CN113238265B - Unmanned aerial vehicle capturing system and method - Google Patents
Unmanned aerial vehicle capturing system and method Download PDFInfo
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- CN113238265B CN113238265B CN202110505694.4A CN202110505694A CN113238265B CN 113238265 B CN113238265 B CN 113238265B CN 202110505694 A CN202110505694 A CN 202110505694A CN 113238265 B CN113238265 B CN 113238265B
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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
- G01S19/13—Receivers
- G01S19/35—Constructional details or hardware or software details of the signal processing chain
- G01S19/37—Hardware or software details of the signal processing chain
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- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention discloses an unmanned aerial vehicle capturing system and method, 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 receiving signal device receives the GNSS signals, receives the instructions sent by the controller, simulates the GNSS signals and then sends out the GNSS signals through the transmitting signal device; the controller comprises a transmitting switch, a rocker, a parameter setting unit and a mode switching unit; the transmitting switch is used for controlling whether the transmitting signal device in the main equipment transmits an analog GNSS signal or not; the rocker is used for controlling the direction and speed of the navigation positioning position carried by the simulated GNSS signal along with the change of time; the mode switching unit is used for switching the working modes of the system, including a control mode and an unattended mode; the parameter setting unit is used for setting parameters of the analog GNSS signals. The invention counteracts the unmanned aerial vehicle by simulating 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 countering unmanned aerial vehicles and information electronics, in particular to an unmanned aerial vehicle capturing system and method.
Background
The background of the invention is based on the actual need. In recent years, when unmanned aerial vehicles rapidly become research hotspots, a series of problems such as black flying of unmanned aerial vehicles are brought about, and regional safety is seriously affected. Unmanned aerial vehicle defense is becoming a new area of great concern to governments and the military. The anti-unmanned aerial vehicle system mainly comprises three modes of physical striking, interference and deception induction.
Wherein, physical striking and interference mode carries out anti-unmanned aerial vehicle, can let unmanned aerial vehicle out of control, causes the injury to ground personnel and ground environment. For example, the device for solving the problem that the link interference mode of the remote controller can only enable the unmanned aerial vehicle to land in situ or return to the home. If landed in situ, it may be life or property threatening for the security of ground personnel. If the unmanned aerial vehicle returns to the original path, the unmanned aerial vehicle or the flying hand cannot be obtained, and cannot be verified. And the unmanned aerial vehicle corrects the gesture by using GNSS signals in the flight control system and the navigation system. Therefore, trapping can be achieved by inducing the drone to enter different areas by designing a way of forging GNSS signals. Not only can carry out follow-up operation to unmanned aerial vehicle, satisfy public security on duty, the activity guarantee obtains key evidence to unmanned aerial vehicle's management and control's demand to trace to the source through unmanned aerial vehicle chasing, prevent unmanned aerial vehicle black and fly the emergence once more of activity, also can effectively reduce the masses influence that unmanned aerial vehicle falls and bring.
At present, an analog GNSS signal trapping unmanned aerial vehicle system is mainly used for matching with interference equipment for blocking a remote control link. After the unmanned aerial vehicle remote control signal is blocked, unmanned aerial vehicle trapping is performed. The system is complex to operate and has high development cost. And the remote control frequency of the unmanned aerial vehicle cannot be known in advance, and the effectiveness of the selected remote control link interference equipment cooperation is also problematic. Meanwhile, the current fraud induction method still has the following problems: 1. the navigation decoy equipment is adopted for driving away, and the direction of invasion of the unmanned aerial vehicle cannot be predicted, so that the driving away direction is possibly unpaired, and the unmanned aerial vehicle flies inwards. The unmanned aerial vehicle is required to be attended, the flight direction of the unmanned aerial vehicle is observed, and then the unmanned aerial vehicle is driven away according to the flight direction of the unmanned aerial vehicle, or detection equipment such as radar is used, the unmanned aerial vehicle is driven away in a linkage way with navigation decoy equipment, and the equipment cost is high; 2. the navigation decoy equipment is adopted to send the simulated navigation satellite signals of the no-fly zone coordinates, so that the navigation decoy equipment is effective for the unmanned aerial vehicle with no-fly zone setting and no-fly zone automatic landing setting, 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 flight condition of the unmanned aerial vehicle, and the unmanned aerial vehicle can be effectively controlled by the flight control hand.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides an unmanned aerial vehicle capturing system and method, which are used for countering an unmanned aerial vehicle by simulating satellite navigation signals so as to solve the technical problem of trapping the unmanned aerial vehicle by using interference equipment without blocking link signals of a remote controller of the unmanned aerial vehicle.
In order to achieve the above purpose, the present invention provides the following technical solutions: a drone capture system, the system comprising a master device to receive signals 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 receiving signal device receives GNSS signals, calculates satellite clocks, current position information and satellite ephemeris information, and transmits the satellite clocks, 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 the GNSS signal, and sends out the GNSS signal through the transmitting signal device, so that the unmanned aerial vehicle can be trapped;
the controller comprises a transmitting switch, a rocker, a parameter setting unit and a mode switching unit; the transmitting switch is used for controlling whether the transmitting signal device in the main equipment transmits an analog GNSS signal or not; the rocker is used for controlling the positioning position after the simulated GNSS signals are solved by the satellite navigation receiver, and the speed and direction, the acceleration and the direction of the positioning position along with the time change; 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 analog GNSS signals.
Further, the signal simulation device in the main 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, receives the instruction sent by the controller, simulates GNSS signals through a software defined radio technology, realizes the simulation of the GNSS signals and is transmitted by the transmitting signal device; simulating to generate different GNSS signals according to different operation instructions of the controller; the simulated information comprises radio frequency parameters such as emission spectrum of the GNSS signals, code structure and signal structure of the GNSS signals, navigation messages of the simulated GNSS signals, positioning positions after the simulated GNSS signals are resolved by the satellite navigation receiver, and speed and direction, acceleration and direction of time change of the positioning positions.
Further, the signal simulation device 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 satellite, signal amplitude, carrier phase, code phase and Doppler frequency shift observed at the current position according to the input parameter information; the input parameter information comprises position information, initial GNSS time of the week and maximum value of satellite number;
the data code generating unit generates a sequence of GNSS navigation data codes required by the deception channel according to the ephemeris and the yearbook file; the C/A code generating unit generates corresponding signals according to GNSS satellite numbers;
the signals generated by the spoofing channel signal generating unit are modeled as follows:
x n (τ i )＝A n (τ i )d n (τ i )C n (τ i -t n,k )×Q(sin[2πf 1F τ i +θ(τ i )]) (1)
wherein τ i Is the sampling time of the ith time, x n (τ i ) Is the signal at tau i Sampling value of time, A n (τ i ) Is given by the control unitτ i Amplitude of time, d n (τ i ) Is at τ i Time data code function, C n (τ i -t n,k ) Is a pseudo code function, i.e. C/A code, t n,k Is the start period of the kth pseudo-code chip. Q (·) is a 2-bit quantization function, f 1F Represents the magnitude of the intermediate frequency, θ (τ i ) Is τ i Time carrier phase, f D,n,k Is t n,k The time control unit gives the doppler shift.
C/A code function C n (tau) is expressed as
The data code is expressed as:
wherein { c } n,1 ,c n,2 ,...,c n,1023 Sum { d } n,j ,d n,j+1 ,..} is the C/a chip sequence and data code sequence corresponding to the nth GNSS signal. T (T) c And T d Representing the length of one C/a chip and one navigation data code, respectively.For a rectangular window function, 1 is represented when 0 is less than or equal to τ and T, and the rest is 0.
And the deception channel signal generating unit accumulates GNSS signals corresponding to the deception channels according to preset parameters of the receiving satellites to generate final simulated GNSS signals.
Further, the mode switching unit is used for realizing the switching of the trapped unmanned aerial vehicle control mode and comprises a manual control mode and an unmanned on duty mode, the manual control mode is controlled by a rocker, and the unmanned on duty mode is controlled by a parameter setting unit.
Further, the parameter setting unit is configured to set parameters of a track generated by time-varying positioning position coordinates of the transmitted analog GNSS signal after being resolved by the satellite navigation receiver, including a center coordinate, a radius, a time period, and a direction (clockwise/counterclockwise) of the track.
Further, the signal simulation equipment simulates and generates GNSS signals, so that the calculated positioning position of the satellite navigation receiver of the unmanned aerial vehicle entering the signal coverage area changes according to the instruction of the controller, 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, the actual flight path of the unmanned aerial vehicle moves in the opposite direction according to the change of the positioning position, and the unmanned aerial vehicle is controlled to fly.
Further, when the unmanned aerial vehicle enters the simulated GNSS signal coverage area and receives signals, an operator of the unmanned aerial vehicle capturing system can observe the flight direction and speed of the unmanned aerial vehicle, and operate a rocker of a controller according to the flight direction of the unmanned aerial vehicle to change the speed and direction instruction of the simulated GNSS signal; when the speed of the simulated GNSS signal exceeds the maximum speed of the unmanned aerial vehicle, the unmanned aerial vehicle moves, the power output is saturated, the control of the unmanned aerial vehicle by a flying hand through a remote controller is invalid, and the flying direction and speed of the unmanned aerial vehicle cannot be changed through the remote controller. When the unmanned mode is set, parameters of the track generated according to the change of the positioning position coordinates set by the parameter setting unit along with time comprise circle center coordinates, radius, time period and 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 rejection of the unmanned aerial vehicle is achieved.
The invention has the following advantages:
(1) According to the invention, the unmanned aerial vehicle is trapped by emitting the low-power trapping signal, the influence on peripheral electronic equipment is small, no human body radiation exists, and the capturing process can reach a designated place according to the speed set by the capturing personnel, so that the capturing personnel are not accidentally injured and the environment is not damaged. The effective range radius may exceed 500 meters with a typical 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 may be tailored to the different needs of the capturing person.
(3) According to the invention, the unmanned aerial vehicle can be controlled in real time by simulating the GNSS signal by adding the real-time controller, so that the unmanned aerial vehicle is saturated, and the unmanned aerial vehicle is effectively controlled by a flight crew.
(4) According to the method provided by the invention, the invasion direction of the unmanned aerial vehicle is not required to be predicted, so that the unmanned aerial vehicle in any direction from 360 degrees performs circular motion under the decoy of the simulated satellite signals, the defects that the traditional navigation decoy equipment is wrong in driving direction and needs to be attended by a person or needs to be linked with detection equipment such as a radar, a camera and the like are overcome, and the unmanned mode realizes all-weather 24-hour unmanned continuous defense.
Drawings
FIG. 1 is a schematic diagram of a countering unmanned system of the present invention;
FIG. 2 is a schematic diagram of the induced unmanned aerial vehicle of the present invention;
FIG. 3 is a functional schematic of the trapped unmanned aerial vehicle of the present invention;
fig. 4 is a schematic diagram of the induced unmanned aerial vehicle of the present invention performing circular motion.
Detailed Description
The technical scheme of the patent is further described in detail below with reference to the specific embodiments:
as shown in fig. 1, a drone capture system includes a master device to receive signals 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 receiving signal 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 up-conversion of the simulated intermediate frequency signals to radio frequency bands of corresponding navigation satellite signals, and then sends out the signals through the signal transmitting device, so that trapping of the unmanned aerial vehicle can be realized;
the signal simulation equipment in the main equipment synchronizes the navigation satellite clock of the current position through software definition radio technology Jie Suanchu ephemeris information to realize the simulation of GNSS signals, and generates different GNSS signals through simulation according to different operation instructions of the GNSS signals and a controller and transmits the different GNSS signals by a transmitting signal device; the simulated information comprises radio frequency parameters such as emission spectrum of the GNSS signals, code structures and signal structures of the GNSS signals, and navigation messages of the simulated GNSS signals; the parameters of the positioning position and the speed, the direction and the like of the position change calculated by the signal simulation equipment are changed 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 spoofed channel signal acquisition unit;
the control unit determines relevant parameters such as satellite, signal amplitude, carrier phase, code phase and Doppler frequency shift observed at the current position according to the input parameter information; the input parameter information comprises position information, initial GNSS time of the week and maximum value of satellite number;
GNSS signals generated by the rogue device are susceptible to Doppler effects, phase delays, and the like. To adjust the code and carrier phases for the effects of doppler shift, correlation information is extracted from ephemeris and yearbook files to determine the doppler shift for the satellite and rogue position.
The yearbook describes the position of the satellite in space over time, and the ephemeris file describes the current time and information of the satellite, the contents of which are classified according to the satellite number and the reference time of the satellite clock. The ephemeris files and the related files of the yearbook files can be downloaded to the NASA's official network.
The data code generating unit generates a sequence of GNSS navigation data codes required by the deception channel according to the ephemeris and the yearbook file; the yearbook file is refreshed only once a day and ephemeris data for a single satellite is observable, so that a data code can be generated.
Wherein the telemetry word portion data code is equally unpredictable to both the target receiver and the attacker, so that the attacker can randomly generate the telemetry word portion data code, ensuring the parity of the data code.
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 GPS satellite number for the simulation is known.
The signals generated by the spoofing channel signal generating unit are modeled as follows:
x n (τ i )＝A n (τ i )d n (τ i )C n (τ i -t n,k )×Q(sin[2πf 1F τ i +θ(τ i )]) (1)
wherein τ i Is the sampling time of the ith time, x n (τ i ) Is the signal at tau i Sampling value of time, A n (τ i ) Is given by the control unit at tau i Amplitude of time, d n (τ i ) Is at τ i Time data code function, C n (τ i -t n,k ) Is a pseudo code function, i.e. C/A code, t n,k Is the start period of the kth pseudo-code chip. Q (·) is a 2-bit quantization function, f 1F Represents the magnitude of the intermediate frequency, θ (τ i ) Is τ i Time carrier phase, f D,n,k Is t n,k The time control unit gives the doppler shift.
C/A code function C n (tau) is expressed as
The data code is expressed as:
wherein { c } n,1 ,c n,2 ,...,c n,1023 Sum { d } n,j ,d n,j+1 ,..} is the C/a chip sequence and data code sequence corresponding to the nth GNSS signal. T (T) c And T d Representing the length of one C/a chip and one navigation data code, respectively.For a rectangular window function, 1 is represented when 0 is less than or equal to τ and T, and the rest is 0.
The signal generated by each spoofing channel is sampled continuously throughout the process. The weight of the ith sampling value of the nth deception channel is A n (τ i ) To ensure that the signal is authentic, an appropriate weight is assigned to each sample value. And the deception channel signal generating unit accumulates GNSS signals corresponding to the deception channels according to preset parameters of the receiving satellites to generate final simulated GNSS signals.
The combined signal of the spoofed channel is re-quantized to 1 or 2 bits before loading into the output circular buffer.
As shown in fig. 3, the controller is used for controlling the flight track of the trapped unmanned aerial vehicle, and comprises a transmitting switch, a rocker, a parameter setting unit and a mode switching unit; the transmitting switch is used for controlling whether the transmitting signal device in the main equipment transmits an analog GNSS signal or not; the rocker is used for controlling the direction of the trapped unmanned aerial vehicle; the parameter setting unit is used for setting the movement range and the movement position of the trapped unmanned aerial vehicle; the mode switching unit is used for realizing the switching of the trapped unmanned aerial vehicle control mode and comprises a manual control mode and an unmanned mode, wherein the manual control mode is controlled by a rocker, and the unmanned mode is controlled by a parameter setting unit. The signal simulation equipment simulates and generates GNSS signals, so that the calculated positioning position of 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 according to the opposite direction of the change of the navigation position, so that the unmanned aerial vehicle does circular movement; the radius R of the signal coverage area can be dynamically adjusted by adjusting the signal transmission power, which is generally less than or equal to 10mw.
As shown in fig. 4, the parameter setting unit is used to set coordinates of a decoy point of the trapped unmanned aerial vehicle, coordinates of a center of a circle of the unmanned aerial vehicle, a radius, a period, and clockwise/counterclockwise. The parameter setting unit controls the unmanned aerial vehicle to include a refusal mode and a refusal forced landing mode, wherein the refusal mode is a range for dividing the forbidden entry of the trapped unmanned aerial vehicle, and the refusal forced landing mode is a range for setting the forced landing of the unmanned aerial vehicle. The rejection mode refers to that a user falsifies GNSS signals with places being no-fly zones, so that unmanned aerial vehicles with no-fly zone limiting functions are forced to fall. The refusing forced landing mode refers to that a user falsifies a GNSS signal capable of enabling the unmanned aerial vehicle to fly at the maximum flight speed, flies according to a certain radius and speed by taking a preset coordinate of an unmanned aerial vehicle no-fly zone as a circle center, and finally lands due to energy exhaustion. In this embodiment, with the key protection area as the center, the transmitting signal device of the system simulates the transmitting satellite navigation signal, and covers the area with the radius R, and after the unmanned aerial vehicle invading from any direction enters the protected area, the unmanned aerial vehicle moves circularly with the radius R at the speed v. Setting the acting distance R as 500 meters, the radius of a circular motion decoy track as 50 meters and the motion speed as 40m/s, and finally setting the latitude and longitude of a specific position to enable the unmanned aerial vehicle with the restricted function of the no-fly zone to be forced to land because the positioning position is in the no-fly zone; for unmanned aerial vehicles without no-fly zone limiting function, when the set speed exceeds the maximum flying speed of the unmanned aerial vehicle, the unmanned aerial vehicle can spin down or land due to energy consumption.
When the unmanned aerial vehicle of the flying hand enters the prevention and control area, an operator of the unmanned aerial vehicle capturing system can simulate GNSS signals, so that the unmanned aerial vehicle has a physical maximum speed; at this time, the movement speed exceeds the maximum speed of the unmanned aerial vehicle, the movement reaches the saturation of a power output system, so that the unmanned aerial vehicle is controlled by a fly hand through the remote controller to be invalid, the unmanned aerial vehicle cannot be controlled by the remote controller to break away from circular movement, the unmanned aerial vehicle can automatically spin down, or the unmanned aerial vehicle falls due to energy consumption, and the purpose of rejection of the unmanned aerial vehicle is achieved.
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 GNSS signals and 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 GNSS signals and different operation instructions of the controller, simulates and generates different GNSS signals, and then controls the transmitting signal device to send out the simulated GNSS signals through the transmitting switch of the controller so as to realize trapping of the unmanned aerial vehicle;
(3) The controller controls the flight track of the trapped unmanned aerial vehicle, the rocker control and the parameter setting unit control are switched through the mode switching unit, the direction control of the trapped unmanned aerial vehicle is realized through the rocker, or the movement range and the movement position of the trapped unmanned aerial vehicle are controlled through the parameter setting unit.
The invention provides a specific example of a manual trapping unmanned aerial vehicle, which comprises the following steps:
step 1, a device receiving antenna receives GNSS signals (including but not limited to GPS, GLONASS, beidou), and synchronizes information such as navigation satellite clocks, ephemeris, etc. of a current position.
And 2, setting a control mode by the controller, opening a transmitting switch, and transmitting an 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 analog navigation signal, and the positioning position becomes the position of the main equipment.
And 3, enabling the positioning position of the simulated navigation signal emission to change according to a certain speed and direction through the direction control rocking handle. After the drone has resolved the position location, the wrong view is that it is moving at the speed and direction of the analog navigation signal. The unmanned aerial vehicle generates movements with the same speed and opposite directions.
And 4, when the movement speed moves according to the maximum speed of the unmanned aerial vehicle, the flight crew cannot control the unmanned aerial vehicle through the remote controller. The device operator may control the drone to fly to a predetermined location.
And 5, the equipment operator switches the mode through the controller and the mode switching button, and the equipment sends an analog navigation signal with the coordinates of the pre-set no-fly zone of the unmanned aerial vehicle as the center of a circle according to 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 unmanned aerial vehicles without no-fly zone limiting function, when the set speed exceeds the maximum flying speed of the unmanned aerial vehicle, the unmanned aerial vehicle can spin down or land due to energy consumption.
The above-described embodiments are intended to illustrate the present invention, not to limit it, and any modifications and variations made thereto are within the spirit of the invention and the scope of the appended claims.
Claims (8)
1. A drone capture system comprising a host device for receiving signals and transmitting signals and a controller for operating the host device;
the main equipment comprises signal simulation equipment, a signal receiving device and a signal transmitting device; the receiving signal device receives GNSS signals, calculates satellite clocks, current position information and satellite ephemeris information, and transmits the satellite clocks, 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 the GNSS signal, and sends out the GNSS signal through the transmitting signal device, so that the unmanned aerial vehicle can be trapped;
the controller comprises a transmitting switch, a rocker, a parameter setting unit and a mode switching unit; the transmitting switch is used for controlling whether the transmitting signal device in the main equipment transmits an analog GNSS signal or not; the rocker is used for controlling the positioning position after the simulated GNSS signals are solved by the satellite navigation receiver, and the speed and direction, the acceleration and the direction of the positioning position along with the time change; 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 analog GNSS signals;
the parameter setting unit controls the unmanned aerial vehicle to include 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, the refusing forced landing mode is used for setting a forced landing range of the unmanned aerial vehicle, the refusing mode refers to a GNSS signal of which a user falsification place is a non-flying area, the unmanned aerial vehicle with a non-flying area limiting function is forced to land, the refusing forced landing mode refers to a GNSS signal of which the user falsification can enable the unmanned aerial vehicle to have the maximum flying speed, the preset coordinates of the non-flying area of the unmanned aerial vehicle are used as a circle center, flying is carried out according to a certain radius and speed, and finally, after the unmanned aerial vehicle invaded from any direction enters a protected area due to energy source depletion, the unmanned aerial vehicle moves circularly with a speed v as a radius r.
2. The unmanned aerial vehicle capturing system according to claim 1, wherein the signal simulation device in the main 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 signals through a software-defined radio technology, so that the simulation of the GNSS signals is realized and the GNSS signals are transmitted by the transmitting signal device; simulating to generate different GNSS signals according to different operation instructions of the controller; the simulated information includes radio frequency parameters of the emission spectrum of the GNSS signal, code structure and signal structure of the GNSS signal, and navigation message of the simulated GNSS signal, the simulated GNSS signal is resolved by the satellite navigation receiver to locate the position, and speed and direction, acceleration and direction of the change of the location position with time.
3. The unmanned aerial vehicle capturing system of claim 2, wherein the signal simulation device comprises a control unit, a data code generation unit, a C/a code generation unit, and a spoof channel signal acquisition unit;
the control unit determines parameters of satellite, signal amplitude, carrier phase, code phase and Doppler frequency shift observed at the current position according to the input parameter information of the received satellite; the input parameter information of the received satellites comprises position information, initial GNSS time of the week and maximum value of the number of satellites;
the data code generating unit generates a sequence of GNSS navigation data codes required by the deception channel according to the ephemeris and the yearbook file; the C/A code generating unit generates corresponding signals according to GNSS satellite numbers; the signals generated by the spoofing channel signal generating unit are modeled as follows:
x n (τ i )＝A n (τ i )d n (τ i )C n (τ i -t n，k )×Q(sin[2πf 1F τ i +θ(τ i )]) (1)
wherein τ i Is the sampling time of the ith time, x n (τ i ) Is the signal at tau i Sampling value of time, A n (τ i ) Is given by the control unit at tau i Amplitude of time, d n (τ i ) Is at τ i Time data code function, C n (τ i -t n，k ) Is a pseudo code function, i.e. C/A code, t n，k Is the start period of the kth pseudo-code chip, Q (·) is a 2-bit quantization function, f 1F Represents the magnitude of the intermediate frequency, θ (τ i ) Is τ i Time carrier phase, f D，n，k Is t n，k The Doppler frequency shift is given by the time control unit;
C/A code function C n (tau) is expressed as
The data code is expressed as:
wherein { c } n，1 ，c n，2 ，...，c n，1023 Sum { d } n，j ，d n，j+1 ,..} is the C/a chip sequence and data code sequence corresponding to the nth GNSS signal, T c And T d Representing the length of one C/a chip and one navigation data code respectively,is a rectangular window function, and is more than or equal to 0 and less than or equal to tau<T represents 1, and the rest is 0;
and the deception channel signal generating unit accumulates GNSS signals corresponding to the deception channels according to the preset parameter information of the receiving satellites to generate final simulated GNSS signals.
4. The unmanned aerial vehicle capturing system according to claim 1, wherein the mode switching unit is configured to switch the trapped unmanned aerial vehicle control mode, and the unmanned aerial vehicle capturing system comprises a manual control mode and an unmanned aerial vehicle control mode, wherein the manual control mode is controlled by a rocker, and the unmanned aerial vehicle control mode is controlled by a parameter setting unit.
5. The unmanned aerial vehicle capturing system according to claim 4, wherein the parameter setting unit is configured to set parameters of a trajectory generated by a time-dependent change of a positioning position coordinate of the transmitted analog GNSS signal after being resolved by the satellite navigation receiver, including a center coordinate, a radius, a time period, and a direction of the trajectory, and the direction is clockwise or counterclockwise.
6. The unmanned aerial vehicle capturing system according to claim 1, wherein the signal simulation device simulates and generates GNSS signals, so that a positioning position calculated by the unmanned aerial vehicle satellite navigation receiver entering a signal coverage area changes according to a controller command, and the unmanned aerial vehicle flight control system controls the unmanned aerial vehicle flight attitude to keep the original position of the unmanned aerial vehicle, so that an actual flight path of the unmanned aerial vehicle moves according to the reverse direction of the positioning position change, and the unmanned aerial vehicle flight is controlled.
7. The unmanned aerial vehicle capture system of claim 1, wherein when the unmanned aerial vehicle enters the simulated GNSS signal coverage area and receives signals when the manual control mode is set, an operator of the unmanned aerial vehicle capture system can observe the direction and speed of flight of the unmanned aerial vehicle, and operate a rocker of the controller to change the simulated GNSS signal speed and direction instructions in accordance with the direction in which the unmanned aerial vehicle is expected to fly; when the speed of the simulated GNSS signals exceeds the maximum speed of the unmanned aerial vehicle, the speed of the simulated GNSS signals is saturated, the power output is saturated, a flying hand is invalid in controlling the unmanned aerial vehicle through a remote controller, the flying direction and speed of the unmanned aerial vehicle cannot be changed through the remote controller, and when the unmanned mode is set, parameters of the track generated according to the time change of the positioning position coordinates set by the parameter setting unit comprise the circle center coordinates, the radius, the time period and the direction of the track, the direction is clockwise or anticlockwise, the simulated GNSS signals are generated, the unmanned aerial vehicle generates circular motion, the unmanned aerial vehicle cannot fly into a prevention and control area, and the purpose of refusing the unmanned aerial vehicle is achieved.
8. A method of capturing a drone capture system according to any one of claims 1 to 6, characterised by the specific steps of:
(1) The signal receiving device in the main equipment receives GNSS signals, calculates satellite clocks, current position information and satellite ephemeris information, and transmits the satellite clocks, 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 then controls whether the transmitting signal device sends out the simulated GNSS signals or not through the transmitting switch of the controller, so that the unmanned aerial vehicle is trapped;
(3) The controller controls the flight track of the trapped unmanned aerial vehicle, and the direction control of the trapped unmanned aerial vehicle is realized through the rocker or the movement range and the movement position of the trapped unmanned aerial vehicle are set through the parameter setting unit to control.
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