A low-altitude unmanned aerial vehicle defense method, device, equipment and medium for a power grid

Abstract

The application discloses a power grid-oriented low-altitude unmanned aerial vehicle defense method, device, equipment and medium, and belongs to the field of power systems. The method is as follows: first, multi-dimensional information of a target unmanned aerial vehicle is acquired, including a current position, a list type, flight path deviation information, a real-time flight speed, a continuous stay duration and a shortest distance to a prohibited circle; then, attribute threat items are determined according to the list and the flight path information, behavior threat items are determined according to the speed and the stay duration, and airspace proximity threat items are determined according to the shortest distance; then, a dynamic threat evaluation vector is constructed by comprehensively considering the three items, and the radii of the warning circle, the defense circle and the prohibited circle are dynamically adjusted according to the dynamic threat evaluation vector, so that a final circle layer matched with a current threat level is obtained; finally, corresponding graded countermeasures are determined and executed according to the position of the target in the final circle layer. Therefore, by implementing the application, the problem that the defense precision of low-altitude unmanned aerial vehicles is not high in the prior art can be solved.

Description

Technical Field

[0001] This invention relates to the field of power systems, and more particularly to a method, apparatus, equipment, and medium for defending against low-altitude unmanned aerial vehicles (UAVs) for power grids. Background Technology

[0002] As a critical infrastructure, the power grid, with its core nodes such as substations, high-voltage transmission lines, and dispatch centers, is characterized by its wide distribution, high exposure, and complex electromagnetic environment. In recent years, with the popularization of drone technology, the threat of "black flight" drones targeting the power grid has become increasingly prominent. Therefore, building a precise and efficient low-altitude drone defense system for the power grid has become an urgent need to ensure energy security and stable power supply.

[0003] Current power grid low-altitude drone defense technologies primarily rely on single detection methods and fixed countermeasures, resulting in significant shortcomings in accuracy. In threat assessment, existing methods often only classify targets based on distance or speed, lacking a multi-dimensional comprehensive analysis of drone identity, behavioral intent, and spatial location. This leads to high false alarm rates and an inability to accurately distinguish between legitimate inspection drones and malicious intrusion targets. In countermeasure decision-making, existing systems generally employ fixed-radius defense layers and preset countermeasures; these fixed layers cannot dynamically adjust their defense range according to threat levels. In summary, the deficiencies in assessment accuracy of existing technologies prevent the achievement of precise defense against low-altitude threats to the power grid. Summary of the Invention

[0004] This invention provides a method, apparatus, equipment, and medium for low-altitude drone defense oriented towards power grids, which can solve the problem of low accuracy in existing low-altitude drone defense technologies.

[0005] In a first aspect, embodiments of the present invention provide a method for defending against low-altitude unmanned aerial vehicles (UAVs) oriented towards power grids, wherein the power grid includes an initial warning zone, an initial defense zone, and an initial prohibition zone, and the defense method includes: Obtain the target drone's current location, list type, flight path deviation information, real-time flight speed, duration of continuous stay, and the shortest distance from the target drone to the initial prohibition zone; The target drone's attribute threat items are determined based on the flight path deviation information and the list type, the target drone's behavioral threat items are determined based on the real-time flight speed and the duration of continuous stay, and the target drone's airspace approach threat items are determined based on the shortest distance. Based on the attribute threat item, the behavioral threat item, and the airspace proximity threat item, a dynamic threat assessment vector of the target UAV to the power grid is obtained. The radii of the initial warning circle, the initial defense circle, and the initial prohibition circle of the power grid are adjusted sequentially according to the dynamic threat assessment vector to obtain a target warning circle, a target defense circle, and a target prohibition circle for hierarchical countermeasures. Based on the target warning circle, the target defense circle, and the target prohibition circle, determine the area of ​​each circle, and determine whether the current position is located in each of the circle areas to obtain the determination result; Based on the judgment result, a tiered countermeasure strategy is determined, and the target drone is defended according to the tiered countermeasure strategy.

[0006] This application embodiment achieves full-dimensional threat perception from identity attributes, behavioral intent, and spatial location by acquiring the target UAV's current location, list type, flight path deviation information, real-time flight speed, continuous dwell time, and shortest distance to the initial prohibition zone, overcoming the target misjudgment problem caused by traditional single data sources. Based on this, attribute threat items, behavioral threat items, and airspace proximity threat items are determined respectively, thereby constructing a dynamic threat assessment vector. This allows the system to quantify the comprehensive threat level of the target, providing a precise decision-making basis for subsequent differentiated responses. Furthermore, the initial warning is based on this dynamic threat assessment vector. The radii of the initial warning circle, initial defense circle, and initial prohibition circle are adjusted sequentially to obtain the target warning circle, target defense circle, and target prohibition circle for tiered countermeasures. This breaks the rigid pattern of traditional fixed circles and achieves dynamic matching between the defense range and the real-time threat level. This avoids over-defense or under-response in the core area and optimizes the spatial allocation of defense resources. Subsequently, the regions of each circle are determined based on the final circle, and the specific circle in which the target's current position is located is determined, transforming the abstract spatial range into a clear physical area, giving the triggering of the countermeasure strategy a clear spatial boundary. Finally, the tiered countermeasure strategy is determined and executed based on the judgment results. In summary, this application effectively solves the problem of low accuracy in low-altitude UAV defense in existing technologies.

[0007] As a preferred example of the first aspect, determining the attribute threat item of the target UAV based on the flight path deviation information and the list type includes: The route deviation judgment result is determined based on the route deviation information; If the list type is a whitelist and the flight path deviation result is no deviation from the flight path, then the value of the threat attribute of the target drone is set to the first preset value. If the list type is a whitelist and the flight path deviation result is a flight path deviation, then the attribute threat item of the target drone is determined based on the flight path deviation information and the preset whitelist drone basic threat weight; If the list type is a blacklist, the attribute threat item of the target drone is determined according to the preset blacklist drone basic threat weight.

[0008] In this preferred example, by distinguishing between whitelists and blacklists and setting different threat item assignment rules, differentiated processing of trusted and risky targets is achieved: whitelisted targets that have not deviated from their flight path are directly assigned low values, reducing unnecessary computational resource consumption; when deviations occur within the whitelist, the weights are dynamically adjusted based on the deviation information to accurately identify "anomalies within trusted targets"; the blacklist directly uses preset weights to ensure rapid response to high-risk targets. This three-layer judgment logic significantly improves the efficiency and scenario adaptability of UAV threat assessment while ensuring assessment accuracy.

[0009] As a preferred example of the first aspect, determining the behavioral threat item of the target UAV based on the real-time flight speed and the duration of continuous stay includes: Based on the real-time flight speed, the preset airspace speed limit threshold, and the preset maximum design speed of the target, the target speed threat factor of the target UAV is obtained, and based on the continuous dwell time, the sensitive area loitering threat factor of the target UAV is obtained. The target speed threat factor and the sensitive area loitering threat factor are added together to obtain the behavioral threat item of the target UAV.

[0010] In this preferred example, firstly, dynamic matching combining real-time flight speed and dual speed thresholds can identify speeding or abnormal speed behavior, avoiding misjudgments based on a single threshold. Secondly, a loitering threat factor is generated based on the duration of continuous loitering, accurately capturing potential unauthorized loitering behavior in sensitive areas. By adding and fusing these two types of factors, both abnormal motion states and spatial behavior are considered, constructing a multi-dimensional behavioral threat determination mechanism that significantly improves the comprehensiveness and accuracy of UAV threat identification.

[0011] As a preferred example of the first aspect, determining the airspace approach threat item of the target UAV based on the shortest distance includes: Based on the ratio between the shortest distance and the preset distance attenuation coefficient, the distance influence factor is determined, and based on the preset exponential function model, the distance influence factor is nonlinearly transformed to obtain the spatial attenuation factor. The airspace proximity threat term of the target UAV is obtained by multiplying the preset maximum threat gain coefficient with the spatial attenuation factor.

[0012] In this preferred example, a linear mapping benchmark between distance and threat intensity is established based on the ratio of the shortest distance to the attenuation coefficient. Then, an exponential function is introduced for nonlinear transformation to simulate the actual physical characteristic that the threat increases exponentially with decreasing distance, solving the problem that linear models cannot reflect abrupt changes at close range. Finally, the maximum threat gain is multiplied by the spatial attenuation factor to achieve dynamic scaling and normalization of the threat amplitude. This mechanism retains low sensitivity at long distances while quickly highlighting the threat level when a UAV approaches, significantly improving the scientific rigor and sensitivity of airspace intrusion detection.

[0013] As a preferred example of the first aspect, the step of sequentially adjusting the radii of the initial warning circle, the initial defense circle, and the initial prohibition circle of the power grid according to the dynamic threat assessment vector to obtain the target warning circle, the target defense circle, and the target prohibition circle for tiered countermeasures includes: Based on the dynamic threat assessment vector, a first vector norm is determined, and based on the first vector norm, a first preset threat scaling factor, and the radius of the initial warning circle, a first radius is obtained. Then, the radius of the initial warning circle and the first radius are added together to obtain the radius of the target warning circle. Based on the dynamic threat assessment vector, a second vector norm is determined, and based on the second vector norm, a second preset threat scaling factor, and the radius of the initial defense circle, a second radius is obtained. Then, the radius of the initial defense circle and the second radius are added together to obtain the radius of the target defense circle. Based on the dynamic threat assessment vector, a third vector norm is determined, and based on the third vector norm, a third preset threat scaling factor, and the radius of the initial prohibition zone, a third radius is obtained. Then, the radius of the initial prohibition zone and the third radius are added together to obtain the radius of the target prohibition zone. Based on the target warning circle radius, the target defense circle radius, and the target prohibition circle radius, the target warning circle, the target defense circle, and the target prohibition circle are determined with the power grid as the center.

[0014] In this preferred example, a hierarchical dynamic defense system for the airspace surrounding the power grid is constructed by adaptively adjusting the radius of the three-layer security concentric circles through dynamic threat assessment vectors. First, the norms of the first, second, and third vectors are calculated to comprehensively quantify multi-dimensional threat information. Then, combined with a preset threat scaling factor and the initial circle radius, a radius adjustment amount matching the current threat situation is generated, allowing each concentric circle to expand and contract in real time according to the threat level. Finally, a dynamic early warning circle, defense circle, and prohibition circle are generated with the power grid as the center, achieving differentiated protection from far to near and layer by layer. This mechanism avoids over-protection of fixed concentric circles under low threat and automatically tightens the defense line under high threat, significantly improving the intelligence and adaptability of power grid airspace protection.

[0015] As a preferred example of the first aspect, determining the regions of each concentric circle based on the target early warning circle, the target defense circle, and the target prohibition circle includes: Based on the radius of the target prohibition zone, a circular area centered on the power grid is determined as the target prohibition zone area; Based on the radius of the target defense circle and the radius of the target prohibition circle, a ring-shaped area centered on the power grid, located within the target defense circle and outside the target prohibition circle, is determined as the target defense circle area. Based on the radius of the target early warning circle and the radius of the target defense circle, a ring-shaped area centered on the power grid, located within the target early warning circle and outside the target defense circle, is defined as the target early warning circle area.

[0016] In this preferred example, a three-tiered gradient protection system for the power grid airspace is constructed by defining geometric regions based on dynamic radii. First, the innermost circular restricted zone is directly delineated by the radius of the target prohibition zone, clearly defining the absolute control boundary under the highest threat. Then, the difference in radius between the target defense zone and the prohibition zone precisely defines the middle-layer ring defense zone, enabling the identification and interception of medium-threat targets. Finally, the difference in radius between the target warning zone and the defense zone delineates the outer ring warning zone, providing a buffer for early detection and tracking. This mechanism, through a progressive division of "inner circle + inter-ring," ensures that each layer of regions is both seamlessly connected and functionally independent, overcoming the shortcomings of traditional fixed layers that struggle to dynamically adapt to threat levels, and achieving precise deployment and differentiated response of airspace protection resources.

[0017] As a preferred example of the first aspect, determining the tiered countermeasure strategy based on the judgment result includes: If the determination result is that the current position is within the target exclusion zone, then the graded countermeasure strategy is determined to be a saturation suppression strategy; If the determination result indicates that the current location is within the target defense perimeter, then the tiered countermeasure strategy is determined to be a drive-away and guidance strategy. If the determination result indicates that the current location is within the target warning zone, then the tiered countermeasure strategy is determined to be a monitoring and recording strategy.

[0018] Secondly, the present invention provides a low-altitude unmanned aerial vehicle (UAV) defense device for power grids, wherein the power grid includes an initial warning zone, an initial defense zone, and an initial prohibition zone, and the defense device includes: a data acquisition module, a first defense module, a second defense module, a third defense module, and a fourth defense module; The data acquisition module is used to acquire the target drone's current location, list type, flight path deviation information, real-time flight speed, continuous dwell time, and the shortest distance from the target drone to the initial prohibition zone; The first defense module is used to determine the attribute threat item of the target UAV based on the flight path deviation information and the list type, determine the behavioral threat item of the target UAV based on the real-time flight speed and the continuous dwell time, and determine the airspace approach threat item of the target UAV based on the shortest distance; The second defense module is used to obtain a dynamic threat assessment vector of the target UAV to the power grid based on the attribute threat item, the behavioral threat item, and the airspace proximity threat item, and to adjust the radii of the initial warning circle, the initial defense circle, and the initial prohibition circle of the power grid in sequence according to the dynamic threat assessment vector to obtain a target warning circle, a target defense circle, and a target prohibition circle for hierarchical countermeasures; The third defense module is used to determine the area of ​​each circle based on the target warning circle, the target defense circle, and the target prohibition circle, and to determine whether the current position is located in each of the circle areas, and to obtain the determination result; The fourth defense module determines a tiered countermeasure strategy based on the judgment result and defends against the target drone according to the tiered countermeasure strategy.

[0019] As a preferred example of the second aspect, determining the attribute threat item of the target UAV based on the flight path deviation information and the list type includes: The route deviation judgment result is determined based on the route deviation information; If the list type is a whitelist and the flight path deviation result is no deviation from the flight path, then the value of the threat attribute of the target drone is set to the first preset value. If the list type is a whitelist and the flight path deviation result is a flight path deviation, then the attribute threat item of the target drone is determined based on the flight path deviation information and the preset whitelist drone basic threat weight; If the list type is a blacklist, the attribute threat item of the target drone is determined according to the preset blacklist drone basic threat weight.

[0020] As a preferred example of the second aspect, determining the behavioral threat item of the target UAV based on the real-time flight speed and the duration of continuous stay includes: Based on the real-time flight speed, the preset airspace speed limit threshold, and the preset maximum design speed of the target, the target speed threat factor of the target UAV is obtained, and based on the continuous dwell time, the sensitive area loitering threat factor of the target UAV is obtained. The target speed threat factor and the sensitive area loitering threat factor are added together to obtain the behavioral threat item of the target UAV.

[0021] As a preferred example of the second aspect, determining the airspace approach threat item of the target UAV based on the shortest distance includes: Based on the ratio between the shortest distance and the preset distance attenuation coefficient, the distance influence factor is determined, and based on the preset exponential function model, the distance influence factor is nonlinearly transformed to obtain the spatial attenuation factor. The airspace proximity threat term of the target UAV is obtained by multiplying the preset maximum threat gain coefficient with the spatial attenuation factor.

[0022] As a preferred example of the second aspect, the step of sequentially adjusting the radii of the initial warning circle, the initial defense circle, and the initial prohibition circle of the power grid according to the dynamic threat assessment vector to obtain the target warning circle, the target defense circle, and the target prohibition circle for graded countermeasures includes: Based on the dynamic threat assessment vector, a first vector norm is determined, and based on the first vector norm, a first preset threat scaling factor, and the radius of the initial warning circle, a first radius is obtained. Then, the radius of the initial warning circle and the first radius are added together to obtain the radius of the target warning circle. Based on the dynamic threat assessment vector, a second vector norm is determined, and based on the second vector norm, a second preset threat scaling factor, and the radius of the initial defense circle, a second radius is obtained. Then, the radius of the initial defense circle and the second radius are added together to obtain the radius of the target defense circle. Based on the dynamic threat assessment vector, a third vector norm is determined, and based on the third vector norm, a third preset threat scaling factor, and the radius of the initial prohibition zone, a third radius is obtained. Then, the radius of the initial prohibition zone and the third radius are added together to obtain the radius of the target prohibition zone. Based on the target warning circle radius, the target defense circle radius, and the target prohibition circle radius, the target warning circle, the target defense circle, and the target prohibition circle are determined with the power grid as the center.

[0023] As a preferred example of the second aspect, determining the regions of each concentric circle based on the target early warning circle, the target defense circle, and the target prohibition circle includes: Based on the radius of the target prohibition zone, a circular area centered on the power grid is determined as the target prohibition zone area; Based on the radius of the target defense circle and the radius of the target prohibition circle, a ring-shaped area centered on the power grid, located within the target defense circle and outside the target prohibition circle, is determined as the target defense circle area. Based on the radius of the target early warning circle and the radius of the target defense circle, a ring-shaped area centered on the power grid, located within the target early warning circle and outside the target defense circle, is defined as the target early warning circle area.

[0024] As a preferred example of the second aspect, determining the tiered countermeasure strategy based on the judgment result includes: If the determination result is that the current position is within the target exclusion zone, then the graded countermeasure strategy is determined to be a saturation suppression strategy; If the determination result indicates that the current location is within the target defense perimeter, then the tiered countermeasure strategy is determined to be a drive-away and guidance strategy. If the determination result indicates that the current location is within the target warning zone, then the tiered countermeasure strategy is determined to be a monitoring and recording strategy.

[0025] In summary, this embodiment of the application achieves full-dimensional threat perception from identity attributes, behavioral intent, to spatial location by acquiring the target UAV's current location, list type, flight path deviation information, real-time flight speed, continuous dwell time, and shortest distance to the initial prohibition zone, overcoming the target misjudgment problem caused by traditional single data sources. Based on this, attribute threat items, behavioral threat items, and airspace proximity threat items are determined respectively, thereby constructing a dynamic threat assessment vector. This enables the system to quantify the comprehensive threat level of the target, providing a precise decision-making basis for subsequent differentiated responses. Furthermore, based on this dynamic threat assessment vector, the initial... The radii of the warning zone, initial defense zone, and initial prohibition zone are adjusted sequentially to obtain the target warning zone, target defense zone, and target prohibition zone for tiered countermeasures. This breaks the rigid pattern of traditional fixed zones and achieves dynamic matching between the defense range and the real-time threat level. This avoids over-defense or under-response in the core area and optimizes the spatial allocation of defense resources. Subsequently, the regions of each zone are determined based on the final zone, and the specific zone in which the target's current position is located is determined, transforming the abstract spatial range into a clear physical area, giving the triggering of the countermeasure strategy a clear spatial boundary. Finally, the tiered countermeasure strategy is determined and executed based on the judgment results. In summary, this application effectively solves the problem of low accuracy in low-altitude UAV defense in existing technologies.

[0026] Another embodiment of the present invention provides a terminal device, including: a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein when the processor executes the computer program, it implements the steps of the low-altitude unmanned aerial vehicle defense method for power grids of the present invention.

[0027] Another embodiment of the present invention also provides a computer-readable storage medium item, including: a stored computer program, which, when the computer program is running, controls the device where the computer-readable storage medium is located to perform the steps of the low-altitude unmanned aerial vehicle defense method for power grids of the present invention. Attached Figure Description

[0028] To more clearly illustrate the technical solution of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0029] Figure 1 A flowchart illustrating one embodiment of a low-altitude unmanned aerial vehicle (UAV) defense method for power grids provided by the present invention; Figure 2 This is a modular structure diagram of one embodiment of a low-altitude unmanned aerial vehicle (UAV) defense device for power grids provided by the present invention. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0031] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0032] In the description of the embodiments of this application, technical terms such as "first" and "second" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly defined.

[0033] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0034] In the description of the embodiments in this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.

[0035] In the description of the embodiments of this application, the term "multiple" refers to two or more (including two), similarly, "multiple sets" refers to two or more (including two sets), and "multiple pieces" refers to two or more (including two pieces).

[0036] In the description of the embodiments of this application, unless otherwise expressly specified and limited, technical terms such as "installation," "connection," "joining," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in the embodiments of this application can be understood according to the specific circumstances.

[0037] Example 1 See Figure 1 To address the issue of low accuracy in existing low-altitude drone defense technologies, an embodiment of this invention provides a low-altitude drone defense method oriented towards a power grid. The power grid includes an initial warning zone, an initial defense zone, and an initial prohibition zone. The defense method includes: S1. Obtain the target drone's current location, list type, flight path deviation information, real-time flight speed, continuous dwell time, and the shortest distance from the target drone to the initial prohibition zone; S2. Determine the attribute threat items of the target UAV based on the flight path deviation information and the list type, determine the behavioral threat items of the target UAV based on the real-time flight speed and the continuous dwell time, and determine the airspace approach threat items of the target UAV based on the shortest distance. As a preferred implementation, determining the attribute threat item of the target UAV based on the flight path deviation information and the list type includes: The route deviation judgment result is determined based on the route deviation information; If the list type is a whitelist and the flight path deviation result is no deviation from the flight path, then the value of the threat attribute of the target drone is set to the first preset value. If the list type is a whitelist and the flight path deviation result is a flight path deviation, then the attribute threat item of the target drone is determined based on the flight path deviation information and the preset whitelist drone basic threat weight; If the list type is a blacklist, the attribute threat item of the target drone is determined according to the preset blacklist drone basic threat weight.

[0038] Specifically, the step of determining the attribute threat items of the target UAV based on the flight path deviation information and the list type can be implemented through the following preferred scheme: The route deviation information includes the route deviation degree, which can be used to determine the route deviation judgment result. The specific calculation formula for the attribute threat item is as follows: ; in, This represents the base threat weight of the whitelisted drones, characterizing the potential risk level of the whitelisted drones. This represents the deviation penalty coefficient, an amplification factor used to quantify the degree of deviation. A larger value indicates a greater threat from the deviation. Deviation is the degree of deviation from the flight path, calculated using parameters such as position, altitude, and speed, and is typically calculated and output by the flight path management module of a low-altitude air traffic control platform. This indicates that the blacklisted drones have a fixed threat weight, are directly marked as the highest threat level, and are uniformly set to 1.0, so that they will be immediately countered when triggered.

[0039] It should be noted that the basic threat weight for whitelisted drones can be set based on the drone model's risk level. For example, an inspection drone carrying an infrared camera is set to 0.2, and a mapping drone carrying a lidar is set to 0.5. The deviation penalty coefficient is based on airspace sensitivity, set to 2.0 around substations and 1.0 in non-residential areas.

[0040] The low-altitude air traffic control platform can manage whitelisted drones in a tiered manner. When the target does not deviate from the flight path (T1=0), the platform will not issue an alarm and will allow normal inspection tasks to be performed. When the target deviates from the flight path (T1>0), the system alarm management module can be triggered. The target attribute threat value increases linearly with Deviation, and the platform can dynamically adjust the response strategy, such as raising the warning level.

[0041] For blacklisted drones, assign them the highest threat level directly. It triggers the linkage countermeasure system, which starts the jamming equipment within 1 second; it uses software-defined jamming (frequency band 300MHz-6000MHz) to force landing or drive away.

[0042] As a preferred embodiment, determining the behavioral threat item of the target UAV based on the real-time flight speed and the duration of continuous stay includes: Based on the real-time flight speed, the preset airspace speed limit threshold, and the preset maximum design speed of the target, the target speed threat factor of the target UAV is obtained, and based on the continuous dwell time, the sensitive area loitering threat factor of the target UAV is obtained. The target speed threat factor and the sensitive area loitering threat factor are added together to obtain the behavioral threat item of the target UAV.

[0043] Specifically, determining the behavioral threat items of the target UAV based on the real-time flight speed and the duration of continuous stay can be implemented through the following preferred schemes: ①Based on the real-time flight speed, the preset airspace speed limit threshold, and the preset maximum target design speed, the target speed threat factor of the target UAV is obtained, and the specific formula is as follows: ; in, For real-time flight speed, The preset airspace speed limit threshold, To achieve the target maximum design speed, For speed threat weight, The target speed threat factor.

[0044] ②Based on the duration of continuous stay, the sensitive area loitering threat factor of the target UAV is obtained.

[0045] ③ Add the target speed threat factor and the sensitive area loitering threat factor to obtain the behavioral threat item of the target UAV, as shown in the following formula: ; in, To retain the threat weight, For the duration of continuous stay, As a behavioral threat, As a preferred embodiment, determining the airspace approach threat of the target UAV based on the shortest distance includes: Based on the ratio between the shortest distance and the preset distance attenuation coefficient, the distance influence factor is determined, and based on the preset exponential function model, the distance influence factor is nonlinearly transformed to obtain the spatial attenuation factor. The airspace proximity threat term of the target UAV is obtained by multiplying the preset maximum threat gain coefficient with the spatial attenuation factor.

[0046] S3. Based on the attribute threat item, the behavioral threat item, and the airspace proximity threat item, obtain the dynamic threat assessment vector of the target UAV to the power grid, and adjust the radii of the initial warning circle, the initial defense circle, and the initial prohibition circle of the power grid in sequence according to the dynamic threat assessment vector to obtain the target warning circle, the target defense circle, and the target prohibition circle for hierarchical countermeasures; In a preferred embodiment, the step of sequentially adjusting the radii of the initial warning circle, the initial defense circle, and the initial prohibition circle of the power grid according to the dynamic threat assessment vector to obtain the target warning circle, the target defense circle, and the target prohibition circle for tiered countermeasures includes: Based on the dynamic threat assessment vector, a first vector norm is determined, and based on the first vector norm, a first preset threat scaling factor, and the radius of the initial warning circle, a first radius is obtained. Then, the radius of the initial warning circle and the first radius are added together to obtain the radius of the target warning circle. Based on the dynamic threat assessment vector, a second vector norm is determined, and based on the second vector norm, a second preset threat scaling factor, and the radius of the initial defense circle, a second radius is obtained. Then, the radius of the initial defense circle and the second radius are added together to obtain the radius of the target defense circle. Based on the dynamic threat assessment vector, a third vector norm is determined, and based on the third vector norm, a third preset threat scaling factor, and the radius of the initial prohibition zone, a third radius is obtained. Then, the radius of the initial prohibition zone and the third radius are added together to obtain the radius of the target prohibition zone. Based on the target warning circle radius, the target defense circle radius, and the target prohibition circle radius, the target warning circle, the target defense circle, and the target prohibition circle are determined with the power grid as the center.

[0047] Specifically, the radii of the initial warning circle, the initial defense circle, and the initial prohibition circle of the power grid are adjusted sequentially according to the dynamic threat assessment vector to obtain the target warning circle, the target defense circle, and the target prohibition circle for tiered countermeasures, which can be calculated using the following formula: ; in, The radius of the initial circle, The final land enclosure radius, The vector norm of the dynamic threat assessment vector. This is the preset threat scaling factor.

[0048] S4. Based on the target warning circle, the target defense circle, and the target prohibition circle, determine the area of ​​each circle, and determine whether the current position is located in each of the circle areas to obtain the determination result; As a preferred embodiment, determining the region of each concentric circle based on the target early warning circle, the target defense circle, and the target prohibition circle includes: Based on the radius of the target prohibition zone, a circular area centered on the power grid is determined as the target prohibition zone area; Based on the radius of the target defense circle and the radius of the target prohibition circle, a ring-shaped area centered on the power grid, located within the target defense circle and outside the target prohibition circle, is determined as the target defense circle area. Based on the radius of the target early warning circle and the radius of the target defense circle, a ring-shaped area centered on the power grid, located within the target early warning circle and outside the target defense circle, is defined as the target early warning circle area.

[0049] S5. Determine a graded countermeasure strategy based on the judgment result, and defend the target drone according to the graded countermeasure strategy.

[0050] As a preferred implementation, determining the tiered countermeasure strategy based on the judgment result includes: If the determination result is that the current position is within the target exclusion zone, then the graded countermeasure strategy is determined to be a saturation suppression strategy; If the determination result indicates that the current location is within the target defense perimeter, then the tiered countermeasure strategy is determined to be a drive-away and guidance strategy. If the determination result indicates that the current location is within the target warning zone, then the tiered countermeasure strategy is determined to be a monitoring and recording strategy.

[0051] In summary, this embodiment of the application achieves full-dimensional threat perception from identity attributes, behavioral intent, to spatial location by acquiring the target UAV's current location, list type, flight path deviation information, real-time flight speed, continuous dwell time, and shortest distance to the initial prohibition zone, overcoming the target misjudgment problem caused by traditional single data sources. Based on this, attribute threat items, behavioral threat items, and airspace proximity threat items are determined respectively, thereby constructing a dynamic threat assessment vector. This enables the system to quantify the comprehensive threat level of the target, providing a precise decision-making basis for subsequent differentiated responses. Furthermore, based on this dynamic threat assessment vector, the initial... The radii of the warning zone, initial defense zone, and initial prohibition zone are adjusted sequentially to obtain the target warning zone, target defense zone, and target prohibition zone for tiered countermeasures. This breaks the rigid pattern of traditional fixed zones and achieves dynamic matching between the defense range and the real-time threat level. This avoids over-defense or under-response in the core area and optimizes the spatial allocation of defense resources. Subsequently, the regions of each zone are determined based on the final zone, and the specific zone in which the target's current position is located is determined, transforming the abstract spatial range into a clear physical area, giving the triggering of the countermeasure strategy a clear spatial boundary. Finally, the tiered countermeasure strategy is determined and executed based on the judgment results. In summary, this application effectively solves the problem of low accuracy in low-altitude UAV defense in existing technologies.

[0052] Example 2 like Figure 2 As shown, based on the above method embodiments, corresponding device embodiments are provided; An embodiment of the present invention provides a low-altitude unmanned aerial vehicle (UAV) defense device for power grids, wherein the power grid includes an initial warning zone, an initial defense zone, and an initial prohibition zone, and the defense device includes: a data acquisition module 21, a first defense module 22, a second defense module 23, a third defense module 24, and a fourth defense module 25; The data acquisition module 21 is used to acquire the target UAV's current position, list type, flight path deviation information, real-time flight speed, continuous dwell time, and the shortest distance from the target UAV to the initial prohibition zone; The first defense module 22 is used to determine the attribute threat items of the target UAV based on the flight path deviation information and the list type, and to determine the behavioral threat items of the target UAV based on the real-time flight speed and the continuous dwell time, and to determine the airspace approach threat items of the target UAV based on the shortest distance; The second defense module 23 is used to obtain the dynamic threat assessment vector of the target UAV to the power grid based on the attribute threat item, the behavioral threat item and the airspace approach threat item, and to adjust the radii of the initial warning circle, the initial defense circle and the initial prohibition circle of the power grid in sequence according to the dynamic threat assessment vector to obtain the target warning circle, the target defense circle and the target prohibition circle for hierarchical countermeasures; The third defense module 24 is used to determine each layer area based on the target warning circle, the target defense circle, and the target prohibition circle, and to determine whether the current position is located in each of the layer areas, and to obtain the determination result; The fourth defense module 25 determines a graded countermeasure strategy based on the judgment result and defends the target drone according to the graded countermeasure strategy.

[0053] As a preferred implementation, determining the attribute threat item of the target UAV based on the flight path deviation information and the list type includes: The route deviation judgment result is determined based on the route deviation information; If the list type is a whitelist and the flight path deviation result is no deviation from the flight path, then the value of the threat attribute of the target drone is set to the first preset value. If the list type is a whitelist and the flight path deviation result is a flight path deviation, then the attribute threat item of the target drone is determined based on the flight path deviation information and the preset whitelist drone basic threat weight; If the list type is a blacklist, the attribute threat item of the target drone is determined according to the preset blacklist drone basic threat weight.

[0054] As a preferred embodiment, determining the behavioral threat item of the target UAV based on the real-time flight speed and the duration of continuous stay includes: Based on the real-time flight speed, the preset airspace speed limit threshold, and the preset maximum design speed of the target, the target speed threat factor of the target UAV is obtained, and based on the continuous dwell time, the sensitive area loitering threat factor of the target UAV is obtained. The target speed threat factor and the sensitive area loitering threat factor are added together to obtain the behavioral threat item of the target UAV.

[0055] As a preferred embodiment, determining the airspace approach threat of the target UAV based on the shortest distance includes: Based on the ratio between the shortest distance and the preset distance attenuation coefficient, the distance influence factor is determined, and based on the preset exponential function model, the distance influence factor is nonlinearly transformed to obtain the spatial attenuation factor. The airspace proximity threat term of the target UAV is obtained by multiplying the preset maximum threat gain coefficient with the spatial attenuation factor.

[0056] In a preferred embodiment, the step of sequentially adjusting the radii of the initial warning circle, the initial defense circle, and the initial prohibition circle of the power grid according to the dynamic threat assessment vector to obtain the target warning circle, the target defense circle, and the target prohibition circle for tiered countermeasures includes: Based on the dynamic threat assessment vector, a first vector norm is determined, and based on the first vector norm, a first preset threat scaling factor, and the radius of the initial warning circle, a first radius is obtained. Then, the radius of the initial warning circle and the first radius are added together to obtain the radius of the target warning circle. Based on the dynamic threat assessment vector, a second vector norm is determined, and based on the second vector norm, a second preset threat scaling factor, and the radius of the initial defense circle, a second radius is obtained. Then, the radius of the initial defense circle and the second radius are added together to obtain the radius of the target defense circle. Based on the dynamic threat assessment vector, a third vector norm is determined, and based on the third vector norm, a third preset threat scaling factor, and the radius of the initial prohibition zone, a third radius is obtained. Then, the radius of the initial prohibition zone and the third radius are added together to obtain the radius of the target prohibition zone. Based on the target warning circle radius, the target defense circle radius, and the target prohibition circle radius, the target warning circle, the target defense circle, and the target prohibition circle are determined with the power grid as the center.

[0057] As a preferred embodiment, determining the region of each concentric circle based on the target early warning circle, the target defense circle, and the target prohibition circle includes: Based on the radius of the target prohibition zone, a circular area centered on the power grid is determined as the target prohibition zone area; Based on the radius of the target defense circle and the radius of the target prohibition circle, a ring-shaped area centered on the power grid, located within the target defense circle and outside the target prohibition circle, is determined as the target defense circle area. Based on the radius of the target early warning circle and the radius of the target defense circle, a ring-shaped area centered on the power grid, located within the target early warning circle and outside the target defense circle, is defined as the target early warning circle area.

[0058] As a preferred implementation, determining the tiered countermeasure strategy based on the judgment result includes: If the determination result is that the current position is within the target exclusion zone, then the graded countermeasure strategy is determined to be a saturation suppression strategy; If the determination result indicates that the current location is within the target defense perimeter, then the tiered countermeasure strategy is determined to be a drive-away and guidance strategy. If the determination result indicates that the current location is within the target warning zone, then the tiered countermeasure strategy is determined to be a monitoring and recording strategy.

[0059] For more detailed steps and working principles of this embodiment, please refer to the relevant description in Embodiment 1, but not limited to these descriptions.

[0060] In summary, this embodiment of the application achieves full-dimensional threat perception from identity attributes, behavioral intent, to spatial location by acquiring the target UAV's current location, list type, flight path deviation information, real-time flight speed, continuous dwell time, and shortest distance to the initial prohibition zone, overcoming the target misjudgment problem caused by traditional single data sources. Based on this, attribute threat items, behavioral threat items, and airspace proximity threat items are determined respectively, thereby constructing a dynamic threat assessment vector. This enables the system to quantify the comprehensive threat level of the target, providing a precise decision-making basis for subsequent differentiated responses. Furthermore, based on this dynamic threat assessment vector, the initial... The radii of the warning zone, initial defense zone, and initial prohibition zone are adjusted sequentially to obtain the target warning zone, target defense zone, and target prohibition zone for tiered countermeasures. This breaks the rigid pattern of traditional fixed zones and achieves dynamic matching between the defense range and the real-time threat level. This avoids over-defense or under-response in the core area and optimizes the spatial allocation of defense resources. Subsequently, the regions of each zone are determined based on the final zone, and the specific zone in which the target's current position is located is determined, transforming the abstract spatial range into a clear physical area, giving the triggering of the countermeasure strategy a clear spatial boundary. Finally, the tiered countermeasure strategy is determined and executed based on the judgment results. In summary, this application effectively solves the problem of low accuracy in low-altitude UAV defense in existing technologies.

[0061] It is understood that the above-described device embodiments correspond to the method embodiments of the present invention, and can implement the low-altitude unmanned aerial vehicle (UAV) defense method for power grids provided by any of the above-described method embodiments of the present invention.

[0062] It should be noted that the device embodiments described above are merely illustrative, and some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Furthermore, in the accompanying drawings of the device embodiments provided by this invention, the connection relationships between modules indicate that they have communication connections, which can specifically be implemented as one or more communication buses or signal lines. Those skilled in the art can understand and implement this without any creative effort.

[0063] Example 3 Based on the above embodiments of the low-altitude drone defense method for power grids, another embodiment of the present invention provides a terminal device, which includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor. When the processor executes the computer program, it implements the low-altitude drone defense method for power grids according to any embodiment of the present invention.

[0064] For example, in this embodiment, the computer program can be divided into one or more modules, which are stored in the memory and executed by the processor to complete the present invention. The one or more modules may be a series of computer program instruction segments capable of performing a specific function, which describe the execution process of the computer program in the terminal device.

[0065] The terminal device may be a desktop computer, laptop, handheld computer, or cloud server, etc. The terminal device may include, but is not limited to, a processor and a memory.

[0066] The processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor. The processor is the control center of the terminal device, connecting all parts of the terminal device via various interfaces and lines.

[0067] Example 4 Based on the above-described method embodiments, another embodiment of the present invention provides a computer-readable storage medium including a stored computer program, wherein, when the computer program is executed, it controls the device where the computer-readable storage medium is located to execute the low-altitude unmanned aerial vehicle (UAV) defense method for power grids as described in any of the above-described method embodiments of the present invention.

[0068] The modules / units integrated in the device / terminal equipment, if implemented as software functional units and sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the above embodiments of the present invention can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a portable hard drive, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium, etc.

[0069] The above description represents the preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A method for power grid oriented low altitude drone defense, characterized in that, The power grid includes an initial warning zone, an initial defense zone, and an initial prohibition zone, and the defense method includes: Obtain the target drone's current location, list type, flight path deviation information, real-time flight speed, duration of continuous stay, and the shortest distance from the target drone to the initial prohibition zone; The target drone's attribute threat items are determined based on the flight path deviation information and the list type, the target drone's behavioral threat items are determined based on the real-time flight speed and the duration of continuous stay, and the target drone's airspace approach threat items are determined based on the shortest distance. Based on the attribute threat item, the behavioral threat item, and the airspace proximity threat item, a dynamic threat assessment vector of the target UAV to the power grid is obtained. The radii of the initial warning circle, the initial defense circle, and the initial prohibition circle of the power grid are adjusted sequentially according to the dynamic threat assessment vector to obtain a target warning circle, a target defense circle, and a target prohibition circle for hierarchical countermeasures. Based on the target warning circle, the target defense circle, and the target prohibition circle, determine the area of ​​each circle, and determine whether the current position is located in each of the circle areas to obtain the determination result; Based on the judgment result, a tiered countermeasure strategy is determined, and the target drone is defended according to the tiered countermeasure strategy.

2. A grid-facing low-altitude drone defense method as claimed in claim 1, wherein, The step of determining the attribute threat item of the target drone based on the flight path deviation information and the list type includes: The route deviation judgment result is determined based on the route deviation information; If the list type is a whitelist and the flight path deviation result is no deviation from the flight path, then the value of the threat attribute of the target drone is set to the first preset value. If the list type is a whitelist and the flight path deviation result is a flight path deviation, then the attribute threat item of the target drone is determined based on the flight path deviation information and the preset whitelist drone basic threat weight; If the list type is a blacklist, the attribute threat item of the target drone is determined according to the preset blacklist drone basic threat weight.

3. A grid-facing low-altitude drone defense method as claimed in claim 1, wherein, The determination of the behavioral threat item of the target drone based on the real-time flight speed and the duration of continuous stay includes: Based on the real-time flight speed, the preset airspace speed limit threshold, and the preset maximum design speed of the target, the target speed threat factor of the target UAV is obtained, and based on the continuous dwell time, the sensitive area loitering threat factor of the target UAV is obtained. The target speed threat factor and the sensitive area loitering threat factor are added together to obtain the behavioral threat item of the target UAV.

4. A method for defending against low-altitude unmanned aerial vehicles (UAVs) oriented towards power grids as described in claim 1, characterized in that, The step of determining the airspace approach threat item of the target UAV based on the shortest distance includes: Based on the ratio between the shortest distance and the preset distance attenuation coefficient, the distance influence factor is determined, and based on the preset exponential function model, the distance influence factor is nonlinearly transformed to obtain the spatial attenuation factor. The airspace proximity threat term of the target UAV is obtained by multiplying the preset maximum threat gain coefficient with the spatial attenuation factor.

5. A method for defending against low-altitude unmanned aerial vehicles (UAVs) oriented towards power grids as described in claim 1, characterized in that, The step of sequentially adjusting the radii of the initial warning circle, the initial defense circle, and the initial prohibition circle of the power grid according to the dynamic threat assessment vector to obtain the target warning circle, the target defense circle, and the target prohibition circle for tiered countermeasures includes: Based on the dynamic threat assessment vector, a first vector norm is determined, and based on the first vector norm, a first preset threat scaling factor, and the radius of the initial warning circle, a first radius is obtained. Then, the radius of the initial warning circle and the first radius are added together to obtain the radius of the target warning circle. Based on the dynamic threat assessment vector, a second vector norm is determined, and based on the second vector norm, a second preset threat scaling factor, and the radius of the initial defense circle, a second radius is obtained. Then, the radius of the initial defense circle and the second radius are added together to obtain the radius of the target defense circle. Based on the dynamic threat assessment vector, a third vector norm is determined, and based on the third vector norm, a third preset threat scaling factor, and the radius of the initial prohibition zone, a third radius is obtained. Then, the radius of the initial prohibition zone and the third radius are added together to obtain the radius of the target prohibition zone. Based on the target warning circle radius, the target defense circle radius, and the target prohibition circle radius, the target warning circle, the target defense circle, and the target prohibition circle are determined with the power grid as the center.

6. A method for defending against low-altitude unmanned aerial vehicles (UAVs) oriented towards power grids as described in claim 1, characterized in that, The step of determining the region of each layer based on the target early warning zone, the target defense zone, and the target prohibition zone includes: Based on the radius of the target prohibition zone, a circular area centered on the power grid is determined as the target prohibition zone area; Based on the radius of the target defense circle and the radius of the target prohibition circle, a ring-shaped area centered on the power grid, located within the target defense circle and outside the target prohibition circle, is determined as the target defense circle area. Based on the radius of the target early warning circle and the radius of the target defense circle, a ring-shaped area centered on the power grid, located within the target early warning circle and outside the target defense circle, is defined as the target early warning circle area.

7. A method for defending against low-altitude unmanned aerial vehicles (UAVs) oriented towards power grids as described in claim 6, characterized in that, The step of determining a tiered countermeasure strategy based on the judgment result includes: If the determination result is that the current position is within the target exclusion zone, then the graded countermeasure strategy is determined to be a saturation suppression strategy; If the determination result indicates that the current location is within the target defense perimeter, then the tiered countermeasure strategy is determined to be a drive-away and guidance strategy. If the determination result indicates that the current location is within the target warning zone, then the tiered countermeasure strategy is determined to be a monitoring and recording strategy.

8. A low-altitude unmanned aerial vehicle (UAV) defense device for power grids, characterized in that, The power grid includes an initial early warning zone, an initial defense zone, and an initial prohibition zone. The defense device includes: a data acquisition module, a first defense module, a second defense module, a third defense module, and a fourth defense module. The data acquisition module is used to acquire the target drone's current location, list type, flight path deviation information, real-time flight speed, continuous dwell time, and the shortest distance from the target drone to the initial prohibition zone; The first defense module is used to determine the attribute threat item of the target UAV based on the flight path deviation information and the list type, determine the behavioral threat item of the target UAV based on the real-time flight speed and the continuous dwell time, and determine the airspace approach threat item of the target UAV based on the shortest distance; The second defense module is used to obtain a dynamic threat assessment vector of the target UAV to the power grid based on the attribute threat item, the behavioral threat item, and the airspace proximity threat item, and to adjust the radii of the initial warning circle, the initial defense circle, and the initial prohibition circle of the power grid in sequence according to the dynamic threat assessment vector to obtain a target warning circle, a target defense circle, and a target prohibition circle for hierarchical countermeasures; The third defense module is used to determine the area of ​​each circle based on the target warning circle, the target defense circle, and the target prohibition circle, and to determine whether the current position is located in each of the circle areas, and to obtain the determination result; The fourth defense module determines a tiered countermeasure strategy based on the judgment result and defends against the target drone according to the tiered countermeasure strategy.

9. A terminal device, characterized in that, The method includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein, when the processor executes the computer program, it implements the grid-oriented low-altitude unmanned aerial vehicle (UAV) defense method as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, include: A stored computer program, wherein, when the computer program is executed, it controls the device containing the computer-readable storage medium to perform the low-altitude unmanned aerial vehicle (UAV) defense method for power grids as described in any one of claims 1-7.

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