CN108444336B - Unmanned aerial vehicle trapping method based on GNSS analog signals - Google Patents
Unmanned aerial vehicle trapping method based on GNSS analog signals Download PDFInfo
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- CN108444336B CN108444336B CN201810139379.2A CN201810139379A CN108444336B CN 108444336 B CN108444336 B CN 108444336B CN 201810139379 A CN201810139379 A CN 201810139379A CN 108444336 B CN108444336 B CN 108444336B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41H—ARMOUR; ARMOURED TURRETS; ARMOURED OR ARMED VEHICLES; MEANS OF ATTACK OR DEFENCE, e.g. CAMOUFLAGE, IN GENERAL
- F41H11/00—Defence installations; Defence devices
- F41H11/02—Anti-aircraft or anti-guided missile or anti-torpedo defence installations or systems
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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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/015—Arrangements for jamming, spoofing or other methods of denial of service of such systems
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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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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- Physics & Mathematics (AREA)
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Abstract
The invention provides an unmanned aerial vehicle trapping method based on GNSS analog signals, which comprises the following steps: detecting whether an unmanned aerial vehicle enters a supervision area; when a target unmanned aerial vehicle enters a supervision area, the target unmanned aerial vehicle entering the supervision area is interfered, so that the target unmanned aerial vehicle cannot transmit data with a controller of the target unmanned aerial vehicle; estimating a preset landing point position of the target unmanned aerial vehicle, simulating a false GNSS signal according to the preset landing point position of the target unmanned aerial vehicle, sending the false GNSS signal to the target unmanned aerial vehicle, and luring the target unmanned aerial vehicle to enter a trapping area; and carrying out deception forced landing on the target unmanned aerial vehicle entering the trapping area. The invention has no damage to the invading unmanned aerial vehicle; while not exposing its own position.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle counter-braking, and particularly relates to an unmanned aerial vehicle trapping method based on GNSS analog signals.
Background
Currently, unmanned aerial vehicles have been used in various fields of production and life: measurement acquisition, disaster relief, remote shooting, even package delivery, serving in restaurants, and the like. The unmanned aerial vehicle brings great convenience to production and life of human beings, and meanwhile brings convenience to the plane where lawbreakers can take, for example, the unmanned aerial vehicle is used for invading airports, prisons, large-scale outdoor stages and the like. Therefore, how to counter (including finding, monitoring and even trapping) the illegally invaded unmanned aerial vehicle in time has great significance for the invaded person.
The counter-braking means of the unmanned aerial vehicle mainly comprises the following two types:
(1) hard killing: the unmanned aerial vehicle is destroyed through modes such as an aerial gun, a ground-air missile and an air-air missile;
(2) soft killing: by electromagnetic suppression, the execution of tasks is disturbed, and the control system thereof is disturbed.
Among them, hard killing is costly and easily exposes itself. Through the mode of soft kill and kill, firstly cut off the contact between unmanned aerial vehicle and the controller, then trap, be a better choice. The existing soft killing technology is usually only to cut off the remote control link between the unmanned aerial vehicle and the controller to force the unmanned aerial vehicle to return, and the problem of black flying of the unmanned aerial vehicle cannot be thoroughly solved.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide the unmanned aerial vehicle trapping method based on the GNSS analog signal, and solve the problem that the unmanned aerial vehicle can not completely fly in the prior art.
In order to solve the technical problems, the invention adopts the following technical scheme:
an unmanned aerial vehicle trapping method based on GNSS analog signals is characterized by comprising the following steps:
detecting whether an unmanned aerial vehicle enters a supervision area;
when a target unmanned aerial vehicle enters a supervision area, the target unmanned aerial vehicle entering the supervision area is interfered, so that the target unmanned aerial vehicle cannot transmit data with a controller of the target unmanned aerial vehicle;
estimating a preset landing point position of the target unmanned aerial vehicle;
simulating a false GNSS signal according to the preset landing point position of the target unmanned aerial vehicle, sending the false GNSS signal to the target unmanned aerial vehicle, and luring the target unmanned aerial vehicle to enter a trapping area;
and carrying out deception forced landing on the target unmanned aerial vehicle entering the trapping area.
Further, the estimating the preset landing point position of the target drone includes:
taking the intersection point of the return flight direction of the target unmanned aerial vehicle and the boundary of the supervision area as a first rough position;
calculating the distance d between the target unmanned aerial vehicle and the central point of the area under surveillance, and taking a landing point after the target unmanned aerial vehicle flies for the distance d in a straight line along the return flight direction as a second rough position;
and selecting a position with a larger distance from the central point of the monitoring area in the first rough position or the second rough position as a preset landing point position.
Further, the sending false GNSS signals to the target drone, luring the target drone to enter a trapping area, includes:
(1-1) if the unmanned aerial vehicle flies far away from the trapping area after receiving the false GNSS signal, moving the preset landing point position to the direction far away from the trapping area by L, and sending the false GNSS signal to the target unmanned aerial vehicle again;
(1-2) if the unmanned aerial vehicle flies towards the trapping area after receiving the false GNSS signal, moving the preset landing point position to the direction close to the trapping area by L, and sending the false GNSS signal to the target unmanned aerial vehicle again;
and (1-3) repeating the steps (1-1) and (1-2) until the unmanned aerial vehicle enters the trapping area and hovers.
Further, the deception forced landing of the target unmanned aerial vehicle entering the trapping area includes:
(2-1) sending a GNSS signal to a target unmanned aerial vehicle entering a trapping area, wherein the GNSS signal comprises height information, so that the height of a positioning position in the GNSS signal received by the target unmanned aerial vehicle is the same as the height of the target unmanned aerial vehicle;
(2-2) if the target unmanned aerial vehicle does not land downwards, increasing the height information in the GNSS signal by L, and sending the false GNSS signal to the target unmanned aerial vehicle again; otherwise, reducing the height information in the GNSS signal by L, and sending the false GNSS signal to the target unmanned aerial vehicle again;
and (2-3) repeating (2-2) until the target unmanned aerial vehicle lands to the height of the ground level.
Compared with the prior art, the invention has the following technical effects:
1. the invention has no damage to the invading unmanned aerial vehicle;
2. the unmanned aerial vehicle trapping device can not expose the position of the unmanned aerial vehicle while trapping the unmanned aerial vehicle.
3. The invention simulates the satellite navigation signal, so as to deceive the satellite navigation module of the unmanned aerial vehicle, thus achieving trapping simulation without any physical contact.
Drawings
FIG. 1 is a schematic flow diagram of the present invention.
The present invention will be explained in further detail with reference to the accompanying drawings.
Detailed Description
The following embodiments of the present invention are provided, and it should be noted that the present invention is not limited to the following embodiments, and all equivalent changes based on the technical solutions of the present invention are within the protection scope of the present invention.
Example (b):
the invention provides an unmanned aerial vehicle trapping method based on GNSS analog signals, which is characterized by comprising the following steps:
detecting whether an unmanned aerial vehicle enters a supervision area;
specifically, in this embodiment, an unmanned aerial vehicle in a supervision area is searched by an early warning radar, and if the unmanned aerial vehicle is found to enter the supervision area, an alarm is given to a master control station;
when a target unmanned aerial vehicle enters a supervision area, the target unmanned aerial vehicle entering the supervision area is interfered, so that the target unmanned aerial vehicle cannot transmit data with a controller of the target unmanned aerial vehicle;
specifically, the embodiment adopts a high-power interference device to interfere the remote control and the telemetering signals of the target unmanned aerial vehicle, and cuts off the connection between the target unmanned aerial vehicle and a space-based satellite, a mother base or a remote controller, so that the unmanned aerial vehicle cannot receive a control instruction and cannot return telemetering information;
when the target unmanned aerial vehicle detects that the target unmanned aerial vehicle cannot receive the measurement and control instruction, the target unmanned aerial vehicle uses GNSS signals to navigate and fly to a preset landing point; therefore, the preset landing point position of the target unmanned aerial vehicle needs to be estimated firstly;
wherein, estimate target unmanned aerial vehicle's predetermined landing point position, include:
taking the intersection point of the return flight direction of the target unmanned aerial vehicle and the boundary of the supervision area as a first rough position; specifically, a straight line is drawn on a map according to the return direction of the target unmanned aerial vehicle, and an intersection point of the straight line and the boundary of the supervision area is found, wherein the intersection point is a first rough position;
when the second rough position is found, assuming that the unmanned aerial vehicle reaches a threshold landing point after linearly flying for a distance d along the return direction, the second rough position can be calculated according to the current position and the flying direction of the unmanned aerial vehicle;
calculating the distance d between the target unmanned aerial vehicle and the central point of the area under surveillance, and taking a landing point after the target unmanned aerial vehicle flies for the distance d in a straight line along the return flight direction as a second rough position;
and selecting a position with a larger distance from the central point of the monitoring area in the first rough position or the second rough position as a preset landing point position.
Simulating a false GNSS signal according to the preset landing point position of the target unmanned aerial vehicle, sending the false GNSS signal to the target unmanned aerial vehicle, and luring the target unmanned aerial vehicle to enter a trapping area;
the method for simulating the false GNSS signal in this embodiment includes the following steps
Calculating visible satellites of a receiving place simulated by the current GNSS signals according to the satellite ephemeris and the current time;
calculating the true distance between the visible satellite and the receiving place simulated by the GNSS signals according to the ephemeris of the visible satellite;
according to the true distance, calculating the time delay difference of the GNSS signal reaching the signal simulation receiving place;
respectively simulating different satellite signals according to the time delay differences of different satellites;
combining different satellite signals to obtain a simulated GNSS signal.
Wherein, send false GNSS signal to target unmanned aerial vehicle, lure target unmanned aerial vehicle to get into and trap the region, include:
after the target unmanned aerial vehicle cannot receive the control command, the target unmanned aerial vehicle enters an autonomous return mode, and false GNSS signals are broadcast by the target unmanned aerial vehicle;
(1-1) if the unmanned aerial vehicle flies far away from the trapping area after receiving the false GNSS signal, moving the preset landing point position to the direction far away from the trapping area by L, and sending the false GNSS signal to the target unmanned aerial vehicle again; in this case, after receiving the deception of the false GNSS signal, the target unmanned aerial vehicle still flies according to the original return course and is far away from the trapping area, which indicates that the estimation of the coordinate position of the preset landing point is incorrect; l in this example is 150 m.
(1-2) if the unmanned aerial vehicle flies towards the trapping area after receiving the false GNSS signal, moving the preset landing point position to the direction close to the trapping area by L, and sending the false GNSS signal to the target unmanned aerial vehicle again; this situation indicates that the preset landing point position estimation is correct, and L in this embodiment is 150 m.
And (1-3) repeating the steps (1-1) and (1-2) until the unmanned aerial vehicle enters the trapping area and hovers.
And carrying out deception forced landing on the target unmanned aerial vehicle entering the trapping area.
Wherein, the deception forced landing of the target unmanned aerial vehicle entering the trapping area comprises the following steps:
the target unmanned aerial vehicle enters the trapping area and hovers for flying;
(2-1) sending a GNSS signal to a target unmanned aerial vehicle entering a trapping area, wherein the GNSS signal comprises height information, so that the height of a positioning position in the GNSS signal received by the target unmanned aerial vehicle is the same as the height of the target unmanned aerial vehicle;
(2-2) if the target unmanned aerial vehicle does not land downwards, increasing the height information in the GNSS signal by L, and sending the false GNSS signal to the target unmanned aerial vehicle again; otherwise, reducing the height information in the GNSS signal by L, and sending the false GNSS signal to the target unmanned aerial vehicle again;
and (2-3) repeating (2-2) until the target unmanned aerial vehicle lands to the height of the ground level.
Claims (1)
1. An unmanned aerial vehicle trapping method based on GNSS analog signals is characterized by comprising the following steps:
detecting whether an unmanned aerial vehicle enters a supervision area;
when a target unmanned aerial vehicle enters a supervision area, the target unmanned aerial vehicle entering the supervision area is interfered, so that the target unmanned aerial vehicle cannot transmit data with a controller of the target unmanned aerial vehicle;
estimating a preset landing point position of the target unmanned aerial vehicle;
simulating a false GNSS signal according to the preset landing point position of the target unmanned aerial vehicle, sending the false GNSS signal to the target unmanned aerial vehicle, and luring the target unmanned aerial vehicle to enter a trapping area;
carrying out deception forced landing on the target unmanned aerial vehicle entering the trapping area;
the estimating of the preset landing point position of the target unmanned aerial vehicle comprises:
taking the intersection point of the return flight direction of the target unmanned aerial vehicle and the boundary of the supervision area as a first rough position;
calculating the distance d between the target unmanned aerial vehicle and the central point of the area under surveillance, and taking a landing point after the target unmanned aerial vehicle flies for the distance d in a straight line along the return flight direction as a second rough position;
selecting a position with a larger distance from a central point of the monitoring area in the first rough position or the second rough position as a preset landing point position;
the sending of the false GNSS signal to the target drone lures the target drone to enter a trapping area, including:
(1-1) if the unmanned aerial vehicle flies far away from the trapping area after receiving the false GNSS signal, moving the preset landing point position to the direction far away from the trapping area by L, and sending the false GNSS signal to the target unmanned aerial vehicle again;
(1-2) if the unmanned aerial vehicle flies towards the trapping area after receiving the false GNSS signal, moving the preset landing point position to the direction close to the trapping area by L, and sending the false GNSS signal to the target unmanned aerial vehicle again;
(1-3) repeating the steps (1-1) and (1-2) until the unmanned aerial vehicle enters the trapping area and hovers;
the deception forced landing of the target unmanned aerial vehicle entering the trapping area comprises the following steps:
(2-1) sending a GNSS signal to a target unmanned aerial vehicle entering a trapping area, wherein the GNSS signal comprises height information, so that the height of a positioning position in the GNSS signal received by the target unmanned aerial vehicle is the same as the height of the target unmanned aerial vehicle;
(2-2) if the target unmanned aerial vehicle does not land downwards, increasing the height information in the GNSS signal by L, and sending the false GNSS signal to the target unmanned aerial vehicle again; otherwise, reducing the height information in the GNSS signal by L, and sending the false GNSS signal to the target unmanned aerial vehicle again;
and (2-3) repeating (2-2) until the target unmanned aerial vehicle lands to the height of the ground level.
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| CN109451431B (en) * | 2018-10-23 | 2021-06-15 | 中国电子科技集团公司第二十九研究所 | Navigation and link region rejection method for civil low-slow small unmanned aerial vehicle |
| CN109443098A (en) * | 2018-11-29 | 2019-03-08 | 西安爱生无人机技术有限公司 | Trap, system and method for unmanned plane |
| CN111063702B (en) * | 2019-11-13 | 2022-10-04 | 北京大学 | UTBB photoelectric detector pixel unit, UTBB photoelectric detector pixel array and UTBB photoelectric detector pixel method |
| CN111026152B (en) * | 2019-11-29 | 2023-05-12 | 北京自动化控制设备研究所 | Unmanned aerial vehicle navigation decoy device and method based on flight destination prediction |
| CN111966117A (en) * | 2020-08-10 | 2020-11-20 | 中国电子科技集团公司第三十六研究所 | Method and system for controlling unmanned aerial vehicle to land |
| CN115823954A (en) * | 2022-11-24 | 2023-03-21 | 上海中广核工程科技有限公司 | Unmanned aerial vehicle trapping method for transmitting navigation deception signal |
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| CN106950578A (en) * | 2017-03-23 | 2017-07-14 | 华东师范大学 | A kind of aircraft capture method based on satellite navigation system |
| CN107560503A (en) * | 2017-08-31 | 2018-01-09 | 中国电子科技集团公司第二十九研究所 | A kind of unmanned plane method for entrapping based on satellite navigation curve |
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| CN106353775A (en) * | 2016-08-12 | 2017-01-25 | 华东师范大学 | Method for capturing mobile equipment on basis of satellite navigation systems |
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| CN106950578A (en) * | 2017-03-23 | 2017-07-14 | 华东师范大学 | A kind of aircraft capture method based on satellite navigation system |
| CN107560503A (en) * | 2017-08-31 | 2018-01-09 | 中国电子科技集团公司第二十九研究所 | A kind of unmanned plane method for entrapping based on satellite navigation curve |
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