CN111123969A - Target unmanned aerial vehicle monitoring and processing method and system - Google Patents

Target unmanned aerial vehicle monitoring and processing method and system Download PDF

Info

Publication number
CN111123969A
CN111123969A CN201911169656.5A CN201911169656A CN111123969A CN 111123969 A CN111123969 A CN 111123969A CN 201911169656 A CN201911169656 A CN 201911169656A CN 111123969 A CN111123969 A CN 111123969A
Authority
CN
China
Prior art keywords
unmanned aerial
aerial vehicle
target
time
interference area
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
Application number
CN201911169656.5A
Other languages
Chinese (zh)
Other versions
CN111123969B (en
Inventor
唐云野
朱健阳
祖亚军
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zhuhai Avic Smart Technology Co ltd
Original Assignee
Individual
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Individual filed Critical Individual
Priority to CN201911169656.5A priority Critical patent/CN111123969B/en
Publication of CN111123969A publication Critical patent/CN111123969A/en
Application granted granted Critical
Publication of CN111123969B publication Critical patent/CN111123969B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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

Abstract

The invention discloses a method for monitoring and processing a target unmanned aerial vehicle, which comprises the following steps: constructing an unmanned aerial vehicle flying fleet consisting of a plurality of unmanned aerial vehicles, and acquiring an interference area formed by the unmanned aerial vehicles by taking any node in a flying path of the operating unmanned aerial vehicle as a central point and taking an interference distance as a safe radius; judging whether a target unmanned aerial vehicle flies and tracks the operation unmanned aerial vehicle in the interference area; if yes, sending alarm information to the operation unmanned aerial vehicle, and acquiring positioning data information of the target unmanned aerial vehicle; according to the locating data information, control counter unmanned aerial vehicle fly to target unmanned aerial vehicle is right target unmanned aerial vehicle counteracts, counter unmanned aerial vehicle is detach among a plurality of unmanned aerial vehicle arbitrary unmanned aerial vehicle behind the operation unmanned aerial vehicle. Compared with the traditional method for identifying and judging the target unmanned aerial vehicle by the eyes through videos, the method has the advantages of high accuracy and capability of eliminating the technical effects of misjudgment and misinterference caused by artificial subjective factors.

Description

Target unmanned aerial vehicle monitoring and processing method and system
Technical Field
The invention relates to the technical field of security defense, in particular to a method and a system for monitoring and processing a target unmanned aerial vehicle.
Background
At present along with the continuous maturity of unmanned aerial vehicle open source engineering, unmanned aerial vehicle's manufacturing cost and use cost constantly reduce, and the popularization of civilian unmanned aerial vehicle has also been promoted to unmanned aerial vehicle research and development, manufacturing, the application company that emerge in a large number, but also brought a series of puzzlements to people simultaneously, can peep at will through unmanned aerial vehicle, steals the privacy information in the region or has the serious hidden danger such as putting in dangerous goods.
The existing unmanned aerial vehicle belongs to an aircraft with low altitude and low speed, the method for countering the unmanned aerial vehicle is that when a suspected unmanned aerial vehicle is discovered, the position of the unmanned aerial vehicle is determined through a radar detection system, the unmanned aerial vehicle is identified through video confirmation to judge whether the unmanned aerial vehicle is a tracking unmanned aerial vehicle, the video confirmation is usually based on the fact that a background operator judges whether the unmanned aerial vehicle is a tracking unmanned aerial vehicle dispatched by an enemy or a competitor through human eyes, and the unmanned aerial vehicle is knocked down or guided to land after the confirmation through laser, a capture net or electromagnetic interference.
However, the existing determination method for tracking the unmanned aerial vehicle is only based on video confirmation, which easily causes misjudgment and interference, and has extremely low accuracy.
Disclosure of Invention
The invention provides a method and a system for monitoring and processing a target unmanned aerial vehicle, which are used for solving the technical defects that the determination mode of tracking the unmanned aerial vehicle in the prior art is only determined according to a video, so that misjudgment and misinterference are easily caused, and the accuracy is extremely low.
In a first aspect, an embodiment of the present invention provides a method for monitoring and processing a target drone, where the method includes: constructing an unmanned aerial vehicle flying fleet consisting of a plurality of unmanned aerial vehicles, and acquiring an interference area formed by the unmanned aerial vehicles by taking any node in a flying path of the operating unmanned aerial vehicle as a central point and taking an interference distance as a safe radius; judging whether a target unmanned aerial vehicle flies and tracks the operation unmanned aerial vehicle in the interference area; if yes, sending alarm information to the operation unmanned aerial vehicle, and acquiring positioning data information of the target unmanned aerial vehicle; according to the locating data information, control counter unmanned aerial vehicle fly to target unmanned aerial vehicle is right target unmanned aerial vehicle counteracts, counter unmanned aerial vehicle is detach among a plurality of unmanned aerial vehicle arbitrary unmanned aerial vehicle behind the operation unmanned aerial vehicle.
Optionally, judging whether there is a target unmanned aerial vehicle in the safe interference area to track flight specifically includes: judging whether the target unmanned aerial vehicles exist in the safety interference area at the time t1, if yes, judging whether the target unmanned aerial vehicles all fly in the safety interference area between the time t1 and the time t2 by taking the time t1 as a time starting point and taking the time t2 as a time end point; if yes, acquiring an average vertical distance s1 between the target unmanned aerial vehicle and the working unmanned aerial vehicle within a time period from t1 to t 2; comparing the average vertical distance S1 with a preset safe spacing distance S of the working unmanned aerial vehicle; and if the average vertical distance S1 is smaller than the safety spacing distance S, judging that the target unmanned aerial vehicle tracks and flies in the safety interference area.
Optionally, if it is determined that the target drones are not all flying in the safety interference area between the time t1 and the time t2, the method further includes: marking the target unmanned aerial vehicle as a suspected unmanned aerial vehicle when the target unmanned aerial vehicle enters the safety interference area at the time t 1; acquiring a time t3 when the target unmanned aerial vehicle flies away from the safety interference area; monitoring whether the target unmanned aerial vehicle flies into the safety interference area again after flying away from the safety interference area; if yes, acquiring a time t4 when the target unmanned aerial vehicle flies into the safety interference area again; judging whether the time period t34 from the time t3 to the time t4 is less than a safety interval time or not; if so, acquiring any vertical distance s2 between the target unmanned aerial vehicle and the working unmanned aerial vehicle at any time after the time t 4; comparing the arbitrary vertical distance S2 with a preset safe spacing distance S of the working unmanned aerial vehicle; and if the average vertical distance S2 is smaller than the safety spacing distance S, judging that the target unmanned aerial vehicle tracks and flies in the safety interference area.
Optionally, the controlling the countering unmanned aerial vehicle to fly to the target unmanned aerial vehicle and to counter the target unmanned aerial vehicle includes: acquiring the maximum flying speed Bv of the target unmanned aerial vehicle; setting the flying speed Cv of the counter unmanned aerial vehicle, wherein Cv is greater than Bv; acquiring a linear flight path between the countering unmanned aerial vehicle and the target unmanned aerial vehicle; controlling the countering unmanned aerial vehicle to fly to the target unmanned aerial vehicle according to the linear flight path, and acquiring a real-time distance SCB between the countering unmanned aerial vehicle and the target unmanned aerial vehicle in real time; and when the real-time distance SCB is smaller than the interference distance of the countering unmanned aerial vehicle, controlling the countering unmanned aerial vehicle to transmit an interference signal to the target unmanned aerial vehicle.
In a second aspect, an embodiment of the present invention further provides a target countering system based on an unmanned aerial vehicle, where the system includes: the system comprises an interference area forming module, a data processing module and a data processing module, wherein the interference area forming module is configured to construct an unmanned aerial vehicle flying fleet consisting of a plurality of unmanned aerial vehicles, and acquire an interference area formed by the unmanned aerial vehicles by taking any node in a flying path of the operating unmanned aerial vehicle as a central point and taking an interference distance as a safe radius; a tracking flight judgment module configured to judge whether a target unmanned aerial vehicle flies and tracks the working unmanned aerial vehicle in the interference region; the warning information sending module is configured to send warning information to the operation unmanned aerial vehicle and acquire positioning data information of the target unmanned aerial vehicle if the warning information is available; the control system comprises a control module and a counter control module, wherein the control module is configured to control a counter unmanned aerial vehicle to fly to a target unmanned aerial vehicle and counter the target unmanned aerial vehicle according to the positioning data information, and the counter unmanned aerial vehicle is any one unmanned aerial vehicle behind the operation unmanned aerial vehicle, which is removed from the plurality of unmanned aerial vehicles.
Optionally, the tracking flight determining module specifically includes: a first tracking flight judgment sub-module configured to judge whether the target unmanned aerial vehicle exists in the safety interference area at time t1, and a second tracking judgment sub-module configured to judge whether the target unmanned aerial vehicles all fly in the safety interference area between time t1 and time t2 by taking the time t1 as a time starting point and the time t2 as a time end point if the target unmanned aerial vehicle exists; a third tracking judgment sub-module configured to, if yes, obtain an average vertical distance s1 between the target drone and the working drone over a time period from time t1 to time t 2; a fourth tracking judgment sub-module configured to compare the average vertical distance S1 with a preset safe separation distance S of the working drone; a fifth tracking judgment sub-module configured to judge that there is a target drone to track and fly in the safety interference area if the average vertical distance S1 is smaller than the safety separation distance S.
Optionally, if it is determined that the target drones are not all flying in the safety interference area between the time t1 and the time t2, the tracking flight determining module further includes: a marking unit configured to mark the target drone as a suspect drone when the target drone enters the safety interference area at time t 1; a time t3 acquiring unit configured to acquire a time t3 when the target drone flies away from the safety interference area; a monitoring unit configured to monitor whether the target unmanned aerial vehicle flies into the safety interference area again after flying out of the safety interference area; a time t4 obtaining unit, configured to, if yes, obtain a time t4 when the target unmanned aerial vehicle flies into the safety interference area again; a safety interval time judgment unit configured to judge whether a time period t34 from the time t3 to the time t4 is less than a safety interval time; a vertical distance s2 acquisition unit configured to acquire, if yes, an arbitrary vertical distance s2 between the target drone and the working drone at an arbitrary timing after the t4 timing; a comparison unit configured to compare the arbitrary vertical distance S2 with a preset safe separation distance S of the working drone; a determination unit configured to determine that there is a target drone to follow in the safety interference area if the average vertical distance S2 is smaller than the safety separation distance S.
Optionally, the countering module includes: a flight speed Bv acquisition module configured to acquire a maximum flight speed Bv of the target unmanned aerial vehicle; a speed of flight Cv setting module configured to set a speed of flight Cv of the countering drone, the Cv being greater than the Bv; a linear flight path acquisition module configured to acquire a linear flight path between the countering drone and the target drone; the real-time distance SCB acquisition module is configured to control the countering unmanned aerial vehicle to fly to the target unmanned aerial vehicle according to the straight flight path and acquire a real-time distance SCB between the countering unmanned aerial vehicle and the target unmanned aerial vehicle in real time; and the interference signal transmitting module is configured to control the countering unmanned aerial vehicle to transmit an interference signal to the target unmanned aerial vehicle after the real-time distance SCB is smaller than the interference distance of the countering unmanned aerial vehicle.
In a third aspect, the present invention further provides a monitoring and processing apparatus for a target drone, including a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor implements the following steps when executing the program: constructing an unmanned aerial vehicle flying fleet consisting of a plurality of unmanned aerial vehicles, and acquiring an interference area formed by the unmanned aerial vehicles by taking any node in a flying path of the operating unmanned aerial vehicle as a central point and taking an interference distance as a safe radius; judging whether a target unmanned aerial vehicle flies and tracks the operation unmanned aerial vehicle in the interference area; if yes, sending alarm information to the operation unmanned aerial vehicle, and acquiring positioning data information of the target unmanned aerial vehicle; according to the locating data information, control counter unmanned aerial vehicle fly to target unmanned aerial vehicle is right target unmanned aerial vehicle counteracts, counter unmanned aerial vehicle is detach among a plurality of unmanned aerial vehicle arbitrary unmanned aerial vehicle behind the operation unmanned aerial vehicle.
In a fourth aspect, the present invention also provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of: constructing an unmanned aerial vehicle flying fleet consisting of a plurality of unmanned aerial vehicles, and acquiring an interference area formed by the unmanned aerial vehicles by taking any node in a flying path of the operating unmanned aerial vehicle as a central point and taking an interference distance as a safe radius; judging whether a target unmanned aerial vehicle flies and tracks the operation unmanned aerial vehicle in the interference area; if yes, sending alarm information to the operation unmanned aerial vehicle, and acquiring positioning data information of the target unmanned aerial vehicle; according to the locating data information, control counter unmanned aerial vehicle fly to target unmanned aerial vehicle is right target unmanned aerial vehicle counteracts, counter unmanned aerial vehicle is detach among a plurality of unmanned aerial vehicle arbitrary unmanned aerial vehicle behind the operation unmanned aerial vehicle.
One or more technical solutions provided in the embodiments of the present invention have at least the following technical effects or advantages:
the invention firstly constructs a machine pair consisting of a plurality of unmanned aerial vehicles, acquires an interference area formed by taking any node in the flight path of the operating unmanned aerial vehicle as a central point and taking the interference distance as a safe radius, then judging whether a target unmanned aerial vehicle tracks the operation unmanned aerial vehicle to fly in the interference area, because the operation unmanned aerial vehicle flies in real time, namely the flying area of the operation unmanned aerial vehicle in the air is not constantly changed, by forming an interference area in the flight track of the working unmanned aerial vehicle by taking the flight node of the working unmanned aerial vehicle as a central point, when the target unmanned aerial vehicle is judged to track and fly in the interference area, then sending alarm information to the working unmanned aerial vehicle and acquiring positioning data information of the target unmanned aerial vehicle, then according to this location data information, the anti-unmanned aerial vehicle of control except that the operation unmanned aerial vehicle in the unmanned aerial vehicle centering flies to target unmanned aerial vehicle in order to counter-act target unmanned aerial vehicle. Therefore, the unmanned aerial vehicle safety interference area is locked to operate, only the unmanned aerial vehicle in the interference area is subjected to alarm countercheck, the interference area is determined along with the determination of the flight track of the unmanned aerial vehicle and simultaneously moves in real time along with the flight movement of the unmanned aerial vehicle, but the safety radius is fixed, so that the area of the safety interference area is fixed, whether the target unmanned aerial vehicle enters the interference area is only required to be judged, meanwhile, the rest unmanned aerial vehicles in the machine pair are used as the countercheck unmanned aerial vehicles to perform countercheck, the time consumed by temporarily calling the unmanned aerial vehicle to fly to the target unmanned aerial vehicle in the base is greatly shortened, the countercheck efficiency is improved, and in addition, compared with the fact that the target unmanned aerial vehicle is subjected to human eye identification judgment through videos, the accuracy is high, the subjective factors can be eliminated, misjudgment can be caused, and the false judgment can be realized, The technical effect of the false interference.
The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts.
Fig. 1 is a schematic view of an application scenario of a monitoring and processing method for a target drone in an embodiment of the present application;
FIG. 2 is a schematic flow diagram of the method of FIG. 1;
FIG. 3 is a schematic diagram of a system configuration in an embodiment of the present application;
FIG. 4 is a schematic diagram of a system configuration in an embodiment of the present application;
fig. 5 is a schematic structural diagram of a computer-readable storage medium in an embodiment of the present application.
Detailed Description
The embodiment of the invention provides a method and a system for monitoring and processing a target unmanned aerial vehicle, which are used for solving the technical defects that the determination mode for tracking the unmanned aerial vehicle in the prior art is only determined according to videos, so that misjudgment and misinterference are easily caused, and the accuracy is extremely low, thereby achieving the technical effects of high accuracy and capability of eliminating the misjudgment and the misinterference caused by artificial subjective factors.
The technical scheme in the embodiment of the invention has the following general idea:
a method of monitoring and processing a target drone, the method comprising:
constructing an unmanned aerial vehicle flying fleet consisting of a plurality of unmanned aerial vehicles, and acquiring an interference area formed by the unmanned aerial vehicles by taking any node in a flying path of the operating unmanned aerial vehicle as a central point and taking an interference distance as a safe radius;
judging whether a target unmanned aerial vehicle flies and tracks the operation unmanned aerial vehicle in the interference area;
if yes, sending alarm information to the operation unmanned aerial vehicle, and acquiring positioning data information of the target unmanned aerial vehicle;
according to the locating data information, control counter unmanned aerial vehicle fly to target unmanned aerial vehicle is right target unmanned aerial vehicle counteracts, counter unmanned aerial vehicle is detach among a plurality of unmanned aerial vehicle arbitrary unmanned aerial vehicle behind the operation unmanned aerial vehicle.
The method comprises constructing a machine pair composed of a plurality of unmanned aerial vehicles, acquiring an interference area formed by taking any node in the flight path of the unmanned aerial vehicle as a central point and taking the interference distance as a safe radius, then judging whether a target unmanned aerial vehicle tracks the operation unmanned aerial vehicle to fly in the interference area, because the operation unmanned aerial vehicle flies in real time, namely the flying area of the operation unmanned aerial vehicle in the air is not constantly changed, by forming an interference area in the flight track of the working unmanned aerial vehicle by taking the flight node of the working unmanned aerial vehicle as a central point, when the target unmanned aerial vehicle is judged to track and fly in the interference area, then sending alarm information to the working unmanned aerial vehicle and acquiring positioning data information of the target unmanned aerial vehicle, then according to this location data information, the anti-unmanned aerial vehicle of control except that the operation unmanned aerial vehicle in the unmanned aerial vehicle centering flies to target unmanned aerial vehicle in order to counter-act target unmanned aerial vehicle. Therefore, the unmanned aerial vehicle safety interference area is locked to operate, only the unmanned aerial vehicle in the interference area is subjected to alarm countercheck, the interference area is determined along with the determination of the flight track of the unmanned aerial vehicle and simultaneously moves in real time along with the flight movement of the unmanned aerial vehicle, but the safety radius is fixed, so that the area of the safety interference area is fixed, whether the target unmanned aerial vehicle enters the interference area is only required to be judged, meanwhile, the rest unmanned aerial vehicles in the machine pair are used as the countercheck unmanned aerial vehicles to perform countercheck, the time consumed by temporarily calling the unmanned aerial vehicle to fly to the target unmanned aerial vehicle in the base is greatly shortened, the countercheck efficiency is improved, and in addition, compared with the fact that the target unmanned aerial vehicle is subjected to human eye identification judgment through videos, the accuracy is high, the subjective factors can be eliminated, misjudgment can be caused, and the false judgment can be realized, The technical effect of the false interference.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terms "first," "second," "third," "fourth," and the like in the description and in the claims, as well as in the drawings, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that the embodiments described herein may be practiced otherwise than as specifically illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The term "and/or" in the description and claims of the present invention and the above drawings is only one kind of association relationship describing the associated object, and means that there may be three relationships, for example, a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.
Example one
An embodiment of the present invention provides a method for monitoring and processing a target unmanned aerial vehicle, please refer to fig. 1-2, where the method includes:
s101, constructing an unmanned aerial vehicle flying fleet composed of a plurality of unmanned aerial vehicles, and acquiring an interference area formed by the unmanned aerial vehicles by taking any node in a flying path of the operating unmanned aerial vehicle as a central point and taking an interference distance as a safe radius;
s102, judging whether a target unmanned aerial vehicle flies and tracks the operation unmanned aerial vehicle in the interference area;
s103, if yes, sending alarm information to the operation unmanned aerial vehicle, and acquiring positioning data information of the target unmanned aerial vehicle;
s104, according to the positioning data information, a control counter unmanned aerial vehicle flies to the target unmanned aerial vehicle and is right to counter the target unmanned aerial vehicle, wherein the counter unmanned aerial vehicle is any one unmanned aerial vehicle behind the operation unmanned aerial vehicle, and the counter unmanned aerial vehicle is removed from the plurality of unmanned aerial vehicles.
According to the research of the inventor, the existing unmanned aerial vehicle belongs to an aircraft with low altitude and low speed, the method for countering the unmanned aerial vehicle is that when finding that a suspected unmanned aerial vehicle tracks the flight of the unmanned aerial vehicle of the same party, the position of the suspected unmanned aerial vehicle is determined through a radar detection system, the suspected unmanned aerial vehicle is identified through video confirmation to judge whether the suspected unmanned aerial vehicle is the tracked unmanned aerial vehicle, and the basis of the video confirmation is that whether the suspected unmanned aerial vehicle is the tracked unmanned aerial vehicle dispatched by an enemy or a competitor (for example, whether the suspected tracked unmanned aerial vehicle is a product of an enemy or a competitor company) is usually judged through human eyes of background operators, and the unmanned aerial vehicle is knocked down or guided to land after the. However, the above existing determination method for tracking the unmanned aerial vehicle is only determined according to videos, which easily causes misjudgment and interference, and meanwhile, if the unmanned aerial vehicle is a novel unmanned aerial vehicle without recording, the unmanned aerial vehicle cannot be simply identified and determined through videos, and the accuracy is extremely low.
Based on this, an embodiment of the present invention provides a method for monitoring and processing a target drone, so as to solve the above technical problem.
The following describes in detail a monitoring and processing method of a target drone according to an embodiment of the present invention with reference to fig. 1-2:
firstly, S101 is executed, an unmanned aerial vehicle flying fleet composed of a plurality of unmanned aerial vehicles is constructed, and an interference area formed by the unmanned aerial vehicles with any node in the flying path of the operating unmanned aerial vehicle as a central point and the interference distance as a safe radius is obtained;
the working unmanned aerial vehicle can be understood as an unmanned aerial vehicle from which work is dispatched by the owner, any node in the flight path of the working unmanned aerial vehicle serves as a central point P, the interference distance is a radius set according to the anti-interference distance of the working unmanned aerial vehicle in the embodiment of the invention when the working unmanned aerial vehicle flies at each coordinate point of the body of the working unmanned aerial vehicle, namely when the distance is equal to the radius of the working unmanned aerial vehicle, the interference signal transmitted within the radius can be interfered, and the distance serves as a safety radius in S101. For example, when the distance is 10m from the working drone, the interference information transmitted by the other party can start to interfere with the working drone, and then the interference information can be transmitted to interfere with the working drone within 10m, specifically 9m, 8m, 7m, and the like, whereas when the distance is 11m, the interference information transmitted by the other party cannot start to interfere with the working drone, and then 10m is the safety radius in S110. Because the operation unmanned aerial vehicle is constantly flying, consequently the safety interference region M that is formed by this safe radius is constantly moving to this accurate in good time adjustment to safety interference region M.
Then, S102 is executed, and whether a target unmanned aerial vehicle flies and tracks the operation unmanned aerial vehicle in the interference area is judged;
specifically, the follow-up flight may be understood as whether the drone is flying during the follow-up operation, because although it may be determined whether the target drone is flying in the interference area, it cannot be determined that the flight is the follow-up flight of the drone during the follow-up operation, so that the step S102 is a step of determining whether the drone is the follow-up flight, and the step specifically includes the following sub-steps:
judging whether the target unmanned aerial vehicle exists in the interference area at the moment t 1;
the time t1 may be any time when the judgment is started, and the target unmanned aerial vehicle may be any unmanned aerial vehicle except an operation unmanned aerial vehicle, and is not limited to an unmanned aerial vehicle product under enemies or competitive opponent flags; in the existing unmanned aerial vehicle reverse-braking monitoring system, the moment is not determined firstly, then whether a tracking unmanned aerial vehicle exists at the beginning of the moment is monitored, whether other unmanned aerial vehicles enter a no-fly area or a defense area is observed, if so, whether the tracking unmanned aerial vehicle is identified through videos, the disadvantage is that the tracking unmanned aerial vehicle is judged and identified in the whole time period, the purposeful tracking unmanned aerial vehicle is not used, the tracking unmanned aerial vehicle is usually closely tracked to transmit interference signals when the unmanned aerial vehicle of one party performs core operation, the core operation process of the unmanned aerial vehicle of one party is influenced, the tracking of the unmanned aerial vehicle of one party is meaningless and does not need to be reversed when the unmanned aerial vehicle of one party normally runs, the tracking unmanned aerial vehicle of the other party is not closely tracked in the running process of the unmanned aerial vehicle of the one party, and the interference signals are not transmitted to influence the normal control of the unmanned aerial vehicle of the one, because the influence is of no practical significance, in order to reduce the identification and judgment cost in the copy-back process, the time t1 is set in step 121, and then whether the unmanned aerial vehicle is tracked or not is monitored when the time starts, the time t1 can be understood as the time when the unmanned aerial vehicle starts to operate, or the monitoring time 5 minutes ahead before the unmanned aerial vehicle operates, so that the invalid copy-back before the time t1 is avoided, and the effectiveness of monitoring and copy-back is improved.
If yes, judging whether the target unmanned aerial vehicles fly in the safe interference area between the time t1 and the time t2 by taking the time t1 as a time starting point and the time t2 as a time end point;
when it is judged that a target unmanned aerial vehicle flies in the safety interference area at the time t1, it is indicated that a suspected unmanned aerial vehicle exists at the time, and whether the suspected unmanned aerial vehicle tracks the unmanned aerial vehicle needs to be accurately judged, at this time, in the embodiment of the present invention, whether the target unmanned aerial vehicle flies in the safety interference area between the time t1 and the time t2 is judged by taking the time t1 as a time starting point and taking the time t2 as a time end point, that is, whether the target unmanned aerial vehicle continuously flies in the safety interference area in the time period is judged;
if yes, acquiring an average vertical distance s1 between the target unmanned aerial vehicle and the working unmanned aerial vehicle within a time period from t1 to t 2;
when the target drone is continuously flying in the safety interference area during the time period, since the vertical distance between the target drone and the working drone changes in real time during the specific time period from the time t1 to the time t2, it is possible that the target drone and the working drone are close to each other or far from each other during a small time period, it is possible, for example, that during the time period from time t1 to time t2, there is 30 seconds when the vertical distance between the target drone and the working drone is very close, however, the vertical distance between the target drone and the working drone is far from 2 minutes and 30 seconds, and the probability that the target drone is the tracking drone is very small, so that in order to avoid misjudgment, the S123 further includes acquiring an average vertical distance S1 between the target drone and the working drone over a time period from time t1 to time t 2;
comparing the average vertical distance S1 with a preset safe spacing distance S of the working unmanned aerial vehicle;
and if the average vertical distance S1 is smaller than the safety spacing distance S, judging that the target unmanned aerial vehicle tracks and flies in the safety interference area.
That is, when it is determined that the average vertical distance S1 is smaller than the safety separation distance S, it may be determined that the target drone is following flight in the safety interference area. It should be noted that the safety spacing distance S may be one third of the safety radius in the embodiment of the present invention.
Certainly, when it is determined whether the target unmanned aerial vehicles all fly in the safety interference area between the time t1 and the time t2, there may also be a case that the target unmanned aerial vehicles do not all fly in the safety interference area, that is, the target unmanned aerial vehicles fly in the safety interference area at the time t1, but at a certain time between the time t1 and the time t2, the target unmanned aerial vehicles leave the safety interference area, at this time, if the target unmanned aerial vehicles do not return to the safety interference area, it is determined that the target unmanned aerial vehicles are not tracking unmanned aerial vehicles, and when the target unmanned aerial vehicles again fly into the safety interference area, it is highly likely that the target unmanned aerial vehicles are tracking unmanned aerial vehicles, so the embodiment of the present invention further includes the following sub-steps for the case:
marking the target unmanned aerial vehicle as a suspected unmanned aerial vehicle when the target unmanned aerial vehicle enters the safety interference area at the time t 1;
acquiring a time t3 when the target unmanned aerial vehicle flies away from the safety interference area;
monitoring whether the target unmanned aerial vehicle flies into the safety interference area again after flying away from the safety interference area;
if yes, acquiring a time t4 when the target unmanned aerial vehicle flies into the safety interference area again;
judging whether the time period t34 from the time t3 to the time t4 is less than a safety interval time or not;
specifically, the situation that the target drone is driven out of the safety interference area halfway can be divided into two types, the first type is that when the driving-out time is long, the target drone is confirmed not to be the following drone but only that a certain route in the middle of the driving route is relatively close to the driving route of the working drone, and the second type is that when the driving-out time is short, the target drone is confirmed to be the following drone most likely, so that a safety interval time, for example, 90 seconds, is preset in S126b, and it is determined whether or not the time period t34 from the time t3 to the time t4 is less than 90 seconds, if so, the target drone belongs to the second type, and if so, the target drone belongs to the first type.
If so, acquiring any vertical distance s2 between the target unmanned aerial vehicle and the working unmanned aerial vehicle at any time after the time t 4;
comparing the arbitrary vertical distance S2 with a preset safe spacing distance S of the working unmanned aerial vehicle;
and if the average vertical distance S2 is smaller than the safety spacing distance S, judging that the target unmanned aerial vehicle tracks and flies in the safety interference area.
Note that, in this step S127b, any vertical distance S2 between the target drone and the working drone at any time after the time t4 is acquired; instead of averaging the vertical distances, since the possibility that the target drone is a tracking drone has been increased after it is determined that t34 is smaller than the safety interval time, it is only necessary to confirm whether any vertical distance S2 between the target drone and the working drone at a certain time (at any time) is smaller than the safety interval distance S, and it is not necessary to take the average value of the interval distances.
Whether the target unmanned aerial vehicle tracks and flies in the safety interference area is judged through the steps, compared with the method that the target unmanned aerial vehicle is subjected to human eye identification and judgment through videos, the accuracy is high, and the technical effects of misjudgment and misinterference caused by artificial subjective factors can be eliminated.
If yes, sending alarm information to the operation unmanned aerial vehicle, and acquiring positioning data information of the target unmanned aerial vehicle;
according to the positioning data information, controlling a reverse unmanned aerial vehicle to fly to the target unmanned aerial vehicle so as to reverse the target unmanned aerial vehicle.
When the target unmanned aerial vehicle is judged to track and fly in the safety interference area, the operation unmanned aerial vehicle sends alarm information to the operation unmanned aerial vehicle and acquires positioning data information of the target unmanned aerial vehicle; and because operation unmanned aerial vehicle is the unmanned aerial vehicle that needs the operation, can't return and carry out the counter-control to target unmanned aerial vehicle, control surplus counter-control unmanned aerial vehicle in the centering through operation unmanned aerial vehicle again this moment flies to target unmanned aerial vehicle is in order to right target unmanned aerial vehicle carries out the counter-control. Aiming at the step, the method also comprises the following substeps:
acquiring the maximum flying speed Bv of the target unmanned aerial vehicle;
acquiring the vertical distance between each unmanned aerial vehicle and a target unmanned aerial vehicle in the remaining unmanned aerial vehicles except the operation unmanned aerial vehicle;
judging that the unmanned aerial vehicle closest to the target unmanned aerial vehicle in vertical distance is a counter unmanned aerial vehicle;
setting the flying speed Cv of the counter unmanned aerial vehicle, wherein Cv is greater than Bv;
acquiring a linear flight path between the countering unmanned aerial vehicle and the target unmanned aerial vehicle;
controlling the countering unmanned aerial vehicle to fly according to the straight lineThe path flies to the target unmanned aerial vehicle and acquires the real-time distance S between the countering unmanned aerial vehicle and the target unmanned aerial vehicle in real timeCB；
When the real-time distance SCBAnd after the interference distance is smaller than the interference distance of the countering unmanned aerial vehicle, controlling the countering unmanned aerial vehicle to transmit an interference signal to the target unmanned aerial vehicle.
It should be noted here that when the real-time distance S is measuredCBLess than after the interference distance of the countering unmanned aerial vehicle, the real-time distance S between the countering unmanned aerial vehicle and the operating unmanned aerial vehicle is possibleCAAnd the interference distance is smaller than the interference distance of the countering unmanned aerial vehicle, and the countering unmanned aerial vehicle can also interfere the operation unmanned aerial vehicle if transmitting an interference signal to the target unmanned aerial vehicle, so that the real-time distance S is used in the embodiment of the inventionCBBe less than after the interference distance of countering unmanned aerial vehicle, still include:
obtaining in real time a real-time distance S between the countering drone and the working droneCA；
Judging the real-time distance SCAAnd if not, regulating and controlling the flight speed of the operation unmanned aerial vehicle and executing in a circulating mode.
It should be noted that in the embodiment of the present invention, the remaining drones in the pair are used as the countering drones to perform countering, which greatly shortens the time consumed by the base to temporarily transfer the drones to the target drone, and improves the countering efficiency
Based on the same inventive concept, the embodiment of the invention also provides a system corresponding to the method in the first embodiment, which is shown in the second embodiment.
Example two
An embodiment of the present invention provides a system, please refer to fig. 3, where the system includes: an interference area forming module 201, configured to construct an unmanned aerial vehicle flying fleet composed of a plurality of unmanned aerial vehicles, and acquire an interference area formed by any node in a flight path of the operating unmanned aerial vehicle in the plurality of unmanned aerial vehicles as a central point and an interference distance as a safe radius; a tracking flight determination module 202 configured to determine whether a target drone flies and tracks the working drone in the interference area; the warning information sending module 203 is configured to send warning information to the working unmanned aerial vehicle and obtain positioning data information of the target unmanned aerial vehicle if the warning information is available; a countering module 204 configured to control a countering unmanned aerial vehicle to fly to the target unmanned aerial vehicle and to react to the target unmanned aerial vehicle according to the positioning data information, wherein the countering unmanned aerial vehicle is any one of the unmanned aerial vehicles except the operation unmanned aerial vehicle.
In the second embodiment of the present invention, the tracking flight determining module specifically includes: a first tracking flight judgment sub-module configured to judge whether the target unmanned aerial vehicle exists in the safety interference area at time t1, and a second tracking judgment sub-module configured to judge whether the target unmanned aerial vehicles all fly in the safety interference area between time t1 and time t2 by taking the time t1 as a time starting point and the time t2 as a time end point if the target unmanned aerial vehicle exists; a third tracking judgment sub-module configured to, if yes, obtain an average vertical distance s1 between the target drone and the working drone over a time period from time t1 to time t 2; a fourth tracking judgment sub-module configured to compare the average vertical distance S1 with a preset safe separation distance S of the working drone; a fifth tracking judgment sub-module configured to judge that there is a target drone to track and fly in the safety interference area if the average vertical distance S1 is smaller than the safety separation distance S.
In the second embodiment of the present invention, if it is determined that the target unmanned aerial vehicles do not all fly in the safety interference area between the time t1 and the time t2, the tracking flight determination module further includes: a marking unit configured to mark the target drone as a suspect drone when the target drone enters the safety interference area at time t 1; a time t3 acquiring unit configured to acquire a time t3 when the target drone flies away from the safety interference area; a monitoring unit configured to monitor whether the target unmanned aerial vehicle flies into the safety interference area again after flying out of the safety interference area; a time t4 obtaining unit, configured to, if yes, obtain a time t4 when the target unmanned aerial vehicle flies into the safety interference area again; a safety interval time judgment unit configured to judge whether a time period t34 from the time t3 to the time t4 is less than a safety interval time; a vertical distance s2 acquisition unit configured to acquire, if yes, an arbitrary vertical distance s2 between the target drone and the working drone at an arbitrary timing after the t4 timing; a comparison unit configured to compare the arbitrary vertical distance S2 with a preset safe separation distance S of the working drone; a determination unit configured to determine that there is a target drone to follow in the safety interference area if the average vertical distance S2 is smaller than the safety separation distance S.
In a second embodiment of the present invention, the countering module includes: a flight speed Bv acquisition module configured to acquire a maximum flight speed Bv of the target unmanned aerial vehicle; a speed of flight Cv setting module configured to set a speed of flight Cv of the countering drone, the Cv being greater than the Bv; a linear flight path acquisition module configured to acquire a linear flight path between the countering drone and the target drone; real time distance SCBAn acquisition module configured to control the countering unmanned aerial vehicle to fly to the target unmanned aerial vehicle according to the linear flight path and acquire a real-time distance S between the countering unmanned aerial vehicle and the target unmanned aerial vehicle in real timeCB(ii) a An interference signal transmitting module configured to transmit the interference signal when the real-time distance S is reachedCBAnd after the interference distance is smaller than the interference distance of the countering unmanned aerial vehicle, controlling the countering unmanned aerial vehicle to transmit an interference signal to the target unmanned aerial vehicle.
Since the second embodiment of the present invention is a system for implementing the method of the first embodiment of the present invention, based on the method described in the first embodiment of the present invention, a person skilled in the art can understand the specific structure and the deformation of the apparatus, and thus the detailed description is omitted here. All systems adopted by the method of the first embodiment of the present invention are within the intended protection scope of the present invention.
EXAMPLE III
Based on the same invention communication between the first embodiment and the second embodiment, a third embodiment of the present invention provides an apparatus, including: radio Frequency (RF) circuitry 310, memory 320, input unit 330, display unit 340, audio circuitry 350, WiFi module 360, processor 370, and power supply 380. The memory 320 stores thereon a computer program that can be executed on the processor 370, and the processor 370 executes the computer program to implement the steps described in the first embodiment.
In a specific implementation process, when the processor executes the computer program, either implementation manner of the first embodiment or the second embodiment can be realized.
Those skilled in the art will appreciate that the device configuration shown in fig. 4 does not constitute a limitation of the device itself, and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
The following describes the components of the computer device in detail with reference to fig. 4:
RF circuitry 310 may be used for receiving and transmitting signals, and in particular, for receiving downlink information from base stations and processing the received downlink information to processor 370. In general, the RF circuit 310 includes, but is not limited to, at least one Amplifier, transceiver, coupler, Low Noise Amplifier (LNA), duplexer, and the like.
The memory 320 may be used to store software programs and modules, and the processor 370 may execute various functional applications of the computer device and data processing by operating the software programs and modules stored in the memory 320. The memory 320 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function, and the like; the storage data area may store data created according to use of the computer device, and the like. Further, the memory 320 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device.
The input unit 330 may be used to receive input numeric or character information and generate key signal inputs related to user settings and function control of the computer apparatus. Specifically, the input unit 330 may include a keyboard 331 and other input devices 332. The keyboard 331 can collect the input operation of the user thereon and drive the corresponding connection device according to a preset program. The keyboard 331 collects the output information and sends it to the processor 370. The input unit 330 may include other input devices 332 in addition to the keyboard 331. In particular, other input devices 332 may include, but are not limited to, one or more of a touch panel, function keys (such as volume control keys, switch keys, etc.), a trackball, a mouse, a joystick, and the like.
The display unit 340 may be used to display information input by a user or information provided to the user and various menus of the computer device. The Display unit 340 may include a Display panel 341, and optionally, the Display panel 341 may be configured in the form of a Liquid Crystal Display (LCD), an Organic Light-Emitting Diode (OLED), or the like. Further, the keyboard 331 may cover the display panel 341, and when the keyboard 331 detects a touch operation on or near the keyboard 331, the keyboard 331 transmits the touch event to the processor 370 to determine the type of the touch event, and then the processor 370 provides a corresponding visual output on the display panel 341 according to the type of the input event. Although the keyboard 331 and the display panel 341 are shown in fig. 3 as two separate components to implement input and output functions of the computer device, in some embodiments, the keyboard 331 and the display panel 341 may be integrated to implement input and output functions of the computer device.
Audio circuitry 350, speaker 351, microphone 352 may provide an audio interface between a user and a computer device. The audio circuit 350 may transmit the electrical signal converted from the received audio data to the speaker 351, and the electrical signal is converted into a sound signal by the speaker 351 and output;
WiFi belongs to short-distance wireless transmission technology, and computer equipment can help a user to receive and send e-mails, browse webpages, access streaming media and the like through the WiFi module 360, and provides wireless broadband internet access for the user. Although fig. 3 shows the WiFi module 360, it is understood that it does not belong to the essential constitution of the computer device, and may be omitted entirely as needed within the scope not changing the essence of the invention.
The processor 370 is a control center of the computer device, connects various parts of the entire computer device using various interfaces and lines, performs various functions of the computer device and processes data by operating or executing software programs and/or modules stored in the memory 320 and calling data stored in the memory 320, thereby monitoring the computer device as a whole. Alternatively, processor 370 may include one or more processing units; preferably, the processor 370 may be integrated with an application processor, wherein the application processor primarily handles operating systems, user interfaces, application programs, and the like.
The computer device also includes a power supply 380 (such as a power adapter) for powering the various components, which may preferably be logically connected to the processor 370 through a power management system.
Example four
Based on the same inventive concept, as shown in fig. 5, the fifth embodiment provides a computer-readable storage medium 400, on which a computer program 411 is stored, and when the computer program 411 is executed by a processor, the steps described in the first embodiment are implemented.
In a specific implementation, the computer program 411 may implement any one of the first, second, and third embodiments when executed by a processor.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The technical scheme provided by the embodiment of the invention at least has the following technical effects or advantages:
the invention firstly constructs a machine pair consisting of a plurality of unmanned aerial vehicles, acquires an interference area formed by taking any node in the flight path of the operating unmanned aerial vehicle as a central point and taking the interference distance as a safe radius, then judging whether a target unmanned aerial vehicle tracks the operation unmanned aerial vehicle to fly in the interference area, because the operation unmanned aerial vehicle flies in real time, namely the flying area of the operation unmanned aerial vehicle in the air is not constantly changed, by forming an interference area in the flight track of the working unmanned aerial vehicle by taking the flight node of the working unmanned aerial vehicle as a central point, when the target unmanned aerial vehicle is judged to track and fly in the interference area, then sending alarm information to the working unmanned aerial vehicle and acquiring positioning data information of the target unmanned aerial vehicle, then according to this location data information, the anti-unmanned aerial vehicle of control except that the operation unmanned aerial vehicle in the unmanned aerial vehicle centering flies to target unmanned aerial vehicle in order to counter-act target unmanned aerial vehicle. Therefore, the unmanned aerial vehicle safety interference area is locked to operate, only the unmanned aerial vehicle in the interference area is subjected to alarm countercheck, the interference area is determined along with the determination of the flight track of the unmanned aerial vehicle and simultaneously moves in real time along with the flight movement of the unmanned aerial vehicle, but the safety radius is fixed, so that the area of the safety interference area is fixed, whether the target unmanned aerial vehicle enters the interference area is only required to be judged, meanwhile, the rest unmanned aerial vehicles in the machine pair are used as the countercheck unmanned aerial vehicles to perform countercheck, the time consumed by temporarily calling the unmanned aerial vehicle to fly to the target unmanned aerial vehicle in the base is greatly shortened, the countercheck efficiency is improved, and in addition, compared with the fact that the target unmanned aerial vehicle is subjected to human eye identification judgment through videos, the accuracy is high, the subjective factors can be eliminated, misjudgment can be caused, and the false judgment can be realized, The technical effect of the false interference.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various modifications and variations can be made in the embodiments of the present invention without departing from the spirit or scope of the embodiments of the invention. Thus, if such modifications and variations of the embodiments of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to encompass such modifications and variations.

Claims (10)

1. A method for monitoring and processing a target unmanned aerial vehicle, the method comprising:
constructing an unmanned aerial vehicle flying fleet consisting of a plurality of unmanned aerial vehicles, and acquiring an interference area formed by the unmanned aerial vehicles by taking any node in a flying path of the operating unmanned aerial vehicle as a central point and taking an interference distance as a safe radius;
judging whether a target unmanned aerial vehicle flies and tracks the operation unmanned aerial vehicle in the interference area;
if yes, sending alarm information to the operation unmanned aerial vehicle, and acquiring positioning data information of the target unmanned aerial vehicle;
according to the locating data information, control counter unmanned aerial vehicle fly to target unmanned aerial vehicle is right target unmanned aerial vehicle counteracts, counter unmanned aerial vehicle is detach among a plurality of unmanned aerial vehicle arbitrary unmanned aerial vehicle behind the operation unmanned aerial vehicle.
2. The method of claim 1, wherein determining whether a target drone is tracking the working drone in the interference zone specifically comprises:
determining whether the target drone is present in the interference area at time t1,
if yes, judging whether the target unmanned aerial vehicles fly in the safe interference area between the time t1 and the time t2 by taking the time t1 as a time starting point and the time t2 as a time end point;
if yes, acquiring an average vertical distance s1 between the target unmanned aerial vehicle and the working unmanned aerial vehicle within a time period from t1 to t 2;
comparing the average vertical distance S1 with a preset safe spacing distance S of the working unmanned aerial vehicle;
and if the average vertical distance S1 is smaller than the safety spacing distance S, judging that the target unmanned aerial vehicle tracks and flies in the safety interference area.
3. The method of claim 2, wherein the target drone further comprises:
if it is determined that the target drones are not all flying in the safe interference area between the time t1 and the time t2, the method further includes:
marking the target unmanned aerial vehicle as a suspected unmanned aerial vehicle when the target unmanned aerial vehicle enters the safety interference area at the time t 1;
acquiring a time t3 when the target unmanned aerial vehicle flies away from the safety interference area;
monitoring whether the target unmanned aerial vehicle flies into the safety interference area again after flying away from the safety interference area;
if yes, acquiring a time t4 when the target unmanned aerial vehicle flies into the safety interference area again;
judging whether the time period t34 from the time t3 to the time t4 is less than a safety interval time or not;
if so, acquiring any vertical distance s2 between the target unmanned aerial vehicle and the working unmanned aerial vehicle at any time after the time t 4;
comparing the arbitrary vertical distance S2 with a preset safe spacing distance S of the working unmanned aerial vehicle;
and if the average vertical distance S2 is smaller than the safety spacing distance S, judging that the target unmanned aerial vehicle tracks and flies in the safety interference area.
4. The method of monitoring and processing of a target drone of claim 3, wherein the controlling and countering the drone to fly to the target drone includes:
acquiring the maximum flying speed Bv of the target unmanned aerial vehicle;
setting the flying speed Cv of the counter unmanned aerial vehicle, wherein Cv is greater than Bv;
acquiring a linear flight path between the countering unmanned aerial vehicle and the target unmanned aerial vehicle;
controlling the countering unmanned aerial vehicle to fly to the target unmanned aerial vehicle according to the linear flight path and acquiring the real-time distance S between the countering unmanned aerial vehicle and the target unmanned aerial vehicle in real timeCB；
When the real-time distance SCBAnd after the interference distance is smaller than the interference distance of the countering unmanned aerial vehicle, controlling the countering unmanned aerial vehicle to transmit an interference signal to the target unmanned aerial vehicle.
5. An unmanned aerial vehicle-based target countering system, the system comprising:
the system comprises an interference area forming module, a data processing module and a data processing module, wherein the interference area forming module is configured to construct an unmanned aerial vehicle flying fleet consisting of a plurality of unmanned aerial vehicles, and acquire an interference area formed by the unmanned aerial vehicles by taking any node in a flying path of the operating unmanned aerial vehicle as a central point and taking an interference distance as a safe radius;
a tracking flight judgment module configured to judge whether a target unmanned aerial vehicle flies and tracks the working unmanned aerial vehicle in the interference region;
the warning information sending module is configured to send warning information to the operation unmanned aerial vehicle and acquire positioning data information of the target unmanned aerial vehicle if the warning information is available;
the control system comprises a control module and a counter control module, wherein the control module is configured to control a counter unmanned aerial vehicle to fly to a target unmanned aerial vehicle and counter the target unmanned aerial vehicle according to the positioning data information, and the counter unmanned aerial vehicle is any one unmanned aerial vehicle behind the operation unmanned aerial vehicle, which is removed from the plurality of unmanned aerial vehicles.
6. The system of claim 5, wherein the follow-up flight determination module specifically comprises:
a first follow-up flight determination sub-module configured to determine whether the target drone is present in the safe zone at time t1,
a second tracking judgment sub-module, configured to, if yes, judge whether the target drones fly in the safe interference area between time t1 and time t2 with time t1 as a time starting point and time t2 as a time ending point;
a third tracking judgment sub-module configured to, if yes, obtain an average vertical distance s1 between the target drone and the working drone over a time period from time t1 to time t 2;
a fourth tracking judgment sub-module configured to compare the average vertical distance S1 with a preset safe separation distance S of the working drone;
a fifth tracking judgment sub-module configured to judge that there is a target drone to track and fly in the safety interference area if the average vertical distance S1 is smaller than the safety separation distance S.
7. The system of claim 6, wherein if it is determined that the target drones are not all flying in the safe disturbance zone between time t1 and time t2, the follow-up flight determination module further comprises:
a marking unit configured to mark the target drone as a suspect drone when the target drone enters the safety interference area at time t 1;
a time t3 acquiring unit configured to acquire a time t3 when the target drone flies away from the safety interference area;
a monitoring unit configured to monitor whether the target unmanned aerial vehicle flies into the safety interference area again after flying out of the safety interference area;
a time t4 obtaining unit, configured to, if yes, obtain a time t4 when the target unmanned aerial vehicle flies into the safety interference area again;
a safety interval time judgment unit configured to judge whether a time period t34 from the time t3 to the time t4 is less than a safety interval time;
a vertical distance s2 acquisition unit configured to acquire, if yes, an arbitrary vertical distance s2 between the target drone and the working drone at an arbitrary timing after the t4 timing;
a comparison unit configured to compare the arbitrary vertical distance S2 with a preset safe separation distance S of the working drone;
a determination unit configured to determine that there is a target drone to follow in the safety interference area if the average vertical distance S2 is smaller than the safety separation distance S.
8. The system of claim 7, wherein the countering module comprises:
a flight speed Bv acquisition module configured to acquire a maximum flight speed Bv of the target unmanned aerial vehicle;
a speed of flight Cv setting module configured to set a speed of flight Cv of the countering drone, the Cv being greater than the Bv;
a linear flight path acquisition module configured to acquire a linear flight path between the countering drone and the target drone;
real time distance SCBAn acquisition module configured to control the countering unmanned aerial vehicle to fly to the target unmanned aerial vehicle according to the linear flight path and acquire a real-time distance S between the countering unmanned aerial vehicle and the target unmanned aerial vehicle in real timeCB；
An interference signal transmitting module configured to transmit the interference signal when the real-time distance S is reachedCBAnd after the interference distance is smaller than the interference distance of the countering unmanned aerial vehicle, controlling the countering unmanned aerial vehicle to transmit an interference signal to the target unmanned aerial vehicle.
9. A target drone monitoring and processing apparatus comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program implements the steps of:
constructing an unmanned aerial vehicle flying fleet consisting of a plurality of unmanned aerial vehicles, and acquiring an interference area formed by the unmanned aerial vehicles by taking any node in a flying path of the operating unmanned aerial vehicle as a central point and taking an interference distance as a safe radius;
judging whether a target unmanned aerial vehicle flies and tracks the operation unmanned aerial vehicle in the interference area;
if yes, sending alarm information to the operation unmanned aerial vehicle, and acquiring positioning data information of the target unmanned aerial vehicle;
according to the locating data information, control counter unmanned aerial vehicle fly to target unmanned aerial vehicle is right target unmanned aerial vehicle counteracts, counter unmanned aerial vehicle is detach among a plurality of unmanned aerial vehicle arbitrary unmanned aerial vehicle behind the operation unmanned aerial vehicle.
10. A computer-readable storage medium, on which a computer program is stored, which program, when executed by a processor, carries out the steps of:
constructing an unmanned aerial vehicle flying fleet consisting of a plurality of unmanned aerial vehicles, and acquiring an interference area formed by the unmanned aerial vehicles by taking any node in a flying path of the operating unmanned aerial vehicle as a central point and taking an interference distance as a safe radius;
judging whether a target unmanned aerial vehicle flies and tracks the operation unmanned aerial vehicle in the interference area;
if yes, sending alarm information to the operation unmanned aerial vehicle, and acquiring positioning data information of the target unmanned aerial vehicle;
according to the locating data information, control counter unmanned aerial vehicle fly to target unmanned aerial vehicle is right target unmanned aerial vehicle counteracts, counter unmanned aerial vehicle is detach among a plurality of unmanned aerial vehicle arbitrary unmanned aerial vehicle behind the operation unmanned aerial vehicle.
CN201911169656.5A 2019-11-26 2019-11-26 Target unmanned aerial vehicle monitoring and processing method and system Active CN111123969B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201911169656.5A CN111123969B (en) 2019-11-26 2019-11-26 Target unmanned aerial vehicle monitoring and processing method and system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201911169656.5A CN111123969B (en) 2019-11-26 2019-11-26 Target unmanned aerial vehicle monitoring and processing method and system

Publications (2)

Publication Number Publication Date
CN111123969A true CN111123969A (en) 2020-05-08
CN111123969B CN111123969B (en) 2023-07-28

Family

ID=70496689

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201911169656.5A Active CN111123969B (en) 2019-11-26 2019-11-26 Target unmanned aerial vehicle monitoring and processing method and system

Country Status (1)

Country Link
CN (1) CN111123969B (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111314017A (en) * 2020-05-09 2020-06-19 上海特金信息科技有限公司 Scheduling method and device of unmanned aerial vehicle signal suppression equipment, electronic equipment and medium

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9104201B1 (en) * 2012-02-13 2015-08-11 C&P Technologies, Inc. Method and apparatus for dynamic swarming of airborne drones for a reconfigurable array
CN109712271A (en) * 2019-01-08 2019-05-03 深圳市道通智能航空技术有限公司 A kind of Unmanned Aerial Vehicle Data processing method, device, equipment and storage medium
CN110375585A (en) * 2019-06-24 2019-10-25 湖北工业大学 A kind of flying object invasion reply system and method based on double capstan heads
CN110425935A (en) * 2019-07-08 2019-11-08 北京国卫星通科技有限公司 Multisystem combined anti-unmanned plane method, apparatus, storage medium and control equipment

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9104201B1 (en) * 2012-02-13 2015-08-11 C&P Technologies, Inc. Method and apparatus for dynamic swarming of airborne drones for a reconfigurable array
CN109712271A (en) * 2019-01-08 2019-05-03 深圳市道通智能航空技术有限公司 A kind of Unmanned Aerial Vehicle Data processing method, device, equipment and storage medium
CN110375585A (en) * 2019-06-24 2019-10-25 湖北工业大学 A kind of flying object invasion reply system and method based on double capstan heads
CN110425935A (en) * 2019-07-08 2019-11-08 北京国卫星通科技有限公司 Multisystem combined anti-unmanned plane method, apparatus, storage medium and control equipment

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
潘磊;李勇庆;王琛;戴铮;李灿;: "双无人机跟踪飞行分析" *

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111314017A (en) * 2020-05-09 2020-06-19 上海特金信息科技有限公司 Scheduling method and device of unmanned aerial vehicle signal suppression equipment, electronic equipment and medium

Also Published As

Publication number Publication date
CN111123969B (en) 2023-07-28

Similar Documents

Publication Publication Date Title
CN111123970A (en) Target countercheck method based on unmanned aerial vehicle and related equipment thereof
CN109088695B (en) A kind of unmanned plane detecting system of defense and method
CN105608930B (en) Unmanned plane safety management system and method
EP3475213B1 (en) Use of electronic badges in aisle passing maneuvers
US10984660B2 (en) Systems and methods for multi-channel remote identification of aircraft
CA2888862C (en) Electronic countermeasures transponder system
CN106781705B (en) A kind of unmanned plane early warning management-control method and system
WO2017078811A2 (en) Detecting location within a network
CN108029069A (en) With the event monitoring of the relevant event candidate of ID nodes in wireless node network
US20220014875A1 (en) Method and apparatus for obtaining location information after transitioning between modes of communications
CN110673626A (en) Unmanned aerial vehicle GPS deception trapping method
CN211953872U (en) Unmanned aerial vehicle counter-braking system based on radar, high-precision rotary table and cloud energy storage power supply
CN103179272A (en) Method and device for controlling mobile terminal
CN106448271A (en) Airspace management system
CN110487119A (en) A kind of unmanned plane being integrated in wisdom radio car shoots down system and shoots down method
US11259143B2 (en) Method and apparatus for associating or disassociating mobile devices
CN106774422A (en) A kind of unmanned plane recognition methods and system
KR20200061600A (en) Apparatus for detecting and defending spy drone and method of the same
CN111123969B (en) Target unmanned aerial vehicle monitoring and processing method and system
CN110377054B (en) Unmanned aerial vehicle cluster control system and method based on airborne platform
US20230067130A1 (en) Wireless, tag-based management of equipment-operator interactions
CN104933900A (en) Display control method and system for secondary radar command post system
CN106842186B (en) A kind of target acquiring and tracking processing method
CN110542918A (en) Unmanned aerial vehicle comprehensive detection and countercheck system and detection countercheck method thereof
CN111901217B (en) Key area land-air integrated warning system based on microvibration perception

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
TA01 Transfer of patent application right
TA01 Transfer of patent application right

Effective date of registration: 20200511

Address after: Unit J, room 613, floor 6, No. 10, Keji 1st Road, Gangwan Avenue, Tangjiawan Town, hi tech Zone, Zhuhai City, Guangdong Province

Applicant after: Zhuhai AVIC Smart Technology Co.,Ltd.

Address before: 100176 Building 1, yard 20, Tongji South Road, Yizhuang Economic and Technological Development Zone, Daxing District, Beijing

Applicant before: Zu Yajun

SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
CB03 Change of inventor or designer information
CB03 Change of inventor or designer information

Inventor after: Zhu Jianyang

Inventor after: Zu Yajun

Inventor after: Tang Yunye

Inventor before: Tang Yunye

Inventor before: Zhu Jianyang

Inventor before: Zu Yajun

CB02 Change of applicant information
CB02 Change of applicant information

Address after: 519080 Room 401, 4th floor, building 10, science and Technology Innovation Park, 1 Jintang Road, Tangjiawan Town, high tech Zone, Zhuhai City, Guangdong Province

Applicant after: Zhuhai Xuanji Technology Co.,Ltd.

Address before: 519000 unit J, room 613, 6th floor, main building, No.10, Keji 1st Road, Gangwan Avenue, Tangjiawan Town, high tech Zone, Zhuhai City, Guangdong Province

Applicant before: Zhuhai AVIC Smart Technology Co.,Ltd.

GR01 Patent grant
GR01 Patent grant