CN113238265A - Unmanned aerial vehicle capturing system and method - Google Patents
Unmanned aerial vehicle capturing system and method Download PDFInfo
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- CN113238265A CN113238265A CN202110505694.4A CN202110505694A CN113238265A CN 113238265 A CN113238265 A CN 113238265A CN 202110505694 A CN202110505694 A CN 202110505694A CN 113238265 A CN113238265 A CN 113238265A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/21—Interference related issues ; Issues related to cross-correlation, spoofing or other methods of denial of service
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/25—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS
- G01S19/254—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS relating to Doppler shift of satellite signals
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/25—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS
- G01S19/256—Acquisition or tracking or demodulation of signals transmitted by the system involving aiding data received from a cooperating element, e.g. assisted GPS relating to timing, e.g. time of week, code phase, timing offset
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
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Abstract
The invention discloses an unmanned aerial vehicle capturing system and a method thereof, wherein the system comprises a main device and a controller; the main equipment comprises signal simulation equipment, a signal receiving device and a signal transmitting device; the signal receiving device receives the GNSS signals, receives the instructions sent by the controller, simulates the GNSS signals and then sends the GNSS signals through the signal transmitting device; the controller comprises an emission switch, a rocker, a parameter setting unit and a mode switching unit; the transmitting switch is used for controlling whether the signal transmitting device in the main equipment transmits the simulated GNSS signal or not; the rocker is used for controlling the direction and speed of the change of the navigation positioning position carried by the analog GNSS signal along with the time; the mode switching unit is used for switching the working modes of the system, including an operation mode and an unattended mode; the parameter setting unit is used for setting parameters of the simulated GNSS signals. The invention counteracts the unmanned aerial vehicle by simulating the satellite navigation signal technology so as to solve the technical problem of trapping the unmanned aerial vehicle under the condition of not blocking a data link of a remote controller of the unmanned aerial vehicle.
Description
Technical Field
The invention relates to the technical field of a counter unmanned aerial vehicle and information electronics, in particular to an unmanned aerial vehicle capture system and method.
Background
The background of the invention arises on the basis of practical requirements. In recent years, when the unmanned aerial vehicle rapidly becomes a research hotspot, a series of problems are brought, such as black flight of the unmanned aerial vehicle, and the safety of the area is seriously affected. Unmanned aerial vehicle defense is becoming a new area of major concern for governments and military parties of various countries. The anti-unmanned aerial vehicle system mainly comprises three modes of physical striking, interference, deception induction and the like.
Wherein physics strikes and disturbs the mode and carry out anti-unmanned aerial vehicle, can let unmanned aerial vehicle out of control, causes the injury to ground personnel and ground environment. If the problem of the adoption of a remote controller link interference mode is solved, the unmanned aerial vehicle can only land in situ or return to the original route. If landed in place, can threaten the safety of ground personnel life or property. If the unmanned aerial vehicle is returned on the original way, the unmanned aerial vehicle or the flyer cannot be obtained, and the verification cannot be carried out. And the unmanned aerial vehicle corrects the attitude by utilizing the GNSS signal in a flight control system and a navigation system. Therefore, the trapping can be realized by inducing the unmanned aerial vehicle to enter different areas by designing a mode of counterfeiting GNSS signals. Not only can carry out follow-up operation to unmanned aerial vehicle, satisfy the policeman and on duty, key evidence is acquireed to the demand of unmanned aerial vehicle's management and control to the activity guarantee to tracing to the source through unmanned aerial vehicle, preventing the emergence once more of unmanned aerial vehicle black activity, also can effectively reduce the people's influence that unmanned aerial vehicle falls and bring.
At present, an unmanned aerial vehicle trapping system is mainly used for being matched with interference equipment for blocking a remote control link by adopting a simulated GNSS signal. After the remote control signal of the unmanned aerial vehicle is blocked, the unmanned aerial vehicle is tricked. The system is complex to operate and high in development cost. And the remote control frequency of the unmanned aerial vehicle cannot be known in advance, and the effectiveness of the selected remote controller link interfering with the cooperation of the equipment also has a problem. Meanwhile, the current deceptive induction method still has the following problems: 1. the navigation decoy equipment is adopted for driving away, and the direction of the unmanned aerial vehicle invasion cannot be predicted, so that the driving away direction is possibly not correct, and the unmanned aerial vehicle flies inwards. The unmanned aerial vehicle needs to be watched on duty, the flying direction of the unmanned aerial vehicle is observed, and then the unmanned aerial vehicle is driven away according to the flying direction of the unmanned aerial vehicle, or detection equipment such as radar and the like is used and is driven away in linkage with navigation decoy equipment, so that the equipment cost is high; 2. the navigation decoy device is adopted to send the simulated navigation satellite signal of the no-fly zone coordinate, the unmanned aerial vehicle with the no-fly zone setting and the no-fly zone automatic landing setting is effective, and the unmanned aerial vehicle without the function is ineffective. Therefore, the speed and the direction of simulation of the simulated navigation signal can be changed at any time by adopting the controller according to the flying condition of the unmanned aerial vehicle, and the control of the flyer on the unmanned aerial vehicle is effectively resisted.
Disclosure of Invention
The invention aims to provide an unmanned aerial vehicle capturing system and method aiming at the defects of the prior art, and the unmanned aerial vehicle is controlled by simulating a satellite navigation signal so as to solve the technical problem that an interference device which does not need to block a link signal of a remote controller of the unmanned aerial vehicle traps the unmanned aerial vehicle.
In order to achieve the purpose, the invention provides the following technical scheme: a drone capturing system, the system comprising a master device to receive and transmit signals and a controller to operate the master device;
the main equipment comprises signal simulation equipment, a signal receiving device and a signal transmitting device; the signal receiving device receives the GNSS signal, calculates the satellite clock, the current position information and the satellite ephemeris information and transmits the satellite clock, the current position information and the satellite ephemeris information to the signal simulation equipment; the signal simulation equipment receives the resolving information of the signal receiving device, synchronizes the frequency and the clock of the local crystal oscillator, receives the instruction sent by the controller, simulates a GNSS signal, and then sends the GNSS signal through the signal emitting device, so that the trapping of the unmanned aerial vehicle can be realized;
the controller comprises an emission switch, a rocker, a parameter setting unit and a mode switching unit; the transmitting switch is used for controlling whether the signal transmitting device in the main equipment transmits the simulated GNSS signal or not; the rocker is used for controlling the positioning position after the simulated GNSS signal is resolved by the satellite navigation receiver, and the speed, direction, acceleration and direction of the positioning position changing along with time; the mode switching unit is used for switching the working modes of the system, including a manual control mode and an unattended mode; the parameter setting unit is used for setting parameters of the simulated GNSS signals.
Furthermore, the signal simulation equipment in the main equipment receives the satellite clock, the current position information, the satellite ephemeris information, the synchronous local crystal oscillator frequency and the clock which are resolved by the signal receiving device, receives the instruction sent by the controller, simulates the GNSS signal through a software defined radio technology, realizes the simulation of the GNSS signal and transmits the GNSS signal by the signal transmitting device; simulating to generate different GNSS signals according to different operation instructions of the controller; the simulated information comprises radio frequency parameters such as a transmitting frequency spectrum of the GNSS signal, a code structure and a signal structure of the GNSS signal and a navigation message of the simulated GNSS signal, the simulated GNSS signal is resolved by a satellite navigation receiver to locate the position, and the speed, the direction, the acceleration and the direction of the location position changing along with time.
Furthermore, the signal simulation equipment comprises a control unit, a data code generation unit, a C/A code generation unit and a deception channel signal acquisition unit;
the control unit determines relevant parameters such as a satellite observed at the current position, a signal amplitude, a carrier phase, a code phase, Doppler frequency shift and the like according to the input parameter information; the input parameter information comprises position information, initial GNSS time of the week and the maximum value of the number of satellites;
the data code generating unit generates a sequence of GNSS navigation data codes required by a deception channel according to the ephemeris and the yearbook file; the C/A code generating unit generates corresponding signals according to the GNSS satellite numbers;
the signal generated by the deception channel signal generation unit is modeled as follows:
xn(τi)＝An(τi)dn(τi)Cn(τi-tn,k)×Q(sin[2πf1Fτi+θ(τi)]) (1)
wherein, tauiIs the sampling time of the ith time, xn(τi) Is the signal atiSampled value of time, An(τi) Is given by the control unit at τiAmplitude of the moment, dn(τi) Is at τiTime of day data code function, Cn(τi-tn,k) Is a pseudo code function, i.e. C/A code, tn,kIs the starting period of the k-th pseudo code chip. Q (-) is a 2-bit quantization function, f1FRepresenting the magnitude of the intermediate frequency, theta (τ)i) Is τiTime of day carrier phase, fD,n,kIs tn,kThe time instant control unit gives the doppler shift.
C/A code function Cn(τ) is represented by
The data code is represented as:
wherein cn,1,cn,2,...,cn,1023And { d }n,j,dn,j+1,., is the C/a chip sequence and data code sequence corresponding to the nth GNSS signal. T iscAnd TdRespectively representing the length of one C/a chip and one navigation data code.
Is a rectangular window function, represents 1 when tau is more than or equal to 0 and less than T, and the rest is 0.
And the deception channel signal generating unit accumulates the GNSS signals corresponding to the deception channel according to the preset parameters of the received satellite to generate a final simulated GNSS signal.
Furthermore, the mode switching unit realizes switching of the trapped unmanned aerial vehicle control mode, wherein the trapped unmanned aerial vehicle control mode comprises a manual control mode and an unattended operation mode, the manual control mode is controlled by a rocker, and the unattended operation mode is controlled by the parameter setting unit.
Further, the parameter setting unit is configured to set parameters of a track generated by time-varying coordinates of a positioning location after the transmitted simulated GNSS signal is resolved by the satellite navigation receiver, including coordinates of a center of the track, a radius, a time period, and a direction (clockwise/counterclockwise).
Furthermore, the signal simulation equipment simulates and generates GNSS signals, so that the positioning position resolved by the satellite navigation receiver of the unmanned aerial vehicle entering the signal coverage area changes according to the instruction of the controller, the flight control system of the unmanned aerial vehicle controls the flight attitude of the unmanned aerial vehicle to keep the original position of the unmanned aerial vehicle, the actual flight path of the unmanned aerial vehicle moves in the opposite direction of the change of the positioning position, and the flight of the unmanned aerial vehicle is controlled.
Furthermore, when a manual control mode is set, when the unmanned aerial vehicle enters a coverage area of the simulated GNSS signals and receives the signals, an operator of the unmanned aerial vehicle capturing system can observe the flying direction and speed of the unmanned aerial vehicle, and operate a rocker of the controller to change the speed and direction instructions of the simulated GNSS signals according to the flying direction of the unmanned aerial vehicle; when the speed of the simulated GNSS signal exceeds the maximum speed of the unmanned aerial vehicle, the power output is saturated, the flyer controls the unmanned aerial vehicle inefficiently through the remote controller, and the flight direction and the speed of the unmanned aerial vehicle cannot be changed through the remote controller. When the unattended mode is set, the parameters of the track generated according to the change of the coordinate of the positioning position set by the parameter setting unit along with the time change comprise the circle center coordinate, the radius, the time period and the direction (clockwise/anticlockwise) of the track to generate simulated GNSS signals, so that the unmanned aerial vehicle generates circular motion and cannot fly into a prevention and control area, and the purpose of refusing the unmanned aerial vehicle is achieved.
The invention has the following advantages:
(1) the invention traps the unmanned aerial vehicle by transmitting the low-power trapping signal, has small influence on peripheral electronic equipment and no human body radiation, can reach a designated place according to the speed set by a capturer in the capturing process, does not injure the capturer by mistake and does not damage the environment. The effective working distance radius may exceed 500 meters, typically with an equivalent omni-directional radiated power of 10 milliwatts.
(2) The invention sets a plurality of modes for the trapping mode of the unmanned aerial vehicle: a manual control mode and an unattended mode. Different modes can be tailored to the different needs of the capturing person.
(3) The unmanned aerial vehicle can be controlled in real time by adding the real-time controller to simulate GNSS signals, so that the unmanned aerial vehicle is effectively controlled by a flyer in a mode of power saturation.
(4) The method provided by the invention does not need to predict the direction of unmanned aerial vehicle invasion, so that the unmanned aerial vehicles in any direction of 360 degrees all make circular motion under the trapping of the simulated satellite signals, the defects that the conventional navigation trapping equipment is wrong in driving direction, needs to be attended or needs to be linked with detection equipment such as radars, cameras and the like are overcome, and the all-weather 24-hour unattended continuous defense is realized in the unattended mode.
Drawings
FIG. 1 is a schematic structural diagram of a countering unmanned aerial vehicle system of the present invention;
FIG. 2 is a schematic diagram of the induction drone of the present invention;
fig. 3 is a functional schematic diagram of the trapping unmanned aerial vehicle of the invention;
fig. 4 is a schematic view of inducing the unmanned aerial vehicle to do circular motion according to the invention.
Detailed Description
The technical scheme of the patent is further described in detail by combining the following specific embodiments:
as shown in fig. 1, a drone capturing system includes a master device to receive and transmit signals and a controller to operate the master device;
the main equipment comprises signal simulation equipment, a signal receiving device and a signal transmitting device; the signal receiving device receives GNSS signals and operation instructions of the controller and transmits the GNSS signals and the operation instructions to the signal simulation equipment; the signal simulation equipment receives the GNSS signals, calculates ephemeris information, simulates the GNSS signals, realizes the up-conversion of the simulated intermediate frequency signals to the radio frequency range of the corresponding navigation satellite signals, and then sends out the signals through the signal emitting device, so that the trapping of the unmanned aerial vehicle can be realized;
the signal simulation equipment in the main equipment calculates ephemeris information through a software defined radio technology, synchronizes a navigation satellite clock at the current position, realizes the simulation of the GNSS signals, generates different GNSS signals according to the GNSS signals and different operation instructions of the controller and transmits the different GNSS signals by the signal transmitting device; the simulated information comprises radio frequency parameters such as a transmitting frequency spectrum of the GNSS signal, a code structure and a signal structure of the GNSS signal, and a navigation message of the simulated GNSS signal; the positioning position and the speed, direction and other parameters of the position change calculated by the signal simulation equipment change according to the setting.
As shown in fig. 2, the signal simulation device includes a control unit, a data code generation unit, a C/a code generation unit, and a deception channel signal acquisition unit;
the control unit determines relevant parameters such as a satellite observed at the current position, a signal amplitude, a carrier phase, a code phase, Doppler frequency shift and the like according to the input parameter information; the input parameter information comprises position information, initial GNSS time of the week and the maximum value of the number of satellites;
GNSS signals generated by spoofing devices are susceptible to doppler effects, phase delays, and the like. In order to adjust the code phase and the carrier phase influenced by the Doppler frequency shift, relevant information is extracted from the ephemeris and yearbook files to determine the Doppler frequency shift of the satellite and the deceptive position.
The yearbook records the position of the satellite in space over time, and the ephemeris file records the current time and information of the satellite, the content of which is classified according to the satellite number and the reference time of the satellite clock. The ephemeris file and the yearbook file can be downloaded to the official network of NASA.
The data code generating unit generates a sequence of GNSS navigation data codes required by a deception channel according to the ephemeris and the yearbook file; the almanac files are refreshed only once a day and the ephemeris data for a single satellite is observable, so that data codes can be generated.
The data code of the telemetry word part is unpredictable to a target receiver and an attacker, so that the attacker can generate the data code of the telemetry word part at will and the parity of the data code needs to be ensured.
The C/A code has good autocorrelation and cross correlation, and is generated by two ten-stage feedback shift registers through phase selection. The C/a code generator can generate a corresponding signal as long as the number of the simulated GPS satellite is known.
The signal generated by the deception channel signal generation unit is modeled as follows:
xn(τi)＝An(τi)dn(τi)Cn(τi-tn,k)×Q(sin[2πf1Fτi+θ(τi)]) (1)
wherein, tauiIs the sampling time of the ith time, xn(τi) Is the signal atiSampled value of time, An(τi) Is given by the control unit at τiAmplitude of the moment, dn(τi) Is at τiTime of day data code function, Cn(τi-tn,k) Is a pseudo code function, i.e. C/A code, tn,kIs the starting period of the k-th pseudo code chip. Q (-) is a 2-bit quantization function, f1FRepresenting the magnitude of the intermediate frequency, theta (τ)i) Is τiTime of day carrier phase, fD,n,kIs tn,kThe time instant control unit gives the doppler shift.
C/A code function Cn(τ) is represented by
The data code is represented as:
wherein cn,1,cn,2,...,cn,1023And { d }n,j,dn,j+1,., is the C/a chip sequence and data code sequence corresponding to the nth GNSS signal. T iscAnd TdRespectively representing the length of one C/a chip and one navigation data code.
Is a rectangular window function, represents 1 when tau is more than or equal to 0 and less than T, and the rest is 0.
The signal generated by each spoofed channel is sampled continuously throughout the process. The weight of the ith sampling value of the nth deception channel is An(τi) To ensure that the signal is true, each sample value is assigned an appropriate weight. And the deception channel signal generating unit accumulates the GNSS signals corresponding to the deception channel according to the preset parameters of the received satellite to generate a final simulated GNSS signal.
The combined signal of the spoofed channel is re-quantized to 1 or 2 bits before being loaded into the output circular buffer.
As shown in fig. 3, the controller is used for controlling the flight trajectory of the trapped unmanned aerial vehicle, and comprises a transmitting switch, a rocker, a parameter setting unit and a mode switching unit; the launching switch is used for controlling whether a launching signal device in the main equipment sends out an analog GNSS signal or not; the rocker is used for realizing the direction control of the trapped unmanned aerial vehicle; the parameter setting unit is used for setting the motion range and the motion position of the trapped unmanned aerial vehicle; the mode switching unit realizes switching of a trapped unmanned aerial vehicle control mode, and the mode switching unit comprises a manual control mode and an unattended mode, wherein the manual control mode is controlled by a rocker, and the unattended mode is controlled by a parameter setting unit. The signal simulation equipment simulates and generates GNSS signals, so that the positioning position calculated by the satellite navigation receiver of the unmanned aerial vehicle entering the signal coverage area changes according to the circumference, the unmanned aerial vehicle flight control system controls the flight attitude of the unmanned aerial vehicle to keep the original position of the unmanned aerial vehicle, and the actual flight path of the unmanned aerial vehicle moves in the opposite direction of the change of the navigation position, so that the unmanned aerial vehicle does circular motion; the radius R of the signal coverage can be dynamically adjusted by adjusting the signal transmission power, which is generally less than or equal to 10 mw.
As shown in fig. 4, the parameter setting unit is used for setting the coordinates of the trap point of the trapped unmanned aerial vehicle, the coordinates of the center of a circle of the circle drawn by the unmanned aerial vehicle, the radius, the period and the clockwise/counterclockwise direction. The parameter setting unit controls the unmanned aerial vehicle to enter the trapping unmanned aerial vehicle, wherein the parameter setting unit controls the unmanned aerial vehicle to enter the trapping unmanned aerial vehicle in a refusing mode and a refusing forced landing mode, the refusing mode is used for dividing a range which is forbidden to enter by the trapped unmanned aerial vehicle, and the refusing forced landing mode is used for setting a range which is forced to land by the unmanned aerial vehicle. The rejection mode refers to that a user forges GNSS signals of which the place is a no-fly zone, so that the unmanned aerial vehicle with the no-fly zone limiting function is forced to land. The forced landing refusal mode refers to the mode that a user forges a GNSS signal which can enable the maximum flying speed of the unmanned aerial vehicle, the preset unmanned aerial vehicle no-fly area coordinate is taken as a circle center, the unmanned aerial vehicle flies according to a certain radius and speed, and finally the unmanned aerial vehicle lands due to energy consumption. In this embodiment, the key protection area is used as the center, the signal transmitting device of the system simulates the transmitted satellite navigation signal, the radius of the coverage area is R, and after the unmanned aerial vehicle invading from any direction enters the protected area, the unmanned aerial vehicle can make circular motion with the radius of R at the speed v. Setting the action distance R to be 500 m, the radius of a circular motion trapping track to be 50 m and the motion speed to be 40m/s, and finally setting the trapping longitude and latitude of a specific position to enable the unmanned aerial vehicle with the no-fly zone limiting function to be forced to land because the positioning position is in the no-fly zone; for the unmanned aerial vehicle without the flight forbidding area limiting function, when the set speed exceeds the maximum flight speed of the unmanned aerial vehicle, the unmanned aerial vehicle can hover and descend or land due to energy source exhaustion.
When the unmanned aerial vehicle of the flyer enters a prevention and control area, an operator of the unmanned aerial vehicle capture system can enable the unmanned aerial vehicle to have the physical maximum speed by simulating GNSS signals; the velocity of motion surpasss the unmanned aerial vehicle maximum speed motion this moment, reaches the power take off system saturation to break away from the control of former remote controller, the flyer controls inefficacy to unmanned aerial vehicle through the remote controller, can't break away from circular motion through remote controller control unmanned aerial vehicle, unmanned aerial vehicle chance is automatic to be hovered and is descended, perhaps descends because of the energy exhausts, reaches the purpose that unmanned aerial vehicle refused.
The invention also provides an unmanned aerial vehicle capturing method, which comprises the following specific steps:
(1) the signal receiving device in the main equipment receives the GNSS signals and the operation instructions of the controller and transmits the GNSS signals and the operation instructions to the signal simulation equipment;
(2) the signal simulation equipment calculates ephemeris information according to the GNSS signals and different operation instructions of the controller, generates different GNSS signals in a simulation mode, and controls whether the signal emission device emits the simulated GNSS signals or not through an emission switch of the controller, so that trapping of the unmanned aerial vehicle is achieved;
(3) the controller controls the flight track of being traped unmanned aerial vehicle, switches rocker control and parameter setting unit control through the mode switching unit, realizes the direction control of the unmanned aerial vehicle that is traped through the rocker or controls through parameter setting unit setting the motion range and the motion position of the unmanned aerial vehicle that is traped.
The invention provides a specific example of an artificial trapping unmanned aerial vehicle, which comprises the following steps:
step 1, a receiving antenna of the device receives GNSS signals (including but not limited to GPS, GLONASS and Beidou), and synchronizes information such as a navigation satellite clock, ephemeris and the like of the current position.
And 2, setting a control mode by the controller, turning on the transmitting switch, and transmitting the analog navigation signal of the current position of the main equipment. The control power is more than 10dB greater than the real navigation signal, the unmanned aerial vehicle receives the simulation navigation signal, and the positioning position becomes the position of the main equipment.
And 3, controlling the rocking handle through the direction to enable the positioning position of the simulated navigation signal emission to change according to a certain speed and direction. After the unmanned aerial vehicle resolves the positioning position, the unmanned aerial vehicle is wrongly considered to move according to the speed and the direction of the analog navigation signal. The unmanned aerial vehicle generates the motion with the same speed and opposite direction.
And 4, when the movement speed moves according to the maximum speed of the unmanned aerial vehicle, the flyer cannot control the unmanned aerial vehicle through the remote controller. The equipment operator can control the unmanned aerial vehicle to fly to a predetermined position.
And 5, switching the mode by a mode switching button through the controller by an equipment operator, and sending a simulated navigation signal by the equipment, wherein the simulated navigation signal takes the preset coordinates of the no-fly zone of the unmanned aerial vehicle as the center of a circle and is in accordance with a certain radius and speed. For the unmanned aerial vehicle with the no-fly zone limiting function, the unmanned aerial vehicle is forced to land because the positioning position is in the no-fly zone; for the unmanned aerial vehicle without the flight forbidding area limiting function, when the set speed exceeds the maximum flight speed of the unmanned aerial vehicle, the unmanned aerial vehicle can hover and descend or land due to energy source exhaustion.
The above-described embodiments are intended to illustrate rather than to limit the invention, and any modifications and variations of the present invention are within the spirit of the invention and the scope of the appended claims.
Claims (8)
1. A drone capturing system, characterised in that the system comprises a master device for receiving and transmitting signals and a controller to operate the master device;
the main equipment comprises signal simulation equipment, a signal receiving device and a signal transmitting device; the signal receiving device receives the GNSS signal, calculates the satellite clock, the current position information and the satellite ephemeris information and transmits the satellite clock, the current position information and the satellite ephemeris information to the signal simulation equipment; the signal simulation equipment receives the resolving information of the signal receiving device, synchronizes the frequency and the clock of the local crystal oscillator, receives the instruction sent by the controller, simulates a GNSS signal, and then sends the GNSS signal through the signal emitting device, so that the trapping of the unmanned aerial vehicle can be realized;
the controller comprises an emission switch, a rocker, a parameter setting unit and a mode switching unit; the transmitting switch is used for controlling whether the signal transmitting device in the main equipment transmits the simulated GNSS signal or not; the rocker is used for controlling the positioning position after the simulated GNSS signal is resolved by the satellite navigation receiver, and the speed, direction, acceleration and direction of the positioning position changing along with time; the mode switching unit is used for switching the working modes of the system, including a manual control mode and an unattended mode; the parameter setting unit is used for setting parameters of the simulated GNSS signals.
2. The unmanned aerial vehicle capturing system of claim 1, wherein the signal simulation device in the host device receives the satellite clock, the current position information, the satellite ephemeris information, the synchronous local crystal oscillator frequency and the clock, which are calculated by the signal receiving device, and receives the instruction sent by the controller, and simulates the GNSS signal through a software defined radio technology, so that the simulation of the GNSS signal is realized and the GNSS signal is transmitted by the signal transmitting device; simulating to generate different GNSS signals according to different operation instructions of the controller; the simulated information comprises radio frequency parameters such as a transmitting frequency spectrum of the GNSS signal, a code structure and a signal structure of the GNSS signal and a navigation message of the simulated GNSS signal, the simulated GNSS signal is resolved by a satellite navigation receiver to locate the position, and the speed, the direction, the acceleration and the direction of the location position changing along with time.
3. The unmanned aerial vehicle capturing system of claim 2, wherein the signal simulating device comprises a control unit, a data code generating unit, a C/A code generating unit and a deception channel signal collecting unit;
the control unit determines relevant parameters such as a satellite observed at the current position, a signal amplitude, a carrier phase, a code phase, a Doppler frequency shift and the like according to the input parameter information of the received satellite; the input parameter information of the received satellite comprises position information, initial GNSS time of the week and the maximum value of the number of satellites;
the data code generating unit generates a sequence of GNSS navigation data codes required by a deception channel according to the ephemeris and the yearbook file; the C/A code generating unit generates corresponding signals according to the GNSS satellite numbers;
the signal generated by the deception channel signal generation unit is modeled as follows:
xn(τi)＝An(τi)dn(τi)Cn(τi-tn,k)×Q(sin[2πf1Fτi+θ(τi)]) (1)
wherein, tauiIs the sampling time of the ith time, xn(τi) Is the signal atiSampled value of time, An(τi) Is given by the control unit at τiAmplitude of the moment, dn(τi) Is at τiTime of day data code function, Cn(τi-tn,k) Is a pseudo code function, i.e. C/A code, tn,kIs the starting period of the k-th pseudo code chip. Q (-) is a 2-bit quantization function, f1FRepresenting the magnitude of the intermediate frequency, theta (τ)i) Is τiTime of day carrier phase, fD,n,kIs tn,kThe time instant control unit gives the doppler shift.
C/A code function Cn(τ) is represented by
The data code is represented as:
wherein cn,1,cn,2,...,cn,1023And { d }n,j,dn,j+1,., is the C/a chip sequence and data code sequence corresponding to the nth GNSS signal. T iscAnd TdRespectively representing the length of one C/a chip and one navigation data code.
Is a rectangular window function, represents 1 when tau is more than or equal to 0 and less than T, and the rest is 0.
And the deception channel signal generation unit accumulates the GNSS signals corresponding to the deception channel according to the preset parameter information of the received satellite to generate a final simulated GNSS signal.
4. The unmanned aerial vehicle capturing system of claim 1, wherein the mode switching unit enables switching of the trapped unmanned aerial vehicle control mode, including a manual control mode and an unattended mode, the manual control mode is controlled by a rocker, and the unattended mode is controlled by the parameter setting unit.
5. The unmanned aerial vehicle capturing system of claim 4, wherein the parameter setting unit is configured to set parameters of a trajectory generated by a change of coordinates of a positioning position over time after the transmitted simulated GNSS signal is resolved by the satellite navigation receiver, the parameters including a center coordinate, a radius, a time period and a direction (clockwise/counterclockwise) of the trajectory.
6. The unmanned aerial vehicle capturing system of claim 1, wherein the signal simulation device simulates generation of GNSS signals, so that a positioning position calculated by an unmanned aerial vehicle satellite navigation receiver entering a signal coverage area changes according to a controller instruction, and the unmanned aerial vehicle flight control system controls a flight attitude of the unmanned aerial vehicle to keep an original position of the unmanned aerial vehicle, so that an actual flight path of the unmanned aerial vehicle moves in a direction opposite to the change of the positioning position, thereby controlling the flight of the unmanned aerial vehicle.
7. The unmanned aerial vehicle capture system of claim 1, wherein when the manual control mode is set, when the unmanned aerial vehicle enters the coverage area of the simulated GNSS signals and receives the signals, an operator of the unmanned aerial vehicle capture system can observe the direction and speed of flight of the unmanned aerial vehicle, operate a joystick of the controller to change the speed and direction instructions of the simulated GNSS signals according to the direction in which the unmanned aerial vehicle is expected to fly; when the speed of the simulated GNSS signal exceeds the maximum speed of the unmanned aerial vehicle, the power output is saturated, the flyer controls the unmanned aerial vehicle inefficiently through the remote controller, and the flight direction and the speed of the unmanned aerial vehicle cannot be changed through the remote controller. When the unattended mode is set, the parameters of the track generated according to the change of the coordinate of the positioning position set by the parameter setting unit along with the time change comprise the circle center coordinate, the radius, the time period and the direction (clockwise/anticlockwise) of the track to generate simulated GNSS signals, so that the unmanned aerial vehicle generates circular motion and cannot fly into a prevention and control area, and the purpose of refusing the unmanned aerial vehicle is achieved.
8. An acquisition method of the unmanned aerial vehicle acquisition system of any one of claims 1 to 6, characterized by comprising the following steps:
(1) the signal receiving device in the main equipment receives the GNSS signal, and calculates the satellite clock, the current position information and the satellite ephemeris information, and transmits the satellite clock, the current position information and the satellite ephemeris information to the signal simulation equipment;
(2) the signal simulation equipment receives the resolving information of the signal receiving device, synchronizes the frequency and the clock of the local crystal oscillator, receives the instruction sent by the controller, simulates and generates different GNSS signals, and controls whether the signal transmitting device sends the simulated GNSS signals or not through the transmitting switch of the controller, so that the trapping of the unmanned aerial vehicle is realized;
(3) the controller is controlled by the flight track of traped unmanned aerial vehicle, realizes the direction control of the unmanned aerial vehicle of traping or sets up the motion range and the motion position of the unmanned aerial vehicle of traping through the parameter setting unit through the rocker and controls.
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