High-altitude unmanned aerial vehicle precision positioning countermeasure method, device and computer equipment

Abstract

The application relates to a high-altitude unmanned aerial vehicle precision positioning countermeasure method and device and a computer device. The method comprises the following steps: in the detection area of a countermeasure device, the current unmanned aerial vehicle signal and current signal position change information of each non-admission unmanned aerial vehicle are monitored, and it is inquired whether there is a countermeasure record of each non-admission unmanned aerial vehicle; when there is a countermeasure record of a historical non-admission unmanned aerial vehicle, an optimized signal countermeasure strategy of the historical non-admission unmanned aerial vehicle is identified, so as to guide a worker to perform positioning countermeasure processing on the historical non-admission unmanned aerial vehicle; when there is no countermeasure record of a new non-admission unmanned aerial vehicle, the signal characteristics of the new non-admission unmanned aerial vehicle are identified, so as to generate a signal countermeasure strategy of the new non-admission unmanned aerial vehicle; and the worker is guided to perform positioning countermeasure processing on the new non-admission unmanned aerial vehicle. The method can improve the precision positioning countermeasure of the high-altitude unmanned aerial vehicle.

Description

Technical Field

[0001] This application relates to the field of drone countermeasures technology, and in particular to a method, apparatus and computer equipment for precise positioning and countermeasures against high-altitude drones. Background Technology

[0002] With the rapid iteration and popularization of drone technology, its convenient applications in the civilian sector and its widespread deployment in the military are proceeding in parallel. Countermeasures against drones, as a core means of addressing the drone threat, have become a research hotspot in the global security and defense sectors. Currently, drones are often captured by launching long-range fishing nets; however, for high-altitude drones, the range of fishing nets is often limited, making capture impossible. Therefore, how to improve the countermeasures against high-altitude drones is a current research focus.

[0003] Current countermeasures against high-altitude drones mainly involve using high-frequency electromagnetic guns to emit electromagnetic radiation into the airspace where the drone is located, thereby burning through the drone's motherboard and causing the drone to lose its power and control. However, this method requires extremely high power from the electromagnetic gun and has a long energy storage time. It also has a certain impact on other aircraft in the same airspace, making it impossible to accurately locate and counter high-altitude drones. Summary of the Invention

[0004] Therefore, it is necessary to provide a method, device, computer equipment, computer-readable storage medium, and computer program product for precise positioning and countermeasures against high-altitude unmanned aerial vehicles (UAVs) in response to the above-mentioned technical problems.

[0005] Firstly, this application provides a method for precise positioning and countermeasures against high-altitude unmanned aerial vehicles (UAVs), including: In the detection area of ​​the countermeasure device, the current drone signal of each non-access drone and the current signal position change information of each non-access drone are monitored, and based on the current drone signal of each non-access drone, the countermeasure database is queried to see if there is a countermeasure record for each non-access drone. When there is a historical non-access drone with a countermeasure record, based on the countermeasure record of the historical non-access drone, the optimized signal countermeasure strategy of the historical non-access drone is identified, and based on the current signal position change information of the historical non-access drone, the optimized countermeasure strategy of the historical non-access drone guides the staff to perform positioning and countermeasure processing on the historical non-access drone. When a new non-access drone has no known countermeasures record, the signal characteristics of the new non-access drone are identified based on its current drone signal, and a signal countermeasure strategy is generated based on these characteristics. Based on the current signal position change information of the new non-access drone, the signal countermeasure strategy guides personnel to perform location and countermeasure processing on the new non-access drone.

[0006] Optionally, the step of identifying an optimized signal countermeasure strategy for the historically denied-access drones based on their countermeasure records includes: Based on the countermeasure records of the non-access drones, identify the drone trajectory change information during each countermeasure, as well as the drone countermeasure record information during each countermeasure. Based on the drone trajectory change information during each countermeasure, the flight trajectory range of the non-access drone is generated through a drone trajectory fitting strategy. Based on the drone countermeasure record information during each countermeasure, the drone countermeasure effect during each countermeasure is evaluated through a countermeasure effect evaluation strategy. In each countermeasure, the drone countermeasure effect is selected, and the drone countermeasure record information corresponding to the best drone countermeasure effect is selected as the target drone countermeasure record information. The countermeasure strategy in the target drone countermeasure record information is extracted as the optimized signal countermeasure strategy for the historical non-access drones.

[0007] Optionally, the step of performing location countermeasures on the historically denied-access drones based on their current signal location change information and through an optimized countermeasure strategy includes: Based on the current signal position change information of the historical non-access drone and the range of the non-access drone's trajectory, the location range of the historical non-access drone entering the execution area of ​​the countermeasure is predicted, as well as the remaining time of the historical non-access drone entering the execution area of ​​the countermeasure. Based on the location range of the historical non-access drones entering the execution area of ​​the countermeasure device, and the remaining time of the historical non-access drones entering the execution area of ​​the countermeasure device, the optimized signal countermeasure strategy of the historical non-access drones guides the staff to perform positioning and countermeasure processing on the historical non-access drones.

[0008] Optionally, identifying the signal characteristics of the new non-accessible drone based on its current drone signal includes: Based on the current drone signal of the new non-access drone, extract the current signal data change distribution information of each signal data type of the new non-access drone; Based on the signal data change distribution information of each of the signal data types, the current signal features of each of the signal data types are identified through a signal feature recognition network, and the sub-current signal features of each of the signal data types are used as the signal features of the new non-accessible UAV.

[0009] Optionally, generating a signal countermeasure strategy for the new non-access drone based on its signal characteristics includes: Based on the sub-current signal characteristics of each of the signal data types, the current control commands for each control type of the new non-access UAV and the progressive control sequences for each of the control types are generated through a control command generation strategy. The current control commands for each of the aforementioned control types, as well as the progressive control sequences for each of the aforementioned control types, are used as the signal countermeasure strategy for the new non-accessible UAV.

[0010] Optionally, the step of guiding personnel to perform positioning and countermeasures on the new non-accessible drone based on its current signal location change information and through a signal countermeasure strategy for the new non-accessible drone includes: Based on the current signal position change information of the new non-access drone, the current trajectory of the new non-access drone is fitted, and based on the current trajectory of the new non-access drone, the predicted trajectory range of the new non-access drone is generated through a trajectory prediction strategy. Based on the predicted trajectory range of the new non-accessible drone, the predicted location range of the new non-accessible drone entering the execution area of ​​the countermeasure is determined, as well as the predicted remaining time of the new non-accessible drone entering the execution area of ​​the countermeasure. Based on the predicted location range of the new non-access drone entering the execution area of ​​the countermeasure device, and the predicted remaining time of the new non-access drone entering the execution area of ​​the countermeasure device, the signal countermeasure strategy of the new non-access drone guides the staff to perform positioning and countermeasure processing on the new non-access drone.

[0011] Secondly, this application also provides a precise positioning and countermeasure device for high-altitude unmanned aerial vehicles, comprising: The monitoring module is used to monitor the current drone signal of each non-access drone and the current signal position change information of each non-access drone in the detection area of ​​the countermeasure, and to query the drone countermeasure database to see if there is a countermeasure record for each non-access drone based on the current drone signal of each non-access drone. The first guidance module is used to identify the optimized signal countermeasure strategy of the historical non-access drone based on the countermeasure record of the historical non-access drone when there is a countermeasure record. Based on the current signal position change information of the historical non-access drone, the module guides the staff to perform positioning and countermeasure processing on the historical non-access drone through the optimized countermeasure strategy of the historical non-access drone. The second guidance module is used to identify the signal characteristics of a new non-accessible drone based on its current drone signal when no countermeasure record exists, and to generate a signal countermeasure strategy for the new non-accessible drone based on its signal characteristics; based on the current signal position change information of the new non-accessible drone, the module guides personnel to perform positioning and countermeasure processing on the new non-accessible drone through the signal countermeasure strategy.

[0012] Optionally, the first guidance module is specifically used for: Based on the countermeasure records of the non-access drones, identify the drone trajectory change information during each countermeasure, as well as the drone countermeasure record information during each countermeasure. Based on the drone trajectory change information during each countermeasure, the flight trajectory range of the non-access drone is generated through a drone trajectory fitting strategy. Based on the drone countermeasure record information during each countermeasure, the drone countermeasure effect during each countermeasure is evaluated through a countermeasure effect evaluation strategy. In each countermeasure, the drone countermeasure effect is selected, and the drone countermeasure record information corresponding to the best drone countermeasure effect is selected as the target drone countermeasure record information. The countermeasure strategy in the target drone countermeasure record information is extracted as the optimized signal countermeasure strategy for the historical non-access drones.

[0013] Optionally, the first guidance module is specifically used for: Based on the current signal position change information of the historical non-access drone and the range of the non-access drone's trajectory, the location range of the historical non-access drone entering the execution area of ​​the countermeasure is predicted, as well as the remaining time of the historical non-access drone entering the execution area of ​​the countermeasure. Based on the location range of the historical non-access drones entering the execution area of ​​the countermeasure device, and the remaining time of the historical non-access drones entering the execution area of ​​the countermeasure device, the optimized signal countermeasure strategy of the historical non-access drones guides the staff to perform positioning and countermeasure processing on the historical non-access drones.

[0014] Optionally, the second guidance module is specifically used for: Based on the current drone signal of the new non-access drone, extract the current signal data change distribution information of each signal data type of the new non-access drone; Based on the signal data change distribution information of each of the signal data types, the current signal features of each of the signal data types are identified through a signal feature recognition network, and the sub-current signal features of each of the signal data types are used as the signal features of the new non-accessible UAV.

[0015] Optionally, the second guidance module is specifically used for: Based on the sub-current signal characteristics of each of the signal data types, the current control commands for each control type of the new non-access UAV and the progressive control sequences for each of the control types are generated through a control command generation strategy. The current control commands for each of the aforementioned control types, as well as the progressive control sequences for each of the aforementioned control types, are used as the signal countermeasure strategy for the new non-accessible UAV.

[0016] Optionally, the second guidance module is specifically used for: Based on the current signal position change information of the new non-access drone, the current trajectory of the new non-access drone is fitted, and based on the current trajectory of the new non-access drone, the predicted trajectory range of the new non-access drone is generated through a trajectory prediction strategy. Based on the predicted trajectory range of the new non-accessible drone, the predicted location range of the new non-accessible drone entering the execution area of ​​the countermeasure is determined, as well as the predicted remaining time of the new non-accessible drone entering the execution area of ​​the countermeasure. Based on the predicted location range of the new non-access drone entering the execution area of ​​the countermeasure device, and the predicted remaining time of the new non-access drone entering the execution area of ​​the countermeasure device, the signal countermeasure strategy of the new non-access drone guides the staff to perform positioning and countermeasure processing on the new non-access drone.

[0017] Thirdly, this application provides a computer device. The computer device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the steps of the method described in any one of the first aspects.

[0018] Fourthly, this application provides a computer-readable storage medium having a computer program stored thereon that, when executed by a processor, implements the steps of the method described in any one of the first aspects.

[0019] Fifthly, this application provides a computer program product. The computer program product includes a computer program that, when executed by a processor, implements the steps of the method described in any one of the first aspects.

[0020] The aforementioned high-altitude UAV precise positioning and countermeasure method, device, and computer equipment monitor the current UAV signals of each non-accessible UAV and the current signal position changes of each non-accessible UAV in the detection area of ​​the countermeasure device. Based on the current UAV signals of each non-accessible UAV, the device queries the UAV countermeasure database to see if there are any countermeasure records for each non-accessible UAV. When a historical non-accessible UAV with a countermeasure record exists, the device identifies an optimized signal countermeasure strategy for that historical non-accessible UAV based on the countermeasure record, and then determines the strategy based on the current signal position of each historical non-accessible UAV. The system uses the changed information and optimized countermeasures strategy based on historical non-access drones to guide staff in locating and counteracting these drones. When a new non-access drone has no known countermeasures record, the system identifies its signal characteristics based on its current drone signal and generates a signal countermeasures strategy. Finally, based on the current signal location change information of the new non-access drone, the system guides staff in locating and counteracting it using the signal countermeasures strategy. This solution can identify and retrieve countermeasure records for non-accessible drones with existing countermeasure records from a drone countermeasure database in real time. This optimizes countermeasure strategies for each non-accessible drone and provides countermeasure guidance to personnel, effectively improving the efficiency and accuracy of countermeasures against non-accessible drones with existing countermeasure records. Secondly, for new non-accessible drones without countermeasure records, this solution determines the countermeasure range of the new non-accessible drone through signal position change information. Based on the collected current drone signal, it generates a signal countermeasure strategy specifically for the new non-accessible drone. This function can be achieved without high-power electromagnetic guns, requiring only low-power countermeasure devices capable of signal emission. This avoids the high power requirements and long energy storage time of traditional drone countermeasures. Furthermore, this method can perform targeted and positional signal countermeasures against drones without affecting the flight process of other accessible aircraft in the same airspace, thus effectively avoiding the risk of impacting other aircraft in the same airspace. This effectively improves the accuracy of high-altitude drone positioning and countermeasures. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments or related technologies of this application, the accompanying drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a flowchart illustrating a precise positioning and countermeasure method for a high-altitude unmanned aerial vehicle (UAV) in one embodiment. Figure 2 This is a flowchart illustrating a precise positioning and countermeasure example of a high-altitude drone in one embodiment. Figure 3 This is a structural block diagram of a high-altitude unmanned aerial vehicle (UAV) precision positioning and countermeasure device in one embodiment; Figure 4 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0024] The precise positioning and countermeasure method for high-altitude unmanned aerial vehicles (UAVs) provided in this application embodiment can be applied to a precise positioning and countermeasure system for high-altitude UAVs. When applied to a countermeasure device, the countermeasure device includes a signal acquisition module, a data analysis module, a countermeasure device execution module, and a countermeasure device display module. The signal acquisition module mainly consists of a microstrip Yagi antenna. The countermeasure device is divided into a detection zone, an execution zone, and a safety zone in descending order of scope. The detection zone is used to collect the current UAV signals of each non-accessible UAV and the current signal position change information of each non-accessible UAV. The execution zone is used to control the countermeasure device execution module, guiding the operator on the countermeasure range and timing of each non-accessible UAV. The edge of the safety zone represents the boundary information of the operator's countermeasure range for each non-accessible UAV. The data analysis module is used to query the drone countermeasure database for the existence of countermeasure records for each of the aforementioned non-accessible drones based on their current drone signals. If a historical non-accessible drone has a countermeasure record, the module identifies an optimized signal countermeasure strategy for that drone based on that record. If a new non-accessible drone does not have a countermeasure record, the module identifies its signal characteristics based on its current drone signals and generates a signal countermeasure strategy for that drone. The countermeasure execution module is used to visually guide personnel to perform location countermeasure processing on the historical non-accessible drones based on their current signal position change information, the optimized countermeasure strategies, and the countermeasure display module, using the optimized countermeasure strategies and the countermeasure display module. Similarly, it visually guides personnel to perform location countermeasure processing on the new non-accessible drones based on their current signal position change information, the signal countermeasure strategies, and the countermeasure display module. The data analysis module can be applied to a terminal, which can be, but is not limited to, various personal computers, laptops, mid-range computers, etc.The terminal can identify and retrieve countermeasure records for non-accessible drones with existing countermeasure records from the drone countermeasure database in real time. This optimizes the countermeasure strategy for each non-accessible drone and provides countermeasure guidance to staff, effectively improving the efficiency and accuracy of countermeasures against non-accessible drones with existing countermeasure records. Secondly, for new non-accessible drones without countermeasure records, this solution determines the countermeasure range of the new non-accessible drone through signal position change information. Based on the collected current drone signal, it generates a signal countermeasure strategy specifically for the new non-accessible drone. This function can be achieved without a high-power electromagnetic gun, requiring only a low-power countermeasure device capable of signal emission. This avoids the high power requirements and long energy storage time of traditional drone countermeasures. Furthermore, this method can perform targeted and positional signal countermeasures against drones without affecting the flight process of other accessible aircraft in the same airspace, thus effectively avoiding the risk of impacting other aircraft in the same airspace. This effectively improves the accuracy of high-altitude drone positioning and countermeasures.

[0025] In one exemplary embodiment, such as Figure 1 As shown, a precise positioning and countermeasure method for high-altitude unmanned aerial vehicles (UAVs) is provided. Taking the application of this method to a terminal as an example, the method includes the following steps S101 to S103. Wherein: Step S101: In the detection area of ​​the countermeasure device, monitor the current drone signal of each non-access drone and the current signal position change information of each non-access drone, and based on the current drone signal of each non-access drone, query the drone countermeasure database to see if there is a countermeasure record for each non-access drone.

[0026] In this embodiment, the terminal responds to the operator's countermeasure data acquisition operation, acquiring the current drone signals of each non-accessible drone collected by the countermeasure within its detection area, as well as the spatial position change information of each non-accessible drone detected by the radar from the acquisition location to the acquisition termination time, as the current signal position change information of the drone. Then, the terminal, through a drone countermeasure database pre-installed on the terminal, identifies in real time whether there is a countermeasure record for each collected non-accessible drone based on the current drone signals of each non-accessible drone. This countermeasure record is information recorded by the countermeasure when the same drone signal as the non-accessible drone has undergone a countermeasure guidance process. That is, each time a non-accessible drone is countermeasured by the countermeasure, the terminal records the drone signal, signal position change information, signal countermeasure strategy, and countermeasure duration of the non-accessible drone as a countermeasure record. The terminal then stores each countermeasure record in the drone countermeasure database. During identification, the terminal directly checks the drone countermeasure database for each drone signal to see if there is a countermeasure record for the same drone signal. If a record exists, the non-access drone corresponding to that signal is a historical non-access drone; otherwise, it is a new non-access drone. The non-access drone is one not recorded in the whitelist stored in the countermeasure device. This whitelist includes drone signals from all drones permitted to fly in the current airspace.

[0027] Step S102: When there is a historical non-access drone with a countermeasure record, based on the countermeasure record of the historical non-access drone, identify the optimized signal countermeasure strategy of the historical non-access drone, and based on the current signal position change information of the historical non-access drone, guide the staff to perform positioning and countermeasure processing on the historical non-access drone through the optimized countermeasure strategy of the historical non-access drone.

[0028] In this embodiment, when a historical non-access drone has a countermeasure record, the terminal identifies an optimized signal countermeasure strategy for that drone based on the record. Then, based on the current signal position change information of each historical non-access drone, the terminal guides staff to perform location and countermeasure processing on the drone using the optimized countermeasure strategy. The optimized signal countermeasure strategy is the one with the shortest countermeasure duration (or the best drone countermeasure effect) in the historical non-access drone countermeasure record. This guidance is provided by the countermeasure display module, which uses range and angle changes and a countdown timer to indicate the countermeasure's orientation and timing. After the countdown ends, the countermeasure execution module automatically performs countermeasure processing on the non-access drone according to the signal countermeasure strategy. Not only does it eliminate the need for staff to make visual predictions or manually determine the timing of countermeasures, but it also allows for precise and timely countermeasures against various non-accessible drones simply by adjusting the direction of the countermeasure device according to the instructions. The instructions for staff in step S103 are also the same, and will not be described in detail below.

[0029] Step S103: When there is no countermeasure record for a new non-access drone, identify the signal characteristics of the new non-access drone based on its current drone signal, and generate a signal countermeasure strategy for the new non-access drone based on its signal characteristics; and perform positioning countermeasure processing on the new non-access drone based on its current signal position change information and the signal countermeasure strategy.

[0030] In this embodiment, when a new non-accessible drone is detected without a countermeasure record, the terminal identifies the signal characteristics of the new non-accessible drone based on its current drone signal and generates a signal countermeasure strategy based on these characteristics. This signal countermeasure strategy includes current control commands of different control types for the drone and progressive control sequences of different control types. The control commands include, but are not limited to, stop commands, shutdown commands, self-destruct commands, or fly-away commands. The progressive control sequence is a sequence of sequentially sent commands, preset in the terminal. For example, the execution order of the commands could be: fly-away command → stop command → shutdown command → self-destruct command. The signal characteristics include sub-current signal characteristics of different signal data types. The data types of this signal include, but are not limited to, physical layer characteristics: carrier frequency, frequency offset, modulation scheme (GFSK / QPSK / OFDM), code rate, bandwidth, power amplifier nonlinear fingerprint, phase noise, and pulse timing; link layer characteristics: frequency hopping FHSS sequence, frame period, synchronization header, device ID / address code, and CRC check rules; and data layer characteristics: frame length, control lever position mapping format, and encryption identifier (whether or not there is an AES / MAVLink signature).

[0031] Then, the terminal generates information on the current signal position change of the new non-access drone based on the signal characteristics of the new non-access drone, and performs positioning and countermeasure processing on the new non-access drone through the signal countermeasure strategy of the new non-access drone.

[0032] Based on the above scheme, it is possible to identify and retrieve countermeasure records of non-accessible drones with existing countermeasure records from the drone countermeasure database in real time, thereby optimizing the countermeasure strategy for each non-accessible drone and providing countermeasure guidance to personnel. This effectively improves the efficiency and accuracy of countermeasures against non-accessible drones with existing countermeasure records. Secondly, for new non-accessible drones without countermeasure records, this scheme determines the countermeasure range of the new non-accessible drone through signal position change information, and generates a signal countermeasure strategy specifically for the new non-accessible drone based on the collected current drone signal. This function can be achieved without high-power electromagnetic guns, requiring only low-power countermeasure devices capable of signal emission. This avoids the need for extremely high power requirements and long energy storage times in traditional drone countermeasures. Furthermore, this method can perform targeted and positional signal countermeasures against drones without affecting the flight process of other accessible aircraft in the same airspace, thus effectively avoiding the risk of impacting other aircraft in the same airspace. This effectively improves the accuracy of high-altitude drone positioning and countermeasures.

[0033] Optionally, based on historical countermeasure records of non-access drones, an optimized signal countermeasure strategy for historical non-access drones is identified, including: based on the countermeasure records of non-access drones, identifying drone trajectory change information and drone countermeasure record information for each countermeasure; based on the drone trajectory change information for each countermeasure, generating the travel trajectory range of the non-access drone through a drone trajectory fitting strategy, and evaluating the drone countermeasure effect for each countermeasure through a countermeasure effect evaluation strategy; among the drone countermeasure effects for each countermeasure, selecting the drone countermeasure record information corresponding to the best drone countermeasure effect as the target drone countermeasure record information, and extracting the countermeasure strategy from the target drone countermeasure record information as the optimized signal countermeasure strategy for historical non-access drones.

[0034] In this embodiment, the terminal identifies the drone trajectory change information and the drone countermeasure record information for each countermeasure based on the countermeasure records of the non-access drone. The drone trajectory change information refers to the drone's travel trajectory, and the drone countermeasure record information includes the drone's countermeasure duration and countermeasure strategy.

[0035] Then, based on the drone trajectory change information during each countermeasure, the terminal generates the flight trajectory range of the non-accessible drone using a drone trajectory fitting strategy. Furthermore, based on the drone countermeasure record information during each countermeasure, the terminal evaluates the drone countermeasure effectiveness using a countermeasure effectiveness evaluation strategy. The drone trajectory fitting strategy is based on a linear interpolation strategy to quickly fit the trajectory range of the drone. The fitting formula is as follows:

[0036] In the above formula, To fit the obtained trajectory range, Pt represents the trajectory point position information at the current time, P(t-1) represents the trajectory point position information at the previous time, t represents the current time, t-1 represents the previous time, and t+1 represents the next time. The countermeasure effectiveness evaluation strategy is that the shorter the countermeasure duration for successfully countering the drone, the better the countermeasure effect. The countermeasure duration for each countermeasure by the terminal is used to sort the drone countermeasure records for each countermeasure, and the sorted number is used as the drone countermeasure effectiveness for each countermeasure.

[0037] In each countermeasure, the countermeasure record information of the drone with the first sort number is selected as the target drone countermeasure record information, and the countermeasure strategy in the target drone countermeasure record information is extracted as the optimized signal countermeasure strategy for historical non-access drones.

[0038] Based on the above scheme, the trajectory change range of the UAV can be quickly fitted by an efficient linear interpolation fitting strategy. The countermeasure strategy can be quickly screened and optimized by countermeasure duration, thereby improving the efficiency optimization effect of UAV countermeasure for existing countermeasure records.

[0039] Optionally, based on the current signal position change information of each historical non-access drone, the historical non-access drones are located and countered using an optimized countermeasure strategy. This includes: predicting the location range of the historical non-access drones entering the countermeasure device's execution area and the remaining time of entry based on the current signal position change information and the trajectory range of the non-access drones; and guiding staff to locate and counter the historical non-access drones using an optimized signal countermeasure strategy based on the location range of the historical non-access drones entering the countermeasure device's execution area and the remaining time of entry.

[0040] In this embodiment, the terminal predicts the location range of the historical non-access drone entering the countermeasure's execution zone and the remaining time of the historical non-access drone entering the countermeasure's execution zone based on the current signal position change information of the historical non-access drone and the range of the non-access drone's trajectory. The trajectory range is a wide range of a curved trajectory. The terminal takes the area where this wide range intersects with the execution zone as the location range of the historical non-access drone entering the countermeasure's execution zone. Then, based on the current signal position change information of the historical non-access drone, the terminal calculates the travel speed and the current position point of the historical non-access drone. Finally, the terminal divides the travel speed by the curved trajectory route between the location range and the current position point to obtain the remaining time of the historical non-access drone entering the location range. The current signal position change information includes the radar's position point and scan duration interval when the UAV's signal position change is collected. The terminal then uses the average value of the straight-line distance between the position points of two scans divided by the scan duration as the travel speed of the historically denied UAV. The position point of the last scan is taken as the current position point of the historically denied UAV.

[0041] Then, based on the location range of historical non-access drones entering the countermeasures' execution zone and the remaining time of those drones, the terminal guides staff to locate and counter the historical non-access drones using an optimized signal countermeasure strategy. This guidance involves the terminal generating a visual countermeasures deflection arrow based on the location range and the angle (solid angle) between the drone and the countermeasures' execution module. When the staff aims the countermeasures' execution module at that location range, a visual confirmation arrow is generated. Then, while displaying this deflection arrow to the staff, the countermeasures display module performs a visual countdown of the remaining time. After the countdown ends, the terminal automatically sends a countermeasure signal to the historical non-access drone through the countermeasures execution module according to the optimized signal countermeasure strategy. (The guidance process for subsequent new non-access drones is the same and will not be described in detail below.)

[0042] Based on the above scheme, the predicted location range and remaining time are obtained by fitting the trajectory, which improves the prediction accuracy and efficiency, and effectively enhances the accuracy and efficiency of guidance for staff.

[0043] Optionally, based on the current drone signals of the new non-access drone, the signal characteristics of the new non-access drone are identified, including: extracting the current signal data change distribution information of each signal data type of the new non-access drone based on the current drone signals of the new non-access drone; based on the signal data change distribution information of each signal data type, identifying the current signal characteristics of each signal data type through a signal feature recognition network, and using the sub-current signal characteristics of each signal data type as the signal characteristics of the new non-access drone.

[0044] In this embodiment, the terminal extracts the current signal data change distribution information of each signal data type of the new non-accessible drone based on the current drone signal. Then, based on the signal data change distribution information of each signal data type, the terminal identifies the current signal features of each signal data type through a signal feature recognition network, and uses the sub-current signal features of each signal data type as the signal features of the new non-accessible drone. This signal feature recognition network is a Radio Signal Recognition Deep Network (WSRNet / AMC network). This neural network can automatically mine fingerprint features of drone signals, thereby identifying the signal features corresponding to the drone's device fingerprint, which is the core feature extraction method for non-cooperative spectrum monitoring.

[0045] In another embodiment, the terminal extracts the signal encoding of the current drone signal as a signal feature of the new non-accessible drone. This signal encoding is the drone signal's device fingerprint encoding.

[0046] Based on the above scheme, by starting with signal characteristics, the characteristics of new non-accessible drones can be identified, thereby improving the accuracy of drone characteristic identification.

[0047] Optionally, based on the signal characteristics of the new non-access drone, a signal countermeasure strategy for the new non-access drone is generated, including: based on the sub-current signal characteristics of each signal data type, a control command generation strategy is used to generate the current control command for each control type of the new non-access drone and the progressive control sequence for each control type; the current control command for each control type and the progressive control sequence for each control type are used as the signal countermeasure strategy for the new non-access drone.

[0048] In this embodiment, the terminal generates current control commands for each control type of the new non-accessible UAV and progressive control sequences for each control type based on the sub-current signal characteristics of each signal data type through a control command generation strategy. The control command generation strategy includes preset command transmission sequences for each control type, i.e., progressive control sequences, and command generation methods for each control type. The instruction generation method involves the terminal reversibly disassembling the communication frame structure based on the sub-current signal characteristics of each signal data type to identify the communication protocol skeleton of the drone. Specifically, this includes: demodulating the IQ waveform and extracting the digital bit stream; segmenting the complete instruction data packet based on the synchronization code and frame interval in the characteristics; mapping control bit definitions: each frame of data contains its corresponding throttle, roll, pitch, yaw, unlock, return-to-home, and landing commands (civilian drones typically send a complete packet of control data every 7ms); replicating verification rules: restoring the address matching, CRC check, frame counting, and timestamp verification logic of the drone receiver; differentiating protection levels: unencrypted old model: only address + CRC check, extremely easy to tamper with instructions; encrypted new model (drone device signature): requires additional key cracking or implementation of synchronization suppression bypass attacks. Then, based on the identified communication protocol skeleton of the drone, the terminal generates radio frequency waveforms for each control type that match the sub-current signal characteristics of each signal data type. Specifically, clock synchronization: matching the original signal code rate and frequency hopping timing, synchronizing the frequency hopping frequency point in the FHSS scenario on a time-slot basis; modulation replication: using the identified modulation method (GFSK / OQPSK / OFDM) to perform baseband modulation on the command bits; RF fingerprint replication: superimposing the original transmitter hardware characteristics (power amplifier distortion, slight frequency offset, phase noise) to avoid interception by the drone's same-source fingerprint verification; power control: the transmission power is 3~6dB higher than the real remote controller, allowing the drone to preferentially capture the fake signal.

[0049] Finally, the terminal uses the current control commands for each control type, as well as the progressive control sequences for each control type, as the signal countermeasure strategy for the new non-accessible UAV. This signal countermeasure strategy employs a dual-mode preemption strategy when controlling the UAV. Specifically, the dual-mode preemption strategy includes: synchronous suppression and deception: slightly interfering with the genuine remote control signal while simultaneously sending forged commands; switching to receive our signal after the UAV loses packets; and direct strong signal coverage: using high-power forged radio frequency to directly cover the legitimate remote control link.

[0050] Based on the above scheme, the feature network extracts subtle hardware fingerprints of the remote control with high precision (local oscillator drift, power amplifier nonlinear curve); the radio frequency signal generator performs pre-distortion compensation to forge an identical fingerprint waveform; the command frame and the same fingerprint are matched to completely bypass the receiver's identity verification and achieve completely imperceptible takeover.

[0051] Optionally, based on the current signal position change information of the new non-accessible drone, a signal countermeasure strategy for the new non-accessible drone is used to perform positioning and countermeasure processing on the new non-accessible drone. This includes: fitting the current trajectory of the new non-accessible drone based on the current signal position change information, and generating a predicted trajectory range of the new non-accessible drone based on the current trajectory of the new non-accessible drone using a trajectory prediction strategy; determining the predicted position range of the new non-accessible drone entering the execution area of ​​the countermeasure device and the predicted remaining time of the new non-accessible drone entering the execution area of ​​the countermeasure device based on the predicted position range of the new non-accessible drone entering the execution area of ​​the countermeasure device and the predicted remaining time of the new non-accessible drone entering the execution area of ​​the countermeasure device, and guiding personnel to perform positioning and countermeasure processing on the new non-accessible drone using the signal countermeasure strategy for the new non-accessible drone.

[0052] In this embodiment, the terminal fits the current trajectory of the new non-accessible UAV based on its current signal position change information, and generates a predicted trajectory range for the new non-accessible UAV based on its current trajectory using a trajectory prediction strategy. The trajectory fitting method involves using the least squares method to perform curve fitting and smoothing on the position points collected during each scan of the current signal position change information to obtain the current trajectory of the new non-accessible UAV. This trajectory prediction strategy is the same as the trajectory prediction strategy described above, and will not be described in detail here.

[0053] Then, based on the predicted trajectory range of the new non-accessible drone, the terminal determines the predicted location range of the new non-accessible drone entering the countermeasures' execution zone, as well as the predicted remaining time for the new non-accessible drone to enter the countermeasures' execution zone. Next, based on the predicted location range of the new non-accessible drone entering the countermeasures' execution zone, and the predicted remaining time for the new non-accessible drone to enter the countermeasures' execution zone, the terminal guides personnel to perform location and countermeasure processing on the new non-accessible drone through the new non-accessible drone's signal countermeasures strategy.

[0054] Based on the above scheme, by fitting the drone trajectory and predicting the trajectory, the predicted location range and remaining time are generated, and then countermeasure guidance is given to the staff, which improves the accuracy of the countermeasure guidance to the staff.

[0055] This application also provides an example of precise positioning and countermeasures against high-altitude unmanned aerial vehicles, such as... Figure 2 As shown, the specific processing procedure includes the following steps: Step S201: In the detection area of ​​the countermeasure device, monitor the current drone signal of each non-access drone and the current signal position change information of each non-access drone, and based on the current drone signal of each non-access drone, query the drone countermeasure database to see if there is a countermeasure record for each non-access drone.

[0056] Step S202: Based on the countermeasure records of non-accessible drones, identify the drone trajectory change information and the drone countermeasure record information for each countermeasure.

[0057] Step S203: Based on the drone trajectory change information during each countermeasure, the flight trajectory range of the non-access drone is generated through a drone trajectory fitting strategy. Based on the drone countermeasure record information during each countermeasure, the drone countermeasure effect during each countermeasure is evaluated through a countermeasure effect evaluation strategy.

[0058] Step S204: In each countermeasure, the drone countermeasure record information corresponding to the best drone countermeasure effect is selected as the target drone countermeasure record information, and the countermeasure strategy in the target drone countermeasure record information is extracted as the optimized signal countermeasure strategy for historical non-access drones.

[0059] Step S205: Based on the current signal position change information of historical non-access drones and the range of their travel trajectories, predict the location range of historical non-access drones entering the execution area of ​​the countermeasures device, and the remaining time of historical non-access drones entering the execution area of ​​the countermeasures device.

[0060] Step S206: Based on the location range of historical non-access drones entering the execution area of ​​the countermeasure device and the remaining time of historical non-access drones entering the execution area of ​​the countermeasure device, the staff is guided to perform positioning and countermeasure processing on historical non-access drones through the optimized signal countermeasure strategy of historical non-access drones.

[0061] Step S207: Based on the current drone signal of the new non-access drone, extract the current signal data change distribution information of each signal data type of the new non-access drone.

[0062] Step S208: Based on the signal data change distribution information of each signal data type, the current signal features of each signal data type are identified through a signal feature recognition network, and the sub-current signal features of each signal data type are used as the signal features of the new non-accessible UAV.

[0063] Step S209: Based on the sub-current signal characteristics of each signal data type, the current control commands for each control type of the new non-accessible UAV and the progressive control sequences for each control type are generated through the control command generation strategy.

[0064] Step S210: The current control commands of each control type and the progressive control sequences of each control type are used as the signal countermeasure strategy for the new non-accessible UAV.

[0065] Step S211: Based on the current signal position change information of the new non-access drone, fit the current trajectory of the new non-access drone, and based on the current trajectory of the new non-access drone, generate the predicted trajectory range of the new non-access drone through a trajectory prediction strategy.

[0066] Step S212: Based on the predicted trajectory range of the new non-accessible drone, determine the predicted location range of the new non-accessible drone entering the execution area of ​​the countermeasure, and the predicted remaining time for the new non-accessible drone to enter the execution area of ​​the countermeasure.

[0067] Step S213: Based on the predicted location range of the new non-access drone entering the execution area of ​​the countermeasure and the predicted remaining time of the new non-access drone entering the execution area of ​​the countermeasure, the staff is guided to perform positioning and countermeasure processing on the new non-access drone through the signal countermeasure strategy of the new non-access drone.

[0068] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0069] Based on the same inventive concept, this application also provides a device for precisely positioning and countering high-altitude drones to implement the aforementioned method for precisely positioning and countering high-altitude drones. The solution provided by this device is similar to the solution described in the above method. Therefore, the specific limitations of one or more embodiments of the device for precisely positioning and countering high-altitude drones provided below can be found in the limitations of the method for precisely positioning and countering high-altitude drones described above, and will not be repeated here.

[0070] In one exemplary embodiment, such as Figure 3 As shown, a precise positioning and countermeasure device for high-altitude unmanned aerial vehicles (UAVs) is provided, comprising: a monitoring module 310, a first guidance module 320, and a second guidance module 330, wherein: The monitoring module 310 is used to monitor the current drone signal of each non-access drone and the current signal position change information of each non-access drone in the detection area of ​​the countermeasure, and to query the drone countermeasure database for whether there is a countermeasure record of each non-access drone based on the current drone signal of each non-access drone. The first guidance module 320 is used to identify the optimized signal countermeasure strategy of the historical non-access drone based on the countermeasure record of the historical non-access drone when there is a countermeasure record. Based on the current signal position change information of the historical non-access drone, the module guides the staff to perform positioning and countermeasure processing on the historical non-access drone through the optimized countermeasure strategy of the historical non-access drone. The second guidance module 330 is used to identify the signal characteristics of a new non-accessible drone based on its current drone signal when no countermeasure record exists, and to generate a signal countermeasure strategy for the new non-accessible drone based on its signal characteristics; and to guide personnel to perform positioning and countermeasure processing on the new non-accessible drone based on the current signal position change information of the new non-accessible drone and the signal countermeasure strategy of the new non-accessible drone.

[0071] Optionally, the first guidance module 320 is specifically used for: Based on the countermeasure records of the non-access drones, identify the drone trajectory change information during each countermeasure, as well as the drone countermeasure record information during each countermeasure. Based on the drone trajectory change information during each countermeasure, the flight trajectory range of the non-access drone is generated through a drone trajectory fitting strategy. Based on the drone countermeasure record information during each countermeasure, the drone countermeasure effect during each countermeasure is evaluated through a countermeasure effect evaluation strategy. In each countermeasure, the drone countermeasure effect is selected, and the drone countermeasure record information corresponding to the best drone countermeasure effect is selected as the target drone countermeasure record information. The countermeasure strategy in the target drone countermeasure record information is extracted as the optimized signal countermeasure strategy for the historical non-access drones.

[0072] Optionally, the first guidance module 320 is specifically used for: Based on the current signal position change information of the historical non-access drone and the range of the non-access drone's trajectory, the location range of the historical non-access drone entering the execution area of ​​the countermeasure is predicted, as well as the remaining time of the historical non-access drone entering the execution area of ​​the countermeasure. Based on the location range of the historical non-access drones entering the execution area of ​​the countermeasure device, and the remaining time of the historical non-access drones entering the execution area of ​​the countermeasure device, the optimized signal countermeasure strategy of the historical non-access drones guides the staff to perform positioning and countermeasure processing on the historical non-access drones.

[0073] Optionally, the second guidance module 330 is specifically used for: Based on the current drone signal of the new non-access drone, extract the current signal data change distribution information of each signal data type of the new non-access drone; Based on the signal data change distribution information of each of the signal data types, the current signal features of each of the signal data types are identified through a signal feature recognition network, and the sub-current signal features of each of the signal data types are used as the signal features of the new non-accessible UAV.

[0074] Optionally, the second guidance module 330 is specifically used for: Based on the sub-current signal characteristics of each of the signal data types, the current control commands for each control type of the new non-access UAV and the progressive control sequences for each of the control types are generated through a control command generation strategy. The current control commands for each of the aforementioned control types, as well as the progressive control sequences for each of the aforementioned control types, are used as the signal countermeasure strategy for the new non-accessible UAV.

[0075] Optionally, the second guidance module 330 is specifically used for: Based on the current signal position change information of the new non-access drone, the current trajectory of the new non-access drone is fitted, and based on the current trajectory of the new non-access drone, the predicted trajectory range of the new non-access drone is generated through a trajectory prediction strategy. Based on the predicted trajectory range of the new non-accessible drone, the predicted location range of the new non-accessible drone entering the execution area of ​​the countermeasure is determined, as well as the predicted remaining time of the new non-accessible drone entering the execution area of ​​the countermeasure. Based on the predicted location range of the new non-access drone entering the execution area of ​​the countermeasure device, and the predicted remaining time of the new non-access drone entering the execution area of ​​the countermeasure device, the signal countermeasure strategy of the new non-access drone guides the staff to perform positioning and countermeasure processing on the new non-access drone.

[0076] The modules in the aforementioned high-altitude UAV precision positioning and countermeasure device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the computer device's memory as software, so that the processor can call and execute the corresponding operations of each module.

[0077] In one exemplary embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 4As shown, the computer device includes a processor, memory, input / output interfaces, a communication interface, a display unit, and an input device. The processor, memory, and input / output interfaces are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interfaces. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The input / output interfaces are used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements a precise positioning and countermeasure method for high-altitude unmanned aerial vehicles (UAVs). The display unit is used to form a visually visible image and can be a display screen, a projection device, or a virtual reality imaging device. The display screen can be an LCD screen or an e-ink screen. The input device of the computer device can be a touch layer covering the display screen, or buttons, trackballs, or touchpads set on the casing of the computer device, or external keyboards, touchpads, or mice, etc.

[0078] Those skilled in the art will understand that Figure 4 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0079] In one exemplary embodiment, a computer device is provided, including a memory and a processor, the memory storing a computer program, the processor executing the computer program to implement the steps of a method for precise positioning and countermeasures against high-altitude unmanned aerial vehicles.

[0080] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, the computer program being executed by a processor to implement the steps of a method for precise positioning and countermeasures against high-altitude unmanned aerial vehicles.

[0081] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps of a method for precisely locating and countering high-altitude unmanned aerial vehicles.

[0082] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.

[0083] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments described above. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0084] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0085] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A method for precise positioning and countermeasures against high-altitude unmanned aerial vehicles (UAVs), characterized in that, The method includes: In the detection area of ​​the countermeasure device, the current drone signal of each non-access drone and the current signal position change information of each non-access drone are monitored, and based on the current drone signal of each non-access drone, the countermeasure database is queried to see if there is a countermeasure record for each non-access drone. When there is a historical non-access drone with a countermeasure record, based on the countermeasure record of the historical non-access drone, the optimized signal countermeasure strategy of the historical non-access drone is identified, and based on the current signal position change information of the historical non-access drone, the optimized countermeasure strategy of the historical non-access drone guides the staff to perform positioning and countermeasure processing on the historical non-access drone. When a new non-access drone has no known countermeasures record, the signal characteristics of the new non-access drone are identified based on its current drone signal, and a signal countermeasure strategy is generated based on these characteristics. Based on the current signal position change information of the new non-access drone, the signal countermeasure strategy guides personnel to perform location and countermeasure processing on the new non-access drone.

2. The method according to claim 1, characterized in that, The method for identifying optimized signal countermeasures against historically denied-access drones based on their countermeasure records includes: Based on the countermeasure records of the non-access drones, identify the drone trajectory change information during each countermeasure, as well as the drone countermeasure record information during each countermeasure. Based on the drone trajectory change information during each countermeasure, the flight trajectory range of the non-access drone is generated through a drone trajectory fitting strategy. Based on the drone countermeasure record information during each countermeasure, the drone countermeasure effect during each countermeasure is evaluated through a countermeasure effect evaluation strategy. In each countermeasure, the drone countermeasure effect is selected, and the drone countermeasure record information corresponding to the best drone countermeasure effect is selected as the target drone countermeasure record information. The countermeasure strategy in the target drone countermeasure record information is extracted as the optimized signal countermeasure strategy for the historical non-access drones.

3. The method according to claim 2, characterized in that, The step of performing location countermeasures on historically unauthorized drones based on their current signal location change information and through an optimized countermeasure strategy includes: Based on the current signal position change information of the historical non-access drone and the range of the non-access drone's trajectory, the location range of the historical non-access drone entering the execution area of ​​the countermeasure is predicted, as well as the remaining time of the historical non-access drone entering the execution area of ​​the countermeasure. Based on the location range of the historical non-access drones entering the execution area of ​​the countermeasure device, and the remaining time of the historical non-access drones entering the execution area of ​​the countermeasure device, the optimized signal countermeasure strategy of the historical non-access drones guides the staff to perform positioning and countermeasure processing on the historical non-access drones.

4. The method according to claim 1, characterized in that, The process of identifying the signal characteristics of the new non-accessible drone based on its current drone signal includes: Based on the current drone signal of the new non-access drone, extract the current signal data change distribution information of each signal data type of the new non-access drone; Based on the signal data change distribution information of each of the signal data types, the current signal features of each of the signal data types are identified through a signal feature recognition network, and the sub-current signal features of each of the signal data types are used as the signal features of the new non-accessible UAV.

5. The method according to claim 4, characterized in that, The generation of a signal countermeasure strategy for the new non-accessible drone based on its signal characteristics includes: Based on the sub-current signal characteristics of each of the signal data types, the current control commands for each control type of the new non-access UAV and the progressive control sequences for each of the control types are generated through a control command generation strategy. The current control commands for each of the aforementioned control types, as well as the progressive control sequences for each of the aforementioned control types, are used as the signal countermeasure strategy for the new non-accessible UAV.

6. The method according to claim 1, characterized in that, Based on the current signal location change information of the new non-accessible drone, the system guides personnel to perform location and countermeasure processing on the new non-accessible drone through a signal countermeasure strategy, including: Based on the current signal position change information of the new non-access drone, the current trajectory of the new non-access drone is fitted, and based on the current trajectory of the new non-access drone, the predicted trajectory range of the new non-access drone is generated through a trajectory prediction strategy. Based on the predicted trajectory range of the new non-accessible drone, the predicted location range of the new non-accessible drone entering the execution area of ​​the countermeasure is determined, as well as the predicted remaining time of the new non-accessible drone entering the execution area of ​​the countermeasure. Based on the predicted location range of the new non-access drone entering the execution area of ​​the countermeasure device, and the predicted remaining time of the new non-access drone entering the execution area of ​​the countermeasure device, the signal countermeasure strategy of the new non-access drone guides the staff to perform positioning and countermeasure processing on the new non-access drone.

7. A precision positioning and countermeasure device for high-altitude unmanned aerial vehicles (UAVs), characterized in that, The device includes: The monitoring module is used to monitor the current drone signal of each non-access drone and the current signal position change information of each non-access drone in the detection area of ​​the countermeasure, and to query the drone countermeasure database to see if there is a countermeasure record for each non-access drone based on the current drone signal of each non-access drone. The first guidance module is used to identify the optimized signal countermeasure strategy of the historical non-access drone based on the countermeasure record of the historical non-access drone when there is a countermeasure record. Based on the current signal position change information of the historical non-access drone, the module guides the staff to perform positioning and countermeasure processing on the historical non-access drone through the optimized countermeasure strategy of the historical non-access drone. The second guidance module is used to identify the signal characteristics of a new non-accessible drone based on its current drone signal when no countermeasure record exists, and to generate a signal countermeasure strategy for the new non-accessible drone based on its signal characteristics; based on the current signal position change information of the new non-accessible drone, the module guides personnel to perform positioning and countermeasure processing on the new non-accessible drone through the signal countermeasure strategy.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

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