An anti-fiber unmanned aerial vehicle detection positioning method and system based on a fiber unmanned aerial vehicle

Abstract

The application relates to the technical field of unmanned aerial vehicle detection, and discloses a light-fiber-unmanned-aerial-vehicle-detection positioning method and system based on optical fiber unmanned aerial vehicles, which comprises two sets of optical fiber unmanned aerial vehicle patrol positioning systems and an unmanned aerial vehicle ground station, each set of system comprises a suspended unmanned aerial vehicle, a flying patrol optical fiber unmanned aerial vehicle and an optical fiber disturbance sensor; the two sets of systems respectively patrol and scan a target area at different heights; when an invading optical fiber unmanned aerial vehicle disturbs the optical fiber, the optical fiber disturbance sensor measures the distance from the disturbance point to the suspended unmanned aerial vehicle, the flying patrol optical fiber unmanned aerial vehicle acquires the azimuth information of the disturbance point, and the unmanned aerial vehicle ground station calculates the three-dimensional direction of the invading optical fiber unmanned aerial vehicle dragging the optical fiber according to the distance and the azimuth information fed back by the two sets of systems, so that the invading optical fiber unmanned aerial vehicle is detected and oriented; the application solves the problem of poor optical fiber unmanned aerial vehicle detection effect in the prior art, and has the advantages of strong pertinence, no dependence on radio signals and flexible deployment.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) detection technology, and in particular to a method and system for detecting and locating anti-fiber optic UAVs based on fiber optic UAVs. Background Technology

[0002] With the rapid development of drone technology and the continuous reduction in manufacturing costs, drones have been widely used in civilian fields such as aerial photography, agricultural plant protection, power line inspection, and logistics delivery. However, this has also brought increasingly serious security challenges. Unauthorized drones illegally intruding into sensitive areas such as airport airspace, government offices, military facilities, and nuclear power plants are frequent incidents, posing a serious threat to public and national safety. Among these, fiber optic drones, as a special type of tethered drone, maintain a physical connection with the ground station via optical fiber. All information, including video signals, telemetry data, and control commands, is transmitted via optical fiber rather than radio channels. The fiber optic reel they carry can be up to 20 kilometers long, and the fiber is continuously released during flight. Because they do not rely on radio communication, fiber optic drones have extremely strong anti-interference capabilities and signal transmission concealment. This characteristic gives them unique advantages in fields such as military reconnaissance and target surveillance, but it also brings new technical challenges to security protection.

[0003] Currently, detection technologies for drones mainly include radar detection, radio detection, and optical detection. Radar detection detects drones by emitting electromagnetic waves and receiving their echoes. However, drones typically have a small radar cross-section, making them typical "low, slow, and small" targets, limiting the detection capabilities of traditional radar and incurring high equipment costs. Radio detection monitors the communication link between the drone and its remote controller, but this method is completely ineffective against fiber optic drones that do not emit radio signals. Optical detection relies on the target's optical characteristics for identification, but it is greatly affected by environmental factors such as weather and lighting, making it difficult to achieve continuous, all-weather, and large-scale monitoring. Furthermore, existing security solutions based on fiber optic disturbance monitoring rely on using fiber optic sensors to trigger intrusion alarms and dispatch drones for response. This is essentially a security linkage mechanism and does not address the detection principles and spatial orientation methods of fiber optic drones themselves. While academic research has attempted to detect drone flight disturbances using distributed fiber optic acoustic sensing technology, these methods rely on pre-laid fixed fiber optic cables, limiting the detection range to the cable's location and hindering flexible, mobile patrol coverage of key areas.

[0004] In summary, existing detection technologies for fiber optic drones, a special type of target, are all significantly inadequate. There is an urgent need for a detection scheme that does not rely on the target's radio signal radiation, is not limited by the location of fixed optical cables, and can actively patrol and achieve spatial orientation of intruding fiber optic drones. Summary of the Invention

[0005] The purpose of this invention is to solve the problems of poor detection effectiveness of fiber optic UAVs in the prior art, and to provide a method and system for anti-fiber optic UAV detection and positioning based on fiber optic UAVs. This scheme uses two patrol positioning systems at different altitudes to cover the target area in a coordinated manner, uses fiber optic disturbance sensing to obtain the distance of the entanglement point, combines the azimuth information of the patrol fiber optics, and calculates the three-dimensional direction of the fiber optic cable dragged by the intruding fiber optic UAV by the ground station, thereby achieving effective detection and orientation.

[0006] On the one hand, the present invention provides a method for anti-fiber optic UAV detection and positioning based on fiber optic UAVs, comprising the following steps: S1: Control the first fiber optic UAV patrol and positioning system and the second fiber optic UAV patrol and positioning system to patrol and scan the target area at different altitudes respectively; wherein, each fiber optic UAV patrol and positioning system includes a hovering UAV, a flying patrol fiber optic UAV and a fiber optic disturbance sensor. The hovering UAV hovers at a preset altitude, and the flying patrol fiber optic UAV carries the fiber optic cable and flies along a preset trajectory in the horizontal plane at the corresponding altitude, so that the fiber optic cable forms a coverage above the target area. S2: When an intruding fiber optic drone enters the target area and physically entangles the cable, generating a measurable disturbance, each fiber optic drone patrol and positioning system measures the distance from the disturbance point to the corresponding suspended drone through the fiber optic disturbance sensor, and simultaneously obtains the orientation information of the disturbance point on its horizontal plane through the flying patrol fiber optic drone. S3: The UAV ground station receives the distance and orientation information sent by the two sets of fiber optic UAV patrol positioning systems, and calculates and determines the three-dimensional direction of the fiber optic cable dragged by the intruding fiber optic UAV based on the distance and orientation information obtained from two observation points at different altitudes, thereby completing the detection and orientation of the intruding fiber optic UAV. The first fiber optic UAV patrol and positioning system and the second fiber optic UAV patrol and positioning system acquire the disturbance information through passive detection, without relying on the radio signals actively emitted by the intruding fiber optic UAV.

[0007] Furthermore, in step S1, the patrol fiber optic UAV flies along a preset trajectory, and the fiber optic cable is adaptively released as the flight trajectory extends, while keeping the fiber optic cable in a straight or naturally taut state. The preset trajectory is any one of a circular trajectory, a rectangular trajectory, or a spiral trajectory.

[0008] Furthermore, in step S2, when the towed fiber of the intrusion fiber optic UAV and the patrol fiber of the flight patrol fiber optic UAV become physically entangled, the fiber is disturbed, and the entanglement point is the disturbance point. The flight patrol fiber optic UAV obtains the azimuth information of the disturbance point on its horizontal plane through its onboard positioning module and attitude sensor, and outputs the azimuth information as the orientation information.

[0009] Further, in step S3, obtaining the orientation information of the disturbance point on its horizontal plane includes: The UAV ground station is based on the distance corresponding to the two sets of fiber optic UAV patrol and positioning systems. , and scanning fiber angle information , Based on the altitude of the two fiber optic UAV patrol and positioning systems described above , The spatial coordinates of disturbance points A and B detected by the two sets of fiber optic UAV patrol and positioning systems are calculated respectively, and expressed as follows: , , Then, the spatial vector direction of the straight line along which the intruding fiber optic drone tows the fiber is located is determined by points A and B, that is: .

[0010] Preferably, the UAV ground station further calculates the horizontal spatial angle of the fiber optic cable dragged by the intruding fiber optic UAV using an arcsine function based on the spatial vector direction determined by points A and B. and pitch angle , represented as: , , The three-dimensional orientation is characterized by the horizontal spatial angle and the pitch spatial angle.

[0011] Furthermore, the fiber optic disturbance sensor is a distributed fiber optic disturbance sensor, which is installed on the hovering UAV and connected to the fiber optic cable. The distance from the disturbance point to the corresponding hovering UAV is determined by measuring the echo delay or phase change of the disturbance signal in the fiber optic cable.

[0012] Furthermore, in step S1, the hovering drone provides a fixed suspension point for the optical fiber, the flying patrol optical fiber drone flies in a horizontal plane below the hovering drone, and the optical fiber is connected between the hovering drone and the flying patrol optical fiber drone.

[0013] Furthermore, in step S1, the two sets of fiber optic UAV patrol and positioning systems hover at different heights during operation. and place, and This is used to create a height difference for solving in three-dimensional directions.

[0014] On the other hand, the present invention also provides an anti-fiber optic drone detection and positioning system based on fiber optic drones, comprising: A flying patrol fiber optic drone is used to control a first fiber optic drone patrol and positioning system and a second fiber optic drone patrol and positioning system to patrol and scan a target area at different altitudes. Each fiber optic drone patrol and positioning system includes a hovering drone, a flying patrol fiber optic drone, and a fiber optic disturbance sensor. The hovering drone hovers at a preset altitude, and the flying patrol fiber optic drone carries optical fibers and flies along a preset trajectory in the horizontal plane at the corresponding altitude, so that the optical fibers form a coverage above the target area. The disturbance detection device is used to measure the distance from the disturbance point to the corresponding hovering drone through the fiber optic disturbance sensor when the intruding fiber optic drone enters the target area and physically entangles the cable and generates a measurable disturbance. At the same time, the flying patrol fiber optic drone obtains the orientation information of the disturbance point on its horizontal plane. The orientation calculation module is used by the UAV ground station to receive the distance and azimuth information sent by the two sets of fiber optic UAV patrol positioning systems, and to calculate and determine the three-dimensional direction of the fiber optic cable dragged by the intruding fiber optic UAV based on the distance and azimuth information obtained from two observation points at different altitudes, thereby completing the detection and orientation of the intruding fiber optic UAV. The first fiber optic UAV patrol and positioning system and the second fiber optic UAV patrol and positioning system acquire the disturbance information through passive detection, without relying on the radio signals actively emitted by the intruding fiber optic UAV.

[0015] Compared with the prior art, the beneficial effects of the present invention are: (1) This invention targets the physical characteristics of fiber optic UAVs and uses fiber optic disturbance sensing technology to detect intruding fiber optic UAVs, fundamentally solving the technical problem that traditional radio detection methods are completely ineffective against fiber optic UAVs that do not radiate electromagnetic signals. (2) By setting up two sets of fiber optic UAV patrol and positioning systems at different altitudes, the distance and orientation information obtained from the two observation points can be used to determine the three-dimensional direction of the fiber optic UAV dragging the fiber by the ground station. This not only determines whether an intrusion event has occurred, but also provides accurate orientation information, overcoming the shortcomings of existing solutions that can only alarm but cannot orient the target. (3) The present invention uses a flying patrol fiber optic drone to carry fiber optics to actively patrol and scan along a preset trajectory. It can be quickly deployed in different areas according to protection needs to achieve dynamic coverage of the target area and overcome the limitations of fixed optical cable detection range and inability to flexibly adjust the monitoring area. (4) The present invention does not rely on the external signal characteristics of the target, and the detection process is not affected by external factors such as weather, light, and electromagnetic interference. It can work continuously and stably in all weather conditions and has high environmental adaptability and detection reliability. (5) The device of the present invention has a simple structure, relatively low equipment cost, simple deployment and operation, and is easy to promote and apply. Attached Figure Description

[0016] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings: Figure 1 This is a flowchart of an anti-fiber optic UAV detection and positioning method based on fiber optic UAVs according to the present invention; Figure 2 This is a schematic diagram of two sets of fiber optic patrol drones flying along a circular trajectory according to the present invention; Figure 3 This is a schematic diagram illustrating two sets of fiber optic patrol drones flying along circular and rectangular trajectories, respectively, according to the present invention. Figure 4 This is a schematic diagram of two sets of fiber optic patrol drones flying along a rectangular trajectory according to the present invention; Figure 5 This is a schematic diagram of two sets of fiber optic patrol drones flying along a spiral trajectory and a rectangular trajectory, respectively, according to the present invention. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. 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.

[0018] The specific embodiments of the present invention will be described below with reference to the accompanying drawings and examples.

[0019] Example 1

[0020] Please see Figure 1 The technical solution of the anti-fiber optic UAV detection and positioning method based on fiber optic UAV provided in this embodiment includes the following steps: S1: Control the first fiber optic UAV patrol and positioning system and the second fiber optic UAV patrol and positioning system to patrol and scan the target area at different altitudes respectively; wherein, each fiber optic UAV patrol and positioning system includes a hovering UAV, a flying patrol fiber optic UAV and a fiber optic disturbance sensor. The hovering UAV hovers at a preset altitude, and the flying patrol fiber optic UAV carries the fiber optic cable and flies along a preset trajectory in the horizontal plane at the corresponding altitude, so that the fiber optic cable forms a coverage above the target area. S2: When an intruding fiber optic drone enters the target area and physically entangles the cable (including fiber optic cable) and generates a measurable disturbance, each fiber optic drone patrol positioning system measures the distance from the disturbance point to the corresponding suspended drone through the fiber optic disturbance sensor, and simultaneously obtains the orientation information of the disturbance point on its horizontal plane through the flying patrol fiber optic drone. S3: The UAV ground station receives the distance and orientation information sent by the two sets of fiber optic UAV patrol positioning systems, and calculates and determines the three-dimensional direction of the fiber optic cable dragged by the intruding fiber optic UAV based on the distance and orientation information obtained from two observation points at different altitudes, thereby completing the detection and orientation of the intruding fiber optic UAV. The first fiber optic UAV patrol and positioning system and the second fiber optic UAV patrol and positioning system acquire the disturbance information through passive detection, without relying on the radio signals actively emitted by the intruding fiber optic UAV.

[0021] Specifically, in step S1, the patrol fiber optic UAV flies along a preset trajectory, and the fiber optic cable is adaptively released as the flight trajectory extends, while keeping the fiber optic cable in a straight or naturally taut state. The preset trajectory is any one of a circular trajectory, a rectangular trajectory, or a spiral trajectory.

[0022] Several flight trajectory combination methods, such as Figure 2-5 As shown, circular trajectories are characterized by continuous paths and uniform coverage, making them suitable for continuous patrol scanning of target areas with regular shapes; rectangular trajectories are suitable for targeted patrol coverage of areas with clear boundaries and regular shapes (such as rectangular sensitive areas, airport runway areas, etc.), ensuring key monitoring of area boundaries; spiral trajectories can gradually cover the entire area from the center outwards or from the outside to the center, making them suitable for scenarios that require progressive scanning or gradual monitoring of key areas.

[0023] Furthermore, if the two systems use different trajectory types, they can form a complementary patrol coverage pattern, further increasing the probability of detecting intruding fiber optic drones.

[0024] In step S2, when the towed fiber of the intrusion fiber optic UAV and the patrol fiber of the flight patrol fiber optic UAV become physically entangled, the fiber is disturbed, and the entanglement point is the disturbance point. The flight patrol fiber optic UAV obtains the azimuth information of the disturbance point on its horizontal plane through its onboard positioning module (such as a GPS module) and attitude sensor, and outputs the azimuth information as the orientation information.

[0025] In step S3, obtaining the azimuth information of the disturbance point on its horizontal plane includes: The UAV ground station is based on the distance corresponding to the two sets of fiber optic UAV patrol and positioning systems. , and scanning fiber angle information , Based on the altitude of the two fiber optic UAV patrol and positioning systems described above , The spatial coordinates of disturbance points A and B detected by the two sets of fiber optic UAV patrol and positioning systems are calculated respectively, and expressed as follows: , , Then, the spatial vector direction of the straight line along which the intruding fiber optic drone tows the fiber is located is determined by points A and B, that is: .

[0026] Secondly, the UAV ground station, based on the spatial vector directions determined by points A and B, further calculates the horizontal spatial angle of the fiber optic cable dragged by the intruding fiber optic UAV using an arcsine function. and pitch angle , represented as: , , The three-dimensional orientation is characterized by the horizontal spatial angle and the pitch spatial angle.

[0027] Furthermore, the fiber optic disturbance sensor is a distributed fiber optic disturbance sensor, which is installed on the hovering UAV and connected to the fiber optic cable. The distance from the disturbance point to the corresponding hovering UAV is determined by measuring the echo delay or phase change of the disturbance signal in the fiber optic cable.

[0028] Furthermore, in step S1, the hovering drone provides a fixed suspension point for the optical fiber, the flying patrol optical fiber drone flies in a horizontal plane below the hovering drone, and the optical fiber is connected between the hovering drone and the flying patrol optical fiber drone.

[0029] Preferably, in step S1, the two sets of fiber optic UAV patrol and positioning systems hover at different heights during operation. and place, and This is used to create a height difference for solving in three-dimensional directions.

[0030] Based on the above method, the present invention provides an anti-fiber optic UAV detection and positioning system based on fiber optic UAVs, comprising: A flying patrol fiber optic drone is used to control a first fiber optic drone patrol and positioning system and a second fiber optic drone patrol and positioning system to patrol and scan a target area at different altitudes. Each fiber optic drone patrol and positioning system includes a hovering drone, a flying patrol fiber optic drone, and a fiber optic disturbance sensor. The hovering drone hovers at a preset altitude, and the flying patrol fiber optic drone carries optical fibers and flies along a preset trajectory in the horizontal plane at the corresponding altitude, so that the optical fibers form a coverage above the target area. The disturbance detection device is used to measure the distance from the disturbance point to the corresponding hovering drone through the fiber optic disturbance sensor when the intruding fiber optic drone enters the target area and physically entangles the cable and generates a measurable disturbance. At the same time, the flying patrol fiber optic drone obtains the orientation information of the disturbance point on its horizontal plane. The orientation calculation module is used by the UAV ground station to receive the distance and azimuth information sent by the two sets of fiber optic UAV patrol positioning systems, and to calculate and determine the three-dimensional direction of the fiber optic cable dragged by the intruding fiber optic UAV based on the distance and azimuth information obtained from two observation points at different altitudes, thereby completing the detection and orientation of the intruding fiber optic UAV. The first fiber optic UAV patrol and positioning system and the second fiber optic UAV patrol and positioning system acquire the disturbance information through passive detection, without relying on the radio signals actively emitted by the intruding fiber optic UAV.

[0031] It should be noted that the steps in the anti-fiber optic drone detection and positioning method based on fiber optic drones provided in this embodiment can be implemented based on the corresponding modules in the anti-fiber optic drone detection and positioning system based on fiber optic drones. Those skilled in the art can refer to the technical solution of the system to implement the steps of the method. That is, the embodiments in the system can be understood as preferred examples of implementing the method, and will not be elaborated here.

[0032] Besides implementing the system and its various devices provided by this invention in purely computer-readable program code, the same functions can be achieved by logically programming the method steps, making the system and its various devices of this invention appear as logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers. Therefore, the system and its various devices provided by this invention can be considered as a hardware component, and the devices included therein for implementing various functions can also be considered as structures within the hardware component; alternatively, the devices for implementing various functions can be considered as both software modules implementing the method and structures within the hardware component.

[0033] Finally, it should be noted that the above description is only a preferred embodiment of the present invention, and the scope of protection of the present invention is not limited to the above embodiments. All technical solutions falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be pointed out that for those skilled in the art, any improvements and modifications made without departing from the principle of the present invention should also be considered within the scope of protection of the present invention.

[0034] 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.

Claims

1. A method for detecting and locating anti-fiber optic UAVs based on fiber optic UAVs, characterized in that, Includes the following steps: S1: Control the first fiber optic UAV patrol and positioning system and the second fiber optic UAV patrol and positioning system to patrol and scan the target area at different altitudes respectively; wherein, each fiber optic UAV patrol and positioning system includes a hovering UAV, a flying patrol fiber optic UAV and a fiber optic disturbance sensor. The hovering UAV hovers at a preset altitude, and the flying patrol fiber optic UAV carries the fiber optic cable and flies along a preset trajectory in the horizontal plane at the corresponding altitude, so that the fiber optic cable forms a coverage above the target area. S2: When an intruding fiber optic drone enters the target area and physically entangles the cable, generating a measurable disturbance, each fiber optic drone patrol and positioning system measures the distance from the disturbance point to the corresponding suspended drone through the fiber optic disturbance sensor, and simultaneously obtains the orientation information of the disturbance point on its horizontal plane through the flying patrol fiber optic drone. S3: The UAV ground station receives the distance and orientation information sent by the two sets of fiber optic UAV patrol positioning systems, and calculates and determines the three-dimensional direction of the fiber optic cable dragged by the intruding fiber optic UAV based on the distance and orientation information obtained from two observation points at different altitudes, thereby completing the detection and orientation of the intruding fiber optic UAV. The first fiber optic UAV patrol and positioning system and the second fiber optic UAV patrol and positioning system acquire the disturbance information through passive detection, without relying on the radio signals actively emitted by the intruding fiber optic UAV.

2. The anti-fiber optic UAV detection and positioning method based on fiber optic UAVs according to claim 1, characterized in that, In step S1, the patrol fiber optic UAV flies along a preset trajectory. The fiber optic cable is adaptively released as the flight trajectory extends, and the fiber optic cable is kept in a straight or naturally taut state. The preset trajectory is any one of a circular trajectory, a rectangular trajectory, or a spiral trajectory.

3. The anti-fiber optic UAV detection and positioning method based on fiber optic UAVs according to claim 2, characterized in that, In step S2, when the towed fiber of the intrusion fiber optic UAV and the patrol fiber of the flight patrol fiber optic UAV become physically entangled, the fiber is disturbed, and the entanglement point is the disturbance point. The flight patrol fiber optic UAV obtains the azimuth information of the disturbance point on its horizontal plane through its onboard positioning module and attitude sensor, and outputs the azimuth information as the orientation information.

4. The anti-fiber optic UAV detection and positioning method based on fiber optic UAVs according to claim 3, characterized in that, In step S3, obtaining the azimuth information of the disturbance point on its horizontal plane includes: The UAV ground station is based on the distance corresponding to the two sets of fiber optic UAV patrol and positioning systems. , and scanning fiber angle information , Based on the altitude of the two fiber optic UAV patrol and positioning systems described above , The spatial coordinates of disturbance points A and B detected by the two sets of fiber optic UAV patrol and positioning systems are calculated respectively, and expressed as follows: , ， Then, the spatial vector direction of the straight line along which the intruding fiber optic drone tows the fiber is located is determined by points A and B, that is: 。 5. The anti-fiber optic UAV detection and positioning method based on fiber optic UAVs according to claim 4, characterized in that, The UAV ground station further calculates the horizontal spatial angle of the fiber optic cable dragged by the intruding fiber optic UAV using an arcsine function based on the spatial vector direction determined by points A and B. and pitch angle , represented as: , ， The three-dimensional orientation is characterized by the horizontal spatial angle and the pitch spatial angle.

6. The anti-fiber optic UAV detection and positioning method based on fiber optic UAVs according to claim 1, characterized in that, The fiber optic disturbance sensor is a distributed fiber optic disturbance sensor, installed on the hovering UAV and connected to the fiber optic cable. It determines the distance from the disturbance point to the corresponding hovering UAV by measuring the echo delay or phase change of the disturbance signal in the fiber optic cable.

7. The anti-fiber optic UAV detection and positioning method based on fiber optic UAVs according to claim 1, characterized in that, In step S1, the hovering drone provides a fixed suspension point for the optical fiber, the flying patrol optical fiber drone flies in a horizontal plane below the hovering drone, and the optical fiber connects the hovering drone and the flying patrol optical fiber drone.

8. The anti-fiber optic UAV detection and positioning method based on fiber optic UAV according to claim 4, characterized in that, In step S1, the two sets of fiber optic UAV patrol and positioning systems hover at different heights during operation. and place, and This is used to create a height difference for solving in three-dimensional directions.

9. A counter-fiber optic UAV detection and positioning system based on fiber optic UAVs, characterized in that, include: A flying patrol fiber optic drone is used to control a first fiber optic drone patrol and positioning system and a second fiber optic drone patrol and positioning system to patrol and scan a target area at different altitudes. Each fiber optic drone patrol and positioning system includes a hovering drone, a flying patrol fiber optic drone, and a fiber optic disturbance sensor. The hovering drone hovers at a preset altitude, and the flying patrol fiber optic drone carries optical fibers and flies along a preset trajectory in the horizontal plane at the corresponding altitude, so that the optical fibers form a coverage above the target area. The disturbance detection device is used to measure the distance from the disturbance point to the corresponding hovering drone through the fiber optic disturbance sensor when the intruding fiber optic drone enters the target area and physically entangles the cable and generates a measurable disturbance. At the same time, the flying patrol fiber optic drone obtains the orientation information of the disturbance point on its horizontal plane. The orientation calculation module is used by the UAV ground station to receive the distance and azimuth information sent by the two sets of fiber optic UAV patrol positioning systems, and to calculate and determine the three-dimensional direction of the fiber optic cable dragged by the intruding fiber optic UAV based on the distance and azimuth information obtained from two observation points at different altitudes, thereby completing the detection and orientation of the intruding fiber optic UAV. The first fiber optic UAV patrol and positioning system and the second fiber optic UAV patrol and positioning system acquire the disturbance information through passive detection, without relying on the radio signals actively emitted by the intruding fiber optic UAV.

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