CN110531784B - Threat assessment method for unmanned aerial vehicle - Google Patents
Threat assessment method for unmanned aerial vehicle Download PDFInfo
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- CN110531784B CN110531784B CN201910825830.0A CN201910825830A CN110531784B CN 110531784 B CN110531784 B CN 110531784B CN 201910825830 A CN201910825830 A CN 201910825830A CN 110531784 B CN110531784 B CN 110531784B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/0047—Navigation or guidance aids for a single aircraft
- G08G5/006—Navigation or guidance aids for a single aircraft in accordance with predefined flight zones, e.g. to avoid prohibited zones
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/0047—Navigation or guidance aids for a single aircraft
- G08G5/0069—Navigation or guidance aids for a single aircraft specially adapted for an unmanned aircraft
Abstract
The invention relates to the technical field of unmanned aerial vehicle defense, in particular to the field of unmanned aerial vehicle threat assessment, which comprises an input module, a communication and navigation module, a threat assessment module, an output module and a tracking and identifying module, wherein the information such as the position, the height, the speed, the direction, the flight angle and the climbing rate of an unmanned aerial vehicle can be collected simultaneously, the information is transmitted back to a ground intelligent control system, the comparison is carried out through an algorithm library, the threat degree M is judged, when a threat assessment algorithm is triggered, the threat level W is calculated through weighted summation, and the output of a calculation result is carried out, wherein the calculation method is W=K 1 M+K 2 M 2 +K 3 M 3 Wherein K is a weight, K 1 +K 2 +K 3 The system is characterized in that the output module is arranged from high to low according to threat level, when the threat level is higher, the video is output preferentially and simultaneously carries out voice broadcast to remind operators, the condition that high threat unmanned aerial vehicle is leaked due to negligence of the operators is prevented, the problem that a defense system of the unmanned aerial vehicle cannot discover the high threat unmanned aerial vehicle in time is solved immediately and effectively, and the treatment efficiency is improved.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a threat assessment method for an unmanned aerial vehicle.
Technical Field
In the prior art, aiming at the situation that the monitoring of the unmanned aerial vehicle is in a passive comparison position, measures are taken to control the unmanned aerial vehicle only when the unmanned aerial vehicle is monitored to enter a no-fly zone or threatening operation occurs, the predictive evaluation of the unmanned aerial vehicle can only be judged according to the experience of staff, the accuracy of a judgment result is different due to individual differences, and when a plurality of targets enter a monitoring area at the same time, the judgment and identification difficulty of the staff is increased, the response and treatment capability of the emergency is poor even if the emergency is caused, and the treatment efficiency of the emergency is low.
Disclosure of Invention
The invention aims to solve the problems and defects in the prior art and provides an evaluation method for threat level of an unmanned aerial vehicle, which is used for rapidly identifying and judging the threat level of the unmanned aerial vehicle.
In order to achieve the above purpose, the present invention provides the following technical solutions:
a threat assessment method for an unmanned aerial vehicle, characterized by: the method includes threat attempt judgment and threat level judgment, wherein,
the threat attempt judgment comprises area judgment, course distance and angle superposition judgment;
the threat degree judgment comprises an arrival time method, a relative distance judgment method and a relative azimuth judgment method;
the area is judged to be divided into a no-fly zone and a safe zone in the monitored airspace, the no-fly zone is judged to be a threat target when the unmanned aerial vehicle enters the no-fly zone, and the non-threat target is judged to be a non-threat target when the unmanned aerial vehicle flies in the safe zone;
the course distance and angle superposition is determined to be a threat target when the unmanned aerial vehicle flies in the safety zone, the flying direction of the unmanned aerial vehicle deviates to the no-fly zone and the flying angle is smaller than 60 degrees, and otherwise, the threat target is determined to be a non-threat target.
The arrival time judging method is used for calculating the arrival time of the target to the destination according to the information of the found target, and the threat degree is higher when the actual arrival time is shorter;
the relative distance judging method is characterized in that a forbidden zone, an early warning zone and a safety zone are divided in a monitoring zone, and threat degrees are sequentially from high to low;
the relative azimuth determination method is used for determining threat level according to the included angle between the target course and the assumed direct flight maintaining target course.
The threat assessment method for an unmanned aerial vehicle of claim 1, the determining steps being: (1) Calculating the arrival time t of the target according to the collected data, wherein the calculation formula is t=r/v' (r is the distance between the found target and the detection equipment, and the linear speed of the target)
(2) Calculating the angle of flight direction of the target
Interpreting threat level d according to specific location of target, (safe zone)>Early warning area>A no-fly zone), the security zone has the highest maintenance level; the weight calculation method is utilized:
in calculating k1+k2+k3=1;
the weight setting method comprises a primary index queuing classification method and a secondary index queuing classification method.
The invention has the advantages and positive effects that: the threat possibly generated by the unmanned aerial vehicle is evaluated, various conditions are classified into threat levels, the threat levels are matched with the conditions of the threat evaluation method of the unmanned aerial vehicle after entering the unmanned aerial vehicle in the monitoring area, the threat level judgment is carried out on the comprehensive conditions of the target unmanned aerial vehicle, the emergency conditions of the emergency can be prevented in advance by workers, and effective defending measures are adopted on the emergency conditions.
Detailed Description
The invention is further illustrated below with reference to specific examples.
A threat assessment method for an unmanned aerial vehicle, characterized by: the method includes threat attempt judgment and threat level judgment, wherein,
the threat attempt judgment comprises area judgment, course distance and angle superposition judgment;
the threat degree judgment comprises an arrival time method, a relative distance judgment method and a relative azimuth judgment method;
the area is judged to be divided into a no-fly zone and a safe zone in the monitored airspace, the no-fly zone is judged to be a threat target when the unmanned aerial vehicle enters the no-fly zone, and the non-threat target is judged to be a non-threat target when the unmanned aerial vehicle flies in the safe zone;
the course distance and angle superposition is determined to be a threat target when the unmanned aerial vehicle flies in the safety zone, the flying direction of the unmanned aerial vehicle deviates to the no-fly zone and the flying angle is smaller than 60 degrees, and otherwise, the threat target is determined to be a non-threat target.
The arrival time judging method is used for calculating the arrival time of the target to the destination according to the information of the found target, and the threat degree is higher when the actual arrival time is shorter; taking the center point of the detection equipment as a circle center o, taking the distance between the found target and the circle center o as a radius r, determining the found target on a circle c taking o as the circle center r as the radius, taking the measured speed v as a vector in mathematics, and obtaining a vector in the normal direction after the speed is projected in the tangential direction and the normal direction of the circle c, wherein the vector represents a linear speed v ', the radius r represents the distance between the unmanned aerial vehicle and the circle center o, the arrival time is obtained through t=r/v', the t of the target is ordered from small to large, and the smaller t threatens more.
The relative distance judging method is characterized in that a forbidden zone, an early warning zone and a safety zone are divided in a monitoring zone, and threat degrees are sequentially from high to low;
the relative azimuth judging method is to determine threat level according to the included angle between the target course and the assumed target course, take the center point of the detection equipment as the circle center o, take the distance between the found target and the circle center o as the radius r, and the found target is firstly positioned on a circle c taking o as the radius r, and after the flight direction is determined according to the flight path information, the smaller the included angle between the flight direction and the normal is, the larger the threat is.
A threat assessment method for unmanned aerial vehicle comprises the following steps:
(1) Calculating the arrival time t of the target according to the collected data, wherein the calculation formula is t=r/v' (r is the distance between the found target and the detection equipment, and the linear speed of the target)
(2) Calculation purposeTarget direction of flight angle
Interpreting threat level d according to specific location of target, (safe zone)>Early warning area>A no-fly zone), the security zone has the highest maintenance level; the weight calculation method is utilized:
in calculating k1+k2+k3=1;
the weight setting method can be used for directly setting the weight through experience of staff or setting the weight according to a primary and secondary index queuing classification method;
the primary and secondary index queuing classification method comprises the following steps:
| sequence number | Attributes of | Importance level |
| 1 | In the area of | 1 |
| 2 | Direction of flight | 2 |
| 3 | Time of arrival | 3 |
The threat possibly generated by the unmanned aerial vehicle is evaluated, various conditions are classified into threat levels, the threat levels are matched with the conditions of the threat evaluation method of the unmanned aerial vehicle after entering the unmanned aerial vehicle in the monitoring area, the threat level judgment is carried out on the comprehensive conditions of the target unmanned aerial vehicle, the emergency conditions of the emergency can be prevented in advance by workers, and effective defending measures are adopted on the emergency conditions.
The threat degree of each item of data is obtained by analyzing and comparing the acquired information with an algorithm library, a threat assessment algorithm is triggered to calculate, a conclusion is obtained to be output, a worker can adjust an early warning scheme according to the output data, the algorithm library digitizes the threat assessment method through a large amount of calculation and stores the threat assessment method in a threat assessment module, and the judgment of the threat degree M by the algorithm library comprises the following steps: the time, the flight direction, the flight angle, the flight speed, the distance and the like of the target aircraft entering the no-fly zone are judged by setting warning values, and the approximate mode is that the shorter the target aircraft enters the no-fly zone, the smaller the flight angle is less than 60 degrees, the faster the flight speed is, the smaller the included angle between the flight heading and the guard target heading is, the closer the distance from the no-fly zone is, and the threat degree is higher.
The threat level W is calculated by a weighted summation method, wherein the weights comprise time weights, azimuth weights, flying speed weights, distance weights and the like, and the calculation method is that w=k 1 M+K 2 M 2 +K 3 M 3 ,K 1 +K 2 +K 3 =1 wherein the threat level weights acquired by the arrival times are higher in importance than the threat level weights of the relative position decisions.
The method comprises the steps of dividing a flight area into 3 parts according to requirements, dividing the flight area into a safety area, an early warning area and a no-fly area in sequence, wherein threat levels are no-fly area > early warning area > safety area, preferentially judging the unmanned aerial vehicle as a threat target when the unmanned aerial vehicle breaks into the early warning area, collecting information such as flight azimuth, position, speed and the like of the unmanned aerial vehicle, comparing the information with an algorithm library of a ground intelligent control system, and calculating and outputting threat levels when a threat assessment algorithm is triggered.
In one embodiment, after the unmanned aerial vehicle A intrudes into the early warning zone, whether the unmanned aerial vehicle A is a threat target or not is judged by judging whether the flight angle alpha is smaller than 60 degrees, the angle beta between the flight heading and the security target heading, the flight speed, the distance and the like, if the unmanned aerial vehicle A is the threat target, a threat assessment algorithm is triggered, threat levels are output, and when the unmanned aerial vehicle A and the unmanned aerial vehicle B intrude into the early warning zone simultaneously, whether the unmanned aerial vehicle A is the threat target or not is judged respectively, if the unmanned aerial vehicle A is the threat target simultaneously, threat level estimation is carried out, and the unmanned aerial vehicle information with higher threat level ranking is output preferentially.
Claims (1)
1. A threat assessment method for an unmanned aerial vehicle, characterized by: the method includes threat attempt judgment and threat level judgment, wherein,
the threat attempt judgment comprises area judgment, course distance and angle superposition judgment;
the threat degree judgment comprises an arrival time method, a relative distance judgment method and a relative azimuth judgment method;
the area is judged to be divided into a no-fly zone and a safe zone in the monitored airspace, the no-fly zone is judged to be a threat target when the unmanned aerial vehicle enters the no-fly zone, and the non-threat target is judged to be a non-threat target when the unmanned aerial vehicle flies in the safe zone;
the course distance and angle superposition is determined to be a threat target when the unmanned aerial vehicle flies in the safety zone, the flying direction of the unmanned aerial vehicle deviates to the no-fly zone and the flying angle is smaller than 60 degrees, and otherwise, the threat target is a non-threat target;
the arrival time judging method is used for calculating the arrival time of the target to the destination according to the information of the found target, and the threat degree is higher when the actual arrival time is shorter;
the relative distance judging method is characterized in that a forbidden zone, an early warning zone and a safety zone are divided in a monitoring zone, and threat degrees are sequentially from high to low;
the relative azimuth judging method is used for determining threat level according to the included angle between the target course and the assumed direct flight maintaining target course;
the threat assessment judging steps are as follows:
step 1, calculating the arrival time t of a target according to collected data, wherein a calculation formula is t=r/v ', r is the distance between the found target and the detection equipment, and v' is the linear speed of the target;
step 2, calculating the flying direction angle of the target
Interpreting threat level d according to the specific position of the target, wherein the threat level d is set according to a flight area, and the flight area comprises a safety area, an early warning area and a no-fly area; calculating threat level w by using a weight calculation method:
wherein k1+k2+k3=1;
the weight setting method comprises a primary index queuing classification method and a secondary index queuing classification method.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111413681B (en) * | 2020-04-30 | 2023-06-30 | 柳州达迪通信技术股份有限公司 | Method, system and storage medium for identifying threat degree of flying target based on entropy weight method |
| CN111596277B (en) * | 2020-04-30 | 2023-06-30 | 柳州达迪通信技术股份有限公司 | Flight target threat degree identification method and system based on fuzzy comprehensive evaluation method |
| CN111413680B (en) * | 2020-04-30 | 2023-06-30 | 柳州达迪通信技术股份有限公司 | Flight target threat degree identification method, system and device based on analytic hierarchy process |
| CN111612673B (en) * | 2020-05-13 | 2023-12-15 | 飒铂智能科技有限责任公司 | Method and system for confirming threat degree of unmanned aerial vehicle to multiple places |
| CN111583083B (en) * | 2020-05-13 | 2023-12-19 | 飒铂智能科技有限责任公司 | Method and system for determining threat degree of non-cooperative targets in low-altitude flight to ground |
| CN111780620B (en) * | 2020-06-16 | 2022-07-26 | 暨南大学 | Unmanned aerial vehicle potential threat determination method |
| CN112053089A (en) * | 2020-09-27 | 2020-12-08 | 中国核电工程有限公司 | Low-altitude threat analysis and consequence evaluation method and device based on nuclear power plant |
| CN114139373B (en) * | 2021-11-30 | 2024-04-12 | 中航空管系统装备有限公司 | Multi-sensor automatic collaborative management method for unmanned aerial vehicle reverse vehicle |
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