CN110425935A - Multisystem combined anti-unmanned plane method, apparatus, storage medium and control equipment - Google Patents
Multisystem combined anti-unmanned plane method, apparatus, storage medium and control equipment Download PDFInfo
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- CN110425935A CN110425935A CN201910610912.3A CN201910610912A CN110425935A CN 110425935 A CN110425935 A CN 110425935A CN 201910610912 A CN201910610912 A CN 201910610912A CN 110425935 A CN110425935 A CN 110425935A
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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
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Abstract
The present invention provides the multisystem combined anti-unmanned plane method, apparatus of one kind, storage medium and control equipment, this method comprises: whether having the unmanned plane of flight in detection control area, if detecting the unmanned plane of flight, obtains the spatial information of the unmanned plane；Whether the unmanned plane for identifying the flight is authorization unmanned plane, and the unmanned plane of the flight is identified as UAV targets if the unmanned plane of the flight is not authorized；The predicted position of the UAV targets is determined according to the spatial information, and sends interference apparatus for the predicted position, is directed at the predicted position to control the interference apparatus；The UAV targets are interfered.The present invention can comprehensive guarantee control area safety, make to authorize unmanned plane free flight in control area, to unauthorized suspicious unmanned plane, realize collection detection, identification, interference, the multisystem combined anti-unmanned plane method such as destroy.
Description
Technical field
The present invention relates to anti-unmanned plane field, more particularly to a kind of multisystem combined anti-unmanned plane method, apparatus, deposit
Storage media and control equipment.
Background technique
With the rapid development of science and technology, nowadays miscellaneous aircraft is emerged in multitude, and especially flying height exists
1000 meters or less, flying speed be lower than 200 kilometers/hour, the lesser aircraft of figure.
However, the major hazard sources unit such as state key harmful influence enterprise, China, large-size chemical garden and portion, government
Door, important unit do not have the prevention ability that such low altitude airspace threatens also, and there is huge security risk, the criminals of allowing
Guilty molecule has opportunity.
Existing anti-unmanned air vehicle technique, which still has, to carry out indifference interference to unmanned plane all in control area,
Low efficiency is not easy the shortcomings that manipulating.
It is comprehensive, how to provide it is a kind of it is novel, omnidirectional, distinguishing authorization and unauthorized, efficient, collection detection, know
Not, it interferes, destroy in the multisystem combined anti-unmanned plane method of one, be of great significance.
Summary of the invention
The invention proposes a kind of multisystem combined anti-unmanned plane method, apparatus, storage medium and control equipment, solutions
Indifferences strike only carried out to all unmanned planes in control area in existing anti-unmanned plane method of having determined, low efficiency is not easy to manipulate
Problem.
One aspect of the present invention provides a kind of multisystem combined anti-unmanned plane method, which comprises
Detection control area in whether have the unmanned plane of flight, if detecting the unmanned plane of flight, obtain it is described nobody
The spatial information of machine；
Whether the unmanned plane for identifying the flight is authorization unmanned plane, if the unmanned plane of the flight is not authorized
Then the unmanned plane by the flight is identified as UAV targets；
The predicted position of the UAV targets is determined according to the spatial information, and sends the predicted position to
Interference apparatus is directed at the predicted position to control the interference apparatus；
The UAV targets are interfered.
Optionally, whether there is the unmanned plane of flight in detection control area, if detecting the unmanned plane of flight,
The spatial information for obtaining the unmanned plane, specifically includes:
The detections of radar signal detected is received, judges manage in area whether have flight according to the detections of radar signal
Unmanned plane；
If determining the unmanned plane for having flight in the control area according to the detections of radar signal, the flight is obtained
First flight parameter information of unmanned plane；
The radio signal listened to is received, the nothing for whether having flight in area judged to manage according to the radio signal
It is man-machine；
If determining the unmanned plane for having flight in the control area according to the radio signal, the nothing of the flight is obtained
The second man-machine flight parameter information；
First flight parameter information and the second flight parameter information are compared, determine the flight
The spatial information of unmanned plane.
Optionally, whether there is the unmanned plane of flight in detection control area, if detecting the unmanned plane of flight,
Obtain the spatial information of the unmanned plane, further includes:
The detections of radar signal detected is received, judges manage in area whether have flight according to the detections of radar signal
Unmanned plane；
If being determined according to the detections of radar signal has the unmanned plane of flight in the control area, what reception listened to
Radio signal judges to manage the unmanned plane for whether having flight in area according to the radio signal；
If determining the unmanned plane for having flight in the control area according to the radio signal, the sound got is received
Message breath judges in the unmanned plane sound spectrum stored in preset feature sound spectrum library with the presence or absence of matched with the acoustic information
Unmanned plane sound spectrum；
If existing and the matched unmanned plane sound spectrum of the acoustic information in feature sound spectrum library, it is determined that detection control
There is the unmanned plane of flight in area, and obtains the spatial information of the unmanned plane of the flight.
Optionally, whether the unmanned plane of the identification flight is authorization unmanned plane, if the unmanned plane of the flight
It does not obtain and the unmanned plane then by the flight is authorized to be identified as UAV targets, specifically include:
Emit license confirmation request signal to the unmanned plane of the flight, if not receiving the unmanned plane of the flight
The ID signal of authorization of feedback, then the unmanned plane by the flight is identified as UAV targets.
It is optionally, described that the UAV targets are interfered, comprising:
It controls preset image acquisition equipment and is directed at the predicted position, it is color with obtain the UAV targets first
Color image information and the first Infrared Image Information；
It is pre- to judge whether current law-enforcing environment meets according to first color image information and the first Infrared Image Information
If direct destruction UAV targets condition；
If current law-enforcing environment meets the preset direct condition for destroying UAV targets, to the UAV targets
Emit laser gun, interference signal otherwise is emitted to the UAV targets.
Optionally, after interfering the UAV targets, the method also includes:
The second color image information and the second Infrared Image Information of the UAV targets are obtained, and according to described
Two color image informations and the second infrared information judge whether the interference to UAV targets is effective, right if interference is invalid
The UAV targets interfere again, start to process next target if interference effectively.
Another aspect of the present invention provides a kind of multisystem combined anti-unmanned aerial vehicle (UAV) control device, described device packet
It includes:
Detecting module, for detecting in control area whether have the unmanned plane of flight, if detecting the unmanned plane of flight,
Then obtain the spatial information of the unmanned plane；
Identification module, for identification the unmanned plane of the flight whether be authorization unmanned plane, if the flight nobody
Machine, which does not obtain, authorizes the unmanned plane then by the flight to be identified as UAV targets；
Control module, for determining the predicted position of the UAV targets according to the spatial information, and will be described pre-
Location, which is set, is sent to interference apparatus, is directed at the predicted position to control the interference apparatus；
Intervention module, for interfering the UAV targets.
Optionally, the detecting module specifically includes:
Radar detection unit judges to manage for receiving the detections of radar signal detected according to the detections of radar signal
Whether the unmanned plane of flight is had in control area；If determining nobody for having flight in the control area according to the detections of radar signal
Machine obtains the first flight parameter information of the unmanned plane of the flight；
In the present embodiment, first flight parameter information include: the volume of unmanned plane, heading, spatial position,
Flight speed.
Radio intercept unit judges to manage for receiving the radio signal listened to according to the radio signal
Whether the unmanned plane of flight is had in area；If determining the unmanned plane for having flight in the control area according to the radio signal, obtain
Take the second flight parameter information of the unmanned plane of the flight；
In the present embodiment, second flight parameter information includes: the spatial position of unmanned plane, heading, space bit
It sets, operation signal.
Spatial information acquiring unit, for comparing first flight parameter information and the second flight parameter information
To analysis, the spatial information of the unmanned plane of the flight is determined.
The spatial information includes the flight path of unmanned plane, the predicted position of predicted orbit and subsequent time unmanned plane.
Optionally, the detecting module may also include that radar detection unit, for receiving the detections of radar detected letter
Number, the unmanned plane for whether having flight in area judged to manage according to the detections of radar signal；
Radio intercept unit, for determining the nothing for having flight in the control area according to the detections of radar signal
When man-machine, the radio signal listened to is received, nobody for whether having flight in area judged to manage according to the radio signal
Machine；
Sound spectrum probe unit, for determining the unmanned plane for having flight in the control area according to the radio signal
When, the acoustic information got is received, judges to whether there is and institute in the unmanned plane sound spectrum stored in preset feature sound spectrum library
State the matched unmanned plane sound spectrum of acoustic information；
Spatial information acquiring unit, in feature sound spectrum library exist with the acoustic information it is matched nobody
When machine sound spectrum, it is determined that detection control has the unmanned plane of flight in area, and obtains the spatial information of the unmanned plane of the flight.
Optionally, the identification module, specifically for emitting license confirmation request signal to the unmanned plane of the flight,
If not receiving the ID signal of authorization of the unmanned plane feedback of the flight, the unmanned plane of the flight is identified as mesh
Mark unmanned plane.
Optionally, the intervention module, comprising:
Image acquisition unit is directed at the predicted position for controlling image acquisition equipment, to obtain UAV targets the
One color image information and the first Infrared Image Information；
Law-enforcing environment judging unit, it is current for being judged according to the first color image information and the first Infrared Image Information
Whether law-enforcing environment meets the preset direct condition for destroying UAV targets；
It disturbs and ruins unit, when for meeting the condition of preset direct destruction UAV targets in current law-enforcing environment, to mesh
It marks unmanned plane and emits laser gun, when current law-enforcing environment does not meet the preset direct condition for destroying UAV targets, to mesh
It marks unmanned plane and emits interference signal.
Optionally, the intervention module, further includes:
Verification unit, for obtaining the second color image information and the second Infrared Image Information of UAV targets, and root
Judge whether the interference to UAV targets is effective according to second color image information and the second infrared information, if interference
It is invalid then same target is interfered again, next target is started to process if interference effectively.
In addition, it is stored thereon with computer program the present invention also provides a kind of computer scale storage medium, the journey
The step of method as described above is realized when sequence is executed by processor.
In addition, the present invention also provides a kind of control equipment, including memory, processor and storage are on a memory
And the computer program that can be run on a processor, the processor realize the step of method as described above when executing described program
Suddenly.
Method, apparatus, storage medium and the control of multisystem combined anti-unmanned plane provided in an embodiment of the present invention are set
It is standby, unmanned plane and UAV targets have been authorized by the way that the unmanned plane of flight to be identified as, accurate management has been carried out and has ensured control area
Interior safety can allow the unmanned plane authorized to continue as people and provide convenience；To unauthorized suspicious unmanned plane, anti-nothing is realized
The multisystem combined counter of man-machine system, high-efficient, easy manipulation.
The above description is only an overview of the technical scheme of the present invention, in order to better understand the technical means of the present invention,
And it can be implemented in accordance with the contents of the specification, and above and other purpose of the invention, feature and a little can to allow
It is clearer and more comprehensible, the followings are specific embodiments of the present invention.
Detailed description of the invention
By reading the following detailed description of the preferred embodiment, various other advantages and benefits are general for this field
Logical technical staff will become clear.The drawings are only for the purpose of illustrating a preferred embodiment, and is not considered as to this hair
Bright limitation.And throughout the drawings, the same reference numbers will be used to refer to the same parts.In the accompanying drawings:
Fig. 1 is the flow diagram of the multisystem combined anti-unmanned plane method of one kind of the embodiment of the present invention；
Fig. 2 is the use flow diagram of the multisystem combined anti-unmanned plane method of one kind of the embodiment of the present invention；
Fig. 3 is the use flow diagram of the multisystem combined anti-unmanned plane method of one kind of another embodiment of the present invention；
Fig. 4 is the multisystem combined anti-unmanned plane apparatus structure schematic diagram of one kind of the embodiment of the present invention.
Specific embodiment
Exemplary embodiments of the present disclosure are described in more detail below with reference to accompanying drawings.Although showing this public affairs in attached drawing
The exemplary embodiment opened, it being understood, however, that may be realized in various forms the disclosure without the implementation that should be illustrated here
Example is limited.On the contrary, these embodiments are provided to facilitate a more thoroughly understanding of the present invention, and can be by the disclosure
Range is fully disclosed to those skilled in the art.
Those skilled in the art of the present technique are appreciated that unless otherwise defined, all terms used herein (including technology
Term and scientific term), there is meaning identical with the general understanding of those of ordinary skill in fields of the present invention.Also
It should be understood that those terms such as defined in the general dictionary, it should be understood that have and the context of the prior art
In the consistent meaning of meaning otherwise will not be solved with idealization or meaning too formal and unless by specific definitions
It releases.
Fig. 1 is that the process of the multisystem combined multisystem combined anti-unmanned plane method of one kind of the embodiment of the present invention is shown
It is intended to；Referring to Fig.1, the multisystem combined anti-unmanned plane method of the embodiment of the present invention specifically includes S11~S14, following institute
Show:
Whether S11, detection control have the unmanned plane of flight in area, if detecting the unmanned plane of flight, described in acquisition
The spatial information of unmanned plane.
In the present embodiment, the mode that radar detection, radio intercept and acoustic information detection can be used is detected.This
In embodiment, the unmanned plane of the survey mission, which can according to need, to be used alone a kind of detection system and is detected, and can also make
Mutually confirmation verifying is combined to be detected with a variety of detection systems；
In the present embodiment, the spatial information includes the pre- of the flight path of unmanned plane, predicted orbit and subsequent time
Location is set；The spatial information can be calculated according to the flight parameter information detected according to single detective equipment, can also
The flight parameter information detected according to a variety of detecting devices compares analysis and obtains.
Whether S12, the unmanned plane for identifying the flight are authorization unmanned plane, if the unmanned plane of the flight does not obtain
The unmanned plane then by the flight is authorized to be identified as UAV targets.
In the present embodiment, ID signal is authorized by whether being received after transmitting license confirmation request signal and judges to be
Unmanned plane or UAV targets are authorized.
In the present embodiment, an ID signal projector will be installed when unmanned plane obtains authorization, when the ID signal emits
Device can emit when receiving license confirmation request signal has authorized ID signal.
S13, the predicted position that the UAV targets are determined according to the spatial information, and the predicted position is sent out
It is sent to interference apparatus, is directed at the predicted position to control the interference apparatus.
S14, the UAV targets are interfered.
In the present embodiment, carrying out interference to UAV targets includes emitting continuous wave signal interference using interference rifle, and adopt
It is destroyed with laser gun transmitting laser.
In the present embodiment, selection can be instructed not interfere UAV targets according to operator.
Multisystem combined anti-unmanned plane method provided in an embodiment of the present invention, by the way that the unmanned plane of flight to be identified as
Authorize unmanned plane and UAV targets, carry out accurate management and ensured safety in control area, can allow the unmanned plane that has authorized after
Continue and provides convenience for people；To unauthorized suspicious unmanned plane, the multisystem combined counter of anti-UAV system, efficiency are realized
High, easily manipulation.
Fig. 2 is the flow diagram of the multisystem combined anti-unmanned plane method of one kind of the embodiment of the present invention.Reference Fig. 2,
The multisystem combined anti-unmanned plane method of one kind that the embodiment of the present invention proposes specifically includes step S10-S146, as follows:
S10, multisystem combined anti-unmanned plane equipment is erected on mobile vehicle vehicle, executes step S101；
In the present embodiment, the multisystem combined anti-unmanned plane device can pass through installation and deployment to motor-driven carrier, example
Such as: offroad vehicle increases its mobility, to cope with various environment when execution task, saves the time of installation equipment.
It should be noted that can also be needed to realize using equipment such as helicopter, motor vehicle, ships according to actual application environment,
To in this embodiment of the present invention without limitation.
It further include step S101~S102 before being detected to control area in the present embodiment；
S101, carrier vehicle is driven to control area, parking executes step S102；
The multisystem combined UAV system of S102, starting, executes step S11；
Whether S11, detection control have the unmanned plane of flight in area, if detecting the unmanned plane of flight, described in acquisition
The spatial information of unmanned plane；
It further include step S111~S112 before being identified to the unmanned plane of flight in the present embodiment
S111, the unmanned plane that the flight in area is managed using radar detecting equipment and the detection of radio intercept equipment, are entered
Step S112；
In the present embodiment, the scanning to control area is realized using four sides battle array radar；To same as the surrounding of core using carrier vehicle
When be scanned.The unobstructed detection of omnidirectional is realized relative to antenna rotation radar using four sides battle array radar.
In the present embodiment, four sides battle array radar receives the detections of radar signal detected, judges to manage according to detections of radar signal
Whether the unmanned plane of flight is had in control area；If it is determined that there is the unmanned plane of flight in control area, the first of the unmanned plane of flight is obtained
Flight parameter information is sent to control command centre.
First flight parameter information includes: the volume of unmanned plane, heading, spatial position, flight speed.
Radio signal in control area is listened to using radio intercept equipment, if having in the radio signal listened to
The operation signal of unmanned plane, it is determined that have the unmanned plane of flight in control area, obtain the second flight parameter of the unmanned plane of flight
Information is sent to control command centre.
Second flight parameter information includes: the operation signal of the spatial position of unmanned plane, unmanned plane.
S112, the spatial information for calculating unmanned plane, enter step S12；
In the present embodiment, control command centre is by the first flight parameter information for obtaining four sides battle array radar and wirelessly
The second flight parameter information that electricity detects receiving unit acquisition compares and analyzes, and determines the spatial information of the unmanned plane of the flight.
The spatial information includes the flight path of unmanned plane, predicted orbit.
It, can be according to collected the first flight parameter information of unmanned plane of multiple continuous time points and in the present embodiment
The flight path of UAV targets is drawn out in unmanned plane spatial position in two flight parameter informations, then flight path is combined
The flight volume of unmanned plane, heading, flight speed and unmanned plane operation signal calculate the flight path of prediction,
The predicted position of UAV targets is determined according to the flight path of prediction.
Whether S12, the unmanned plane for identifying the flight are authorization unmanned plane, if the unmanned plane of the flight does not obtain
It authorizes the unmanned plane then by the flight to be identified as UAV targets, enters step S13, it is no to then follow the steps S121；
In the present embodiment, when detecting has the unmanned plane of flight in control area, the multisystem combined anti-unmanned plane
Device can be to the transmitting license confirmation request signal of the flight；
In the present embodiment, unmanned plane will be installed when obtaining authorization authorization ID transmitter, when the unmanned plane authorized by
When the license confirmation request signal, the ID signal authorized can be emitted to the anti-unmanned plane device；Unmanned plane is not authorized
When, it receives license confirmation request signal and does not do and react.
In the present embodiment, if the anti-unmanned plane device receive unmanned plane feedback the ID signal of authorization, by this nobody
Machine is identified as having authorized unmanned plane, without subsequent processing, that is, S121；If the anti-unmanned plane device does not receive unmanned plane feedback
The ID signal of authorization, then be identified as UAV targets and execute step S13.
In the present embodiment, unmanned plane and unauthorized unmanned plane has been authorized accurately to manage control area by identification, both
The safety in control area is ensured, and the unmanned plane for allowing to have authorized provides convenience in control area for people.
S121, it is identified as the unmanned plane of the flight detected to have authorized unmanned plane, without interference；
S13, the predicted position that the UAV targets are determined according to the spatial information, and the predicted position is sent out
It is sent to interference apparatus, the predicted position is directed to control the interference apparatus, enters step S14.
In the present embodiment, while controlling interference apparatus alignment prediction position, also control image acquisition equipment and law enforcement
Recording equipment is directed at the predicted position.
In the present embodiment, alignment function is realized using a servo-system；
Described image information acquisition apparatus includes the varifocal high-definition camera of high power and infrared thermal imager；
The jamming equipment includes an interference rifle；
The destruction equipment includes a laser gun；
The low enforcement record equipment includes the varifocal high-definition camera of high power, storage card, for shooting entire law enforcement record
Process simultaneously saves.
S14, the UAV targets are interfered, including step S141~S145.
S141, the image information for obtaining UAV targets, and it is sent to control centre and human-computer interaction interface；
Further, the high-definition camera can shoot the first color image information of UAV targets under visible light；Institute
The first Infrared Image Information that UAV targets fly under night environment can be shot by stating infrared thermal imager；
S142, the image information got is shown in human-computer interaction interface；
S143, whether current law-enforcing environment is judged according to first color image information and the first Infrared Image Information
Meet the preset direct condition for destroying UAV targets, and judging result is exported to human-computer interaction interface, for operator
With reference to；
If S144, current law-enforcing environment meet the preset direct condition for destroying UAV targets, to the target without
Otherwise man-machine transmitting laser gun emits interference signal to the UAV targets.
In a specific embodiment, operator can also by human-computer interaction interface according to the target taken nobody
Machine color image and infrared image further confirm that target, and select interference means input behaviour according to control centre's judging result
It orders, UAV targets is interfered according to operational order.
Optionally, the operational order includes that replacement target manually controls image acquisition equipment, is dry using interference rifle
It disturbs, is destroyed, looked around using laser gun.
It is described that interference is carried out including interfering rifle transmitting continuous wave signal to force target to UAV targets in the present embodiment
Unmanned plane makes a return voyage, pressure is landed or laser gun carries out military force destruction to UAV targets.
S145, one wheel interference after, verification interference whether come into force.
Obtain the current image information of the UAV targets, i.e. the second color image information and the second infrared image letter
Whether breath, judge the last round of interference to UAV targets according to the second color image information and the second Infrared Image Information
It comes into force, the return step S111 if interference comes into force；It repeats to interfere if interfering Pending The Entry Into Force, i.e. return step S144.
In the embodiment of the present invention, by the way that entire anti-unmanned plane equipment to be erected on mobile vehicle vehicle, compared to existing skill
The control area's spanning equipment that must advance to of art saves the erection time, improves the mobility of anti-unmanned plane device；By more
System combined mode detects, and improves the accuracy rate of unmanned plane detection, is detected using four sides battle array radar, realizes complete
To unobstructed detection；By being identified as having authorized the accurate management of unmanned plane and unauthorized unmanned plane to unmanned plane, both ensured
The safety in control area makes that unmanned plane is authorized still to be capable of providing convenience again；In such a way that color image and infrared image combine
Target is further confirmed that, so that strike is more acurrate；Two kinds of interference modes are destroyed using the interference of interference rifle and laser gun, make this
The counter of anti-unmanned plane device can cope with more situations apart from farther；Interference efficiency is improved by the way of interference verification.
Fig. 3 is the flow diagram of the multisystem combined anti-unmanned plane method of one kind of another embodiment of the present invention.Reference
Fig. 3, the multisystem combined anti-unmanned plane method of one kind that the embodiment of the present invention proposes specifically includes following steps, as follows:
S20, multisystem combined anti-unmanned plane equipment is erected on mobile vehicle vehicle, executes step S201；
In the present embodiment, the multisystem combined anti-unmanned plane device can pass through installation and deployment to motor-driven carrier, example
Such as: offroad vehicle increases its mobility, to cope with various environment when execution task, saves the time of installation equipment.
It should be noted that can also be needed to realize using equipment such as helicopter, motor vehicle, ships according to actual application environment,
To in this embodiment of the present invention without limitation.
It further include step S201~S202 before being detected to control area in the present embodiment；
S201, carrier vehicle is driven to control area, parking executes step S202；
The multisystem combined UAV system of S202, starting, executes step S21；
Whether S21, detection control have the unmanned plane of flight in area, if detecting the unmanned plane of flight, described in acquisition
The spatial information of unmanned plane；
It further include step S211~S212 before being identified to the unmanned plane of flight in the present embodiment
Whether the detections of radar signal that S211, reception detect, judging to manage in area according to the detections of radar signal has
The unmanned plane of flight enters step if being determined according to the detections of radar signal has the unmanned plane of flight in the control area
Otherwise S212 enters step S215
The detections of radar signal detected is received, judges manage in area whether have flight according to the detections of radar signal
Unmanned plane；In the present embodiment, use four sides battle array radar realize using carrier vehicle as the surrounding of core simultaneously carry out manage area sweep
It retouches.
The radio signal that S212, reception listen to judges manage in area whether have flight according to the radio signal
Unmanned plane enter step S213 if determining in the control area there is the unmanned plane of flight according to the radio signal,
Otherwise S215 is entered step；
S213, the acoustic information that gets of reception, judge be in the unmanned plane sound spectrum stored in preset feature sound spectrum library
It is no exist and the matched unmanned plane sound spectrum of the acoustic information, if in feature sound spectrum library exist and the acoustic information
The unmanned plane sound spectrum matched, then enter step S214, otherwise enter step S215；
S214, it determines in detection control area there is the unmanned plane of flight, and obtains the space letter of the unmanned plane of the flight
Breath.
The spatial information for obtaining the unmanned plane of the flight, specifically includes: acoustic information detecting devices obtains the flight
Unmanned plane third flight parameter information, believed according to the third flight parameter of one section of collected unmanned plane of continuous time point
Breath, calculates the spatial information of unmanned plane.Wherein, the third flight parameter information of the unmanned plane of the flight includes: unmanned plane
The information such as spatial position, flying speed, the volume of heading and unmanned plane.The spatial information includes unmanned plane
Flight path, predicted orbit.
Specifically, can determine unmanned plane according to the spatial position of one section of collected unmanned plane of continuous time point
Flight path, then by the volume of flight path combination unmanned plane, heading, flying speed calculate unmanned plane prediction locus,
And the predicted position of unmanned plane is determined according to prediction locus.
In the present embodiment, if the feature sound spectrum is not detected with the unmanned plane of flight, and radar detection and radio are detectd
It listens equipment all to detect the unmanned plane for having flight in control area, then extracts the acoustic information acquired at this time, extract feature audio and deposit
Enter feature audio repository.
In the particular embodiment, think when the unmanned plane for detecting flight for any system can be set as needed
It manages the unmanned plane for having flight in area or multiple systems while just thinking to have in control area when detecting the unmanned plane of flight winged
Capable unmanned plane.
S215, it is believed that the unmanned plane without flight in control area, return step S211；
Whether S22, the unmanned plane for identifying the flight are authorization unmanned plane, if the unmanned plane of the flight does not obtain
It authorizes the unmanned plane then by the flight to be identified as UAV targets, enters step S23, it is no to then follow the steps S221；
In the present embodiment, when detecting has the unmanned plane of flight in control area, the multisystem combined anti-unmanned plane
Device can be to the transmitting license confirmation request signal of the flight；
In the present embodiment, unmanned plane will be installed when obtaining authorization authorization ID transmitter, when the unmanned plane authorized by
When the license confirmation request signal, the ID signal authorized can be emitted to the anti-unmanned plane device；Unmanned plane is not authorized
When, it receives license confirmation request signal and does not do and react.
In the present embodiment, if the anti-unmanned plane device receive unmanned plane feedback the ID signal of authorization, by this nobody
Machine is identified as having authorized unmanned plane, without subsequent processing；If the anti-unmanned plane device does not receive having awarded for unmanned plane feedback
ID signal is weighed, then is identified as UAV targets and executes step S23.
In the present embodiment, unmanned plane and unauthorized unmanned plane has been authorized accurately to manage control area by identification, both
The safety in control area is ensured, and the unmanned plane for allowing to have authorized provides convenience in control area for people.
S221, it is identified as the unmanned plane of the flight detected to have authorized unmanned plane, without interference；
S23, the predicted position that the UAV targets are determined according to the spatial information, and the predicted position is sent out
It is sent to interference apparatus, the predicted position is directed to control the interference apparatus, enters step S14.
In the present embodiment, while controlling interference apparatus alignment prediction position, also control image acquisition equipment and law enforcement
Recording equipment is directed at the predicted position.
In the present embodiment, alignment function is realized using a servo-system；
Described image information acquisition apparatus includes the varifocal high-definition camera of high power and infrared thermal imager；
The jamming equipment includes an interference rifle；
The destruction equipment includes a laser gun；
The low enforcement record equipment includes the varifocal high-definition camera of high power, storage card, for shooting entire law enforcement record
Process simultaneously saves.
S24, the UAV targets are interfered, including step S241~S245.
S241, the image information for obtaining UAV targets, and it is sent to control centre and human-computer interaction interface；
Further, the high-definition camera can shoot the first color image information of UAV targets under visible light；Institute
The first Infrared Image Information that UAV targets fly under night environment can be shot by stating infrared thermal imager；
S242, the image information got is shown in human-computer interaction interface；
S243, whether current law-enforcing environment is judged according to first color image information and the first Infrared Image Information
Meet the preset direct condition for destroying UAV targets, and judging result is exported to human-computer interaction interface, for operator
With reference to；
If S244, current law-enforcing environment meet the preset direct condition for destroying UAV targets, to the target without
Otherwise man-machine transmitting laser gun emits interference signal to the UAV targets.
In a specific embodiment, operator can also by human-computer interaction interface according to the target taken nobody
Machine color image and infrared image further confirm that target, and select interference means input behaviour according to control centre's judging result
It orders, UAV targets is interfered according to operational order.
Optionally, the operational order includes that replacement target manually controls image acquisition equipment, is dry using interference rifle
It disturbs, is destroyed, looked around using laser gun.
It is described that interference is carried out including interfering rifle transmitting continuous wave signal to force target to UAV targets in the present embodiment
Unmanned plane makes a return voyage, pressure is landed or laser gun carries out military force destruction to UAV targets.
S245, one wheel interference after, verification interference whether come into force.
Obtain the current image information of the UAV targets, i.e. the second color image information and the second infrared image letter
Whether breath, judge the last round of interference to UAV targets according to the second color image information and the second Infrared Image Information
It comes into force, the return step S211 if interference comes into force；It repeats to interfere if interfering Pending The Entry Into Force, i.e. return step S244.
In the embodiment of the present invention, by the way that entire anti-unmanned plane equipment to be erected on mobile vehicle vehicle, compared to existing skill
The control area's spanning equipment that must advance to of art saves the erection time, improves the mobility of anti-unmanned plane device；By more
System combined mode detects, and improves the accuracy rate of unmanned plane detection, is detected using four sides battle array radar, realizes complete
To unobstructed detection；By being identified as having authorized the accurate management of unmanned plane and unauthorized unmanned plane to unmanned plane, both ensured
The safety in control area makes that unmanned plane is authorized still to be capable of providing convenience again；In such a way that color image and infrared image combine
Target is further confirmed that, so that strike is more acurrate；Two kinds of interference modes are destroyed using the interference of interference rifle and laser gun, make this
The counter of anti-unmanned plane device can cope with more situations apart from farther；Interference efficiency is improved by the way of interference verification.
For embodiment of the method, for simple description, therefore, it is stated as a series of action combinations, but ability
Field technique personnel should be aware of, and embodiment of that present invention are not limited by the describe sequence of actions, because real according to the present invention
Example is applied, some steps may be performed in other sequences or simultaneously.Secondly, those skilled in the art should also know that, explanation
Embodiment described in book belongs to preferred embodiment, and related movement not necessarily institute of the embodiment of the present invention is necessary
's.
The structure that Fig. 4 diagrammatically illustrates the anti-unmanned aerial vehicle (UAV) control device of the multiplex system of one embodiment of the invention is shown
It is intended to.Referring to Fig. 4, the anti-unmanned aerial vehicle (UAV) control device of the multiplex system of the embodiment of the present invention specifically includes detecting module 401, knows
Other module 402, control module 403 and intervention module 404, wherein；
Detecting module 401, for detecting in control area whether have the unmanned plane of flight, if detecting nobody of flight
Machine then obtains the spatial information of the unmanned plane；
Identification module 402, whether the unmanned plane of the flight is authorization unmanned plane for identification, if the flight
Unmanned plane, which does not obtain, authorizes the unmanned plane then by the flight to be identified as UAV targets；
Control module 403, for determining the predicted position of the UAV targets according to the spatial information, and by institute
It states predicted position and is sent to interference apparatus, be directed at the predicted position to control the interference apparatus；
Intervention module 404, for interfering the UAV targets.
In the present embodiment, the detecting module 401 is specifically included: radar detection unit, radio intercept unit and space
Information acquisition unit, in which:
Radar detection unit judges to manage for receiving the detections of radar signal detected according to the detections of radar signal
Whether the unmanned plane of flight is had in control area；If determining nobody for having flight in the control area according to the detections of radar signal
Machine obtains the first flight parameter information of the unmanned plane of the flight；
Radio intercept unit judges to manage for receiving the radio signal listened to according to the radio signal
Whether the unmanned plane of flight is had in area；If determining the unmanned plane for having flight in the control area according to the radio signal, obtain
Take the second flight parameter information of the unmanned plane of the flight；
Spatial information acquiring unit, for comparing first flight parameter information and the second flight parameter information
To analysis, the spatial information of the unmanned plane of the flight is determined.
In another embodiment, the detecting module 401 specifically includes, radar detection unit, radio intercept list
Member, sound spectrum probe unit and spatial information acquiring unit, in which:
Radar detection unit judges to manage for receiving the detections of radar signal detected according to the detections of radar signal
Whether the unmanned plane of flight is had in control area；
Radio intercept unit, for determining the nothing for having flight in the control area according to the detections of radar signal
When man-machine, the radio signal listened to is received, nobody for whether having flight in area judged to manage according to the radio signal
Machine；
Sound spectrum probe unit, for determining the unmanned plane for having flight in the control area according to the radio signal
When, the acoustic information got is received, judges to whether there is and institute in the unmanned plane sound spectrum stored in preset feature sound spectrum library
State the matched unmanned plane sound spectrum of acoustic information；
Spatial information acquiring unit, in feature sound spectrum library exist with the acoustic information it is matched nobody
When machine sound spectrum, it is determined that detection control has the unmanned plane of flight in area, and obtains the spatial information of the unmanned plane of the flight.
In the present embodiment, the identification module 402, specifically for emitting license confirmation to the unmanned plane of the flight
Request signal, if the ID signal of authorization of the unmanned plane feedback of the flight is not received, by the unmanned plane of the flight
It is identified as UAV targets.
In the present embodiment, the intervention module 404, including image acquisition unit, law-enforcing environment judging unit and disturbing are ruined
Unit, in which:
Image acquisition unit is directed at the predicted position for controlling image acquisition equipment, to obtain UAV targets the
One color image information and the first Infrared Image Information；
Law-enforcing environment judging unit, it is current for being judged according to the first color image information and the first Infrared Image Information
Whether law-enforcing environment meets the preset direct condition for destroying UAV targets；
It disturbs and ruins unit, when for meeting the condition of preset direct destruction UAV targets in current law-enforcing environment, to mesh
It marks unmanned plane and emits laser gun, when current law-enforcing environment does not meet the preset direct condition for destroying UAV targets, to mesh
It marks unmanned plane and emits interference signal.
In the present embodiment, the intervention module further includes verification unit；
Verification unit, for obtaining the second color image information and the second Infrared Image Information of UAV targets, and root
Judge whether the interference to UAV targets is effective according to second color image information and the second infrared information, if interference
It is invalid then same target is interfered again, next target is started to process if interference effectively.
For device embodiment, since it is basically similar to the method embodiment, so being described relatively simple, phase
Place is closed to illustrate referring to the part of embodiment of the method.
In the embodiment of the present invention, by the way that entire anti-unmanned plane equipment to be erected on mobile vehicle vehicle, compared to existing skill
The control area's spanning equipment that must advance to of art saves the erection time, improves the mobility of anti-unmanned plane device；By more
System combined mode detects, and improves the accuracy rate of unmanned plane detection, is detected using four sides battle array radar, realizes complete
To unobstructed detection；By being identified as having authorized the accurate management of unmanned plane and unauthorized unmanned plane to unmanned plane, both ensured
The safety in control area makes that unmanned plane is authorized still to be capable of providing convenience again；In such a way that color image and infrared image combine
Target is further confirmed that, so that strike is more acurrate；Two kinds of interference modes are destroyed using the interference of interference rifle and laser gun, make this
The counter of anti-unmanned plane device can cope with more situations apart from farther；Interference efficiency is improved by the way of interference verification.
The apparatus embodiments described above are merely exemplary, wherein the unit as illustrated by the separation member
It may or may not be physically separated, component shown as a unit may or may not be physics
Unit, it can it is in one place, or may be distributed over multiple network units.It can select according to the actual needs
Some or all of the modules therein is selected to achieve the purpose of the solution of this embodiment.Those of ordinary skill in the art are not paying
In the case where creative labor, it can understand and implement.
In addition, being stored thereon with computer journey the embodiment of the invention also provides a kind of computer readable storage medium
The step of sequence, which realizes method as described above when being executed by processor.
In the present embodiment, if module/unit that the anti-unmanned mechanism integrates is in the form of SFU software functional unit
Realize and when sold or used as an independent product, can store in a computer readable storage medium.Based on this
The understanding of sample, the present invention realize all or part of the process in above-described embodiment method, can also be referred to by computer program
Relevant hardware is enabled to complete, the computer program can be stored in a computer readable storage medium, the computer journey
Sequence is when being executed by processor, it can be achieved that the step of above-mentioned each embodiment of the method.Wherein, the computer program includes meter
Calculation machine program code, the computer program code can for source code form, object identification code form, executable file or certain
A little intermediate forms etc..The computer-readable medium may include: any entity that can carry the computer program code
Or device, recording medium, USB flash disk, mobile hard disk, magnetic disk, CD, computer storage, read-only memory (ROM, Read-
Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal with
And software distribution medium etc..It should be noted that the content that the computer-readable medium includes can be according to jurisdiction
The interior requirement made laws with patent practice carries out increase and decrease appropriate, such as in certain jurisdictions, according to legislation and patent reality
It tramples, computer-readable medium does not include electric carrier signal and telecommunication signal.
Control equipment provided in an embodiment of the present invention, including memory, processor and storage on a memory and can located
The computer program run on reason device, the processor realize above-mentioned each anti-unmanned plane control when executing the computer program
Step in embodiment of the method processed, such as S11~S14 shown in FIG. 1.Alternatively, the processor executes the computer program
The function of each module/unit in the above-mentioned each anti-unmanned aerial vehicle (UAV) control Installation practice of Shi Shixian, such as detecting module shown in Fig. 4
401, identification module 402, control module 403 and intervention module 404.
Illustratively, the computer program can be divided into one or more module/units, it is one or
Multiple module/units are stored in the memory, and are executed by the processor, to complete the present invention.It is one or
Multiple module/units can be the series of computation machine program instruction section that can complete specific function, and the instruction segment is for describing
Implementation procedure of the computer program in the anti-unmanned aerial vehicle (UAV) control device.For example, the computer program can be divided
It is cut into detecting module 401, identification module 402, control module 403 and intervention module 404.
The control equipment may include, but be not limited only to, processor, memory.It will be understood by those skilled in the art that
Control equipment in the present embodiment may include more or fewer components, perhaps combine certain components or different portions
Part, such as the control equipment can also include input-output equipment, network access equipment, bus etc..
The processor can be central processing unit (Central Processing Unit, CPU), can also be it
His general processor, digital signal processor (Digital Signal Processor, DSP), specific integrated circuit
(Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field-
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic device
Part, discrete hardware components etc..General processor can be microprocessor or the processor is also possible to any conventional processing
Device etc., the processor are the control centres of the control equipment, entirely control equipment using various interfaces and connection
Various pieces.
The memory can be used for storing the computer program and/or module, and the processor is by operation or executes
Computer program in the memory and/or module are stored, and calls the data being stored in memory, realizes institute
State the various functions of control equipment.The memory can mainly include storing program area and storage data area, wherein storage journey
It sequence area can application program needed for storage program area, at least one function (such as sound-playing function, image player function
Deng) etc.；Storage data area, which can be stored, uses created data (such as audio data, phone directory etc.) etc. according to mobile phone.This
Outside, memory may include high-speed random access memory, can also include nonvolatile memory, such as hard disk, memory,
Plug-in type hard disk, intelligent memory card (Smart Media Card, SMC), secure digital (Secure Digital, SD) card dodge
Deposit card (Flash Card), at least one disk memory, flush memory device or other volatile solid-state parts.
It will be appreciated by those of skill in the art that although some embodiments in this include included in other embodiments
Certain features rather than other feature, but the combination of the feature of different embodiment mean in the scope of the present invention it
It is interior and form different embodiments.For example, in the following claims, embodiment claimed it is any it
One can in any combination mode come using.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；To the greatest extent
Present invention has been described in detail with reference to the aforementioned embodiments for pipe, those skilled in the art should understand that: it is still
It is possible to modify the technical solutions described in the foregoing embodiments, or part of technical characteristic is equally replaced
It changes；And these are modified or replaceed, the essence for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution
Mind and range.
Claims (10)
1. a kind of multisystem combined anti-unmanned plane method, which is characterized in that the described method includes:
Whether detection control has the unmanned plane of flight in area, if detecting the unmanned plane of flight, obtains the unmanned plane
Spatial information；
Whether the unmanned plane for identifying the flight is authorization unmanned plane, by institute if the unmanned plane of the flight is not authorized
The unmanned plane for stating flight is identified as UAV targets；
The predicted position of the UAV targets is determined according to the spatial information, and is sent interference for the predicted position and set
It is standby, the predicted position is directed to control the interference apparatus；
The UAV targets are interfered.
2. the method according to claim 1, wherein whether have the unmanned plane of flight in detection control area,
If detecting the unmanned plane of flight, the spatial information of the unmanned plane is obtained, is specifically included:
The detections of radar signal detected is received, nobody for whether having flight in area judged to manage according to the detections of radar signal
Machine；
If determining the unmanned plane for having flight in the control area according to the detections of radar signal, the unmanned plane of the flight is obtained
The first flight parameter information；
The radio signal listened to is received, the unmanned plane for whether having flight in area judged to manage according to the radio signal；
If determining the unmanned plane for having flight in the control area according to the radio signal, the unmanned plane of the flight is obtained
Second flight parameter information；
First flight parameter information and the second flight parameter information are compared, determine the unmanned plane of the flight
Spatial information.
3. the method according to claim 1, wherein whether have the unmanned plane of flight in detection control area,
If detecting the unmanned plane of flight, the spatial information of the unmanned plane is obtained, is specifically included:
The detections of radar signal detected is received, nobody for whether having flight in area judged to manage according to the detections of radar signal
Machine；
If determining the unmanned plane for having flight in the control area according to the detections of radar signal, the radio listened to is received
Signal judges to manage the unmanned plane for whether having flight in area according to the radio signal；
If determining the unmanned plane for having flight in the control area according to the radio signal, the sound letter got is received
Breath judges to whether there is and the matched unmanned plane of the acoustic information in the unmanned plane sound spectrum stored in preset feature sound spectrum library
Sound spectrum；
If existing and the matched unmanned plane sound spectrum of the acoustic information in feature sound spectrum library, it is determined that detection control has in area
The unmanned plane of flight, and obtain the spatial information of the unmanned plane of the flight.
4. the method according to claim 1, wherein whether the unmanned plane of the identification flight is authorization nothing
It is man-machine, the unmanned plane of the flight is identified as UAV targets if the unmanned plane of the flight is not authorized, specifically
Include:
Emit license confirmation request signal to the unmanned plane of the flight, if do not receive the unmanned plane feedback of the flight
ID signal is authorized, then the unmanned plane by the flight is identified as UAV targets.
5. the method according to claim 1, wherein described interfere the UAV targets, comprising:
It controls preset image acquisition equipment and is directed at the predicted position, to obtain the first color image of the UAV targets
Information and the first Infrared Image Information；
It is preset to judge whether current law-enforcing environment meets according to first color image information and the first Infrared Image Information
Directly destroy the condition of UAV targets；
If current law-enforcing environment meets the preset direct condition for destroying UAV targets, the UAV targets are emitted and are swashed
Otherwise light big gun emits interference signal to the UAV targets.
6. method according to claim 1-5, which is characterized in that interfere to the UAV targets
Afterwards, the method also includes:
The second color image information and the second Infrared Image Information of the UAV targets are obtained, and colored according to described second
Image information and the second infrared information judge whether the interference to UAV targets is effective, to the target if interference is invalid
Unmanned plane is interfered again, starts to process next target if interference effectively.
7. a kind of multisystem combined anti-unmanned plane device, which is characterized in that described device includes:
Detecting module, if detecting the unmanned plane of flight, is obtained for detecting in control area whether have the unmanned plane of flight
The spatial information of the unmanned plane；
Identification module, whether the unmanned plane of the flight is authorization unmanned plane for identification, if the unmanned plane of the flight is not
It obtains unmanned plane of the authorization then by the flight and is identified as UAV targets；
Control module, for determining the predicted position of the UAV targets according to the spatial information, and by the prediction bits
It sets and is sent to interference apparatus, be directed at the predicted position to control the interference apparatus；
Intervention module, for interfering the UAV targets.
8. device according to claim 7, which is characterized in that the detecting module specifically includes:
Radar detection unit judges control area according to the detections of radar signal for receiving the detections of radar signal detected
Inside whether there is the unmanned plane of flight；If determining the unmanned plane for having flight in the control area according to the detections of radar signal, obtain
Take the first flight parameter information of the unmanned plane of the flight；
Radio intercept unit judges in control area for receiving the radio signal listened to according to the radio signal
Whether the unmanned plane of flight is had；If determining the unmanned plane for having flight in the control area according to the radio signal, institute is obtained
State the second flight parameter information of the unmanned plane of flight；
Spatial information acquiring unit, for first flight parameter information and the second flight parameter information to be compared point
Analysis, determines the spatial information of the unmanned plane of the flight.
9. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the program is held by processor
It is realized when row such as the step of any one of claim 1-6 the method.
10. a kind of control equipment including memory, processor and stores the calculating that can be run on a memory and on a processor
Machine program, which is characterized in that the processor realizes the step such as any one of claim 1-6 the method when executing described program
Suddenly.
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| CN114995520B (en) * | 2022-08-03 | 2022-12-30 | 广东德九新能源有限公司 | Unmanned aerial vehicle cooperative defense control method, electronic equipment and medium |
| CN115840223A (en) * | 2023-02-15 | 2023-03-24 | 成都熵泱科技有限公司 | Unmanned aerial vehicle detection system and method capable of identifying target attributes |
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