CN105842683B - A kind of unmanned plane integrated campaign system and method - Google Patents
A kind of unmanned plane integrated campaign system and method Download PDFInfo
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- CN105842683B CN105842683B CN201610361694.0A CN201610361694A CN105842683B CN 105842683 B CN105842683 B CN 105842683B CN 201610361694 A CN201610361694 A CN 201610361694A CN 105842683 B CN105842683 B CN 105842683B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R23/00—Arrangements for measuring frequencies; Arrangements for analysing frequency spectra
- G01R23/16—Spectrum analysis; Fourier analysis
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
- G01S3/02—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using radio waves
- G01S3/04—Details
- G01S3/12—Means for determining sense of direction, e.g. by combining signals from directional antenna or goniometer search coil with those from non-directional antenna
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/38—Jamming means, e.g. producing false echoes
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
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- Radar, Positioning & Navigation (AREA)
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- Computer Networks & Wireless Communication (AREA)
- Mathematical Physics (AREA)
- Electromagnetism (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The present invention discloses a kind of unmanned plane integrated campaign system and method, and system includes investigation unit, jamming equipment unit and control unit；The radar investigation of reconnaissance equipment unit set, photoelectricity investigation and radio investigative technique are monitored specified region, to identify unmanned plane, and obtain the azimuth information of the movement and location information of unmanned plane, instruction and figure communication breath and unmanned operators.Control unit realizes the interference to unmanned plane command signal, navigation signal and figure communication number according to the information got by jamming equipment unit.The present invention is increased electronics investigation and is carried out investigations analysis with the wireless signal to unmanned plane, and for guiding interference, promotion jamming effectiveness and efficiency by the basis of Comprehensive Radar, photoelectricity/infrared detection and electronic interferences technology；Unmanned operators can be remotely located simultaneously, be provided while unmanned plane defence is realized for law enforcement agency and arrest guiding, promote the crime cost of unmanned plane crime.
Description
Technical field
The present invention relates to unmanned plane defense technique field, particularly a kind of unmanned plane integrated campaign system and method.
Background technology
With the rapid increase of unmanned plane quantity, all kinds of " violations " relevant with unmanned plane even also layer goes out " illegal " event
It is not poor.For example general " black to fly " personnel fly the invasion to civil aviaton or army's control zone, enemy spy's molecule to emphasis without mandate
Security areas carries out investigations shooting, and offender is prison conveying articles etc. using unmanned plane, these problems for some secrecy and
The safety of key departments brings hidden trouble.National correlation department has also identified unmanned plane largely using the potential danger brought
Evil, therefore proposed in 2015《Unmanned plane management method》It carries out opinion to consult, but if is supported without technological means, nothing
Method finds unlawful practice, is prevented, and violator is identified, is punished, then the implementation dynamics and deterrent force of the regulation
It will have a greatly reduced quality.Meanwhile those have the criminal of clear and definite criminal intent and enemy spy's molecule, will not be constrained by a paper regulation,
Stop unmanned plane invasion criminal activity.Therefore, for the sensitive, department in key region and unit, possess for unmanned plane
Basic mean of defense can effectively find, prevent unmanned plane crime to be very necessary and urgent.
The existing defence to small drone, maximally efficient mode are to be shot down using direct firepower, but this
Kind of mode is only applicable to the special unit such as army, police, and needs observation condition is good and periphery place and humanistic environment
It is carried out in the case of permission.When not having conditions above or during in face of general user, generally using simple electronic interferences
Mode unmanned plane is attacked, that is, using wireless interference signal interference unmanned plane instruction, figure pass and navigation signal,
Make unmanned plane landing out of control, it is avoided further to invade target area.This is also the way relatively passed through both at home and abroad at present.
Under normal circumstances, simple jamming equipment can meet general user's demand, but at some in special circumstances,
Such as night, in the case where that effectively cannot observe unmanned plane, above-mentioned simple means will be ineffective.Therefore, it is a set of complete
Whole unmanned plane system of defense also needs to have to the automatic investigation of unmanned plane and recognition capability, and typical equipment of investigating is mainly
Radar and infrared detection system, wherein radar system can sensitively find movement unmanned plane, and obtain unmanned plane distance,
The movable informations such as orientation and speed, but the characteristic informations such as its general None- identified target type, size.And infrared and optics
Reconnaissance system is just complementary to, and can recognize that target appearance characteristic and azimuth information, but adjusts the distance and move letter
It ceases insensitive.The combination of the two can preferably form discovery and identification to unmanned plane, this is to be directed to nobody both at home and abroad at present
The anti-unmanned vehicle system of defense of machine the defence more solution, among these typical product such as Britain of system（AUDS）.
It is considered that a perfect unmanned plane system of defense is in addition to can carrying out investigations to small drone, identifying and doing
Other than disturbing, should also have the investigation ability of discovery to unmanned operators position, convenient for into line trace and being arrested to it, be promoted
The crime cost of unmanned operators.If system does not have this ability, then for potential unmanned plane criminal, profit
It is still the higher selection of sexual valence to implement crime action with a cheap small drone, it is impossible to fundamentally block its criminal
Crime is.
Meanwhile the working frequency range of the jamming equipment of current unmanned plane system of defense be substantially all be fixed on 2.4G or
5.8G or so, alignment be general consumer level unmanned plane disclosure using frequency range, even anti-unmanned vehicle defence system of Britain
System（AUDS）, do not have the scouting analysis ability to UAV Communication signal still, cope with some technical grade unmanned planes or
When person has the unmanned plane of customization communication equipment, there is the risk of failure in system.
Invention content
The technical problem to be solved in the present invention is：Radar, photoelectricity/infrared detection are combined in existing unmanned plane system of defense
And on the basis of electronic interferences technology, increase electronics investigative technique, carried out investigations analysis with the wireless signal to unmanned plane, and
It is interfered for guiding, promotes jamming effectiveness and efficiency；Unmanned operators can be remotely located simultaneously, realize unmanned plane
It is provided while defence for law enforcement agency and arrests guiding, promote the crime cost of unmanned plane crime.
The technical solution that the present invention takes is specially：A kind of unmanned plane integrated campaign system including investigation unit, is done
Disturb unit and control unit；
Reconnaissance equipment unit includes radar investigation equipment, photoelectricity investigation equipment and radio investigation equipment；Radar investigation is set
The movable information of UAV targets and appearance characteristics information in region, transmission are specified in corresponding monitoring to standby and photoelectricity investigation equipment respectively
To control unit；Radio investigates equipment and the instruction and figure biography data of specifying UAV targets in region is intercepted and captured, and right
The instruction of UAV targets sends position and is positioned, and the data of intercepting and capturing and locating result information are transmitted to control unit；
Jamming equipment unit includes that instruction interference signal can be sent to UAV targets respectively, schemes to pass interference signal and navigation
The instruction interference module of interference signal, figure pass interference module and navigation interference module and the antenna for radiation interference signals
Array；
UAV targets' information that control unit is investigated according to the reconnaissance equipment unit received controls jamming equipment list
Member sends out interference signal to UAV targets.
In the present invention, each jamming equipment point in each investigation equipment and jamming equipment unit in unit is investigated
Existing related function module not can be used, by present invention provide that each module of system between incidence relation cooperate, it is real
Now to the investigation of UAV targets, discovery, interference and the positioning to unmanned operators the purpose of.
Preferably, the present invention investigation unit in, radar investigation equipment include antenna, transceiver, signal processor and
Driving motor；Wherein transceiver is made of transmission channel and receiving channel；Signal processor generates radar investigation signal, and successively
By the transmission channel of transceiver and antenna to external radiation；The receiving channel that the external signal received is passed through transceiver by antenna
Signal processor is transmitted to be handled；Signal processing results are sent to control unit by signal processor；
Signal processor controls the movement of antenna by driving motor, to change the radiation direction of radar investigation signal.
The transmission channel of above-mentioned transceiver realizes conversion and the drive amplification of intermediate frequency and radio frequency, and receiving channel, which is realized, receives letter
Number amplification and difference frequency signal output.Signal processor carries out transmission and the motor of processing result data by interface control module
Driving synchronizes, and can refer to the prior art.In order to which radar investigation process is understood more intuitively, radar investigation equipment can also set display
Control terminal, generates and received signal and correlation for starting, during the operation and investigation of control radar investigation equipment
The displaying of data.
Further, solid state pulse compression Doppler radar can be used in radar investigation equipment of the present invention.It uses pulse pressure body
System in the case where not sacrificing range accuracy, improves radiant power, humidification distance；Using solid state technology, reliability is improved
And service life；Doppler signal is facilitated to extract, convenient for Small object signal identification.Compared to continuous wave radar, it is more suitable for
Strong reflection environment in complex background, particularly urban environment.
The present invention investigation unit in photoelectricity investigation equipment include rack, integrated controller, servo controller and
Infrared track module, visible ray tracking module and the Angle Measurement Module being installed in rack；Rack includes horizontal rotating shaft and hangs down
Straight shaft, Angle Measurement Module are made of the angle measurement element being respectively arranged on horizontal rotating shaft and vertical rotation axis；Rack can be around vertical
Straight shaft rotation, infrared track module and visible ray tracking module are rotatablely installed respectively in the both ends of horizontal rotating shaft；Comprehensive Control
Device can control rack, infrared track module and visible ray tracking module to be rotated around respective axes of rotation respectively by servo controller；
Infrared track module and visible ray tracking module transmit UAV targets into line trace, and by tracking image information
To integrated controller and servo controller；During tracking, Angle Measurement Module measures rack, infrared track module and visible ray
The tracking module real-time corner information in respective axes of rotation respectively, is transmitted to servo controller, and then be transmitted to integrated controller；
The location information for tracking image information and tracking target is transmitted to control unit by integrated controller, to control list
Member control jamming equipment unit is implemented to interfere to UAV targets in time.Wherein the location information of tracking target is by analyzing angle measurement
The angle signal that element obtains obtains.
In addition photoelectricity investigation equipment of the present invention can also be not provided with servo controller, and set control-rod, by artificially controlling
The rotation of rack, infrared track module and visible ray tracking module, to track target.
Present system control unit is after the tracking image information of integrated controller is received, for tracking image information
Processing can be only display, coordinate display and man-machine interface, by way of manually checking tracking image, judge to track target
Whether it is unmanned plane, then artificially control jamming equipment unit is made to implement to do to UAV targets by man-machine interface if unmanned plane
It disturbs.
To realize the automation of UAV targets' investigation and interference, then system control unit is receiving tracking target figure
As after information, parser is compared using existing image, judge to track whether target is unmanned plane, for being confirmed as nobody
The tracking target of machine then automatically controls jamming equipment and implements corresponding interference.
Existing infrared tracking instrument and visible optical tracker system can be used in infrared track module and visible ray tracking module respectively, red
Outer tracker includes infrared sensor, infrared tracker, it is seen that and optical tracker system includes visible light sensor, visible ray tracker,
The two further includes light modulation focusing module respectively.On the basis of radar result of the investigations has been obtained, system control unit can pass through
Integrated controller and servo controller realize the initial boot to infrared sensor and visible light sensor so that infrared sensor
The image information of UAV targets can be got with visible light sensor.Then under the action of light modulation focusing module further
Focusing and the adjusting of photo sensitivity are completed, improves the quality and observability of video image.Simultaneously visible ray tracker and it is infrared with
Track device carries out signal processing, and handling result is transmitted to integrated controller and servo controller, servo control to the image of acquisition
Device processed controls the rotation of rack, infrared track module and visible ray tracking module by the dynamic analysis to target image, so as to
Realize photovoltaic element from motion tracking.
During tracking, infrared track module and visible ray tracking can be perceived by being installed on the angle measurement element of rack level axis
The Orientation differences angle of module, infrared track module and visible ray tracking mould can be perceived by being installed on the angle measurement element of rack vertical axis
The pitching angle changing of block.Existing angular transducer can be used in angle measurement element.Servo controller, which is realized, tracks rack, visible ray
Existing machinery driving structure form can be used in the rotation drive control of module and infrared track module.Stabilization list can be also aided with simultaneously
Member is so that the stability of target image is more preferable.
Photoelectricity investigation equipment further includes time terminal, is the image information settling time obtained according to unified GPS time
Mark, stabilized platform are used for stabilization, ensure the picture steadiness during Target Acquisition, personnel operate single pole controller in order to control
It uses, for controlling the direction of visible ray and infrared lens manually.
Electronics investigation equipment in present invention investigation unit includes investigation antenna sets, receiving front-end processor, frequency measurement
Device, spectrum analyzer, goniometer and electronics investigation module controller；
The control instruction signal that antenna sets investigation receives UAV targets is investigated, is transmitted to receiving front-end processor；It receives
Front-end processor carries out the unmanned aerial vehicle (UAV) control command signal received the processing for including amplification, filtering and frequency conversion, then distinguishes
It exports to frequency tester, spectrum analyzer and goniometer；Frequency tester carries out frequency measurement to the control instruction signal received, obtains nobody
The frequency information of machine control instruction signal；Frequency spectrum divides instrument analysis to carry out spectrum analysis to the control instruction signal received, is wrapped
The information of the working frequency range of unmanned aerial vehicle (UAV) control command signal, frequency hopping frequency point and modulated signal feature is included, is referred to as unmanned aerial vehicle (UAV) control
Enable the frequecy characteristic collection of signal；Goniometer carries out direction finding to the control instruction signal received, obtains the side of control instruction signal
To information；Electronics investigation device controller obtains the aforementioned obtained frequency information of unmanned aerial vehicle (UAV) control command signal, frequecy characteristic
Collection and directional information, and it is transmitted to control unit.
System control unit receives the frequency information of unmanned aerial vehicle (UAV) control command signal, the frequency that electronics investigation equipment obtains
After feature set and directional information, unmanned plane command signal is interfered available for guiding jamming equipment unit, ensures interference
Validity reliability.Help to know the position of UAV targets operator simultaneously, guiding is facilitated to grab the person that breaks laws and commit crime
It catches.
Specifically, electronics investigation equipment in investigation antenna sets by it is multipair investigation antenna into, it is multipair investigation antenna at least wrap
It includes a pair of of L frequency ranges investigation antenna and a pair of S frequency ranges investigates antenna；Two antennas of each investigation antenna alignment are right in the horizontal direction
Claim arrangement.The reconnaissance antenna pair of different operating frequency range can cover the groundwork frequency range of unmanned aerial vehicle (UAV) control signal, and each frequency range is set
Mutiple antennas is put to that can ensure that unmanned aerial vehicle (UAV) control instructs the reliability of result of the investigations.
Further investigation antenna sets include respectively by the antenna pair that orientation high-gain aerial forms with by the low increasing of omnidirectional
The antenna pair of beneficial antenna composition.High-gain aerial far measuring distance is wherein oriented, angular range is small, can be fast under the guiding of radar
Speed intercepts and captures the instruction of UAV targets and figure communication number；Omnidirectional's low-gain antenna measurement distance is near, and angular range is big, can independent work
Make, in its measurement range, obtain the control instruction of unmanned plane and figure communication number, ensure to believe unmanned operators' control instruction
Number reliable and quick intercepting and capturing, improve radio investigation efficiency.
In the electronics investigation equipment of the present invention, frequency tester, receiving front-end processor, spectrum analyzer and goniometer respectively can
Using the hardware product of existing corresponding function.
Jamming equipment unit includes jamming signal type generator, frequency converter, power amplifier and aerial array；
Jamming signal type generator include digital frequency synthesizer, voltage controlled oscillator and noise source, control unit to interference sample
Formula generator sends interference control signal, and voltage controlled oscillator is based on interference control signal and noise source signal, generates nominated bandwidth
Noise FM signal, digital frequency synthesizer receives above-mentioned noise FM signal, carried out with the radiofrequency signal of its own generation
Mixing, so as to generate broadband swept-frequency signal or dressing spectrum interference signal；
The interference signal that jamming signal type generator generates is exported through frequency converter to the different power amplification of multiple working frequency range
Device is amplified, and is then exported respectively through aerial radiation；The antenna sets of each power amplifier are connected into aerial array.
In the range of 0.1GHz-6GHz, each power amplifier is respectively adopted solid the working frequency range of above-mentioned each power amplifier
State continuous wave power amplifier.Three power amplifiers are such as set, working frequency range is respectively 1.5GHz, 2.4GHz and 5.8GHz,
The unmanned plane that working frequency range and 2.4G and 5.8G where GPS/GLNOSS/BD can be covered often uses working frequency range.It is variant
After the power amplifier of frequency range is amplified Navigation of Pilotless Aircraft, instruction and image interference signal, pass through the day of corresponding band
Line is radiated.200W solid-state continuous wave power amplifiers can be used in solid-state continuous wave power amplifier.
In the jamming equipment unit of the present invention, aerial array is rotatablely installed on a turntable.Antenna in aerial array is adopted
With narrowband high-gain aerial, antenna form uses screw thread rotation formula or yagi aerial, and antenna gain is more than 14dB.Directionality is good,
High gain.
Unmanned plane integrated campaign method based on above-mentioned unmanned plane integrated campaign system, includes the following steps：
Step 1 investigates equipment by radar and carries out target detection to specified region, monitors Radar Return information, row
Except the influence of static target, for moving target, its movement velocity is calculated；Target speed range is defined, judges to move mesh
Whether target movement velocity is in the range of target speed；If the real-time position information of moving target is being obtained, is being reported
To control unit；
Step 2, control unit control photoelectricity investigation equipment carry out investigations to the moving target for entering fence coverage, judge
Whether moving target is unmanned plane, and to being confirmed as the moving target of unmanned plane, judging result information is sent extremely in photoelectricity investigation equipment
Control unit；
Step 3, control unit control radio investigation equipment cut the instruction of UAV targets and figure communication number
It obtains, and the analysis that carries out investigations to the signal of intercepting and capturing, is then based on investigation analysis result, it is dry using control unit control as needed
The operation of each jamming equipment in unit is disturbed, including：
Control instruction signal interference module sends out the control communication link of interference information jamming target unmanned plane；
The image that control figure communication interference module sends out interference information interference unmanned plane communicates back link；
Control navigation signal interference module sends out the navigation signal that interference information bothers UAV targets；Above-mentioned therein one
Kind is a variety of；
Step 4, for needing the UAV targets of acquisition operator position, radio investigates equipment and unmanned plane is operated
The command signal that person sends out carries out investigations positioning, and to determine the position of operator, and it is single that locating result information is sent to control
Member.
In step 1, the specified region overlay fence coverage, for movement velocity in the range of target speed
Moving target after obtaining its real-time position information, also judges whether it enters fence coverage；Radar investigation equipment reports to control
The information of unit further includes warning information.
Advantageous effect：The present invention is in integrated radar, photoelectricity（Visible ray/infrared）Investigation and the basis of electronic jamming device
On, electronic reconnaissance function is increased, can carry out investigations to the wireless signal of unmanned plane analysis, and for guiding interference, so as to
Promote jamming effectiveness and efficiency.Importantly, our electronic reconnaissance function can carry out long-range nothing to unmanned operators
Line positions.So as to law enforcement agency be guided to arrest unmanned plane criminal while unmanned plane is defendd, its criminal is promoted
Guilty cost.Specifically：
1st, the present invention combines radar, photoelectricity/infrared imaging and electronic reconnaissance technology, unmanned operators can be carried out remote
Distance positioning, system pass through electronic reconnaissance hand on the basis of radar, electro-optical system find and determine unmanned plane rough location
Section, can realize to the remote of unmanned operators（100 meters are arrived 5000m）Positioning.Also may be used by wherein electronic reconnaissance equipment
It is independent to realize the positioning carried out to unmanned operators closely（20 meters to 2000 meters）；
2nd, the present invention can realize what is guided in electronic reconnaissance technology by combining electronic reconnaissance and electronic jamming device
Precise electronic interferes, so as to promote the efficiency and operating distance of electronic interferences at double.It can be controlled by electronic reconnaissance system
The signal characteristic form of signal processed, so as to fulfill the control to unmanned plane；
3rd, the present invention is by combining radar, photoelectricity/infrared imagery technique, it can be achieved that the automatic of unmanned plane is found and known
Not, it and then is interfered.
Description of the drawings
Fig. 1 show present system structure diagram；
Fig. 2 show radar investigation device structure schematic diagram；
Fig. 3 show photoelectricity investigation device structure schematic diagram；
Fig. 4 show rack construction schematic diagram in photoelectricity investigation equipment；
Fig. 5 show radio investigation device structure schematic diagram；
Fig. 6 show investigation antenna to arrangement schematic diagram；
Fig. 7 show the frequency tester theory structure schematic block diagram for improving embodiment；
Fig. 8 show the goniometer theory structure schematic block diagram for improving embodiment；
Fig. 9 show jamming equipment cellular construction schematic diagram；
Figure 10 show the method for the present invention flow diagram.
Specific embodiment
It is further described below in conjunction with the drawings and specific embodiments.
With reference to figure 1, unmanned plane integrated campaign system of the invention, including investigation unit, jamming equipment unit and control
Unit processed；
Reconnaissance equipment unit includes radar investigation equipment, photoelectricity investigation equipment and radio investigation equipment；Radar investigation is set
The movable information of UAV targets, is transmitted to control unit in the standby specified region of monitoring；Photoelectricity investigation monitoring of equipment specifies region
The appearance characteristics information of interior UAV targets, is transmitted to control unit；Radio investigate equipment to target in specified region nobody
The instruction of machine and figure pass data and are intercepted and captured, and send position to the instruction of UAV targets and position, by the data of intercepting and capturing
Control unit is transmitted to locating result information；
Jamming equipment unit includes that instruction interference signal can be sent to UAV targets respectively, schemes to pass interference signal and navigation
The instruction interference module of interference signal, figure pass interference module and navigation interference module and the antenna for radiation interference signals
Array；
UAV targets' information that control unit is investigated according to the reconnaissance equipment unit received controls jamming equipment list
Member sends out interference signal to UAV targets.
In the present invention, each jamming equipment point in each investigation equipment and jamming equipment unit in unit is investigated
Existing related function module not can be used, by present invention provide that each module of system between incidence relation cooperate, it is real
Now to the investigation of UAV targets, discovery, interference and the positioning to unmanned operators the purpose of.
In the present invention, control unit distinguishes the control of radar investigation equipment, photoelectricity investigation equipment and electronics investigation equipment
It can be completed by same tracking with servo control unit, tracking is investigated with respectively including connecting radar in servo control unit and set
Standby, photoelectricity investigation equipment and electronics investigate the driving device of equipment and the SERVO CONTROL for controlling each driving device
Device；Control instruction is sent to servo controller by control unit, each driving device is controlled to run by servo controller, so as to
Control the investigation of each investigation equipment.
Embodiment
With reference to figure 2, in the investigation unit of the present embodiment, radar investigation equipment includes antenna, transceiver, signal processing
Device and driving motor；Wherein transceiver is made of transmission channel and receiving channel；Signal processor generates radar investigation signal, and
Pass sequentially through transceiver transmission channel and antenna to external radiation；The reception that the external signal received is passed through transceiver by antenna
Channel transfer to signal processor is handled；Signal processing results are sent to control unit by signal processor；
The transmission channel of transceiver realizes conversion and the drive amplification of intermediate frequency and radio frequency, and receiving channel, which is realized, receives signal
Amplification and difference frequency signal output.Signal processor carries out the transmission of processing result data by interface control module and motor drives
It is synchronous, it can refer to the prior art.In order to which radar investigation process is understood more intuitively, radar investigation equipment can also set display control
Terminal, generates and received signal and related data for starting, during the operation and investigation of control radar investigation equipment
Displaying.
Signal processor controls the movement of antenna by driving motor, to change the radiation direction of radar investigation signal.Thunder
Movement up to antenna can also be realized by tracking and servo control unit.
Solid state pulse compression Doppler radar can be used in radar investigation equipment.It uses pulse pressure system, is not sacrificing distance
In the case of precision, radiant power, humidification distance are improved；Using solid state technology, reliability and service life are improved；It is convenient
Doppler signal extracts, convenient for Small object signal identification.Compared to continuous wave radar, complex background is more suitable for, particularly
Strong reflection environment in urban environment.
With reference to figure 3 and Fig. 4, the photoelectricity investigation equipment of the present embodiment include rack 1, integrated controller, servo controller with
And it is installed on infrared track module 2, visible ray tracking module 3 and Angle Measurement Module in rack 1；Rack 1 includes horizontal turn
Axis and vertical rotation axis, Angle Measurement Module are made of the angle measurement element being respectively arranged on horizontal rotating shaft and vertical rotation axis；Rack 1
It can be rotated around vertical rotation axis, infrared track module 2 and visible ray tracking module 3 are rotatablely installed respectively in the both ends of horizontal rotating shaft；
Integrated controller can control rack 1, infrared track module 2 and visible ray tracking module 3 respectively around corresponding by servo controller
Shaft rotates；
Infrared track module 2 and visible ray tracking module 3 pass UAV targets into line trace, and by tracking image information
Transport to integrated controller and servo controller；During tracking, Angle Measurement Module measures rack, infrared track module and visible
The light tracking module real-time corner information in respective axes of rotation respectively, is transmitted to servo controller, and then be transmitted to Comprehensive Control
Device；
The location information for tracking image information and tracking target is transmitted to control unit by integrated controller, to control list
Member control jamming equipment unit is implemented to interfere to UAV targets in time.Wherein the location information of tracking target is by analyzing angle measurement
The angle signal that element obtains obtains.
In addition photoelectricity investigation equipment of the present invention can also be not provided with servo controller, and set control-rod, by artificially controlling
The rotation of rack, infrared track module and visible ray tracking module, to track target.
System control unit is after the tracking image information of integrated controller is received, for tracking the processing of image information
Can be only display, coordinate display and man-machine interface, by way of manually checking tracking image, judge to track target whether be
Unmanned plane then artificially makes control jamming equipment unit implement to interfere to UAV targets if unmanned plane by man-machine interface.
To realize the automation of UAV targets' investigation and interference, then system control unit is receiving tracking target figure
As after information, parser is compared using existing image, judge to track whether target is unmanned plane, for being confirmed as nobody
The tracking target of machine then automatically controls jamming equipment and implements corresponding interference.
Existing infrared tracking instrument and visible optical tracker system can be used in infrared track module and visible ray tracking module respectively, red
Outer tracker includes infrared sensor, infrared tracker, it is seen that and optical tracker system includes visible light sensor, visible ray tracker,
The two further includes light modulation focusing module respectively.On the basis of radar result of the investigations has been obtained, system control unit can pass through
Integrated controller and servo controller realize the initial boot to infrared sensor and visible light sensor so that infrared sensor
The image information of UAV targets can be got with visible light sensor.Then under the action of light modulation focusing module further
Focusing and the adjusting of photo sensitivity are completed, improves the quality and observability of video image.Simultaneously visible ray tracker and it is infrared with
Track device carries out signal processing, and handling result is transmitted to integrated controller and servo controller, servo control to the image of acquisition
Device processed controls the rotation of rack, infrared track module and visible ray tracking module by the dynamic analysis to target image, so as to
Realize photovoltaic element from motion tracking.
During tracking, be installed on the angle measurement element of 1 trunnion axis of rack can perceive infrared track module and visible ray with
The Orientation differences angle of track module, infrared track module and visible ray tracking can be perceived by being installed on the angle measurement element of rack vertical axis
The pitching angle changing of module.Existing angular transducer can be used in angle measurement element.Servo controller realize to rack, visible ray with
Existing machinery driving structure form can be used in the rotation drive control of track module and infrared track module.Stabilization can be also aided with simultaneously
Unit so that the stability of target image is more preferable.
Photoelectricity investigation equipment further includes time terminal, when being established according to the image information that unified GPS time is acquisition
Between indicate；Stabilized platform is used for stabilization, ensures the picture steadiness during Target Acquisition, personnel grasp single pole controller in order to control
It uses, for controlling the direction of visible ray and infrared lens manually.
With reference to figure 5, the electronics investigation equipment investigated in unit includes investigation antenna sets, receiving front-end processor, surveys
Frequency device, spectrum analyzer, goniometer and electronics investigation module controller；
The control instruction signal that antenna sets investigation receives UAV targets is investigated, is transmitted to receiving front-end processor；It receives
Front-end processor carries out the unmanned aerial vehicle (UAV) control command signal received the processing for including amplification, filtering and frequency conversion, then distinguishes
It exports to frequency tester, spectrum analyzer and goniometer；Frequency tester carries out frequency measurement to the control instruction signal received, obtains nobody
The frequency information of machine control instruction signal；Frequency spectrum divides instrument analysis to carry out spectrum analysis to the control instruction signal received, is wrapped
The information of the working frequency range of unmanned aerial vehicle (UAV) control command signal, frequency hopping frequency point and modulated signal feature is included, is referred to as unmanned aerial vehicle (UAV) control
Enable the frequecy characteristic collection of signal；Goniometer carries out direction finding to the control instruction signal received, obtains the side of control instruction signal
To information；Electronics investigation device controller obtains the aforementioned obtained frequency information of unmanned aerial vehicle (UAV) control command signal, frequecy characteristic
Collection and directional information, and it is transmitted to control unit.
System control unit receives the frequency information of unmanned aerial vehicle (UAV) control command signal, the frequency that electronics investigation equipment obtains
After feature set and directional information, unmanned plane command signal is interfered available for guiding jamming equipment unit, ensures interference
Validity reliability.Help to know the position of UAV targets operator simultaneously, facilitate guiding to illegal manipulation unmanned plane
Person's arrests.
Investigation antenna sets in electronics investigation equipment are by multipair investigation antenna into investigation antenna shown in i.e. Fig. 5 is to 1 to investigation
Antenna is to N；Multipair investigation antenna includes at least a pair of L frequency ranges investigation antenna and a pair of S frequency ranges investigate antenna；Each investigation antenna pair
In two antennas be arranged symmetrically in the horizontal direction, with reference to figure 6.The reconnaissance antenna pair of different operating frequency range can cover unmanned plane
The groundwork frequency range of signal is controlled, each frequency range setting mutiple antennas is to that can ensure unmanned aerial vehicle (UAV) control instruction result of the investigations
Reliability.
In above-mentioned investigation antenna sets, the investigation antenna of each working frequency range all respectively includes what is be made of orientation high-gain aerial
Antenna pair and the antenna pair being made of omnidirectional's low-gain antenna.Wherein orient high-gain aerial far measuring distance, angular range
It is small, the instruction of UAV targets and figure communication number can be quickly intercepted and captured under the guiding of radar；Omnidirectional's low-gain antenna measurement distance
Closely, angular range is big, can work independently, and in its measurement range, obtains the control instruction of unmanned plane and figure communication number, guarantee pair
The reliable and quick intercepting and capturing of unmanned operators' control instruction signal improve radio investigation efficiency.
In electronics investigation equipment, frequency tester, receiving front-end processor, spectrum analyzer and goniometer can be used existing respectively
The hardware product of corresponding function.
In order to enable the result of electronics investigation is relatively reliable, the part-structure that the present embodiment investigates in equipment electronics carries out
It is further improved.
As shown in fig. 7, frequency tester uses the digitlization frequency measuring receiver of brand-new design, unmanned plane control that can be to receiving
Command signal processed is higher with multiple frequency hopping frequency points and frequency hopping rate so as to effectively antagonize in the delicate interior completion Fast Frequency Estimations of 3-10
I.e. command communication signal.Specifically, frequency tester includes AD sampling units, frequency conversion processing unit, Threshold detection unit, FFT
Accurate measurement unit, phase method Fast Frequency Estimation unit and comprehensive decision unit.AD sampling units are to the unmanned plane command signal that receives
After being digitized processing, then down coversion, the Threshold detection unit completion signal of signal are completed by frequency conversion processing unit successively
Threshold detection, FFT accurate measurements unit, phase method Fast Frequency Estimation unit and the frequency of comprehensive decision unit output unmanned aerial vehicle (UAV) control instruction
Rate information.
As shown in figure 8, goniometer using brand-new design multichannel than width/than phase/than when measuring technique, by comparing not
The side of measurement unmanned aerial vehicle (UAV) control command signal is calculated with control signal amplitude, phase and the time difference received inside channel
To.The present invention can pass through the direction signal of goniometer generation on the basis of radar carries out Primary Location to the position of unmanned plane
Unmanned operators are further positioned.Specifically, goniometer includes A channel and channel B, A channel and channel B respectively successively by
AD sampling units, Digital Down Convert unit, Threshold detection unit, digital filtering unit, amplitude correction unit connection composition；A leads to
Road connects processing unit when being compared than amplitude ratio with the output terminal of the amplitude correction unit of channel B respectively.
As shown in figure 9, in the present embodiment, jamming equipment unit includes jamming signal type generator, frequency converter, power amplifier
And aerial array；
Jamming signal type generator include digital frequency synthesizer, voltage controlled oscillator and noise source, control unit to interference sample
Formula generator sends interference control signal, and interference is passed including instruction interference signal occurs, navigation interference signal occurs or figure occurs
The instruction of signal.Voltage controlled oscillator is based on interference control signal type and noise source signal, generates the noise FM of nominated bandwidth
Signal, digital frequency synthesizer receive above-mentioned noise FM signal, are mixed with the radiofrequency signal of its own generation, so as to produce
Raw broadband swept-frequency signal or dressing spectrum interference signal, obtain that interference signal, navigation interference signal or figure is instructed to pass interference accordingly
Signal；
The interference signal that jamming signal type generator generates is exported through frequency converter to the different power amplification of multiple working frequency range
Device is amplified, and is then exported respectively through aerial radiation；The antenna sets of each power amplifier are connected into aerial array.
In the range of 0.1GHz-6GHz, each power amplifier is respectively adopted solid the working frequency range of above-mentioned each power amplifier
State continuous wave power amplifier.Three power amplifiers are such as set, working frequency range is respectively 1.5GHz, 2.4GHz and 5.8GHz,
The unmanned plane that working frequency range and 2.4G and 5.8G where GPS/GLNOSS/BD can be covered often uses working frequency range.It is variant
After the power amplifier of frequency range is amplified Navigation of Pilotless Aircraft, instruction and image interference signal, pass through the day of corresponding band
Line is radiated.200W solid-state continuous wave power amplifiers can be used in solid-state continuous wave power amplifier.
In the jamming equipment unit of the present invention, aerial array is rotatablely installed on a turntable.The rotation of turntable can be by controlling
Unit is realized with servo control unit by tracking and controlled.Antenna in aerial array is using narrowband high-gain aerial, dwi hastasana
Formula uses screw thread rotation formula or yagi aerial, and antenna gain is more than 14dB.Directionality is good, high gain.
Unmanned plane integrated campaign method based on above-mentioned unmanned plane integrated campaign system, includes the following steps：
Step 1 investigates equipment by radar and carries out target detection to specified region, monitors Radar Return information, row
Except the influence of static target, for moving target, its movement velocity is calculated；Target speed range is defined, judges to move mesh
Whether target movement velocity is in the range of target speed；If the real-time position information of moving target is being obtained, is being reported
To control unit；
Step 2, control unit control photoelectricity investigation equipment carry out investigations to the moving target for entering fence coverage, judge
Whether moving target is unmanned plane, and to being confirmed as the moving target of unmanned plane, judging result information is sent extremely in photoelectricity investigation equipment
Control unit；
Step 3, control unit control radio investigation equipment cut the instruction of UAV targets and figure communication number
It obtains, and the analysis that carries out investigations to the signal of intercepting and capturing, is then based on investigation analysis result, it is dry using control unit control as needed
The operation of each jamming equipment in unit is disturbed, including：
Control instruction signal interference module sends out the control communication link of interference information jamming target unmanned plane；
The image that control figure communication interference module sends out interference information interference unmanned plane communicates back link；
Control navigation signal interference module sends out the navigation signal that interference information bothers UAV targets；Above-mentioned therein one
Kind is a variety of；
Step 4, for needing the UAV targets of acquisition operator position, radio investigates equipment and unmanned plane is operated
The command signal that person sends out carries out investigations positioning, and to determine the position of operator, and it is single that locating result information is sent to control
Member.
In step 1, the specified region overlay fence coverage, for movement velocity in the range of target speed
Moving target after obtaining its real-time position information, also judges whether it enters fence coverage；Radar investigation equipment reports to control
The information of unit further includes warning information.
To sum up, the present invention is in integrated radar, photoelectricity（Visible ray/infrared）On the basis of investigation and electronic jamming device,
Electronic reconnaissance function is increased, can carry out investigations to the wireless signal of unmanned plane analysis, and for guiding interference, so as to be promoted
Jamming effectiveness and efficiency.When prior, our electronic reconnaissance function can carry out long distance wireless to unmanned operators and determine
Position.So as to law enforcement agency being guided to arrest unmanned plane criminal while unmanned plane is defendd, promoted its crime into
This.Specifically：
1st, the present invention combines radar, photoelectricity/infrared imaging and electronic reconnaissance technology, unmanned operators can be carried out remote
Distance positioning, system pass through electronic reconnaissance hand on the basis of radar, electro-optical system find and determine unmanned plane rough location
Section, can realize to the remote of unmanned operators（100 meters are arrived 5000m）Positioning.Also may be used by wherein electronic reconnaissance equipment
It is independent to realize the positioning carried out to unmanned operators closely（20 meters to 2000 meters）；
2nd, the present invention can realize what is guided in electronic reconnaissance technology by combining electronic reconnaissance and electronic jamming device
Precise electronic interferes, so as to promote the efficiency and operating distance of electronic interferences at double.It can be controlled by electronic reconnaissance system
The signal characteristic form of signal processed, so as to fulfill the control to unmanned plane；
3rd, the present invention is by combining radar, photoelectricity/infrared imagery technique, it can be achieved that the automatic of unmanned plane is found and known
Not, it and then is interfered.
Claims (9)
1. a kind of unmanned plane integrated campaign system, it is characterized in that, it is single including investigation unit, jamming equipment unit and control
Member；
Reconnaissance equipment unit includes radar investigation equipment, photoelectricity investigation equipment and radio investigation equipment；Radar investigate equipment and
The movable information of UAV targets and appearance characteristics information in region are specified in corresponding monitoring to photoelectricity investigation equipment respectively, are transmitted to control
Unit processed；Radio investigates equipment and the instruction and figure biography data of specifying UAV targets in region is intercepted and captured, and to target
The instruction of unmanned plane sends position and is positioned, and the data of intercepting and capturing and locating result information are transmitted to control unit；
Jamming equipment unit includes that interference signal and navigation interference can be passed to UAV targets' transmission instruction interference signal, figure respectively
The instruction interference module of signal, figure pass interference module and navigation interference module and the aerial array for radiation interference signals；
UAV targets' information that control unit is investigated according to the reconnaissance equipment unit received controls jamming equipment unit pair
UAV targets send out interference signal；
Jamming equipment unit includes jamming signal type generator, frequency converter, power amplifier and aerial array；
Jamming signal type generator includes digital frequency synthesizer, voltage controlled oscillator and noise source, and control unit is produced to jamming signal type
Raw device sends interference control signal, and voltage controlled oscillator is based on interference control signal and noise source signal, generates making an uproar for nominated bandwidth
Sound FM signal, digital frequency synthesizer receive above-mentioned noise FM signal, are mixed with the radiofrequency signal of its own generation,
So as to generate broadband swept-frequency signal or comb spectrum interference signal；
Jamming signal type generator generate interference signal through frequency converter export to the different power amplifier of multiple working frequency range into
Row amplification, then exports through aerial radiation respectively；The antenna sets of each power amplifier are connected into aerial array.
2. unmanned plane integrated campaign system according to claim 1, it is characterized in that, radar investigation equipment includes antenna, receives
Hair machine, signal processor and driving motor；Wherein transceiver is made of transmission channel and receiving channel；Signal processor generates thunder
Up to investigation signal, and pass sequentially through transceiver transmission channel and antenna to external radiation；Antenna leads to the external signal received
The receiving channel for crossing transceiver is transmitted to signal processor and is handled；Signal processing results are sent to control by signal processor
Unit；
Signal processor controls the movement of antenna by driving motor, to change the radiation direction of radar investigation signal.
3. unmanned plane integrated campaign system according to claim 1, it is characterized in that, photoelectricity investigation equipment includes rack, comprehensive
Hop controller, servo controller and the infrared track module being installed in rack, visible ray tracking module and angle measurement mould
Block；Rack includes horizontal rotating shaft and vertical rotation axis, and Angle Measurement Module is by being respectively arranged on horizontal rotating shaft and vertical rotation axis
Angle measurement element forms；Rack can be rotated around vertical rotation axis, infrared track module and visible ray tracking module be rotatablely installed respectively in
The both ends of horizontal rotating shaft；Integrated controller can respectively be controlled by servo controller rack, infrared track module and visible ray with
Track module is rotated around respective axes of rotation；
Infrared track module and visible ray tracking module to UAV targets into line trace, and will tracking image information be transmitted to it is comprehensive
Hop controller and servo controller；During tracking, Angle Measurement Module measures rack, infrared track module and visible ray tracking
The module real-time corner information in respective axes of rotation respectively, is transmitted to servo controller, and then be transmitted to integrated controller；
The location information for tracking image information and tracking target is transmitted to control unit by integrated controller.
4. unmanned plane integrated campaign system according to claim 1, it is characterized in that, radio investigation equipment includes investigation day
Line group, receiving front-end processor, frequency tester, spectrum analyzer, goniometer and electronics investigation module controller；
The control instruction signal that antenna sets investigation receives UAV targets is investigated, is transmitted to receiving front-end processor；Receiving front-end
Processor carries out the unmanned aerial vehicle (UAV) control command signal received the processing for including amplification, filtering and frequency conversion, then exports respectively
To frequency tester, spectrum analyzer and goniometer；Frequency tester carries out frequency measurement to the control instruction signal received, obtains unmanned plane control
The frequency information of command signal processed；Frequency spectrum divides instrument analysis to carry out spectrum analysis to the control instruction signal received, obtains including nothing
The information of the working frequency range of Human-machine Control command signal, frequency hopping frequency point and modulated signal feature is instructed as unmanned aerial vehicle (UAV) control and is believed
Number frequecy characteristic collection；Goniometer carries out direction finding to the control instruction signal received, obtains the direction letter of control instruction signal
Breath；Electronics investigation module controller obtain the aforementioned obtained frequency information of unmanned aerial vehicle (UAV) control command signal, frequecy characteristic collection with
And directional information, and it is transmitted to control unit.
5. unmanned plane integrated campaign system according to claim 4, it is characterized in that, the investigation day in radio investigation equipment
Line group is made of multipair investigation antenna, and multipair investigation antenna includes at least a pair of L frequency ranges investigation antenna and a pair of S frequency ranges are investigated
Antenna；Two antennas of each investigation antenna alignment are arranged symmetrically in the horizontal direction.
6. unmanned plane integrated campaign system according to claim 4 or 5, it is characterized in that, investigation antenna sets include difference
The antenna pair being made of orientation high-gain aerial and the antenna pair being made of omnidirectional's low-gain antenna.
7. unmanned plane integrated campaign system according to claim 1, it is characterized in that, in jamming equipment unit, each power is put
For the working frequency range of big device in the range of 0.1GHz-6GHz, solid-state continuous wave power amplifier is respectively adopted in each power amplifier.
It is 8. special based on the unmanned plane integrated campaign method of claim 1 to 7 any one of them unmanned plane integrated campaign system
Sign is to include the following steps：
Step 1 investigates equipment by radar and carries out target detection to specified region, monitors Radar Return information, exclude quiet
The only influence of target for moving target, calculates its movement velocity；Target speed range is defined, judges moving target
Whether movement velocity is in the range of target speed；If the real-time position information of moving target is being obtained, is reporting to control
Unit processed；
Step 2, control unit control photoelectricity investigation equipment carry out investigations to the moving target for entering fence coverage, judge to move
Whether target is unmanned plane, and to being confirmed as the moving target of unmanned plane, judging result information is sent to control in photoelectricity investigation equipment
Unit；
Step 3, control unit control radio investigation equipment intercept and capture the instruction of UAV targets and figure communication number, and
Carry out investigations to the signal of intercepting and capturing analysis, is then based on investigation analysis result, is set as needed using control unit control interference
The operation of each jamming equipment in standby unit, including：
Control instruction signal interference module sends out the control communication link of interference information jamming target unmanned plane；
The image that control figure communication interference module sends out interference information interference unmanned plane communicates back link；
Or control navigation signal interference module sends out the navigation signal of interference information jamming target unmanned plane；
Step 4, for needing the UAV targets of acquisition operator position, radio investigation equipment sends out unmanned operators
The command signal gone out carries out investigations positioning, to determine the position of operator, and locating result information is sent to control unit.
9. according to the method described in claim 8, it is characterized in that, in step 1, the specified region overlay fence coverage, for
Moving target of the movement velocity in the range of target speed after obtaining its real-time position information, also judges whether it enters
Fence coverage；The information that radar investigation equipment reports to control unit further includes warning information.
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