CN107830767B - Based on the unmanned plane counter method remotely controlled and medium - Google Patents
Based on the unmanned plane counter method remotely controlled and medium Download PDFInfo
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
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Abstract
It is a kind of that method is broken through based on the unmanned plane remotely controlled, it includes the following steps: S1, obtains the treated black Fetion breath of unmanned plane within the scope of certain time, generates the black black winged region space-time hotspot graph flown with time correlation of unmanned plane in monitoring area according to the black Fetion breath of unmanned plane；According to counter unmanned plane scheduling information in black winged region space-time hotspot graph configuration monitoring region；Counter unmanned plane scheduling information includes the linkage capture chain for breaking through unmanned plane scheduling in the monitoring area；S2, unmanned plane during flying frequency information set is obtained, using the flight frequency information of acquisition as monitoring frequency variable factor information in monitoring area；After monitoring frequency variable factor information in monitoring area is merged with environmental background information in the server as monitoring comparative information storage in monitoring area；Frequency information in S3, real time monitoring monitoring area, compares comparative information is monitored in the frequency information and server of acquisition.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle control, in particular to an unmanned aerial vehicle counter-braking method and medium based on remote control.
Background
With the popularization of the application range of unmanned aerial vehicles, the phenomenon that the unmanned aerial vehicles fly black exists in a large number of controlled areas, namely the unmanned aerial vehicles are not allowed to freely fly in the controlled areas without authorization, so that great challenges are brought to the country and public safety, and the unmanned aerial vehicles are also called as black flying unmanned aerial vehicles.
The existing unmanned aerial vehicle countermeasures are usually limited to the situation that the unmanned aerial vehicle appears in a controlled area and then is intercepted, and a systematic prediction, monitoring and processing system is not formed.
Disclosure of Invention
In view of the above, the present invention provides a systematic unmanned aerial vehicle counter-braking method and medium based on remote control.
An unmanned aerial vehicle counter-braking method based on remote control comprises the following steps:
s1, acquiring processed black flight information of the unmanned aerial vehicle within a certain time range, and generating a black flight area space-time heat point diagram related to black flight time of the unmanned aerial vehicle in the monitoring area according to the black flight information of the unmanned aerial vehicle; configuring the anti-unmanned aerial vehicle scheduling information in the monitoring area according to the spatio-temporal hotspot graph of the black flight area; the control information of the control unmanned aerial vehicle in the monitoring area comprises a linkage capture chain for controlling unmanned aerial vehicle scheduling;
s2, acquiring a flight frequency information set of the unmanned aerial vehicle, and taking the acquired flight frequency information as monitoring frequency variation element information in a monitoring area; fusing monitoring frequency variation element information in the monitoring area with environment background information, and storing the fused information as monitoring comparison information in the monitoring area in a server;
s3, monitoring frequency information in the monitoring area in real time, comparing the obtained frequency information with monitoring comparison information in the server, judging whether a black flying unmanned aerial vehicle exists according to a comparison result, if so, jumping to the step S4, otherwise, repeatedly executing the step S3;
s4, the server dispatches the counter unmanned aerial vehicle to track the black unmanned aerial vehicle through a tracking algorithm according to the scheduling information of the counter unmanned aerial vehicle in the monitoring area;
s5, configuring tracking range information corresponding to the linkage capture chain of the countering unmanned aerial vehicle in the server, judging whether the black flying unmanned aerial vehicle lands in the tracking range corresponding to the linkage capture chain of the countering unmanned aerial vehicle, jumping to the step S6 when the black flying unmanned aerial vehicle lands in the tracking range corresponding to the linkage capture chain of the countering unmanned aerial vehicle, and jumping to the step S8 if the black flying unmanned aerial vehicle does not land in the tracking range corresponding to the linkage capture chain of the countering unmanned aerial vehicle;
s6, the countering unmanned aerial vehicle sends image information in a preset monitoring range in the landing of the black unmanned aerial vehicle to a server; the server judges whether the image information exists or not according to the image information in the preset monitoring range, and the step S7 is skipped to when the image information exists; otherwise, jumping to step S8;
s7, the server identifies portrait information from image information in a preset monitoring range, compares the portrait information with the black flying information of the unmanned aerial vehicle processed within a certain time range in the step S1 to judge whether the processing is the first processing, and captures the black flying unmanned aerial vehicle and stores the identified portrait information, the model information of the unmanned aerial vehicle and the capture time information in the server when the processing is the first processing; otherwise, capturing the black-flying unmanned aerial vehicle, calling the black-flying information of the unmanned aerial vehicle processed within a certain time range out of the owner information of the black-flying unmanned aerial vehicle, and storing the model information, the capturing time information and the owner information of the black-flying unmanned aerial vehicle captured at this time in a server;
s8, capturing the black flying unmanned aerial vehicle at the boundary of the corresponding tracking range of the linkage capture chain of the countering unmanned aerial vehicle, and storing the model information and the capture time information of the unmanned aerial vehicle in a server.
In the reaction method of the unmanned aerial vehicle based on remote control,
the step S1 includes:
acquiring processed black flight information of the unmanned aerial vehicle within a certain time range, wherein the black man information of the unmanned aerial vehicle comprises processed black flight time information, model information, main information of the black flight unmanned aerial vehicle and track information of the black flight unmanned aerial vehicle;
dividing the monitoring area into a plurality of sub-monitoring units according to three-dimensional space-time information, and generating a corresponding sub-monitoring unit monitoring area capturing guide vector according to the mapping information of the sub-monitoring units;
configuring a unique identification code of each monitoring area of each sub-monitoring unit;
splitting the acquired and processed flight path information of the black flying unmanned aerial vehicle into flight path sections according to the monitoring area of the sub monitoring unit, and acquiring flight path section parameters corresponding to each flight path section, wherein the flight path section parameters comprise absolute three-dimensional coordinate parameters;
generating three-dimensional relative dynamic image information of a monitoring area of the sub-monitoring unit according to the flight path section parameters and the black flight time information of the black flight unmanned aerial vehicle; converting the three-dimensional relative dynamic image information of the monitoring area of the sub-monitoring unit into a hot point sub-image vector of the monitoring area of the sub-monitoring unit according to the mapping information of the sub-monitoring unit;
the model information of the black-flying unmanned aerial vehicle and the main information of the black-flying unmanned aerial vehicle are superposed to a hot spot sub-image vector of a monitoring area of a sub-monitoring unit, and a mapping relation between the superposed hot spot sub-image vector of the monitoring area of the sub-monitoring unit and a unique identification code of the monitoring area of the sub-monitoring unit is configured to generate a black-flying area time-space heat-point diagram related to the black flying time of the unmanned aerial vehicle in the monitoring area;
configuring quantity information of the unmanned aerial vehicles in the hot point sub-graph vectors of the monitoring areas of each sub-monitoring unit according to the space-time hot point graph of the black flight area;
configuring each piece of anti-unmanned aerial vehicle scheduling information in each sub-monitoring unit monitoring area hot point sub-picture vector according to the corresponding sub-monitoring unit monitoring area capturing guide vector;
configuring each anti-unmanned aerial vehicle linkage rule through each anti-unmanned aerial vehicle scheduling information in each sub-monitoring unit monitoring area hot point sub-picture vector according to the occurrence quantity information of the black unmanned aerial vehicles and the flight speed range information of the black unmanned aerial vehicles in the sub-monitoring unit monitoring area; the linkage rule comprises a takeoff sequence, a tracking linkage range and task allocation information;
and obtaining the control information of the control unmanned aerial vehicles in the black flight area space-time hot point diagram configuration monitoring area according to the control information of each control unmanned aerial vehicle in each control unmanned aerial vehicle linkage rule and each hot point sub-diagram vector of each sub-monitoring unit monitoring area.
In the reaction method of the unmanned aerial vehicle based on remote control,
the step S2 includes:
acquiring the processed flight frequency information of various black flying unmanned aerial vehicles, and taking the flight frequency information as an unmanned aerial vehicle flight frequency information set;
acquiring a frequency fluctuation range in a monitoring area when no unmanned aerial vehicle flies;
carrying out different kinds and quantity superposition on various black flying unmanned aerial vehicle flight frequency information in the unmanned aerial vehicle flight frequency information set, and using the superposed frequency information range as monitoring frequency variation element information in a monitoring area;
and fusing the monitoring frequency variation element information in the monitoring area with the frequency fluctuation range when no unmanned aerial vehicle flies, and storing the fused information as monitoring comparison information in the monitoring area in a server.
In the reaction method of the unmanned aerial vehicle based on remote control,
the step S4 includes:
determining a hot sub-map vector of a sub-monitoring unit area of the black flying unmanned aerial vehicle appearing in the monitoring area for the first time;
acquiring the quantity information of the black flying unmanned aerial vehicles and the flight speed range information of the black flying unmanned aerial vehicles, and configuring each countering unmanned aerial vehicle linkage rule with the acquired quantity information of the black flying unmanned aerial vehicles, flight speed range information of the black flying unmanned aerial vehicles and each countering unmanned aerial vehicle scheduling information for matching to determine a countering unmanned aerial vehicle linkage rule to be executed finally;
determining a takeoff sequence, a tracking linkage range and task allocation information according to a finally executed link rule of the countering unmanned aerial vehicle;
and carrying out segmented tracking on the black-flying unmanned aerial vehicle according to the determined take-off sequence, tracking linkage range and task allocation information.
In the remote control-based unmanned aerial vehicle counter-braking method of the present invention, the step of tracking the black flying unmanned aerial vehicle in sections according to the determined takeoff sequence, tracking linkage range and task allocation information includes:
determining the takeoff sequence of the countering unmanned aerial vehicle and the unique identification code of the monitoring area of the sub-monitoring unit corresponding to the countering unmanned aerial vehicle flying according to the determined takeoff sequence, the tracking linkage range and the task allocation information; countering task type information of the unmanned aerial vehicle;
capturing and guiding a counter unmanned aerial vehicle which initially flies in a monitoring area of the sub-monitoring unit according to the capturing and guiding vector of the monitoring area of the corresponding sub-monitoring unit;
and tracking the black flying unmanned aerial vehicle in sections in the flight path through a preset tracking algorithm model, and executing a task corresponding to the corresponding task type information.
In the reaction method of the unmanned aerial vehicle based on remote control,
the preset tracking algorithm model is as follows:
wherein D isijIs a probability-based tracking model;is a coordinate transformation model in whichIs a coordinate matrix in the x direction in a relative coordinate system;is a y-direction coordinate matrix in a relative coordinate system;is a Z-direction coordinate matrix in a relative coordinate system;is a translation vector matrix, where TxIs a translation vector in the x direction, TyIs a y-direction translation vector, TzIs a z-direction translation vector;a coordinate transformation compensation model is adopted, wherein Q (x, y, z) is a compensation coefficient in x, y and z directions; m is a hot sub-image vector number of a monitoring area of the sub-monitoring unit; thetai,jThe probability j of the target black-flying unmanned aerial vehicle i to the appearing area is corrected;and (4) tracking the position of the target black-flying unmanned aerial vehicle i under the condition of the probability j, wherein k is the tracking moment.
In the reaction method of the unmanned aerial vehicle based on remote control,
after the server identifies the portrait information from the image information in the preset monitoring range in step S7, the method further includes:
sending the identified portrait information to a police service platform, analyzing the portrait information by the police service platform through a face recognition scheme, and when the analyzed portrait information is hit in the police service platform, taking the hit information as the identified portrait information during first processing, wherein the identified portrait information comprises information of a residence of a black-flying unmanned aerial vehicle owner;
and predicting black flight range information of the black flight unmanned aerial vehicle through the information of the owner residence place, and storing the black flight range information of the black flight unmanned aerial vehicle in corresponding portrait information in the server.
The present invention also provides a non-transitory computer readable storage medium storing computer instructions that cause the computer to perform any of the methods described above.
The beneficial technical effects are as follows: compared with the prior art, the invention can realize that: and configuring the control information of the control unmanned aerial vehicle in the monitoring area according to the space-time hotspot graph of the black flight area, thereby fully realizing the scientificity of the control unmanned aerial vehicle.
Drawings
Fig. 1 is a flowchart of a method for countering an unmanned aerial vehicle based on remote control according to an embodiment of the present invention.
Detailed Description
As shown in fig. 1, in the embodiment of the present invention, a method for countering an unmanned aerial vehicle based on remote control includes the following steps:
s1, acquiring processed black flight information of the unmanned aerial vehicle within a certain time range, and generating a black flight area space-time heat point diagram related to black flight time of the unmanned aerial vehicle in the monitoring area according to the black flight information of the unmanned aerial vehicle; configuring the anti-unmanned aerial vehicle scheduling information in the monitoring area according to the spatio-temporal hotspot graph of the black flight area; the control information of the control unmanned aerial vehicle in the monitoring area comprises a linkage capture chain for controlling unmanned aerial vehicle scheduling;
s2, acquiring a flight frequency information set of the unmanned aerial vehicle, and taking the acquired flight frequency information as monitoring frequency variation element information in a monitoring area; fusing monitoring frequency variation element information in the monitoring area with environment background information, and storing the fused information as monitoring comparison information in the monitoring area in a server;
s3, monitoring frequency information in the monitoring area in real time, comparing the obtained frequency information with monitoring comparison information in the server, judging whether a black flying unmanned aerial vehicle exists according to a comparison result, if so, jumping to the step S4, otherwise, repeatedly executing the step S3;
s4, the server dispatches the counter unmanned aerial vehicle to track the black unmanned aerial vehicle through a tracking algorithm according to the scheduling information of the counter unmanned aerial vehicle in the monitoring area;
s5, configuring tracking range information corresponding to the linkage capture chain of the countering unmanned aerial vehicle in the server, judging whether the black flying unmanned aerial vehicle lands in the tracking range corresponding to the linkage capture chain of the countering unmanned aerial vehicle, and jumping to the step S6 when the black flying unmanned aerial vehicle lands in the tracking range corresponding to the linkage capture chain of the countering unmanned aerial vehicle, or jumping to the step S8.
In this step, the linkage capture chain that has set up the anti-unmanned aerial vehicle corresponds tracking range information for the tracking is not limited to single unmanned aerial vehicle's continuation of the journey the inside, can track black unmanned aerial vehicle with continuing.
In addition, the embodiment of the invention is different from the prior art by judging whether the black flying unmanned aerial vehicle lands in the corresponding tracking range of the linkage capture chain of the counter unmanned aerial vehicle, the black flying unmanned aerial vehicle is captured and driven away directly in the prior art, so that the capturing meaning is only limited to this time, and the black flying unmanned aerial vehicle cannot be used when the same person carries out black flying activities again next time. Whether the black unmanned aerial vehicle flies in the corresponding tracking range of the linkage capture chain of the countering unmanned aerial vehicle or not is judged, the tracking range and the capturing necessity can be effectively combined, evidence is obtained, and the method is not limited to capture behaviors.
S6, the countering unmanned aerial vehicle sends image information in a preset monitoring range in the landing of the black unmanned aerial vehicle to a server; the server judges whether the image information exists or not according to the image information in the preset monitoring range, and the step S7 is skipped to when the image information exists; otherwise, jumping to step S8;
in the steps of the embodiment of the invention, the portrait information is combined with the black flight of the unmanned aerial vehicle, and when the portrait information exists, the portrait information is not directly captured, but the step S7 is skipped, which is different from the existing unmanned aerial vehicle counter-braking technology.
S7, the server identifies portrait information from image information in a preset monitoring range, compares the portrait information with the black flying information of the unmanned aerial vehicle processed within a certain time range in the step S1 to judge whether the processing is the first processing, and captures the black flying unmanned aerial vehicle and stores the identified portrait information, the model information of the unmanned aerial vehicle and the capture time information in the server when the processing is the first processing; otherwise, capturing the black-flying unmanned aerial vehicle, calling the black-flying information of the unmanned aerial vehicle processed within a certain time range out of the owner information of the black-flying unmanned aerial vehicle, and storing the model information, the capturing time information and the owner information of the black-flying unmanned aerial vehicle captured at this time in a server;
in the steps of the embodiment of the present invention, only if there is image information in the image information within the preset monitoring range, the capturing is performed. The first processing and the accumulative processing are distinguished, when the first processing is carried out, the black flying unmanned aerial vehicle is captured, the identified portrait information, the unmanned aerial vehicle model information and the capture time information are stored in the server, the processed unmanned aerial vehicle black flying information stored in the server in the step S1 within a certain time range can be expanded, and the precision of the anti-unmanned aerial vehicle scheduling information is improved.
S8, capturing the black flying unmanned aerial vehicle at the boundary of the corresponding tracking range of the linkage capture chain of the countering unmanned aerial vehicle, and storing the model information and the capture time information of the unmanned aerial vehicle in a server.
In the reaction method of the unmanned aerial vehicle based on remote control,
the step S1 includes:
acquiring processed black flight information of the unmanned aerial vehicle within a certain time range, wherein the black man information of the unmanned aerial vehicle comprises processed black flight time information, model information, main information of the black flight unmanned aerial vehicle and track information of the black flight unmanned aerial vehicle;
dividing the monitoring area into a plurality of sub-monitoring units according to three-dimensional space-time information, and generating a corresponding sub-monitoring unit monitoring area capturing guide vector according to the mapping information of the sub-monitoring units;
in the steps of the embodiment of the invention, the acquisition guide vector of the monitoring area of the corresponding sub-monitoring unit is generated according to the mapping information of the sub-monitoring unit, and the accuracy and precision of the acquisition guide can be improved by combining the features of the terrain and the landform in the controlled area (namely the monitoring area). Of course, in embodiments of the present invention, the compliance and implementation of the mapping activities themselves are not considered.
Configuring a unique identification code of each monitoring area of each sub-monitoring unit;
splitting the acquired and processed flight path information of the black flying unmanned aerial vehicle into flight path sections according to the monitoring area of the sub monitoring unit, and acquiring flight path section parameters corresponding to each flight path section, wherein the flight path section parameters comprise absolute three-dimensional coordinate parameters;
the steps of the embodiment of the invention are combined with the configuration of the unique identification code of each monitoring area of the sub-monitoring units, the sub-monitoring units are divided into the flight path sections, and the flight path section parameters corresponding to each flight path section are obtained to be matched with the unique identification code, so that the specific monitoring areas of the sub-monitoring units can be quickly positioned, and the sub-monitoring units capture the guide vectors for capturing and guiding.
Generating three-dimensional relative dynamic image information of a monitoring area of the sub-monitoring unit according to the flight path section parameters and the black flight time information of the black flight unmanned aerial vehicle; converting the three-dimensional relative dynamic image information of the monitoring area of the sub-monitoring unit into a hot point sub-image vector of the monitoring area of the sub-monitoring unit according to the mapping information of the sub-monitoring unit;
the model information of the black-flying unmanned aerial vehicle and the main information of the black-flying unmanned aerial vehicle are superposed to a hot spot sub-image vector of a monitoring area of a sub-monitoring unit, and a mapping relation between the superposed hot spot sub-image vector of the monitoring area of the sub-monitoring unit and a unique identification code of the monitoring area of the sub-monitoring unit is configured to generate a black-flying area time-space heat-point diagram related to the black flying time of the unmanned aerial vehicle in the monitoring area;
through the steps of the embodiment of the invention, the time-space hot spot of the black flight area, which is related to the black flight time of the unmanned aerial vehicle in the monitoring area of each sub-monitoring unit, can be accurately obtained.
Configuring quantity information of the unmanned aerial vehicles in the hot point sub-graph vectors of the monitoring areas of each sub-monitoring unit according to the space-time hot point graph of the black flight area;
configuring each piece of anti-unmanned aerial vehicle scheduling information in each sub-monitoring unit monitoring area hot point sub-picture vector according to the corresponding sub-monitoring unit monitoring area capturing guide vector;
configuring each anti-unmanned aerial vehicle linkage rule through each anti-unmanned aerial vehicle scheduling information in each sub-monitoring unit monitoring area hot point sub-picture vector according to the occurrence quantity information of the black unmanned aerial vehicles and the flight speed range information of the black unmanned aerial vehicles in the sub-monitoring unit monitoring area; the linkage rule comprises a takeoff sequence, a tracking linkage range and task allocation information;
and obtaining the control information of the control unmanned aerial vehicles in the black flight area space-time hot point diagram configuration monitoring area according to the control information of each control unmanned aerial vehicle in each control unmanned aerial vehicle linkage rule and each hot point sub-diagram vector of each sub-monitoring unit monitoring area.
In the reaction method of the unmanned aerial vehicle based on remote control,
the step S2 includes:
acquiring the processed flight frequency information of various black flying unmanned aerial vehicles, and taking the flight frequency information as an unmanned aerial vehicle flight frequency information set;
acquiring a frequency fluctuation range in a monitoring area when no unmanned aerial vehicle flies;
carrying out different kinds and quantity superposition on various black flying unmanned aerial vehicle flight frequency information in the unmanned aerial vehicle flight frequency information set, and using the superposed frequency information range as monitoring frequency variation element information in a monitoring area;
and fusing the monitoring frequency variation element information in the monitoring area with the frequency fluctuation range when no unmanned aerial vehicle flies, and storing the fused information as monitoring comparison information in the monitoring area in a server.
In the reaction method of the unmanned aerial vehicle based on remote control,
the step S4 includes:
determining a hot sub-map vector of a sub-monitoring unit area of the black flying unmanned aerial vehicle appearing in the monitoring area for the first time;
acquiring the quantity information of the black flying unmanned aerial vehicles and the flight speed range information of the black flying unmanned aerial vehicles, and configuring each countering unmanned aerial vehicle linkage rule with the acquired quantity information of the black flying unmanned aerial vehicles, flight speed range information of the black flying unmanned aerial vehicles and each countering unmanned aerial vehicle scheduling information for matching to determine a countering unmanned aerial vehicle linkage rule to be executed finally;
determining a takeoff sequence, a tracking linkage range and task allocation information according to a finally executed link rule of the countering unmanned aerial vehicle;
and carrying out segmented tracking on the black-flying unmanned aerial vehicle according to the determined take-off sequence, tracking linkage range and task allocation information.
In the remote control-based unmanned aerial vehicle counter-braking method of the present invention, the step of tracking the black flying unmanned aerial vehicle in sections according to the determined takeoff sequence, tracking linkage range and task allocation information includes:
determining the takeoff sequence of the countering unmanned aerial vehicle and the unique identification code of the monitoring area of the sub-monitoring unit corresponding to the countering unmanned aerial vehicle flying according to the determined takeoff sequence, the tracking linkage range and the task allocation information; countering task type information of the unmanned aerial vehicle;
capturing and guiding a counter unmanned aerial vehicle which initially flies in a monitoring area of the sub-monitoring unit according to the capturing and guiding vector of the monitoring area of the corresponding sub-monitoring unit;
and tracking the black flying unmanned aerial vehicle in sections in the flight path through a preset tracking algorithm model, and executing a task corresponding to the corresponding task type information.
In the reaction method of the unmanned aerial vehicle based on remote control,
the preset tracking algorithm model is as follows:
wherein,Dijis a probability-based tracking model;is a coordinate transformation model in whichIs a coordinate matrix in the x direction in a relative coordinate system;is a y-direction coordinate matrix in a relative coordinate system;is a Z-direction coordinate matrix in a relative coordinate system;is a translation vector matrix, where TxIs a translation vector in the x direction, TyIs a y-direction translation vector, TzIs a z-direction translation vector;a coordinate transformation compensation model is adopted, wherein Q (x, y, z) is a compensation coefficient in x, y and z directions; m is a hot sub-image vector number (namely a unique identification code) of a monitoring area of the sub-monitoring unit; thetai,jThe probability j of the target black-flying unmanned aerial vehicle i to the appearing area is corrected;and (4) tracking the position of the target black-flying unmanned aerial vehicle i under the condition of the probability j, wherein k is the tracking moment.
In the embodiment of the present invention, Q (x, y, z) is x, y, and the compensation coefficient in the z direction is a constant value.
In the reaction method of the unmanned aerial vehicle based on remote control,
after the server identifies the portrait information from the image information in the preset monitoring range in step S7, the method further includes:
sending the identified portrait information to a police service platform, analyzing the portrait information by the police service platform through a face recognition scheme, and when the analyzed portrait information is hit in the police service platform, taking the hit information as the identified portrait information during first processing, wherein the identified portrait information comprises information of a residence of a black-flying unmanned aerial vehicle owner;
and predicting black flight range information of the black flight unmanned aerial vehicle through the information of the owner residence place, and storing the black flight range information of the black flight unmanned aerial vehicle in corresponding portrait information in the server.
By implementing the embodiment of the invention, the owner information of the unmanned aerial vehicle can be obtained by combining portrait identification with the police service platform, clues are provided for subsequent processing, the black flight range information of the black flight unmanned aerial vehicle can be predicted through the obtained owner residence information, and the black flight area space-time hotspot graph related to the black flight time of the unmanned aerial vehicle in the monitoring area generated according to the black flight information of the unmanned aerial vehicle is corrected.
The present invention also provides a non-transitory computer readable storage medium storing computer instructions that cause the computer to perform any of the methods described above.
The beneficial technical effects are as follows: compared with the prior art, the invention can realize that: and configuring the control information of the control unmanned aerial vehicle in the monitoring area according to the space-time hotspot graph of the black flight area, thereby fully realizing the scientificity of the control unmanned aerial vehicle.
It is understood that various other changes and modifications may be made by those skilled in the art based on the technical idea of the present invention, and all such changes and modifications should fall within the protective scope of the claims of the present invention.
Claims (5)
1. An unmanned aerial vehicle counter-braking method based on remote control is characterized by comprising the following steps:
s1, acquiring processed black flight information of the unmanned aerial vehicle within a certain time range, and generating a black flight area space-time heat point diagram related to black flight time of the unmanned aerial vehicle in the monitoring area according to the black flight information of the unmanned aerial vehicle; configuring the anti-unmanned aerial vehicle scheduling information in the monitoring area according to the spatio-temporal hotspot graph of the black flight area; the control information of the control unmanned aerial vehicle in the monitoring area comprises a linkage capture chain for controlling unmanned aerial vehicle scheduling;
s2, acquiring a flight frequency information set of the unmanned aerial vehicle, and taking the acquired flight frequency information as monitoring frequency variation element information in a monitoring area; fusing monitoring frequency variation element information in the monitoring area with environment background information, and storing the fused information as monitoring comparison information in the monitoring area in a server;
s3, monitoring frequency information in the monitoring area in real time, comparing the obtained frequency information with monitoring comparison information in the server, judging whether a black flying unmanned aerial vehicle exists according to a comparison result, if so, jumping to the step S4, otherwise, repeatedly executing the step S3;
s4, the server dispatches the counter unmanned aerial vehicle to track the black unmanned aerial vehicle through a tracking algorithm according to the scheduling information of the counter unmanned aerial vehicle in the monitoring area;
s5, configuring tracking range information corresponding to the linkage capture chain of the countering unmanned aerial vehicle in the server, judging whether the black flying unmanned aerial vehicle lands in the tracking range corresponding to the linkage capture chain of the countering unmanned aerial vehicle, jumping to the step S6 when the black flying unmanned aerial vehicle lands in the tracking range corresponding to the linkage capture chain of the countering unmanned aerial vehicle, and jumping to the step S8 if the black flying unmanned aerial vehicle does not land in the tracking range corresponding to the linkage capture chain of the countering unmanned aerial vehicle;
s6, the countering unmanned aerial vehicle sends image information in a preset monitoring range in the landing of the black unmanned aerial vehicle to a server; the server judges whether the image information exists or not according to the image information in the preset monitoring range, and the step S7 is skipped to when the image information exists; otherwise, jumping to step S8;
s7, the server identifies portrait information from image information in a preset monitoring range, compares the portrait information with the black flying information of the unmanned aerial vehicle processed within a certain time range in the step S1 to judge whether the processing is the first processing, and captures the black flying unmanned aerial vehicle and stores the identified portrait information, the model information of the unmanned aerial vehicle and the capture time information in the server when the processing is the first processing; otherwise, capturing the black-flying unmanned aerial vehicle, calling the black-flying information of the unmanned aerial vehicle processed within a certain time range out of the owner information of the black-flying unmanned aerial vehicle, and storing the model information, the capturing time information and the owner information of the black-flying unmanned aerial vehicle captured at this time in a server;
s8, capturing the black flying unmanned aerial vehicle at the boundary of the tracking range corresponding to the linkage capture chain of the countering unmanned aerial vehicle, and storing the model information and the capture time information of the unmanned aerial vehicle in a server;
the step S1 includes:
acquiring processed black flight information of the unmanned aerial vehicle within a certain time range, wherein the black flight information of the unmanned aerial vehicle comprises processed black flight time information, model information, main information of the black flight unmanned aerial vehicle and flight path information of the black flight unmanned aerial vehicle;
dividing the monitoring area into a plurality of sub-monitoring units according to three-dimensional space-time information, and generating a corresponding sub-monitoring unit monitoring area capturing guide vector according to the mapping information of the sub-monitoring units;
configuring a unique identification code of each monitoring area of each sub-monitoring unit;
splitting the acquired and processed flight path information of the black flying unmanned aerial vehicle into flight path sections according to the monitoring area of the sub monitoring unit, and acquiring flight path section parameters corresponding to each flight path section, wherein the flight path section parameters comprise absolute three-dimensional coordinate parameters;
generating three-dimensional relative dynamic image information of a monitoring area of the sub-monitoring unit according to the flight path section parameters and the black flight time information of the black flight unmanned aerial vehicle; converting the three-dimensional relative dynamic image information of the monitoring area of the sub-monitoring unit into a hot point sub-image vector of the monitoring area of the sub-monitoring unit according to the mapping information of the sub-monitoring unit;
the model information of the black-flying unmanned aerial vehicle and the main information of the black-flying unmanned aerial vehicle are superposed to a hot spot sub-image vector of a monitoring area of a sub-monitoring unit, and a mapping relation between the superposed hot spot sub-image vector of the monitoring area of the sub-monitoring unit and a unique identification code of the monitoring area of the sub-monitoring unit is configured to generate a black-flying area time-space heat-point diagram related to the black flying time of the unmanned aerial vehicle in the monitoring area;
configuring quantity information of the unmanned aerial vehicles in the hot point sub-graph vectors of the monitoring areas of each sub-monitoring unit according to the space-time hot point graph of the black flight area;
configuring each piece of anti-unmanned aerial vehicle scheduling information in each sub-monitoring unit monitoring area hot point sub-picture vector according to the corresponding sub-monitoring unit monitoring area capturing guide vector;
configuring each anti-unmanned aerial vehicle linkage rule through each anti-unmanned aerial vehicle scheduling information in each sub-monitoring unit monitoring area hot point sub-picture vector according to the occurrence quantity information of the black unmanned aerial vehicles and the flight speed range information of the black unmanned aerial vehicles in the sub-monitoring unit monitoring area; the linkage rule comprises a takeoff sequence, a tracking linkage range and task allocation information;
obtaining the control information of the control unmanned aerial vehicles in the black flight area space-time hot point diagram configuration monitoring area according to the control information of each control unmanned aerial vehicle in each control unmanned aerial vehicle linkage rule and each hot point sub-diagram vector of each sub-monitoring unit monitoring area;
the step S2 includes:
acquiring the processed flight frequency information of various black flying unmanned aerial vehicles, and taking the flight frequency information as an unmanned aerial vehicle flight frequency information set;
acquiring a frequency fluctuation range in a monitoring area when no unmanned aerial vehicle flies;
carrying out different kinds and quantity superposition on various black flying unmanned aerial vehicle flight frequency information in the unmanned aerial vehicle flight frequency information set, and using the superposed frequency information range as monitoring frequency variation element information in a monitoring area;
fusing monitoring frequency variation element information in the monitoring area with a frequency fluctuation range in the absence of unmanned aerial vehicle flight, and storing the fused information as monitoring comparison information in the monitoring area in a server;
the step S4 includes:
determining a hot sub-map vector of a sub-monitoring unit area of the black flying unmanned aerial vehicle appearing in the monitoring area for the first time;
acquiring the quantity information of the black flying unmanned aerial vehicles and the flight speed range information of the black flying unmanned aerial vehicles, and configuring each countering unmanned aerial vehicle linkage rule with the acquired quantity information of the black flying unmanned aerial vehicles, flight speed range information of the black flying unmanned aerial vehicles and each countering unmanned aerial vehicle scheduling information for matching to determine a countering unmanned aerial vehicle linkage rule to be executed finally;
determining a takeoff sequence, a tracking linkage range and task allocation information according to a finally executed link rule of the countering unmanned aerial vehicle;
and carrying out segmented tracking on the black-flying unmanned aerial vehicle according to the determined take-off sequence, tracking linkage range and task allocation information.
2. The unmanned aerial vehicle counter-control method based on remote control as claimed in claim 1, wherein the step of tracking the black-flying unmanned aerial vehicle in sections according to the determined takeoff sequence, tracking linkage range and task allocation information comprises:
determining the takeoff sequence of the countering unmanned aerial vehicle and the unique identification code of the monitoring area of the sub-monitoring unit corresponding to the countering unmanned aerial vehicle flying according to the determined takeoff sequence, the tracking linkage range and the task allocation information; countering task type information of the unmanned aerial vehicle;
capturing and guiding a counter unmanned aerial vehicle which initially flies in a monitoring area of the sub-monitoring unit according to the capturing and guiding vector of the monitoring area of the corresponding sub-monitoring unit;
and tracking the black flying unmanned aerial vehicle in sections in the flight path through a preset tracking algorithm model, and executing a task corresponding to the corresponding task type information.
3. The unmanned aerial vehicle counter-braking method based on remote control of claim 2, wherein the preset tracking algorithm model is as follows:
wherein D isijIs a probability-based tracking model;is a coordinate transformation model in whichIs a coordinate matrix in the x direction in a relative coordinate system;is a y-direction coordinate matrix in a relative coordinate system;is a Z-direction coordinate matrix in a relative coordinate system;is a translation vector matrix, where TxIs a translation vector in the x direction, TyIs a y-direction translation vector, TzIs a z-direction translation vector;a coordinate transformation compensation model is adopted, wherein Q (x, y, z) is a compensation coefficient in x, y and z directions; m is a hot sub-image vector number of a monitoring area of the sub-monitoring unit; thetai,jThe probability j of the target black-flying unmanned aerial vehicle i to the appearing area is corrected;and (4) tracking the position of the target black-flying unmanned aerial vehicle i under the condition of the probability j, wherein k is the tracking moment.
4. The unmanned aerial vehicle opposing method based on remote control of claim 1,
after the server identifies the portrait information from the image information in the preset monitoring range in step S7, the method further includes:
sending the identified portrait information to a police service platform, analyzing the portrait information by the police service platform through a face recognition scheme, and when the analyzed portrait information is hit in the police service platform, taking the hit information as the identified portrait information during first processing, wherein the identified portrait information comprises information of a residence of a black-flying unmanned aerial vehicle owner;
and predicting black flight range information of the black flight unmanned aerial vehicle through the information of the owner residence place, and storing the black flight range information of the black flight unmanned aerial vehicle in corresponding portrait information in the server.
5. A non-transitory computer-readable storage medium storing computer instructions that cause a computer to perform the method of any one of claims 1 to 4.
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| CN109597433B (en) * | 2018-12-14 | 2021-08-20 | 桂林电子科技大学 | Unmanned aerial vehicle prevention and control intelligent decision-making method based on composite interception strategy |
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| CN111314017B (en) * | 2020-05-09 | 2020-08-14 | 上海特金信息科技有限公司 | Scheduling method and device of unmanned aerial vehicle signal suppression equipment, electronic equipment and medium |
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