CN112925339A - Intrusion prevention system equipment for unmanned small aircraft - Google Patents

Abstract

The invention discloses unmanned small aircraft intrusion prevention system equipment which is low in cost, convenient to operate and high in environmental adaptability and can automatically prevent unmanned aerial vehicles from intruding. The outdoor (co-monomer) equipment consists of radio detection equipment, photoelectric equipment, radio interference equipment, a system equipment mounting bracket, accessory equipment and the like, and indoor equipment consists of main control computer equipment, hard disk video recorder equipment, accessory equipment and the like. The system consists of a detection subsystem, an identification and tracking subsystem, an interception and disposal subsystem, a command control subsystem and a video storage subsystem. The system uses the cooperation of radio detection equipment and many photoelectric device to combine special system architecture design and system function design, make the system possess the ability of automatic quick defense unmanned aerial vehicle invasion, simultaneously, the use of passive detection equipment makes the system have higher environmental suitability, has also reduced system cost.

Description

Intrusion prevention system equipment for unmanned small aircraft

Technical Field

The invention belongs to the field of low-altitude security systems, relates to unmanned small aircraft intrusion prevention system equipment, and particularly relates to system equipment which uses multiple types of equipment to cooperatively and cooperatively work, realizes the functions of detecting, discovering, identifying, tracking and intercepting an intruding unmanned aerial vehicle target, and can automatically prevent the intruding unmanned aerial vehicle.

Background

The intrusion prevention system of the unmanned small aircraft mainly uses two or more types of detection, identification and disposal equipment, has the functions of discovery, identification and interception of intrusion unmanned aerial vehicle equipment, and is widely applied to military and civil important places such as airports. The unmanned small aircraft intrusion defense system realizes timely discovery and positioning of an intrusion unmanned aerial vehicle target through target searching and discovering equipment, realizes identification and tracking of the target through target identification and tracking equipment, and disposes an incoming target through target disposal equipment. The general (existing) intrusion prevention system for the unmanned small aircraft has the advantages of high price and cost, complex installation and use, large influence on the surrounding environment during working, low automation degree, and influence on the use of users and market popularization.

The intrusion prevention system of a general (existing) unmanned small aircraft has the following components and characteristics:

1. although a system composed of radar equipment, photoelectric equipment and interference equipment can accurately detect and find a target and accurately guide the photoelectric equipment to track and record an image, due to the use of the radar, the system also continuously transmits electromagnetic waves in a non-target disposal state, the influence of the system on the surrounding environment is increased, the target detection effect of the radar in complex environments such as cities can be obviously reduced, and the interference situation is obviously increased. These problems limit the use environment of the system, make the system unable to be applied to confidential places such as military affairs, and have poor concealment and confidentiality, thus being difficult to be widely used. Meanwhile, the system has high requirements on installation points of the installation frame and the surrounding environment, is easily influenced by the surrounding environment, is complex in installation, use and daily maintenance, has a long installation and debugging period and has high requirements on users. In addition, due to the complexity of the system, the failure rate of the system equipment is relatively high.

2. Although a system composed of single-station radio detection equipment and interference equipment eliminates the influence on the surrounding environment due to the use of passive detection equipment, the system environment adaptability is improved, the single-station radio detection equipment has limited detection capability, only can detect the existence and the direction of a target at most, cannot accurately position the target, and cannot introduce and use photoelectric equipment (which cannot accurately guide and direct the photoelectric equipment to track and monitor the target) to visually monitor, track and record image data of an invaded target.

3. The system composed of multi-station radio detection equipment, interference equipment and photoelectric equipment, although passive detection equipment is used, the influence on the surrounding environment is eliminated, and simultaneously, the target can be horizontally and two-dimensionally positioned, because the target height cannot be detected, and simultaneously, the precision of two-dimensional horizontal positioning is extremely uneven, the introduced photoelectric equipment is difficult to see the invading target under the guidance and command of the detection equipment, so that the target is difficult to track, monitor and further process, even if the target fortunately appears in the field of view of the photoelectric equipment, the system does not reflect the corresponding effect of the photoelectric equipment under the condition that the target distance is very close. In addition, because a plurality of detection devices need to be installed in a multipoint uniform arrangement mode, the system is complex to install and arrange, and the complexity of system construction and maintenance is improved.

4. The existing system adopting single radio detection equipment is formed into a system by the radio detection equipment and interference equipment, a plurality of photoelectric equipment are not used simultaneously, and the use effect of the system is poor; the existing system adopting multi-radio detection equipment consists of multi-station radio detection equipment, interference equipment and photoelectric equipment, although the photoelectric equipment is used, the functions and the effects of the photoelectric equipment cannot be well embodied, and the complexity and the installation difficulty of the system are improved. The existing single-station radio detection equipment has two types, one type has a target orientation function, and the other type does not have the target orientation function. The radio detecting device with the target orientation function cannot effectively complete the function of guiding the photoelectric device due to limited target orientation precision, and no available system composed of a single-station radio detecting device, an interference device and the photoelectric device exists at present.

In contrast, the system using the radio detection device has many advantages and is more environment-friendly. However, in a general (existing) system using a radio detection device as an unmanned aerial vehicle target intrusion detection device, because the radio detection device cannot detect and output a pitch angle of a target, and an error of a target azimuth detection angle of the radio detection device is large, stability is low, the overall use effect of the system using the radio detection device as the unmanned aerial vehicle target intrusion detection device is poor, and the use effect is far inferior to the overall use effect of the system using a radar device as the unmanned aerial vehicle target intrusion detection device.

The existing unmanned small aircraft intrusion prevention system using radio detection equipment as unmanned aerial vehicle target intrusion detection equipment has the following defects and shortcomings:

1. the existing system has low integration level, the equipment is installed dispersedly, a larger installation and construction site is needed, and the installation, debugging, maintenance and repair are inconvenient.

2. The existing system using radio detection equipment cannot take the photoelectric equipment as equipment for target tracking, target identification and target image information recording, and cannot effectively solve the problem of realizing reasonable and effective matching of the detection equipment and the photoelectric equipment under the conditions of insufficient target positioning and target orientation precision of the detection equipment.

3. The existing system using radio detection equipment cannot solve the difficult problems of effective guidance of the system to photoelectric equipment and effective positioning of an unmanned aerial vehicle target under the condition that accurate detection positioning equipment such as radars and the like is absent (not equipped), so that the existing system consisting of the radio detection equipment, interference equipment and the photoelectric equipment is absent in photoelectric function, the whole system is single in function, and the using effect of the system is poor.

4. Most of the existing systems using radio detection equipment are not equipped with photoelectric equipment, and a few of the systems equipped with photoelectric equipment do not exert the due effect of the photoelectric equipment due to the fact that the photoelectric equipment is not effectively used.

5. The existing system using the radio detection equipment cannot accurately identify a target due to functional loss of the photoelectric equipment, cannot eliminate interference and influence caused by non-unmanned aerial vehicle targets such as birds and the like, and cannot effectively record target image information.

6. The existing system using radio detection equipment cannot solve the problem of cooperative cooperation among a plurality of photoelectric equipment, cannot exert the due functions and effects of the photoelectric equipment, cannot effectively process the condition of multi-target intrusion, and particularly cannot effectively distinguish (identify) and record a plurality of targets intruding simultaneously.

7. In the automatic defense function of the existing system using the radio detection device, only the detection device and the interference device participate in the automatic defense process, and the photoelectric device does not participate in the automatic defense process, so that the photoelectric device cannot exert the due effect and is still in an edge state or a possible state.

8. The existing system using radio detection equipment has poor compatibility, generally comprises customized equipment or products, is not easy to maintain, and cannot be adjusted timely and quickly according to the field environment.

Based on the background, the invention provides an unmanned small aircraft intrusion prevention system device based on radio detection, photoelectric identification tracking and radio interference interception treatment. The system has the advantages of simple and convenient installation and use, low cost, high system compatibility, small influence on the surrounding environment, high environmental adaptability, high automation degree, rich (perfect) system functions and the like.

Disclosure of Invention

The invention provides unmanned small aircraft intrusion prevention system equipment based on single-station radio detection, multi-photoelectric identification tracking and single-radio interference interception processing, aiming at overcoming the defects of complex installation and use, high cost, large influence on the surrounding environment, low environmental adaptability, low system compatibility, low automation degree, poor system function completeness and the like of the existing unmanned small aircraft intrusion prevention system, and particularly aiming at solving the defects and shortcomings of the existing system taking radio detection equipment as unmanned aerial vehicle target intrusion detection equipment.

The invention reasonably and effectively solves the existing defects and shortcomings of the system using the radio detection device as the target intrusion detection device of the unmanned aerial vehicle by the modes of system (integral) structure innovation design, system composition and system architecture innovation design, intra-system photoelectric use mode innovation design, system (integral) function innovation design and the like. The intrusion prevention system for the unmanned small aircraft, provided by the invention, not only can accurately and timely discover the intruding unmanned aerial vehicle, identify and track the unmanned aerial vehicle and intercept and dispose the unmanned aerial vehicle, but also has the advantages of simple and convenient system installation and operation, low cost, small influence on the surrounding environment, high environmental adaptability, rich and complete system functions, high system compatibility and convenient system maintenance and use.

The invention provides an unmanned small aircraft intrusion defense system, which provides a new system composition and a system construction mode on the basis of the traditional system composition, namely a system consisting of single-station radio detection equipment, a plurality of photoelectric equipment and single interference equipment is matched with a new system (integral body) structure design and a system integral function design, so that the system has a series of functions of unmanned aerial vehicle target detection and orientation, unmanned aerial vehicle target detection, tracking, identification, positioning, image data recording, target interception and disposal and the like, and simultaneously, the system automatic defense function of the photoelectric equipment participating in work is designed, and a series of works of unmanned aerial vehicle target detection discovery, tracking identification, interception, target image recording and the like can be automatically and autonomously completed in an unattended state.

The invention provides an intrusion prevention system of an unmanned small aircraft based on multi-photoelectric multi-device compounding. After the system is started, unmanned aerial vehicle intrusion prevention can be automatically carried out, and unmanned aerial vehicle intrusion prevention can also be carried out through manual control.

The system consists of a detection subsystem, an identification and tracking subsystem, an interception and disposal subsystem, a command control subsystem and a video storage subsystem, wherein a single radio detection device is used as the detection subsystem, 3 photoelectric devices are used as the identification and tracking subsystem, a single radio interference device is used as the interception and disposal subsystem, a single main control computer device is used as the command control subsystem, and a single hard disk video recorder device is used as the video storage subsystem.

In order to enable the unmanned aerial vehicle intrusion prevention system using the detection device as the only target detection device to successfully use the photoelectric device, the related prevention function with participation of the photoelectric device is completed, the functions of the system are improved, and the use effect of the system is improved. The system is formed in the aspect of system structure, and system equipment is jointly arranged on an equipment mounting bracket to form a whole. The wireless detection equipment is arranged at the center of the top end of the support, the 3 photoelectric equipment are respectively arranged at the tail ends of the 3 support arms which are uniformly distributed at the upper end of the support, the antenna of the interference equipment is arranged at the position, close to the tail end, of the support arm at the upper end of the support, the host machine of the interference equipment is arranged at the position, close to the upper part, of the center post of the support, and the distribution box equipment is arranged at the position, close to. The main control computer equipment can be installed indoors or installed at the lower position of the center column of the outdoor equipment installation support according to the field situation, and necessary protective measures need to be taken when the equipment is installed outdoors. The hard disk video recorder equipment can be selectively installed indoors according to the field situation. The relative positions of each device and each structural part in the whole structure of the system are fixed, so that the relative positions of each device in the system are kept stable, and the system is based on the realization of system functions, and a stable structural reference and a space geometric relation convenient for calculation and processing are established for the matching use of the detection device and a plurality of photoelectric devices.

When the radio detection equipment detects the invasion of the unmanned aerial vehicle, the information of the invaded target can be immediately transmitted to the command control subsystem, the command control subsystem synthesizes various parameter information of the system according to the azimuth information of the invaded target, an automatic control program is applied, 2 or 3 photoelectric devices are automatically and independently selected and controlled, simultaneously, the target is orderly pointed to the attack direction of the target, the target is searched and identified, when any one photoelectric device identifies the unmanned aerial vehicle target, the command control subsystem immediately controls the radio interference equipment to release (omnidirectional) interference signals, the target is intercepted and disposed, and the target of the attacked unmanned aerial vehicle is forced to land or return to the air. In the working process of the system, the video storage subsystem can constantly record real-time video data of each photoelectric device.

In the system, radio detection equipment is used for target detection, 3 photoelectric equipment are used for target identification and tracking, radio interference equipment is used for target disposal, and main control computer equipment is used for unified cooperative control.

The radio detection has the advantages of wide detection range, high detection speed, high detection efficiency, low false alarm rate, high reliability and environmental adaptability, but the target orientation precision is not as high as that of a radar; and use 3 photoelectric device to closely cooperate simultaneously and carry out target search discernment and tracking, not only can compensate the directional precision of radio detection equipment not enough, can improve photoelectric device search discernment's speed and efficiency moreover, simultaneously, can also accomplish simultaneously when a plurality of unmanned aerial vehicle targets invade to discern tracking 3 targets wherein, has strengthened the multi-target throughput of system. The command control program running on the main control computer equipment can automatically control the system equipment to work, so that the automation degree of the system is improved, and the system is convenient to operate. The radio detection equipment and the photoelectric equipment belong to passive detection equipment, do not actively send signals, have no influence on the surrounding environment, have good concealment, high reliability and environmental adaptability and have lower cost compared with a radar.

The hard disk video recorder equipment in the system is used as a video storage subsystem and used for recording real-time videos of all the photoelectric equipment, and the storage capacity can be adjusted according to video storage requirements. In addition, the video storage subsystem is a selective distribution subsystem, which can be removed when not needed.

In addition, 3 photoelectric devices can be replaced by 3 photoelectric interference all-in-one machines, functions of the photoelectric devices are met, and at the same time, when a plurality of unmanned aerial vehicle targets invade, 3 targets can be identified, tracked and intercepted at most simultaneously, the multi-target simultaneous difference processing capacity of the system is enhanced, and meanwhile, the influence on the surrounding environment in the system intercepting and processing process is reduced.

The multiple systems can be networked, and after the networking, the multiple systems can cooperatively work, so that the protection area can be increased, the reliability of system defense is improved, and the system defense effect is improved.

The innovation point of the invention can be roughly summarized as follows: the novel and unique system composition and system configuration, novel and unique system structural design, novel and unique photoelectric function design, novel and unique system function design and system function and use effect promotion are embodied in the following points:

1. the invention adopts (first creation) a system composition form and a system architecture of single-station radio detection equipment, single interference equipment and a plurality of photoelectric equipment for the first time.

2. The invention firstly designs a single-station radio detection device, a single interference device and a plurality of photoelectric devices into a special single integral structure which accords with a certain rule and is mainly characterized in that the radio detection device is positioned in the center of a system structure, and the plurality of photoelectric devices are closely and uniformly distributed at the periphery of the radio detection device. The system integration level is improved, the system installation and maintenance difficulty is reduced, and the problem that the radio detection equipment cannot effectively guide and cooperate with photoelectric equipment to work due to the reasons such as errors is solved on the basis.

3. The invention adopts the mode and function of cooperative work of multiple photoelectric devices for the first time, and applies the cooperative work to the unmanned aerial vehicle defense system for the first time (successfully), so that the system can play the due function of the photoelectric devices and simultaneously enrich the functions of the whole system. The system is designed to realize the field splicing function of multiple photoelectric devices (in real time) in a mode of multi-photoelectric cooperative work, and the field splicing mode of multiple photoelectric devices is used for forming a combined field, so that the photoelectric devices can detect the target of the unmanned aerial vehicle in a specific distance, the angle range of the combined field horizontal field can also include the azimuth detection error range of the target by the radio detection device, and the success rate of leading the photoelectric result of the detection result in the system is greatly improved. In addition, the use of the multi-photoelectric cooperative working mode enables the system to successfully use the photoelectric equipment as an effective main body for target image data recording in a system combination mode of a radio detection device, an interference device and the photoelectric equipment.

4. The invention realizes the photoelectric target searching function based on the multi-photoelectric equipment combined field under the guidance of the radio detection equipment for the first time (the first time), namely the function of guiding the photoelectric equipment combined field to perform the searching from pitch to step glance after the radio detection equipment finds the target, and the use of the multi-photoelectric combined field greatly improves the probability of the target appearing in the photoelectric field in the process of searching from pitch to glance of the photoelectric equipment.

5. The invention is firstly (initially) designed and realized in an unmanned aerial vehicle defense system consisting of radio detection equipment, interference equipment and photoelectric equipment, and based on the image target tracking and identifying functions of the photoelectric equipment, the system identifies targets in an optical television field, distinguishes unmanned aerial vehicle targets from non-unmanned aerial vehicle targets such as birds and civil airliners, and assists the system to realize accurate interception.

6. The invention firstly (initiatively) designs the function of three-dimensional positioning of the unmanned aerial vehicle target in a visual field by the system based on the image target tracking and identifying function of the photoelectric equipment, and outputs the longitude, latitude and height information of the unmanned aerial vehicle target by a specific calculation mode and a calculation method.

7. The invention designs and realizes the automatic defense function of the system for the first time (the first time) under the system combination mode of single-station radio detection equipment, single interference equipment and a plurality of photoelectric equipment and under the condition that a plurality of photoelectric equipment participate in the system work, so that the system has the automatic working capacity and realizes the unattended operation.

Compared with the prior art, the invention has the beneficial effects that:

the system can timely and accurately find, identify and dispose the target, is simple and convenient to install and operate, high in automation degree and environment adaptability, can automatically run after installation and test are completed, does not need manual intervention, and is convenient for users to use. Meanwhile, the equipment forming the system is multi-selectively mature and universal, so that the maintainability, the cost and the reliability are better. Meanwhile, due to the fact that passive detection equipment such as radio detection equipment and photoelectric equipment is selected, compared with radar detection, the electromagnetic wave sensor can be more suitable for complex electromagnetic environments and can be more suitable for complex environments such as cities. Specifically, the beneficial effects of the invention are as follows:

1) the system uses the radio detection equipment capable of carrying out direction finding on the target to replace the widely used radar equipment, thereby reducing (eliminating) the influence of the system on the surrounding environment caused by the target detection by actively radiating electromagnetic waves by using a radar in a non-target treatment state. Meanwhile, as the radio detection belongs to a passive detection technology, the concealment and the confidentiality are strong, and the system mounting frame installation point and the system protection area cannot be actively exposed before an intrusion target appears. Meanwhile, the system is not easily influenced by the real environment, and the environmental adaptability is strong.

2) The system adopts a system composition mode of single-station radio detection equipment, single interference equipment and a plurality of photoelectric equipment, and realizes the functions of target detection discovery, guiding photoelectric detection, tracking, identification, target positioning, target image data recording, target interception and treatment and the like which can be realized by a system composed of radar equipment, photoelectric equipment and interference equipment in the prior art.

3) In the working process of the system, the system can record the detection data of the invading target and the image data of the invading target at the same time, and the problem that the photoelectric equipment can not effectively record the target image data in the system composition mode of single-station radio detection equipment, photoelectric equipment and interference equipment is solved.

4) The system can calculate the distance of the output target in a target tracking state and also can calculate the three-dimensional space coordinate of the output target, namely longitude, latitude and height information of the target, thereby solving the problem that the system carries out three-dimensional positioning of the target under the condition that no radar or multi-station radio detection equipment participates in the work.

5) The system has an automatic defense function, can automatically and autonomously perform the functions of unmanned aerial vehicle target detection discovery, detection tracking and identification, interception treatment, target image information recording and the like under an unattended state, has high automation degree, and is convenient for users to use to a great extent.

6) The system has compact integral structure and high integration level, and is convenient to use and maintain only by installing and erecting single sites.

7) The system almost has no influence on the surrounding environment, has high environmental adaptability and strong concealment, and can be widely applied to various environments.

8) The system has strong compatibility, the photoelectric equipment forming the system can be selected and adapted to various types and types of photoelectric equipment, the photoelectric equipment with different types can be used simultaneously, targeted adjustment can be carried out according to actual requirements and field conditions, and the working effect of the system is further improved.

Drawings

The invention is further illustrated with reference to the following figures and examples.

FIG. 1 is a system composition diagram of the present invention;

FIG. 2 is a diagram of the apparatus of the present invention;

FIG. 3 is a perspective view of the overall construction of the outdoor unit of the present invention;

FIG. 4 is a front view of the overall construction of the outdoor unit of the present invention;

FIG. 5 is a perspective view of an outdoor equipment mounting bracket of the present invention;

FIG. 6 is a front view of an outdoor equipment mounting bracket of the present invention;

FIG. 7 is a top view of an outdoor equipment mounting bracket of the present invention;

FIG. 8 is a device connection diagram of the present invention;

FIG. 9 is a system flow diagram of the video storage subsystem of the present invention in a stand-alone mode of operation;

FIG. 10 is a flow chart of the operation of the video storage subsystem of the present invention in a stand-alone mode of operation;

FIG. 11 is a system flow diagram of the video storage subsystem of the present invention in a linked mode of operation;

fig. 12 is a system configuration diagram of the present invention after replacing the optoelectronic device with the optoelectronic interference all-in-one device;

fig. 13 is a diagram showing the apparatus according to the present invention, in which the optoelectronic device is replaced with an integrated optical electrical interference device;

fig. 14 is a device connection diagram of the present invention in which the optoelectronic device is replaced with the optical and electrical interference integrated device.

In the figure: 1. radio detection equipment, 2 lightning rod, 3 photoelectric equipment, 4 interference antenna, 5 radio interference host, 6 equipment mounting bracket, 7 distribution box equipment, 8 corner piece, 9 mounting plate, 10 lower cross beam,

11. the structure comprises an upper cross beam, 12 a central main shaft, 13 an upper reinforcing frame, 14 a longitudinal beam, 15 reinforcing ribs, 16 connecting flanges and 17 a lower reinforcing frame.

Detailed Description

The invention is described in more detail below with reference to the figures and examples.

The system consists of a detection subsystem, an identification and tracking subsystem, an interception and disposal subsystem, a command control subsystem and a video storage subsystem, wherein the system consists of a figure 1, and the video storage subsystem is a selection and distribution subsystem. In the system, a single radio detection device 1 serves as a detection subsystem, 3 photoelectric devices 3 serve as an identification and tracking subsystem, a single radio interference device serves as an interception and disposal subsystem, a single main control computer device serves as a command and control subsystem, a single hard disk video recorder device serves as a video storage subsystem, and auxiliary devices are used for providing support for each subsystem device.

The system device is composed as shown in fig. 2, wherein the hard disk recorder device is an optional device.

The subsystems and the devices of the invention are respectively as follows:

the system is actually installed and deployed in a mode of combining outdoor deployment with indoor deployment, wherein the main control computer equipment is placed indoors or outdoors after the protective measures are upgraded and improved, and is installed on the system equipment installation support 6.

The radio detection device 1: the system is used for detecting, discovering and tracking the target of the unmanned aerial vehicle and outputting target information;

the photoelectric device 3: the system is used for acquiring images of targets such as an unmanned aerial vehicle;

the radio interference device: the system is used for carrying out (suppressing) interference on a communication link signal of the unmanned aerial vehicle and a navigation signal of the unmanned aerial vehicle;

the main control computer equipment: the system command control program is used for operating the system command control program, realizing the control of each device in the system and realizing the system function; the main control computer equipment is optional equipment, and the optional range comprises a workstation computer and a server computer with medium-high performance or high performance.

Hard disk video recorder equipment: used for recording and storing the photoelectric video; the hard disk video recorder equipment in the system is optional equipment.

The auxiliary equipment comprises: the system is used for power supply of system equipment and communication of the system equipment, and can adapt to various communication distances and communication bandwidth conditions. The accessory equipment can meet the requirement of subsequent power upgrade of the system and can meet various communication requirements of the system.

A detection subsystem: the wireless detection device 1 and the main control computer device are used for detecting, finding, tracking and outputting target information and photoelectric guide information of the unmanned aerial vehicle target;

identifying and tracking subsystems: 3 photoelectric devices 3 and a main control computer device are used for completing guidance search, identification and tracking of the unmanned aerial vehicle target;

intercepting and processing subsystem: using radio interference equipment and main control computer equipment to complete interception treatment of the unmanned aerial vehicle target;

video storage subsystem: using a hard disk video recorder device to complete real-time video recording of each photoelectric device 3;

command control subsystem: and the main control computer equipment is used for completing information receiving and instruction sending of all equipment in the system, completing comprehensive processing of all information and data in the system and completing unified scheduling and control of all equipment in the system, thereby finally realizing the system function.

Radio detection equipment 1 possesses the function that unmanned aerial vehicle listened the discovery, can be simultaneously to many batches of unmanned aerial vehicle (or remote controller) targets orientation, range finding, frequency channel measurement, can distinguish unmanned aerial vehicle target and remote controller target, can effectively distinguish unmanned aerial vehicle signal and non-unmanned aerial vehicle signal, can real-time output target information.

The optoelectronic device 3 is an (industrial grade) high-definition (pan/tilt/zoom) camera device, and is an optional device type, and the optional range includes a high-definition camera dome device, a high-definition PTZ camera, a high-definition pan/tilt/zoom camera device, and a high-definition pan/tilt/zoom camera customizing device. And photoelectric interference all-in-one machine equipment based on the high-definition camera and the directional interference equipment. Meanwhile, the photoelectric device 3 has night working capability.

The radio interference device comprises a radio interference host 5 and an interference antenna 4, can perform (suppress) interference on signals of a communication link, a remote control link, a figure transmission link and a navigation link of the unmanned aerial vehicle, and can act on frequency bands of 900MHz, 1.2GHz, 1.5GHz, 2.4GHz, 5.8GHz and the like. The interference direction is omni-directional interference.

The main control computer equipment is optional equipment, and the optional range comprises a workstation computer with medium-high performance or high performance and a server computer.

Further described is a detection subsystem that can output target detection conditions and target information in real time, and can also record real-time target detection information.

Further, an identification and tracking subsystem is described, which is composed of 3 photoelectric devices 3, wherein the 3 photoelectric devices 3 are uniformly distributed on a horizontal circumference with the radio detection device 1 as the center, and the included angle between the adjacent 2 photoelectric devices 3 is 120 °. The identification and tracking subsystem has a transverse or longitudinal view field splicing function, can quickly increase the photoelectric view field and improve the photoelectric efficiency, and a plurality of photoelectricity devices can synchronously enlarge and reduce the view field in the splicing process; the system has a multi-target decentralized or combined processing function and can simultaneously treat a plurality of targets; the automatic scheduling function of the photoelectric equipment 3 is provided, and the photoelectric equipment 3 can be reasonably scheduled for identification and tracking according to the target information and the identification result; the photoelectric rescheduling function in the photoelectric tracking process is provided, relay in the photoelectric tracking process can be reasonably controlled according to target information and photoelectric tracking conditions, and optimal photoelectric is used to complete identification and tracking of a newly-appeared target while the tracking process is ensured to be uninterrupted; the system has the functions of target sorting and automatic selection, can evaluate and sort the threat degree of the targets, and selects the targets needing priority processing according to the information such as the threat degree of the targets; the system has an image processing function, can process real-time video images acquired by a plurality of photoelectric devices 3 at the same time, and realizes the functions of real-time detection, identification and tracking of targets such as unmanned aerial vehicles and the like under various complex background environments; the system has an autonomous target searching function, and can call the photoelectric equipment 3 to automatically perform target searching, identifying and tracking on a specified area. The photoelectric target tracking and positioning device has a photoelectric target tracking and positioning function, and can realize the function of simultaneously positioning multiple photoelectric targets by mutually matching multiple photoelectricity and simultaneously combining information such as target pixel size and the like. In addition, 3 photoelectric devices 3 in the identification and tracking subsystem can be replaced by 3 photoelectric interference all-in-one machines, and after replacement, the multi-target simultaneous difference processing capacity can be increased on the basis of the original functions.

Further describe and intercept and deal with the subsystem, should intercept and deal with the subsystem and possess multiple interference pattern and interference mode, the signal selection highly correlated interference signal of accessible monitoring unmanned aerial vehicle target carries out the counterwork and interferes, thereby improves interception efficiency. The interference duration can be reduced by the pulsed interference mode, reducing the impact on the surrounding environment. The system has the advantages that after the navigation decoy module is added, the navigation decoy interference function is achieved, the whole decoy interference process is synchronous and controllable, real navigation satellite signals are received in real time in the decoy interference process, data such as real satellite ephemeris and the like at the current moment are obtained, and synchronization with the navigation signals of real satellites is achieved. The system can estimate the characteristic of receiving satellite signals by the unmanned aerial vehicle in the process of interference of the unmanned aerial vehicle, and can adjust the parameters of navigation decoy signals in real time. The interception processing subsystem has a long pulse type interference working mode, can continuously close the interference specific time length after continuously opening the interference specific time length during working so as to reduce the influence on the surrounding environment, can more accurately judge the interference effect during the interference closing period, and determines whether to open the interference specific time length again after the interference continuous closing time is over.

Further described is a command and control subsystem having an automatic control function for system equipment, an automatic and autonomous control function for the system, and allowing manual control.

Further describe the video storage subsystem, this video storage subsystem is the selection and distribution subsystem, can choose whether to join in the system according to needs, when joining in the system, can dispose the storage capacity size according to actual need.

Further describing a multi-photoelectric cooperative working mode, wherein a photoelectric subsystem in the system is formed by a plurality of photoelectric devices 3 together, a multi-photoelectric cooperative control algorithm of the subsystem controls each photoelectric device 3 to timely participate in the system work, controls the plurality of photoelectric devices 3 to be matched with each other, and depends on each other to jointly complete a specific function and task, thereby completing the functions of the whole subsystem. Based on this, the multi-photoelectric cooperative working mode of the photoelectric subsystem is mainly embodied in the functions of the photoelectric subsystem, and is embodied in the concrete functions that the photoelectric subsystem simultaneously controls a plurality of photoelectric devices 3 in the cooperative working mode. The functions completed and realized in the multi-photoelectric cooperative working mode are as follows:

1. real-time zooming self-adaptive view field combination: as the plurality of photoelectric devices 3 are adapted to the direction-finding error of the radio detection device 1, the view fields of the plurality of photoelectric devices 3 are sequentially and horizontally arranged and spliced into a large view field in a view field splicing manner, and the coordination with the detection device is completed in a combined view field manner. In the field splicing process of the plurality of photoelectric devices 3, according to the field size of each photoelectric device 3, the number of the photoelectric devices 3 participating in the pitching and scanning search, the calibration value of each photoelectric device 3, the detection target data and other information, each photoelectric device 3 is accurately oriented in real time, and field combination is completed. In the process of forming the combined viewing field by splicing, each of the optoelectronic devices 3 may be a viewing field combination in the same focal length and the same viewing angle state, or a viewing field combination in different focal lengths and different viewing angle states.

2. Combined field of view asynchronous glance search: in the system guiding process, the photoelectric equipment 3 participating in guiding scanning is selected according to the target direction, the calibration value of each photoelectric equipment 3 and the working state of each photoelectric equipment 3. In the pitch-and-sweep search process, the photoelectric device 3 which detects the target immediately stops sweeping and enters an electric tracking state, and the photoelectric device 3 which does not detect the target continues to perform the pitch-and-sweep search until the pitch-and-down or pitch-and-up sweep search process is finished. After the pitching and panning search process is finished, the photoelectric device 3 which has tracked the target continues to work in the tracking state, the photoelectric device which does not enter the tracking state keeps the idle state, and the field combination is carried out again when a new target invades.

3. Multi-target glance search: when two or more targets invade simultaneously, the system preferentially uses a combined view field formed by three photoelectric devices 3 to perform a pitch-and-sweep search on one of the targets according to the azimuth information of each target output by the detection device 1. Then, after the photoelectric device 3 detects a target, the photoelectric device 3 is controlled to enter a tracking state, the rest photoelectric devices 3 are controlled to reform a combined field of view, and a pitch and sweep search is performed on a next detected target. By analogy, when the number of the detected targets is not less than 3 and only one idle photoelectric device 3 is provided, the idle photoelectric device 3 is guided to perform a pitch-sweep search on a third detected target in an independent view field manner, and the photoelectric device 3 is controlled to enter a photoelectric tracking state after successfully detecting the target. Through the collaborative linkage searching mode, the photoelectric subsystem can quickly and accurately realize the simultaneous tracking of at most three photoelectric targets.

4. Tracking and searching state mixed conversion: when the detection device 1 finds a new target again while the photoelectric device 3 is tracking the target, the photoelectric device 3 in the tracking state continues to track, and the photoelectric device 3 not in the tracking state responds to system guidance to perform the pitch and sweep search of the target. When a newly-appeared detection target enters a detection blind area of the existing photoelectric equipment 3 participating in the scanning search, the photoelectric subsystem controls the existing photoelectric equipment 3 which does not enter a tracking state to replace the photoelectric equipment which is tracking, the replaced photoelectric equipment and the photoelectric equipment in an idle state form a combined view field together, and the detection target is subjected to the pitching scanning search under the guidance of detection target information.

5. Tracking scheduling and tracking relay: when a target tracked by one photoelectric device 3 enters a boundary area of a tracking detection range of the current photoelectric device 3, reselecting one or an idle state, or a photoelectric device 3 with a detection tracking sector including the azimuth of the target or including the center of the detection tracking sector closest to the azimuth of the current target according to the target azimuth and elevation information of the current photoelectric device 3, and under the guidance of the current photoelectric device, using the selected photoelectric device 3 to continuously track the target, wherein the photoelectric device tracking the target before enters an idle state after the target goes out of bounds, or receives guidance to track the next photoelectric target. Through tracking scheduling and tracking relay, the photoelectric subsystem can realize simultaneous and respective tracking of multiple targets at 360-degree horizontal dead angles.

6. Autonomous glance search: in the system, under the condition that the detection equipment does not find a target, the photoelectric subsystem respectively and simultaneously controls a plurality of photoelectric equipment to carry out multi-style scanning search on the sector which is respectively responsible for detection. The glance searching method is divided into three glance searching styles according to the difference of zoom values. The small visual field is a horizontal snake-shaped scan, the middle visual field is a zigzag scan, and the large visual field is a pitching snake-shaped scan. After the autonomous saccade search is started, the three photoelectric devices 3 simultaneously conduct autonomous saccade search, when the photoelectric devices find the target, the three photoelectric devices 3 simultaneously and immediately stop the saccade search, then under the guidance of the photoelectric devices finding the target, the three photoelectric devices 3 conduct saccade search and tracking on the target by amplifying the combined field of view by one time, and at this time, the process of one photoelectric autonomous saccade search is finished.

Further describing a combined photoelectric pitching ladder scanning search mode, when the radio detection device 1 in the system detects a target, the photoelectric device 3 in the system is controlled to conduct target-guided scanning search, and the detection, tracking and identification processes of the target are completed. The flow of the system guiding the optoelectronic device 3 to perform a saccade search is as follows: the radio detection device 1 converts the azimuth angle of the detected target into an azimuth angle based on the north, then selects the photoelectric device needed for the target to scan in pitch according to the system calibration angle and the calibration angle of each photoelectric device 3, and then controls the selected photoelectric device 3 to steer the azimuth and the pitch of the target to 0 degree. And then controlling the selected photoelectric equipment 3 to face upward at a constant speed for glancing, controlling the direction of the photoelectric equipment 3 to align the direction of the detected target according to new target direction angle information output by the radio detection equipment 1 in the process of facing upward at the same time of not influencing upward facing movement, stopping glancing when the photoelectric equipment 3 faces upward to the maximum upward facing angle, immediately controlling the photoelectric equipment 3 to bow downward at the constant speed for glancing, controlling the direction of the photoelectric equipment to align the direction of the detected target according to new target direction angle information output by the radio detection equipment 1 in the process of bowing downward at the same time of not influencing downward facing movement, simultaneously opening a photoelectric target detection function, and independently detecting the target by each photoelectric equipment after being opened. When one photoelectric device detects a target, the photoelectric device immediately stops downward and downward panning movement, then immediately enters a photoelectric tracking state, and the other photoelectric devices continue downward and downward panning and target detection. And when the selected photoelectric equipment is bent to the horizontal 0 degrees, controlling the photoelectric equipment to stop the bending and sweeping process, and simultaneously closing the photoelectric target detection function. And if the selected photoelectric equipment does not detect the target in the downward and forward scanning process, repeatedly executing the guide process. And if at least one of the selected photoelectric devices detects the target in the downward and forward sweeping process, guiding the sweeping search process to be ended, and enabling the photoelectric devices to enter a subsequent target tracking process according to the target detection condition. The plurality of photoelectric devices simultaneously perform pitching and scanning search, the photoelectric device which detects the target enters a target tracking state, and the photoelectric device which does not detect the target enters a ready state (the azimuth direction is unchanged, the pitching direction is horizontal 0 degrees, and the device is in an idle state and can be randomly called). The ladder glance cooperates with the combined field of view, so that the probability that the target enters the photoelectric field of view in the process of searching by the photoelectric equipment is greatly improved, and the overall performance of the system is improved.

Further describing a photoelectric target recognition mode, wherein a photoelectric target recognition process and a target saccade search process in the system are performed in a nested mode, and the photoelectric target recognition adopts a new target recognition mode and a new recognition process based on multi-dimensional composite loop discrimination. Firstly, a target detection and identification function based on gray value and low-dimensional feature comparison is used in a target detection time window, a rapid initial detection process of a target is completed in a glance searching stage, when the target is confirmed by initial detection, photoelectricity enters a tracking state, at the moment, an image target detection and identification function based on a deep neural network algorithm is used, fine identification is carried out on the target every other one second, the specific category of the target is output, and meanwhile, a stability value of the target identification category is output according to the fine identification result of the latest 10 times or the latest 10 seconds. And fine identification is carried out once every second in the photoelectric tracking state, the stability of the target identification type and the identification result of the target type are combined, whether the tracking is continued or the current tracking is finished once every second is comprehensively judged, if the current tracking is finished, the photoelectric tracking state is quitted, and the process is waited to be executed again. The method has the advantages that the method can be used for quickly detecting before tracking and finely detecting in the tracking process, and through the cooperation of coarse identification (detection) and fine identification, the contradiction between the identification efficiency and the identification precision is solved, so that the photoelectric target identification process is more practical and has stronger adaptability.

Further describing a target three-dimensional positioning method based on an optoelectronic device, the system uses the optoelectronic device to perform target distance detection and target three-dimensional positioning result calculation because the target distance detection error of the radio detection device 1 in the system is large. When the radio detection device 1 in the system successfully guides the photoelectric device to search and detect the target and enters a target tracking state, then according to the azimuth and the pitching information of the photoelectric device in the tracking state, another photoelectric device is controlled to track the target, so that the two photoelectric devices simultaneously track the same target. And then, calculating the geometric distance of the target through a geometric relationship according to the information of the azimuth angle, the azimuth calibration value and the like of the two photoelectric devices, and then calculating the three-dimensional coordinate information of the target according to the information of the azimuth angle, the azimuth calibration value, the pitch angle, the geometric distance and the like of the two photoelectric devices. By means of the matching of the photoelectric devices, the problem that a system using the radio detection device 1 and the photoelectric devices as main detection devices cannot perform three-dimensional positioning on a target is solved.

The system has the function of multi-station networking cooperation, namely the function of networking among a plurality of systems. A plurality of systems are arranged in a larger area, and the systems cooperate with each other to jointly resist the target invasion.

In addition, the system can be added with a friend or foe identification module. The system can possess friend or foe recognition function after joining friend or foe identification module, and when friend or foe unmanned aerial vehicle target coexisted with my unmanned aerial vehicle target, only carried out the interception to friend's unmanned aerial vehicle and dealt with, had no influence to my unmanned aerial vehicle, did not disturb my unmanned aerial vehicle flight.

The system is structurally divided into an outdoor part and an indoor part, the outdoor part is provided with a special outdoor equipment integral structure, and the indoor part is flexibly arranged according to the field condition without a special structure. The radio detection equipment 1, the photoelectric equipment 3, the radio interference equipment and the like are outdoor equipment which need to be installed outdoors by means of an equipment installation support 6, and the main control computer equipment, the hard disk video recorder equipment and the like are indoor equipment which can be installed indoors selectively and can be installed in outdoor facilities after necessary protective measures are taken.

The overall structure of the system outdoor equipment is shown in fig. 3, the system equipment is installed on the equipment support together, wherein the radio detection equipment 1 is installed at the center position of the top end of the support and fixed with the central main shaft of the top end of the support through the flange structure at the bottom end of the radio detection equipment 1. The 3 photoelectric devices are respectively arranged at the tail end of the upper beam 11 of the bracket and are fixed with a connecting flange 16 at the tail end of the upper beam 11 through a wall-mounted bracket structure of the photoelectric device 3. The interference antennas 4 are respectively installed at the positions, close to the tail ends, of the upper cross beam 11 of the support, and are fixed with the upper cross beam 11 through structures such as U-shaped clamping pieces, and the upper cross beam 11 for installing the lightning rod 2 can be properly avoided during installation. The radio interference host 5 is arranged at the upper position of the central column of the bracket and is fixed with the central main shaft 12 through a clamping piece structure. The distribution box equipment 7 is arranged at the lower position of the support center column and is fixed with the central spindle 12 through a clamping piece structure.

System outdoor equipment mounting bracket as shown in fig. 5, the equipment mounting bracket 6 is the main carrier and fixed platform for system outdoor equipment mounting. The equipment mounting bracket 6 is generally in a triangular cone shape and has a total height of 1600 mm. The lower regular triangle structure is used for integral support and fixation, and the bottom surface of the triangle structure is flush with the bottom end of the central main shaft 12. The regular triangle structure on the upper surface is used for mounting and fixing equipment, and the top end of the triangle structure is 100mm lower than the top end of the central spindle 12. The lower triangular structure is larger than the upper triangular structure in size, and the centers of the upper and lower triangular structures are coaxial and connected through a central main shaft 12. The upper triangular structure extends to each vertex direction through the center to form an upper cross beam 11 with the same length, and the lower triangular structure extends to each vertex direction through the center to form a lower cross beam 10 with the same length. Two adjacent upper cross beams 11 are connected through an upper reinforcing frame 13 in a reinforcing manner, and two adjacent lower cross beams 10 are connected through a lower reinforcing frame 17 in a reinforcing manner. The vertexes of the upper triangular structure and the lower triangular structure are in consistent pointing direction, and the upper cross beam 11 of the upper triangular structure and the lower cross beam 10 of the lower triangular structure are supported through the longitudinal beam 14 which is obliquely arranged. The tail end of the upper cross beam 11 is provided with a connecting flange 16, the mounting plate 9 is arranged above the upper cross beam and used for mounting equipment and the like, and the connecting flange 16 is reinforced through a reinforcing rib 15. The lower beam 10 is provided at its end with a corner fitting 8 for fixing the bracket itself. The whole equipment mounting bracket is assembled by welding.

The connection relationship between the system devices is shown in fig. 8, and the radio detection devices 1, 3 photoelectric devices 3, the radio interference device, the main control computer device, and the hard disk video recorder device in the system are all connected to the switch device through the network, so as to realize interconnection and intercommunication between the devices.

A video storage subsystem in the system has two working modes, namely an independent working mode and a linkage working mode. The working flow of the video storage subsystem in the independent working mode is shown in fig. 10, in the independent working mode, the video storage subsystem is an independent working flow, after the system is started, the video storage subsystem in the system immediately starts the video recording and storing work, and after the recording starts, the video recording can be manually stopped. Under the linkage working mode, the video storage subsystem has no independent working process, and the subsystem working process is fused with the system working process and obeys the system working process.

Video storage subsystem is under independent mode, and system's work flow is shown in fig. 9, and the system starts the back, and radio detection equipment 1 begins to continuously monitor nearly empty unmanned aerial vehicle target, and when radio detection equipment 1 detected that there is the invasion of unmanned aerial vehicle target, command control subsystem control opto-electronic equipment immediately carries out the target tracking discernment, and after 3 discernments of opto-electronic equipment confirmed the unmanned aerial vehicle target, command control subsystem control radio interference equipment immediately opens, intercepts the processing to invading unmanned aerial vehicle target. When the photoelectric equipment 3 does not recognize and confirm the unmanned aerial vehicle target, the command control subsystem immediately judges the protection level of the current system, if the protection level of the current system is set to be in a high-level guard state, the command control subsystem immediately controls the radio interference equipment to be opened, the target of the invading unmanned aerial vehicle is intercepted and disposed, and if the protection level of the current system is not set to be in a high-level guard state, the command control subsystem continuously waits for the photoelectric equipment 3 to perform target tracking recognition.

Video storage subsystem is under linkage mode, system's work flow is shown in fig. 11, the system starts the back, radio detection equipment 1 begins to continuously monitor nearly empty unmanned aerial vehicle target, when radio detection equipment 1 detects there is the invasion of unmanned aerial vehicle target, the command control subsystem commands video storage subsystem to open video recording immediately, control photoelectric device 3 carries out the target tracking discernment, after photoelectric device 3 discernment affirms the unmanned aerial vehicle target, the command control subsystem controls radio interference equipment to open immediately, intercept the processing to invading unmanned aerial vehicle target. When the photoelectric equipment 3 does not recognize and confirm the unmanned aerial vehicle target, the command control subsystem immediately judges the protection level of the current system, if the protection level of the current system is set to be in a high-level guard state, the command control subsystem immediately controls the radio interference equipment to be opened, the target of the invading unmanned aerial vehicle is intercepted and disposed, and if the protection level of the current system is not set to be in a high-level guard state, the command control subsystem continuously waits for the photoelectric equipment 3 to perform target tracking recognition. In the interception processing process, the system judges whether the interception is successful, if the interception is successful, the video recording is stopped, and if the interception is not successful, the interception processing process is continued until the interception is successful.

3 photoelectric devices 3 in the invention can also be replaced by 3 photoelectric interference all-in-one machines, and can respectively perform identification tracking and interception treatment on a plurality of targets while satisfying the target tracking and identification function, thereby enhancing the multi-target simultaneous difference processing capability of the system and simultaneously reducing the influence on the surrounding environment in the system interception treatment process. After replacement, the system is composed of a detection subsystem, an identification tracking and directional interception subsystem, an interception disposal subsystem, a command control subsystem and a video storage subsystem, and the system is shown in fig. 12, wherein the video storage subsystem is a selection distribution subsystem. In the system, a single radio detection device 1 serves as a detection subsystem, 3 photoelectric interference all-in-one devices serve as an identification tracking and directional interception subsystem, a single radio interference device serves as an interception handling subsystem, a single main control computer device serves as a command control subsystem, a single hard disk video recorder device serves as a video storage subsystem, and auxiliary devices are used for providing support for all the subsystems. After replacement, the system device is configured as shown in fig. 13, in which the hard disk recorder device is an optional device.

The subsystem and equipment for replacement are as follows:

photoelectric interference all-in-one equipment: the system is used for carrying out image acquisition on targets such as the unmanned aerial vehicle and the like and implementing directional interference on the unmanned aerial vehicle;

identifying, tracking and directionally intercepting subsystems: 3 photoelectric interference all-in-one machine devices and a main control computer device are used for completing guidance search, identification, tracking and directional interception of the unmanned aerial vehicle target.

The photoelectric interference all-in-one machine device refers to a device integrating a photoelectric device and a directional interference device on the same holder, wherein the optical axis direction of the photoelectric device is consistent with the direction of an antenna of the directional interference device.

The connection relationship between the system devices is shown in fig. 14, and the radio detection devices 1, 3 photoelectric interference all-in-one devices, the radio interference device, the main control computer device and the hard disk video recorder device in the system are all connected to the switch device through the network, so that the interconnection and intercommunication between the devices are realized.

After the system is replaced, the photoelectric equipment in the system becomes photoelectric interference all-in-one machine equipment, the identification tracking subsystem becomes an identification tracking and directional interception subsystem, and new connection relations exist among the system equipment.

Apart from the above changes, the rest of the system remains the same as before the replacement.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims (10)

1. An unmanned small aircraft intrusion prevention system device, characterized by, the system device includes:

the system comprises a radio detection device (1) at the outdoor part, a photoelectric device (3), an interference device, a system device mounting bracket (6), a main control computer device, a hard disk video recorder device and an accessory device at the indoor part, wherein all devices in the system are interconnected and intercommunicated based on the accessory device;

the system consists of a detection subsystem, an identification and tracking subsystem, an interception and disposal subsystem, a command control subsystem and a video storage subsystem.

2. The unmanned small aircraft intrusion prevention system device as claimed in claim 1, wherein the detection subsystem is assumed to function as a radio detection device (1), the identification and tracking subsystem is assumed to function as 3 optoelectronic devices, the interception handling subsystem is assumed to function as a radio interference device, the command control subsystem is assumed to function as a main control computer device, and the video storage subsystem is assumed to function as a hard disk video recorder device.

3. The unmanned small aircraft intrusion prevention system device of claim 2 wherein the video storage subsystem has an independent mode of operation and a linked mode of operation, the system workflow being associated with the mode of operation of the video storage subsystem.

4. The unmanned small aircraft intrusion prevention system device according to claim 1 or 4, wherein the system device mounting bracket (6) is generally in the shape of a triangular cone with a total height of 1600 mm; the regular triangle structure at the bottom is used for integral support and fixation, and the bottom surface of the triangle structure is flush with the bottom end of the central main shaft (12); the upper regular triangle structure is used for mounting and fixing equipment, the size of the bottom triangle structure is larger than that of the upper triangle structure, the centers of the upper triangle structure and the lower triangle structure are coaxial and are connected through a central main shaft (12); the upper triangular structure extends out of an upper cross beam (11) with consistent length towards each vertex direction through the center, and the bottom triangular structure extends out of a lower cross beam (10) with consistent length towards each vertex direction through the center; two adjacent upper cross beams (11) are connected through an upper reinforcing frame (13) in a reinforcing mode, and two adjacent lower cross beams (10) are connected through a lower reinforcing frame (17) in a reinforcing mode; the top points of the upper and lower triangular structures point to be consistent.

5. The unmanned small aircraft intrusion prevention system device according to claim 4, wherein the upper cross beam (11) and the lower cross beam (10) are supported by a longitudinal beam (14) which is obliquely arranged; the tail end of the upper cross beam (11) is provided with a connecting flange (16), a mounting plate (9) is arranged above the upper cross beam and used for mounting equipment, and the connecting flange (16) is reinforced by a reinforcing rib (15); the tail end of the lower cross beam (10) is provided with an angle piece (8) for fixing the bracket per se; the whole equipment mounting bracket (6) is assembled by welding.

6. The unmanned small aircraft intrusion prevention system device according to claim 1, wherein the system devices are commonly mounted on a system device support (6), wherein the radio detection device (1) is mounted at the top center position of the system device support (6) and is fixed with the top center main shaft (12) of the system device support (6) through a connecting flange (16) at the bottom end of the radio detection device (1).

7. The unmanned small aircraft intrusion prevention system device according to claim 1, wherein the optoelectronic devices (3) are respectively installed at the end positions of the upper beam (11) of the system device installation support (6) and fixed with the connecting flange (16) at the end of the upper beam (11) through the wall mounting support structure of the optoelectronic devices (3); and the antennas of the interference equipment are respectively arranged at the positions, close to the tail ends, of the upper cross beam (11) of the equipment mounting bracket (6) and are fixed with the upper cross beam (11).

8. The unmanned small aircraft intrusion prevention system device according to claim 7, wherein the optoelectronic device (3) is a high-definition pan-tilt camera device, and is a high-definition dome camera device, a high-definition PTZ camera, a high-definition pan-tilt camera device, a high-definition pan-tilt camera customized device, or an optoelectronic interference all-in-one device based on a high-definition camera and a directional interference device.

9. The unmanned small aircraft intrusion prevention system device according to claim 1, wherein the interference device comprises a radio interference host (5) and an interference antenna (4) for interfering signals of a communication link, a remote control link, a map transmission link and a navigation link of the unmanned aerial vehicle; the interference direction is omni-directional interference.

10. The unmanned small aircraft intrusion prevention system device of claim 1 wherein the accessory devices include power switching devices, power protection devices, signal communication devices, and power and signal cables.

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