CN107219520A - A kind of anti-unmanned plane distributed networking detection method and its device - Google Patents
A kind of anti-unmanned plane distributed networking detection method and its device Download PDFInfo
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Classifications
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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
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/867—Combination of radar systems with cameras
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
- G01J5/0022—Radiation pyrometry, e.g. infrared or optical thermometry for sensing the radiation of moving bodies
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
- G01J5/10—Radiation pyrometry, e.g. infrared or optical thermometry using electric radiation detectors
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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
- G01S13/66—Radar-tracking systems; Analogous systems
- G01S13/72—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
- G01J2005/0077—Imaging
Abstract
The invention discloses a kind of anti-unmanned plane distributed networking detection method and its device, the infrared composite sensing probe assembly of at least two photoelectricity is constituted into anti-unmanned plane detection network；The infrared composite sensing probe assembly of every photoelectricity determines the position of itself by satellite positioning unit；Broadband active phased-array radar unit detection in every complex probe component finds and determines the position of unmanned plane to be measured；Visible ray and infrared imaging unit in every complex probe component of guiding are focused joint imaging to unmanned plane to be measured；The stabilization for being exported after multiple unmanned plane Co-factor propagations to be measured that many complex probe components are determined as high-precision position and then completing unmanned plane to be measured accordingly is accurately tracked, and is exported after several unmanned plane image co-registrations to be measured of formation as the image of complete display and then is completed the automatic correct identification of unmanned plane to be measured accordingly.The present invention has the advantages that easy to operate, investigative range is big, capture rate is high, positioning precision is excellent, discrimination is high.
Description
Technical field
The present invention relates to a kind of anti-unmanned plane detection method and its device, particularly a kind of anti-unmanned plane distributed networking is visited
Survey method and its device.
Background technology
With the fast development of unmanned plane industry, SUAV should the every field such as logistics, search and rescue, remote sensing mapping
With increasingly extensive.At the same time, unmanned plane excessively fly, it is black fly even with unmanned plane carry out the attack of terrorism, take on the sly, transport secretly weapon,
The unordered and illegal Flying such as drugs is also on the rise, it has also become the major hidden danger in low latitude field and the new of public safety are asked
Topic, industry and the portions such as public security, civil aviaton, military affairs are solved in the urgent need to research unmanned plane breaks through technology and develops reliable technical equipment
Widespread demand of the door to guarantee low altitude safe.
The starting stage of unmanned plane counter technical research is paid close attention in how intercepting unmanned plane, it is proposed that high-power compacting
Interference and electronic countermeasure two ways disturb unmanned aerial vehicle (UAV) control and navigational communications link, to realize that unmanned plane is intercepted.However, nobody
The key of machine counter technology is how to find and recognize unmanned plane, is particularly in the unmanned plane of radio listening silence state, therefore
Anti- unmanned plane detection method and device for finding and recognizing turn into the focus studied at present.Existing anti-unmanned plane detection side
Method and device mainly find all types of unmanned planes for including radio listening silence state using sound wave and electromagnetism active probe means, and
Using visible ray and infrared imaging means identification unmanned plane, but such device belongs to single-point detecting devices, can only be laid in list
Individual location point carries out unmanned plane detection, it is impossible to is laid in multiple location points and carries out networking detection, is limited to detection visual angle and effect
Distance, such single-point detection device haves the shortcomings that investigative range is small, capture rate is low, positioning precision is poor, discrimination is low, in addition,
Unmanned plane is found and the interaction in two stages of identification is poor, and the unmanned plane position that discovery phase is determined can not automatically control identification rank
The visible ray and infrared focal imaging of section, also need manpower intervention, complex operation, detection efficient is low.Disadvantages mentioned above causes such list
Point detection device is difficult to meet the actual demand that a wide range of Efficient robust detection is carried out to the unmanned plane in low latitude field.
The content of the invention
The technical problems to be solved by the invention are to provide a kind of anti-unmanned plane distributed networking detection method and its device,
Realize Multi-point detection, meet that unmanned plane is a wide range of, Efficient robust detection demand.
In order to solve the above technical problems, the technical solution adopted in the present invention is：
A kind of anti-unmanned plane distributed networking detection method, it is characterised in that comprise the steps of：
Step one：The infrared composite sensing probe assembly distribution of at least two photoelectricity is positioned over around search coverage and constitutes anti-
Unmanned plane detection network；
Step 2：Three-dimensional detection rectangular coordinate system is set up with the position of the infrared composite sensing probe assembly of every photoelectricity；
Step 3：Broadband active phased-array radar unit in the infrared complex probe component of every photoelectricity passes through automatically controlled wave beam
Scanning probe finds and determines the position of unmanned plane to be measured；
Step 4：Determine that the visible ray and infrared imaging unit of the infrared complex probe component of photoelectricity of unmanned plane position are treated
Survey unmanned plane and be focused joint imaging, it is seen that light image and infrared image pass through image co-registration formation clearly single angle
Unmanned plane image；
Step 5：Export high-precision after multiple unmanned plane Co-factor propagations to be measured that the infrared complex probe component of many photoelectricity is determined
The unmanned plane position of degree, and then accurately tracked by the stabilization of flight path management and tracking filter processing completion unmanned plane to be measured；
Step 6：The unmanned plane image mosaic to be measured of several different angles of the infrared complex probe component formation of many photoelectricity
Complete unmanned plane image is exported afterwards, and then completes by target identification processing the automatic correct identification of unmanned plane to be measured.
Further, the step one is specifically, at least two infrared composite sensing probe assemblies of photoelectricity are uniformly laid
In radius for R circular search coverage outside boundaries and while in work of starting shooting, the infrared composite sensing probe assembly of each photoelectricity
The detection visual angle of the phased array element of broadband active be θ, that is, the scanning beam formed can angle of coverage be θ sector region, entirely
The combination of the fan-shaped search coverage of the infrared composite sensing probe assembly middle width strip active phase array element of portion's photoelectricity is contained entirely
Circular search coverage.
Further, in the step 2, the infrared composite sensing probe assembly of every photoelectricity is true by satellite positioning unit
The fixed position of itself.
Further, the step 3 is specifically, the infrared composite sensing probe assembly middle width strip active phase of each photoelectricity
Array element uses two-dimensional surface array, forms the wave beam scanned in orientation and pitching both direction, realizes to entering circular spy
The acquisition of orientation and pitch information where surveying the unmanned plane in region, broadband signal determines the range information of the unmanned plane, and separate unit is wide
Realized with AESA unit and unmanned plane azimuth, the comprehensive of three information of the angle of pitch and distance are obtained, obtain unmanned plane
Spatial positional information under three-dimensional polar system.
Further, positional information of the unmanned plane under three-dimensional polar system is converted to the position under three-dimensional cartesian coordinate system
Confidence ceases, and detailed process is
(x is in for certainm, ym, zm) the infrared composite sensing probe assembly of photoelectricity, by wherein broadband active phased array
Positional information of the unmanned plane that unit is obtained under three-dimensional polar system represents azimuth angle alpha, angle of pitch β and apart from r respectively, then turns
The xyz position coordinateses being changed under three-dimensional cartesian coordinate system are calculated as：
txm=xm+rsinβcosα tym=ym+rsinβsinα tzm=zm+rcosβ
Wherein, the position (x of the infrared composite sensing probe assembly itself of photoelectricitym, ym, zm) GPS is passed through by satellite positioning unit
Or dipper system and Differential positioning method are provided.
Further, the step 4 is specifically, the infrared complex probe component middle width strip AESA list of separate unit photoelectricity
Unmanned plane azimuth and pitching angle information that member is obtained, guide the visible ray and infrared imaging in this complex probe component automatically
Unit is focused joint imaging along this azimuth and the angle of pitch to unmanned plane, when running into the low light conditions such as night, greasy weather, from
Dynamic guiding searchlight unit along this azimuth and angle of pitch irradiation to ensure image quality, the unmanned plane visible images of formation and
The unmanned plane image that infrared image passes through image co-registration one width of formation clearly single angle.
Further, the step 5 is specifically, for many photoelectricity infrared complex probe component standalone probe acquisition
Multigroup unmanned plane xyz position coordinateses, carry out position coordinates fusion one group of high-precision unmanned plane xyz position coordinates of output, nobody
Machine position coordinates realizes that the stabilization of unmanned plane is accurately tracked by flight path management and tracking filter processing.
Further, the step 6 is specifically, for many photoelectricity infrared complex probe component standalone probe acquisition
The unmanned plane image of several different angles, carries out the unmanned plane image that image mosaic exports a width complete display, unmanned plane image
The automatic correct identification of unmanned plane is realized by target identification processing.
A kind of anti-unmanned plane distributed networking detection device, including at least two infrared composite sensing probe assemblies of photoelectricity and
One display control program；
The infrared composite sensing probe assembly of every photoelectricity comprising satellite positioning unit, broadband active phased-array radar unit,
Visual light imaging unit, infrared imaging unit, searchlight unit, wire/wireless IP network communication unit and control unit, display
Control system includes Landline communication unit, wireless communication unit and information processing and display and control unit；
The satellite positioning unit is used for the position for determining the infrared composite sensing probe assembly of each photoelectricity, sets up three-dimensional visit
Survey rectangular coordinate system；
The broadband active phased-array radar unit is to form automatically controlled scanning beam detection discovery and determine unmanned plane
Position；
Visible images of the visual light imaging unit to form unmanned plane；The infrared imaging unit is to form
The infrared image of unmanned plane；
The searchlight unit irradiates unmanned plane to ensure visible ray and infrared imaging in the case of the dim lights such as night, greasy weather
Quality；
The radar cell, visual light imaging unit, infrared imaging unit, searchlight unit configure servomotor and are used to
Each unit is adjusted according to control instruction to point to；
The wire/wireless IP network communication unit is used for being connected with display control program, on the one hand that photoelectricity is infrared multiple
The detection data for closing sensor measuring component sends display control program to, on the one hand receives the control from display control program and refers to
Order；
Described control unit is used to control the infrared composite sensing detection group of photoelectricity according to the control instruction of display control program
The working condition of part, coordinates the orderly work of other each units；
The Landline communication unit and wireless communication unit of the display control program are used for infrared multiple with all many photoelectricity
Close sensor measuring component to be connected, on the one hand send control instruction to probe assembly, on the one hand receive the spy from probe assembly
Survey data；
Described information processing is with display and control unit by hardware processing platform, the aobvious graphical interactive software system of control and information
Processing Algorithm is constituted, the processing of the main detection information for completing to obtain from the infrared composite sensing detection network of photoelectricity, processing knot
The graphic interface of fruit is shown and man-machine interaction.
The present invention compared with prior art, with advantages below and effect：Present invention joint utilizes the infrared compound biography of photoelectricity
Sensing mode and distributed networking detection mode, are found, are positioned, tracked and are recognized to the unmanned plane in large area region, together
When, broadband active phased-array radar unit can guide visible ray and infrared imaging unit pair automatically to the angle measurement result of unmanned plane
Unmanned plane carries out imaging detection, and without artificial operation, therefore the present invention is with easy to operate, investigative range is big, capture rate is high, fixed
Position precision is excellent, the advantages of discrimination is high, can be widely applied for ensureing low altitude safe the public security with great demand, civil aviaton,
The industry fields such as military affairs.
Brief description of the drawings
Fig. 1 is a kind of schematic diagram of anti-unmanned plane distributed networking detection device of the present invention.
Fig. 2 is a kind of branch's schematic diagram of anti-unmanned plane distributed networking detection device of the present invention.
Fig. 3 is the schematic diagram that the infrared composite sensing probe assembly of separate unit photoelectricity of the invention is positioned to unmanned plane.
Fig. 4 is the distributed networking detection side view of embodiments of the invention.
Fig. 5 is the distributed networking detection top view of embodiments of the invention.
Fig. 6 is the three-dimensional detection rectangular coordinate system schematic diagram of embodiments of the invention.
Embodiment
The present invention is described in further details below with reference to Figure of description and specific embodiment.
The anti-unmanned plane distributed networking detection method of the present invention is comprised the following steps that：
Step one：As shown in Figures 4 and 5,3 are laid to be uniform in the peripheral identical height of R circular search coverage in radius
The infrared composite sensing probe assembly of platform photoelectricity, with reference to separate unit probe assembly middle width strip Connectors for Active Phased Array Radar detection visual angle and away from
From the beam scanning scope of phased-array radar has overlapping region in 3 probe assemblies, it is ensured that to the complete of circular search coverage
Covering.3 probe assemblies are worked on power simultaneously, and distribution is connected to form by wired and wireless communication link with display control program
Formula detection network.
Step 2：The infrared composite sensing probe assembly Satellite positioning unit of 3 photoelectricity passes through GPS or dipper system, profit
The latitude and longitude information of probe assembly is obtained with Differential positioning method, and is sent to display control program.With in circular search coverage
The heart is three-dimensional cartesian coordinate system origin, sets up three-dimensional detection rectangular coordinate system, as shown in fig. 6, the z of wherein 3 probe assemblies is sat
Mark is equal to probe assembly and lays height, and x and y coordinates are obtained using the longitude and latitude of origin as with reference to the longitude and latitude conversion by probe assembly
.
Step 3：Broadband active phased-array radar unit in every complex probe component using automatically controlled wave beam in orientation and
Pitching both direction is scanned, and hair is confirmed whether by carrying out CA-CFAR detection to wideband echoes signal in scanning beam
Existing unmanned plane, echo signal intensity exceedes decision threshold, then confirms scanning beam in orientation and the sensing conduct pitched up
Unmanned plane is relative to the azimuth angle alpha and angle of pitch β of probe assembly, and the corresponding delayed data of unmanned plane wideband echoes signal is multiplied by light
Speed as unmanned plane relative to probe assembly apart from r, as shown in Figure 3.Relative bearing α, the angle of pitch β of above-mentioned unmanned plane and
Xyz coordinate (tx of the unmanned plane under three-dimensional detection coordinate system can be converted into by equation below apart from rm, tym, tzm), such as Fig. 3
It is shown.txm=xm+rsinβcosα tym=ym+rsinβsinα tzm=zm+rcosβ
Wherein, (xm, ym, zm) be the infrared composite sensing probe assembly itself of m platform photoelectricity position.
Step 4：The unmanned plane azimuth obtained by beam scanning and the angle of pitch guide automatically visual light imaging unit and
Infrared imaging unit carries out joint focal imaging to unmanned plane, obtains the visible images and infrared image of unmanned plane.Face to face
When facing the low light conditions such as night, greasy weather, searchlight unit can be also guided to irradiate unmanned plane to ensure image quality.Obtain nobody
Machine visible images and infrared image, by image co-registration (such as Wavelet Transform) one width of formation clearly single angle nobody
Machine image.
Step 5：The multigroup unmanned plane xyz position coordinateses obtained for the infrared composite sensing probe assembly of many photoelectricity, lead to
Cross Co-factor propagation (such as statistical average method) formation one group of high-precision unmanned plane xyz position coordinates, then by flight path management and
The sane continuous track of tracking filter (such as Kalman filtering method) output unmanned plane.
Step 6：The unmanned plane figure of several the single angles obtained for the infrared composite sensing probe assembly of many photoelectricity
Picture, by the complete clearly unmanned plane image of image mosaic (such as Feature Points Matching method) one width of formation, then passes through target identification
Handle the type of (including image segmentation, feature extraction, characteristic matching) automatic identification unmanned plane.
As illustrated in fig. 1 and 2, a kind of anti-unmanned plane distributed networking detection device for being used for performing above-mentioned detection method, bag
Include at least two infrared composite sensing probe assemblies of photoelectricity and a display control program.Wherein, the infrared compound biography of every photoelectricity
Feel probe assembly and include satellite positioning unit 1, broadband active phased-array radar unit 2, visual light imaging unit 3, infrared imaging
Unit 4, searchlight unit 5, wire/wireless IP network communication unit 6 and control unit 7, radar cell, visual light imaging list
Member, infrared imaging unit, searchlight unit configure servomotor；Display control program includes Landline communication unit 8, channel radio
Believe unit 9 and information processing and display and control unit 10.
For the infrared composite sensing probe assembly of every photoelectricity, satellite positioning unit therein is used to determine that each photoelectricity is red
The position of outer composite sensing probe assembly, can be using the Big Dipper or the global position system of GPS series；Broadband active phased array thunder
Discovery is detected to form automatically controlled scanning beam up to unit and determine the position of unmanned plane, can use transmit-receive sharing one or receive
Hair splits the two-dimensional surface array of (reception of part emitting portion), and broadband signal can be believed using linear FM signal or burst pulse
Number；Visual light imaging unit uses the high-resolution wide angle cameras with high speed camera function, to obtain flight unmanned plane
The visible images of real-time continuous；Infrared imaging unit uses high definition thermal infrared imaging instrument, the reality to obtain flight unmanned plane
When continuous infrared image；Searchlight unit irradiates unmanned plane to ensure visible ray and red in the case of the dim lights such as night, greasy weather
Outer image quality, irradiation distance is not less than radar cell detection range；Radar cell, visual light imaging unit, infrared imaging list
Member, searchlight unit configure servomotor and are used to adjust each unit sensing according to control instruction；Wire/wireless IP network communicates
Unit, which is used for being connected with display control program, carries out the transmission of detection data and control instruction, and wire communication can be logical using optical fiber
Letter system, radio communication can be using mobile 4G networks；Control unit is used to be controlled according to the control instruction of display control program
The working condition of the infrared composite sensing probe assembly of photoelectricity, coordinates the orderly work of other each units.
For display control program, Landline communication unit and wireless communication unit therein are used for red with all many photoelectricity
Outer composite sensing probe assembly is connected, and is controlled instruction and the transmission of detection data, corresponding, wire communication can use light
Fiber communication system, radio communication can be using mobile 4G networks；Information processing is with display and control unit by hardware processing platform, aobvious control figure
Shape human-computer interaction interface software and information processing algorithm composition, it is main to complete to obtain from the infrared composite sensing detection network of photoelectricity
The processing of the detection information taken, the graphic interface of result show and man-machine interaction that hardware processing platform can be from flat
Plate computer, PC or PDA, aobvious control graphic interface software can select C++ or JAVA languages for different hardware processing platform
Speech is developed, information processing algorithm describe according to the method described above (comprising CFAR detection, position conversion with merging, target with
Track, image co-registration, target identification) develop and transplant embedded aobvious control graphic interface software.
Claims (9)
1. a kind of anti-unmanned plane distributed networking detection method, it is characterised in that comprise the steps of：
Step one：The distribution of at least two photoelectricity infrared composite sensing probe assembly is positioned over around search coverage constitute it is anti-nobody
Machine detection network；
Step 2：Three-dimensional detection rectangular coordinate system is set up with the position of the infrared composite sensing probe assembly of every photoelectricity；
Step 3：Broadband active phased-array radar unit in the infrared complex probe component of every photoelectricity passes through automatically controlled beam scanning
Detection finds and determines the position of unmanned plane to be measured；
Step 4：Determine the visible ray and infrared imaging unit of the infrared complex probe component of photoelectricity of unmanned plane position to nothing to be measured
It is man-machine to be focused joint imaging, it is seen that light image and infrared image by image co-registration formation clearly single angle nobody
Machine image；
Step 5：Export high-precision after multiple unmanned plane Co-factor propagations to be measured that the infrared complex probe component of many photoelectricity is determined
Unmanned plane position, and then accurately tracked by the stabilization of flight path management and tracking filter processing completion unmanned plane to be measured；
Step 6：It is defeated after the unmanned plane image mosaic to be measured of several different angles of the infrared complex probe component formation of many photoelectricity
Go out complete unmanned plane image, and then complete by target identification processing the automatic correct identification of unmanned plane to be measured.
2. according to a kind of anti-unmanned plane distributed networking detection method described in claim 1, it is characterised in that：The step one
Specifically, at least two infrared composite sensing probe assemblies of photoelectricity are uniformly laid in into the circular search coverage border that radius is R
Outside and start shooting simultaneously work, the detection visual angle of the infrared composite sensing probe assembly middle width strip active phase array element of each photoelectricity
For θ, that is, the scanning beam formed can angle of coverage be θ sector region, in whole infrared composite sensing probe assemblies of photoelectricity
The combination of the fan-shaped search coverage of the phased array element of broadband active contains whole circular search coverage.
3. according to a kind of anti-unmanned plane distributed networking detection method described in claim 1, it is characterised in that：The step 2
In, the infrared composite sensing probe assembly of every photoelectricity determines the position of itself by satellite positioning unit.
4. according to a kind of anti-unmanned plane distributed networking detection method described in claim 1, it is characterised in that：The step 3
Specifically, the infrared composite sensing probe assembly middle width strip active phase array element of each photoelectricity uses two-dimensional surface array, formed
The wave beam scanned in orientation and pitching both direction, realizes the unmanned plane place orientation to entering circular search coverage and pitching
The acquisition of information, broadband signal determines the range information of the unmanned plane, and the phased array element of separate unit broadband active is realized to unmanned plane
Azimuth, the comprehensive acquisition of three information of the angle of pitch and distance, obtain space bit confidence of the unmanned plane under three-dimensional polar system
Breath.
5. according to a kind of anti-unmanned plane distributed networking detection method described in claim 4, it is characterised in that：Unmanned plane is existed
Positional information under three-dimensional polar system is converted to the positional information under three-dimensional cartesian coordinate system, and detailed process is
(x is in for certainm, ym, zm) the infrared composite sensing probe assembly of photoelectricity, by the phased array element of wherein broadband active
Positional information of the unmanned plane of acquisition under three-dimensional polar system represents azimuth angle alpha, angle of pitch β and apart from r respectively, then is converted to
Xyz position coordinateses under three-dimensional cartesian coordinate system are calculated as：
txm=xm+r sin β cos α tym=ym+r sin β sin αtzm=zm+r cos β
Wherein, the position (x of the infrared composite sensing probe assembly itself of photoelectricitym, ym, zm) GPS or north are passed through by satellite positioning unit
Bucket system and Differential positioning method are provided.
6. according to a kind of anti-unmanned plane distributed networking detection method described in claim 1, it is characterised in that：The step 4
Specifically, unmanned plane azimuth and the angle of pitch of the infrared complex probe component middle width strip active phase array element acquisition of separate unit photoelectricity
Information, guides visible ray and infrared imaging unit in this complex probe component along this azimuth and the angle of pitch to nobody automatically
Machine is focused joint imaging, when running into the low light conditions such as night, greasy weather, automatic guiding searchlight unit along this azimuth and
Angle of pitch irradiation is to ensure image quality, and the unmanned plane visible images and infrared image of formation pass through image co-registration one width of formation
The clearly unmanned plane image of single angle.
7. according to a kind of anti-unmanned plane distributed networking detection method described in claim 1, it is characterised in that：The step 5
Specifically, the multigroup unmanned plane xyz position coordinateses obtained for the infrared complex probe component standalone probe of many photoelectricity, enter line position
Coordinate fusion one group of high-precision unmanned plane xyz position coordinates of output is put, unmanned plane position coordinates is managed and tracked by flight path
Filtering process realizes that the stabilization of unmanned plane is accurately tracked.
8. according to a kind of anti-unmanned plane distributed networking detection method described in claim 1, it is characterised in that：The step 6
Specifically, the unmanned plane image of several the different angles obtained for the infrared complex probe component standalone probe of many photoelectricity, enters
Row image mosaic exports the unmanned plane image of a width complete display, and unmanned plane image realizes unmanned plane by target identification processing
Automatic correct identification.
9. a kind of anti-unmanned plane distribution for being used to realize any one of claim 1-8 anti-unmanned plane distributed networking detection method
Formula networking detection device, including at least two infrared composite sensing probe assemblies of photoelectricity and a display control program；
The infrared composite sensing probe assembly of every photoelectricity includes satellite positioning unit, broadband active phased-array radar unit, visible
Photoimaging unit, infrared imaging unit, searchlight unit, wire/wireless IP network communication unit and control unit, display control
System includes Landline communication unit, wireless communication unit and information processing and display and control unit；
The satellite positioning unit is used for the position for determining the infrared composite sensing probe assembly of each photoelectricity, sets up three-dimensional detection straight
Angular coordinate system；
The broadband active phased-array radar unit detects discovery to form automatically controlled scanning beam and determines the position of unmanned plane；
Visible images of the visual light imaging unit to form unmanned plane；The infrared imaging unit is to form nobody
The infrared image of machine；
The searchlight unit irradiates unmanned plane to ensure visible ray and infrared imaging matter in the case of the dim lights such as night, greasy weather
Amount；
The wire/wireless IP network communication unit is used for being connected with display control program, on the one hand by the infrared compound biography of photoelectricity
The detection data of sense probe assembly sends display control program to, on the one hand receives the control instruction from display control program；
Described control unit is used to control the infrared composite sensing probe assembly of photoelectricity according to the control instruction of display control program
Working condition, coordinates the orderly work of other each units；
The radar cell, visual light imaging unit, infrared imaging unit, searchlight unit configure servomotor to basis
Control instruction adjustment each unit is pointed to；
The Landline communication unit and wireless communication unit of the display control program are used for and the infrared compound biography of all many photoelectricity
Feel probe assembly to be connected, on the one hand send control instruction to probe assembly, on the one hand receive the detection number from probe assembly
According to；
Described information processing is with display and control unit by hardware processing platform, the aobvious graphical interactive software system of control and information processing
Algorithm is constituted, the processing of the main detection information for completing to obtain from the infrared composite sensing detection network of photoelectricity, result
Graphic interface is shown and man-machine interaction.
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