CN108494521A - A kind of hostile unmanned boat catching method and system based on unmanned plane interference - Google Patents
A kind of hostile unmanned boat catching method and system based on unmanned plane interference Download PDFInfo
- Publication number
- CN108494521A CN108494521A CN201810247003.3A CN201810247003A CN108494521A CN 108494521 A CN108494521 A CN 108494521A CN 201810247003 A CN201810247003 A CN 201810247003A CN 108494521 A CN108494521 A CN 108494521A
- Authority
- CN
- China
- Prior art keywords
- unmanned boat
- hostile
- unmanned
- interference
- boat
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04K—SECRET COMMUNICATION; JAMMING OF COMMUNICATION
- H04K3/00—Jamming of communication; Counter-measures
- H04K3/80—Jamming or countermeasure characterized by its function
- H04K3/82—Jamming or countermeasure characterized by its function related to preventing surveillance, interception or detection
- H04K3/825—Jamming or countermeasure characterized by its function related to preventing surveillance, interception or detection by jamming
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04K—SECRET COMMUNICATION; JAMMING OF COMMUNICATION
- H04K3/00—Jamming of communication; Counter-measures
- H04K3/60—Jamming involving special techniques
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04K—SECRET COMMUNICATION; JAMMING OF COMMUNICATION
- H04K3/00—Jamming of communication; Counter-measures
- H04K3/60—Jamming involving special techniques
- H04K3/62—Jamming involving special techniques by exposing communication, processing or storing systems to electromagnetic wave radiation, e.g. causing disturbance, disruption or damage of electronic circuits, or causing external injection of faults in the information
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04K—SECRET COMMUNICATION; JAMMING OF COMMUNICATION
- H04K3/00—Jamming of communication; Counter-measures
- H04K3/80—Jamming or countermeasure characterized by its function
- H04K3/84—Jamming or countermeasure characterized by its function related to preventing electromagnetic interference in petrol station, hospital, plane or cinema
Abstract
The invention discloses a kind of hostile unmanned boat catching methods based on unmanned plane interference, including：When one's own side's unmanned boat monitors hostile unmanned boat, interference action order is assigned to unmanned plane, interferes the characteristic information for including at least hostile unmanned boat in action order, and interference behavioural information；After unmanned plane is connected to interference action order, determine that hostile unmanned boat is jamming target according to the characteristic information of hostile unmanned boat, and interference behavior is implemented to jamming target according to interference behavioural information, so that hostile unmanned boat is detached from enemy's control；One's own side's unmanned boat judges whether hostile unmanned boat has disengaged from enemy's control, if it is, keeping the interference to hostile unmanned boat to be persistently detached from enemy's state of a control so that hostile unmanned boat is in by unmanned plane, one's own side's unmanned boat captures hostile unmanned boat.The method of the present invention can in arresting action being active property, improve the success rate of capture.The present invention also provides the hostile unmanned boat capture systems accordingly based on unmanned plane interference.
Description
Technical field
The invention belongs to unmanned boat technical fields, more particularly, to a kind of hostile unmanned boat based on unmanned plane interference
Catching method and system.
Background technology
Unmanned boat is that a kind of positioned by precise satellite can be according to preset task in the complete of surface navigation with self-sensor
Automatic water surface robot.As national defence and civilian demand develop, in various marine sites (such as national defence marine site, inland lake marine site etc.)
There are more and more unmanned boats running and executing task.Destruction of the hostile unmanned boat to one's own side marine site in order to prevent, has
Necessity implements it to arrest action.
Mode of arresting existing at present is typically so that it is run out of steam or is lost by attack means by one's own side's unmanned boat
Then communication function again captures it.However in capture process, hostile unmanned boat is often possible in also being controlled with enemy
The heart remains communication, enemy control centre may can also constantly to send instructions under hostile unmanned boat with obstruct or even escape one's own side without
People's ship is arrested.
Invention content
For the disadvantages described above or Improvement requirement of the prior art, the present invention provides a kind of based on the hostile of unmanned plane interference
Unmanned boat catching method and system, its object is in capture process, cut off the logical of hostile unmanned boat and enemy control centre
Letter makes hostile unmanned boat be in and is persistently detached from enemy's state of a control, and thus solving enemy control centre in the prior art may be also
Constantly it can obstruct to sending instructions under hostile unmanned boat or even escape the technical issues of arresting of one's own side's unmanned boat.
To achieve the above object, according to one aspect of the present invention, a kind of hostile nothing interfered based on unmanned plane is provided
People's ship catching method, one's own side's unmanned boat are loaded with the nothing that its manipulation can be available for by the unmanned plane or its surrounding sea of its manipulation
It is man-machine, the method includes：
When one's own side's unmanned boat monitors hostile unmanned boat, interference action order, the interference are assigned to the unmanned plane
The characteristic information of hostile unmanned boat, and interference behavioural information are included at least in action order；
After the unmanned plane is connected to interference action order, determined according to the characteristic information of the hostile unmanned boat described hostile
Unmanned boat is jamming target, and implements interference behavior to the jamming target according to the interference behavioural information, so that the enemy
The control of enemy control centre is detached to unmanned boat；
One's own side's unmanned boat judges whether the hostile unmanned boat has disengaged from enemy's control, if it is, by the nothing
Man-machine holding is persistently detached from enemy's state of a control to the interference of the hostile unmanned boat so that the hostile unmanned boat is in, described
One's own side's unmanned boat captures the hostile unmanned boat.
In one embodiment of the present of invention, the characteristic information of the hostile unmanned boat includes the operation of the hostile unmanned boat
The external appearance characteristic information of characteristic information and/or the hostile unmanned boat, wherein the operation characteristic information includes the speed of a ship or plane, and/or
Course and/or coordinate position and/or communication frequency.
In one embodiment of the present of invention, the interference behavioural information includes disturbance type and/or interference strength, and/or
Interfering frequency, and/or interference duration, wherein the disturbance type is electromagnetic interference.
In one embodiment of the present of invention, one's own side's unmanned boat judges whether the hostile unmanned boat has disengaged from enemy's control
System, specially：
One's own side's unmanned boat obtains the behavioural characteristic of the hostile unmanned boat, special according to the behavior of the hostile unmanned boat
Sign judges whether the hostile unmanned boat has disengaged from enemy's control；Alternatively,
One's own side's unmanned boat obtains whether the hostile unmanned boat has disengaged from the message that enemy controls from the unmanned plane；
Wherein, the unmanned plane obtains the behavioural characteristic of the hostile unmanned boat, is judged according to the behavioural characteristic of the hostile unmanned boat
Whether the hostile unmanned boat has disengaged from enemy's control, and whether the hostile unmanned boat is had disengaged to the message hair of enemy's control
Give one's own side's unmanned boat.
In one embodiment of the present of invention, one's own side's unmanned boat captures the hostile unmanned boat, specially：
One's own side's unmanned boat using the towing gear of itself by the hostile unmanned boat tow back to one's own side's controlled area or oneself
Fang Huishou unmanned boats；Alternatively,
One's own side's unmanned boat notifies the surrounding unmanned boat with towing gear or unmanned boat cluster, by it is described nobody
The hostile unmanned boat is towed back to one's own side's controlled area or one's own side's recycling unmanned boat by ship or unmanned boat cluster；Alternatively,
One's own side's unmanned boat notifies the surrounding unmanned boat with blocking apparatus or unmanned boat cluster, by it is described nobody
Ship or unmanned boat cluster intercept and arrest the hostile unmanned boat；Alternatively,
One's own side's unmanned boat notify it is surrounding have attack device unmanned boat or unmanned boat cluster, by it is described nobody
The hostile unmanned boat is attacked and destroyed to ship or unmanned boat cluster, so that the hostile unmanned boat is run out of steam or communication abnormality, so
One's own side's controlled area is towed back to afterwards or one's own side recycles unmanned boat.
In one embodiment of the present of invention, the method further includes：
One's own side's unmanned boat also records the history driving path of hostile unmanned boat；According to the history of the hostile unmanned boat
Driving path predicts the follow-up driving path of the hostile unmanned boat；Implemented according to the follow-up driving path of the hostile unmanned boat
Capture acts to capture the hostile unmanned boat.
It is another aspect of this invention to provide that a kind of hostile unmanned boat capture systems interfered based on unmanned plane are additionally provided,
Including one's own side's unmanned boat, one's own side's unmanned boat, which is loaded with, to be available for its behaviour by the unmanned plane or its surrounding sea of its manipulation
The unmanned plane of control, wherein：
One's own side's unmanned boat includes monitoring modular and instruction issuing module, wherein the monitoring modular is hostile for monitoring
Unmanned boat, described instruction assign module for when the monitoring module monitors are to hostile unmanned boat, being assigned to the unmanned plane
Action order is interfered, the characteristic information of hostile unmanned boat, and interference behavioural information are included at least in the interference action order；
The unmanned plane includes command reception module, hostile unmanned boat confirmation module and interference execution module, wherein described
Command reception module is used for for receiving the interference action order, the hostile unmanned boat confirmation module according to the hostile nothing
The characteristic information of people's ship determines that the hostile unmanned boat is jamming target, and the interference execution module is used to be gone according to the interference
Interference behavior is implemented to the jamming target for information, so that the hostile unmanned boat is detached from the control of enemy control centre；
One's own side's unmanned boat further includes judgment module and acquisition control module, wherein the judgment module is for judging institute
State whether hostile unmanned boat has disengaged from enemy's control, if it is, being done to the hostile unmanned boat by unmanned plane holding
Disturb so that the hostile unmanned boat, which is in, is persistently detached from enemy's state of a control, the acquisition control module control the one's own side nobody
Ship captures the hostile unmanned boat.
In one embodiment of the present of invention, the characteristic information of the hostile unmanned boat includes the operation of the hostile unmanned boat
The external appearance characteristic information of characteristic information and/or the hostile unmanned boat；The interference behavioural information includes disturbance type, and/or
Interference strength and/or interfering frequency, and/or interference duration, wherein the disturbance type is electromagnetic interference.
In one embodiment of the present of invention,
The judgment module includes feature acquisition submodule and feature judging submodule, wherein the feature obtains submodule
Block, the behavioural characteristic for obtaining the hostile unmanned boat；The feature judging submodule, for according to the hostile unmanned boat
Behavioural characteristic judge whether the hostile unmanned boat has disengaged from enemy's control；
Alternatively, the judgment module includes judging result receiving submodule, the judging result receiving submodule be used for from
The unmanned plane obtains the message whether hostile unmanned boat has disengaged from enemy's control；Wherein, the unmanned plane includes hostile
Unmanned boat judging submodule, the hostile unmanned boat judging submodule are used to obtain the behavioural characteristic of the hostile unmanned boat, root
Judge whether the hostile unmanned boat has disengaged from enemy's control according to the behavioural characteristic of the hostile unmanned boat, and by the hostile nothing
The message whether people's ship has disengaged from enemy's control is sent to one's own side's unmanned boat.
In one embodiment of the present of invention,
The acquisition control module controls one's own side's unmanned boat and captures the hostile unmanned boat, specially：
Acquisition control module control one's own side's unmanned boat is towed back to the hostile unmanned boat using the towing gear of itself
One's own side's controlled area or one's own side recycle unmanned boat；Alternatively,
Acquisition control module control one's own side's unmanned boat notify the surrounding unmanned boat with towing gear or nobody
Ship cluster, by the unmanned boat or the hostile unmanned boat is towed back to one's own side's controlled area to unmanned boat cluster or one's own side recycles nobody
Ship；Alternatively,
Acquisition control module control one's own side's unmanned boat notify the surrounding unmanned boat with blocking apparatus or nobody
Ship cluster is intercepted by the unmanned boat or unmanned boat cluster and arrests the hostile unmanned boat；Alternatively,
Acquisition control module control one's own side's unmanned boat notify the surrounding unmanned boat with attack device or nobody
Ship cluster is attacked by the unmanned boat or unmanned boat cluster and is destroyed the hostile unmanned boat, the hostile unmanned boat is made to lose
Power or communication abnormality, are then towed back to one's own side's controlled area or one's own side recycles unmanned boat.
In general, through the invention it is contemplated above technical scheme is compared with the prior art, have following beneficial to effect
Fruit：
(1) the hostile unmanned boat catching method provided by the invention based on unmanned plane interference, find hostile unmanned boat it
Do not implement directly to arrest action afterwards, but first pass through unmanned plane and hostile unmanned boat is interfered, to obstruct or cut off hostile nothing
It the communication of people's ship and enemy control centre and contacts, so that hostile unmanned boat is in and be persistently detached from enemy's state of a control, then by oneself
Square unmanned boat captures the hostile unmanned boat；By the method for the invention, can arrest action implement before, cut-out it is hostile nobody
Ship is contacted with enemy control centre, to the being active property in arresting action, helps to improve the success rate of capture；
(2) the hostile unmanned boat catching method provided by the invention based on unmanned plane interference, may be used a variety of different
Interference means are interfered, such as electromagnetic interference, and conflicting mode can be spot jamming, half spot jamming,
Barrage jamming or Sweeping nonlinearity can be according to the actual conditions of hostile unmanned boat using corresponding to interfere means versatile and flexible
Interference means, promote the validity and success rate of interference；
(3) the hostile unmanned boat catching method provided by the invention based on unmanned plane interference can judge before implementing to arrest
Whether the hostile unmanned boat has disengaged from enemy's control, and keeps the interference to the hostile unmanned boat so that described in unmanned plane
Hostile unmanned boat, which is in, to be persistently detached under enemy's state of a control, then carries out arresting action, and action is being arrested to ensure that
In, hostile unmanned boat is detached from the duration of enemy control centre, ensure that the initiative and controllability of capture process, can be promoted and be caught
Succeed rate；
(4) the hostile unmanned boat catching method provided by the invention based on unmanned plane interference is determining that hostile unmanned boat is de-
After being controlled from enemy, can take it is various arrest means, such as tow back to controlled area, interception or attack etc., to arrest means spirit
Work is various, according to the actual conditions of hostile unmanned boat using arrest means accordingly, can be promoted capture action validity and at
Power；
(5) the hostile unmanned boat catching method provided by the invention based on unmanned plane interference, can be predicted with passage path
Mode active capture is carried out to hostile unmanned boat, i.e., predict that its subsequent rows sails path after finding hostile unmanned boat, at it
Implement actively to capture on follow-up driving path；The initiative and controllability that ensure that capture process, can be promoted and be captured as power.
Description of the drawings
Fig. 1 is a kind of flow signal of the hostile unmanned boat catching method interfered based on unmanned plane in the embodiment of the present invention
Figure；
Fig. 2 is a kind of effect signal of the hostile unmanned boat catching method interfered based on unmanned plane in the embodiment of the present invention
Figure；
Fig. 3 is a kind of structural representation of the hostile unmanned boat capture systems interfered based on unmanned plane in the embodiment of the present invention
Figure；
Fig. 4 is one's own side's unmanned boat in a kind of hostile unmanned boat capture systems interfered based on unmanned plane in the embodiment of the present invention
With the structural schematic diagram of unmanned plane；
Fig. 5 is the structural schematic diagram of the judgment module of one's own side's unmanned boat in the embodiment of the present invention.
Specific implementation mode
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.As long as in addition, technical characteristic involved in the various embodiments of the present invention described below
It does not constitute a conflict with each other and can be combined with each other.
It is found during being captured to hostile unmanned boat, if directly implemented to it after finding hostile unmanned boat
Capture action, then may make hostile unmanned boat capture action is taken precautions against (such as escape, or put up a resistance, or with enemy
Square control centre's communication interaction), so as to cause capture action failure.It therefore, if can be when finding hostile unmanned boat first to it
Implement interference, it, then can be with during subsequent captured to cut off the communication of hostile unmanned boat and enemy control centre and contact
The initiative for grasping bigger, improves the success rate of capture.
As shown in Figure 1, the present invention provides it is a kind of based on unmanned plane interference hostile unmanned boat catching method, one's own side nobody
Boat-carrying has the unmanned plane that its manipulation can be available for by the unmanned plane or its surrounding sea of its manipulation, the method includes：
S1, when one's own side's unmanned boat monitors hostile unmanned boat, assign interference action order to the unmanned plane, it is described dry
Disturb the characteristic information that hostile unmanned boat is included at least in action order, and interference behavioural information；
When one's own side's unmanned boat is during the task of execution or patrol marine site, it was found that when hostile unmanned boat, need at this time
Hostile unmanned boat is captured, and in order to promote the success rate of capture, do not start capture action in the embodiment of the present invention directly,
But first pass through unmanned plane and hostile unmanned boat is interfered, to obstruct or cut off the logical of hostile unmanned boat and enemy control centre
Letter and contact；
Specifically, the characteristic information of the hostile unmanned boat may include the operation characteristic information of the hostile unmanned boat,
And/or the external appearance characteristic information of the hostile unmanned boat；It is, of course, also possible to which the one of the hostile unmanned boat can be identified by being other
A little characteristic informations；
The wherein described operation characteristic information includes the speed of a ship or plane and/or course and/or coordinate position and/or communication frequency.
Specifically, the interference behavioural information may include disturbance type and/or interference strength and/or interfering frequency,
And/or interference duration, wherein the disturbance type is electromagnetic interference.
Electromagnetic interference by spectral characteristic classify, can be divided into spot jamming, half spot jamming, barrage jamming,
Sweeping nonlinearity.
Before the embodiment of the present invention starts unmanned plane electromagnetic interference, need through unmanned boat to hostile unmanned boat week
Side full range segment signal is captured and is acquired, then will be corresponding there are when wireless signal in one or more determining frequency range
Determine there are the band informations of wireless signal to be sent to unmanned plane.
Unmanned plane emits electromagnetic interference signal, due to nothing after getting the band information in corresponding band
It is man-machine that there are high maneuverabilities, and can be equipped with high-definition camera come identify in hostile unmanned boat be laid out antenna position, therefore,
In conjunction with the embodiment of the present invention there are a kind of preferred expansion scheme, i.e. unmanned plane is identified by camera from high altitude location hostile
The aerial position of unmanned boat, and aim at the electromagnetic interference letter of the specified frequency range of antenna area transmitting one's own side's unmanned boat
Number, to realize the interference of wireless communication, the set emergency operation that forces it take emergency stop or make a return voyage.
It is under electromagnetic interference working condition to further increase unmanned plane, the positive normal open with one's own side's unmanned boat
News, can also control unmanned plane electromagnetic interference transmitter, itself wireless signal receiver and one's own side's unmanned boat three it
Between keep single phase property, such as：Electromagnetic interference transmitter is located at uav bottom (near undercarriage), itself wireless signal connects
It receives device to be located at the top of unmanned aerial vehicle body, then can control unmanned plane during flying state and be in 30 ° of -90 ° of inclinations, also, control electromagnetism
The direction of radiation interference transmitter is in alignment with enemy's unmanned boat, and itself wireless signal receiver is directed towards one's own side's unmanned boat
, control electromagnetic interference that unmanned plane is emitted just can be ensured to the wireless signal of itself after so completing position setting
The reception of wireless signals of receiver generates influence as few as possible.Based on electromagnetic interference transmitter in above-mentioned unmanned plane, from
The set-up mode of body wireless signal receiver can also be further in unmanned plane, be located at electromagnetic interference transmitter and
Setting electromagnetic shielding net between itself wireless signal receiver, that is, one layer of reticular structure for utilizing electromagnetic shielding material to make, every
Leave the signal between above-mentioned electromagnetic interference transmitter and itself wireless signal receiver.
After S2, the unmanned plane are connected to interference action order, according to the determination of the characteristic information of the hostile unmanned boat
Hostile unmanned boat is jamming target, and implements interference behavior to the jamming target according to the interference behavioural information, so that institute
It states hostile unmanned boat and is detached from the control of control centre of enemy control centre；
The unmanned plane according to the disturbance type and/or interference strength and/or interfering frequency in interference behavioural information,
And/or interference duration, hostile unmanned boat is implemented to interfere；
S3, one's own side's unmanned boat judge whether the hostile unmanned boat has disengaged from enemy's control, if it is, by described
Unmanned plane keeps the interference to the hostile unmanned boat so that the hostile unmanned boat, which is in, is persistently detached from enemy's state of a control, institute
One's own side's unmanned boat is stated to capture the hostile unmanned boat.
After unmanned plane implements interference a period of time to hostile unmanned boat, hostile unmanned boat can be disconnected with enemy control centre
Communication, can implement it to arrest action at this time.In order to improve the success rate arrested, should arrest action before judge it is hostile nobody
Whether ship has disengaged from enemy's control, if it is, implementing to arrest action again to it；
In embodiments of the present invention, one's own side's unmanned boat judges whether the hostile unmanned boat has disengaged from enemy's control,
Can be there are two types of mode, i.e., itself is directly judged or is judged using unmanned plane, specifically：
One's own side's unmanned boat obtains the behavioural characteristic of the hostile unmanned boat, special according to the behavior of the hostile unmanned boat
Sign judges whether the hostile unmanned boat has disengaged from enemy's control；Alternatively,
One's own side's unmanned boat obtains whether the hostile unmanned boat has disengaged from the message that enemy controls from the unmanned plane；
Wherein, the unmanned plane obtains the behavioural characteristic of the hostile unmanned boat, is judged according to the behavioural characteristic of the hostile unmanned boat
Whether the hostile unmanned boat has disengaged from enemy's control, and whether the hostile unmanned boat is had disengaged to the message hair of enemy's control
Give one's own side's unmanned boat；
Specifically, the behavioural characteristic can be the speed of a ship or plane and/or course and/or coordinate position of hostile unmanned boat, and/
Or communication frequency etc..For example, after the hostile unmanned boat is detached from enemy's control, operation (i.e. the speed of a ship or plane is zero) is not continued to, or
Course is random.
In the embodiment of the present invention, after cutting off communication of the hostile unmanned boat with enemy control centre, it can be caught by various
Means are obtained to capture hostile unmanned boat.Specifically, one's own side's unmanned boat captures the hostile unmanned boat, Ke Yiwei：
One's own side's unmanned boat using the towing gear of itself by the hostile unmanned boat tow back to one's own side's controlled area or oneself
Fang Huishou unmanned boats；Alternatively,
One's own side's unmanned boat notifies the surrounding unmanned boat with towing gear or unmanned boat cluster, by it is described nobody
The hostile unmanned boat is towed back to one's own side's controlled area or one's own side's recycling unmanned boat by ship or unmanned boat cluster；Alternatively,
One's own side's unmanned boat notifies the surrounding unmanned boat with blocking apparatus or unmanned boat cluster, by it is described nobody
Ship or unmanned boat cluster intercept and arrest the hostile unmanned boat；Such as intercept net is housed on the interception unmanned boat, it can be with blocking
Net is cut to catch hostile unmanned boat；Or hostile unmanned boat is caught in a manner of drawing in the net by multiple interception unmanned boats；Alternatively,
One's own side's unmanned boat notify it is surrounding have attack device unmanned boat or unmanned boat cluster, by it is described nobody
The hostile unmanned boat is attacked and destroyed to ship or unmanned boat cluster, so that the hostile unmanned boat is run out of steam or communication abnormality, so
One's own side's controlled area is towed back to afterwards or one's own side recycles unmanned boat.
Hostile unmanned boat catching method provided by the invention based on unmanned plane interference, after finding hostile unmanned boat not
Directly implement to arrest action, but first pass through unmanned plane and hostile unmanned boat is interfered, to obstruct or cut off hostile unmanned boat
Communication with enemy control centre and contact, so that hostile unmanned boat is in and be persistently detached from enemy's state of a control, then by one's own side without
People's ship captures the hostile unmanned boat；By the method for the invention, can arrest action implement before, cut off hostile unmanned boat with
The contact of enemy control centre helps to improve the success rate of capture to the being active property in arresting action.
Further, in addition to cutting off communication of the hostile unmanned boat with enemy control centre in the way of interference to capture
Except hostile unmanned boat, active capture can be carried out to hostile unmanned boat in such a way that passage path is predicted, i.e., it is hostile in discovery
It predicts that its subsequent rows sails path after unmanned boat, continues implement actively to capture on driving path behind.
Specifically, to achieve the goals above, the method for the present invention further includes,
One's own side's unmanned boat also records the history driving path of hostile unmanned boat；According to the history of the hostile unmanned boat
Driving path predicts the follow-up driving path of the hostile unmanned boat；Implemented according to the follow-up driving path of the hostile unmanned boat
Capture acts to capture the hostile unmanned boat.
Specifically, the realization method of path prediction can be one's own side's unmanned boat by the history row of the hostile unmanned boat
It sails path to upload onto the server end, the enemy is predicted according to the history driving path of the hostile unmanned boat by the server end
To the follow-up driving path of unmanned boat；Subsequent rows of the one's own side's unmanned boat from hostile unmanned boat described in the received server-side
Sail path；
Further, server end predicts that the mode of follow-up driving path can be according to history driving path：
The navigation path set of graphs in marine site, the server end where the server end is stored with one's own side's unmanned boat
After the hostile unmanned boat being predicted according to the history driving path of the hostile unmanned boat and the navigation path set of graphs
Continuous driving path；Alternatively,
The satellite map in marine site where the server end obtains one's own side's unmanned boat, the server end is according to
The satellite map prediction in marine site where the history driving path of hostile unmanned boat and one's own side's unmanned boat it is described it is hostile nobody
The follow-up driving path of ship.
As shown in Fig. 2, for a kind of effect of the hostile unmanned boat catching method based on unmanned plane interference in the embodiment of the present invention
Fruit schematic diagram.For one's own side's unmanned boat after finding hostile unmanned boat, notice unmanned plane interferes hostile unmanned boat, waits for hostile nothing
After people's ship has disengaged from enemy's control (such as disconnect and communicating with enemy control centre), then capture action is implemented to hostile unmanned boat.
Further, as shown in figure 3, the embodiment of the present invention additionally provides a kind of hostile unmanned boat interfered based on unmanned plane
Capture systems, including one's own side's unmanned boat 1, one's own side's unmanned boat, which is loaded with, to be deposited by the unmanned plane 2 or its surrounding sea of its manipulation
In the unmanned plane 2 for its manipulation.
In the process of running, it is loaded with unmanned plane in one's own side's unmanned boat, or unmanned plane, one's own side is arranged in its surrounding sea
Unmanned boat can assign instruction to the unmanned plane, manipulate it according to the instruction execution violate-action assigned.When one's own side's unmanned boat exists
It was found that when hostile unmanned boat, directly it is not implemented to capture, but first control unmanned plane is implemented to interfere to hostile unmanned boat, makes enemy
After being detached from enemy's control to unmanned boat, then implement capture action to it.As shown in figure 4, wherein：
One's own side's unmanned boat 1 includes monitoring modular 11 and instruction issuing module 12, wherein the monitoring modular 1111 is used
In monitoring hostile unmanned boat, described instruction is assigned module 12 and is used for when the monitoring modular 11 monitors hostile unmanned boat, to
The unmanned plane assigns interference action order, and the characteristic information of hostile unmanned boat is included at least in the interference action order, with
And interference behavioural information；
The unmanned plane includes command reception module 21, hostile unmanned boat confirmation module and interference execution module, wherein institute
It states command reception module 21 and is used for according to for receiving the interference action order, the hostile unmanned boat confirmation module 22
The characteristic information of hostile unmanned boat determines that the hostile unmanned boat is jamming target, and the interference execution module 23 is used for according to institute
It states interference behavioural information and interference behavior is implemented to the jamming target, so that the hostile unmanned boat is detached from the control of enemy control centre
System；
One's own side's unmanned boat further includes judgment module 13 and acquisition control module 14, wherein the judgment module 13 is used for
Judge whether the hostile unmanned boat has disengaged from enemy's control, if it is, by the unmanned plane keep to it is described it is hostile nobody
The interference of ship is persistently detached from enemy's state of a control so that the hostile unmanned boat is in, and the acquisition control module 14 controls described
One's own side's unmanned boat captures the hostile unmanned boat.
Further, the characteristic information of the hostile unmanned boat includes the operation characteristic information of the hostile unmanned boat, and/
Or the external appearance characteristic information of the hostile unmanned boat；
Wherein, the interference behavioural information includes disturbance type and/or interference strength and/or interfering frequency, and/or dry
Duration is disturbed, wherein the disturbance type is electromagnetic interference.
Further, as shown in figure 5, the judgment module 13, which includes feature acquisition submodule 131 and feature, judges submodule
Block 132, wherein the feature acquisition submodule 131, the behavioural characteristic for obtaining the hostile unmanned boat；The feature is sentenced
Disconnected submodule 132, for judging whether the hostile unmanned boat has disengaged from enemy according to the behavioural characteristic of the hostile unmanned boat
Control；
Alternatively, the judgment module 13 includes judging result receiving submodule 133, the judging result receiving submodule
133 from the unmanned plane for obtaining whether the hostile unmanned boat has disengaged from the message that enemy controls；Wherein, the unmanned plane
Including hostile unmanned boat judging submodule 24, the hostile unmanned boat judging submodule 24 is for obtaining the hostile unmanned boat
Behavioural characteristic judges whether the hostile unmanned boat has disengaged from enemy's control according to the behavioural characteristic of the hostile unmanned boat, and
The message whether hostile unmanned boat is had disengaged to enemy's control is sent to one's own side's unmanned boat.
Further, the acquisition control module 14 controls one's own side's unmanned boat and captures the hostile unmanned boat, tool
Body is：
The acquisition control module 14 is controlled one's own side's unmanned boat 1 and is dragged the hostile unmanned boat using the towing gear of itself
It returns one's own side's controlled area or one's own side recycles unmanned boat；Alternatively,
The acquisition control module 14 controls one's own side's unmanned boat 1 and notifies surrounding unmanned boat or nothing with towing gear
People's ship cluster, by the unmanned boat or the hostile unmanned boat is towed back to one's own side's controlled area to unmanned boat cluster or one's own side recycles nothing
People's ship；Alternatively,
The acquisition control module 14 controls one's own side's unmanned boat 1 and notifies surrounding unmanned boat or nothing with blocking apparatus
People's ship cluster is intercepted by the unmanned boat or unmanned boat cluster and arrests the hostile unmanned boat；Alternatively,
The acquisition control module 14 controls one's own side's unmanned boat 1 and notifies the surrounding unmanned boat or nothing with attack device
The hostile unmanned boat is attacked by the unmanned boat or unmanned boat cluster and destroyed to people's ship cluster, and the hostile unmanned boat is made to lose
Power or communication abnormality are removed, one's own side's controlled area is then towed back to or one's own side recycles unmanned boat.
Hostile unmanned boat capture systems provided by the invention based on unmanned plane interference, after finding hostile unmanned boat not
Directly implement to arrest action, but first pass through unmanned plane and hostile unmanned boat is interfered, to obstruct or cut off hostile unmanned boat
Communication with enemy control centre and contact, so that hostile unmanned boat is in and be persistently detached from enemy's state of a control, then by one's own side without
People's ship captures the hostile unmanned boat；By the method for the invention, can arrest action implement before, cut off hostile unmanned boat with
The contact of enemy control centre helps to improve the success rate of capture to the being active property in arresting action.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, all within the spirits and principles of the present invention made by all any modification, equivalent and improvement etc., should all include
Within protection scope of the present invention.
Claims (10)
1. a kind of hostile unmanned boat catching method based on unmanned plane interference, which is characterized in that one's own side's unmanned boat is loaded with can be by it
The unmanned plane of manipulation or its surrounding sea are available for the unmanned plane of its manipulation, the method includes：
When one's own side's unmanned boat monitors hostile unmanned boat, interference action order, the interference action are assigned to the unmanned plane
The characteristic information of hostile unmanned boat, and interference behavioural information are included at least in instruction；
The unmanned plane be connected to interference action order after, according to the characteristic information of the hostile unmanned boat determine it is described it is hostile nobody
Ship is jamming target, and implements interference behavior to the jamming target according to the interference behavioural information, so that the hostile nothing
People's ship is detached from the control of enemy control centre；
One's own side's unmanned boat judges whether the hostile unmanned boat has disengaged from enemy's control, if it is, by the unmanned plane
The interference to the hostile unmanned boat is kept so that the hostile unmanned boat, which is in, is persistently detached from enemy's state of a control, the one's own side
Unmanned boat captures the hostile unmanned boat.
2. the hostile unmanned boat catching method as described in claim 1 based on unmanned plane interference, which is characterized in that described hostile
The characteristic information of unmanned boat includes the operation characteristic information of the hostile unmanned boat and/or the appearance spy of the hostile unmanned boat
Reference ceases, wherein the operation characteristic information includes the speed of a ship or plane and/or course and/or coordinate position and/or communication frequency.
3. the hostile unmanned boat catching method as claimed in claim 1 or 2 based on unmanned plane interference, which is characterized in that described
Interference behavioural information includes disturbance type and/or interference strength and/or interfering frequency, and/or interference duration, wherein institute
It is electromagnetic interference to state disturbance type.
4. the hostile unmanned boat catching method as claimed in claim 1 or 2 based on unmanned plane interference, which is characterized in that described
One's own side's unmanned boat judges whether the hostile unmanned boat has disengaged from enemy's control, specially：
One's own side's unmanned boat obtains the behavioural characteristic of the hostile unmanned boat, is sentenced according to the behavioural characteristic of the hostile unmanned boat
Whether the hostile unmanned boat that breaks has disengaged from enemy's control；Alternatively,
One's own side's unmanned boat obtains whether the hostile unmanned boat has disengaged from the message that enemy controls from the unmanned plane；Its
In, the unmanned plane obtains the behavioural characteristic of the hostile unmanned boat, judges institute according to the behavioural characteristic of the hostile unmanned boat
It states whether hostile unmanned boat has disengaged from enemy's control, and whether the hostile unmanned boat is had disengaged to the message transmission of enemy's control
To one's own side's unmanned boat.
5. the hostile unmanned boat catching method as claimed in claim 1 or 2 based on unmanned plane interference, which is characterized in that described
One's own side's unmanned boat captures the hostile unmanned boat, specially：
The hostile unmanned boat is towed back to one's own side's controlled area using the towing gear of itself for one's own side's unmanned boat or one's own side returns
Receive unmanned boat；Alternatively,
One's own side's unmanned boat notifies the surrounding unmanned boat with towing gear or unmanned boat cluster, by the unmanned boat or
The hostile unmanned boat is towed back to one's own side's controlled area to unmanned boat cluster or one's own side recycles unmanned boat；Alternatively,
One's own side's unmanned boat notifies the surrounding unmanned boat with blocking apparatus or unmanned boat cluster, by the unmanned boat or
Unmanned boat cluster intercepts and arrests the hostile unmanned boat；Alternatively,
One's own side's unmanned boat notifies the surrounding unmanned boat or unmanned boat cluster with attack device, by the unmanned boat or
The hostile unmanned boat is attacked and destroyed to unmanned boat cluster, and the hostile unmanned boat is made to run out of steam or communication abnormality, then will
It tows back to one's own side's controlled area or one's own side recycles unmanned boat.
6. the hostile unmanned boat catching method as claimed in claim 1 or 2 based on unmanned plane interference, which is characterized in that described
Method further includes：
One's own side's unmanned boat also records the history driving path of hostile unmanned boat；It is travelled according to the history of the hostile unmanned boat
Predict the follow-up driving path of the hostile unmanned boat in path；Implement to capture according to the follow-up driving path of the hostile unmanned boat
Action is to capture the hostile unmanned boat.
7. it is a kind of based on unmanned plane interference hostile unmanned boat capture systems, which is characterized in that including one's own side's unmanned boat, it is described oneself
Square unmanned boat is loaded with the unmanned plane that its manipulation can be available for by the unmanned plane or its surrounding sea of its manipulation, wherein：
One's own side's unmanned boat includes monitoring modular and instruction issuing module, wherein the monitoring modular for monitor it is hostile nobody
Ship, described instruction assign module for when the monitoring module monitors are to hostile unmanned boat, interference to be assigned to the unmanned plane
Action order, it is described to interfere the characteristic information that hostile unmanned boat is included at least in action order, and interference behavioural information；
The unmanned plane includes command reception module, hostile unmanned boat confirmation module and interference execution module, wherein described instruction
Receiving module is used for for receiving the interference action order, the hostile unmanned boat confirmation module according to the hostile unmanned boat
Characteristic information determine the hostile unmanned boat be jamming target, the interference execution module be used for according to the interference behavior letter
Breath implements interference behavior to the jamming target, so that the hostile unmanned boat is detached from the control of enemy control centre；
One's own side's unmanned boat further includes judgment module and acquisition control module, wherein the judgment module is for judging the enemy
Whether enemy's control is had disengaged to unmanned boat, if it is, by the unmanned plane keep to the interference of the hostile unmanned boat with
So that the hostile unmanned boat is in and be persistently detached from enemy's state of a control, the acquisition control module controls one's own side's unmanned boat will
The hostile unmanned boat capture.
8. the hostile unmanned boat capture systems as claimed in claim 7 based on unmanned plane interference, which is characterized in that
The characteristic information of the hostile unmanned boat includes the operation characteristic information of the hostile unmanned boat and/or the hostile nothing
The external appearance characteristic information of people's ship；
The interference behavioural information includes disturbance type and/or interference strength and/or interfering frequency, and/or when interference continues
It is long, wherein the disturbance type is electromagnetic interference.
9. the hostile unmanned boat capture systems as claimed in claim 7 or 8 based on unmanned plane interference, which is characterized in that
The judgment module includes feature acquisition submodule and feature judging submodule, wherein the feature acquisition submodule is used
In the behavioural characteristic for obtaining the hostile unmanned boat；The feature judging submodule, for the row according to the hostile unmanned boat
It is characterized and judges whether the hostile unmanned boat has disengaged from enemy's control；
Alternatively, the judgment module includes judging result receiving submodule, the judging result receiving submodule is used for from described
Unmanned plane obtains the message whether hostile unmanned boat has disengaged from enemy's control；Wherein, the unmanned plane include it is hostile nobody
Ship judging submodule, the hostile unmanned boat judging submodule is used to obtain the behavioural characteristic of the hostile unmanned boat, according to institute
The behavioural characteristic for stating hostile unmanned boat judges whether the hostile unmanned boat has disengaged from enemy's control, and by the hostile unmanned boat
The message for whether having disengaged from enemy's control is sent to one's own side's unmanned boat.
10. the hostile unmanned boat capture systems as claimed in claim 7 or 8 based on unmanned plane interference, which is characterized in that described
Acquisition control module controls one's own side's unmanned boat and captures the hostile unmanned boat, specially：
The hostile unmanned boat is towed back to one's own side by acquisition control module control one's own side's unmanned boat using the towing gear of itself
Controlled area or one's own side recycle unmanned boat；Alternatively,
Acquisition control module control one's own side's unmanned boat notifies the surrounding unmanned boat with towing gear or unmanned boat collection
Group, by the unmanned boat or the hostile unmanned boat is towed back to one's own side's controlled area to unmanned boat cluster or one's own side recycles unmanned boat；
Alternatively,
Acquisition control module control one's own side's unmanned boat notifies the surrounding unmanned boat with blocking apparatus or unmanned boat collection
Group, is intercepted by the unmanned boat or unmanned boat cluster and arrests the hostile unmanned boat；Alternatively,
Acquisition control module control one's own side's unmanned boat notifies the surrounding unmanned boat or unmanned boat collection with attack device
Group, is attacked by the unmanned boat or unmanned boat cluster and is destroyed the hostile unmanned boat, the hostile unmanned boat is made to run out of steam
Or communication abnormality, it is then towed back to one's own side's controlled area or one's own side recycles unmanned boat.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810247003.3A CN108494521B (en) | 2018-03-23 | 2018-03-23 | Enemy unmanned ship capturing method and system based on unmanned aerial vehicle interference |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810247003.3A CN108494521B (en) | 2018-03-23 | 2018-03-23 | Enemy unmanned ship capturing method and system based on unmanned aerial vehicle interference |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108494521A true CN108494521A (en) | 2018-09-04 |
| CN108494521B CN108494521B (en) | 2020-07-17 |
Family
ID=63319519
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810247003.3A Active CN108494521B (en) | 2018-03-23 | 2018-03-23 | Enemy unmanned ship capturing method and system based on unmanned aerial vehicle interference |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108494521B (en) |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101655562A (en) * | 2009-09-11 | 2010-02-24 | 深圳市高伦技术有限公司 | Anti-collision alarming radar system and device for ships |
| CN102968625A (en) * | 2012-12-14 | 2013-03-13 | 南京思创信息技术有限公司 | Ship distinguishing and tracking method based on trail |
| CN104091470A (en) * | 2014-07-15 | 2014-10-08 | 南京大学 | Channel traffic information prediction method and application based on multidata fusion |
| CN104268625A (en) * | 2014-10-09 | 2015-01-07 | 哈尔滨工程大学 | Autonomous underwater vehicle track predicating method based on marine environment information |
| CN104616352A (en) * | 2015-02-13 | 2015-05-13 | 河海大学常州校区 | Three-dimensional information management method for channel gate section |
| CN105119683A (en) * | 2015-08-18 | 2015-12-02 | 昆明理工大学 | Unmanned plane communication interference countermeasure method based on real-time embedded control system |
| CN105292398A (en) * | 2015-11-10 | 2016-02-03 | 四方继保（武汉）软件有限公司 | Unmanned aerial vehicle mixed system carried by unmanned ship |
| CN106143821A (en) * | 2016-07-08 | 2016-11-23 | 北京四方继保自动化股份有限公司 | A kind of unmanned boat boat-carrying hangar system |
| CN106341179A (en) * | 2016-09-14 | 2017-01-18 | 芜湖扬展新材料科技服务有限公司 | Unmanned aerial vehicle ground monitoring system based on communication countermeasure |
| CN107144845A (en) * | 2017-04-06 | 2017-09-08 | 北京臻迪科技股份有限公司 | A kind of unmanned boat means of communication |
| CN206634165U (en) * | 2017-04-12 | 2017-11-14 | 大鹏高科（武汉）智能装备有限公司 | A kind of recovery unmanned boat with Communication Jamming device |
-
2018
- 2018-03-23 CN CN201810247003.3A patent/CN108494521B/en active Active
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101655562A (en) * | 2009-09-11 | 2010-02-24 | 深圳市高伦技术有限公司 | Anti-collision alarming radar system and device for ships |
| CN102968625A (en) * | 2012-12-14 | 2013-03-13 | 南京思创信息技术有限公司 | Ship distinguishing and tracking method based on trail |
| CN104091470A (en) * | 2014-07-15 | 2014-10-08 | 南京大学 | Channel traffic information prediction method and application based on multidata fusion |
| CN104268625A (en) * | 2014-10-09 | 2015-01-07 | 哈尔滨工程大学 | Autonomous underwater vehicle track predicating method based on marine environment information |
| CN104616352A (en) * | 2015-02-13 | 2015-05-13 | 河海大学常州校区 | Three-dimensional information management method for channel gate section |
| CN105119683A (en) * | 2015-08-18 | 2015-12-02 | 昆明理工大学 | Unmanned plane communication interference countermeasure method based on real-time embedded control system |
| CN105292398A (en) * | 2015-11-10 | 2016-02-03 | 四方继保（武汉）软件有限公司 | Unmanned aerial vehicle mixed system carried by unmanned ship |
| CN106143821A (en) * | 2016-07-08 | 2016-11-23 | 北京四方继保自动化股份有限公司 | A kind of unmanned boat boat-carrying hangar system |
| CN106341179A (en) * | 2016-09-14 | 2017-01-18 | 芜湖扬展新材料科技服务有限公司 | Unmanned aerial vehicle ground monitoring system based on communication countermeasure |
| CN107144845A (en) * | 2017-04-06 | 2017-09-08 | 北京臻迪科技股份有限公司 | A kind of unmanned boat means of communication |
| CN206634165U (en) * | 2017-04-12 | 2017-11-14 | 大鹏高科（武汉）智能装备有限公司 | A kind of recovery unmanned boat with Communication Jamming device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108494521B (en) | 2020-07-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112797846B (en) | Unmanned aerial vehicle prevention and control method and system | |
| CN112651181B (en) | Radar countermeasure strategy modeling and simulation method based on zero and game | |
| CN107132547A (en) | A kind of unmanned plane management-control method | |
| CN112902756A (en) | Low-slow small-flight target designated point trapping method based on low-altitude rejection system | |
| CN107560503B (en) | A kind of unmanned plane method for entrapping based on satellite navigation curve | |
| KR20180043912A (en) | System for cooperative anti-drone and method for cooperation control of anti-drones | |
| O'Malley | The no drone zone | |
| He et al. | An effective countermeasure against UAV swarm attack | |
| CN107861122A (en) | Geographical grid system, predator's system, the counter system of aircraft | |
| CN108444336A (en) | Unmanned plane method for entrapping based on GNSS analog signals | |
| CN112799148B (en) | Multi-detector collaborative detection airspace configuration method and system based on threat angle | |
| EP1863702B1 (en) | Mine hunting system and mine hunting method | |
| CN114357742A (en) | Multi-machine air assault cooperative behavior simulation method under interference machine coordination | |
| CN108494521A (en) | A kind of hostile unmanned boat catching method and system based on unmanned plane interference | |
| KR20240021671A (en) | Suspicious object monitoring device based on false image probability | |
| CN114353594A (en) | Unmanned aerial vehicle prevention and control system based on shelter | |
| CN109724472B (en) | Vehicle-mounted regional comprehensive defense system and method | |
| CN113703479A (en) | Weapon configuration method and system based on high-density value and large depth | |
| Tian et al. | Research on the intelligent countermeasure based on the multi-aircraft cooperative combat behavior tree | |
| Yang et al. | Architecture and challenges for low-altitude security system | |
| Huang et al. | Research on Intelligent Cooperative Command and Control System of Unmanned Equipment in Amphibious Operations | |
| CN111966117A (en) | Method and system for controlling unmanned aerial vehicle to land | |
| CN112464548B (en) | Dynamic allocation device for countermeasure unit | |
| Caton | Swarming | |
| CN116859941A (en) | Electronic combat task execution method, main unmanned ship, medium and electronic equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 266000 167 road two, science and education, Huangdao District, Qingdao, Shandong Patentee after: QINGDAO ZHONGBANG INTELLIGENT TECHNOLOGY Co.,Ltd. Address before: 266000 167 road two, science and education, Huangdao District, Qingdao, Shandong Patentee before: QINGDAO ZHONGBANG DEFENSE INTELLIGENT EQUIPMENT CO.,LTD. |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20221028 Address after: 266400 Fusion Road 687, Fusion Road, Fusion Innovation Demonstration Zone, Guzhenkou, Binhai Street, Huangdao District, Qingdao City, Shandong Province Patentee after: QINGDAO WUJIANG TECHNOLOGY Co.,Ltd. Address before: 266000 167 road two, science and education, Huangdao District, Qingdao, Shandong Patentee before: QINGDAO ZHONGBANG INTELLIGENT TECHNOLOGY Co.,Ltd. |