CN112797846B - Unmanned aerial vehicle prevention and control method and system - Google Patents
Unmanned aerial vehicle prevention and control method and system Download PDFInfo
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- CN112797846B CN112797846B CN202011527070.4A CN202011527070A CN112797846B CN 112797846 B CN112797846 B CN 112797846B CN 202011527070 A CN202011527070 A CN 202011527070A CN 112797846 B CN112797846 B CN 112797846B
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Abstract
The invention discloses an unmanned aerial vehicle prevention and control method, which comprises the following steps: s1, carrying out full-band scanning on an unmanned aerial vehicle signal; s2, radar detection equipment finds a target, and a photoelectric video image identifies the target; s3, writing frequency interference, and starting navigation interference; s4, detecting by full-band radio detection equipment, finding the unmanned aerial vehicle by radar detection equipment, and identifying a target by a photoelectric video image; and S5, starting a composite interception strategy. The invention also discloses an unmanned aerial vehicle prevention and control system, wherein the cluster unmanned aerial vehicle prevention and control command subsystem comprises: a radio detection identification module; a passive radar photoelectric guide module; a radio interference guidance module; an active radar photoelectric guide module; and a composite interception strategy module. The invention realizes accurate detection and identification and rapid command decision for the incoming cluster unmanned aerial vehicle, and improves the interception and disposal success rate and disposal efficiency of the cluster unmanned aerial vehicle by combining soft and hard killing measures, thereby being widely applied to the field of unmanned aerial vehicle prevention and control.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle defense, in particular to an unmanned aerial vehicle defense control method and system.
Background
The cluster unmanned aerial vehicle is based on an open system architecture, is comprehensively integrated and constructed by taking a large number of unmanned aerial vehicles and cooperative interaction capacity among the unmanned aerial vehicles as supports and group intelligent emergence capacity as a core, and has the advantages of survivability, low cost, function distribution and the like and intelligent characteristics. In recent years, the cluster unmanned aerial vehicle is more and more emphasized in use of all countries in the world, and the great threat generated by the wide use of the cluster unmanned aerial vehicle to key areas, key targets and major activities is increasingly prominent. With the improvement of the intelligent level of the unmanned aerial vehicle and the development of the control technology of the cluster unmanned aerial vehicle, the cluster unmanned aerial vehicle control becomes important content of low-altitude control in key areas.
The invention provides a cluster unmanned aerial vehicle prevention and control system, which aims at solving the problems that the detection and identification accuracy is low, the countermeasures are single, the countermeasures success rate and the efficiency are low because the prevention and control of black-flying and badly-flying cluster unmanned aerial vehicles in key areas mainly adopt radar detection and fire-adding striking or radio detection and radio interference and the like.
Disclosure of Invention
The invention aims to overcome the defects of the background technology and provide an unmanned aerial vehicle prevention and control method and system, which can realize accurate detection identification and rapid command decision for the cluster unmanned aerial vehicle which comes by means of radio remote control, satellite navigation, visual navigation and the like, and improve the interception and disposal success rate and disposal efficiency of the cluster unmanned aerial vehicle by combining soft and hard killing and striking disposal measures.
The invention provides an unmanned aerial vehicle prevention and control method, which comprises the following steps: s1, full-band scanning is carried out on an unmanned aerial vehicle signal by full-band radio detection equipment, if an unmanned aerial vehicle remote control signal and an image transmission signal can be detected and a target type can be directly identified, the unmanned aerial vehicle is a conventional frequency band unmanned aerial vehicle, and the unmanned aerial vehicle is in a frequency spectrum characteristic library of the unmanned aerial vehicle; if the unmanned aerial vehicle signal is detected but cannot be identified, the unmanned aerial vehicle signal is added into a frequency spectrum feature library in real time, and the unmanned aerial vehicle control command subsystem automatically guides the radar detection equipment to scan in a key manner in the direction; s2, after the radar detection device finds the target, the target tracking is continuously kept, when the target enters a prevention and control area, the unmanned aerial vehicle prevention and control command subsystem automatically guides the photoelectric tracking device to lock the unmanned aerial vehicle target with the highest threat level according to the threat level, and the target is identified through the photoelectric video image; s3, when the target is further close to the target, the unmanned aerial vehicle control command subsystem automatically guides full-band radio interference equipment to perform frequency-writing interference on the target according to the detected remote control or image transmission frequency band of the unmanned aerial vehicle, and if the unmanned aerial vehicle needs to be forced to land, navigation interference needs to be started; s4, if the full-band radio detection device cannot detect and find the unmanned aerial vehicle, the unmanned aerial vehicle is in automatic cruise flight, visual navigation flight or inertial navigation flight, firstly, the radar detection device finds the unmanned aerial vehicle, the target tracking is continuously kept, after the target enters a prevention and control area, the unmanned aerial vehicle prevention and control command subsystem automatically guides the photoelectric tracking device to lock the target, and the target is identified through the photoelectric video image; and S5, when the unmanned aerial vehicle further approaches, starting a composite interception strategy by the unmanned aerial vehicle prevention and control command subsystem, and performing interception countermeasures according to the sequence of navigation decoy, laser dazzling and microwave striking.
In the above technical solution, in the step S5, the interception and reversal sequence for implementing the navigation decoy, the laser glaring and the microwave striking is as follows: s51, automatically guiding the unmanned aerial vehicle navigation decoy equipment to carry out navigation decoy on the target by the unmanned aerial vehicle prevention and control command subsystem, and if the navigation decoy is successful, indicating that the unmanned aerial vehicle adopts satellite navigation to fly to complete the unmanned aerial vehicle prevention and control task; s52, if the navigation trapping is unsuccessful, the unmanned aerial vehicle prevention and control command subsystem automatically guides the laser dazzling equipment to interfere the flight of the unmanned aerial vehicle, and if the laser dazzling countermeasures are successful, the unmanned aerial vehicle is shown to fly by adopting the visual navigation, and the unmanned aerial vehicle prevention and control task is completed; s53, if the laser dazzling countermeasures are unsuccessful, the fact that the unmanned aerial vehicle flies by adopting inertial navigation is indicated, when the unmanned aerial vehicle enters the striking range of the microwave rejection equipment, the unmanned aerial vehicle prevention and control command subsystem automatically guides the microwave rejection equipment to strike and intercept the unmanned aerial vehicle cluster, and the unmanned aerial vehicle prevention and control task is completed.
In the above technical solution, in the step S1, before the full-band radio detection device performs full-band scanning on the signal of the unmanned aerial vehicle, the unmanned aerial vehicle prevention and control system is first turned on to inspect normal operation of each device; secondly, the unmanned aerial vehicle prevention and control command subsystem makes a prevention and control plan, respectively sets a protection area, a denial area and an early warning area aiming at key target prevention and control areas, and sets corresponding prevention and control rules; in the step S2 or S4, after the target enters the early warning area, the unmanned aerial vehicle prevention and control command subsystem automatically guides the photoelectric tracking device to lock the unmanned aerial vehicle target with the highest threat level according to the threat level; in the step S3, after the target enters the rejection area, the unmanned aerial vehicle prevention and control command subsystem automatically guides full-band radio interference equipment to perform frequency-writing interference on the target according to the detected remote control or image transmission frequency band of the unmanned aerial vehicle; in the step S5, after the unmanned aerial vehicle enters the denial area, the unmanned aerial vehicle control and command subsystem starts a composite interception strategy.
In the technical scheme, the method further comprises the step S6 of receiving and sending data instructions and controlling scenes in the whole detection control command process and performing playback and statistical analysis on the received and sent data instructions and the controlled scenes after the unmanned aerial vehicle control task is completed, so that unmanned aerial vehicle control effect evaluation is completed.
In the above technical solution, in the step S2, if the cluster unmanned aerial vehicle has multiple sets of photoelectricity, different sets of photoelectricity equipment can be guided to track different unmanned aerial vehicles in the cluster respectively; in the step S3, if the unmanned aerial vehicle is a cluster unmanned aerial vehicle and multiple remote control or image transmission frequency bands of the unmanned aerial vehicle are detected, the multiple frequency bands can be interfered at the same time, and if the cluster unmanned aerial vehicle is found in multiple directions, multi-directional or omnidirectional radio interference and navigation interference are started to complete the unmanned aerial vehicle prevention and control task; in step S51, if the unmanned aerial vehicle is a clustered unmanned aerial vehicle and the clustered unmanned aerial vehicle is found in multiple directions, the omnidirectional navigation spoofing is started.
The invention also provides an unmanned aerial vehicle prevention and control system, which comprises a clustered unmanned aerial vehicle detection subsystem, a clustered unmanned aerial vehicle anti-control subsystem and a clustered unmanned aerial vehicle prevention and control command subsystem, wherein the clustered unmanned aerial vehicle detection subsystem consists of radar detection equipment, photoelectric tracking equipment and full-band radio detection equipment; the cluster unmanned aerial vehicle anti-system subsystem consists of full-band radio interference equipment, unmanned aerial vehicle navigation decoy equipment, laser dazzling equipment and microwave rejection equipment; wherein, the cluster unmanned aerial vehicle prevention and control command subsystem includes following several parts: a radio identification module: the full-band radio detection equipment performs full-band scanning on the unmanned aerial vehicle signal, and if the unmanned aerial vehicle remote control and image transmission signal can be detected and the target type can be directly identified, the unmanned aerial vehicle is a conventional frequency band unmanned aerial vehicle and the unmanned aerial vehicle is in the frequency spectrum characteristic library; if the unmanned aerial vehicle signal is detected but cannot be identified, the unmanned aerial vehicle signal is added into a frequency spectrum feature library in real time, and the unmanned aerial vehicle control command subsystem automatically guides the radar detection equipment to scan in a key manner in the direction; passive radar photoelectric guide module: after the radar detection equipment finds a target, continuously keeping the target tracking, and when the target enters a prevention and control area, automatically guiding photoelectric tracking equipment to lock the target of the unmanned aerial vehicle with the highest threat level by the unmanned aerial vehicle prevention and control command subsystem according to the threat level, and identifying the target by the photoelectric video image; a radio interference guidance module: when the target is further close, the unmanned aerial vehicle prevention and control command subsystem automatically guides full-band radio interference equipment to perform frequency-writing interference on the target according to the detected remote control or image transmission frequency band of the unmanned aerial vehicle, and if the unmanned aerial vehicle needs to be forced to land, navigation interference needs to be started; active radar photoelectric guide module: if the full-band radio detection device cannot detect and find the unmanned aerial vehicle, the unmanned aerial vehicle can fly in an automatic cruising mode, in a visual navigation mode or in an inertial navigation mode, firstly, the radar detection device finds the unmanned aerial vehicle, target tracking is continuously kept, after a target enters a prevention and control area, the unmanned aerial vehicle prevention and control command subsystem automatically guides a photoelectric tracking device to lock the target, and the target is identified through a photoelectric video image; a composite interception policy module: when the unmanned aerial vehicle further approaches, the unmanned aerial vehicle control command subsystem starts a composite interception strategy, and interception countermeasures are implemented according to the sequence of navigation decoy, laser dazzling and microwave striking.
In the above technical solution, the composite interception policy module includes the following parts: the navigation decoy guiding unit: the unmanned aerial vehicle prevention and control command subsystem automatically guides the unmanned aerial vehicle navigation decoy equipment to carry out navigation decoy on a target, and if the navigation decoy is successful, the unmanned aerial vehicle is indicated to fly by satellite navigation to complete the unmanned aerial vehicle prevention and control task; laser glare interference guidance unit: if the navigation trapping is unsuccessful, the unmanned aerial vehicle prevention and control command subsystem automatically guides the laser dazzling equipment to interfere the flight of the unmanned aerial vehicle, and if the laser dazzling reaction is successful, the unmanned aerial vehicle is shown to fly by adopting visual navigation, and the unmanned aerial vehicle prevention and control task is finished; microwave rejection striking guide unit: if the laser dazzling countermeasures are unsuccessful, the fact that the unmanned aerial vehicle flies by adopting inertial navigation is explained, when the unmanned aerial vehicle enters the striking range of the microwave rejection equipment, the unmanned aerial vehicle prevention and control command subsystem automatically guides the microwave rejection equipment to strike and intercept the unmanned aerial vehicle cluster, and the unmanned aerial vehicle prevention and control task is completed.
In the above technical solution, the method further comprises a starting initialization module and a prevention and control plan setting module, wherein the starting initialization module: starting the unmanned aerial vehicle prevention and control system, and inspecting the normal operation of each device; prevention and control plan setting module: the unmanned aerial vehicle prevention and control command subsystem makes a prevention and control plan, sets a protection area, a denial area and an early warning area according to key target prevention and control requirements, and sets corresponding prevention and control rules; in the passive radar photoelectric guide module or the active radar photoelectric guide module, after a target enters an early warning area, the unmanned aerial vehicle prevention and control command subsystem automatically guides the photoelectric tracking equipment to lock the unmanned aerial vehicle target with the highest threat level according to the threat level; in the radio interference guiding module, after a target enters a rejection area, the unmanned aerial vehicle prevention and control command subsystem automatically guides full-band radio interference equipment to write frequency interference on the target according to the detected remote control or image transmission frequency band of the unmanned aerial vehicle; in the composite interception strategy module, after the unmanned aerial vehicle enters a rejection area, the unmanned aerial vehicle control command subsystem starts a composite interception strategy.
In the above technical solution, the method further comprises an analysis and evaluation module: after the unmanned aerial vehicle prevention and control task is completed, the unmanned aerial vehicle prevention and control command subsystem receives and sends data instructions and controls scenes in the whole detection and control command process to perform playback and statistical analysis, and unmanned aerial vehicle prevention and control effect evaluation is completed.
In the above technical solution, if the passive radar photoelectric guiding module is a cluster unmanned aerial vehicle and there are multiple sets of photoelectricity, different photoelectric devices can be guided to track different unmanned aerial vehicles in the cluster respectively; in the radio interference guiding module, if the unmanned aerial vehicle is a cluster unmanned aerial vehicle and the unmanned aerial vehicle is detected to have a plurality of remote control or image transmission frequency bands, the plurality of frequency bands can be interfered at the same time, and if the cluster unmanned aerial vehicle is found in a plurality of directions, multi-direction or omnidirectional radio interference and navigation interference are started to complete the unmanned aerial vehicle prevention and control task; in the navigation trapping guiding unit, if the unmanned aerial vehicle is a clustered unmanned aerial vehicle and the clustered unmanned aerial vehicle is found in multiple directions, omnidirectional navigation trapping is started.
The unmanned aerial vehicle prevention and control method and the unmanned aerial vehicle prevention and control system have the following beneficial effects: the invention provides a composite interception strategy-based unmanned aerial vehicle prevention and control method combining radio interference, navigation decoy, laser dazzling and microwave rejection under various conditions of unmanned aerial vehicle remote control flight, autonomous satellite navigation flight, autonomous visual navigation flight and inertial navigation flight, solves the detection countermeasures under various flight conditions of the clustered unmanned aerial vehicle, seamlessly combines soft and hard striking means, flexibly uses a directional omnidirectional countermeasure mode, makes up the problem that the existing single countermeasure is difficult to deal with the attack of the clustered unmanned aerial vehicle, and can be widely applied to the field of protection of various military and civil key facilities.
Drawings
Fig. 1 is a schematic diagram of division of an air defense area in the unmanned aerial vehicle prevention and control method of the present invention;
FIG. 2 is a schematic structural diagram of the unmanned aerial vehicle prevention and control system of the present invention;
fig. 3 is a schematic flow chart of the unmanned aerial vehicle prevention and control method of the present invention;
fig. 4 is a schematic structural diagram of a control command subsystem of a cluster unmanned aerial vehicle in the unmanned aerial vehicle control system of the present invention;
fig. 5 is a schematic structural diagram of a composite interception policy module in a cluster unmanned aerial vehicle prevention and control command subsystem of the unmanned aerial vehicle prevention and control system of the present invention.
Detailed Description
The invention is described in further detail below with reference to the following figures and examples, which should not be construed as limiting the invention.
As shown in fig. 1, in this embodiment, a certain nuclear power plant is used as a protection target, a protection area with a radius of 1km, a denial area with a radius of 3km, and an early warning area with a radius of 5km are planned, and 6 small six-rotor unmanned aerial vehicles are used as prevention and control objects, as shown in fig. 2, the unmanned aerial vehicle prevention and control system in this embodiment includes a cluster unmanned aerial vehicle detection subsystem, a cluster unmanned aerial vehicle anti-control subsystem, and a cluster unmanned aerial vehicle prevention and control subsystem.
The cluster unmanned aerial vehicle detection subsystem in this embodiment comprises a radar detection equipment, three photoelectric tracking equipment and a full frequency channel radio detection equipment.
The radar detection equipment actively scans the cluster unmanned aerial vehicle to acquire three-dimensional position information of the cluster unmanned aerial vehicle;
the photoelectric tracking equipment locks and tracks the designated unmanned aerial vehicle according to the target indication information, and obtains the image and video information of the unmanned aerial vehicle;
the full-band radio detection equipment receives the remote control and image transmission information of the unmanned aerial vehicle, and acquires the remote control and image transmission frequency band of the unmanned aerial vehicle, the azimuth information of the unmanned aerial vehicle and the like;
the radar detection device adopts a three-coordinate phased array radar, the target detection distance is 10 kilometers, the full-band radio detection device adopts a 20M-6G full-band detection mode, the radio signal detection direction-finding distance is 10 kilometers, the photoelectric tracking device adopts a mode of combining visible light heating and infrared thermal imaging, and the target tracking identification distance is 5km.
The anti-system branch system of cluster unmanned aerial vehicle in this embodiment comprises a full frequency channel radio jamming equipment, an unmanned aerial vehicle navigation lures equipment of deceiving, a laser dazzling equipment, a microwave equipment of refusing.
The full-band radio interference equipment can interfere remote control, image transmission or navigation signals of the cluster unmanned aerial vehicle according to unmanned aerial vehicle remote control and image transmission frequency bands, so that the cluster unmanned aerial vehicle loses control or is forced to land;
the unmanned aerial vehicle navigation trapping device enables the clustered unmanned aerial vehicle to deviate from a preset air route according to a strategy set by the user in the flying process by emitting a trapping interference signal, so that functions of directional driving or induction and the like are realized;
when the laser dazzling device carries out dazzling interference on video reconnaissance imaging devices such as an unmanned aerial vehicle, green laser can be emitted to interfere the video imaging function of the unmanned aerial vehicle, so that the unmanned aerial vehicle cannot carry out visual navigation flight, and the driving-away function of the unmanned aerial vehicle is realized;
the microwave rejection equipment destroys electronic equipment such as unmanned aerial vehicle flight control and the like by emitting high-power microwaves, so that the effect of destroying the fallen cluster unmanned aerial vehicle is achieved;
the full-band radio interference equipment adopts a 20M-6G full-band interference mode, can simultaneously interfere 5 frequency bands, has an action distance of 5km, and supports directional interference, multi-directional interference and omnidirectional interference; unmanned aerial vehicle navigation lures and cheats fixed point, orientation and omnidirectional navigation to unmanned aerial vehicle GPS/BD/GLONASS navigation signal, and operating distance 5km, the dazzling equipment of laser is disturbed unmanned aerial vehicle video imaging function, and operating distance 3km, microwave refuse equipment is destroyed to electronic equipment such as unmanned aerial vehicle flight control, and the operating distance is 1.5km.
The cluster unmanned aerial vehicle prevention and control command subsystem in the embodiment comprises a console, a workstation, a display, a data processing server, a database server, a record replay server, a switch and a whole set of cluster unmanned aerial vehicle prevention and control command software. The cluster unmanned aerial vehicle prevention and control command control software mainly has a plan management function, an information processing function, a monitoring and early warning function, a prevention and control command function and an analysis and evaluation function.
As shown in fig. 3, the present embodiment further includes an unmanned aerial vehicle prevention and control method, including the following steps:
s1, starting an unmanned aerial vehicle prevention and control system, and inspecting the normal operation of each device;
s2, the unmanned aerial vehicle prevention and control command subsystem makes a prevention and control plan, sets the deployment position of each detection and control device, sets a protection area with the radius of 1km, a rejection area with the radius of 3km and an early warning area with the radius of 5km, and sets corresponding prevention and control rules;
s3, full-band radio detection equipment performs full-band scanning on unmanned aerial vehicle signals in the range of 20M-6G, if remote control and image transmission signals of a cluster unmanned aerial vehicle can be detected and target types can be directly identified, the cluster unmanned aerial vehicle is a conventional frequency band unmanned aerial vehicle, the unmanned aerial vehicle is of the type in an unmanned aerial vehicle frequency spectrum characteristic library, otherwise if the unmanned aerial vehicle signals are detected but cannot be identified, the unmanned aerial vehicle signals are added into the frequency spectrum characteristic library in real time, and an unmanned aerial vehicle prevention and control command subsystem automatically guides radar detection equipment to perform key scanning near the direction;
s4, after the radar detection device finds a plurality of targets of the cluster unmanned aerial vehicle, continuously keeping target tracking, and after the targets enter a 5km early warning area, respectively guiding three photoelectric tracking devices to respectively lock and track the three unmanned aerial vehicle targets with the highest threat level according to the three targets with the highest threat level in the cluster unmanned aerial vehicle by the unmanned aerial vehicle prevention and control command subsystem, and identifying the targets through the photoelectric video images;
s5, when a target enters a 3km rejection area, the unmanned aerial vehicle prevention and control command subsystem automatically guides full-band radio interference equipment to perform frequency-writing interference on the target according to the detected remote control or image transmission frequency band of the cluster unmanned aerial vehicle, if the cluster unmanned aerial vehicle is detected to have a plurality of remote control or image transmission frequency bands, the cluster unmanned aerial vehicle can simultaneously perform interference on at most 5 frequency bands, and if the cluster unmanned aerial vehicle needs to be forced to land, navigation interference is also needed to be started; if the cluster unmanned aerial vehicle is found in multiple directions, multi-directional or omnidirectional radio interference and navigation interference are started to complete the unmanned aerial vehicle prevention and control task;
s6, if the full-band radio detection device cannot detect and find the unmanned aerial vehicle, the cluster unmanned aerial vehicle can be in automatic cruise flight, visual navigation flight or inertial navigation flight, firstly, the radar detection device finds the cluster unmanned aerial vehicle, the target tracking is continuously kept, after the target enters a 5km early warning area, the unmanned aerial vehicle control command subsystem automatically guides the photoelectric tracking device to lock the target, and the target is identified through the photoelectric video image;
s7, after the cluster unmanned aerial vehicle enters a 3km rejection area, enabling a composite interception strategy by the unmanned aerial vehicle control and command subsystem, and implementing interception countermeasures according to the sequence of navigation decoy, laser dazzling and microwave striking: the unmanned aerial vehicle prevention and control command subsystem automatically guides the unmanned aerial vehicle navigation trap equipment to carry out navigation trap on a target, if clustered unmanned aerial vehicles are found in multiple directions, omnidirectional navigation trap is started, and if navigation trap is successful, the clustered unmanned aerial vehicles are indicated to fly by satellite navigation;
s8, if the navigation trapping is unsuccessful, the unmanned aerial vehicle prevention and control command subsystem automatically guides the laser dazzling device to interfere cluster flight of the unmanned aerial vehicles, and if the laser dazzling reaction is successful, the cluster unmanned aerial vehicles adopt visual navigation flight, and the unmanned aerial vehicle prevention and control task is completed;
s9, if the laser dazzling countermeasures are unsuccessful, it is indicated that the cluster unmanned aerial vehicle is likely to fly by adopting inertial navigation, when the cluster unmanned aerial vehicle enters the striking range of the microwave rejection device for 1.5km, the unmanned aerial vehicle prevention and control command subsystem automatically guides the microwave rejection device to strike and intercept the unmanned aerial vehicle cluster, and the unmanned aerial vehicle prevention and control task is completed;
s10, after the unmanned aerial vehicle prevention and control task is completed, the unmanned aerial vehicle prevention and control command subsystem carries out playback and statistical analysis on the data receiving and sending instructions and the control scenes in the whole detection and control command process, and the unmanned aerial vehicle prevention and control effect evaluation is completed.
As shown in fig. 4, the cluster unmanned aerial vehicle prevention and control command subsystem includes the following parts:
starting an initialization module: starting the unmanned aerial vehicle prevention and control system, and inspecting the normal operation of each device;
prevention and control plan setting module: the unmanned aerial vehicle prevention and control command subsystem makes a prevention and control plan, sets a protection area, a denial area and an early warning area according to key target prevention and control requirements, and sets corresponding prevention and control rules;
a radio identification module: the full-band radio detection equipment performs full-band scanning on the unmanned aerial vehicle signal, and if the unmanned aerial vehicle remote control and image transmission signal can be detected and the target type can be directly identified, the unmanned aerial vehicle is a conventional frequency band unmanned aerial vehicle and the unmanned aerial vehicle is in the frequency spectrum characteristic library; if the unmanned aerial vehicle signal is detected but cannot be identified, the unmanned aerial vehicle signal is added into a frequency spectrum feature library in real time, and the unmanned aerial vehicle control command subsystem automatically guides the radar detection equipment to scan in a key manner in the direction;
passive radar photoelectric guide module: after finding the cluster unmanned aerial vehicle, the radar detection device continuously keeps target tracking, and after the target enters an early warning area, the unmanned aerial vehicle prevention and control command subsystem automatically guides three photoelectric tracking devices to lock three unmanned aerial vehicle targets with the highest threat level according to the threat level and identifies the target through a photoelectric video image;
the radio interference guidance module: when a target enters a rejection area, the unmanned aerial vehicle prevention and control command subsystem automatically guides full-band radio interference equipment to perform frequency-writing interference on the target according to the detected remote control or image transmission frequency band of the unmanned aerial vehicle, if the cluster unmanned aerial vehicle is detected to have a plurality of remote control or image transmission frequency bands, the cluster unmanned aerial vehicle can simultaneously perform interference on at most 5 frequency bands, and if the unmanned aerial vehicle needs to be forced to land, navigation interference is also needed to be started; if the cluster unmanned aerial vehicle is found in multiple directions, multi-directional or omnidirectional radio interference and navigation interference are started to complete the unmanned aerial vehicle prevention and control task;
active radar photoelectric guide module: if the full-band radio detection device cannot detect and find the unmanned aerial vehicle, the unmanned aerial vehicle can fly in an automatic cruise mode, in a visual navigation mode or in an inertial navigation mode, firstly, the radar detection device finds the unmanned aerial vehicle, the target tracking is continuously kept, after the target enters an early warning area, the unmanned aerial vehicle prevention and control command subsystem automatically guides the photoelectric tracking device to lock the target, and the target is identified through the photoelectric video image;
a composite interception policy module: after the unmanned aerial vehicle enters the rejection area, the unmanned aerial vehicle control command subsystem starts a composite interception strategy, and interception countermeasures are implemented according to the sequence of navigation decoy, laser dazzling and microwave striking;
as shown in fig. 5, the composite interception policy module includes the following parts:
the navigation decoy guiding unit: the unmanned aerial vehicle prevention and control command subsystem automatically guides the unmanned aerial vehicle navigation trap equipment to carry out navigation trap on a target, and if the unmanned aerial vehicle is a clustered unmanned aerial vehicle and the clustered unmanned aerial vehicle is found in multiple directions, the omnidirectional navigation trap is started; if the navigation trapping is successful, the unmanned aerial vehicle is shown to fly by adopting satellite navigation, and the unmanned aerial vehicle prevention and control task is completed;
laser glare interference guidance unit: if the navigation trapping is unsuccessful, the unmanned aerial vehicle prevention and control command subsystem automatically guides the laser dazzling equipment to interfere the flight of the unmanned aerial vehicle, and if the laser dazzling reaction is successful, the unmanned aerial vehicle is shown to fly by adopting visual navigation, and the unmanned aerial vehicle prevention and control task is finished;
microwave rejection striking guide unit: if the laser dazzling countermeasures are unsuccessful, the unmanned aerial vehicle is shown to fly by adopting inertial navigation, when the unmanned aerial vehicle enters the striking range of the microwave rejection equipment, the unmanned aerial vehicle control command subsystem automatically guides the microwave rejection equipment to strike and intercept the unmanned aerial vehicle cluster, and the unmanned aerial vehicle control task is completed;
an analysis evaluation module: after the unmanned aerial vehicle prevention and control task is completed, the unmanned aerial vehicle prevention and control command subsystem receives and sends data instructions and controls scenes in the whole detection and control command process to perform playback and statistical analysis, and unmanned aerial vehicle prevention and control effect evaluation is completed.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations 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 include such modifications and variations.
Those not described in detail in this specification are within the skill of the art.
Claims (10)
1. An unmanned aerial vehicle prevention and control method is characterized in that: the method comprises the following steps:
s1, full-band radio detection equipment scans signals of an unmanned aerial vehicle in full bands, and if the signals of remote control and image transmission of the unmanned aerial vehicle can be detected and the target type can be directly identified, the unmanned aerial vehicle is a conventional frequency band unmanned aerial vehicle and the unmanned aerial vehicle is in a frequency spectrum characteristic library of the unmanned aerial vehicle; if the signal of the unmanned aerial vehicle is detected but cannot be identified, the signal of the unmanned aerial vehicle is added into a frequency spectrum feature library in real time, and a control command subsystem of the unmanned aerial vehicle automatically guides radar detection equipment to scan mainly in the vicinity of the signal direction of the unmanned aerial vehicle;
s2, after the radar detection device finds the target, the target tracking is continuously kept, when the target enters a prevention and control area, the unmanned aerial vehicle prevention and control command subsystem automatically guides the photoelectric tracking device to lock the unmanned aerial vehicle target with the highest threat level according to the threat level, and the target is identified through the photoelectric video image;
s3, when the target is further close to the target, the unmanned aerial vehicle prevention and control command subsystem automatically guides full-band radio interference equipment to perform frequency-writing interference on the target according to the detected remote control or image transmission frequency band of the unmanned aerial vehicle, and if the unmanned aerial vehicle needs to be forced to land, navigation interference needs to be started;
s4, if the full-band radio detection device cannot detect and find the unmanned aerial vehicle, the unmanned aerial vehicle is in automatic cruise flight, visual navigation flight or inertial navigation flight, firstly, the radar detection device finds the unmanned aerial vehicle, the target tracking is continuously kept, after the target enters a prevention and control area, the unmanned aerial vehicle prevention and control command subsystem automatically guides the photoelectric tracking device to lock the target, and the target is identified through the photoelectric video image;
and S5, when the unmanned aerial vehicle further approaches, starting a composite interception strategy by the unmanned aerial vehicle prevention and control command subsystem, and performing interception countermeasures according to the sequence of navigation decoy, laser dazzling and microwave striking.
2. The unmanned aerial vehicle prevention and control method according to claim 1, wherein: in step S5, the interception and countermeasures for implementing the navigation spoofing, the laser dazzling and the microwave striking are as follows:
s51, automatically guiding the unmanned aerial vehicle navigation decoy equipment to carry out navigation decoy on a target by the unmanned aerial vehicle prevention and control command subsystem, and if the navigation decoy is successful, indicating that the unmanned aerial vehicle adopts automatic cruise flight to complete the unmanned aerial vehicle prevention and control task;
s52, if the navigation trapping is unsuccessful, the unmanned aerial vehicle prevention and control command subsystem automatically guides the laser dazzling equipment to interfere the flight of the unmanned aerial vehicle, and if the laser dazzling countermeasures are successful, the unmanned aerial vehicle is shown to fly by adopting the visual navigation, and the unmanned aerial vehicle prevention and control task is completed;
s53, if the laser dazzling countermeasures are unsuccessful, the unmanned aerial vehicle is indicated to fly by adopting inertial navigation, when the unmanned aerial vehicle enters the striking range of the microwave rejection equipment, the unmanned aerial vehicle prevention and control command subsystem automatically guides the microwave rejection equipment to strike and intercept the unmanned aerial vehicle cluster, and the unmanned aerial vehicle prevention and control task is completed.
3. The unmanned aerial vehicle prevention and control method of claim 2, wherein: in the step S1, before the full-band radio detection device performs full-band scanning on the signal of the unmanned aerial vehicle, the unmanned aerial vehicle control system is first started to inspect normal operation of each device; secondly, the unmanned aerial vehicle prevention and control command subsystem makes a prevention and control plan, a protection area, a denial area and an early warning area are respectively arranged aiming at a key target prevention and control area, and corresponding prevention and control rules are set;
in the step S2 or S4, after the target enters the early warning area, the unmanned aerial vehicle prevention and control command subsystem automatically guides the photoelectric tracking device to lock the unmanned aerial vehicle target with the highest threat level according to the threat level;
in the step S3, after the target enters the rejection area, the unmanned aerial vehicle prevention and control command subsystem automatically guides full-band radio interference equipment to perform frequency-writing interference on the target according to the detected remote control or image transmission frequency band of the unmanned aerial vehicle;
in the step S5, after the unmanned aerial vehicle enters the denial area, the unmanned aerial vehicle control and command subsystem starts a composite interception strategy.
4. The unmanned aerial vehicle prevention and control method according to claim 3, wherein: and S6, after the unmanned aerial vehicle prevention and control task is completed, the unmanned aerial vehicle prevention and control command subsystem receives and transmits data instructions and controls scenes in the whole detection and control command process to perform playback and statistical analysis, so that unmanned aerial vehicle prevention and control effect evaluation is completed.
5. The unmanned aerial vehicle prevention and control method according to claim 4, wherein: in the step S2, if the cluster unmanned aerial vehicle is provided with a plurality of sets of photoelectric tracking devices, different photoelectric devices can be guided to respectively track different unmanned aerial vehicles in the cluster;
in the step S3, if the unmanned aerial vehicle is a clustered unmanned aerial vehicle and it is detected that the unmanned aerial vehicle has multiple remote control or image transmission frequency bands, the multiple frequency bands can be interfered at the same time, and if the clustered unmanned aerial vehicle is found in multiple directions, multi-directional or omnidirectional radio interference and navigation interference are started to complete the unmanned aerial vehicle prevention and control task;
in step S51, if the unmanned aerial vehicle is a clustered unmanned aerial vehicle and the clustered unmanned aerial vehicle is found in multiple directions, the omnidirectional navigation spoofing is started.
6. The utility model provides an unmanned aerial vehicle prevention and control system which characterized in that: the system comprises a cluster unmanned aerial vehicle detection subsystem, a cluster unmanned aerial vehicle anti-control subsystem and a cluster unmanned aerial vehicle prevention and control command subsystem, wherein the cluster unmanned aerial vehicle detection subsystem consists of radar detection equipment, photoelectric tracking equipment and full-band radio detection equipment; the cluster unmanned aerial vehicle anti-system subsystem consists of full-band radio interference equipment, unmanned aerial vehicle navigation decoy equipment, laser dazzling equipment and microwave rejection equipment;
wherein, the cluster unmanned aerial vehicle prevention and control command subsystem includes following several parts:
a radio identification module: the full-band radio detection equipment performs full-band scanning on the unmanned aerial vehicle signal, and if the unmanned aerial vehicle remote control and image transmission signal can be detected and the target type can be directly identified, the unmanned aerial vehicle is a conventional frequency band unmanned aerial vehicle and the unmanned aerial vehicle is in the frequency spectrum characteristic library; if the unmanned aerial vehicle signal is detected but cannot be identified, the unmanned aerial vehicle signal is added into a spectrum feature library in real time, and the unmanned aerial vehicle control command subsystem automatically guides the radar detection equipment to scan in a key mode near the direction of the unmanned aerial vehicle signal;
passive radar photoelectric guide module: after the radar detection device finds the target, the target tracking is continuously kept, when the target enters a prevention and control area, the unmanned aerial vehicle prevention and control command subsystem automatically guides the photoelectric tracking device to lock the unmanned aerial vehicle target with the highest threat level according to the threat level, and the target is identified through the photoelectric video image;
a radio interference guidance module: when the target is further close, the unmanned aerial vehicle control command subsystem automatically guides full-band radio interference equipment to perform frequency-writing interference on the target according to the detected remote control or image transmission frequency band of the unmanned aerial vehicle, and if the unmanned aerial vehicle needs to be forced to land, navigation interference needs to be started;
active radar photoelectric guide module: if the full-band radio detection device cannot detect and find the unmanned aerial vehicle, the unmanned aerial vehicle is in automatic cruise flight, visual navigation flight or inertial navigation flight, firstly, the radar detection device finds the unmanned aerial vehicle, the target tracking is continuously kept, after the target enters a prevention and control area, the unmanned aerial vehicle prevention and control command subsystem automatically guides the photoelectric tracking device to lock the target, and the target is identified through the photoelectric video image;
a composite interception policy module: when the unmanned aerial vehicle further approaches, the unmanned aerial vehicle prevention and control command subsystem starts a composite interception strategy, and interception countermeasures are implemented according to the sequence of navigation decoy, laser dazzling and microwave striking.
7. The unmanned aerial vehicle prevention and control system of claim 6, wherein: the composite interception strategy module comprises the following parts:
navigation decoy guiding unit: the unmanned aerial vehicle prevention and control command subsystem automatically guides the unmanned aerial vehicle navigation trapping equipment to perform navigation trapping on the target, and if the navigation trapping is successful, the unmanned aerial vehicle is indicated to adopt automatic cruise flight to complete the unmanned aerial vehicle prevention and control task;
laser dazzling interference guide unit: if the navigation trapping is unsuccessful, the unmanned aerial vehicle prevention and control command subsystem automatically guides the laser dazzling equipment to interfere the flight of the unmanned aerial vehicle, and if the laser dazzling reaction is successful, the unmanned aerial vehicle is shown to fly by adopting the visual navigation, and the unmanned aerial vehicle prevention and control task is completed;
microwave rejection striking guide unit: if the laser dazzling countercheck is unsuccessful, the unmanned aerial vehicle is shown to fly by adopting inertial navigation, when the unmanned aerial vehicle enters the striking range of the microwave rejection equipment, the unmanned aerial vehicle prevention and control command subsystem automatically guides the microwave rejection equipment to strike and intercept the unmanned aerial vehicle cluster, and the unmanned aerial vehicle prevention and control task is completed.
8. The unmanned aerial vehicle prevention and control system of claim 7, wherein: also comprises a starting initialization module and a prevention and control plan setting module, wherein,
starting an initialization module: starting the unmanned aerial vehicle prevention and control system, and inspecting the normal operation of each device;
prevention and control plan setting module: the unmanned aerial vehicle prevention and control command subsystem makes a prevention and control plan, sets a protection area, a denial area and an early warning area according to key target prevention and control requirements, and sets corresponding prevention and control rules;
in the passive radar photoelectric guide module or the active radar photoelectric guide module, after a target enters an early warning area, the unmanned aerial vehicle prevention and control command subsystem automatically guides the photoelectric tracking equipment to lock the unmanned aerial vehicle target with the highest threat level according to the threat level;
in the radio interference guiding module, after a target enters a rejection area, the unmanned aerial vehicle prevention and control command subsystem automatically guides full-band radio interference equipment to write frequency interference on the target according to the detected remote control or image transmission frequency band of the unmanned aerial vehicle;
in the composite interception strategy module, after the unmanned aerial vehicle enters a rejection area, the unmanned aerial vehicle control command subsystem starts a composite interception strategy.
9. The unmanned aerial vehicle prevention and control system of claim 8, wherein: further comprising an analysis and evaluation module: after the unmanned aerial vehicle prevention and control task is completed, the unmanned aerial vehicle prevention and control command subsystem carries out playback and statistical analysis on the data command receiving and sending and the control scene in the whole detection and control command process, and the unmanned aerial vehicle prevention and control effect evaluation is completed.
10. The unmanned aerial vehicle prevention and control system of claim 9, wherein: in the passive radar photoelectric guide module, if the unmanned aerial vehicle is a cluster unmanned aerial vehicle and a plurality of sets of photoelectric tracking equipment are arranged, different photoelectric equipment can be guided to respectively track different unmanned aerial vehicles in the cluster;
in the radio interference guiding module, if the unmanned aerial vehicle is a cluster unmanned aerial vehicle and the unmanned aerial vehicle is detected to have a plurality of remote control or image transmission frequency bands, the plurality of frequency bands can be interfered at the same time, and if the cluster unmanned aerial vehicle is found in a plurality of directions, multi-direction or omnidirectional radio interference and navigation interference are started to complete the unmanned aerial vehicle prevention and control task;
in the navigation trapping guiding unit, if the unmanned aerial vehicle is a clustered unmanned aerial vehicle and the clustered unmanned aerial vehicle is found in multiple directions, omnidirectional navigation trapping is started.
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