CN109615935A - Laser gun control unmanned plane method, apparatus, computer equipment and storage medium - Google Patents
Laser gun control unmanned plane method, apparatus, computer equipment and storage medium Download PDFInfo
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- CN109615935A CN109615935A CN201811443286.5A CN201811443286A CN109615935A CN 109615935 A CN109615935 A CN 109615935A CN 201811443286 A CN201811443286 A CN 201811443286A CN 109615935 A CN109615935 A CN 109615935A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/0043—Traffic management of multiple aircrafts from the ground
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04K—SECRET COMMUNICATION; JAMMING OF COMMUNICATION
- H04K3/00—Jamming of communication; Counter-measures
- H04K3/60—Jamming involving special techniques
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Abstract
This application involves a kind of laser gun control unmanned plane method, apparatus, computer equipment and storage medium, laser gun emitting radio waves signals；The corresponding echo-signal of electric wave signal is received, the location parameter and kinematic parameter of unmanned plane are obtained according to echo-signal；The acoustic information for obtaining unmanned plane identifies the black winged unmanned plane in unmanned plane according to acoustic information；According to location parameter and kinematic parameter, Xiang Heifei unmanned plane emits interference signal；Keep track black winged unmanned plane, when black winged unmanned plane, which is not affected by interference signal, to be influenced, laser is shot down in transmitting.Laser gun carries out Auto-Sensing, tracking and destroys to be not required to manual operation to unmanned plane in whole process, easy to use.
Description
Technical field
This application involves air vehicle technique fields, more particularly to a kind of laser gun control unmanned plane method, apparatus, calculate
Machine equipment and storage medium.
Background technique
As military, civilian unmanned plane is in the extensive use of every field, the cost of unmanned plane exploitation manufacture also constantly drops
Low, unmanned plane becomes the daily necessity that ordinary people can possess, enjoy, and at the same time, the abuse for also resulting in unmanned plane is existing
Shape, the abuse of unmanned plane or even illegal use bring the security risks such as great information leakage to society and individual, in order to answer
This problem defense in the air technology is also constantly being reinforced.
Existing defense in the air technology first passes through radar and unmanned plane is detected and tracked, and after detecting unmanned plane, leads to
Manual operation projectile weapon is crossed, aimed fire is carried out to unmanned plane, but be easy to cause unmanned plane to flee from aiming operation, is chased after
Paving failure, it is inconvenient for use.
Summary of the invention
Based on this, it is necessary to be directed to inconvenient problem with use, provide a kind of laser gun control unmanned plane easy to use
Method, apparatus, computer equipment and storage medium.
A kind of laser gun control unmanned plane method, comprising:
Emitting radio waves signal；
The corresponding echo-signal of electric wave signal is received, the location parameter of unmanned plane is obtained according to echo-signal and movement is joined
Number；
The acoustic information for obtaining unmanned plane identifies the black winged unmanned plane in unmanned plane according to acoustic information；
According to location parameter and kinematic parameter, Xiang Heifei unmanned plane emits interference signal；
Keep track black winged unmanned plane, when black winged unmanned plane, which is not affected by interference signal, to be influenced, laser is shot down in transmitting.
The corresponding echo-signal of electric wave signal is received in one of the embodiments, and unmanned plane is obtained according to echo-signal
Location parameter and kinematic parameter include: the corresponding echo-signal of real-time reception electric wave signal；Believed according to echo-signal and electric wave
Number time pulse is poor, is analyzed based on doppler principle, obtains the location parameter and kinematic parameter of unmanned plane.
The acoustic information for obtaining unmanned plane in one of the embodiments, identifies black in unmanned plane according to acoustic information
Winged unmanned plane includes: the acoustic information for obtaining unmanned plane, by default local unmanned plane voice bank and unmanned plane acoustic information into
Row comparison, identifies the black winged unmanned plane in unmanned plane.
In one of the embodiments, further include: the sound in acoustic information and default local unmanned plane voice bank
Timing, identification unmanned plane are local unmanned plane；It determines local unmanned plane model and types of data link connections, calls in presetting database
The corresponding instruction with model flight control system, deletes the information of local unmanned plane acquisition, and takes over the local unmanned plane of control.
Interference signal includes high-power RF signal, false GPS signal and sound wave interference in one of the embodiments,
At least one of signal interference signal.
Black winged unmanned plane is kept track in one of the embodiments, is influenced when black winged unmanned plane is not affected by interference signal
When, it includes: the location parameter and kinematic parameter obtained by echo-signal that laser is shot down in transmitting, keep track black winged unmanned plane,
And continuous updating location parameter and kinematic parameter；It is black when being detected according to updated location parameter and updated kinematic parameter
When winged unmanned plane motion state does not occur abnormal, according to updated location parameter and updated kinematic parameter, black fly is locked
Laser is shot down in unmanned plane, the transmitting of Xiang Heifei unmanned plane.
Black winged unmanned plane is kept track in one of the embodiments, is influenced when black winged unmanned plane is not affected by interference signal
When, transmitting is shot down after laser further include: real-time reception echo-signal；According to the echo-signal of real-time reception, obtain real-time
Location parameter and real-time kinematic parameter；According to real-time location parameter and real-time kinematic parameter, black winged unmanned plane is detected
It is not affected by when shooting down laser effect, sends black winged unmanned plane and flee from message.
A kind of laser gun control unmanned plane device, comprising:
Wave transmission module is used for emitting radio waves signal；
Echo reception module obtains unmanned plane according to echo-signal for receiving the corresponding echo-signal of electric wave signal
Location parameter and kinematic parameter；
Identification module, for obtaining the acoustic information of unmanned plane, according to acoustic information, identify in unmanned plane black flies nobody
Machine；
Interference module, for according to location parameter and kinematic parameter, Xiang Heifei unmanned plane to emit interference signal；
Laser emitting module, for keeping track black winged unmanned plane, when black winged unmanned plane, which is not affected by interference signal, to be influenced,
Laser is shot down in transmitting.
A kind of computer equipment, including memory and processor, memory are stored with computer program, and processor executes meter
Emitting radio waves signal is performed the steps of when calculation machine program；The corresponding echo-signal of electric wave signal is received, is obtained according to echo-signal
Take the location parameter and kinematic parameter of unmanned plane；The acoustic information for obtaining unmanned plane identifies in unmanned plane according to acoustic information
Black winged unmanned plane；According to location parameter and kinematic parameter, Xiang Heifei unmanned plane emits interference signal；Keep track and black flies nobody
Machine, when black winged unmanned plane, which is not affected by interference signal, to be influenced, laser is shot down in transmitting.
A kind of computer readable storage medium is stored thereon with computer program, when computer program is executed by processor
Perform the steps of emitting radio waves signal；The corresponding echo-signal of electric wave signal is received, unmanned plane is obtained according to echo-signal
Location parameter and kinematic parameter；The acoustic information for obtaining unmanned plane, according to acoustic information, identify in unmanned plane black flies nobody
Machine；According to location parameter and kinematic parameter, Xiang Heifei unmanned plane emits interference signal；Keep track black winged unmanned plane, flies when black
When unmanned plane is not affected by interference signal influence, laser is shot down in transmitting.
Above-mentioned laser gun control unmanned plane method, apparatus, computer equipment and storage medium, laser gun emitting radio waves letter
Number；The corresponding echo-signal of electric wave signal is received, the location parameter and kinematic parameter of unmanned plane are obtained according to echo-signal；It obtains
The acoustic information of unmanned plane identifies the black winged unmanned plane in unmanned plane according to acoustic information；According to location parameter and movement ginseng
Number, Xiang Heifei unmanned plane emit interference signal；Keep track black winged unmanned plane, is influenced when black winged unmanned plane is not affected by interference signal
When, laser is shot down in transmitting.Laser gun carries out Auto-Sensing, tracking and destroys to be not required to artificially grasp to unmanned plane in whole process
Make, it is easy to use.
Detailed description of the invention
Fig. 1 is the above-mentioned one of embodiment flow diagram of laser gun control unmanned plane method；
Fig. 2 is above-mentioned another embodiment flow diagram of laser gun control unmanned plane method；
Fig. 3 is the one of example structure schematic diagram of above-mentioned laser gun control unmanned plane device；
Fig. 4 is the one of example structure schematic diagram of above-mentioned laser gun control unmanned plane computer equipment.
Specific embodiment
It is with reference to the accompanying drawings and embodiments, right in order to which the objects, technical solutions and advantages of the application are more clearly understood
The application is further elaborated.It should be appreciated that specific embodiment described herein is only used to explain the application, not
For limiting the application.
In one of the embodiments, as shown in Figure 1, providing a kind of laser gun control unmanned plane method, this method includes
Following steps:
S110: emitting radio waves signal.
Electric wave is also referred to as electromagnetic wave, refers in the periodically variable magnetic field of spatial, radio wave, infrared ray, X-ray
And gamma ray is all the electromagnetic wave of wavelength not etc., electromagnetic wave is generated reflection, refraction, dissipated by the effect of medium and medium interface
Penetrate, diffraction and absorb phenomena such as, so that the characteristic parameters of electric wave is changed.Further, radio wave is used in the present embodiment,
Laser gun real time emission radio wave signal.
S120: the corresponding echo-signal of electric wave signal is received, the location parameter and fortune of unmanned plane are obtained according to echo-signal
Dynamic parameter.
Echo refers to the signal reached on set point by different other approach with normal route, echo generation be by
Object being encountered in communication process in signal, reflection or scattering etc. being generated to electromagnetic wave, part energy is absorbed by object,
The original signal with decaying delay is produced, original signal is superimposed with and is formed.Further, laser gun emits radio wave signal,
Radio wave signal encounters target detection thing in communication process, and target detection thing reflects radio wave signal, generates
Echo-signal, laser gun receive reflected echo-signal, the effective information in echo-signal are extracted, specifically, laser gun
Real time emission radio wave signal, when radio wave signal encounters unmanned plane in communication process, unmanned plane believes radio wave
Absorption reflection number is carried out, echo-signal is generated, laser gun real-time reception echo-signal detects unmanned plane by echo-signal,
It is analyzed by information extraction, obtains the location parameters such as position, speed, distance and the acceleration of UAV targets and kinematic parameter.When
It by analyzing echo-signal, after detecting unmanned plane, is sounded an alarm to monitoring personnel, administrative staff's unmanned plane is prompted to enter
No-fly zone.
S130: obtaining the acoustic information of unmanned plane, according to acoustic information, identifies the black winged unmanned plane in unmanned plane.
Under normal circumstances, manipulation unmanned plane remove the unmanned plane of indoor operation, the miniature drone run in sighting distance and
Outside the unmanned plane that non-densely populated area is tested, require to obtain aircraft driving license, aircraft will have the certificate of seaworthiness, phase
When in automobile vehicle driving card, meanwhile, any aircraft flight must all file an application in advance, declare flight plan, root
According to flight plan is declared in specified region, fly in the specified flight time, otherwise, then it is considered as black winged unmanned plane.This implementation
Black winged unmanned plane in example is that no airworthiness certificate, flight plan are declared and do not passed through or unmanned plane type information is not logged and records
Equal unmanned planes, further, laser gun receives echo-signal corresponding with electric wave signal, by analyzing echo-signal, detects
To after unmanned plane, laser gun is sampled by time interval, acquires unmanned plane sound, by voice recognition, whether identifies unmanned plane
For black winged unmanned plane.When the sound in the unmanned plane sound of acquisition and default local unmanned plane acoustic information library mismatches, know
Other unmanned plane is black winged unmanned plane.
S140: according to location parameter and kinematic parameter, Xiang Heifei unmanned plane emits interference signal.
Interference signal refers to, the signal of damage is caused to the reception of useful signal.Laser gun divides according to echo-signal
Analysis, detects unmanned plane, identifies that UAV targets are Xiang Heifei unmanned plane transmitting interference after black winged unmanned plane by acoustic information
Signal interferes the manipulation instruction of unmanned plane, is allowed to that the control instruction of unmanned plane manipulation end can not be normally received.Further
, laser gun carries out map number according to the location parameter and kinematic parameter about black winged unmanned plane obtained from echo-signal
According to load, black winged unmanned plane position is sent to monitoring personnel, monitors black winged unmanned plane trend in real time.
S150: keeping track black winged unmanned plane, and when black winged unmanned plane, which is not affected by interference signal, to be influenced, transmitting is shot down sharp
Light.
According to the location parameter and kinematic parameter of the black winged unmanned plane that analysis echo-signal obtains, to black winged unmanned plane position
Kept track, after Xiang Heifei unmanned plane emits interference signal, is become according to the distance of detection of the backscatter signal to black winged unmanned plane
The kinematic parameters such as rate and percentage speed variation are in ordinary running condition, stop motion, movement do not occur slowly or fall
Phenomenon, i.e., black winged unmanned plane are not interfered effect of signals, illustrate that signal interference fails, and black for interference failure flies nobody
Machine, black winged unmanned plane carries valuable information and flees from order to prevent, causes information leakage, believes according to black winged unmanned plane position is tracked
Breath, Xiang Heifei unmanned plane directional transmissions are shot down laser, are destroyed to black winged unmanned plane.
Above-mentioned laser gun control unmanned plane method, laser gun emitting radio waves signal；Receive the corresponding echo letter of electric wave signal
Number, the location parameter and kinematic parameter of unmanned plane are obtained according to echo-signal；The acoustic information for obtaining unmanned plane, believes according to sound
Breath identifies the black winged unmanned plane in unmanned plane；According to location parameter and kinematic parameter, Xiang Heifei unmanned plane emits interference signal；
Keep track black winged unmanned plane, when black winged unmanned plane, which is not affected by interference signal, to be influenced, laser is shot down in transmitting.Swash in whole process
Light gun carries out Auto-Sensing, tracking and destroys to be not required to manual operation to unmanned plane, easy to use.
The corresponding echo-signal of electric wave signal is received in one of the embodiments, and unmanned plane is obtained according to echo-signal
Location parameter and kinematic parameter include: the corresponding echo-signal of real-time reception electric wave signal；Believed according to echo-signal and electric wave
Number time pulse is poor, is analyzed based on doppler principle, obtains the location parameter and kinematic parameter of unmanned plane.Wherein, pass through
The electric wave signal of laser gun real time emission, real-time reception electric wave signal detect the echo letter that black winged unmanned plane back reflection is returned
Number, laser gun measurement electric wave signal emission time is poor to the time pulse for receiving the echo moment, i.e. delay time, this extends time
Being electric wave signal is emitted to black winged unmanned plane by laser gun, then by black fleet-footed runner's machine return laser light rifle receives echo-signal propagation when
Between, according to the spread speed of electric wave signal, it can determine formula S=CT/2, wherein S is unmanned plane and laser gun distance, and T is electricity
Wave signal is emitted to the time for receiving echo-signal from laser gun, and C is the light velocity；Laser gun is to black winged unmanned plane measurement movement ginseng
Several principles is the frequency Doppler effect for being had relative motion to generate between black winged unmanned plane according to itself, and laser gun receives
Target echo frequency it is different from the electric wave signal frequency of transmitting, the difference of the two is known as Doppler frequency, from Doppler frequency
In extractible main information be the distance between laser gun and black winged unmanned plane change rate, black winged nothing is determined by Doppler frequency shift
The kinematic parameters such as man-machine radial velocity.Unmanned plane trend can easily be obtained, effectively detecting and tracking unmanned plane.
The acoustic information for obtaining unmanned plane in one of the embodiments, identifies black in unmanned plane according to acoustic information
Winged unmanned plane includes: the acoustic information for obtaining unmanned plane, by default local unmanned plane voice bank and unmanned plane acoustic information into
Row comparison, identifies the black winged unmanned plane in unmanned plane.Wherein, presetting local unmanned plane voice bank is, to having flight status and Shen
The unmanned plane letter that the relevant informations such as unmanned plane type information, brand message and the acoustic information that report flight is accepted are stored
Cease library.Further, laser gun acquires ambient enviroment sound by microphone, obtains unmanned plane acoustic information, by presetting this
Ground unmanned plane voice bank compares collected unmanned plane acoustic information, when the acoustic information of UAV targets is default
When can not be matched to consistent acoustic information in local unmanned plane acoustic information library, identify that this UAV targets flies nobody to be black
Machine.After detecting unmanned plane, the secondary black winged unmanned plane of identification, it is convenient to detect, as a result more acurrate.
Specifically, in one of the embodiments, further include: when in acoustic information and default local unmanned plane voice bank
When Sound Match, identification unmanned plane is local unmanned plane；It determines local unmanned plane model and types of data link connections, calls present count
According to the corresponding instruction with model flight control system in library, the information of local unmanned plane acquisition is deleted, and takes over the local unmanned plane of control.
Presetting database is the set of a table, as electrical form, the storing data in row and column, in the present embodiment,
Presetting database stores the corresponding types of data link connections of unmanned plane model, and unmanned plane corresponding with types of data link connections flies control
Instruction etc..The corresponding winged control instruction of model can be found according to unmanned plane model.When acoustic information and default local unmanned plane sound
When Sound Match in sound library, identification unmanned plane is local unmanned plane；Determine local unmanned plane model and model corresponding data
Linktype calls the corresponding instruction with model flight control system in presetting database, deletes the information of local unmanned plane acquisition, and
Adapter tube controls local unmanned plane.Further, when the collected unmanned plane acoustic information of laser gun and default local unmanned plane sound
When acoustic information matches in sound information bank, this unmanned plane be by the local unmanned plane declared of flying, call it is default it is local nobody
Local unmanned plane type information, types of data link connections corresponding to the acoustic information of successful match in machine acoustic information library use
The corresponding winged control instruction of the corresponding same type flight control system of data type, is oriented the former control data of compacting to local unmanned plane
Chain can directly take over the local unmanned plane of control, the phase that local unmanned plane is acquired within the no-fly region period after suppressing successfully
It closes information to be deleted, controls local unmanned plane and fly to safety zone.For be strayed into and non-hazardous unmanned plane carry out memory delete
Except operation, then by local unmanned plane control toward safety zone, while realizing defence unmanned plane, avoid accidentally injuring unmanned plane of passing by one's way.
Interference signal includes high-power RF signal, false GPS signal and sound wave interference in one of the embodiments,
At least one of signal interference signal.Wherein, the black winged unmanned plane of radio frequency interference cutting is carried out by sending high-power RF signal
Communication between remote controler.Radio frequency interference according to the object of interference, can be divided into Communication Jamming, navigation interference, fuze jamming and
Enemy and we identify interference etc..In the present embodiment, Communication Jamming refers to introduces radio frequency interference letter in radio communication transmission process
Number, to upset or destroy black winged unmanned aerial vehicle radio communication.Navigation interference refer to black winged unmanned aerial vehicle radio navigation system into
Capable interference.Fuze jamming, which refers to, implements interference to black winged unmanned aerial vehicle radio influence fuse.Enemy and we identify that interference refers to utilization
Simulating black flies the recall signal of unmanned plane and the cheating interference that carries out.
Carry out falseness GPS interference to black winged unmanned plane by sending false GPS signal: false GPS interference is divided into pressing type
Interference and Deceiving interference, in the present embodiment, pressing type interference is that black winged unmanned plane is made to lose stationkeeping ability, Deceiving interference
It is to make black winged unmanned plane location of mistake.After detecting and being spoofed the i.e. black winged unmanned plane of target, according to laser gun and black fly nobody
Machine adjusts the time delay that laser gun receives satellite-signal relative to the position of satellite and the received satellite-signal of laser gun, amplification
Afterwards, while blocking black winged unmanned plane reception real satellite signal, black winged unmanned plane is made to receive the signal of forwarding, reaching makes black fly
The position that unmanned plane is made and the almost the same effect in position when its practical reception actual signal, according to the prediction of black winged unmanned plane
Motion profile finds out velocity variable of the black winged unmanned plane relative to satellite, and is transformed into Doppler's variation of satellite-signal, knot
The received satellite-signal of laser gun is closed, in addition deception amount, i.e., the variable quantity per second relative to actual position, adjust laser gun and receive
The output speed of satellite-signal realizes the point-by-point partially black winged unmanned plane track purpose of drawing.
By sending sound wave interference signal, sound wave interference is carried out to black winged unmanned plane, is mainly to send to black winged unmanned plane
Sound wave interferes the gyroscope of black winged unmanned plane, so that gyroscope is generated resonance with sound wave, output error message causes black
Winged unmanned plane cannot keep balance and crash.In the present embodiment, after laser gun detects black winged unmanned plane, automatic transmitting wherein one
Kind or a variety of interference signals interfere black winged unmanned plane, reduce the reflecting time of Human disturbance, enhance defence efficiency.
Black winged unmanned plane is kept track in one of the embodiments, is influenced when black winged unmanned plane is not affected by interference signal
When, it includes: the location parameter and kinematic parameter obtained by echo-signal that laser is shot down in transmitting, keep track black winged unmanned plane,
And continuous updating location parameter and kinematic parameter；It is black when being detected according to updated location parameter and updated kinematic parameter
When winged unmanned plane motion state does not occur abnormal, according to updated location parameter and updated kinematic parameter, black fly is locked
Laser is shot down in unmanned plane, the transmitting of Xiang Heifei unmanned plane.Further, by the echo-signal passed back in real time, to unmanned plane position
It is tracked, real-time update location parameter and kinematic parameter, according to updated location parameter and kinematic parameter, to location parameter
Variation and kinematic parameter variation are analyzed, and are detected unmanned plane to be still under remote control control state and are moved, without basis
False GPS positioning position flight or propeller do not stop operating and are parallel to the transverse direction on ground in the interference signal of transmission
Velocity variations are obvious, also without discovery all standing crash trend, but are instructed according to remote control control, flown along proper motion track
Row, winged unmanned plane black at this time are not affected by interference signal influence, according to the black winged unmanned plane location parameter and kinematic parameter of update, certainly
Dynamic adjustment azimuth of lay, locks black winged unmanned plane position, directional transmissions shoot down laser, are shot to black winged unmanned plane
It destroys.Optionally, when signal interference fails, black winged unmanned plane can also be caught by transmitting capture net, promotes black to fly nobody
Machine propeller can not be rotated and be fallen, non-essential, after this capture net catches black winged unmanned plane, opened parachute mode, driven
Black winged unmanned plane slowly falls.In the present embodiment, whether laser gun detection interference succeeds, then carries out Laser emission, is not required to artificial
It is related to, realizes and the intelligence of unmanned plane is captured.
In one of the embodiments, as shown in Fig. 2, after S150 further include:
S160: real-time reception echo-signal；According to the echo-signal of real-time reception, real-time location parameter and in real time is obtained
Kinematic parameter；According to real-time location parameter and real-time kinematic parameter, detects that black winged unmanned plane is not affected by and shoot down laser
When influence, sends black winged unmanned plane and flee from message.
Laser gun after laser is shot down in transmitting, real-time reception by interval of 0.1S real time emission electric wave signal return pair
The real-time echo signal answered is based on time pulse between doppler principle and emitting radio waves signal echo-signal corresponding with reception,
The echo-signal of real-time reception is analyzed, real-time location parameter and real-time kinematic parameter are obtained, when basis connects in real time
The echo-signal of receipts detects this black winged unmanned plane still in no-fly airspace, and according to real-time location parameter and real-time fortune
Dynamic parameter detects that the percentage speed variation of black winged unmanned plane and range rate sharply increase or are parallel to the laterally speed on ground
When degree is in freely falling body crash sign without continuing reduction of speed, shoots down laser and do not hit black winged unmanned plane, and detect black winged nothing
It is man-machine more and more remoter with laser gun position, when the area of fire to be left, illustrate black winged unmanned plane not by the shadow for shooting down laser
It rings and is in the state of fleeing from, laser gun will carry black winged unmanned plane model, the position that the last moment captures and black fly nobody
The unmanned plane that machine flees from the information such as direction flees from message, is sent to the spare laser gun in no-fly region, wakes up spare laser gun, to escaping
From black winged unmanned plane carry out chasing after paving.Non-essential, the time interval for sending electric wave signal in real time is not limited only to 0.1S, can basis
Requirement and laser gun equipment of itself to parameter precision are configured, by the online shared information of laser gun, even if unmanned plane
Flee from also can be carried out it is secondary chase, be not necessary to manual intervention, it is easy to use.
In one of the embodiments, in practical applications, when under laser gun being active, real time emission electric wave letter
Number, by receiving the reflected echo-signal of object, ambient airspace is detected, when detecting that echo-signal frequency is nothing
When the frequency of man-machine reflection, i.e. detecting ambient enviroment has unmanned plane invasion, at this point, issue warning signal, notify supervisor without
Man-machine invasion message.It is analyzed based on doppler principle, obtains unmanned plane from detecting in the reflected echo-signal of unmanned plane
The exercise datas such as position, percentage speed variation, unmanned plane is positioned, in conjunction with the ambient enviroment sound that laser gun is detected, is adopted
Collect unmanned plane sound, by comparing with default unmanned plane sound in default local acoustic information library, when in default local sound
When being matched to unmanned plane consistent with invasion unmanned plane sound in sound library, this invasion unmanned plane is to have flight status identity legal
Regular local unmanned plane, though being strayed into no-fly region does not cause danger.Obtain in default local acoustic information library same type nobody
The corresponding model parameter of machine, brand message and types of data link connections etc. are called from database and invade local Unmanned Aerial Vehicle Data
The corresponding winged control instruction of Linktype, local unmanned plane is deleted in no-fly region information collected, reads local nothing
The address date of Human-machine Control signal searches local unmanned aerial vehicle (UAV) control end address, after sending alarm prompt, controls local nothing
It is man-machine to fly away from safety zone；When in presetting this unmanned plane voice bank matching less than with invasion the consistent sound of unmanned plane acoustic information
When message ceases, illustrate that this unmanned plane does not have flight status, nobody is flown to black by laser gun interference module for black winged unmanned plane
Machine emits interference signal, and wherein interference signal can be in high-power RF signal, false GPS signal and sound wave interference signal
At least one interference signal can be simultaneously using these types of interference signal, to black winged unmanned plane in the case where cost allows
Carry out severe interference.
Real-time reception echo-signal, by the location parameter and kinematic parameter of the black winged unmanned plane of echo-signal real-time update,
The state of flight for detecting black winged unmanned plane, when interference signal is false GPS signal, according to updated location parameter and update
Kinematic parameter afterwards detects that black winged unmanned plane does not fly to false place according to false GPS, but is in remote control control
Along controlling party to moving under state；When interference signal is high-power RF signal or sound wave interference signal, according in real time more
New black winged unmanned plane location parameter and kinematic parameter detect that black winged unmanned plane fortune function track is normal, do not detect black fly
Unmanned aerial vehicle body copsided operation track is abnormal, and slow in action, and the horizontal velocity for being parallel to ground persistently reduces, perpendicular to ground
When the vertical speed in face was increased in phenomena such as crash trend, signal interference failure, according to the location parameter of real-time update and movement
Parameter aims at black winged unmanned plane, positions black winged unmanned plane position, and transmitting is shot down laser, broken to black winged unmanned plane
It ruins, alternatively, when laser gun and black winged unmanned plane are closer unmanned transmitting catching net can also be flown to black, limitation is black to fly nobody
Machine propeller promotes black winged unmanned plane to fall, by catching net parachute, the black winged unmanned plane of slowly land.After emitting laser, root
According to the analysis to the echo-signal passed back in real time, detect that black winged unmanned plane still flies in airspace, by kinematic parameter and
Location parameter detects that black winged unmanned plane motion profile is not normally out of control, speed and the lateral position variation for being parallel to ground
Rate does not reduce persistently, and lateral velocity does not reduce persistently when not having in freely falling body crash trend, it is known that shoots down laser and flies to black
Unmanned plane destroys failure, when detecting the black winged unmanned plane still flight in the area of fire, continues transmitting and shoots down laser, until black
Fly unmanned plane apart from laser gun more and more far away from the area of fire is opened, send at this time carry black winged unmanned plane model, flee from direction with
And the unmanned plane of the parameters such as last catching position flees from the spare laser gun outside information to sector of fire, carries out to unmanned plane is fled from
It chases.Unmanned plane is detected automatically, interfered and is destroyed by laser gun, without human intervention, unmanned plane is reduced and escapes rate,
It is easy to use.
In one of the embodiments, as shown in figure 3, providing a kind of laser gun control unmanned plane device, including it is following
Module:
Wave transmission module 210 is used for emitting radio waves signal；
Echo reception module 220 obtains unmanned plane according to echo-signal for receiving the corresponding echo-signal of electric wave signal
Location parameter and kinematic parameter；
Identification module 230, according to acoustic information, identifies black winged in unmanned plane for obtaining the acoustic information of unmanned plane
Unmanned plane；
Interference module 240, for according to location parameter and kinematic parameter, Xiang Heifei unmanned plane to emit interference signal；
Laser emitting module 250 is influenced for keeping track black winged unmanned plane when black winged unmanned plane is not affected by interference signal
When, laser is shot down in transmitting.
Echo reception module 220 is also used in one of the embodiments, receives the corresponding echo-signal of electric wave signal,
The location parameter of unmanned plane is obtained according to echo-signal and kinematic parameter includes: the corresponding echo letter of real-time reception electric wave signal
Number；It is poor according to echo-signal and electric wave signal time pulse, it is analyzed based on doppler principle, obtains the position ginseng of unmanned plane
Several and kinematic parameter.
Identification module 230 is also used in one of the embodiments, is obtained the acoustic information of unmanned plane, is believed according to sound
Breath identifies that the black winged unmanned plane in unmanned plane includes: the acoustic information for obtaining unmanned plane, passes through default local unmanned plane voice bank
It is compared with unmanned plane acoustic information, identifies the black winged unmanned plane in unmanned plane.
Identification module 230 is also used in one of the embodiments, when acoustic information and default local unmanned plane voice bank
In Sound Match when, identification unmanned plane is local unmanned plane；It determines local unmanned plane model and types of data link connections, calls pre-
If the corresponding instruction with model flight control system in database, the information of local unmanned plane acquisition is deleted, and takes over the local nothing of control
It is man-machine.
Interference module 240 is also used in one of the embodiments, according to location parameter and kinematic parameter, to black winged nothing
Man-machine transmitting high-power RF signal, false at least one of GPS signal and sound wave interference signal interference signal.
Laser emitting module 250 is also used in one of the embodiments, keeps track black winged unmanned plane, when black winged nothing
It is man-machine be not affected by interference signal influence when, transmitting shoot down laser include: by echo-signal obtain location parameter and movement ginseng
Number, keeps track black winged unmanned plane, and continuous updating location parameter and kinematic parameter；When according to updated location parameter and more
When kinematic parameter after new detects that black winged unmanned plane motion state does not occur abnormal, according to updated location parameter and update
Kinematic parameter afterwards, locks black winged unmanned plane, and laser is shot down in the transmitting of Xiang Heifei unmanned plane.
Above-mentioned laser gun control unmanned plane device in one of the embodiments, further includes fleeing from message transmission module, is used
In keeping track black winged unmanned plane, when black winged unmanned plane, which is not affected by interference signal, to be influenced, transmitting is shot down after laser further include:
Real-time reception echo-signal；According to the echo-signal of real-time reception, real-time location parameter and real-time kinematic parameter are obtained；Root
According to real-time location parameter and real-time kinematic parameter, detects that black winged unmanned plane is not affected by when shooting down laser effect, send black
Winged unmanned plane flees from message.
Specific restriction about laser gun control unmanned plane device may refer to above for laser gun control unmanned plane
The restriction of method, details are not described herein.Modules in above-mentioned laser gun control unmanned plane device can be fully or partially through
Software, hardware and combinations thereof are realized.Above-mentioned each module can be embedded in the form of hardware or independently of the place in computer equipment
It manages in device, can also be stored in a software form in the memory in computer equipment, in order to which processor calls execution or more
The corresponding operation of modules.
A kind of computer equipment is provided in one of the embodiments, which can be server, in
Portion's structure chart can be as shown in Figure 4.The computer equipment includes that the processor, memory, network connected by system bus connects
Mouth and database.Wherein, the processor of the computer equipment is for providing calculating and control ability.The storage of the computer equipment
Device includes non-volatile memory medium, built-in storage.The non-volatile memory medium be stored with operating system, computer program and
Database.The built-in storage provides environment for the operation of operating system and computer program in non-volatile memory medium.It should
The database of computer equipment is for storing laser gun control Unmanned Aerial Vehicle Data.The network interface of the computer equipment be used for it is outer
The terminal in portion passes through network connection communication.The computer program realizes a kind of laser gun control unmanned plane side when being executed by processor
Method.
It will be understood by those skilled in the art that structure shown in Fig. 4, only part relevant to application scheme is tied
The block diagram of structure does not constitute the restriction for the computer equipment being applied thereon to application scheme, specific computer equipment
It may include perhaps combining certain components or with different component layouts than more or fewer components as shown in the figure.
A kind of computer equipment, including memory and processor are provided in one of the embodiments, are deposited in memory
Computer program is contained, which performs the steps of emitting radio waves signal when executing computer program；Receive electric wave signal
Corresponding echo-signal obtains the location parameter and kinematic parameter of unmanned plane according to echo-signal；Obtain the sound letter of unmanned plane
Breath identifies the black winged unmanned plane in unmanned plane according to acoustic information；According to location parameter and kinematic parameter, Xiang Heifei unmanned plane
Emit interference signal；Keep track black winged unmanned plane, when black winged unmanned plane, which is not affected by interference signal, to be influenced, transmitting is shot down sharp
Light.
Reception electric wave signal is also performed the steps of when processor executes computer program in one of the embodiments,
Corresponding echo-signal, obtains the location parameter of unmanned plane according to echo-signal and kinematic parameter includes: real-time reception electric wave letter
Number corresponding echo-signal；It is poor according to echo-signal and electric wave signal time pulse, it is analyzed, is obtained based on doppler principle
The location parameter and kinematic parameter of unmanned plane.
It is also performed the steps of when processor executes computer program in one of the embodiments, and obtains unmanned plane
Acoustic information identifies that the black winged unmanned plane in unmanned plane includes: the acoustic information for obtaining unmanned plane, passes through according to acoustic information
Default local unmanned plane voice bank is compared with unmanned plane acoustic information, identifies the black winged unmanned plane in unmanned plane.
In one of the embodiments, processor execute computer program when also perform the steps of when acoustic information with
When presetting the Sound Match in the unmanned plane voice bank of local, identification unmanned plane is local unmanned plane；Determine local unmanned plane model
And types of data link connections, the corresponding instruction with model flight control system in presetting database is called, local unmanned plane acquisition is deleted
Information, and take over the local unmanned plane of control.
It also performs the steps of when processor executes computer program in one of the embodiments, according to location parameter
And kinematic parameter, Xiang Heifei unmanned plane emit in high-power RF signal, false GPS signal and sound wave interference signal at least
A kind of interference signal.
It is also performed the steps of when processor executes computer program in one of the embodiments, and keeps track black fly
Unmanned plane, when black winged unmanned plane, which is not affected by interference signal, to be influenced, it includes: the position obtained by echo-signal that laser is shot down in transmitting
Parameter and kinematic parameter are set, black winged unmanned plane, and continuous updating location parameter and kinematic parameter are kept track；After according to update
Location parameter and updated kinematic parameter when detecting that black winged unmanned plane motion state does not occur abnormal, according to updated
Location parameter and updated kinematic parameter, lock black winged unmanned plane, and laser is shot down in the transmitting of Xiang Heifei unmanned plane.
It is also performed the steps of when processor executes computer program in one of the embodiments, and keeps track black fly
Unmanned plane, when black winged unmanned plane, which is not affected by interference signal, to be influenced, transmitting is shot down after laser further include: real-time reception echo letter
Number；According to the echo-signal of real-time reception, real-time location parameter and real-time kinematic parameter are obtained；Joined according to real-time position
Several and real-time kinematic parameter detects that black winged unmanned plane is not affected by when shooting down laser effect, sends black winged unmanned plane and flees from and disappears
Breath.
A kind of computer readable storage medium is provided in one of the embodiments, is stored thereon with computer program,
Emitting radio waves signal is performed the steps of when computer program execution processed；Receive the corresponding echo-signal of electric wave signal, root
The location parameter and kinematic parameter of unmanned plane are obtained according to echo-signal；The acoustic information for obtaining unmanned plane is known according to acoustic information
Black winged unmanned plane in other unmanned plane；According to location parameter and kinematic parameter, Xiang Heifei unmanned plane emits interference signal；Persistently chase after
The black winged unmanned plane of track, when black winged unmanned plane, which is not affected by interference signal, to be influenced, laser is shot down in transmitting.
It is also performed the steps of when computer program is executed by processor in one of the embodiments, and receives electric wave letter
Number corresponding echo-signal obtains the location parameter of unmanned plane according to echo-signal and kinematic parameter includes: real-time reception electric wave
The corresponding echo-signal of signal；It is poor according to echo-signal and electric wave signal time pulse, it is analyzed, is obtained based on doppler principle
Take the location parameter and kinematic parameter of unmanned plane.
Acquisition unmanned plane is also performed the steps of when computer program is executed by processor in one of the embodiments,
Acoustic information identify that the black winged unmanned plane in unmanned plane includes: the acoustic information for obtaining unmanned plane, lead to according to acoustic information
It crosses default local unmanned plane voice bank to compare with unmanned plane acoustic information, identifies the black winged unmanned plane in unmanned plane.
It is also performed the steps of when computer program is executed by processor in one of the embodiments, and works as acoustic information
When with Sound Match in default local unmanned plane voice bank, identification unmanned plane is local unmanned plane；Determine local unmanned type
Number and types of data link connections, call the corresponding instruction with model flight control system in presetting database, delete local unmanned plane acquisition
Information, and take over the local unmanned plane of control.
It also performs the steps of when computer program is executed by processor in one of the embodiments, and is joined according to position
Several and kinematic parameter, Xiang Heifei unmanned plane emit in high-power RF signal, false GPS signal and sound wave interference signal extremely
A kind of few interference signal.
It also performs the steps of when computer program is executed by processor in one of the embodiments, and is believed by echo
Number obtain location parameter and kinematic parameter, keep track black winged unmanned plane, and continuous updating location parameter and kinematic parameter；When
When detecting that black winged unmanned plane motion state does not occur abnormal according to updated location parameter and updated kinematic parameter, root
According to updated location parameter and updated kinematic parameter, black winged unmanned plane is locked, laser is shot down in the transmitting of Xiang Heifei unmanned plane.
Also performed the steps of when computer program is executed by processor in one of the embodiments, keep track it is black
Fly unmanned plane, when black winged unmanned plane, which is not affected by interference signal, to be influenced, transmitting is shot down after laser further include: real-time reception echo
Signal；According to the echo-signal of real-time reception, real-time location parameter and real-time kinematic parameter are obtained；According to real-time position
Parameter and real-time kinematic parameter detect that black winged unmanned plane is not affected by when shooting down laser effect, send black winged unmanned plane and flee from
Message.
Those of ordinary skill in the art will appreciate that realizing all or part of the process in above-described embodiment method, being can be with
Relevant hardware is instructed to complete by computer program, the computer program can be stored in a non-volatile computer
In read/write memory medium, the computer program is when being executed, it may include such as the process of the embodiment of above-mentioned each method.Wherein,
To any reference of memory, storage, database or other media used in each embodiment provided herein,
Including non-volatile and/or volatile memory.Nonvolatile memory may include read-only memory (ROM), programming ROM
(PROM), electrically programmable ROM (EPROM), electrically erasable ROM (EEPROM) or flash memory.Volatile memory may include
Random access memory (RAM) or external cache.By way of illustration and not limitation, RAM is available in many forms,
Such as static state RAM (SRAM), dynamic ram (DRAM), synchronous dram (SDRAM), double data rate sdram (DDRSDRAM), enhancing
Type SDRAM (ESDRAM), synchronization link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM
(RDRAM), direct memory bus dynamic ram (DRDRAM) and memory bus dynamic ram (RDRAM) etc..
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (10)
1. a kind of laser gun control unmanned plane method characterized by comprising
Emitting radio waves signal；
The corresponding echo-signal of the electric wave signal is received, location parameter and the movement of unmanned plane are obtained according to the echo-signal
Parameter；
The acoustic information for obtaining the unmanned plane identifies the black winged unmanned plane in the unmanned plane according to the acoustic information；
According to the location parameter and the kinematic parameter, emit interference signal to the black winged unmanned plane；
Keep track the black winged unmanned plane, when the black winged unmanned plane, which is not affected by the interference signal, to be influenced, transmitting is shot down
Laser.
2. laser gun control unmanned plane method according to claim 1, which is characterized in that described to receive the electric wave signal pair
The echo-signal answered obtains the location parameter of unmanned plane according to the echo-signal and kinematic parameter includes:
The corresponding echo-signal of electric wave signal described in real-time reception；
It is poor according to the echo-signal and the electric wave signal time pulse, it is analyzed based on doppler principle, described in acquisition
The location parameter and the kinematic parameter of unmanned plane.
3. laser gun control unmanned plane method according to claim 1, which is characterized in that the sound for obtaining the unmanned plane
Message breath, according to the acoustic information, identifies that the black winged unmanned plane in the unmanned plane includes:
The acoustic information for obtaining the unmanned plane passes through the sound of default local unmanned plane voice bank and the unmanned plane
Message breath compares, and identifies the black winged unmanned plane in the unmanned plane.
4. laser gun control unmanned plane method according to claim 3, which is characterized in that further include:
When the Sound Match in the acoustic information and the default local unmanned plane voice bank, identify the unmanned plane for this
Ground unmanned plane；
It determines the local unmanned plane model and types of data link connections, calls corresponding with model flight control system in presetting database
Instruction, deletes the information of the local unmanned plane acquisition, and takes over the control local unmanned plane.
5. laser gun control unmanned plane method according to claim 1, which is characterized in that the interference signal includes high-power
Radiofrequency signal, false at least one of GPS signal and sound wave interference signal interference signal.
6. laser gun control unmanned plane method according to claim 1, which is characterized in that described to keep track the black winged nothing
Man-machine, when the black winged unmanned plane, which is not affected by the interference signal, to be influenced, transmitting shoots down laser and includes:
The location parameter and the kinematic parameter obtained by the echo-signal keeps track the black winged unmanned plane,
And location parameter described in continuous updating and the kinematic parameter；
When detecting that the black winged unmanned plane moves according to the updated location parameter and the updated kinematic parameter
When state does not occur abnormal, according to the updated location parameter and the updated kinematic parameter, locking
The black winged unmanned plane shoots down laser to the black winged unmanned plane transmitting.
7. laser gun control unmanned plane method according to claim 6, which is characterized in that described to keep track the black winged nothing
Man-machine, when the black winged unmanned plane, which is not affected by the interference signal, to be influenced, transmitting is shot down after laser further include:
Echo-signal described in real-time reception；
According to the echo-signal of real-time reception, the location parameter in real time and the real-time kinematic parameter are obtained；
According to the location parameter in real time and the kinematic parameter in real time, the black winged unmanned plane is detected not
By it is described shoot down laser effect when, send the black winged unmanned plane and flee from message.
8. a kind of laser gun control unmanned plane device characterized by comprising
Wave transmission module is used for emitting radio waves signal；
Echo reception module obtains nobody according to the echo-signal for receiving the corresponding echo-signal of the electric wave signal
The location parameter and kinematic parameter of machine；
Identification module, according to the acoustic information, identifies in the unmanned plane for obtaining the acoustic information of the unmanned plane
Black winged unmanned plane；
Interference module, for emitting interference signal to the black winged unmanned plane according to the location parameter and the kinematic parameter；
Laser emitting module, for keeping track the black winged unmanned plane, when the black winged unmanned plane is not affected by the interference letter
Number influence when, transmitting shoot down laser.
9. a kind of computer equipment, including memory and processor, the memory are stored with computer program, feature exists
In the step of processor realizes any one of claims 1 to 7 the method when executing the computer program.
10. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the computer program
The step of method described in any one of claims 1 to 7 is realized when being executed by processor.
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