CN111948678A

CN111948678A - Target object capturing method, device, system and storage medium

Info

Publication number: CN111948678A
Application number: CN202010820508.1A
Authority: CN
Inventors: 曹永福; 杨剑锋; 赵文杰
Original assignee: Zhejiang Sunwave Communications Technology Co Ltd
Current assignee: Zhejiang Sunwave Communications Technology Co Ltd
Priority date: 2020-08-14
Filing date: 2020-08-14
Publication date: 2020-11-17
Also published as: WO2022033097A1

Abstract

The invention provides a method, a device, a system and a storage medium for capturing a target object, wherein the method comprises the following steps: transmitting GPS interference signals in M first time intervals to perform signal interference on a target object in a target area; receiving a GPS signal during a second time interval; determining a target position of the disturbed target object using a target sensor and/or an image collector; and starting GPS navigation positioning and navigating to a target position through the received GPS signal, and assisting in capturing the target object by releasing GPS interference, remote control signal interference and the like.

Description

Target object capturing method, device, system and storage medium

Technical Field

The present invention relates to the field of communications, and in particular, to a method, an apparatus, a system, and a storage medium for capturing a target object.

Background

The unmanned aerial vehicles are massively rushed into the lives of people, and great leap is brought to various industries. But simultaneously bring a lot of troubles to the areas needing no flying, and black flying events are continuously generated.

Currently, a common method for controlling a black-flying drone includes Global Positioning System (GPS) interference and spoofing, and interfering with a flight control signal and a graph transmission signal to control the black-flying drone. However, since the jammer is located on the ground or on a building and is far away from the black flying drone, the jammer needs large power, and influences on GPS positioning and navigation of terminal devices in an area are large, so that the terminal devices in the area cannot utilize the GPS navigation. Some inertial navigation technologies are adopted to solve the problems, but the inertial navigation is expensive and heavy, so that the use is limited.

Aiming at the problems that in the related art, in the process of managing and controlling a target object in an area, navigation and positioning of other terminals in a small range nearby are only influenced by tracking the target object and releasing low-power GPS interference, the navigation and positioning of other terminals in a large range influenced by ground-transmitted high-power GPS interference are eliminated, the inertial navigation technology is expensive and is not suitable for being widely used, and an effective solution does not exist at present.

Disclosure of Invention

The embodiment of the invention provides a target object capturing method, a target object capturing device, a target object capturing system and a storage medium, which at least solve the problem that navigation and positioning of other terminals in a small range nearby are only influenced by tracking a target object and applying low-power GPS interference in the related technology, and the problem that navigation and positioning of other terminals in a large range are influenced by ground-transmitted high-power GPS interference is solved.

According to an embodiment of the present invention, there is provided a target object capturing method including: transmitting a GPS interference signal in M first time intervals to perform signal interference on a target object in a target area, wherein a second time interval is included between any two consecutive first time intervals in the M first time intervals; receiving GPS signals within the second time interval, wherein the second time interval is less than the first time interval; determining a target position of the disturbed target object using a target sensor and/or an image collector; and starting GPS navigation positioning and navigating to a target position through the received GPS signal, and assisting in capturing the target object by releasing GPS interference and remote control signal interference.

Optionally, the transmitting the GPS interference signal in M first time intervals includes: transmitting the GPS interference signal every other preset period, wherein the time for transmitting the GPS interference signal is the first time interval; the receiving GPS signals in the second time interval comprises: and receiving the GPS signal in a first time period from the Nth time of ending transmitting the GPS interference signal to the (N + 1) th time of starting transmitting the GPS interference signal, wherein the second time interval for receiving the GPS signal is equal to the time length represented by the first time period, and N is an integer.

Optionally, the method further comprises: starting to transmit the GPS interference signal when a first time arrives, ending to transmit the GPS interference signal and starting to receive the GPS signal when a second time arrives, wherein the first time is a time before the second time, and the first time interval comprises: a duration represented by a second time period between the first time and the second time; ending receiving the GPS signal and starting transmitting the GPS interference signal when a third time arrives, wherein the third time is a time after the second time, and the second time interval includes: a duration represented by a third time period between the second time and the third time.

Optionally, after the ending of receiving the GPS signal when the third time arrives and the beginning of transmitting the GPS interference signal, the method includes: ending transmitting the GPS interference signal and starting receiving the GPS signal when a fourth time arrives, wherein the fourth time is a time after the third time, and the first time interval comprises: a duration represented by a fourth time period between the third time and the fourth time, the duration represented by the fourth time period being greater than or less than the duration represented by the second time period; ending receiving the GPS signal and starting transmitting the GPS interference signal when a fifth time arrives, wherein the fifth time is a time after the fourth time, and the second time interval includes: a duration represented by a fifth period of time between the fourth time and the fifth time, the duration represented by the fifth period of time being greater than or less than the duration represented by the third period of time.

Optionally, after the ending of receiving the GPS signal when the third time arrives and the beginning of transmitting the GPS interference signal, the method includes: ending transmitting the GPS interference signal and starting receiving the GPS signal when a sixth time arrives, wherein the sixth time is a time after the third time, and the first time interval comprises: a duration represented by a sixth time period between the third time and the sixth time, the duration represented by the sixth time period being equal to the duration represented by the second time period; ending receiving the GPS signal and starting transmitting the GPS interference signal when a seventh time arrives, wherein the seventh time is a time after the sixth time, and the second time interval includes: a duration represented by a seventh period between the sixth time and the seventh time, the duration represented by the seventh period being greater than or less than the duration represented by the third period.

Optionally, after the ending of receiving the GPS signal when the third time arrives and the beginning of transmitting the GPS interference signal, the method includes: ending transmitting the GPS interference signal and starting receiving the GPS signal when an eighth time arrives, wherein the eighth time is a time after the third time, and the first time interval comprises: a duration represented by an eighth time period between the third time and the eighth time, the duration represented by the eighth time period being greater than or less than the duration represented by the second time period; ending receiving the GPS signal and starting transmitting the GPS interference signal when a ninth time arrives, wherein the ninth time is a time after the eighth time, and the second time interval includes: a duration represented by a ninth period between the eighth timing and the ninth timing, the duration represented by the ninth period being equal to the duration represented by the third period.

Optionally, the method further comprises: and receiving the GPS signal to start navigation positioning and simultaneously synchronizing the time with the GPS time.

According to another embodiment of the present invention, there is provided a target object capturing apparatus including: the device comprises a transmitting module, a receiving module and a processing module, wherein the transmitting module is used for transmitting a GPS interference signal in M first time intervals so as to perform signal interference on a target object in a target area, and a second time interval is included between any two continuous first time intervals in the M first time intervals; a receiving module, configured to receive a GPS signal within the second time interval, where the second time interval is smaller than the first time interval; a determination module for determining a target position of the disturbed target object using a target sensor and/or an image collector; and the navigation module is used for starting GPS navigation positioning and navigating to a target position through the received GPS signal and assisting in capturing the target object by releasing GPS interference and remote control signal interference.

According to another embodiment of the present invention, there is provided a target object capturing system including: the transmitter is used for transmitting a GPS interference signal in M first time intervals so as to perform signal interference on a target object in a target area, wherein a second time interval is included between any two consecutive first time intervals in the M first time intervals; a receiver for receiving GPS signals during the second time interval, wherein the second time interval is less than the first time interval; the target sensor or the image collector is used for determining the target position of the interfered target object; the navigation application is used for starting GPS navigation positioning and navigating to a target position through the received GPS signal; a capture device to assist in capturing the target object by imposing GPS interference and remote control signal interference.

According to a further embodiment of the present invention, there is also provided a storage medium having a computer program stored therein, wherein the computer program is arranged to perform the steps of any of the above method embodiments when executed.

According to yet another embodiment of the present invention, there is also provided an electronic device, including a memory in which a computer program is stored and a processor configured to execute the computer program to perform the steps in any of the above method embodiments.

According to the invention, as the GPS interference signal is transmitted in M first time intervals to perform signal interference on the target object in the target area, wherein a second time interval is included between any two continuous first time intervals in the M first time intervals; receiving a GPS signal within a second time interval, wherein the second time interval is less than the first time interval; determining a target position of the disturbed target object using a target sensor and/or an image collector; and starting GPS navigation positioning and navigating to a target position through the received GPS signal, and assisting in capturing the target object by releasing GPS interference and remote control signal interference. Therefore, the problem that navigation and positioning of other terminals in a large range are affected by ground emission high-power GPS interference only by tracking the target object close to and releasing low-power GPS interference can be solved, the problem that navigation and positioning of other terminals in a small range nearby are affected is solved, the inertial navigation technology is high in price and not suitable for being generally used, the positioning and navigation functions of normal terminals in a region are guaranteed while the target object in the region is controlled, and the inertial navigation technology is reasonable in price and suitable for being widely applied.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:

fig. 1 is a block diagram of a hardware structure of a mobile terminal of a target object capturing method according to an embodiment of the present invention;

FIG. 2 is a flow chart of a method of capture of a target object according to an embodiment of the invention;

FIG. 3 is a first time series diagram of transmitting a GPS interference signal and receiving a GPS signal in accordance with an embodiment of the present invention;

FIG. 4 is a second time series diagram of transmitting a GPS interference signal and receiving a GPS signal in accordance with an embodiment of the present invention;

FIG. 5 is a third time series diagram of transmitting a GPS interference signal and receiving a GPS signal in accordance with an embodiment of the present invention;

FIG. 6 is a fourth time series diagram of transmitting GPS interference signals and receiving GPS signals in accordance with an embodiment of the present invention;

FIG. 7 is a fifth time series diagram of transmitting a GPS interference signal and receiving a GPS signal in accordance with an embodiment of the present invention;

FIG. 8 is a system block diagram according to an embodiment of the invention;

FIG. 9 is a schematic diagram of a standard GPS receiver architecture according to an embodiment of the present invention;

FIG. 10 is a schematic diagram of a software receiver according to an embodiment of the invention;

FIG. 11 is a schematic diagram of a software GPS receiver for time-of-flight reception according to an embodiment of the present invention;

fig. 12 is a block diagram of a configuration of a target object capturing apparatus according to an embodiment of the present invention.

Detailed Description

The invention will be described in detail hereinafter with reference to the accompanying drawings in conjunction with embodiments. It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.

It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.

The method provided by the first embodiment of the present application may be executed in a mobile terminal, a computer terminal, or a similar computing device. Taking an example of the present invention running on a mobile terminal, fig. 1 is a block diagram of a hardware structure of the mobile terminal of a target object capturing method according to an embodiment of the present invention. As shown in fig. 1, the mobile terminal 10 may include one or more (only one shown in fig. 1) processors 102 (the processor 102 may include, but is not limited to, a processing device such as a microprocessor MCU or a programmable logic device FPGA) and a memory 104 for storing data, and optionally may also include a transmission device 106 for communication functions and an input-output device 108. It will be understood by those skilled in the art that the structure shown in fig. 1 is only an illustration, and does not limit the structure of the mobile terminal. For example, the mobile terminal 10 may also include more or fewer components than shown in FIG. 1, or have a different configuration than shown in FIG. 1.

The memory 104 may be used for storing a computer program, for example, a software program of an application software and a module, such as a computer program corresponding to the target object capturing method in the embodiment of the present invention, and the processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, so as to implement the above-mentioned method. The memory 104 may include high speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory located remotely from the processor 102, which may be connected to the mobile terminal 10 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The transmission device 106 is used for receiving or transmitting data via a network. Specific examples of the network described above may include a wireless network provided by a communication provider of the mobile terminal 10. In one example, the transmission device 106 includes a Network adapter (NIC), which can be connected to other Network devices through a base station so as to communicate with the internet. In one example, the transmission device 106 may be a Radio Frequency (RF) module, which is used for communicating with the internet in a wireless manner.

In this embodiment, a method for capturing a target object running on the mobile terminal is provided, and fig. 2 is a flowchart of the method for capturing a target object according to an embodiment of the present invention, as shown in fig. 2, the flowchart includes the following steps:

step S202, transmitting GPS interference signals in M first time intervals to perform signal interference on a target object in a target area, wherein a second time interval is included between any two continuous first time intervals in the M first time intervals;

step S204, receiving a GPS signal in the second time interval, wherein the second time interval is smaller than the first time interval;

step S206, determining the target position of the interfered target object by using a target sensor and/or an image collector;

and S208, starting GPS navigation positioning and navigating to a target position through the received GPS signal, and assisting in capturing the target object by releasing GPS interference and remote control signal interference.

As an alternative embodiment, the C/a code is a pseudo random code sent by the GPS satellite, and the C/a code repetition characteristic can be utilized, so long as a frame of the C/a code is received, the C/a code energy of each navigation satellite signal and the relative phase or arrival time difference of the C/a code of each GPS satellite signal can be detected by using the orthogonal detection technique of the C/a code, and the phase difference is the measurement data based on the navigation positioning, and also includes the satellite text and the position of the C/a code (i.e. the number of C/a codes). The GPS position location and the GPS time can be obtained through calculation. While the time to receive a frame of C/a code is short, only by taking 1 millisecond. The continuous multiframe C/A signals can constitute GPS system signals, for example, 20 frames (frames in phase repeatedly transmit one bit of the expression message; GPS satellite parameters are obtained from the navigation message received in the plurality of time intervals; each of the plurality of time intervals includes a first time interval and a second time interval; in the present embodiment, the time interval is not more than 20 ms, such as 20 ms, for example, 19 ms is used as the first time interval, and 1 ms is used as the second time interval.

If a GPS message is to be acquired and a GPS location update is to be continued, the remaining 19 milliseconds of receiving a 1 millisecond GPS signal in 20 milliseconds transmit interference to interfere with GPS, causing the GPS receiver in an illegal target object within the target area, which may be a no-fly area, to be interfered with. The GPS positioning and GPS clock of a new receiving point can be obtained by receiving the GPS (1 millisecond), obtaining the new phase of the satellite C/A code (continuously changing the original satellite signal) and adding the original satellite parameters, and the GPS positioning and GPS clock is continuous and permanent.

Therefore, the received GPS signal can be used for positioning and navigation, the illegal unmanned aerial vehicle is interfered by transmitting a GPS interference signal, the unmanned aerial vehicle is interfered by tracking, such as video tracking, and then is captured or driven, and the interference of a small-power GPS interference and a flight control signal is released to block and the like (the distance is close to the interference path loss is small, and the interference efficiency is high) through being close to a target object. Therefore, when the illegal unmanned aerial vehicle is accurately interfered, the navigation positioning of other terminals in a small range nearby is only influenced, and the positioning and navigation functions of normal terminal equipment in the region are not influenced.

Through the steps, a GPS interference signal is transmitted in M first time intervals to perform signal interference on a target object in a target area, wherein a second time interval is included between any two consecutive first time intervals in the M first time intervals; receiving a GPS signal within a second time interval, wherein the second time interval is less than the first time interval; determining a target position of the disturbed target object using a target sensor and/or an image collector; and starting GPS navigation positioning and navigating to the target position through the received GPS signal so as to capture the target object. Therefore, the problems that navigation and positioning of other terminals in a small range nearby are only affected by tracking the target object and releasing low-power GPS interference, navigation and positioning of other terminals in a large range affected by ground-transmitted high-power GPS interference are eliminated, and the inertial navigation technology is expensive and not suitable for general use are solved, so that the positioning and navigation functions of normal terminals in the area are guaranteed while the target object in the area is controlled.

Alternatively, the execution subject of the above steps may be a terminal or the like, but is not limited thereto.

As an alternative implementation, fig. 3 is a first time series diagram of transmitting GPS jamming signals and receiving GPS signals according to an embodiment of the present invention. The first time interval is used to transmit GPS interference signals and the second time interval is used to receive GPS signals. In this embodiment, both the transmission of the GPS interference signal and the reception of the GPS signal are periodic. Wherein the period of transmitting the GPS interference signal may be the second time interval and the period of receiving the GPS signal may be the first time interval. In this embodiment, the duration represented by the first time period and the predetermined period for transmitting the GPS jamming signal are both the second time interval. Take the total time length for transmitting the GPS interference signal and receiving the GPS signal as 20 ms as an example, wherein 19 ms is used for transmitting the GPS interference signal and 1 ms is used for receiving the GPS signal. The first time interval for transmitting the GPS jamming signal is 19 milliseconds, and is transmitted every 20 milliseconds for a period of 20 milliseconds. A second time interval for receiving GPS signals is 1 millisecond, received every 19 milliseconds, and has a period of 20 milliseconds.

As an alternative implementation, fig. 4 is a time series diagram two of transmitting GPS jamming signals and receiving GPS signals according to an embodiment of the present invention. The first time, the second time and the third time may be predetermined, wherein the second time is a time at which the GPS signal starts to be received, and the time may be obtained by aligning GPS satellite parameters with a GPS receiver clock. The first time and the third time may be derived from the second time. The second time period is a time period for transmitting a GPS interference signal, the third time period is a time period for receiving a GPS, and assuming that the second time period is 19 milliseconds and the third time period is 1 millisecond, the second time is determined to be 12 by GPS clock alignment: 00: 59.019, then it can be deduced that the first moment in time is 12: 00: 59.000, third time 12: 00: 59.020.

As an alternative embodiment, the transmission of the GPS interference signal and the reception of the GPS signal may not be simply periodic, and the time length for transmitting the GPS interference signal and the time length for receiving the GPS signal may be predetermined. FIG. 5 is a third time sequence diagram of transmitting a GPS interference signal and receiving a GPS signal, a second time period and a fourth time period for transmitting the GPS interference signal, and a third time period and a fifth time period for receiving the GPS signal, wherein the second time period is greater than the third time period and the fourth time period is greater than the fifth time period, in accordance with an embodiment of the present invention. The duration of the second time period and the fourth time period during which the GPS interference signal is transmitted may be different, and may be greater than the duration of the fourth time period, for example, assuming that the second time period is 19 milliseconds, the fourth time period may be any value less than 19 milliseconds, such as 18 milliseconds, 17 milliseconds, and so on. The duration of the second time period may also be less than the duration of the fourth time period, for example, assuming that the second time period is 17 milliseconds, the fourth time period may be any value greater than 17 milliseconds, such as 18 milliseconds, 18.5 milliseconds, and so on. Similarly, the third time period and the fifth time period for receiving the GPS signal may have different durations, and the third time period may be greater than the fifth time period or smaller than the fifth time period. It is assumed that the third period represents a time period of 1 msec, and the fifth period may be 2 msec, 1.5 msec, or the like.

As an alternative implementation, fig. 6 is a fourth time series diagram of transmitting GPS jamming signals and receiving GPS signals according to an embodiment of the present invention. The duration of transmitting the GPS interference signal may be the same time interval, for example, the second time period and the sixth time period in fig. 6 may both be 18 milliseconds. The time period for receiving the GPS signals may be different, for example, the time periods represented by the third time period and the seventh time period in fig. 6 are different, the third time period may be greater than or less than the seventh time period, but the third time period and the seventh time period are both less than the second time period and the sixth time period. For example, the third time period may be 1 millisecond and the seventh time period may be 1.5 milliseconds. Or the third time period may be 2 milliseconds, the seventh time period may be 1.5 milliseconds, etc. The specific duration can be determined according to actual conditions.

As an alternative implementation, fig. 7 is a time series diagram five of transmitting GPS jamming signals and receiving GPS signals according to an embodiment of the present invention. The time length for transmitting the GPS interference signal is different, for example, the time lengths represented by the second time period and the eighth time period in fig. 6 are different, the time length represented by the second time period may be longer than the time length represented by the eighth time period, or may be shorter than the time length represented by the eighth time period, for example, the time length represented by the second time period is 19 milliseconds, and the time length represented by the eighth time period may be 16 milliseconds, 17 milliseconds, and so on. The time duration for receiving the GPS signals may be the same, for example, the time durations indicated by the third time period and the ninth time period in fig. 7 may be the same and are both 1 millisecond or 1.5 milliseconds, etc. The numerical values in the embodiment are only for illustrating the application, and the specific duration can be determined according to actual situations. Or the method can be generated by a coding mode of a sequence of preset parameters and the same setting (including the unified timing time of the initial coding time) of all own equipment; by partially transmitting and receiving a cyclic period of less than 20 ms, so that the reception (after multiple sampling) is equivalent to one bit time (not the same 20 ms) of the message transmitted by the sliding coverage GPS satellite, the bit boundary of the message of the GPS satellite newly entering the field of view of the GPS receiver (determined by the phase flip position of the C/a code of the satellite) can be obtained, and the satellite signal newly entering the receiver (note that the GPS satellite orbits on the ground and enters and exits the receiver receiving range (also called the field of view) can be used for positioning calculation.

As an alternative implementation, fig. 8 is a diagram of a system structure according to an embodiment of the present invention, where the system includes: the transmitter is used for transmitting a GPS interference signal in M first time intervals so as to perform signal interference on a target object in a target area, wherein a second time interval is included between any two consecutive first time intervals in the M first time intervals; a receiver for receiving GPS signals during the second time interval, wherein the second time interval is less than the first time interval; the target sensor or the image collector is used for determining the target position of the interfered target object; the navigation application is used for starting GPS navigation positioning through the received GPS signal and navigating to the target position; a capture device to assist in capturing the target object by imposing GPS interference and remote control signal interference. The system in this embodiment further comprises a clock control device for monitoring the time of transmitting the GPS interference signal by the time control transmitter and the time of receiving the GPS signal by the receiver. In this embodiment, the receiver may be a GPS receiver, for example, fig. 9 is a schematic structural diagram of a standard GPS receiver according to an embodiment of the present invention, fig. 10 is a schematic structural diagram of a software receiver according to an embodiment of the present invention, and fig. 11 is a schematic structural diagram of a software GPS receiver for time-coordinated reception according to an embodiment of the present invention.

Optionally, the method further comprises: and receiving GPS starting navigation positioning, and synchronizing time with GPS time.

As an optional implementation, the following process may be included:

1. ground detection equipment (including radio signal detection, infrared signal detection, radar monitoring, optical video or image monitoring, sound monitoring and the like) for finding target object intrusion (the target object can be a black flying unmanned aerial vehicle and the like);

2. start ground GPS jamming (synchronization (transmission, reception) with the GPS jamming signal of the defending drone);

3. starting a defense unmanned aerial vehicle, navigating and approaching (simultaneously starting GPS interference) according to the position of an invading target (and starting interference on a navigation signal of the invading object), starting target identification and tracking on the unmanned aerial vehicle, tracking and approaching target objects (occupying favorable interference positions above the target objects), and interfering navigation and communication of the target objects;

4. closing ground GPS interference (after defending the unmanned aerial vehicle from approaching the target object);

5. capture, physical capture (or GPS spoofing, inducement, flying to my party designated touchdown point to land) is implemented.

By interfering with GPS signals, GPS receiving of a target object (such as a black flying unmanned aerial vehicle) is interfered and GPS positioning is lost; meanwhile, legal equipment in the area can keep GPS positioning and navigation by receiving GPS signals; consider that several pieces of equipment can operate together at the same time, consider that the synchronization rule that makes the moment of reception is synchronous to the GPS receiving clock (i.e. GPS time) and the rule (such as the agreed sequence and parameters) of taking the agreed time interval. Considering the need and stability of long-term continuous reception of GPS, the need to receive the navigation message of GPS, and the acquisition of the navigation message and the C/a code phase of the navigation message of a GPS satellite newly entering the field of view of the receiver, it is required that the interval between the received signals is less than or equal to 20 milliseconds (one message bit duration), i.e., each message bit is to be obtained, and the boundary (change point) of the message bit is also to be obtained for the GPS satellite signal newly entering the field of view of the receiver, i.e., the reception interval cannot be kept at 20 milliseconds all the time (if it is kept at 20 milliseconds all the time, it cannot be guaranteed that the new satellite message bit boundary is just obtained).

The method can interfere the GPS signal of the black flying unmanned aerial vehicle, and legal equipment in the area can be positioned by using GPS navigation; the equipment is arranged on an unmanned aerial vehicle (aircraft), and the black-flying unmanned aerial vehicle is tracked to approach the black-flying unmanned aerial vehicle to start interference, so that the required effect can be achieved by using smaller required interference power (due to the close distance); thereby generating only a small range of interference to nearby; reducing the influence on other GPS signals in the area.

As an alternative implementation, the GPS navigation and interference module synchronization technology is used, and includes:

1. the multiple coordination devices, such as a ground type high-power interference device, cooperate with an aircraft carrying type, before the flight carrying type reaches the target object, the ground type interference is started firstly (at the moment, the interference power is large, the influence area is large, but the response can be carried out in the fastest time, once the target object is found, the start is carried out at the fastest speed so as to interfere the target object), and when the flight carrying type reaches the target object, the interference signal of the flight carrying type interference can be relied, so that the ground type can be closed.

2. And if the speed of the target objects is higher or the number of the target objects is larger, the portable cooperation of the plurality of aircrafts can be considered, and one or more interference areas corresponding to the target objects are formed by networking so as to achieve larger and more interference areas to deal with the target objects.

3. And multiple stations cooperate, and when the target object is far away from the target object, the relay among the multiple stations can be considered to solve the problem of communication distance.

4. When the protection object of one party is more important, in order to improve the reliability, a redundancy technology is adopted, and a plurality of devices can be operated in parallel at the same time.

In the application, GPS interference and positioning (acquiring GPS navigation positioning and simultaneously acquiring GPS time, and having an agreed synchronous interference time and receiving time access rule synchronized with the GPS time, a plurality of suites can synchronously work at the same time without mutual interference) equipment can interfere GPS signals under the condition that the equipment acquires GPS positioning (so that a common GPS receiver is interfered to lose GPS positioning, and the common civil GPS receiver is interfered); the device can be carried on an aircraft (unmanned aerial vehicle) to work, so that after a target object is found (other monitoring devices such as radars and the like obtain the GPS position of the target), the interference device is carried by the user, namely the unmanned aerial vehicle carried by the aircraft navigates to the position of the target object (the GPS navigation of the device is utilized to replace the ordinary inertial navigation (the ordinary GPS interference machine cannot utilize the GPS navigation but needs expensive inertial navigation equipment)), and then a tracker (such as a video identifier) carried by the unmanned aerial vehicle can be utilized to track the target object all the time and transmit GPS interference to the target object (the GPS navigation can be utilized by the user) so that the target object loses the GPS navigation; of course, the remote control signal (communication signal) of the target object is interfered at the same time, so that the remote control signal of the target object is cut off to help capture; further, the GPS interference of our part is replaced by a GPS deception signal, so that the target object can yaw to guide the target object to move according to the intention of our part, and a better capturing function is achieved. Multiple synchronous devices can be networked and cooperated to achieve more and better application.

Through the above description of the embodiments, those skilled in the art can clearly understand that the method according to the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but the former is a better implementation mode in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.

In this embodiment, a target object capturing apparatus is further provided, and the apparatus is used to implement the foregoing embodiments and preferred embodiments, and the description of the apparatus is omitted for brevity. As used below, the term "module" may be a combination of software and/or hardware that implements a predetermined function. Although the means described in the embodiments below are preferably implemented in software, an implementation in hardware, or a combination of software and hardware is also possible and contemplated.

Fig. 12 is a block diagram of a configuration of a target object capturing apparatus according to an embodiment of the present invention, as shown in fig. 12, the apparatus including: a transmitting module 1202, configured to transmit a GPS interference signal in M first time intervals to perform signal interference on a target object in a target area, where any two consecutive first time intervals in the M first time intervals include a second time interval therebetween; a receiving module 1204, configured to receive a GPS signal in the second time interval, where the second time interval is smaller than the first time interval; a determination module 1206 for determining a target position of the interfered target object using a target sensor and/or an image collector; and the navigation module 1208 is configured to start GPS navigation positioning and navigate to a target location through the received GPS signal, so as to assist in capturing the target object by releasing GPS interference and remote control signal interference.

Optionally, the transmitting module is configured to transmit the GPS interference signal in M first time intervals by: transmitting the GPS interference signal every other preset period, wherein the time for transmitting the GPS interference signal is the first time interval; the receiving module is configured to receive the GPS signal in the second time interval by: receiving the GPS signal within a first time period from the Nth time of ending transmitting the GPS interference signal to the N +1 th time of starting transmitting the GPS interference signal, wherein the second time interval for receiving the GPS signal is equal to the duration represented by the first time period.

Optionally, the above apparatus is further configured to start transmitting the GPS interference signal when a first time arrives, end transmitting the GPS interference signal and start receiving the GPS signal when a second time arrives, where the first time is a time before the second time, and the first time interval includes: a duration represented by a second time period between the first time and the second time; ending receiving the GPS signal and starting transmitting the GPS interference signal when a third time arrives, wherein the third time is a time after the second time, and the second time interval includes: a duration represented by a third time period between the second time and the third time.

Optionally, the above apparatus is further configured to, after the third time arrives and the GPS interference signal starts to be transmitted, end the transmission of the GPS interference signal and start to receive the GPS signal when a fourth time arrives, where the fourth time is a time after the third time, and the first time interval includes: a duration represented by a fourth time period between the third time and the fourth time, the duration represented by the fourth time period being greater than or less than the duration represented by the second time period; ending receiving the GPS signal and starting transmitting the GPS interference signal when a fifth time arrives, wherein the fifth time is a time after the fourth time, and the second time interval includes: a duration represented by a fifth period of time between the fourth time and the fifth time, the duration represented by the fifth period of time being greater than or less than the duration represented by the third period of time.

Optionally, the above apparatus is further configured to, after the ending of receiving the GPS signal when the third time arrives and starting to transmit the GPS interference signal, end of transmitting the GPS interference signal and starting to receive the GPS signal when a sixth time arrives, where the sixth time is a time after the third time, and the first time interval includes: a duration represented by a sixth time period between the third time and the sixth time, the duration represented by the sixth time period being equal to the duration represented by the second time period; ending receiving the GPS signal and starting transmitting the GPS interference signal when a seventh time arrives, wherein the seventh time is a time after the sixth time, and the second time interval includes: a duration represented by a seventh period between the sixth time and the seventh time, the duration represented by the seventh period being greater than or less than the duration represented by the third period.

Optionally, the above apparatus is further configured to, after the ending of receiving the GPS signal when the third time arrives and starting to transmit the GPS interference signal, end of transmitting the GPS interference signal and starting to receive the GPS signal when an eighth time arrives, where the eighth time is a time after the third time, and the first time interval includes: a duration represented by an eighth time period between the third time and the eighth time, the duration represented by the eighth time period being greater than or less than the duration represented by the second time period; ending receiving the GPS signal and starting transmitting the GPS interference signal when a ninth time arrives, wherein the ninth time is a time after the eighth time, and the second time interval includes: a duration represented by a ninth period between the eighth timing and the ninth timing, the duration represented by the ninth period being equal to the duration represented by the third period.

Optionally, the apparatus is further configured to receive a GPS signal to start navigation positioning, and synchronize time with GPS time.

It should be noted that, the above modules may be implemented by software or hardware, and for the latter, the following may be implemented, but not limited to: the modules are all positioned in the same processor; alternatively, the modules are respectively located in different processors in any combination.

Embodiments of the present invention also provide a storage medium having a computer program stored therein, wherein the computer program is arranged to perform the steps of any of the above method embodiments when executed.

Alternatively, in the present embodiment, the storage medium may be configured to store a computer program for executing the steps of:

s1, transmitting GPS interference signals in M first time intervals to perform signal interference on a target object in a target area, wherein a second time interval is included between any two consecutive first time intervals in the M first time intervals, and M is an integer greater than 1;

s2, receiving GPS signals in the second time interval, wherein the second time interval is smaller than the first time interval;

s3, determining the target position of the interfered target object by using a target sensor and/or an image collector;

and S4, starting GPS navigation positioning and navigating to the target position through the received GPS signal, and assisting in capturing the target object by releasing GPS interference and remote control signal interference.

Optionally, in this embodiment, the storage medium may include, but is not limited to: various media capable of storing computer programs, such as a usb disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk.

Embodiments of the present invention also provide an electronic device comprising a memory having a computer program stored therein and a processor arranged to run the computer program to perform the steps of any of the above method embodiments.

Optionally, the electronic apparatus may further include a transmission device and an input/output device, wherein the transmission device is connected to the processor, and the input/output device is connected to the processor.

Optionally, in this embodiment, the processor may be configured to execute the following steps by a computer program:

Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments and optional implementation manners, and this embodiment is not described herein again.

It will be apparent to those skilled in the art that the modules or steps of the present invention described above may be implemented by a general purpose computing device, they may be centralized on a single computing device or distributed across a network of multiple computing devices, and alternatively, they may be implemented by program code executable by a computing device, such that they may be stored in a storage device and executed by a computing device, and in some cases, the steps shown or described may be performed in an order different than that described herein, or they may be separately fabricated into individual integrated circuit modules, or multiple ones of them may be fabricated into a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method of capturing a target object, comprising:

transmitting GPS interference signals in M first time intervals to perform signal interference on a target object in a target area, wherein any two consecutive first time intervals in the M first time intervals comprise a second time interval, and M is an integer greater than 1;

receiving GPS signals within the second time interval, wherein the second time interval is less than the first time interval;

determining a target position of the disturbed target object using a target sensor and/or an image collector;

and starting GPS navigation positioning and navigating to a target position through the received GPS signal, and assisting in capturing the target object by releasing GPS interference and remote control signal interference.

2. The method of claim 1,

the transmitting GPS interference signals in M first time intervals comprises: transmitting the GPS interference signal every other preset period, wherein the time for transmitting the GPS interference signal is the first time interval;

the receiving GPS signals in the second time interval comprises: and receiving the GPS signal in a first time period from the Nth time of ending transmitting the GPS interference signal to the (N + 1) th time of starting transmitting the GPS interference signal, wherein the second time interval for receiving the GPS signal is equal to the time length represented by the first time period, and N is an integer.

3. The method of claim 1, further comprising:

starting to transmit the GPS interference signal when a first time arrives, ending to transmit the GPS interference signal and starting to receive the GPS signal when a second time arrives, wherein the first time is a time before the second time, and the first time interval comprises: a duration represented by a second time period between the first time and the second time;

ending receiving the GPS signal and starting transmitting the GPS interference signal when a third time arrives, wherein the third time is a time after the second time, and the second time interval includes: a duration represented by a third time period between the second time and the third time.

4. The method of claim 3, wherein after the ending of receiving the GPS signal when the third time arrives and the beginning of transmitting the GPS interference signal, the method comprises:

ending transmitting the GPS interference signal and starting receiving the GPS signal when a fourth time arrives, wherein the fourth time is a time after the third time, and the first time interval comprises: a duration represented by a fourth time period between the third time and the fourth time, the duration represented by the fourth time period being greater than or less than the duration represented by the second time period;

ending receiving the GPS signal and starting transmitting the GPS interference signal when a fifth time arrives, wherein the fifth time is a time after the fourth time, and the second time interval includes: a duration represented by a fifth period of time between the fourth time and the fifth time, the duration represented by the fifth period of time being greater than or less than the duration represented by the third period of time.

5. The method of claim 3, wherein after the ending of receiving the GPS signal when the third time arrives and the beginning of transmitting the GPS interference signal, the method comprises:

ending transmitting the GPS interference signal and starting receiving the GPS signal when a sixth time arrives, wherein the sixth time is a time after the third time, and the first time interval comprises: a duration represented by a sixth time period between the third time and the sixth time, the duration represented by the sixth time period being equal to the duration represented by the second time period;

ending receiving the GPS signal and starting transmitting the GPS interference signal when a seventh time arrives, wherein the seventh time is a time after the sixth time, and the second time interval includes: a duration represented by a seventh period between the sixth time and the seventh time, the duration represented by the seventh period being greater than or less than the duration represented by the third period.

6. The method of claim 3, wherein after the ending of receiving the GPS signal when the third time arrives and the beginning of transmitting the GPS interference signal, the method comprises:

ending transmitting the GPS interference signal and starting receiving the GPS signal when an eighth time arrives, wherein the eighth time is a time after the third time, and the first time interval comprises: a duration represented by an eighth time period between the third time and the eighth time, the duration represented by the eighth time period being greater than or less than the duration represented by the second time period;

ending receiving the GPS signal and starting transmitting the GPS interference signal when a ninth time arrives, wherein the ninth time is a time after the eighth time, and the second time interval includes: a duration represented by a ninth period between the eighth timing and the ninth timing, the duration represented by the ninth period being equal to the duration represented by the third period.

7. The method of claim 3, further comprising:

and receiving the GPS signal to start navigation positioning and simultaneously synchronizing the time with the GPS time.

8. An apparatus for capturing a target object, comprising:

the device comprises a transmitting module, a receiving module and a processing module, wherein the transmitting module is used for transmitting a GPS interference signal in M first time intervals so as to perform signal interference on a target object in a target area, and a second time interval is included between any two continuous first time intervals in the M first time intervals;

a receiving module, configured to receive a GPS signal within the second time interval, where the second time interval is smaller than the first time interval;

a determination module for determining a target position of the disturbed target object using a target sensor and/or an image collector;

and the navigation module is used for starting GPS navigation positioning and navigating to a target position through the received GPS signal and assisting in capturing the target object by releasing GPS interference and remote control signal interference.

9. A target object capture system, comprising:

the transmitter is used for transmitting a GPS interference signal in M first time intervals so as to perform signal interference on a target object in a target area, wherein a second time interval is included between any two consecutive first time intervals in the M first time intervals;

a receiver for receiving GPS signals during the second time interval, wherein the second time interval is less than the first time interval;

the target sensor or the image collector is used for determining the target position of the interfered target object;

the navigation application is used for starting GPS navigation positioning and navigating to a target position through the received GPS signal;

a capture device to assist in capturing the target object by imposing GPS interference and remote control signal interference.

10. A storage medium, in which a computer program is stored, wherein the program is executable by a terminal device or a computer to perform the method of any one of claims 1 to 7.