capability when communication is interrupted.

[0006] Therefore, the technical problems with the relevant technology are as follows: 1. In terms of protection time, most existing systems operate in a "manned" mode, with significantly reduced protection capabilities at night, on holidays, or in severe weather conditions, failing to achieve continuous 24 / 7 protection. Although some systems are labeled as operating 24 hours a day, they actually rely on staff shifts or continuous power supply to the equipment, making it difficult to maintain when energy resources are insufficient.

[0007] 2. In terms of response timeliness, existing systems generally suffer from a disconnect in the "detection-decision-countermeasure" chain. The human intervention process causes response delays of up to several minutes, while drones often only need tens of seconds to travel from the detection boundary to the core area, making it difficult to guarantee the success rate of interception.

[0008] 3. In terms of response capabilities, existing systems have limited response methods, either only soft-kill (interference and deception) or only hard-kill (laser / net capture). They cannot flexibly select tiered countermeasures based on the threat level of the intrusion target (such as distance, speed, and whether it is carrying suspicious objects), making it difficult to balance the defensive effect with the cost.

[0009] 4. In terms of system architecture, existing systems are mostly deployed independently at single points, lacking information sharing and collaborative linkage between defense devices, thus failing to form a regional collaborative defense network. Single point failures result in blind spots in protection, making it impossible to achieve relay tracking when targets move across regions. Summary of the Invention

[0010] The main objective of this invention is to provide an all-weather, low-altitude unmanned aerial vehicle (UAV) active defense method and system to address the shortcomings of related technologies.

[0011] To achieve the above objectives, according to a first aspect of the present invention, an all-weather active defense method for low-altitude unmanned aerial vehicles (UAVs) is provided, comprising: a preset defense node actively detecting the protected airspace and identifying the detected UAVs to determine whether they are intrusion targets; assessing the threat level of the intrusion targets based on specified characteristic information; determining corresponding countermeasures based on the threat assessment results; and, when a countermeasure is executed by a defense node, synchronizing the real-time specified characteristic information of the intrusion targets to neighboring nodes through a cooperative network. When the neighboring nodes receive the information, they adjust their scanning direction to form joint monitoring of the intrusion targets.

[0012] Optionally, when executing a countermeasure strategy, if the intrusion target crosses the node's protection boundary, the source node sends a target handover request to the target node; after the target node confirms receipt, it continues to track the intrusion target, and the source node releases its tracking resources.

[0013] Optionally, when executing a countermeasure strategy, if the countermeasure capability of a single node is insufficient to deal with the intrusion target, the adjacent nodes of that single node shall coordinate to synchronously implement countermeasures against the intrusion target.

[0014] Optionally, when the protection capability of a certain defense node decreases, adjacent nodes automatically expand their scanning range or adjust their detection angle to cover the protection area of ​​the faulty node.

[0015] Optionally, the method further includes: real-time monitoring of the operational status data of each defense node, reporting all status data to the central management and control server via a collaborative network to form a panoramic view of device health. Specifically, when a defense node detects an offline anomaly, it remotely restarts the defense node; if the restart fails, it is marked as faulty and adjacent defense nodes are notified to take over the protection tasks of the faulty node; when a defense node experiences a communication interruption, it automatically switches to a backup communication link to ensure uninterrupted connection between the node and the central management and control server; for power supply anomalies in defense nodes, it automatically switches to energy storage battery power and simultaneously starts backup power generation equipment to ensure continuous operation of the defense equipment; when the main power supply is restored, it automatically switches back; for decreased detection performance of defense nodes, it automatically performs a self-calibration process to adjust device parameters to the optimal state; if self-calibration is ineffective, it marks the device performance as degraded. According to a second aspect of the present invention, an all-weather low-altitude unmanned aerial vehicle (UAV) active defense system is provided, comprising a distributed defense node layer consisting of multiple defense nodes deployed in a core protection zone. Each defense node includes a detection module, a countermeasure module, and an intelligent control module. The detection module integrates multiple types of detection equipment, and the data detected by the multiple types of detection equipment undergoes spatiotemporal alignment and fusion processing to form unified information on the target. The countermeasure module integrates multi-level disposal equipment for gradient countermeasures against the target. The defense module performs threat level assessment based on specified characteristic information of the target and determines the corresponding countermeasure strategy based on the threat assessment results. An edge collaborative network layer consists of a communication network connecting each defense node, enabling information sharing and collaborative linkage among multiple nodes. Each defense node accesses the collaborative network through wired optical fiber or wireless private network, forming a decentralized mesh topology. A central control and decision-making layer aggregates the specified information reported by each defense node and constructs a real-time situation map of the low-altitude airspace using three-dimensional digital twin technology to intuitively display the location, trajectory, threat level, and operational status of all intruding targets and defense nodes.

[0016] Optionally, at the edge collaborative network layer, target information detected by any defense node is synchronized to adjacent nodes in real time through the collaborative network; when an intrusion target crosses the protection boundary of different nodes, the source node and the target node automatically complete the tracking handover; when the countermeasure capability of a single node is insufficient, adjacent nodes synchronously implement countermeasures to form crossfire; when a node causes a protection blind spot due to failure or obstruction, adjacent nodes automatically expand the scanning range to cover the protection area of ​​the faulty node.

[0017] Optionally, the central control and decision-making layer also includes a threat comprehensive assessment module, which, based on the already assessed threat level of the defense nodes, performs a secondary judgment on the intrusion targets to identify collaborative intrusion patterns.

[0018] Optionally, the central control and decision-making layer also includes an equipment status monitoring module to monitor specified parameter information of each defense node in real time.

[0019] This embodiment presents an all-weather active defense method and system for low-altitude unmanned aerial vehicles (UAVs). The method includes: pre-set defense nodes actively detecting the protected airspace and identifying detected UAVs to determine if they are intrusion targets; assessing the threat level based on specified characteristic information of the intrusion targets; determining corresponding countermeasures based on the threat assessment results; and, when a countermeasure is executed by a defense node, synchronizing the real-time specified characteristic information of the intrusion target to neighboring nodes through a collaborative network. Upon receiving the information, the neighboring nodes adjust their scanning direction to form joint surveillance of the intrusion target. Addressing the industry shortcomings of weak power supply in key energy areas, fragmented traditional low-altitude security detection and countermeasures, lack of collaborative linkage, ineffective protection in severe weather, and high risk of unauthorized UAV intrusion, this method relies on distributed node layered detection fusion, on-site graded analysis, multi-level gradient fully automatic countermeasures to shorten response time, eliminate blind spots in low-altitude protection across the entire region, and achieve unattended all-weather operation. This significantly improves the reliability of UAV intrusion interception and system stability in key energy areas, comprehensively strengthening the low-altitude security protection capabilities of critical national energy infrastructure. Attached Figure Description

[0020] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0021] Figure 1 This is a flowchart of the all-weather low-altitude unmanned aerial vehicle active defense method according to an embodiment of the present invention. Detailed Implementation

[0022] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0023] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of the invention described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0024] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0025] According to embodiments of the present invention, an all-weather active defense method for low-altitude unmanned aerial vehicles is provided, such as... Figure 1 As shown, steps 101 to 103 are included below: Step 101: The preset defense nodes actively detect the protected airspace and identify the detected drones to determine whether the drones are intrusion targets.

[0026] In this step, based on the geographical scope, protection level requirements, and distribution of important facilities in key energy areas, the number and location of defense nodes are planned to form a spatial layout of "double redundancy coverage of the core protection zone, single-point coverage of the key protection zone, and ring-shaped deployment of the surrounding warning zone".

[0027] Core protection zones (such as nuclear power plant reactors, oil storage tank areas, and natural gas spherical tanks) are equipped with dual-node redundant coverage, with the node spacing not exceeding 1 / 3 of the detection radius, ensuring that adjacent nodes can completely cover the protected area in the event of a failure of any node. Key protection zones (such as substation main transformers, control buildings, and fire protection facilities) are equipped with single-node coverage, with the node spacing not exceeding 1.5 times the detection radius, ensuring no blind spots. The surrounding warning zone (100-500 meters outside the perimeter wall) is equipped with nodes deployed along the perimeter, with the spacing between adjacent nodes not exceeding 1 times the detection radius, forming a ring-shaped protection zone.

[0028] Each defense node employs an overhead installation structure, supported on a concrete foundation or steel structure, with an installation height of 6-10 meters to ensure unobstructed line of sight for the detection equipment. The node structure includes an overhead platform, pitch and rotation motors (enabling 360° omnidirectional scanning), equipment cabinets (integrating detection, countermeasure, and control modules), and a lightning protection grounding system (ensuring equipment safety). Nodes are interconnected via wired fiber optic cables or a dedicated wireless network to form a collaborative defense network.

[0029] After the defense node is activated, the three types of equipment in the detection layer enter a 24 / 7 continuous scanning mode: the phased array radar uses a combination of 360° mechanical scanning and electronic scanning to conduct all-round detection of the airspace within a 5-kilometer radius, with a target update rate of no less than 1Hz, focusing on capturing low, slow, and small targets (UAVs, birds, etc.); the radio detection equipment scans the airspace within a 3-kilometer radius across the entire frequency band, identifies UAV remote control signals and image transmission signals through signal characteristics, and can automatically determine the UAV model; the electro-optical tracker is in a standby pointing state, waiting for guidance signals from radar or radio detection.

[0030] When radar or radio detection equipment detects a suspected target, multi-source data fusion processing is first performed: radar echo data and radio detection data are spatiotemporally aligned, and a multi-source information fusion decision-making mechanism is used to determine whether the target is a drone (excluding false alarms from birds, balloons, etc.). For confirmed drone targets, their position, speed, heading, model, and other characteristic information are extracted.

[0031] The next step is identity verification. The drone's identity information is read via RFID or ADS-B signals and compared with a pre-set whitelist (list of authorized aircraft). If the drone is registered in the whitelist, it is marked as a "legitimate target" and allowed to pass without triggering countermeasures. If it is not in the whitelist, it is marked as an "intrusion target," and the target information is pushed to the intelligent control layer for threat assessment. At the same time, the electro-optical tracker automatically points to the target and begins continuous tracking and image forensics.

[0032] Step 102: Conduct a threat level assessment based on the specified characteristic information of the intrusion target; determine the corresponding countermeasures based on the results of the threat assessment.

[0033] In this step, upon receiving information about the intrusion target, a threat assessment is first performed. The threat assessment model comprehensively considers the following factors: the distance between the target and the core protection zone (the closer, the higher the threat), the target speed (high-speed approach, high threat), the target type (commercial drones pose a medium threat, modified or mounted aircraft pose a high threat), the flight trajectory (directly heading towards the core zone, high threat), and historical behavior (previously intruding into a no-fly zone, high threat). Based on these factors, the model calculates the threat level in real time, classifying it into four levels: low threat, medium threat, high threat, and extremely high threat.

[0034] Threat level assessment is not a simple threshold judgment of "the closer the distance, the higher the threat," but a multi-level assessment model that integrates multiple dimensions of characteristics: 1. Multi-dimensional feature fusion: It considers five dimensions simultaneously, including the distance between the target and the core protection zone, the target speed, the target type (commercial drone / modified aircraft / attached aircraft), the flight trajectory (whether it is directly facing the core zone), and the historical behavior (whether it has ever entered the no-fly zone), rather than judging based on a single dimension.

[0035] 2. Four-level threat classification: Threat levels are divided into four levels: low threat, medium threat, high threat, and extremely high threat (Level 1: navigation deception countermeasures; Level 2: directed jamming countermeasures; Level 3: high-energy laser countermeasures; Level 4: joint countermeasures). The correspondence between threat levels and countermeasure strategies is as follows: low threat corresponds to Level 1 navigation deception countermeasures, medium threat corresponds to Level 2 directed jamming countermeasures, high threat corresponds to Level 3 high-energy laser countermeasures, and extremely high threat corresponds to Level 4 joint countermeasures). Each level has a clear quantitative boundary and a corresponding countermeasure strategy mapping.

[0036] 3. Real-time edge computing: Threat assessment is completed in real time on the edge AI processing unit of the defense node without the need to transmit back to the center, and the assessment latency is less than 100 milliseconds.

[0037] For example, performing a threat level assessment based on specified characteristic information of the intrusion target includes performing a threat level assessment based on specified characteristic information of the intrusion target, and the threat level assessment includes: The system acquires distance parameters between the intrusion target and the core protection zone, flight speed and heading parameters, type identification results, information on whether the target is carrying suspicious objects, and historical behavior records. Based on these parameters, the system calculates the threat value and classifies the threat level into low threat, medium threat, high threat, and extremely high threat according to the preset four-level classification threshold.

[0038] The comprehensive calculation adopts a weighted scoring model, in which the distance parameter has the highest weight, followed by the speed parameter, and the type identification result and whether suspicious objects are attached are used as correction factors.

[0039] Based on the threat level, select the corresponding countermeasure: For low-threat targets (located in the restricted area, moving slowly, and not directly facing the core area), execute Level 1 action—navigation deception. The system transmits false GPS signals in the target's direction, inducing the drone to fly away from the no-fly zone. This approach is flexible and non-destructive, suitable for driving away stray aircraft.

[0040] For medium-threat targets (approaching the protected area at a moderate speed), a second-level response—directional jamming—is implemented. The system directionally suppresses the drone's remote control and image transmission frequencies, severing its communication link with the pilot and forcing the target to automatically return to base or make an emergency landing. This approach is effective against drones that intentionally intrude but are not carrying offensive payloads.

[0041] For high-threat targets (intrude into the core area, approach at high speed), a three-level response is initiated—high-energy laser strike. The electro-optical tracker continuously locks onto the target, and the high-energy laser system automatically points at the target based on the tracking data, emitting a high-energy laser beam for continuous irradiation until the target is destroyed or loses its flight capability. This response method is suitable for scenarios with a high level of threat that require immediate interception.

[0042] For high-threat targets (carrying suspicious objects, maliciously ramming), a four-level joint response is implemented—simultaneously combining laser, jamming, and physical interception. Multiple countermeasures are used in coordination to ensure a high interception success rate.

[0043] After the countermeasures are executed, the verification phase begins: the electro-optical tracker continuously tracks the target to confirm that it has been driven away, forced to land, or destroyed. If the target still poses a threat, the response measures are automatically escalated (e.g., from jamming to laser) until the threat is eliminated. The entire process requires no human intervention, and the closed-loop time from detection to countermeasure completion is controlled within 10 seconds.

[0044] Step 103: After the countermeasure strategy is executed by a certain defense node, the real-time specified feature information of the intrusion target is synchronized to the neighboring nodes in real time through the cooperative network. When the neighboring nodes receive the information, they adjust the scanning direction to form joint monitoring of the intrusion target.

[0045] In this step, adjacent nodes refer to defense nodes that are adjacent to the current defense node in the spatial protection area and whose detection range overlaps with that node's coverage area. The specific criteria are: the distance between the two nodes is less than or equal to 1.2 times the sum of their respective detection radii, and there is a direct network connection with an established communication link between the two nodes. The set of adjacent nodes constitutes the current node's cooperative defense neighbor list, which is dynamically maintained and updated through periodic heartbeat messages.

[0046] When a defense node detects an intrusion target and initiates countermeasures, it synchronizes the target information (location, speed, heading, threat level, and response status) to neighboring nodes in real time via a cooperative network. Upon receiving the information, neighboring nodes update their local situational awareness maps and can adjust their scanning direction as needed, forming a joint surveillance network of the target.

[0047] As an optional implementation of this embodiment, when executing the countermeasure strategy, when the intrusion target crosses the node protection boundary, the source node sends a target handover request to the target node; after the target node confirms receipt, it continues to track the intrusion target, and the source node releases the tracking resources.

[0048] In this optional implementation, when an intrusion target crosses a node's protection boundary (e.g., flies from the jurisdiction of node A into the jurisdiction of node B), the system automatically executes a relay tracking process: Node A sends a target handover request to node B, carrying the target's current status and tracking parameters; after node B confirms receipt, it establishes continuous tracking of the target, and node A releases its tracking resources. The handover process is completed seamlessly, ensuring that the target is always under the monitoring of at least one node, with no tracking blind spots.

[0049] The target handover process between the source node and the target node, through the following technical solutions to address the handover difficulties, includes the following specific implementation methods: (1) Coordinate System 1: All defense nodes are uniformly timed and calibrated using BeiDou / GPS during deployment to ensure that the spatial coordinate system and time base of each node are consistent, and the error is controlled within the centimeter and millisecond levels.

[0050] (2) Handover triggering conditions: When the distance between the intrusion target and the protection boundary of the source node is less than a specified percentage of the detection radius of the source node, such as 10%, and the target's heading is towards the area under the jurisdiction of the target node, the handover process is automatically triggered to ensure that the handover preparation is completed before the target crosses the boundary.

[0051] (3) Handover information encapsulation: The handover request sent by the source node to the target node shall contain at least the following information: the target’s current three-dimensional coordinates (longitude, latitude, altitude), velocity vector, heading angle, threat level, target type, and the target feature template currently locked by the photoelectric tracker (for rapid re-identification of the target node).

[0052] (4) Dual-mode tracking transition: From the time the source node sends the handover request to the time the target node confirms receipt, the source node maintains continuous tracking of the target, while the target node has started scanning the handover interface area. After the handover is confirmed, the target node enters the active tracking state, and the source node releases the tracking resources only after confirming that the target node has been tracking stably (for more than 3 update cycles), ensuring that there is no tracking interruption during the handover process.

[0053] As an optional implementation of this embodiment, when executing the countermeasure strategy, if the countermeasure capability of a single node is insufficient to deal with the intrusion target, the adjacent nodes of the single node shall coordinate to synchronously implement countermeasures against the intrusion target.

[0054] In this optional implementation, when a single node's strike capability is insufficient to deal with the target (e.g., the target is highly mobile or the laser power is insufficient to destroy it), the cooperative network activates a cooperative strike mechanism: adjacent nodes simultaneously carry out jamming or laser strikes against the target, forming crossfire and improving the interception success rate. The cooperative strike is uniformly coordinated by the central control platform, and each node executes according to the preset timing and parameters to avoid mutual interference.

[0055] A multi-node collaborative countermeasure mechanism addresses the technical challenges of collaborative countermeasures through the following technical solutions: (1) Insufficient capability determination mechanism: A single node is deemed to have insufficient countermeasure capability to deal with an intruding target when any of the following conditions are met: (a) The target is not destroyed or loses its flight capability after the laser countermeasure device of the node has been continuously illuminating the target for more than 3 seconds; (b) The directional jamming device of the node has been working continuously for 5 seconds, the target remote control signal strength attenuation is less than 20dB, and the target's heading has not changed; (c) The target's flight angular velocity exceeds the maximum tracking angular velocity of the optoelectronic tracker of the node, resulting in the inability to continuously lock onto the target. The above determination conditions are calculated in real time by the edge AI processing unit without human intervention.

[0056] (2) Countermeasure Resource Coordination Mechanism: When it is determined that multi-node coordinated countermeasure is required, the initiating node (i.e., the node that first discovers the target's insufficient capabilities) broadcasts a coordinated countermeasure request to neighboring nodes through the coordinated network. Neighboring nodes reply with available countermeasure resources (laser available, jamming available, etc.) within 100 milliseconds after receiving the request. The initiating node acts as a temporary coordinator, allocating countermeasure tasks according to the available resources of each node: laser equipment is allocated to nodes with high aiming accuracy, and jamming equipment is allocated to nodes closest to the target.

[0057] (3) Counter-interference and conflict avoidance: To avoid mutual interference caused by multiple nodes simultaneously transmitting interference signals in the same frequency band, the system adopts a frequency division or time division strategy—the interference equipment of each node is assigned different sub-frequency bands, or they are transmitted alternately according to a preset time slice. For laser strikes, each node is assigned according to the target azimuth angle to ensure that the laser beams point in different directions and avoid the risk of crossover.

[0058] (4) Centralized coordination: When multiple nodes cannot reach a consensus through distributed negotiation (such as receiving conflicting collaboration requests), the central management platform will intervene to arbitrate and uniformly allocate countermeasures tasks according to the overall situation.

[0059] As an optional implementation of this embodiment, when the protection capability of a certain defense node decreases, adjacent nodes automatically expand the scanning range or adjust the detection angle to cover the protection area of ​​the faulty node.

[0060] In this optional implementation, when a node's protection capability decreases due to a fault, obstruction, or communication interruption, adjacent nodes automatically activate a blind zone complementarity mechanism—expanding the scanning range or adjusting the detection angle to cover the protected area of ​​the faulty node, ensuring no protection gap. After the faulty node recovers, it automatically reverts to the original protection configuration.

[0061] As an optional implementation of this embodiment, the method further includes: real-time monitoring of the operational status data of each defense node, reporting all status data to the central management and control server via a collaborative network to form a panoramic view of device health. Specifically, when a defense node detects an offline anomaly, it remotely restarts the defense node; if the restart fails, it is marked as faulty and adjacent defense nodes are notified to take over the protection tasks of the faulty node; when a defense node experiences a communication interruption, it automatically switches to a backup communication link to ensure uninterrupted connection between the node and the central management and control server; for defense node power supply anomalies, it automatically switches to energy storage battery power and simultaneously starts backup power generation equipment to ensure continuous operation of the defense equipment; when the main power supply is restored, it automatically switches back; for defense node detection performance degradation, it automatically executes a self-calibration process to adjust device parameters to the optimal state; if self-calibration is ineffective, it marks the device performance as degraded.

[0062] In this optional implementation, the operational status of each defense node is monitored in real time, including key indicators such as: device online status, CPU / memory utilization, communication link quality and latency, power supply voltage and current, energy storage battery SOC, detection device signal strength, and countermeasure device transmission power. All status data is reported to the central control platform via a collaborative network, forming a comprehensive view of device health.

[0063] When an anomaly is detected, the system automatically triggers a self-healing process: for device offline anomalies, the system first attempts to remotely restart the device; if the restart fails, it is marked as a fault state and adjacent nodes are notified to start the blind zone complementarity mechanism to take over the protection tasks of the faulty node; at the same time, a fault alarm is generated and pushed to the operation and maintenance personnel to guide on-site repair.

[0064] In the event of a communication interruption, the system automatically switches to a backup communication link (such as switching from fiber optic to a 4G / 5G wireless network) to ensure uninterrupted connection between the node and the control platform.

[0065] In the event of a power outage, the intelligent energy management module automatically switches to battery power and simultaneously activates backup power generation equipment to ensure continuous operation of the defense equipment. It automatically switches back to battery power once the main power supply is restored.

[0066] If the detection performance deteriorates abnormally (such as radar signal attenuation or photoelectric image blurring), the system will automatically perform a self-calibration process to adjust the equipment parameters to the optimal state; if the self-calibration is ineffective, the system will mark the equipment performance as degraded and notify the maintenance department.

[0067] Through the aforementioned intelligent operation and maintenance and self-healing mechanisms, the system has achieved an "unattended, automatic recovery" operating mode, which greatly reduces the cost of manual inspection and maintenance, while ensuring the continuity and reliability of defense.

[0068] Furthermore, before defense is implemented at the defense nodes, the deployment of multi-energy complementary power generation systems should be completed based on the geographical location and natural resource conditions of key energy areas. For areas rich in wind resources (such as wind farms and coastal oil reserves), small wind turbine generators (5-20kW rated power per unit) should be deployed; for areas with sufficient sunlight (such as photovoltaic power stations and nuclear power plants), photovoltaic panels (10-30kW installed capacity) should be deployed; for key areas possessing both types of resources, simultaneous deployment should be implemented to achieve complementary resource utilization. The aforementioned power generation equipment is connected to an energy storage battery system (50-200kWh capacity, using lithium iron phosphate batteries) to form an integrated microgrid architecture of "generation-storage-use".

[0069] During operation, the intelligent energy management module continuously executes the energy dispatch algorithm: first, it monitors three core parameters: wind power generation, photovoltaic power generation, and the SOC (state of charge) of the energy storage battery; then, according to the preset dispatch strategy—prioritizing direct power supply from renewable energy sources, with excess energy stored in the energy storage battery; when renewable energy generation is insufficient, the energy storage battery supplements the power supply; when the energy storage battery SOC falls below 20% and renewable energy is still insufficient, it automatically switches to grid backup (if available) or starts a diesel generator for emergency power supply. Through the above dynamic dispatch, the system can provide a continuous and stable power supply for defense equipment under any weather conditions, achieving 24 / 7 uninterrupted operation.

[0070] It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases the steps shown or described may be executed in a different order than that shown here.

[0071] According to embodiments of the present invention, an all-weather low-altitude unmanned aerial vehicle (UAV) active defense system is also provided, comprising a distributed defense node layer consisting of multiple defense nodes deployed in a core protection zone. Each defense node includes a detection module, a countermeasure module, and an intelligent control module. The detection module integrates multiple types of detection equipment, and the data detected by the multiple types of detection equipment undergoes spatiotemporal alignment and fusion processing to form unified information on the target. The countermeasure module integrates multi-level disposal equipment for gradient countermeasures against the target. The defense module performs threat level assessment based on the specified characteristic information of the target and determines the corresponding countermeasure strategy based on the threat assessment results. An edge collaborative network layer consists of a communication network connecting each defense node, enabling information sharing and collaborative linkage among multiple nodes. Each defense node accesses the collaborative network through wired fiber optic or wireless private network, forming a decentralized mesh topology. A central control and decision-making layer aggregates the specified information reported by each defense node and constructs a real-time situation map of the low-altitude airspace using three-dimensional digital twin technology to intuitively display the location, trajectory, threat level, and operational status of all intruding targets and defense nodes.

[0072] In this embodiment, it consists of multiple defense nodes deployed in the core protection zone and surrounding warning zones of key energy areas. Each defense node adopts an overhead installation structure (6-10 meters high) to ensure unobstructed view of the detection equipment, and integrates three major functional modules: detection layer, countermeasure layer, and intelligent control layer.

[0073] The detection layer integrates three types of detection equipment: first, an X-band phased array radar with a detection radius of 5 kilometers, employing a combination of mechanical and electronic scanning to achieve continuous, all-around detection of low-speed, small targets (drones, birds, etc.), with a target update rate of no less than 1 Hz; second, radio detection equipment with a detection radius of 3 kilometers, which identifies drone remote control and image transmission signals through full-band scanning and can automatically determine the drone model; and third, an electro-optical tracker with a tracking radius of 3 kilometers, integrating a visible light camera and an infrared thermal imager, which automatically points to the target under radar or radio detection guidance to achieve target locking, tracking, and image evidence collection. Data from these three types of detection equipment undergoes spatiotemporal alignment and fusion processing within the node to form unified situational information on intruding targets.

[0074] The countermeasures layer integrates four levels of response equipment, forming a tiered countermeasure capability: Level 1 is a navigation decoy device (effective range 3 km), which induces the drone to veer away from the no-fly zone by emitting false GPS signals; Level 2 is a directional jamming device (effective range 2 km), which suppresses the drone's remote control and image transmission frequencies, forcing the target to return or make an emergency landing; Level 3 is a high-energy laser system (effective range 1 km), which continuously illuminates the target with a high-energy laser beam to achieve precise strike and destruction; Level 4 is a physical capture device (backup), used for target capture in special scenarios. These four levels of response measures can be automatically selected or combined according to the threat level, achieving full-gradient coverage from "soft deterrence" to "hard destruction".

[0075] The intelligent control layer is the "brain" of the defense nodes. It employs an edge AI processing unit responsible for functions such as multi-source data fusion, threat level assessment, countermeasure strategy generation, and device status self-checking. This layer uses a built-in threat assessment model to comprehensively consider characteristics such as the target's distance, speed, type, heading, and whether it is carrying suspicious objects to calculate the threat level (low / medium / high / extremely high) in real time. It then automatically invokes corresponding countermeasures according to preset strategies, achieving a fully automated closed loop from detection to countermeasures without human intervention.

[0076] As an optional implementation in this embodiment, at the edge collaborative network layer, the target information detected by any defense node is synchronized to adjacent nodes in real time through the collaborative network; when the intrusion target crosses the protection boundary of different nodes, the source node and the target node automatically complete the tracking handover; when the countermeasure capability of a single node is insufficient, adjacent nodes synchronously implement countermeasures to form crossfire; when a node causes a protection blind spot due to failure or obstruction, adjacent nodes automatically expand the scanning range to cover the protection area of ​​the faulty node.

[0077] In this optional implementation, the layer consists of a high-speed communication network connecting the various defense nodes, enabling information sharing and collaborative operation among multiple nodes. Each defense node accesses the collaborative network via wired fiber optic cable or a dedicated wireless network, forming a decentralized mesh topology.

[0078] The collaborative network supports three core collaborative mechanisms: First, an information sharing mechanism, where target information (location, speed, heading, threat level) detected by any node is synchronized in real time to neighboring nodes, ensuring all nodes have a comprehensive situational awareness; second, a relay tracking mechanism, where when an intruding target crosses the protection boundaries of different nodes, the source node and the target node automatically complete tracking handover to ensure continuous target locking; and third, a collaborative strike mechanism, where when a single node's strike capability is insufficient (e.g., the target is highly mobile or the laser power is insufficient to destroy it), neighboring nodes can simultaneously implement jamming or laser strikes, forming crossfire and improving the interception success rate. Furthermore, the collaborative network also possesses blind zone complementarity capabilities—when a node experiences a protection blind zone due to failure or obstruction, neighboring nodes automatically expand their scanning range to cover the faulty node's protected area, ensuring no protection gaps.

[0079] As an optional implementation in this embodiment, the central control and decision-making layer also includes a threat comprehensive assessment module, which performs secondary discrimination on the intrusion target based on the already assessed threat level of the defense node, in order to identify the collaborative intrusion pattern.

[0080] As an optional implementation in this embodiment, the central control and decision-making layer also includes a device status monitoring module to monitor the specified parameter information of each defense node in real time.

[0081] In the aforementioned optional implementation methods, the central control and decision-making layer is deployed in the monitoring center of the energy hub, responsible for functions such as global situation visualization, comprehensive threat assessment, countermeasure plan generation, equipment status monitoring, data archiving, and post-mortem analysis. The central control platform aggregates target information and equipment status data reported by each defense node, constructing a real-time situation map of the low-altitude airspace of the hub using 3D digital twin technology. This visually displays the location, trajectory, threat level, and operational status of all intrusion targets, as well as the defense nodes. The platform's built-in threat assessment module, based on node-level assessments, performs a secondary analysis of intrusion targets from a global perspective, identifying possible coordinated intrusion patterns (such as simultaneous intrusions from multiple directions). The countermeasure plan generation module automatically generates optimized countermeasure strategies based on the global situation and can distribute them to relevant defense nodes for execution. The equipment status monitoring module monitors the online status, communication link quality, power supply voltage, and energy storage SOC of each node in real time, automatically triggering fault alarms and self-healing processes when anomalies are detected. The data archiving and post-mortem analysis module records complete data on all intrusion events and countermeasure operations, supporting post-event traceability and system parameter optimization.

[0082] Furthermore, related technologies rely on fixed defense systems powered by external sources. These systems require continuous access to mains power or diesel generators to operate, and their core problem lies in "energy dependence"—for remote energy hubs such as wind farms, photovoltaic power stations, and oil reserves, mains power access is difficult or its reliability is insufficient, while diesel generators require regular refueling and maintenance, making true 24 / 7 continuous protection impossible. In the event of grid failure or fuel depletion, the defense system will be paralyzed. From an energy security perspective, existing systems are highly dependent on mains power or fuel, making it difficult to achieve long-term stable energy self-sufficiency in remote energy hubs with weak grids or high power supply costs, becoming a fundamental bottleneck restricting 24 / 7 continuous protection.

[0083] This system also includes a multi-energy complementary self-powered layer, located at the bottom of the system, responsible for providing continuous, stable, and self-sufficient power to the entire defense system. Its core design philosophy is to fully utilize the natural resources of key energy areas to construct a multi-energy complementary power supply system integrating wind, solar, and energy storage.

[0084] Specifically, for key locations with abundant wind resources, such as wind farms and coastal oil reserves, small wind turbines are deployed to convert wind energy into electricity. For key locations with ample sunlight, such as photovoltaic power plants and nuclear power plants, photovoltaic panels are deployed to convert solar energy into electricity. For key locations with both wind and sunlight, both types of power generation equipment are deployed simultaneously to achieve resource complementarity. The aforementioned renewable energy power generation equipment is connected to an intelligent energy management module. This module monitors wind power generation, photovoltaic power generation, and the remaining state of charge (SOC) of energy storage batteries in real time. It dynamically allocates power flow through optimized scheduling algorithms: prioritizing the use of renewable energy to directly power defense equipment, with excess energy stored in energy storage batteries; supplementing power from energy storage batteries when renewable energy generation is insufficient; and automatically switching to grid backup (if available) or starting an emergency diesel generator when the energy storage battery level falls below a safety threshold. Through this multi-energy complementarity and intelligent scheduling, the system can achieve uninterrupted power supply under any weather conditions, with a power supply reliability exceeding 99.9%, fundamentally solving the power supply problem in remote energy-rich areas.

[0085] The four-layer architecture forms a complete technology chain of "energy self-sufficiency → node execution → network collaboration → central control". The layers are loosely coupled and highly cohesive, which not only ensures the modularity and scalability of the system, but also realizes end-to-end closed-loop control from energy security to countermeasure execution.

[0086] The above description is merely an embodiment of this application and is not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. An all-weather low-altitude unmanned aerial vehicle active defense method, characterized in that, include: The preset defense nodes actively detect the protected airspace and identify the drones detected to determine whether the drones are intrusion targets; Threat level assessment is performed based on specified characteristic information of the intrusion target; corresponding multi-level countermeasures are determined based on the results of the threat assessment. Once a countermeasure strategy is executed by a defense node, the real-time specified characteristic information of the intrusion target is synchronized to neighboring nodes through a collaborative network. When the neighboring nodes receive the information, they adjust their scanning direction to form joint monitoring of the intrusion target.

2. The method of claim 1, wherein, When executing a countermeasure strategy, if an intrusion target crosses a node's protection boundary, the source node sends a target handover request to the target node; after the target node confirms receipt, it continues to track the intrusion target, and the source node releases its tracking resources.

3. The method of claim 2, wherein, When executing a countermeasure strategy, if the countermeasure capability of a single node is insufficient to deal with the intrusion target, the adjacent nodes of that single node will coordinate to simultaneously carry out countermeasures against the intrusion target.

4. The all-weather low-altitude UAV active defense method according to claim 3, wherein, When the protection capability of a certain defense node decreases, adjacent nodes automatically expand their scanning range or adjust their detection angle to cover the protection area of ​​the faulty node.

5. The method of claim 1, wherein, The method also includes: The system monitors the operational status data of each defense node in real time and reports all status data to the central management and control server through the collaborative network to form a panoramic view of device health. When a defense node detects an offline anomaly, it performs a remote restart. If the restart fails, it is marked as a fault and the adjacent defense nodes are notified to take over the protection tasks of the faulty node. When the communication of the defense node is interrupted, it will automatically switch to the backup communication link to ensure that the connection between the node and the central management and control server is not interrupted. In the event of a power outage at a defense node, the system automatically switches to energy storage battery power and simultaneously activates backup power generation equipment to ensure continuous operation of the defense equipment; once the main power supply is restored, it automatically switches back. If the detection performance of the defense node deteriorates, an automatic self-calibration process is executed to adjust the equipment parameters to the optimal state; if the self-calibration is ineffective, the equipment performance is marked as degraded.

6. An all-weather low-altitude UAV active defense system, characterized in that, include: The distributed defense node layer consists of multiple defense nodes deployed in the core protection zone. Each defense node includes a detection module, a countermeasure module, and an intelligent control module. The detection module integrates various types of detection equipment, and the data detected by the detection equipment is spatiotemporally aligned and fused to form unified information on the target. The countermeasure module integrates multi-level response equipment for tiered countermeasures against the target. The defense module performs threat level assessment based on the target's specified characteristic information and determines the corresponding countermeasure strategy based on the threat assessment results. The edge collaborative network layer consists of a communication network connecting various defense nodes, enabling information sharing and collaborative linkage among multiple nodes. Each defense node accesses the collaborative network through wired fiber optic or wireless private network to form a decentralized mesh topology. The central control and decision-making layer gathers designated information reported by various defense nodes and constructs a real-time situation map of the low-altitude airspace through three-dimensional digital twin technology to display the location, trajectory, threat level, and operational status of all intrusion targets and defense nodes.

7. The all-weather low-altitude unmanned aerial vehicle active defense system according to claim 6, characterized in that, At the edge collaborative network layer, target information detected by any defense node is synchronized to neighboring nodes in real time through the collaborative network. This synchronization includes the real-time synchronization of the target information detected by any defense node to neighboring nodes after a countermeasure strategy is executed by a defense node. The real-time specified feature information of the intrusion target is then synchronized to neighboring nodes through the collaborative network. When the neighboring nodes receive the information, they adjust their scanning direction to form joint monitoring of the intrusion target.

8. The all-weather low-altitude UAV active defense system according to claim 6, characterized in that, When an intrusion target crosses the protection boundaries of different nodes, the source node and the target node in the node will automatically complete the tracking handover; when the countermeasure capability of a single node is insufficient, adjacent nodes will implement countermeasures simultaneously to form crossfire; when a node causes a protection blind spot due to failure or obstruction, adjacent nodes will automatically expand the scanning range to cover the protection area of ​​the faulty node.

9. The all-weather low-altitude UAV active defense system according to claim 6, characterized in that, The central control and decision-making layer also includes a threat comprehensive assessment module, which, based on the already assessed threat level of the defense nodes, performs a secondary judgment on the intrusion targets to identify collaborative intrusion patterns.

10. The all-weather low-altitude UAV active defense system according to claim 6, characterized in that, The central control and decision-making layer also includes an equipment status monitoring module, which monitors the specified parameter information of each defense node in real time.

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