Unmanned aerial vehicle countering method, and related apparatus

Abstract

An unmanned aerial vehicle countering method, and a related apparatus. The method comprises: acquiring a frequency band of a frequency-hopping channel for communication between an unmanned aerial vehicle and a remote-control terminal; and generating and transmitting an interference signal according to the frequency band of the frequency-hopping channel, wherein the frequency band of the interference signal covers the frequency bands of all frequency-hopping channels simultaneously.

Description

A drone countermeasure method and related device

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on February 29, 2024, with application number 202410230739.5 and application name “A UAV countermeasure method and related device” and the Chinese patent application filed with the China Patent Office on June 28, 2023, with application number 2023107738858 and application name “Control device, computer-readable storage medium, UAV interference method and device”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The embodiments of the present application relate to a method and related device for countering drones. Background Art

[0003] When a drone communicates with a remote control terminal, it selects one or more center frequencies and corresponding bandwidths within the frequency band as communication channels. In order to ensure the confidentiality and anti-interference of the communication, the drone and the remote control terminal usually use frequency hopping in multiple specific frequency bands (i.e., communication channels) within their frequency band to communicate remote control commands. Therefore, it is possible to counter the drone by interfering with the remote control commands.

[0004] However, since the frequency band of the frequency hopping channel is not fixed, how to effectively interfere with drones is an urgent problem to be solved in this field.

[0005] Summary of the Invention

[0006] Based on this, it is necessary to provide a drone countermeasure method and related device.

[0007] A method for countering a drone, comprising:

[0008] Get the frequency band of the frequency hopping channel used by the drone to communicate with the remote control terminal;

[0009] An interference signal is generated and transmitted according to the frequency band of the frequency hopping channel, and the frequency band of the interference signal covers the frequency bands of all the frequency hopping channels at the same time.

[0010] A drone countermeasure device, comprising:

[0011] An acquisition module is used to obtain the frequency band of the frequency hopping channel used for communication between the drone and the remote control terminal;

[0012] The interference module is used to generate and transmit an interference signal according to the frequency band of the frequency hopping channel; the frequency band of the interference signal simultaneously covers the frequency bands of all the frequency hopping channels.

[0013] A computer storage medium stores computer-executable instructions, which, when executed by a processor, implement the aforementioned drone countermeasure method.

[0014] A terminal device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the aforementioned drone countermeasure method when executing the computer program.

[0015] A computer program product, wherein the terminal device includes a computer program; the computer program is executed by a processor to implement the steps in the aforementioned drone countermeasure method.

[0016] The details of one or more embodiments of the present application are set forth in the accompanying drawings and the description below. Other features, objects, and advantages of the invention will become apparent from the description, drawings, and claims. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, without paying any creative work, they can also obtain drawings of other embodiments based on these drawings.

[0018] FIG1 is a waveform diagram of a linear frequency modulation interference signal.

[0019] FIG2 is a schematic flow chart of a method for countering a drone according to an embodiment of the present invention.

[0020] FIG3 is a schematic diagram of a frequency hopping pattern according to an embodiment of the present invention.

[0021] FIG4 is a flow chart of step S2 in one embodiment of the present invention.

[0022] FIG5 is a second flow chart of the UAV countermeasure method according to an embodiment of the present invention.

[0023] FIG6 is a third flow chart of the UAV countermeasure method according to an embodiment of the present invention.

[0024] FIG7-1 is a second schematic diagram of a frequency hopping pattern according to an embodiment of the present invention.

[0025] FIG7-2 is a third schematic diagram of a frequency hopping pattern according to an embodiment of the present invention.

[0026] FIG8 is a schematic diagram of multi-path interference signals according to an embodiment of the present invention.

[0027] FIG9 is a fourth flow chart of the UAV countermeasure method according to an embodiment of the present invention.

[0028] FIG10 is a schematic diagram of a module of a countermeasure device for a UAV according to an embodiment of the present invention. DETAILED DESCRIPTION

[0029] To facilitate understanding of the present application, a more comprehensive description of the present application will be provided below with reference to the accompanying drawings. The accompanying drawings illustrate preferred embodiments of the present application. However, the present application may be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and comprehensive understanding of the disclosure of the present application.

[0030] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application pertains. The terms used in this specification are for the purpose of describing specific embodiments only and are not intended to limit this application. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0031] The above description includes examples of one or more embodiments. Of course, it is not possible to describe all possible combinations of components or methods for the purpose of describing the above embodiments, but it will be recognized by those skilled in the art that the various embodiments may be further combined and arranged. Therefore, the embodiments described herein are intended to cover all such changes, modifications and variations that fall within the scope of protection of the appended claims. In addition, to the extent that the term "comprising" is used in the specification or claims, the term is intended to be encompassed in a manner similar to the term "including", as explained by the use of "including" as a transitional word in the claims. In addition, any use of the term "or" in the specification of the claims is intended to mean a "non-exclusive or".

[0032] In order to interfere with the remote control command, a linear frequency modulation interference signal can be generated in the entire frequency band of the drone (that is, all frequency bands that allow various types of drones to communicate). The waveform of the linear frequency modulation interference signal can be specifically referred to in Figure 1 to counter the drone. However, this countermeasure has the following two disadvantages. The first disadvantage is that the instantaneous frequency of the linear frequency modulation interference signal (referring to Figure 1, the instantaneous frequency of the linear frequency modulation interference signal is a linear function of time) cannot cover the entire frequency band of the drone, resulting in poor interference effect on the drone. The second disadvantage is that the energy of the linear frequency modulation interference signal is evenly distributed in the entire frequency band of the drone. Therefore, under the condition that the transmission power of the countermeasure device is certain, the energy of the linear frequency modulation interference signal in the communication channel currently used by the drone is weak, resulting in a small effective interference distance for the drone. In order to solve the problem of how to effectively interfere with drones that communicate using frequency hopping, an embodiment of the present invention provides a drone countermeasure method and related devices.

[0033] Example

[0034] An embodiment of the present invention provides a method for countering drones, the process of which is shown in FIG2 and includes the following steps:

[0035] Step S1: Obtain the frequency band of the frequency hopping channel for communication between the UAV and the remote control terminal.

[0036] Step S2: Generate and transmit an interference signal according to the frequency band of the frequency hopping channel, and the frequency band of the interference signal covers the frequency bands of all frequency hopping channels at the same time.

[0037] The drone countermeasure method provided in this embodiment can be executed by a drone countermeasure device, or jointly executed by a remote control terminal (such as a server) and a drone countermeasure device (such as the remote control terminal executes the above-mentioned step S1 and step S2 to generate an interference signal according to the frequency band of the frequency hopping channel, and the drone countermeasure device executes the transmission of the interference signal in step S2).

[0038] By observing drone communication signals, we found that to ensure confidentiality and anti-interference, drones and remote control terminals typically communicate remote control commands using frequency hopping within a specific frequency band within the drone's entire frequency range. These frequency bands are called frequency hopping channels, and the bandwidth of a single frequency hopping channel is generally around 2 MHz. If the remote control commands transmitted by the remote control terminal are interfered with, the drone will hover or return, preventing it from flying according to the flight commands sent by the remote control terminal, thereby interfering with the drone's flight.

[0039] In the above step S1, the frequency bands of multiple frequency hopping channels can be obtained. Moreover, these frequency hopping channels can be all channels that may be used for communication between the drone and the remote control terminal within a period of time, and not only include the frequency hopping channels currently used by the drone and the remote control terminal, but also include the frequency hopping channels that will be used in the future. There are many ways to implement the above step S1. In an optional embodiment, the frequency hopping pattern of the frequency hopping communication between the drone and the remote control terminal can be obtained in advance, so that the relevant frequency hopping communication information of the frequency hopping communication between the drone and the remote control terminal can be obtained through the frequency hopping pattern (the frequency hopping communication information includes, for example, the center frequency point used by each frequency hopping channel, the bandwidth, the dwell time of each frequency point, etc.), wherein the frequency band of the frequency hopping channel can be derived from the center frequency point and the bandwidth. Among them, the frequency hopping pattern can be pre-stored in the drone countermeasure device so that the drone countermeasure device can directly read or call it when it needs to perform the countermeasure function.

[0040] In another optional embodiment, the frequency hopping pattern can also be obtained by the drone countermeasure device receiving the communication signal between the drone and the remote control terminal in real time after startup. After receiving the communication signal for a period of time, the received communication signal can be analyzed to obtain the frequency hopping pattern of the frequency hopping communication between the drone and the remote control terminal, and then the frequency band of the frequency hopping channel can be obtained based on the received communication signal. In other optional embodiments, the frequency band of the frequency hopping channel for communication between the drone and the remote control terminal can be directly obtained by observing the drone's communication signal using a spectrum analyzer. Specifically, the spectrum analyzer can use an antenna to obtain the frequency hopping channels of the drone and the remote control terminal in real time during frequency hopping communication, and can analyze the frequency band corresponding to each frequency hopping channel. It should be noted that the specific implementation method of step S1 is not limited to this embodiment of the present invention as long as it can achieve the purpose of obtaining the frequency band of the frequency hopping channel.

[0041] Here, the process of obtaining the frequency band of the frequency hopping channel according to the frequency hopping pattern is exemplarily described as follows:

[0042] If the frequency band set of all frequency hopping channels for drone communications remains unchanged, that is, the frequency bands of all frequency hopping channels will be presented in a complete frequency hopping pattern. Referring to Figure 3, a frequency hopping channel selection scheme on the time-frequency domain resource grid between the communicating parties is a frequency hopping pattern. Figure 3 is a schematic diagram of a drone's frequency hopping pattern, with time on the horizontal axis and frequency on the vertical axis. The shaded area represents the frequency hopping band used by the drone for communication at the corresponding time. For example, from 0 to 2 seconds, the frequency band of the drone's frequency hopping channel is [2409.2MHz, 2418.4MHz], and from 2 to 4 seconds, the frequency band of the drone's frequency hopping channel is [2427.6MHz, 2436.8MHz]. Similarly, the frequency bands of multiple frequency hopping channels corresponding to the frequency hopping pattern can be determined.

[0043] In this embodiment, in step S2, according to the determined frequency band of the frequency hopping channel, the corresponding software or algorithm can be run to generate a digital interference signal (i.e., a digital interference signal) covering all frequency hopping channel bands, and then the digital interference signal is subjected to corresponding signal processing (e.g., digital-to-analog conversion processing, filtering processing, radio frequency amplification processing, etc.) and output to the antenna, so as to be transmitted into the air via the antenna, thereby achieving interference with the UAV. In another optional embodiment, according to the determined frequency band of the frequency hopping channel, the corresponding hardware circuit can be controlled to directly generate an analog signal interference signal (i.e., an analog interference signal) covering all frequency hopping channel bands, and then the analog interference signal is subjected to corresponding signal processing (e.g., filtering processing, radio frequency amplification processing, etc.) and output to the antenna, so as to be transmitted into the air via the antenna, thereby achieving interference with the UAV.

[0044] In another optional embodiment, it is also possible to generate a digital interference signal covering part of the frequency hopping channel band by running the corresponding software or algorithm, and to control the operation of the corresponding hardware circuit to directly generate an analog interference signal covering the remaining frequency hopping channel band. The subsequent transmission process of the digital interference signal and the analog interference signal can refer to the above two embodiments and will not be described in detail here. In this way, in this embodiment, the interference signal ultimately generated by the digital interference signal can cover the frequency band of part of the frequency hopping channel, and the interference signal ultimately generated by the analog interference signal can cover the frequency band of the remaining frequency hopping channel. In other words, this embodiment is to cover the frequency band of all frequency hopping channels by using digital interference signals and analog interference signals.

[0045] In this embodiment, the frequency band of the interference signal simultaneously covers the frequency bands of all frequency hopping channels, which means that the frequency bands of all frequency hopping channels are within the frequency band of the interference signal. If there is only one drone, this embodiment of the present invention obtains the frequency bands of all frequency hopping channels used by the drone for communication with the remote control terminal and generates an interference signal whose concurrent radio frequency band covers the frequency bands of all frequency hopping channels corresponding to the drone. If there are more than one drone, this embodiment of the present invention can obtain the frequency bands of all frequency hopping channels used by each drone for communication with its remote control terminal and generate an interference signal whose concurrent radio frequency band covers the union of the frequency bands of the frequency hopping channels corresponding to all drones.

[0046] It should be noted that the frequency band of the drone's frequency hopping channel is not necessarily a continuous band; it may also be a discontinuous band. For example, Figure 3 shows a frequency hopping pattern when the frequency band of the frequency hopping channel is a continuous band. In an embodiment of the present invention, regardless of whether the frequency hopping channel is a continuous band or a discontinuous band, the minimum frequency of the interference signal band can be less than the minimum frequency of all frequency hopping channel bands, and at the same time, the maximum frequency of the interference signal band can be greater than the maximum frequency of all frequency hopping channel bands, thereby achieving frequency band coverage for all frequency hopping channels. For example, with respect to Figure 3, the frequency band of the interference signal can be set to [2400MHz, 2473.6MHz]. If the frequency band of the frequency hopping channel is a discontinuous band, the interference signal can also cover each discontinuous frequency hopping channel band. For the interval band between two adjacent discontinuous frequency hopping channel bands, the interference signal may not cover the interval band or have lower energy in the interval band, thereby achieving frequency band coverage for all frequency hopping channels.

[0047] In the embodiment of the present invention, since the frequency band of the generated interference signal can simultaneously cover the frequency bands of all frequency hopping channels, no matter which frequency hopping channel the drone currently uses or subsequently jumps to other frequency hopping channels, it can be within the frequency band covered by the interference signal, thereby effectively countering the drone. Moreover, under the condition of a certain transmission power, the embodiment of the present invention can make the transmission power concentrated on the interference of all frequency hopping channel bands. The more concentrated the transmission power, the longer the effective interference distance of the interference signal. Therefore, the embodiment of the present invention is also conducive to improving the effective interference distance.

[0048] In an optional embodiment, the number of interference signals is one channel. In this embodiment, although the interference signal includes multiple frequency bands in the frequency domain, it can be generated by the same transmitting circuit. The transmitting circuit may include a processor, a transceiver, a radio frequency circuit, etc. The processor can modulate and generate a digital interference signal, which is then converted from digital to analog by the transceiver and amplified by the radio frequency circuit to form the interference signal. The modulation method of the interference signal includes, but is not limited to, white noise or ASK, FSK, PSK, QAM, LFM, OFDM, etc., which is not limited in the embodiment of the present invention. In this way, the transmission power can be concentrated on the interference of all frequency hopping channel bands.

[0049] Specifically, the above step S2, as shown in FIG4 , may include the following steps:

[0050] Step S21: Determine the energy parameter corresponding to each subcarrier according to the frequency band of the interference signal and the frequency hopping channel, wherein the union of the frequency bands of all subcarriers includes the union of the frequency bands of all frequency hopping channels.

[0051] Step S22: Generate a digital modulation signal corresponding to each subcarrier according to the energy parameter and frequency band of each subcarrier.

[0052] Step S23: Generate an interference signal according to the digital modulation signals of all subcarriers, and transmit the interference signal.

[0053] In this embodiment, the interference signal may be a signal composed of multiple subcarrier modulations. In step S21, during the generation of the interference signal, the overall frequency band of the interference signal may be divided into multiple frequency bands, each frequency band corresponding to a related subcarrier, and the union of the frequency bands of all subcarriers may be the overall frequency band of the interference signal. In addition, the union of the frequency bands of all subcarriers is configured to include the union of the frequency bands of all frequency hopping channels, that is, the frequency bands of each frequency hopping channel are in the union of the frequency bands of all subcarriers. The number of subcarriers may be set in real time based on the interference effect. Optionally, the number of subcarriers may also be a fixed preset number, which is not limited in this embodiment. In this embodiment, the energy parameter may be a numerical value or a function, and the energy parameter may include a high energy parameter and a low energy parameter, wherein the value of the high energy parameter is greater than the value of the low energy parameter. It is possible to determine whether the frequency band of each subcarrier overlaps at least partially with the frequency band of the frequency hopping channel, and to set the energy parameter corresponding to each subcarrier based on the determination result. For example, pre-stored high-energy parameters and low-energy parameters can be called. If the frequency band of a subcarrier overlaps at least partially with the frequency band of the frequency hopping channel, it means that the subcarrier is related to the frequency hopping channel, and the energy parameter of the subcarrier can be set to a high-energy parameter, that is, the energy of the subcarrier signal is higher to better achieve the interference effect. If the frequency band of a subcarrier does not overlap with the frequency band of the frequency hopping channel, it means that the subcarrier is a frequency band outside the frequency hopping channel and has less impact on the interference effect, and the energy parameter of the subcarrier can be set to a low-energy parameter, that is, the energy of the subcarrier signal is lower.

[0054] In step S22 of this embodiment, the subcarriers may be digital signals. By substituting the energy parameters and frequency bands of each subcarrier into a corresponding preset subcarrier signal expression, the energy parameters are modulated onto the subcarrier to obtain a digitally modulated signal corresponding to each subcarrier. The preset subcarrier signal expression may be determined by the signal form of the interference signal, which is not limited in this embodiment.

[0055] In step S23 of this embodiment, the digital modulated signal corresponding to each subcarrier can be subjected to corresponding signal processing (such as digital-to-analog conversion processing, filtering processing, radio frequency amplification processing, etc.) and then output to the antenna, so as to be transmitted into the air through the antenna, thereby achieving interference with the drone.

[0056] Specifically, step S23 includes: accumulating the digital modulation signals of all subcarriers, and obtaining the interference signal according to the accumulated signals.

[0057] In this step, the digitally modulated signals of all subcarriers are equivalent to parallel data. After accumulation, they are converted into serial data, for example, to obtain an interference signal. Furthermore, this interference signal also has the same energy profile as the energy parameters of each subcarrier, namely, the energy of the frequency band associated with the frequency hopping channel is higher, while the energy of the frequency band unrelated to the frequency hopping channel is lower.

[0058] Further, referring to FIG. 5 , before the above step S21 , the drone countermeasure method further includes the following contents.

[0059] Step S3: Determine the frequency band of the interference signal according to the frequency band of the frequency hopping channel.

[0060] Step S4: Set the subcarrier according to the frequency band of the interference signal.

[0061] In step S3 of this embodiment, the frequency band union of all frequency hopping channels can be directly used as the frequency band of the interference signal. Alternatively, the interval corresponding to the lowest frequency and the highest frequency of the frequency band union of all frequency hopping channels can be used as the frequency band of the interference signal. Alternatively, based on the frequency band union of all frequency hopping channels, a target frequency band with a frequency range wider than the frequency band where the frequency hopping channels are located and including the frequency band where the frequency hopping channels are located can be determined as the frequency band of the interference signal. The target frequency band can be determined, for example, by subtracting a preset value from the lowest frequency of the union of all frequency hopping channel frequency bands to obtain the lowest frequency of the target frequency band, and adding a preset value to the highest frequency of the union of all frequency hopping channel frequency bands to obtain the highest frequency of the target frequency band. The interval formed by the lowest frequency and the highest frequency is the target frequency band, which is not limited in this embodiment.

[0062] It can be understood that if the frequency bands of all frequency hopping channels are continuous, that is, when the maximum frequency of the frequency hopping channel with a lower frequency band in any two adjacent frequency hopping channels is equal to the minimum frequency of the frequency hopping channel with a higher frequency band, the union of the frequency bands of all frequency hopping channels can be regarded as a wide frequency band with a relatively wide bandwidth. At this time, the frequency band of the interference signal in this embodiment can correspond to a wide frequency band with a relatively wide bandwidth. For example: Referring to the frequency hopping pattern shown in Figure 7-1, if the frequency hopping pattern has only two consecutive frequency hopping channels, and the frequency bands of the two frequency hopping channels are: the frequency band of the frequency hopping channel within 0-2s is 2.400GHz-2.401GHz, and the frequency band of the frequency hopping channel within 2-4s is 2.401GHz-2.402GHz, then the frequency band of the interference signal can be 2.400GHz-2.402GHz, that is, the union of the frequency bands of all subcarriers can be 2.400GHz-2.402GHz. At this time, the frequency band of the interference signal is equal to the union of the frequency bands of all frequency hopping channels to achieve coverage of all frequency hopping channel bands.

[0063] When the frequency bands of all frequency hopping channels in all frequency hopping channels are not continuous, that is, there are at least two adjacent frequency hopping channels in which the maximum frequency of the frequency hopping channel with a lower frequency band is less than the minimum frequency of the frequency hopping channel with a higher frequency band, the union of the frequency bands of all frequency hopping channels can be regarded as including multiple narrow frequency bands. At this time, the frequency band of the interference signal in this embodiment can correspond to the same number of narrow frequency bands with narrower bandwidth (at this time, a narrow frequency band of the interference signal can be configured to cover a narrow frequency band of the frequency hopping channel), or the frequency band of the interference signal can also correspond to a wide frequency band covering all frequency hopping channels. At this time, the wide frequency band includes both frequency hopping channels and non-frequency hopping channels. For example: Referring to the frequency hopping pattern shown in Figure 7-2, if the frequency hopping pattern has two discontinuous frequency hopping channel bands, and the frequency bands of the two frequency hopping channels are: the frequency band of the frequency hopping channel within 0-2s is 2.400GHz-2.401GHz, and the frequency band of the frequency hopping channel within 2-4s is 2.402GHz-2.403GHz, then the frequency band of the interference signal can be 2.400GHz-2.403GHz, that is, the union of all subcarrier frequency bands is 2.400GHz-2.403GHz, which is greater than the union of the two frequency hopping channel bands ([2.400-2.401]∪[2.402-2.403]). At this time, the frequency band of the interference signal is the union of all frequency hopping channel bands to achieve coverage of all frequency hopping channel bands.

[0064] In step S4 of this embodiment, if the frequency bands of all frequency hopping channels are continuous, the bandwidth of the interference signal can be calculated based on the frequency band of the interference signal, and then the bandwidth of the interference signal is ratioed to the subcarrier bandwidth. The result of the ratio calculation is the number of subcarriers. If the frequency bands of all frequency hopping channels are not continuous, the bandwidth of each narrow frequency band in the interference signal can be determined based on the frequency band of the interference signal, and then the bandwidth of each narrow frequency band is ratioed to the subcarrier bandwidth. The sum of the ratio calculation results corresponding to all narrow frequency bands is the number of subcarriers. The subcarrier bandwidth can be obtained through experimental calculation and pre-stored, or it can be the bandwidth corresponding to any frequency point in the frequency hopping pattern, or it can be set in real time based on the interference effect.

[0065] Further, referring to FIG6 , the above step S21 includes the following contents.

[0066] Step S211: When determining that the frequency band of the interference signal covers the frequency band of the frequency hopping channel and the frequency band of the non-frequency hopping channel, determine a first subcarrier in which at least part of the frequency bands of all subcarriers are in the frequency band of the frequency hopping channel, and determine a second subcarrier in which all the frequency bands of all subcarriers are not in the frequency band of the frequency hopping channel.

[0067] Step S212: setting the energy parameter value of the first subcarrier to a first energy value, and the energy parameter value of the second subcarrier to a second energy value, wherein the first energy value is higher than the second energy value.

[0068] In step S211 of this embodiment, if the frequency band of the interference signal covers the frequency band of the frequency hopping channel and the frequency band of the non-frequency hopping channel, it means that the frequency bands of the frequency hopping channels are discontinuous. In this case, the energy parameters of each subcarrier frequency band can be set accordingly by judging the relationship between the frequency band of each subcarrier and the frequency band of the frequency hopping channel and the frequency band of the non-frequency hopping channel. For example, it is possible to first determine the subcarriers whose frequency bands are completely not in the frequency hopping channel frequency band, that is, to determine the subcarriers whose frequency bands do not intersect with the frequency hopping channel frequency band, and then use these subcarriers as the second subcarrier, and the subcarriers other than the second subcarrier in all subcarriers as the first subcarrier. Alternatively, it is also possible to first determine the subcarriers whose frequency bands are in (including partially in and completely in) the frequency hopping channel frequency band, that is, to determine the subcarriers whose frequency bands intersect with the frequency hopping channel frequency band, and then use these subcarriers as the first subcarrier, and the subcarriers other than the first subcarrier in all subcarriers as the second subcarrier.

[0069] In step S22 of this embodiment, the first preset energy value and the second preset energy value that are pre-stored can be called, or the first real-time energy value and the second real-time energy value can be calculated in real time based on corresponding parameters, and the first preset energy value or the first real-time energy value can be used as the first energy value, and the second preset energy value or the second real-time energy value can be used as the second energy value. Relatively speaking, the first energy value is a higher energy value between the first energy value and the second energy value. In this embodiment, by configuring the energy parameter of the first subcarrier to a high energy value and the energy parameter of the second subcarrier to a low energy value, it is possible to achieve, when the transmit power is constant, concentrating the energy on the frequency band of the frequency hopping channel, thereby improving the interference effect.

[0070] In some optional embodiments, the subcarriers can be divided according to the frequency band of the frequency hopping channel, that is, the bandwidth of the frequency hopping channel is used as the bandwidth of the subcarrier, and the center frequency of a frequency hopping channel is used as the center frequency of a subcarrier. In this way, the frequency band of each first subcarrier can correspond to the frequency band of a frequency hopping channel, and the bandwidth of each first subcarrier is consistent with the bandwidth of a frequency hopping channel. Each subcarrier is consistent with the corresponding frequency hopping channel in the frequency domain (that is, the center frequency and bandwidth of the subcarrier are the same as the center frequency and bandwidth of the corresponding frequency hopping channel), so as to ensure that at the current moment, no matter which frequency hopping channel the drone communicates on, its transmitted signal can be drowned out by the interference signal.

[0071] The first subcarrier and the second subcarrier in this embodiment are exemplarily described below.

[0072] Case 1: The entire frequency band of the first subcarrier is within the frequency band of the frequency hopping channel.

[0073] For example, if the frequency band of the frequency hopping channel is 2.402 GHz-2.406 GHz, the following are all situations where all frequency bands of the subcarriers are within the frequency band of the frequency hopping channel: ① The frequency band of the subcarrier is 2.403 GHz-2.404 GHz, ② The frequency band of the subcarrier is 2.402 GHz-2.404 GHz, ③ The frequency band of the subcarrier is 2.403 GHz-2.406 GHz, and ④ The frequency band of the subcarrier is 2.402 GHz-2.406 GHz.

[0074] The frequency bands of the above three subcarriers are all completely within the frequency band of the frequency hopping channel, so the above three subcarriers are all first subcarriers. For the first three cases, the bandwidth of the first subcarrier is smaller than the bandwidth of the frequency hopping channel, so a frequency hopping channel requires multiple first subcarriers to cover. If the bandwidth of the first subcarrier is smaller, the number of first subcarriers required for a frequency hopping channel is more. For the fourth case, the bandwidth of the first subcarrier is equal to the bandwidth of the frequency hopping channel, so a frequency hopping channel only needs one first subcarrier to cover. It can be understood that if there are no other frequency hopping channels at this time, the subcarrier with a maximum frequency less than 2.402GHz in the frequency band and the subcarrier with a minimum frequency greater than 2.406GHz in the frequency band are the second subcarriers.

[0075] Case 2: Part of the frequency band of the first subcarrier is within the frequency band of the frequency hopping channel.

[0076] For example, if the frequency band of the frequency hopping channel is 2.402 GHz-2.406 GHz, the following are all situations where part of the frequency band of the subcarrier is within the frequency band of the frequency hopping channel: ① The frequency band of the subcarrier is 2.401 GHz-2.404 GHz, ② The frequency band of the subcarrier is 2.403 GHz-2.407 GHz, ③ The frequency band of the subcarrier is 2.401 GHz-2.402 GHz, and ④ The frequency band of the subcarrier is 2.406 GHz-2.407 GHz.

[0077] The frequency bands of the four subcarriers mentioned above are all partially within the frequency band of the frequency hopping channel, while the remaining frequency bands are outside the frequency band of the frequency hopping channel. The four subcarriers mentioned above are also first subcarriers. It can be understood that in this case, the subcarrier with a maximum frequency less than 2.402 GHz and the subcarrier with a minimum frequency greater than 2.406 GHz in the frequency band are second subcarriers.

[0078] This embodiment uses OFDM modulation as an example to illustrate the implementation process of generating and transmitting an interference signal. The frequency band B of the interference signal can be divided into N subcarriers with a bandwidth of B / N according to the bandwidth of the subcarrier. In this case, the subcarriers can be orthogonal subcarriers, and each subcarrier can correspond to a frequency band. The signal expression of the subcarrier is: Among them, f n Represents the center frequency corresponding to the subcarrier, Xn is the data modulated onto each subcarrier, and Xn is also the energy parameter in this embodiment. Xn can be obtained by using modulation methods such as phase shift keying (PSK), quadrature amplitude modulation (QAM) or binary phase shift keying (BPSK), and the embodiment of the present invention does not limit this. For example: if the BPSK method is used to obtain Xn, Xn can have two values ​​0 and 1, where 1 can correspond to the first energy value (i.e., high energy value) and 0 can correspond to the second energy value (low energy value). Therefore, after determining the first subcarrier and the second subcarrier, Xn in the first subcarrier can be set to 1, and Xn in the second subcarrier can be set to 0. Of course, it can be understood that when other methods are used to modulate the value of Xn, the value of Xn can also be other values ​​besides 0 and 1, which will not be described in detail in this embodiment.

[0079] The signal expression of the digital interference signal obtained by adding the signal expressions of the digital modulation signals of all subcarriers can be specifically:

[0080] In the above formula, N represents the total number of subcarriers, f(t) represents the interference signal obtained by accumulating the digital modulated signals corresponding to the N subcarriers, and the other parameters in the formula have been described above, and the embodiments of the present invention will not be repeated here. It can be understood that the digital interference signal generated at this time is then processed by digital-to-analog conversion, up-conversion, etc., transmitted to the radio frequency front end (RF front end), amplified by the power amplifier to generate an interference signal for antenna transmission, and then the interference signal is transmitted through the antenna. Among them, the architecture of the above-mentioned transmitting circuit can adopt an SDR architecture. Compared with the transmission architecture of the traditional interference signal (such as VCO sweep frequency architecture, DDS digital frequency synthesis architecture), since the transmitting circuit of the SDR architecture directly generates the digital interference signal using an algorithm and performs corresponding signal processing on the digital interference signal before transmitting it, even if the subsequent algorithm is updated and the generated digital interference signal is different, the transmitting circuit of the SDR architecture can still process and transmit the updated digital interference signal without modifying the hardware circuit of the transmitting circuit, thereby having higher flexibility and lower cost.

[0081] In this embodiment, the OFDM modulation method is used to quickly generate an interference signal that can simultaneously cover all the frequency hopping channels of the drone, thereby avoiding the problem of interference effect due to the drone's frequency hopping channel not being covered, and effectively interfering with the remote control commands between the drone and the remote control terminal. In addition, when the frequency hopping channel is used as the drone's image transmission channel (a channel for transmitting image signals), this solution can also effectively interfere with the image transmission signal at the same time. By setting the energy parameters corresponding to each subcarrier, this embodiment can concentrate the energy of the interference signal in the frequency band where the drone's frequency hopping channel is located, thereby increasing the effective interference distance and solving the problem of the transmission energy being dispersed throughout the drone's frequency band, resulting in a small effective interference distance.

[0082] In some optional embodiments, the number of interference signals is multiple, and the union of the frequency bands of all interference signals covers the frequency bands of all the frequency hopping channels. Specifically, in this embodiment, the transmitting circuit may include multiple signal generators (e.g., NCO signal generators), each of which can generate a narrowband interference signal of a preset frequency band. The preset frequency bands of the multiple signal generators can be configured to jointly cover the union of the frequency bands of all frequency hopping channels, and the preset frequency bands corresponding to the narrowband interference signals generated by each signal generator are different. It should be noted that the total number of signal generators can be determined according to actual needs, and this embodiment does not limit this.

[0083] In this embodiment, if the frequency bands of the signal generators are fixed, the frequency bands of all frequency hopping channels and the preset frequency bands corresponding to each signal transmitter can be used to determine the first signal generators whose at least part of the preset frequency bands among all signal generators are in the frequency bands of the frequency hopping channels, and to determine the second signal generators whose preset frequency bands among all signal generators are not at all in the frequency bands of the frequency hopping channels. By controlling all the first signal generators to generate multi-path interference signals (such as the above-mentioned narrowband interference signals) for all frequency hopping channels of the drone at the same time and controlling all the second signal generators not to generate interference signals, and simultaneously transmitting all interference signals, the drone is interfered with. It can be understood that the narrowband interference signal generated by each first signal generator is a channel interference signal in this embodiment. For example, a schematic diagram of a multi-path interference signal is shown in Figure 8, where the horizontal axis represents the frequency, the vertical axis represents the amplitude of the interference signal, and each bar represents a channel interference signal. In this way, the narrowband interference signals generated by all the first signal generators can cover the frequency bands of all frequency hopping channels, and the second signal generator does not generate narrowband interference signals at this time, so it can also ensure that the energy of the transmission power can be concentrated on the interference of the drone's frequency hopping channel.

[0084] Furthermore, the frequency band of each interference signal is the same as the frequency band of a frequency hopping channel.

[0085] In this embodiment, the frequency band of each interference signal can be set according to the frequency band of the frequency hopping channel, that is, the bandwidth of each interference signal is consistent with the center frequency and bandwidth of the corresponding frequency hopping channel (the frequency hopping channel is the signal for communication between the drone and the remote control terminal in the frequency hopping channel), so that each interference signal is consistent with the corresponding frequency hopping channel in the frequency domain, to ensure that at the current moment, no matter which frequency hopping channel the drone communicates on, its transmitted signal can be interfered with by the interference signal.

[0086] It should be noted that the frequency band of each frequency hopping channel can be the same as the frequency band of multiple interference signals. In addition, the correspondence between interference signals and frequency hopping channel frequency bands is not limited to the above situation and can be adjusted according to actual conditions. For example, one interference signal can correspond to multiple frequency hopping channels at the same time.

[0087] Still taking the method of determining the frequency band set of each hopping channel of the drone by means of a frequency hopping pattern as an example, in some optional embodiments, the frequency band set of the hopping channel of the drone communication is not always constant. In other words, the frequency hopping pattern of the drone is changing, that is, a new frequency band set of the hopping channel will appear in the next complete frequency hopping pattern. If the transmission interference signal is still generated based on the frequency hopping channel of the previous frequency hopping pattern, the frequency band of the interference signal will not be able to cover all the hopping channels, thereby reducing the interference effect on the drone or even making the interference ineffective. In response to the above problem, in some optional embodiments, referring to Figure 9, the drone countermeasure method also includes the following content.

[0088] Step S5: Determine whether there is any change in the frequency hopping channel.

[0089] Step S6: If the frequency hopping channel changes, the process starts again from step S1 of obtaining the frequency band of the frequency hopping channel for communication between the drone and the remote control terminal.

[0090] In step S5 of this embodiment, whether the frequency hopping channel has changed can be determined by whether a relevant signal representing the change of the frequency hopping channel or the frequency hopping pattern transmitted by the communication between the drone and the remote control terminal is received. For example, when a relevant signal representing the change of the frequency hopping channel or the frequency hopping pattern is received, it can be determined that the frequency hopping channel has changed, and when a relevant signal representing the change of the frequency hopping channel is not received, it can be determined that the frequency hopping channel has not changed. Alternatively, it is also possible to determine whether the current frequency hopping channel has changed based on its regular trend. For example, when the regular trend of the current frequency hopping channel is the same as the regular trend representing the change of the frequency hopping channel, it can be determined that the frequency hopping channel has changed, and when the regular trend of the current frequency hopping channel is different from the regular trend representing the change of the frequency hopping channel, it can be determined that the frequency hopping channel has not changed.

[0091] In step S6 of this embodiment, if it is determined that the frequency hopping channels have changed, all frequency hopping channels can be reacquired and used as the changed frequency hopping channels. The specific implementation of acquiring the frequency hopping channels can refer to the specific embodiment of step S1 and will not be described in detail here. In step S6 of this embodiment, a corresponding interference signal can be regenerated and transmitted based on the frequency bands of all the changed frequency hopping channels, so that the frequency band of the retransmitted interference signal can simultaneously cover the frequency bands of all the changed frequency hopping channels. In another optional embodiment, step S6 can be executed directly after a preset time has passed since step S2 was executed.

[0092] Based on the same inventive concept, referring to FIG10 , an embodiment of the present invention further provides a countermeasure device for a drone, the structure of which is shown in FIG7 , comprising:

[0093] The acquisition module 10 is used to obtain the frequency band of the frequency hopping channel used by the UAV to communicate with the remote control terminal.

[0094] The interference module 20 is configured to generate and transmit an interference signal according to the frequency band of the frequency hopping channel, where the frequency band of the interference signal covers the frequency bands of all the frequency hopping channels at the same time.

[0095] The countermeasure device for the drone proposed in the embodiment of the present invention can be used to implement the above-mentioned drone countermeasure method. The specific steps and beneficial effects of the drone countermeasure method can be referred to the above-mentioned embodiment. Since the countermeasure device for the drone proposed in the embodiment of the present invention adopts all the technical solutions of all the above-mentioned embodiments, it at least has all the beneficial effects brought by the technical solutions of the above-mentioned embodiments, which will not be repeated here one by one.

[0096] Based on the same inventive concept, an embodiment of the present invention further provides a computer storage medium storing computer-executable instructions. When executed by a processor, the computer-executable instructions implement the aforementioned drone countermeasure method. The specific steps and beneficial effects of this drone countermeasure method can be found in the aforementioned embodiments. Since the drone countermeasure device proposed in this embodiment of the present invention utilizes all the technical solutions of all the aforementioned embodiments, it at least possesses all the beneficial effects brought about by the technical solutions of the aforementioned embodiments, and therefore will not be detailed here.

[0097] Based on the same inventive concept, an embodiment of the present invention further provides a terminal device comprising: a memory, a processor, and a computer program stored in the memory and executable by the processor. When the processor executes the computer program, it implements the aforementioned drone countermeasure method. The specific steps and beneficial effects of this drone countermeasure method can be found in the aforementioned embodiments. Since the drone countermeasure device proposed in this embodiment of the present invention utilizes all the technical solutions of all the aforementioned embodiments, it at least possesses all the beneficial effects brought about by the technical solutions of the aforementioned embodiments, and therefore will not be detailed here.

[0098] Based on the same inventive concept, embodiments of the present invention further provide a computer program product comprising: a memory, a processor, and a computer program stored in the memory and executable by the processor. When the processor executes the computer program, the aforementioned drone countermeasure method is implemented. The specific steps and beneficial effects of this drone countermeasure method can be found in the aforementioned embodiments. Since the drone countermeasure device proposed in this embodiment of the present invention utilizes all the technical solutions of all the aforementioned embodiments, it at least possesses all the beneficial effects brought about by the technical solutions of the aforementioned embodiments, and therefore will not be detailed here.

[0099] Regarding the apparatus in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated on here.

[0100] Unless otherwise specifically stated, terms such as process, calculate, compute, determine, display, and the like may refer to the actions and / or processes of one or more processing or computing systems, or similar devices, that manipulate and convert data represented as physical (e.g., electronic) quantities within registers or memories of a processing system into other data similarly represented as physical quantities within the memories, registers, or other such information storage, transmission, or display devices of the processing system. Information and signals may be represented using any of a variety of different techniques and methods. For example, data, instructions, commands, information, signals, bits, symbols, and chips referred to throughout the above description may be represented by voltages, currents, electromagnetic waves, magnetic fields or particles, light fields or particles, or any combination thereof.

[0101] It should be understood that the specific order or hierarchy of steps in the disclosed processes is an example of an exemplary method. Based on design preferences, it should be understood that the specific order or hierarchy of steps in the process can be rearranged without departing from the scope of the present disclosure. The accompanying method claims present elements of the various steps in an exemplary order and are not intended to be limited to the specific order or hierarchy described.

[0102] In the foregoing detailed description, various features are grouped together in a single embodiment to simplify the disclosure. This method of disclosure should not be interpreted as reflecting an intention that embodiments of the claimed subject matter require more features than are expressly recited in each claim. On the contrary, as reflected in the appended claims, the invention comprises less than all the features of any individual disclosed embodiment. The appended claims are therefore hereby expressly incorporated into the detailed description, with each claim standing on its own as a separate preferred embodiment of the invention.

[0103] Those skilled in the art will also appreciate that the various illustrative logic blocks, modules, circuits, and algorithmic steps described in conjunction with the embodiments herein may be implemented as electronic hardware, computer software, or a combination thereof. In order to clearly illustrate the interchangeability between hardware and software, the various illustrative components, blocks, modules, circuits, and steps described above are generally described around their functions. Whether such functions are implemented as hardware or software depends on the specific application and the design constraints imposed on the entire system. A skilled person may implement the described functions in an adaptable manner for each specific application, but such implementation decisions should not be interpreted as departing from the scope of protection of this disclosure.

[0104] The steps of the methods or algorithms described in conjunction with the embodiments herein may be directly embodied as hardware, software modules executed by a processor, or a combination thereof. The software module may be located in a RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, register, hard disk, removable disk, CD-ROM, or any other form of storage medium well known in the art. An exemplary storage medium is connected to the processor so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium may also be an integral part of the processor. The processor and storage medium may be located in an ASIC. The ASIC may be located in a user terminal. Of course, the processor and storage medium may also be present in a user terminal as discrete components.

[0105] For software implementation, the techniques described in this application can be implemented using modules (e.g., procedures, functions, etc.) that perform the functions described in this application. These software codes can be stored in a memory unit and executed by a processor. The memory unit can be implemented within the processor or external to the processor. In the latter case, it is communicatively coupled to the processor via various means, which are well known in the art.

[0106] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned 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.

[0107] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A method for countering a drone, comprising: Get the frequency band of the frequency hopping channel for communication between the drone and the remote control terminal; An interference signal is generated and transmitted according to the frequency band of the frequency hopping channel, and the frequency band of the interference signal covers the frequency bands of all the frequency hopping channels at the same time.

2. The method for countering a drone according to claim 1, characterized in that: The number of the interference signals is one.

3. The drone countermeasure method according to claim 2, characterized in that: Generating and transmitting an interference signal according to the frequency band of the frequency hopping channel includes: Determine an energy parameter corresponding to each subcarrier according to the frequency band of the interference signal and the frequency hopping channel; wherein the union of the frequency bands of all the subcarriers includes the union of the frequency bands of all the frequency hopping channels; Generating a digital modulation signal corresponding to each of the subcarriers according to the energy parameter and frequency band of each of the subcarriers; An interference signal is generated according to the digital modulation signals of all the subcarriers, and the interference signal is transmitted.

4. The method for countering a drone as claimed in claim 3, characterized in that: The step of generating an interference signal according to the digital modulation signals of all the subcarriers comprises: The digital modulation signals of all the subcarriers are accumulated, and the interference signal is obtained according to the accumulated signal.

5. The method for countering a drone as claimed in claim 3, characterized in that: Before the step of determining the energy parameter corresponding to each subcarrier according to the frequency band of the interference signal and the frequency hopping channel, the drone countermeasure method further includes: Determining the frequency band of the interference signal according to the frequency band of the frequency hopping channel; The subcarrier is set according to the frequency band of the interference signal.

6. The method for countering a drone as claimed in claim 3, characterized in that: The step of determining an energy parameter corresponding to each subcarrier according to the frequency band of the interference signal and the frequency hopping channel comprises: When it is determined that the frequency band of the interference signal covers the frequency band of the frequency hopping channel and the frequency band of the non-frequency hopping channel, it is determined that at least part of the frequency bands of all subcarriers are in the first subcarrier in the frequency band of the frequency hopping channel. wave, and determining a second subcarrier whose entire frequency band is not in the frequency band of the frequency hopping channel among all subcarriers; The energy parameter value of the first subcarrier is set to a first energy value, and the energy parameter value of the second subcarrier is set to a second energy value, wherein the first energy value is higher than the second energy value.

7. The method for countering a drone as claimed in claim 1, characterized in that: There are multiple interference signals, and the union of the frequency bands of all the interference signals covers the frequency bands of all the frequency hopping channels.

8. The method for countering a drone as claimed in claim 7, characterized in that: The frequency band of each interference signal is the same as the frequency band of one frequency hopping channel.

9. The method for countering a drone as claimed in claim 1, characterized in that: The drone countermeasure method further includes: Determining whether there is a change in the frequency hopping channel; If the frequency hopping channel changes, the process starts again from the step of obtaining the frequency band of the frequency hopping channel for communication between the drone and the remote control terminal.

10. The method for countering a drone according to claim 1, characterized in that: The frequency bands for obtaining the frequency hopping channel for communication between the drone and the remote control terminal include: The frequency band of the frequency hopping channel for communication between the UAV and the remote control terminal is obtained according to the pre-stored frequency hopping pattern.

11. The method for countering a drone according to claim 1, characterized in that: Before obtaining the frequency band of the frequency hopping channel for communication between the drone and the remote control terminal, the method further includes: Receive the communication signal between the drone and the remote control terminal within the set time; The frequency bands for obtaining the frequency hopping channel for communication between the drone and the remote control terminal include: The frequency band of the frequency hopping channel for communication between the drone and the remote control terminal is obtained according to the received communication signal.

12. A drone countermeasure device, characterized in that: The drone countermeasure device comprises: An acquisition module is used to acquire the frequency band of the frequency hopping channel for communication between the drone and the remote control terminal; The interference module is used to generate and transmit an interference signal according to the frequency band of the frequency hopping channel; the frequency band of the interference signal covers the frequency bands of all the frequency hopping channels at the same time.

13. A computer storage medium, characterized in that: The computer storage medium stores computer executable instructions, and when the computer executable instructions are executed by the processor, the drone countermeasure method of claim 1 is implemented.

14. A terminal device, characterized in that: The terminal device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the drone countermeasure method according to claim 1 is implemented.

15. A computer program product, characterized in that It includes a computer program; the computer program is executed by a processor to implement the steps in the drone countermeasure method according to claim 1.

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