CN106772360A - A kind of unmanned plane capturing method and system based on search lighting - Google Patents
A kind of unmanned plane capturing method and system based on search lighting Download PDFInfo
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- CN106772360A CN106772360A CN201611033284.XA CN201611033284A CN106772360A CN 106772360 A CN106772360 A CN 106772360A CN 201611033284 A CN201611033284 A CN 201611033284A CN 106772360 A CN106772360 A CN 106772360A
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- unmanned plane
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- acquisition equipment
- flight path
- location information
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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
Abstract
The invention discloses a kind of unmanned plane catching method based on search lighting, comprise the following steps：Unmanned plane signal search radius is set, the unmanned plane signal in the search radius is received；The unmanned plane is positioned according to the unmanned plane signal；Multigroup unmanned plane location information is gathered, and the unmanned aerial vehicle flight path curve is predicted according to the location information；Acquisition equipment is arranged on the flight path Curve Path, the unmanned plane near the acquisition equipment is captured.Unmanned plane catching method based on search lighting of the invention receives the signal that the unmanned plane in monitoring range sends by setting signal reception device, so as to further be positioned to unmanned plane and trajectory predictions, acquisition equipment finally is set on unmanned plane navigation route, when waiting unmanned plane navigation to acquisition equipment capture range, unmanned plane is captured, the interception to unmanned plane is realized.
Description
Technical field
The present invention relates to anti-unmanned plane field, more particularly to a kind of unmanned plane catching method based on search lighting and it is
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, anti-UAS is not almost directed in the market as a new technical industry
Civilian anti-unmanned plane product.
The content of the invention
The invention reside in the above-mentioned deficiency for overcoming prior art, there is provided one kind accurately can be positioned and caught to unmanned plane
The unmanned plane capturing method and system based on search lighting for obtaining.
In order to realize foregoing invention purpose, the technical solution adopted by the present invention is：
A kind of unmanned plane catching method based on search lighting, comprises the following steps：
Unmanned plane signal search radius is set, the unmanned plane signal in the search radius is received；
The unmanned plane is positioned according to the unmanned plane signal；
Multigroup unmanned plane location information is gathered, and the unmanned aerial vehicle flight path curve is predicted according to the location information；
Acquisition equipment is arranged on the flight path Curve Path, the unmanned plane near the acquisition equipment is captured.
Further, the setting unmanned plane signal search radius, the unmanned plane signal in the reception search radius is also
Including, 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.
Further, described positioning to the unmanned plane according to the unmanned plane signal also include,
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 unmanned plane capture systems based on search lighting, including the signal being sequentially connected is received
Unit, positioning unit, Trajectory Prediction unit, control unit, acquisition equipment；The signal receiving unit is used to receive unmanned plane hair
The signal for sending, and transmit the signal to positioning unit；The positioning unit is used to carry out unmanned plane according to the signal
Positioning, and location information is sent to the Trajectory Prediction unit, the Trajectory Prediction unit is used to enter the location information
Row treatment, predicts the flight path curve of unmanned plane；And the flight path curve is sent to described control unit, described control unit is used
In controlling the acquisition equipment to be arranged on the flight path Curve Path, the unmanned plane near the acquisition equipment is caught
Obtain.
Further, the signal receiving unit includes at least four signal receivers, and the signal receiver is respectively provided with
In region to be monitored, for receiving the signal that unmanned plane in region to be monitored sends.
Further, unmanned plane is positioned according to the signal also includes,
Corresponding target bearing angular dimensions and target distance parameter are obtained according to each described signal receiver；
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
Unmanned plane catching method based on search lighting of the invention is received in monitoring range by setting signal reception device
The signal that unmanned plane sends, so as to further be positioned to unmanned plane and trajectory predictions, finally navigates by water road in unmanned plane
Acquisition equipment is set on line, when waiting unmanned plane navigation to acquisition equipment capture range, unmanned plane is captured, realize to nothing
Man-machine interception.
Brief description of the drawings
Fig. 1 show the unmanned plane catching method flow chart based on search lighting of the invention.
Fig. 2 show the unmanned plane capture systems module frame chart based on search lighting 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 the unmanned plane catching method flow chart based on search lighting of the invention, comprises the following steps：
S1, setting unmanned plane signal search radius, receive the unmanned plane signal in the search radius；
S2, the unmanned plane is positioned according to the unmanned plane signal；
S3, the multigroup unmanned plane location information of collection, and the unmanned aerial vehicle flight path curve is predicted according to the location information；
S4, acquisition equipment is arranged on the flight path Curve Path, the unmanned plane near the acquisition equipment is captured.
Unmanned plane catching method based on search lighting of the invention receives monitoring range by setting signal reception device
The signal that interior unmanned plane sends, so as to further be positioned to unmanned plane and trajectory predictions, finally navigates in unmanned plane
Acquisition equipment is set on walking along the street line, when waiting unmanned plane navigation to acquisition equipment capture range, unmanned plane is captured, realize
Interception to unmanned plane.
In a detailed embodiment, the setting unmanned plane signal search radius, receives in the search radius
Unmanned plane signal also includes, according to the size of the search radius, the position of at least four signal receiving devices of setting, the letter
Number reception device is used to receive the signal that unmanned plane sends.
Quickly and accurately unmanned plane can be positioned using four signal receiving devices, be follow-up trajectory predictions with
And capture deserved more times.
In a detailed embodiment, described positioning to the unmanned plane according to the unmanned plane signal is also wrapped
Include,
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 unmanned plane capture systems based on search lighting, referring to Fig. 2, including be sequentially connected
Signal receiving unit 1, positioning unit 2, Trajectory Prediction unit 3, control unit 4, acquisition equipment 5, the signal receiving unit 1 are used
In the signal that reception unmanned plane sends, and transmit the signal to positioning unit 2；The positioning unit 2 is used for according to described
Signal is positioned to unmanned plane, and location information is sent into the Trajectory Prediction unit 3, and the Trajectory Prediction unit 3 is used
Processed in the location information 2, predict the flight path curve of unmanned plane；And the flight path curve is sent to the control
Unit 4, described control unit 4 is used to control the acquisition equipment 5 to be arranged on the flight path Curve Path, to being caught near described
The unmanned plane for obtaining device 5 is captured.
In a detailed embodiment, the signal receiving unit includes at least four signal receivers, the signal
Receiver is arranged in region to be monitored, for receiving the signal that unmanned plane in region to be monitored sends.
In a detailed embodiment, unmanned plane is positioned according to the signal also includes,
Corresponding target bearing angular dimensions and target distance parameter are obtained according to each described signal receiver；
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 unmanned plane catching method based on search lighting, it is characterised in that comprise the following steps：
Unmanned plane signal search radius is set, the unmanned plane signal in the search radius is received；
The unmanned plane is positioned according to the unmanned plane signal；
Multigroup unmanned plane location information is gathered, and the unmanned aerial vehicle flight path curve is predicted according to the location information；
Acquisition equipment is arranged on the flight path Curve Path, the unmanned plane near the acquisition equipment is captured.
2. the unmanned plane catching method based on search lighting according to claim 1, it is characterised in that the setting nobody
Machine signal search radius, the unmanned plane signal received in the search radius also includes, according to the size of the search radius, if
The position of at least four signal receiving devices is put, the signal receiving device is used to receive the signal that unmanned plane sends.
3. the unmanned plane catching method based on search lighting according to claim 2, it is characterised in that described in the basis
Unmanned plane signal is positioned to the unmanned plane also to be included,
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. the unmanned plane catching method based on search lighting according to claim 1, it is characterised in that according to the positioning
Unmanned aerial vehicle flight path also includes described in information prediction, and the location information is modified using plot-track Association Algorithm, and obtains pre-
The flight path curve of survey.
5. the unmanned plane catching method based on search lighting according to claim 1, it is characterised in that to being caught near described
Obtaining the unmanned plane of device and carrying out capture includes, the acquisition equipment that will carry block device is set in advance in the flight path of prediction
Near a certain predetermined point on curve, the corresponding moment after, when the acquisition equipment detects unmanned plane navigation to this is pre-
When near fixed point, block device is opened, by unmanned plane capture in net.
6. a kind of unmanned plane capture systems based on search lighting, it is characterised in that including be sequentially connected signal receiving unit,
Positioning unit, Trajectory Prediction unit, control unit, acquisition equipment；The signal receiving unit is used to receive unmanned plane transmission
Signal, and transmit the signal to positioning unit；The positioning unit is used to position unmanned plane according to the signal,
And location information is sent to the Trajectory Prediction unit, the Trajectory Prediction unit is used for the location information
Reason, predicts the flight path curve of unmanned plane；And the flight path curve is sent to described control unit, described control unit is used to control
Make the acquisition equipment to be arranged on the flight path Curve Path, the unmanned plane near the acquisition equipment is captured.
7. unmanned plane capture systems based on search lighting according to claim 6, it is characterised in that the signal is received
Unit includes at least four signal receivers, and the signal receiver is arranged in region to be monitored, waits to supervise for receiving
Survey the signal that unmanned plane sends in region.
8. unmanned plane capture systems based on search lighting according to claim 7, it is characterised in that according to the signal
Unmanned plane is positioned also to be included,
Corresponding target bearing angular dimensions and target distance parameter are obtained according to each described signal receiver；
Unmanned plane location information is obtained according to the parameter.
9. unmanned plane capture systems based on search lighting according to claim 6, it is characterised in that to the positioning letter
Breath is processed, and is predicted the flight path curve of unmanned plane and is also included, the location information is modified using plot-track Association Algorithm,
And the flight path curve predicted.
10. unmanned plane capture systems based on search lighting according to claim 6, it is characterised in that near described
The unmanned plane of acquisition equipment carries out capture to be included, the acquisition equipment that will carry block device is set in advance in the boat of prediction
Near a certain predetermined point on trace curve, at the corresponding moment after, this is arrived when the acquisition equipment detects unmanned plane navigation
When near predetermined point, block device is opened, by unmanned plane capture in net.
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| CN201611033284.XA CN106772360A (en) | 2016-11-15 | 2016-11-15 | A kind of unmanned plane capturing method and system based on search lighting |
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| CN201611033284.XA CN106772360A (en) | 2016-11-15 | 2016-11-15 | A kind of unmanned plane capturing method and system based on search lighting |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109141127A (en) * | 2017-06-28 | 2019-01-04 | 北京天龙智控科技有限公司 | Low small slow unmanned vehicle method for catching captures system |
| CN111736625A (en) * | 2020-06-16 | 2020-10-02 | 西安爱生技术集团公司 | Unmanned aerial vehicle anti-bait flight path control method based on active and passive composite guidance |
| CN113741546A (en) * | 2021-10-14 | 2021-12-03 | 众芯汉创（北京）科技有限公司 | Unmanned aerial vehicle safety defense system applied to transformer substation |
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| CN102057292A (en) * | 2008-06-24 | 2011-05-11 | 高通股份有限公司 | Location specific search for regional satellite vehicles |
| 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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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109141127A (en) * | 2017-06-28 | 2019-01-04 | 北京天龙智控科技有限公司 | Low small slow unmanned vehicle method for catching captures system |
| CN111736625A (en) * | 2020-06-16 | 2020-10-02 | 西安爱生技术集团公司 | Unmanned aerial vehicle anti-bait flight path control method based on active and passive composite guidance |
| CN111736625B (en) * | 2020-06-16 | 2023-04-14 | 西安爱生技术集团公司 | Unmanned aerial vehicle anti-bait flight path control method based on active and passive composite guidance |
| CN113741546A (en) * | 2021-10-14 | 2021-12-03 | 众芯汉创（北京）科技有限公司 | Unmanned aerial vehicle safety defense system applied to transformer substation |
| CN113741546B (en) * | 2021-10-14 | 2022-07-29 | 众芯汉创（北京）科技有限公司 | Unmanned aerial vehicle safety defense system applied to transformer substation |
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| CB02 | Change of applicant information |
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: 20170531 |
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