An unmanned aerial vehicle detection device and method based on dual-mode cooperation

Abstract

The application discloses a kind of unmanned vehicle detection equipment and detection method based on double mode cooperation, comprising: spectrum detection module generates the spectrum detection data containing receiving frequency, power, pulse timing and frequency variation characteristics;RID detection module generates RID detection data containing RID identity data, receiving frequency and receiving timing;Cooperative control module adjusts the scan priority and residence time of corresponding frequency band according to RID detection data, and when complete RID data frame is not obtained, the frequency range and time range of RID synchronous search are limited using spectrum detection data;Target association module maintains target record according to frequency continuity and timing continuity when RID identity data is missing, and completes the retrospective association of target record and RID identity data after RID identity recovery;The application can solve the problem that spectrum detection is difficult to assist RID recovery when RID broadcast is abnormal, and target record is difficult to continuously associate before and after identity interruption.

Description

Technical Field

[0001] This invention relates to the field of low-altitude safety technology for drone detection, and more specifically to a drone detection device and method based on dual-mode collaboration. Background Technology

[0002] With the expanding application of low-altitude drones, drones are now widely used in agricultural plant protection, power line inspection, logistics transportation, and security patrols. However, drones entering controlled airspace without permission or failing to perform their missions according to plan also pose higher demands on low-altitude area safety management. Therefore, it is necessary to utilize drone detection equipment to continuously detect, identify, and monitor the status of drones within target airspace.

[0003] Radio spectrum detection detects and identifies drone targets by receiving radio frequency communication signals between a drone and a remote control device and analyzing their characteristics such as frequency, power, and waveform. For example, CN116758782B discloses a drone identification method and apparatus based on radio spectrum analysis, which identifies drone models by extracting features from drone radio spectrum data and matching them with a drone database. However, this type of method mainly relies on radio frequency characteristics for judgment and is difficult to directly obtain the target's definitive identity and complete status information.

[0004] Broadcast-based remote identification and detection obtains the drone's identity, location, and flight status by receiving and parsing the RID data actively broadcast by the drone. For example, CN119834819A discloses a drone broadcast-based dynamic remote data receiving and detection device, which obtains structured drone dynamic information by receiving and parsing drone broadcast data; however, this type of method relies on the continuous and effective reception of the RID broadcast signal. When the broadcast signal is weakened or interrupted due to interference, collision, or changes in the receiving environment, target information is easily lost.

[0005] Furthermore, existing technologies have proposed schemes that combine different detection methods. For example, CN119554923A discloses a drone detection and countermeasure system that integrates lightning, light, and magnetic signals. This system obtains and fuses multi-source target information through spectral signal feature recognition, protocol parsing, and other detection methods. While such schemes can improve the integrity of target information, different detection links typically rely on independent acquisition and backend fusion, lacking a collaborative mechanism that dynamically adjusts the spectrum scanning process based on changes in RID broadcast status and utilizes spectrum activity to assist in RID signal recovery.

[0006] Therefore, existing UAV detection equipment still lacks dynamic coordination between radio spectrum detection and RID detection in response to changes in target status. When the RID signal weakens or is interrupted, it is easy to cause problems such as decreased detection efficiency and discontinuity in target identity and activity records, making it difficult to achieve continuous and stable detection of UAV targets. Summary of the Invention

[0007] To address the shortcomings of existing technologies, the present invention aims to provide a drone detection device and method based on dual-mode collaboration. This invention can solve the problems in existing drone detection devices where radio spectrum detection and RID detection are independent and lack dynamic collaboration with changes in RID broadcast status. In particular, it addresses the problems that when RID broadcast signals cannot be fully parsed or are temporarily missing, the spectrum detection results are difficult to effectively assist in RID data recovery, and the spectrum detection records before and after RID identity data interruption are difficult to maintain continuous correlation with the target identity.

[0008] To achieve the above objectives, the present invention provides the following technical solution: A dual-mode collaborative UAV detection device includes a spectrum detection module, a RID detection module, a collaborative control module, and a target association module. The spectrum detection module performs spectrum detection on the received radio frequency signal, extracts the received frequency, power, pulse timing, and frequency change characteristics, and generates spectrum detection data, enabling subsequent processing to use the changes in the radio frequency signal in the frequency, time, and power dimensions as the basis for continuous target detection. The RID detection module synchronizes and parses the received RID broadcast signal to obtain RID identity data and the corresponding received frequency and timing, generating RID detection data, enabling the spectrum detection results to establish a data link with the RID detection results that have clear identity information.

[0009] The collaborative control module adjusts the scanning priority and dwell time of the spectrum detection module for the frequency band corresponding to the RID broadcast signal based on the receiving frequency and receiving timing in the RID detection data. This allows radio spectrum scanning resources to be concentrated on the frequency band corresponding to the currently discovered target, reducing repeated scanning of non-target frequency bands under the fixed scanning mode. When the RID detection module does not obtain a complete RID data frame, it determines the synchronization search frequency range and synchronization search time range based on the receiving frequency and pulse timing in the spectrum detection data. It then controls the RID detection module to perform RID data frame synchronization search within the synchronization search frequency range and synchronization search time range. This transforms the RID data frame synchronization process from a large-scale search to a local search constrained by the spectrum detection results, improving the targeting of RID data frame recovery when affected by interference or signal overlap.

[0010] When RID identity data is unavailable, the target association module associates spectrum detection data that satisfy the frequency and temporal continuity relationships within a continuous detection period to generate the same target record. It then updates the target record according to the detection sequence, enabling the UAV to maintain a target record based on continuous spectrum characteristics during periods of temporary RID identity information loss. Upon regaining RID identity data, the module determines the target record corresponding to the RID identity data based on the frequency and temporal continuity relationships between the spectrum detection data before and after obtaining the RID identity data. It then establishes an association between the RID identity data and the target record, ensuring that the identified identity after RID recovery can be traced back to the target record formed during the RID loss period, maintaining the continuity of the same UAV detection information before and after the RID interruption.

[0011] Furthermore, the collaborative control module includes a RID guided scanning strategy; the RID guided scanning strategy acquires the receiving frequency and receiving timing corresponding to multiple complete RID data frames obtained by continuous parsing, determines the frequency distribution range of the RID broadcast signal according to each receiving frequency, and determines the frequency distribution range as the frequency band corresponding to the RID broadcast signal, so that the spectrum detection module can use the parsed RID receiving information to determine the scanning area of ​​priority. The receiving time interval of the RID broadcast signal is determined based on the receiving timing of adjacent complete RID data frames, and the repetitive scanning timing of the frequency band corresponding to the RID broadcast signal is determined based on the receiving time interval, so that the spectrum repetitive scanning process can keep in sync with the time change of the target RID broadcast; at the same time, the scanning priority of the frequency band corresponding to the RID broadcast signal is set to be higher than the scanning priority of the scanning frequency band outside the frequency distribution range, and the dwell time is adjusted according to the continuous acquisition of spectrum detection data in the corresponding frequency band within adjacent scanning periods, so that the scanning priority and dwell resources can be dynamically allocated according to the actual existence state of the target.

[0012] Furthermore, the collaborative control module includes a scanning extension strategy; when the RID detection module does not obtain a complete RID data frame, the frequency band corresponding to the RID broadcast signal most recently determined before obtaining a complete RID data frame is determined as the starting scanning range, so that the spectrum search after the RID interruption can inherit the target frequency information determined before the interruption, without having to directly resume a large-scale scan. The system acquires spectrum detection data from multiple consecutive scan cycles before obtaining a complete RID data frame. Based on the received frequency and frequency change characteristics in the spectrum detection data of each scan cycle, it determines the distribution and amplitude of the received frequency within multiple consecutive scan cycles. Accordingly, it determines an extended scan band outside the initial scan range. The extended scan band is then merged with the initial scan range to generate the current scan range. This allows the scan range to be extended in a targeted manner according to the change state of the target RF signal before the RID interruption, thereby increasing the possibility of continuing to capture target-related spectrum data after the RID interruption.

[0013] Furthermore, the scanning extension strategy also includes performing spectrum detection on the current scanning range, acquiring spectrum detection data within the extended scanning band, and matching the spectrum detection data within the extended scanning band with the spectrum detection data before obtaining the complete RID data frame to determine the continuity of received frequency changes; based on the matching result, increasing the scanning priority of the extended scanning band corresponding to the spectrum detection data with frequency continuity, and adjusting the corresponding dwell time, so that the frequency bands with target continuity characteristics discovered after extension can obtain more scanning resources; For extended scanning bands corresponding to spectrum detection data with frequency continuity that have not been obtained, new extended scanning bands are determined outside the current scanning range based on the distribution changes and frequency change amplitudes of the received frequencies. These new extended scanning bands are then incorporated into the current scanning range, enabling the scanning range to be continuously updated based on the actual results of the extended scanning, rather than being indiscriminately extended according to a fixed frequency range.

[0014] Furthermore, the collaborative control module includes a spectrum-assisted recovery strategy; the spectrum-assisted recovery strategy acquires spectrum detection data within the synchronization search frequency range and synchronization search time range, determines the recurring receiving frequency from multiple consecutive pulses based on the receiving frequency and pulse timing in the spectrum detection data, and narrows the synchronization search frequency range based on the recurring receiving frequency, so that the RID synchronization process further excludes frequency regions unrelated to the current target broadcast. The receiving gain of the RID detection module is adjusted based on the power of the spectrum detection data within the narrowed synchronization search frequency range. The RID detection module is also controlled to perform synchronous search of RID data frames within the narrowed synchronization search frequency range and synchronization search time range. This allows the RID reception process to simultaneously utilize frequency position, pulse occurrence period, and receiving power to adjust reception conditions, thereby enhancing the ability to recover incomplete RID broadcast data in complex wireless environments.

[0015] Furthermore, after the RID detection module obtains a complete RID data frame through synchronous search of RID data frames, the spectrum-assisted recovery strategy corrects the start and end times of the corresponding pulses in the spectrum detection data according to the reception timing of the complete RID data frame, and updates the synchronization search time range according to the corrected pulse timing. The updated synchronization search time range is then used for subsequent RID data frame synchronous searches. Thus, the spectrum detection data can not only be used to assist in RID data frame recovery, but the recovered RID data frame can also reversely correct the time boundary on the spectrum side, forming a bidirectional feedback relationship between spectrum detection and RID detection, and making the time range of subsequent RID synchronization searches more closely match the actual occurrence timing of the target broadcast.

[0016] Furthermore, the target association module includes a continuity relationship determination strategy; based on the received frequency and pulse timing in the spectrum detection data within a continuous detection period, the received frequencies corresponding to each detection period are arranged according to the order of pulse appearance to obtain the frequency change sequence corresponding to each detection period, so that the discrete received frequencies in different detection periods can form a comparable data structure according to the time relationship; the frequency change sequences corresponding to adjacent detection periods are connected, and the frequency continuity relationship is determined according to the direction of change of the received frequency and the frequency jump order at the boundary position of adjacent detection periods, so that the frequency change across detection periods can be used to determine whether different spectrum data originate from a continuous target; Simultaneously, the pulse time interval across detection cycles is determined based on the pulse timing at the boundary of adjacent detection cycles, and the pulse time interval is compared with the pulse time interval within adjacent detection cycles. The timing continuity is determined based on the consistency of the pulse time interval changes, thereby using frequency changes and pulse time changes to jointly characterize the continuity of target radio frequency activities under conditions without RID identity, reducing the possibility of different target spectrum data being incorrectly merged into the same target record.

[0017] Furthermore, the target association module also includes an identity tracing strategy; based on the reception time sequence of the re-acquired RID identity data, spectrum detection data that is temporally adjacent to the reception time sequence is selected from each target record, and the selected spectrum detection data is matched with the spectrum detection data in the detection period where the re-acquired RID identity data is located for frequency continuity and temporal continuity, so that when the RID reappears, the corresponding target can be found first from the historical target records with temporal continuity. Further, based on the power changes between the matched spectrum detection data, the corresponding target records are filtered to determine the target records corresponding to the RID identity data. The RID identity data is then associated with the determined target records, so that identity tracing can utilize frequency, time sequence and power change information simultaneously, thereby improving the reliability of the correspondence between the target identity and historical spectrum records after RID recovery.

[0018] The present invention also provides a drone detection method based on dual-mode cooperation, which uses the drone detection equipment to perform the drone detection process, including a spectrum detection step, a RID detection step, a cooperative control step, and a target association step; The spectrum detection step generates spectrum detection data containing received frequency, power, pulse timing, and frequency variation characteristics by performing spectrum detection on radio frequency signals. The RID detection step generates RID detection data by synchronizing and parsing data frames of RID broadcast signals, providing subsequent collaborative control with data foundations from both the spectrum side and the identity broadcast side. The collaborative control step adjusts the scanning priority and dwell time of the corresponding frequency band based on the RID detection data, and limits the synchronization search frequency range and synchronization search time range of the RID data frame based on the spectrum detection data when a complete RID data frame is not obtained, enabling the two detection methods to form bidirectional collaboration based on the RID broadcast status. The target association step generates and updates target records using frequency continuity and timing continuity relationships when RID identity data is missing, and establishes an association between the RID identity data and the corresponding target record after the RID identity data is re-obtained, so that the method can also maintain the continuous detection relationship of UAV targets during RID normal, abnormal, and recovery processes.

[0019] Furthermore, the UAV detection method also includes a recording and association step; according to the detection time sequence of each spectrum detection data in the target record, the spectrum detection data during the period when RID identity data was not obtained and the spectrum detection data after the RID identity data was obtained are sorted, and the sorted spectrum detection data and the RID detection data after the RID identity data was obtained are associated with the target record to generate a continuous target record corresponding to the RID identity data, so that the unidentified spectrum record formed during the RID loss period can be reassigned to the determined UAV identity after the RID is recovered; Based on the acquisition sequence of subsequent spectrum detection data and RID detection data, the subsequently acquired spectrum detection data and RID detection data are continuously associated with the continuous target record, so that the detection information of the same UAV before, during and after the RID identity is interrupted, remains continuous, providing a complete data foundation for subsequent UAV status analysis and detection result use.

[0020] The beneficial effects of the present invention are as follows: 1. The present invention dynamically adjusts the scanning priority, repeated scanning timing and dwell time of the frequency band corresponding to the RID broadcast signal by using the receiving frequency and receiving timing in the RID detection data. When the RID data frame cannot be completely obtained, the scanning range is gradually expanded according to the frequency distribution change of the spectrum detection data before the interruption. This enables the spectrum detection to be transformed from fixed range scanning to adaptive scanning that changes with the target state, reduces invalid scanning of non-target frequency bands, and improves the ability to continuously capture target-related spectrum data during RID anomalies. 2. When the RID detection module cannot obtain a complete RID data frame, this invention limits the frequency and time range of the RID synchronization search based on the receiving frequency and pulse timing in the spectrum detection data, and adjusts the RID receiving conditions in combination with the spectrum power, so that the RID data frame synchronization process is transformed from a wide-range search to a targeted search under the constraint of spectrum information; after recovering and obtaining a complete RID data frame, the receiving timing of the RID data frame is used to reverse correct the pulse boundary on the spectrum side, thereby forming a closed-loop cooperative relationship of spectrum-assisted RID recovery and RID result reverse correction of spectrum detection; 3. During the period when RID identity data is not obtained, this invention continuously associates and generates target records by generating and updating spectrum detection data belonging to the same target based on the frequency continuity and temporal continuity of spectrum detection data within a continuous detection period. After the RID identity data is regained, the existing target records are traced and matched based on the frequency, temporal, and power changes before and after RID recovery, and the recovered RID identity data is associated with the corresponding target records. This allows the spectrum detection records formed during the RID loss period to be reassigned to the determined UAV identity, avoiding the identity break and loss of historical detection information of the same target due to RID broadcast interruption. Attached Figure Description

[0021] Figure 1 This is the overall flowchart of the present invention; Figure 2 This is a schematic diagram of RID-guided scanning and scan extension in this invention; Figure 3 This is a schematic diagram of signal filtering-assisted RID recovery in this invention; Figure 4 This is a schematic diagram of the continuous association and identity tracing of target records in this invention. Detailed Implementation

[0022] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Identical components are denoted by the same reference numerals. It should be noted that the terms "front," "rear," "left," "right," "upper," and "lower" used in the following description refer to directions in the accompanying drawings, and the terms "bottom surface," "top surface," "inner," and "outer" refer to directions toward or away from the geometric center of a specific component, respectively.

[0023] Example 1 This embodiment provides a drone detection device based on dual-mode cooperation, such as... Figure 1 As shown, the drone detection device includes a spectrum detection module, a RID detection module, a cooperative control module, and a target association module. The spectrum detection module forms a spectrum detection link targeting drone radio frequency activities, the RID detection module forms a RID detection link targeting drone broadcast identity information, the cooperative control module adjusts the subsequent detection process based on the data currently obtained from the two detection links, and the target association module maintains the data continuity relationship corresponding to the same radio frequency target when RID identity data cannot be obtained continuously, and completes identity tracing and association after the RID identity data is re-obtained.

[0024] The collaborative control module and the target association module are logical modules divided according to data processing functions. They can be set in the existing edge processing unit of the device and executed by the same processor, or they can be executed separately by two processing units with data communication relationship, as long as they can obtain spectrum detection data, RID detection data and unified device time information.

[0025] In this embodiment, the scannable frequency range of the spectrum detection module is 70 MHz to 6 GHz. The spectrum detection module receives radio frequency signals within this range through the radio frequency receiving front end and sequentially accesses different scanning frequency bands according to the scanning task.

[0026] To meet the needs of subsequent dual-mode coordination and continuous target association, the spectrum detection module further records the receiving frequency, power, start time and end time of the radio frequency activity when it is detected, and forms a pulse timing sequence according to the order of occurrence of continuous radio frequency activities; the changes between the receiving frequencies corresponding to the continuous pulses are used to form frequency change features, thereby generating spectrum detection data containing receiving frequency, power, pulse timing and frequency change features.

[0027] The received frequency is represented by the frequency position corresponding to the valid radio frequency pulse currently detected by the spectrum detection module. This can be the center frequency of the frequency resolution unit where the pulse is located, or the frequency of the pulse's spectral peak. However, a unified representation method is used during continuous detection by the same device, allowing direct comparison of received frequencies obtained from different scan cycles. Power is the power value obtained from valid radio frequency pulses under the same receiving link, and a unified power calculation method is maintained during continuous detection. Pulse timing does not simply represent the duration of a single pulse, but includes the start and end times of each valid pulse on the unified device's time axis, as well as the sequential relationship between different pulses. This allows the collaborative control module to limit the RID synchronization search time range based on the actual time and position of radio frequency activity, and enables the target association module to compare the continuity of pulse time intervals between different detection cycles.

[0028] The RID detection module focuses on continuously listening to and parsing RID broadcast signals in the 2.4 GHz and 5.8 GHz frequency bands. After detecting a RID broadcast signal, the RID detection module performs physical layer synchronization, data frame boundary determination, and data field parsing according to the RID broadcast protocol supported by the current device. When the received data conforms to the data frame structure specified by the adopted RID protocol, passes the corresponding data integrity check, and can be parsed to obtain the identity field used to identify the UAV, the data frame is determined to be a complete RID data frame.

[0029] The RID identity data referred to in this embodiment is the identification information in a complete RID data frame that can be used to distinguish the corresponding UAV. Its specific encoding format follows the actual RID protocol and is not redefined by this invention. While outputting the RID identity data, the RID detection module records the actual receiving frequency and receiving timing of the current data frame. The receiving timing includes at least the receiving time position of the data frame. When spectrum pulse boundary correction is required later, the start time and end time of the data frame determined by the synchronization process are also retained, thereby generating RID detection data.

[0030] Since the 70 MHz to 6 GHz scanning range of the spectrum detection module covers the 2.4 GHz and 5.8 GHz frequency regions used for RID detection, the cooperative control module can map the actual received frequency of the RID data frame to the scanning task of the spectrum detection module. This mapping only means that the spectrum detection module can perform the corresponding spectrum scan for the frequency region where the RID broadcast actually occurs. It does not mean that the received frequency of the RID broadcast is equivalent to the operating frequency of the UAV remote control link or image transmission link, nor does it use the RID frequency to infer the frequency of other communication links of the UAV. This ensures that the dual-mode cooperation is based on the RID broadcast radio frequency activity that can be observed by both detection links.

[0031] The spectrum detection module and the RID detection module use a unified device time base to record data. In specific implementation, the device processing unit can provide a unified timestamp to the two detection modules, or the two modules can record their local time separately and then the collaborative control module can convert it to the same time axis based on the synchronization information. After time alignment, the radio frequency pulses in the spectrum detection data can be overlapped with the reception time of the RID data frame. The spectrum data in adjacent detection cycles can also be arranged according to the actual sequence, so that the determination of the subsequent synchronization search time range and the judgment of the continuity relationship of the target have a common time reference.

[0032] In this embodiment, the scanning period is the time segment corresponding to the spectrum detection module completing one predetermined frequency access process according to the current scanning task. Multiple scanning frequency bands can be accessed sequentially within one scanning period. The detection period is the time segment used by the target association module to organize spectrum detection data and perform cross-cycle continuous relationship comparison. One detection period can correspond to one scanning period or contain multiple consecutive scanning periods. The scanning period is determined by the spectrum scanning task, and the detection period is determined by the target record update needs. Although both are based on the same device timeline, they are not required to be exactly the same length. This allows the target association module to maintain the target record according to a stable detection period even after the collaborative control module changes the scanning priority and dwell time.

[0033] When the RID detection module continuously acquires complete RID data frames, the cooperative control module reads the actual received frequencies corresponding to these complete RID data frames. Based on the distribution of the continuous received frequencies in the 2.4 GHz or 5.8 GHz frequency region, it determines the scanning frequency band corresponding to the current RID broadcast signal. When the received frequencies of multiple consecutive RID data frames are all within the same scanning sub-band of the spectrum detection module, this scanning sub-band can be directly determined as the frequency band corresponding to the RID broadcast signal. When the continuous RID received frequencies span two or more adjacent scanning sub-bands, the continuous scanning sub-bands that can cover these received frequencies are collectively determined as the corresponding frequency band. The corresponding frequency band formed in this way has frequency boundaries that can be directly loaded and executed by the spectrum detection module, rather than being represented by just an abstract frequency value.

[0034] The collaborative control module stores the scanning tasks currently to be executed by the spectrum detection module. Each scanning frequency band corresponds to at least the scanning priority, dwell time, and re-access timing. The scanning priority determines the access order when multiple scanning frequency bands are waiting to be scanned at the same time. The dwell time determines the length of time the spectrum detection module continuously collects the radio frequency signal of a certain frequency band after entering it. The re-access timing determines when the frequency band is added back to the scanning task after a scan is completed.

[0035] After the collaborative control module determines the frequency band corresponding to the RID broadcast signal, it sets the scanning priority of the corresponding frequency band to be higher than other ordinary scanning frequency bands in the range of 70 MHz to 6 GHz. This allows the spectrum detection module to prioritize the acquisition of radio frequency pulses in this frequency area when the current target RID activity is clear, thereby enabling the scanning resources in the broadband scan to be dynamically allocated according to the actual RID detection results.

[0036] The collaborative control module simultaneously determines the reception time interval of the RID broadcast signal based on the reception timing of adjacent complete RID data frames, and uses multiple consecutive reception time intervals to determine the repetitive scanning timing. Specifically, consecutive RID data frames are sorted according to their reception time, and the time difference between adjacent data frames is calculated. When the recent reception time differences are within a stable range, the time region where the next RID broadcast may occur is determined based on the reception time of the most recent RID data frame and historical reception time intervals, and the corresponding frequency band re-enters the priority scanning state within that time region. Using a time region instead of a single moment as the scanning basis can accommodate normal timing fluctuations generated by wireless propagation, reception triggering, and the broadcast itself, ensuring that the scan scheduling will not lose the corresponding RID radio frequency activity due to a slight shift in the reception time of a certain data frame.

[0037] After the corresponding frequency band is scanned first, the cooperative control module adjusts the dwell time based on whether the spectrum detection data in the corresponding frequency band can be continuously obtained in adjacent scan cycles. When the spectrum detection data with frequency and pulse timing that can be continued can be obtained in the corresponding frequency band in consecutive scan cycles, the cooperative control module increases the dwell time of the frequency band within the allowable range of the spectrum receiver, so that the spectrum detection module can obtain more continuous pulses. When the spectrum detection data that can continue the previous radio frequency activity is not obtained in consecutive scan cycles, the corresponding dwell time is reduced and the released scan time is redistributed to other scan tasks in the range of 70 MHz to 6 GHz.

[0038] The actual device can determine the minimum dwell time based on the shortest sampling time required for the spectrum receiver to complete one effective measurement, and the maximum dwell time based on the maximum scan time that can be allocated to a single frequency band in one scan cycle. The dwell time is always limited to the range that the above hardware can execute.

[0039] When the RID detection module detects RID broadcast activity but fails to obtain a complete RID data frame, the cooperative control module enters spectrum-assisted recovery processing. Based on the current detection period of the RID detection module, the cooperative control module obtains spectrum detection data adjacent to that period from a unified time axis. It then forms a synchronization search frequency range based on the receiving frequencies of this spectrum detection data, and a synchronization search time range based on the start and end times of the spectrum pulses. The module controls the RID detection module to re-execute the data frame synchronization search only within the determined frequency and time ranges. Since this synchronization search range is formed by the currently detected radio frequency activity, rather than indiscriminately searching the entire 2.4 GHz or 5.8 GHz RID listening area, it improves the targeted nature of re-finding the synchronization position when the RID data frame is incomplete.

[0040] When RID identity data cannot be obtained, the target association module continues to maintain target records on the spectrum detection link. A target record is a data set with continuous radio frequency activity for which a true RID identity cannot currently be obtained. It at least stores an internal record identifier, record start time, last update time, and spectrum detection data added according to the detection sequence. The internal record identifier is only used internally by the device to distinguish multiple radio frequency targets to be tracked and is not considered the drone's true RID identity.

[0041] The target association module determines frequency continuity and timing continuity based on the received frequency and pulse timing in the continuous detection period. When new spectrum detection data simultaneously satisfies both continuity relationships, the spectrum detection data is added to the same target record in chronological order, and the most recent update time of the target record is updated. This ensures that even after the RID identity is temporarily lost, the spectrum detection link can still maintain the continuous history of the target's radio frequency activity. When the RID detection module regains the RID identity data, the target association module obtains the spectrum detection data of the detection period in which the RID is recovered and matches it with the most recent spectrum data of the existing target record for frequency continuity and timing continuity. After determining the corresponding historical target record, the RID identity data is associated with the target record, thereby enabling the RID identity to be traced back to the spectrum history formed during the period when the RID was lost.

[0042] When the device in this embodiment performs UAV detection, the spectrum detection step, RID detection step, cooperative control step, and target association step constitute a continuous processing chain. When complete RID data is continuously available, the local frequency band scanning in the 70 MHz to 6 GHz spectrum scanning task is guided by the actual RID receiving frequency and receiving timing. When the RID data frame is incomplete, the RID synchronization search frequency and time range are limited by the spectrum pulse. When RID identity data is temporarily missing, the spectrum detection results continue to form target records. When the RID identity is regained, the historical target records are traced and associated. This invention enables the continuous succession of normal RID, incomplete RID, and missing RID identity states along the same UAV detection process, rather than forming independent detection results.

[0043] Example 2 Based on Example 1, this example further illustrates the specific implementation of RID-guided scanning and the subsequent expansion of the scanning range when RID data frames cannot be completely obtained, such as... Figure 2 As shown.

[0044] The collaborative control module acquires multiple complete RID data frames continuously parsed by the RID detection module, and arranges these data frames according to the receiving time sequence. Let the actual receiving frequencies of the continuously acquired RIDs be as follows: ,in The number of complete RID data frames currently participating in the frequency distribution determination, and There are at least two, and the cooperative control module obtains the lowest and highest receiving frequencies from the above receiving frequencies: ; ,in, The lowest frequency among the actual received frequencies of the current consecutive RID data frames. The highest frequency is calculated based on the basic definitions of the maximum and minimum values ​​of the data set. Its purpose is only to determine the frequency range covered by the actual frequency of the current RID broadcast, and it is not used to predict other communication frequencies of the UAV. Therefore, there is no situation to presume communication links outside the RID frequency.

[0045] The collaborative control module, based on the pre-divided scanning sub-bands by the spectrum detection module, will include... and One or more consecutive scanning sub-bands are determined as the frequency band corresponding to the RID broadcast signal. For example, when the current complete RID data frames are all obtained from the 2.4 GHz frequency region, the corresponding scanning sub-bands are further determined only in the 2.4 GHz region based on the actual received frequency, while the remaining scanning range from 70 MHz to 6 GHz continues to be used as the normal scanning region; when the current RID data frames are obtained from the 5.8 GHz frequency region, the corresponding scanning sub-bands are determined in the same way in the 5.8 GHz region.

[0046] The collaborative control module continues to read the reception times of consecutive RID data frames. The reception time interval between adjacent complete RID data frames is: ,in, For the current number The received time interval between a complete RID data frame and the previous complete RID data frame, for multiple recently acquired time intervals, can be used to determine the reference time interval for the current repeated broadcast by averaging: To avoid limiting repeated scanning to a single instant, a time protection factor can be established based on the maximum deviation of the most recent actual reception interval from the average time interval. ,in, This refers to the time range that is retained before and after the reference time for repeated scans. The time resolution unit is a time-resolved unit that can be identified by the device timestamp or sampling system. The maximum actual deviation is used to cover the most recent broadcast time change. The time resolution unit is used to prevent the actual broadcast from being excluded when it occurs between two discrete time markers. The cooperative control module can determine the next reference broadcast time as the most recent received time. and The sum, and retains values ​​before and after that reference time. This forms a repeating scan time region for the corresponding frequency band.

[0047] In the overall scanning task from 70 MHz to 6 GHz, the collaborative control module sets the scanning priority of the corresponding frequency band to be higher than that of ordinary scanning frequency bands outside the frequency distribution range, and re-enters the corresponding frequency band into the scanning queue according to the above-mentioned repeated scanning time area. The scanning priority solves the order problem when multiple frequency bands are waiting to be scanned at the same time, and the repeated scanning time sequence solves the problem of when the corresponding frequency band is accessed again. After the two are combined, the time and frequency data already obtained by the RID identity link are transformed into a scanning task that the spectrum detection link can directly execute.

[0048] The dwell time is adjusted based on the continuous acquisition of spectrum detection data in the corresponding frequency band. In one specific implementation, the device's allowed dwell time is divided into multiple configurable levels. When data that can form a continuous relationship with the spectrum data of the previous cycle is acquired in two consecutive scan cycles of the corresponding frequency band, the dwell time is adjusted to a longer level; when no data that can continue the target radio frequency activity is acquired in two consecutive scan cycles of the corresponding frequency band, the dwell time is adjusted to a shorter level; otherwise, the current dwell time is maintained. Using two consecutive cycles as the state confirmation condition in this embodiment can reduce the possibility of a single missed detection or a single interference directly changing the scanning configuration.

[0049] When the RID detection module fails to obtain a complete RID data frame, the cooperative control module saves the most recently determined frequency band corresponding to the RID broadcast signal before the RID interruption and uses this corresponding frequency band as the starting scan range. Compared to directly recovering the entire scan from 70MHz to 6GHz, using the most recently determined corresponding frequency band as the starting point can preserve the target frequency information that was formed before the RID interruption and ensure that subsequent changes in the scan range are based on the target's recent actual radio frequency activity.

[0050] To determine the distribution changes in the received frequency, the cooperative control module acquires spectrum detection data from multiple consecutive scan cycles prior to the RID interruption. For the... Let there be 1 scan cycle, where the lowest receiving frequency corresponding to the effective spectral pulse is . The highest receiving frequency is Then the center of the received frequency distribution in this period can be represented as: It is used to represent the location of the entire effective receiving frequency within a scanning period. If the consecutive periods are... A general shift towards higher frequencies indicates that the effective frequency distribution region has recently shifted towards higher frequencies; a general shift towards lower frequencies indicates that the effective frequency distribution region has shifted towards lower frequencies. When the changes alternate between the two sides, a single direction of change is not mandatory; instead, it is processed according to a two-sided expansion or frequency hopping sequence.

[0051] The frequency variation amplitude is determined based on the adjacent receiving frequencies arranged according to the pulse timing sequence before the interruption. Let the continuous effective receiving frequencies be... The largest recent observed change in adjacent frequencies is: ,in, It is the scale of the largest adjacent frequency change that actually occurred in the target-related spectrum data before the interruption. Its function is to ensure that the expansion of the next scan range at least takes into account the frequency changes that have actually occurred in the target recently, rather than setting an expansion width that is unrelated to historical radio frequency activities.

[0052] In one specific implementation, the single expansion width of the scan range is determined as: ,in, This refers to the frequency bandwidth used to form the extended scanning band in this study. This is a frequency resolution unit within the spectrum detection module itself, used to prevent the signal from being excluded when its actual frequency is located at the boundary of an adjacent frequency resolution unit.

[0053] As the frequency distribution center continuously moves towards the higher frequency side, the collaborative control module forms a width of [missing information] outward from the high frequency boundary of the initial scan range. The extended scanning frequency band; when the frequency distribution center moves continuously towards the low frequency side, it extends outward from the low frequency boundary; when the effective frequency changes on both sides of the initial range before the interruption, extended scanning frequency bands can be set on both sides respectively; the cooperative control module merges the extended scanning frequency band with the initial scanning range to generate the current scanning range, and the spectrum detection module then performs spectrum detection according to the current scanning range.

[0054] For newly acquired spectrum detection data in the extended scanning band, the cooperative control module performs a continuity matching of received frequency changes with the last set of spectrum detection data before the RID interruption. For continuous migration-type frequency changes, it can determine whether the difference between the first effective received frequency in the extended band and the last effective received frequency before the interruption does not exceed the sum of the recent maximum frequency change amplitude and one frequency resolution unit, and determine whether its frequency change direction is consistent with the most recent change direction before the interruption. When both conditions are met, the extended band is regarded as having obtained spectrum detection data with frequency continuity, and the scanning priority of the corresponding extended band is increased.

[0055] For radio frequency activities with discrete frequency hopping characteristics, the received frequency is not required to have a fixed rising or falling direction. Instead, the received frequencies of each pulse before the interruption are saved as a frequency change sequence in the order of their appearance. When the historical sequence repeatedly shows that several frequency positions switch in a specific order, the cooperative control module determines the subsequent candidate frequency based on the position of the last received frequency before the interruption in the sequence, and uses the scanning sub-band covering the candidate frequency as the extended scanning band.

[0056] If no data that can form a frequency continuity relationship with the spectrum data before the interruption is obtained in the extended scanning band, the cooperative control module continues to form a new extended scanning band based on the current scanning range boundary and the frequency distribution changes before the interruption, and incorporates the new extended scanning band into the current scanning range. When the continuous extension has reached the boundary of the regular scanning task in the range of 70 MHz to 6 GHz of the device, or when the continuous extension still does not find data that can continue the historical spectrum activity, the current round of directional extension can be ended and the regular broadband scan can be resumed. This resumption condition is a scanning task termination management method, which is used to prevent the continuous expansion of the local scanning task when there is no target-related data for a long time.

[0057] Through this embodiment, the actual receiving frequency and receiving timing obtained by the RID detection module in the 2.4 GHz or 5.8 GHz region can directly change the local scheduling in the overall spectrum scan from 70 MHz to 6 GHz. After the RID data frame is incomplete, the scanning area is gradually expanded according to the actual frequency changes before the interruption, so that the spectrum detection can maintain the continuous use of existing target information.

[0058] Example 3 Based on Embodiment 1 or 2, this embodiment further illustrates the specific implementation process of spectrum-assisted RID recovery and reverse correction of spectrum pulse timing using RID recovery results, such as... Figure 3 As shown.

[0059] The RID detection module continuously monitors the 2.4 GHz and 5.8 GHz frequency regions. When the RID detection module has detected broadcast radio frequency activity and entered the data frame synchronization process, but the received data cannot meet the conditions for a complete RID data frame, the current processing status is marked as RID data frame not being obtained completely. This status can correspond to situations such as the synchronization characteristics being identified but subsequent data fields being missing, insufficient data frame length, failure of data integrity check, or inability to obtain complete RID identity fields. As long as a complete RID data frame cannot be formed in the end, the cooperative control module can start spectrum-assisted recovery.

[0060] The collaborative control module queries the spectrum detection data adjacent to the RID activity in a unified time axis based on the current reception time of the RID detection module. If a frequency band corresponding to the RID broadcast signal has been formed before the RID interruption, the query is prioritized within that corresponding frequency band. If the device has already performed the scan range expansion of Embodiment 2, the query is performed within the current scan range. This avoids performing an indiscriminate auxiliary search on all spectrum data from 70 MHz to 6 GHz, allowing subsequent recovery processing to focus on the frequency area where the RID broadcast may actually occur.

[0061] After the collaborative control module acquires candidate spectrum pulses, it categorizes the received frequencies of each pulse according to the frequency resolution unit of the spectrum detection module. Received frequencies within the same frequency resolution unit are considered to belong to the same candidate frequency region. The lowest and highest frequency boundaries within the candidate frequency region are determined as the initial synchronization search frequency range. When candidate pulses are distributed across multiple mutually separate frequency regions, multiple synchronization search frequency ranges can be formed, which are then synchronously searched sequentially by the RID detection module, without requiring all frequencies without candidate RF activity in between to be simultaneously added to a large range.

[0062] The synchronous search time range is determined based on the pulse timing of the candidate spectrum pulses. The collaborative control module obtains the earliest pulse start time and the latest pulse end time from the candidate pulses that correspond to the current RID activity in terms of time. Since the signal judgment conditions used for spectrum pulse detection and RID physical layer synchronization are different, the start and end times detected by the two may have a deviation that does not exceed the sampling resolution capability. Retaining a time resolution unit can prevent the real RID frame boundary from being exactly outside the spectrum pulse detection boundary. Therefore, a device time resolution unit is added outside the two time boundaries as the search protection range.

[0063] The collaborative control module continues to statistically analyze the received frequencies of multiple consecutive pulses within the synchronous search frequency range. Recurring received frequencies refer to received frequencies falling within the same frequency resolution unit across different pulse periods, without requiring identical measured frequency values ​​from different samples. In one specific implementation, a frequency unit occurrence record is established for each consecutive pulse participating in the recovery process. For each candidate pulse obtained, the occurrence count of its corresponding frequency unit is increased. After processing the candidate pulses in the current recovery batch, frequency units that occur at least twice are identified as recurring candidate frequency regions. This "at least twice" setting distinguishes between isolated single radio frequency activities and radio frequency activities that can be repeatedly observed.

[0064] When a recurring frequency region exists, the cooperative control module uses that frequency region as the narrowed synchronous search frequency range. When multiple different frequency regions recur, multiple candidate frequency regions are retained, and the RID detection module searches them sequentially according to their occurrence order or current scan priority. This implementation method does not limit RID recovery to fixed frequency broadcasts, and can also handle situations where there are multiple candidate broadcast frequencies in the 2.4 GHz region or the 5.8 GHz region.

[0065] After narrowing the frequency range, the cooperative control module reads the power of the spectrum detection data within that range and adjusts the receiving gain of the RID detection module using the power. The RID receiving front-end has a receiving power operating region that can normally perform signal synchronization and demodulation based on the device operating parameters. This operating region can be pre-configured according to the normal linear operating conditions of the receiving front-end amplifier, analog-to-digital converter, and demodulation link. When the power corresponding to the spectrum detection data is lower than the normal operating region currently configured for the RID receiving link, the cooperative control module increases the receiving gain by one adjustable gain level; when the current power is too high and close to the nonlinear operating region of the receiving front-end, the receiving gain is reduced by one level; when the power is already within the normal operating region, the current receiving gain is maintained.

[0066] Gain adjustment is based on the relationship between the power measured in the current spectrum and the existing hardware operating range of the RID receiver link. Therefore, different receiver models only need to set the corresponding range of each gain level according to their public hardware parameters to perform the same cooperative control process. After adopting this method, the receiving frequency, pulse timing and power in the spectrum detection data will act on the three conditions of frequency search, time search and receiving gain in the RID recovery process, respectively.

[0067] The RID detection module re-performs physical layer synchronization within the narrowed synchronization search frequency and time range. Upon detecting a synchronization structure conforming to the current RID protocol, it continues receiving data using the determined synchronization position as the starting position of a candidate data frame, and verifies it according to the data length and integrity rules specified for RID data frames. If a complete data frame conforming to the RID protocol requirements is eventually formed and the RID identity field is parsed, the RID data frame recovery is considered successful. If only a synchronization structure is detected again but a complete data frame cannot be obtained, the current candidate frequency and time range are retained for the next search round, and the current data is not used as a complete RID data frame.

[0068] After successful RIID data frame recovery, the RIID detection module obtains the start time of the data frame determined during the synchronization process. and the end time of the data frame The two time points are then fed back to the collaborative control module. The collaborative control module searches for time-related data in the spectrum detection data. to For spectral pulses that overlap in intervals, the pulse is identified as the spectral pulse corresponding to the complete RID data frame.

[0069] The start and end times of the pulse initially obtained by the spectrum detection module are usually determined by the entry and exit of radio frequency energy into the detection state, while the RID detection module obtains... and Because the data frame synchronization and protocol parsing are different, the two sets of time boundaries represent different objects. This embodiment does not modify the original RF sampling data, but instead adds or updates the effective RID associated start and end times corresponding to the pulse in the spectrum detection data, so that the effective start and end times adopt the complete RID data frame. and This preserves the original RF activity boundaries while providing a more precise time reference for subsequent RID synchronization searches, determined by successfully parsed data frames.

[0070] The collaborative control module updates the next synchronization search time range based on the corrected pulse timing. In one implementation, this is based on the most recent complete RID data frame. and As the current valid frame time window, the window is then shifted to the next possible broadcast position based on the reception time interval between the most recent complete RID data frames. In another implementation, the frame start and end times of multiple complete RID data frames can be continuously saved. The next broadcast position can be predicted using the repeated reception timing obtained in Example 2. The search window can be expanded based on the time fluctuations of the boundaries of multiple past valid frames. Both methods enable the RID data frames that were successfully recovered last time to participate in the formation of the next round of synchronization search time range.

[0071] If the spectrum detection module allows external adjustment of the pulse detection time protection parameters, it can further compare the changes between the original spectrum pulse boundaries and the complete RID data frame boundaries multiple times. When there are boundary deviations in the same direction multiple times in a row, the deviation is used to adjust the subsequent pulse detection protection range. Whether only updating the valid search time window saved by the cooperative control module is used, or the spectrum pulse detection parameters are further adjusted, the purpose is to use the time boundary of the complete RID data frame after successful recovery to reverse and improve the subsequent RID synchronization search conditions.

[0072] In this embodiment, when the RID data frame is incomplete, the spectrum detection link provides candidate frequency, candidate time, and received power. After the complete RID data frame is recovered, the RID link provides the real frame timing to correct the spectrum auxiliary search window, thus forming a two-way information interaction relationship between spectrum detection and RID detection.

[0073] Example 4 Based on any of the embodiments 1-3, this embodiment further illustrates the generation and continuous updating of target records when RID identity data is temporarily unavailable, and how to complete the tracing of historical target records and the generation of continuous target records after the RID identity is regained. Figure 4 As shown.

[0074] The target association module divides the spectrum detection data into corresponding detection periods according to a unified device timeline. Valid spectrum pulses within a detection period are arranged from earliest to latest according to their start time, and the received frequency, power, and pulse timing of each pulse are retained. Let the [number of pulses] be... Each detection cycle is obtained sequentially. If there are 10 valid pulses, their received frequencies will form a frequency change sequence according to the order in which the pulses appear: ,in, For the first Frequency change sequence corresponding to each detection period to The sequence is a chronological arrangement of the effective pulse receiving frequencies. This sequence simply organizes the frequency data according to the actual occurrence time without changing any receiving frequency values. Its purpose is to preserve the actual sequence of changes in UAV radio frequency activity between different frequencies, so that cross-cycle judgment can be applied to both continuous frequency movement and frequency hopping changes.

[0075] In the same frequency change sequence, two adjacent receiving frequencies can form a frequency change. When the later receiving frequency is greater than the earlier receiving frequency, the change is recorded as a change towards the higher frequency side; when the later receiving frequency is less than the earlier receiving frequency, it is recorded as a change towards the lower frequency side; when the two receiving frequencies are in the same frequency resolution unit, they are regarded as frequency position holding. Multiple continuous pulses thus form a frequency change direction and frequency jump sequence with a time order. Therefore, the frequency change direction in this embodiment does not require the UAV frequency to continuously rise or fall in one direction throughout the entire detection process.

[0076] When the target association module determines the frequency continuity relationship between adjacent detection cycles, it first obtains the receiving frequency of the last valid pulse of the previous detection cycle and the receiving frequency of the first valid pulse of the next detection cycle. When the target recently exhibits continuous frequency migration, it calculates the frequency change amplitude between two boundary pulses and compares it with the largest adjacent frequency change amplitude observed in the most recent continuous pulse in the target record before or during the RID identity loss. If the cross-cycle frequency change does not exceed the sum of the historical maximum change amplitude and a frequency resolution unit, and its frequency change direction can continue the change direction at the end of the previous detection cycle, then it is determined that the adjacent detection cycles have a frequency continuity relationship.

[0077] For targets exhibiting discrete frequency hopping, the target association module does not use a single direction of change for judgment. Instead, it compares the frequency change sequence at the end of the previous detection cycle with the frequency change sequence at the beginning of the next detection cycle. If the first frequency of the next cycle continues the frequency hopping sequence observed in the previous cycle, or if several consecutive frequencies form a sequence consistent with the previously repeated hopping sequence, then the adjacent detection cycles are determined to have a frequency continuity relationship. Therefore, a frequency continuity relationship indicates that cross-cycle frequency changes can continue the recently observed changes of the same radio frequency target, rather than requiring the two cycles to achieve exactly the same receiving frequency.

[0078] The temporal continuity is determined based on the pulse time interval. Let the reference time of the last valid pulse in the previous detection cycle be... The reference time for the first valid pulse in the next detection cycle is If all pulses in the same device use the same start time or the same pulse center time, then the pulse time interval across the detection cycle is: The target association module simultaneously obtains the historical time intervals between the most recent consecutive pulses of the corresponding target record, and extracts the minimum value from these historical time intervals. and maximum value Then, based on the device time resolution unit Form an allowable time range, when the conditions are met At that time, the cross-cycle pulse time interval is regarded as being able to continue the changes in historical time intervals, and it is determined that adjacent detection cycles have a temporal continuity relationship.

[0079] When RID identity data is unavailable, if the new detection period has both frequency and temporal continuity with the most recent spectrum data of an existing target record, the target association module adds the spectrum detection data of that detection period to the corresponding target record according to the detection timing and updates the most recent update time of that target record. When the new spectrum detection data cannot simultaneously satisfy both continuity relationships with any existing target record, it is retained as new data to be associated, and a new target record is established after frequency and temporal continuity relationships can be formed in subsequent continuous detection periods, so that different radio frequency targets are not directly merged because of a single similar frequency.

[0080] When multiple drones are present simultaneously, a new spectrum data sequence may be partially similar to multiple historical target records. The target association module judges the frequency continuity and temporal continuity of the current data with the most recent spectrum data of each target record. Only candidate records with similar received frequencies but discontinuous pulse time changes are excluded, and only candidate records with similar pulse times but discontinuous frequency change order are also excluded. If multiple candidate target records still exist after the above two-dimensional judgment, multiple candidate relationships are temporarily maintained, and a unique corresponding target is not forcibly determined during the RID identity missing stage. Instead, the system continues to wait for subsequent spectrum detection data or RID identity recovery information.

[0081] When the RID detection module re-acquires a complete RID data frame in the 2.4 GHz or 5.8 GHz frequency region and parses it to obtain the RID identity data, the target association module determines the detection period in which the RID recovery occurs based on the reception timing of the RID identity data. It then obtains the corresponding spectrum detection data from that detection period and, at the same time, obtains the most recently updated spectrum detection data from each target record that has not yet obtained a true RID identity. The target association module performs matching according to the aforementioned frequency continuity relationship and timing continuity relationship respectively. Target records that cannot simultaneously satisfy both continuity relationships are excluded from the candidate set.

[0082] When only one candidate target record remains after frequency and temporal continuity checks, this target record is identified as the one corresponding to the reacquired RID identity data. If multiple candidate target records still exist, the target association module further compares power changes, assuming the representative power of the most recent target-related spectrum data for a given candidate target record is... The representative power of the spectrum data corresponding to the detection period in which RID is recovered is The power change between the two is ,in, This records the degree of change between the most recent received power and the received power during the current RID recovery period.

[0083] To avoid requiring the received power to remain completely consistent during drone movement, the target association module reads the actual power changes that have occurred between the most recent consecutive spectrum data of each candidate target record, determines the recent power change range of that target record, and adds the allowable error corresponding to the receiver's power measurement resolution capability to this extent. If currently... If a candidate record falls within the range of recent power changes, it is retained; target records that significantly deviate from the historical power change range are excluded. When multiple candidate records meet the power continuity condition, one can be selected. The smallest candidate record is used as the target record corresponding to the current RID identity data; if multiple candidate records still cannot be clearly distinguished, they will remain in the pending matching state and be re-evaluated using data from subsequent detection cycles, instead of forcibly executing RID identity binding that may produce errors.

[0084] After identifying the target record corresponding to the RID identity data, the target association module writes the RID identity data into the identity association field of the target record and retains the spectrum detection data accumulated by the target record during the period of RID identity loss. This allows the re-acquired RID identity to be traced back to the history of radio frequency activities during the period of identity loss, rather than creating a new target record that is disconnected from the historical data when the RID is restored.

[0085] In the record association step, the target association module further reads the detection time sequence corresponding to all spectrum detection data in the determined target record, sorts the spectrum detection data generated during the period when the RID identity data was not obtained and the spectrum detection data generated after the RID identity data was obtained again according to a unified time axis, and adds the RID detection data to the corresponding time position according to the received time sequence of the recovered RID detection data, thereby forming a continuous target record corresponding to the RID identity data.

[0086] A continuous target record can store at least the target record's internal identifier, true RID identity data, spectrum detection data index, RID detection data index, and corresponding time information. Continuous target records can be stored using a data index association method, eliminating the need to copy all raw RF sample values ​​generated during the 70 MHz to 6 GHz spectrum detection process. When new spectrum detection data is subsequently obtained, it is added to the continuous target record after determining that it still belongs to the current target based on frequency and timing continuity relationships; when new RID detection data is obtained, it is added to the corresponding position based on the RID identity and reception timing, thereby continuously updating the continuous target record.

[0087] If the same UAV experiences another RID identity interruption during subsequent detection, the target association module uses the established continuous target records with RID identity association as a historical reference and continues to add spectrum detection data from the period without RID by utilizing frequency continuity and temporal continuity. When the same RID identity data is obtained again, the module performs record confirmation and continues to update the original continuous target records based on the spectrum continuity before and after recovery, without having to re-establish another independent UAV history record.

[0088] Through this embodiment, the 70 MHz to 6 GHz spectrum detection link can continuously provide target radio frequency activity during the temporary loss of RID identity. After the 2.4 GHz and 5.8 GHz RID detection links regain their true identity, they can trace back the historical spectrum records, so that the temporary interruption of RID identity broadcasting and the actual disappearance of the UAV radio frequency target can be distinguished at the data level, and the detection history of the same target can be maintained.

[0089] The above are merely preferred embodiments of the present invention. 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 noted 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.

Claims

1. A drone detection device based on dual-mode collaboration, characterized in that: include: The spectrum detection module performs spectrum detection on the received radio frequency signal, extracts the received frequency, power, pulse timing and frequency change characteristics, and generates spectrum detection data; The RID detection module synchronizes the received RID broadcast signal and parses the data frames to obtain RID identity data, the corresponding receiving frequency and receiving timing, and generates RID detection data. The collaborative control module adjusts the scanning priority and dwell time of the spectrum detection module for the frequency band corresponding to the RID broadcast signal based on the receiving frequency and receiving timing in the RID detection data. When the RID detection module does not obtain a complete RID data frame, the synchronization search frequency range and synchronization search time range are determined based on the received frequency and pulse timing in the spectrum detection data, and the RID detection module is controlled to perform RID data frame synchronization search within the synchronization search frequency range and synchronization search time range. The target association module, when RID identity data is not obtained, associates spectrum detection data that satisfy the continuity relationship to generate the same target record based on the frequency continuity relationship and temporal continuity relationship between spectrum detection data within a continuous detection period, and updates the target record according to the detection time sequence; after RID identity data is obtained again, the module determines the target record corresponding to the RID identity data based on the frequency continuity relationship and temporal continuity relationship between spectrum detection data before and after obtaining the RID identity data, and establishes an association between the RID identity data and the target record.

2. The UAV detection device based on dual-mode collaboration according to claim 1, characterized in that: The collaborative control module includes a RID bootscanning strategy, which includes: Obtain the receiving frequency and receiving timing corresponding to multiple complete RID data frames obtained by continuous parsing, determine the frequency distribution range of the RID broadcast signal according to each receiving frequency, and determine the frequency distribution range as the frequency band corresponding to the RID broadcast signal; The receiving time interval of the RID broadcast signal is determined based on the receiving timing of adjacent complete RID data frames, and the repetition scanning timing of the frequency band corresponding to the RID broadcast signal is determined based on the receiving time interval. The scanning priority of the frequency band corresponding to the RID broadcast signal is set higher than that of the scanning frequency band outside the frequency distribution range, and the corresponding dwell time is adjusted according to the continuous acquisition of spectrum detection data in the frequency band corresponding to the RID broadcast signal in adjacent scanning cycles.

3. The UAV detection device based on dual-mode collaboration according to claim 2, characterized in that: The collaborative control module includes a scan expansion strategy, which includes: When the RID detection module fails to obtain a complete RID data frame, the frequency band corresponding to the RID broadcast signal most recently determined before the failure to obtain a complete RID data frame will be determined as the starting scanning range. Before obtaining a complete RID data frame, acquire spectrum detection data for multiple consecutive scanning cycles. Based on the received frequency and frequency change characteristics in the spectrum detection data for each scanning cycle, determine the distribution change and frequency change amplitude of the received frequency for multiple consecutive scanning cycles. Based on the distribution change and frequency change amplitude of the received frequency, determine an extended scanning frequency band outside the initial scanning range, and merge the extended scanning frequency band with the initial scanning range to generate the current scanning range.

4. The UAV detection device based on dual-mode cooperation according to claim 3, characterized in that: The scan extension strategy also includes: Spectrum detection is performed on the current scanning range to obtain spectrum detection data within the extended scanning band. The spectrum detection data is then matched with the spectrum detection data obtained before obtaining a complete RID data frame to determine the continuity of received frequency changes. Based on the matching result, the scanning priority of the extended scanning band corresponding to the obtained spectrum detection data with frequency continuity is increased, and the corresponding dwell time is adjusted. For extended scanning bands corresponding to spectrum detection data without frequency continuity, a new extended scanning band is determined outside the current scanning range based on the distribution change and frequency change amplitude of the received frequency, and the new extended scanning band is incorporated into the current scanning range.

5. The UAV detection device based on dual-mode collaboration according to claim 1, characterized in that: The collaborative control module includes a spectrum-assisted recovery strategy, which includes: Acquire spectrum detection data within the synchronization search frequency range and synchronization search time range. Based on the receiving frequency and pulse timing in the spectrum detection data, determine the recurring receiving frequency from multiple consecutive pulses, and narrow the synchronization search frequency range based on the recurring receiving frequency. Adjust the receiving gain of the RID detection module based on the power of the spectrum detection data within the narrowed synchronization search frequency range, and control the RID detection module to perform RID data frame synchronization search within the narrowed synchronization search frequency range and synchronization search time range.

6. The UAV detection device based on dual-mode cooperation according to claim 5, characterized in that: The spectrum-assisted recovery strategy also includes: After the RID detection module obtains a complete RID data frame through synchronous search of RID data frames, it corrects the start and end times of the corresponding pulses in the spectrum detection data according to the reception timing of the complete RID data frame; it updates the synchronization search time range according to the corrected pulse timing, and uses the updated synchronization search time range for subsequent RID data frame synchronous search.

7. The UAV detection device based on dual-mode collaboration according to claim 1, characterized in that: The target association module includes a continuous relationship determination strategy, which includes: Based on the received frequency and pulse timing in the spectrum detection data within a continuous detection period, the received frequencies corresponding to each detection period are arranged in the order of pulse appearance to obtain the frequency change sequence corresponding to each detection period. The frequency change sequences corresponding to adjacent detection cycles are connected. The frequency continuity is determined based on the direction of frequency change and frequency jump order at the boundary of adjacent detection cycles. The pulse time interval across detection cycles is determined based on the pulse timing at the boundary of adjacent detection cycles. The pulse time interval is compared with the pulse time interval in adjacent detection cycles. The timing continuity is determined based on the consistency of the pulse time interval changes.

8. The UAV detection device based on dual-mode cooperation according to claim 7, characterized in that: The target association module also includes an identity tracing strategy, which includes: Based on the reception timing of the reacquired RID identity data, the spectrum detection data that is closest in time to the reception timing is selected from each of the target records. The selected spectrum detection data is then matched with the spectrum detection data within the detection period in which the reacquired RID identity data is located for frequency continuity and timing continuity. Based on the power changes between the matched spectrum detection data, the corresponding target records are filtered to determine the target records corresponding to the RID identity data, and the RID identity data is then associated with the determined target records.

9. A method for detecting unmanned aerial vehicles (UAVs) based on dual-mode cooperation, characterized in that: The method for detection using the UAV detection equipment according to any one of claims 1-8 includes the following steps: The spectrum detection step involves performing spectrum detection on the received radio frequency signal, extracting the received frequency, power, pulse timing and frequency change characteristics, and generating spectrum detection data. The RID detection steps involve synchronizing the received RID broadcast signal and parsing the data frames to obtain the RID identity data, the corresponding receiving frequency and receiving timing, and generating RID detection data. The coordinated control steps involve adjusting the scanning priority and dwell time of the frequency band corresponding to the RID broadcast signal based on the receiving frequency and receiving timing in the RID detection data; when a complete RID data frame is not obtained, the synchronization search frequency range and synchronization search time range are determined based on the receiving frequency and pulse timing in the spectrum detection data, and RID data frame synchronization search is performed within the synchronization search frequency range and synchronization search time range. In the target association step, when RID identity data is not obtained, the same target record is generated by associating spectrum detection data that meet the continuity relationship based on the frequency continuity relationship and the temporal continuity relationship between spectrum detection data within the continuous detection period, and the target record is updated according to the detection time sequence. After RID identity data is obtained again, the target record corresponding to the RID identity data is determined based on the frequency continuity relationship and the temporal continuity relationship between spectrum detection data before and after obtaining RID identity data, and the RID identity data is associated with the target record.

10. The UAV detection method based on dual-mode cooperation according to claim 9, characterized in that: It also includes a record association step, which sorts the spectrum detection data during the period when the RID identity data was not obtained and the spectrum detection data after the RID identity data was obtained, according to the detection time sequence of each spectrum detection data in the target record, and associates the sorted spectrum detection data and the RID detection data after the RID identity data was obtained with the target record to generate a continuous target record corresponding to the RID identity data. Based on the acquisition sequence of subsequent spectrum detection data and RID detection data, the subsequent spectrum detection data and RID detection data are associated with the continuous target record to update the continuous target record.

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