CN106708094A - Anti-unmanned aerial vehicle control method and system - Google Patents
Anti-unmanned aerial vehicle control method and system Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/12—Target-seeking control
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Abstract
The invention discloses an anti-unmanned aerial vehicle control method. The method comprises the steps that an unmanned aerial vehicle signal is received; a first search radius is set, and if the fact that an unmanned aerial vehicle enters the first search radius is determined according to the unmanned aerial vehicle signal, the unmanned aerial vehicle is positioned in real time to acquire positioning information; a second search radius is set, and if the fact that the unmanned aerial vehicle enters the second search radius is determined according to the unmanned aerial vehicle signal, the track curve of the unmanned aerial vehicle is predicted according to the positioning information; and the unmanned aerial vehicle is captured according to the track prediction curve of the unmanned aerial vehicle. According to the anti-unmanned aerial vehicle control method provided by the invention, the current flying distance of the unmanned aerial vehicle is monitored by setting the first search radius and the second search radius; when the unmanned aerial vehicle is detected within the range of the first search radius, the unmanned aerial vehicle is positioned to facilitate subsequent processing; and when the unmanned aerial vehicle is detected within the range of the second search radius, the positioning information is processed to avoid unnecessary waste of resources.
Description
Technical field
The present invention relates to anti-unmanned plane field, more particularly to a kind of anti-unmanned aerial vehicle (UAV) control method and system.
Background technology
As unmanned plane exploitation and the reduction of manufacturing cost, unmanned plane industry development are swift and violent, civilian unmanned plane progressively should
The fields such as amusement, logistics, news, search and rescue, the energy, remote sensing mapping are used, presses close to the life of general public.The cut-off country in 2015
The enterprise for being engaged in unmanned plane research and development and production and sales has exceeded 400, for operating personnel's total demand of consumer level unmanned plane
Exceed 100,000, it is only 2142 that China possesses the operating personnel with the unmanned plane quality certification that associated mechanisms issue, annual poor
It is few to there are 20,000 frame unmanned planes to be in black winged state.Due to related laws and regulations also imperfection, monitoring means and anti-means
Missing, cause that unmanned plane is black to fly to have become thorny international social concern, winged involved out by unmanned plane is black
All kinds of events always trigger discussing warmly extensively for society；And the unordered or even illegal of unmanned plane all brings using to society and individual
Great potential safety hazard, privacy violation and potential threat, also bring huge new challenge to social security.
There are a lot of unmanned planes in the whole world at present and illegally entered sensitive spatial domain event, such as White House, Japanese PM mansion,
The sensitivity spatial domain such as civil aviaton and military airfield, Foochow prison, Spring Festival Gala studio.Once one section " is met by chance war in 500 meters of high-altitudes of unmanned plane
The video of bucket machine " is passed in network boom.In video, the multi-rotor unmanned aerial vehicle of a frame straighforward operation is hovered in certain city overhead and is shot,
The fighter plane for almost being landed with a frame bumps against, distance only hundreds of meters when both height are nearest.Ministry of National Defence press spokesman Wu
Said during modest this thing of response, " the illegal flight of unmanned plane can safely be constituted to the even air defence of national public safety, flight safety
Threaten, unmanned plane can not unmanned pipe.
In addition, on May 28th, 2016, Chengdu Shuangliu Airport unmanned plane is forced and stops 55 frame flights；On June 11st, 2016,
Dubai airport is closed 2 hours because of unmanned plane invasion；On July 23rd, 2015, the not clear unmanned plane in Taipei 101 mansion north clashes into；2013
May in year, Beijing air defense area unmanned plane invasion air force warplanes are intercepted.These similar incidents happen occasionally.According to office of CAAC
The statistics of 2015 shows that there are " black to fly " 24000 sorties of record whole year, and these civilian unmanned plane transformations have a high potential,
It is easy to carry explosive, hazardous chemicals etc., it is easy to be public as the instrument that the attack of terrorism, illegal monitoring are monitored
Safety belt carrys out very big hidden danger.
However, existing anti-unmanned plane product attack precision is low, its topmost reason is because the flexibility of unmanned plane
It is relatively strong, therefore can be devoted a tremendous amount of time when being identified to unmanned plane, positioning and being tracked, it is likely that positioned when to unmanned plane
During completion, it has flown into the area for forbidding flying into, consequently, it is possible to causing heavy losses；Or when unmanned plane is distant
Begin to be positioned and trajectory predictions, in case it swarms into no-fly zone at any time, although this mode can improve attack precision,
Less efficient, after positioning is carried out with trajectory predictions to unmanned plane in advance, it sails out of no-fly zone again, causes the wave of computing resource
Take.
The content of the invention
The invention reside in the above-mentioned deficiency for overcoming prior art, there is provided one kind can improve attack precision and will not make
Into the anti-unmanned aerial vehicle (UAV) control method of the wasting of resources.
In order to realize foregoing invention purpose, the technical solution adopted by the present invention is：
A kind of anti-unmanned aerial vehicle (UAV) control method, comprises the following steps：
Receive unmanned plane signal；
First search radius are set, if judging that the unmanned plane is sailed into when in the first search radius according to the unmanned plane signal,
The unmanned plane is positioned in real time, location information is obtained；
Second search radius are set, if judging that the unmanned plane is sailed into when in the second search radius according to the unmanned plane signal,
The unmanned aerial vehicle flight path curve is predicted according to the location information；
Unmanned plane is captured according to the unmanned aerial vehicle flight path prediction curve.
Further, first search radius are more than second search radius.
Further, described positioning to the unmanned plane according to the unmanned plane signal also include,
According to the size of the search radius, the position of at least four signal receiving devices is set, the signal receiving device is used
In the signal that reception unmanned plane sends；
Corresponding target bearing angular dimensions and target distance parameter are obtained according to each described signal receiving device；
Unmanned plane location information is obtained according to the parameter.
Further, predict that the unmanned aerial vehicle flight path also includes according to the location information, using plot-track Association Algorithm pair
The location information is modified, and the flight path curve predicted.
Further, include to carrying out capture near the unmanned plane of the acquisition equipment, the institute of block device will be carried
State near a certain predetermined point that acquisition equipment is set in advance on the flight path curve of prediction, the corresponding moment after, when described
Acquisition equipment detects unmanned plane navigation and arrives when near the predetermined point, opens block device, by unmanned plane capture in net.
Present invention simultaneously provides a kind of anti-unmanned aerial vehicle control system, including signal receiving unit, the positioning list being sequentially connected
Unit, Trajectory Prediction unit, control unit, acquisition equipment；The signal receiving unit is used to receive the signal of unmanned plane transmission, sentences
When disconnected unmanned plane is in the first search radius, positioning unit is transmitted the signal to；The positioning unit is used for according to described
Signal is positioned to unmanned plane, when judging that unmanned plane is in the second search radius, location information is sent into the flight path pre-
Unit is surveyed, the Trajectory Prediction unit is used to process the location information, predicts the flight path curve of unmanned plane；And by institute
State flight path curve and be sent to described control unit, described control unit is used to control the acquisition equipment to be arranged on the flight path song
On circuit line, the unmanned plane near the acquisition equipment is captured.
Further, first search radius are more than second search radius.
Further, unmanned plane is positioned according to the signal also includes,
According to the size of the search radius, the position of at least four signal receiving devices is set, the signal receiving device is used
In the signal that reception unmanned plane sends；
Corresponding target bearing angular dimensions and target distance parameter are obtained according to each described signal receiving device；
Unmanned plane location information is obtained according to the parameter.
Further, the location information is processed, predicting the flight path curve of unmanned plane also includes, is closed using flight path
Connection algorithm is modified to the location information, and the flight path curve predicted.
Further, include to carrying out capture near the unmanned plane of the acquisition equipment, the institute of block device will be carried
State near a certain predetermined point that acquisition equipment is set in advance on the flight path curve of prediction, the corresponding moment after, when described
Acquisition equipment detects unmanned plane navigation and arrives when near the predetermined point, opens block device, by unmanned plane capture in net.
Compared with prior art, beneficial effects of the present invention
Anti- unmanned aerial vehicle (UAV) control method of the invention is current to monitor unmanned plane by setting the first search radius, the second search radius
Flying distance, when unmanned plane is detected in the range of the first search radius, positions to unmanned plane in real time, convenient subsequently to enter
Row treatment, and only when unmanned plane is detected into the range of the second search radius, just the location information is processed；
In can so avoiding existing scheme, begin to position unmanned plane in real time after unmanned plane is found, trajectory predictions, and nothing
It is man-machine to sail out of during this period, the problem of waste of resource.
Brief description of the drawings
Fig. 1 show anti-unmanned aerial vehicle (UAV) control method flow diagram of the invention.
Fig. 2 show anti-unmanned aerial vehicle control system module frame chart of the invention.
Specific embodiment
With reference to specific embodiment, the present invention is described in further detail.But this should not be interpreted as the present invention
The scope of above-mentioned theme is only limitted to following embodiment, and all technologies realized based on present invention belong to model of the invention
Enclose.
Embodiment 1：
Fig. 1 show anti-unmanned aerial vehicle (UAV) control method flow diagram of the invention, comprises the following steps：
S1, the first search radius of setting, set the second search radius, receive unmanned plane signal；
If S2, judging that the unmanned plane is sailed into when in the first search radius according to the unmanned plane signal, the unmanned plane is entered
Row is positioned in real time, obtains location information；
If S3, judging that the unmanned plane is sailed into when in the second search radius according to the unmanned plane signal, according to the positioning letter
The breath prediction unmanned aerial vehicle flight path curve；
S4, unmanned plane is captured according to the unmanned aerial vehicle flight path prediction curve.
Anti- unmanned aerial vehicle (UAV) control method of the invention monitors unmanned plane by setting the first search radius, the second search radius
Current flight distance, when unmanned plane is detected in the range of the first search radius, positions to unmanned plane in real time, after convenience
It is continuous to be processed, and only when unmanned plane is detected into the range of the second search radius, just the location information is carried out
Treatment；In can so avoiding existing scheme, begin to position unmanned plane in real time after unmanned plane is found, track it is pre-
Survey, and unmanned plane is sailed out of during this period, the problem of waste of resource.
In a detailed embodiment, first search radius are more than second search radius.
In a detailed embodiment, described positioning to the unmanned plane according to the unmanned plane signal is also wrapped
Include,
According to the size of the search radius, the position of at least four signal receiving devices is set, the signal receiving device is used
In the signal that reception unmanned plane sends；
Corresponding target bearing angular dimensions and target distance parameter are obtained according to each described signal receiving device；
Unmanned plane location information is obtained according to the parameter.
In a detailed embodiment, predict that the unmanned aerial vehicle flight path also includes according to the location information, using boat
Mark association algorithm is modified to the location information, and the flight path curve predicted.
In a detailed embodiment, include to carrying out capture near the unmanned plane of the acquisition equipment, will carry
The acquisition equipment of block device is set in advance near a certain predetermined point on the flight path curve of prediction, the correspondence after
At the moment, when the acquisition equipment detects unmanned plane navigation to be arrived near the predetermined point, block device is opened, by the unmanned plane
Capture is in net.
Because the flight path in advance to unmanned plane is predicted, so it is only necessary that acquisition equipment is arranged on prediction curve
On certain position, in the follow-up traveling of unmanned plane, the position must be passed through, and when in certain following a moment unmanned plane
When passing through, then unmanned plane is intercepted and caught by device of blocking.
Present invention simultaneously provides a kind of anti-unmanned aerial vehicle control system, referring to Fig. 2, including the signal receiving unit being sequentially connected
1st, positioning unit 2, Trajectory Prediction unit 3, control unit 4, acquisition equipment 5；The signal receiving unit 1 is used to receive unmanned plane
The signal of transmission, when judging that unmanned plane is in the first search radius, transmits the signal to positioning unit 2；The positioning is single
Unit 2 is used to position unmanned plane according to the signal, when judging that unmanned plane is in the second search radius, location information is sent out
The Trajectory Prediction unit 3 is sent to, the Trajectory Prediction unit 3 is used to process the location information, predicts unmanned plane
Flight path curve；And the flight path curve is sent to described control unit 4, described control unit 4 is used to control the capture
Device 5 is arranged on the flight path Curve Path, and the unmanned plane near the acquisition equipment 5 is captured.
In a detailed embodiment, first search radius are more than second search radius.
In a detailed embodiment, unmanned plane is positioned according to the signal also includes,
According to the size of the search radius, the position of at least four signal receiving devices is set, the signal receiving device is used
In the signal that reception unmanned plane sends；
Corresponding target bearing angular dimensions and target distance parameter are obtained according to each described signal receiving device；
Unmanned plane location information is obtained according to the parameter.
In a detailed embodiment, the location information is processed, predicts that the flight path curve of unmanned plane is also wrapped
Include, the location information is modified using plot-track Association Algorithm, and the flight path curve predicted.
In a detailed embodiment, include to carrying out capture near the unmanned plane of the acquisition equipment, will carry
The acquisition equipment of block device is set in advance near a certain predetermined point on the flight path curve of prediction, the correspondence after
At the moment, when the acquisition equipment detects unmanned plane navigation to be arrived near the predetermined point, block device is opened, by the unmanned plane
Capture is in net.
Specifically, detection unmanned plane method of the invention is similar to usually said passive radar system, by four spaces
The signal receiver composition of distribution, can have various modes respectively, as long as the unmanned plane signal being able to detect that in preset range is i.e.
Can, each receiver position coordinates and satellite position are, it is known that unmanned plane position coordinates is waited to ask.Each signal receiver has two days
Line, receives the direct signal of satellite and the reflected signal of unmanned plane respectively, and each signal receiver is the satellite reflection letter for receiving
Number by after pre-processed digital, passing to positioning unit without distortion, implement the resolving of relevant treatment and target location coordinate, tool
Body algorithm can be resolved using the Passive Positioning equation group of satellite navigation equation, be will not be repeated here.
Specific embodiment of the invention has been described in detail above in conjunction with accompanying drawing, but the present invention is not restricted to
Implementation method is stated, in the case of the spirit and scope for not departing from claims hereof, those skilled in the art can make
Go out various modifications or remodeling.
Claims (10)
1. a kind of anti-unmanned aerial vehicle (UAV) control method, it is characterised in that comprise the following steps：
Receive unmanned plane signal；
First search radius are set, if judging that the unmanned plane is sailed into when in the first search radius according to the unmanned plane signal,
The unmanned plane is positioned in real time, location information is obtained；
Second search radius are set, if judging that the unmanned plane is sailed into when in the second search radius according to the unmanned plane signal,
The unmanned aerial vehicle flight path curve is predicted according to the location information；
Unmanned plane is captured according to the unmanned aerial vehicle flight path prediction curve.
2. anti-unmanned aerial vehicle (UAV) control method according to claim 1, it is characterised in that first search radius are more than described
Second search radius.
3. anti-unmanned aerial vehicle (UAV) control method according to claim 1, it is characterised in that described according to the unmanned plane signal pair
The unmanned plane is positioned also to be included,
According to the size of the search radius, the position of at least four signal receiving devices is set, the signal receiving device is used
In the signal that reception unmanned plane sends；
Corresponding target bearing angular dimensions and target distance parameter are obtained according to each described signal receiving device；
Unmanned plane location information is obtained according to the parameter.
4. anti-unmanned aerial vehicle (UAV) control method according to claim 1, it is characterised in that according to location information prediction
Unmanned aerial vehicle flight path is also included, the location information is modified using plot-track Association Algorithm, and the flight path curve predicted.
5. anti-unmanned aerial vehicle (UAV) control method according to claim 1, it is characterised in that near the acquisition equipment nobody
Machine carries out capture to be included, will carry block device the acquisition equipment be set in advance in it is a certain on the flight path curve of prediction
Near predetermined point, at the corresponding moment after, when the acquisition equipment detects unmanned plane navigation to be arrived near the predetermined point, open
Block device is opened, by unmanned plane capture in net.
6. a kind of anti-unmanned aerial vehicle control system, it is characterised in that including the signal receiving unit, positioning unit, the boat that are sequentially connected
Mark predicting unit, control unit, acquisition equipment；The signal receiving unit is used to receive the signal of unmanned plane transmission, judges nothing
It is man-machine in the first search radius when, transmit the signal to positioning unit；The positioning unit is used for according to the signal
Unmanned plane is positioned, when judging that unmanned plane is in the second search radius, location information the Trajectory Prediction list is sent to
Unit, the Trajectory Prediction unit is used to process the location information, predicts the flight path curve of unmanned plane；And by the boat
Trace curve is sent to described control unit, and described control unit is used to control the acquisition equipment to be arranged on the flight path curve road
On line, the unmanned plane near the acquisition equipment is captured.
7. anti-unmanned aerial vehicle control system according to claim 6, it is characterised in that first search radius are more than described
Second search radius.
8. anti-unmanned aerial vehicle control system according to claim 7, it is characterised in that carried out to unmanned plane according to the signal
Positioning also includes,
According to the size of the search radius, the position of at least four signal receiving devices is set, the signal receiving device is used
In the signal that reception unmanned plane sends；
Corresponding target bearing angular dimensions and target distance parameter are obtained according to each described signal receiving device；
Unmanned plane location information is obtained according to the parameter.
9. anti-unmanned aerial vehicle control system according to claim 6, it is characterised in that process the location information,
Predicting the flight path curve of unmanned plane also includes, the location information is modified using plot-track Association Algorithm, and predicted
Flight path curve.
10. anti-unmanned aerial vehicle control system according to claim 6, it is characterised in that to the nothing near the acquisition equipment
It is man-machine to carry out capture and include, the acquisition equipment that block device will be carried be set in advance on the flight path curve of prediction certain
Near one predetermined point, the corresponding moment after, when the acquisition equipment detects unmanned plane navigation to be arrived near the predetermined point,
Block device is opened, by unmanned plane capture in net.
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Cited By (1)
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| CN103134388A (en) * | 2011-11-30 | 2013-06-05 | 北京航天长峰科技工业集团有限公司 | Low altitude slow small target intercept prevention and control system |
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Address after: 610213 Sichuan city of Chengdu province Tianfu Tianfu Avenue South Huayang Street No. 846 Applicant after: Chengdu Hermes Polytron Technologies Inc Applicant after: CHENGDU ZIRUI QINGYUN AEROSPACE TECHNOLOGY CO., LTD. Address before: 610213 Sichuan city of Chengdu province Tianfu Tianfu Avenue South Huayang Street No. 846 Applicant before: CHENGDU HERMES TECHNOLOGY CO., LTD. Applicant before: CHENGDU ZIRUI QINGYUN AEROSPACE TECHNOLOGY CO., LTD. |
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Application publication date: 20170524 |