CN113391641A - Airborne unmanned aerial vehicle prevention and control system and method - Google Patents
Airborne unmanned aerial vehicle prevention and control system and method Download PDFInfo
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- CN113391641A CN113391641A CN202110550734.7A CN202110550734A CN113391641A CN 113391641 A CN113391641 A CN 113391641A CN 202110550734 A CN202110550734 A CN 202110550734A CN 113391641 A CN113391641 A CN 113391641A
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- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
The invention discloses an airborne unmanned aerial vehicle prevention and control system and a method, comprising an aerial unmanned aerial vehicle reconnaissance station and a ground command control station; the aerial unmanned aerial vehicle reconnaissance station comprises an airborne flying platform, an electronic compass, unmanned aerial vehicle frequency spectrum detection equipment, unmanned aerial vehicle interference disposal equipment and a central control module, wherein the electronic compass is arranged on the airborne flying platform; the central control module is in wireless communication connection with the ground command control station through a wireless communication unit, and is used for sending data information detected by the aerial unmanned aerial vehicle reconnaissance station to the ground command control station and receiving a control instruction of the ground command control station. Through the aerial unmanned aerial vehicle reconnaissance station that sets up, with unmanned aerial vehicle frequency spectrum detection equipment, unmanned aerial vehicle interference treatment equipment carry on and lift off to make unmanned aerial vehicle frequency spectrum detection equipment can detect the wider region of scope and more accurate locking black unmanned aerial vehicle's position of flying, also solved the high building and sheltered from and the electromagnetic wave forms the problem of multipath effect easily.
Description
Technical Field
The invention relates to the technical field of anti-unmanned aerial vehicles, in particular to an airborne unmanned aerial vehicle prevention and control system and method.
Background
In recent years, the application of various civil consumption-level unmanned aerial vehicles is increased explosively, and convenience is brought to production and life. Meanwhile, the aircrafts have the characteristics of low flying height, low speed, small radar reflection area (so-called 'low-slow-small' aircraft target), difficulty in finding on the ground and the like, so that related departments are difficult to control the unmanned aerial vehicle.
The current unmanned aerial vehicle detection mode mainly has two main modes of radar detection and radio detection. The radar detection mode needs to detect the electromagnetic waves emitted by the radar and reflected by the unmanned aerial vehicle to find the unmanned aerial vehicle, and the radio detection needs to detect the electromagnetic waves emitted by the unmanned aerial vehicle. The two methods have higher requirements on electromagnetic environment, and in the urban environment of high-rise forests, the electromagnetic waves are easy to refract, reflect and scatter on the ground to form multipath effect, so that inaccurate measurement is caused, and even the unmanned aerial vehicle cannot be detected.
The basic form of the existing anti-unmanned aerial vehicle system mainly has two modes of a fixed mode and a vehicle-mounted mode. Fixed unmanned aerial vehicle prevention and control system will survey, interference equipment is all fixed mounting on high building, and installation cost is high, mobility is not strong. And vehicular unmanned aerial vehicle prevention and control system will survey, interference equipment erects on vehicle platform, shelters from reasons such as because of the high building, and is not good at city environment detection effect.
Disclosure of Invention
The invention aims to overcome the technical defects and provides an airborne unmanned aerial vehicle prevention and control system and method to solve the problems.
In order to achieve the technical purpose, the first aspect of the technical scheme of the invention provides an airborne unmanned aerial vehicle prevention and control system, which comprises an aerial unmanned aerial vehicle reconnaissance station and a ground command control station; the aerial unmanned aerial vehicle reconnaissance station comprises an airborne flying platform, an electronic compass, unmanned aerial vehicle frequency spectrum detection equipment, unmanned aerial vehicle interference handling equipment and a central control module, wherein the electronic compass is arranged on the airborne flying platform; the controller, the electronic compass, the unmanned plane frequency spectrum detection device and the unmanned plane interference disposal device of the airborne flight platform are all in communication connection with the central control module; the central control module is in wireless communication connection with the ground command control station through a wireless communication unit, and is used for sending data information detected by the aerial unmanned aerial vehicle reconnaissance station to the ground command control station and receiving a control instruction of the ground command control station.
The second aspect of the invention provides an airborne unmanned aerial vehicle prevention and control method, which comprises the following steps:
controlling the airborne flying platform to lift off, and detecting electromagnetic wave signals in the air by the unmanned aerial vehicle frequency spectrum detection equipment;
analyzing the aerial electromagnetic wave signals detected by the unmanned aerial vehicle frequency spectrum detection equipment, and comparing the detection data information obtained by analysis with the existing unmanned aerial vehicle data information; when pre-stored data information consistent with the detection data information exists in the unmanned aerial vehicle identification database, judging that the unmanned aerial vehicle flies black, and sending early warning information to the ground command control station;
the ground command control station controls the aerial unmanned aerial vehicle reconnaissance station to carry out rotary detection on the current position through the central control module until the direction of the frequency spectrum detection antenna with the maximum signal amplitude value is found, and the direction is the azimuth angle of the black flying unmanned aerial vehicle;
and the ground command control station controls the unmanned aerial vehicle interference treatment equipment to send an interference signal to the position through the central control module.
Compared with the prior art, the airborne unmanned aerial vehicle prevention and control system and the airborne unmanned aerial vehicle prevention and control method have the advantages that the aerial unmanned aerial vehicle reconnaissance station is arranged, and the unmanned aerial vehicle frequency spectrum detection equipment and the unmanned aerial vehicle interference handling equipment are carried and lifted, so that the unmanned aerial vehicle frequency spectrum detection equipment can detect a wider area and can more accurately lock the position of the black flying unmanned aerial vehicle, the problem that the high-rise shelter and electromagnetic waves are easy to refract, reflect and scatter on the ground to form the multipath effect is solved, and meanwhile, the unmanned aerial vehicle interference handling equipment can more accurately expel the black flying unmanned aerial vehicle.
Drawings
Fig. 1 is a block diagram of an airborne unmanned aerial vehicle prevention and control system according to an embodiment of the present invention;
fig. 2 is a flow chart of a method for preventing and controlling an airborne unmanned aerial vehicle according to an embodiment of the present invention;
fig. 3 is another flow chart of the airborne unmanned aerial vehicle prevention and control method according to the embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1, an embodiment of the present invention provides an airborne unmanned aerial vehicle prevention and control system, which includes an aerial unmanned aerial vehicle reconnaissance station and a ground command control station; the aerial unmanned aerial vehicle reconnaissance station comprises an airborne flying platform, an electronic compass, unmanned aerial vehicle frequency spectrum detection equipment, unmanned aerial vehicle interference handling equipment and a central control module, wherein the electronic compass is arranged on the airborne flying platform; the airborne flying platform is one of a multi-rotor unmanned aerial vehicle, a single-rotor unmanned aerial vehicle, a fixed-wing aircraft and a mooring unmanned aerial vehicle. The electronic compass is to indicate a current pointing direction of a spectrum detection antenna and a transmit antenna of an interference handling device; the unmanned aerial vehicle frequency spectrum detection device is used for detecting and receiving electromagnetic wave signals in the air, and the electromagnetic wave signals comprise parameters such as frequency, amplitude, bandwidth and the like; the unmanned aerial vehicle interference treatment equipment is used for transmitting an interference signal to a black unmanned aerial vehicle when the black unmanned aerial vehicle is found.
The controller, the electronic compass, the unmanned plane frequency spectrum detection device and the unmanned plane interference disposal device of the airborne flight platform are all in communication connection with the central control module; the central control module is in wireless communication connection with the ground command control station through a wireless communication unit, and is used for sending data information detected by the aerial unmanned aerial vehicle reconnaissance station to the ground command control station and receiving a control instruction of the ground command control station.
The central control module comprises a storage unit, and the storage unit is used for storing an unmanned aerial vehicle identification database containing the center frequency and the bandwidth of a common unmanned aerial vehicle; the central control module is used for comparing the central frequency and bandwidth characteristics of the signal obtained by the detection of the unmanned aerial vehicle frequency spectrum detection equipment with the data information in the unmanned aerial vehicle identification database to identify whether the unmanned aerial vehicle flies black or not.
Specifically, as shown in fig. 2, the airborne unmanned aerial vehicle prevention and control method using the airborne unmanned aerial vehicle prevention and control system includes the following steps:
s1, controlling the airborne flying platform to ascend through a controller of the airborne flying platform, and detecting and receiving an airborne electromagnetic wave signal by the unmanned aerial vehicle frequency spectrum detection device after the airborne flying platform ascends;
s2, after the unmanned aerial vehicle frequency spectrum detection device receives the electromagnetic wave signals in the air, analyzing the received electromagnetic wave signals, and comparing the detection data information obtained by analysis with prestored data information in an unmanned aerial vehicle identification database; when the pre-stored data information consistent with the detection data information does not exist in the unmanned aerial vehicle identification database, judging that no black flying unmanned aerial vehicle exists; when pre-stored data information consistent with the detection data information exists in the unmanned aerial vehicle identification database, judging that a black flying unmanned aerial vehicle exists; after the black flying unmanned aerial vehicle is judged to be found, the central control module sends early warning information to the ground command control station through the wireless communication unit;
s3, after receiving the early warning information, the ground command control station sends an in-situ rotation instruction to a central control module of the aerial unmanned aerial vehicle reconnaissance station through the wireless communication unit, and after receiving the instruction, the central control module controls the aerial unmanned aerial vehicle reconnaissance station to perform rotation detection at the current position until the direction of the frequency spectrum detection antenna with the largest signal amplitude value is found, wherein the direction is the azimuth angle of the black flying unmanned aerial vehicle;
s4, after the azimuth angle of the black unmanned aerial vehicle is locked, the ground command control station controls the unmanned aerial vehicle interference disposal equipment to send an interference signal to the azimuth angle through the central control module, and therefore the purpose of expelling the black unmanned aerial vehicle is achieved.
Further, in order to more accurately lock the specific position of the black-flying unmanned aerial vehicle, as shown in fig. 3, the airborne unmanned aerial vehicle air defense method further includes the following steps:
s2a, after the unmanned aerial vehicle frequency spectrum detection device receives the electromagnetic wave signals in the air, analyzing the received electromagnetic wave signals, and comparing the detection data information obtained by analysis with prestored data information in an unmanned aerial vehicle identification database; when the pre-stored data information consistent with the detection data information does not exist in the unmanned aerial vehicle identification database, judging that no black flying unmanned aerial vehicle exists; when pre-stored data information consistent with the detection data information exists in the unmanned aerial vehicle identification database, judging that a black flying unmanned aerial vehicle exists; after the black flying unmanned aerial vehicle is judged and found, a central control module of the aerial unmanned aerial vehicle reconnaissance station sends early warning information and the azimuth angle information of the current electronic compass to a ground command control station;
s3a, after receiving the early warning information, the ground command control station sends an in-situ rotation instruction to a central control module of the aerial unmanned aerial vehicle reconnaissance station through the wireless communication unit, and after receiving the instruction, the central control module controls the aerial unmanned aerial vehicle reconnaissance station to carry out rotation detection at the current position until the direction of the frequency spectrum detection antenna with the largest signal amplitude value is found, wherein the direction is the azimuth A1 of the black flying unmanned aerial vehicle;
s4a, then, the ground command control station sends a position moving instruction to the central control module according to the current azimuth angle information of the aerial unmanned aerial vehicle reconnaissance station, and the central control module controls the airborne flying platform to fly for a certain distance to reach a second position after receiving the instruction; preferably, the central control module controls the airborne flying platform to fly tangentially for a distance to reach the second position.
S5a, the ground command control station sends a secondary rotation instruction to a central control module of the aerial unmanned aerial vehicle reconnaissance station through the wireless communication unit, and after the central control module receives the instruction, the aerial unmanned aerial vehicle reconnaissance station is controlled to rotate and detect at a second position until the direction of the frequency spectrum detection antenna with the largest signal amplitude value is found, wherein the direction is the azimuth angle A2 of the black flying unmanned aerial vehicle;
s6a, the ground command control station acquires azimuth angles twice, the intersection point of the azimuth angles twice is obtained through calculation, the intersection point of the azimuth angles twice is the specific position of the black flying unmanned aerial vehicle, after the body position of the black flying unmanned aerial vehicle is obtained, the ground command control station sends an interference instruction to a central control module of the aerial unmanned aerial vehicle reconnaissance station through the wireless communication unit, and after the central control module receives the instruction, the central control module controls the unmanned aerial vehicle interference disposal equipment to send an interference signal to the position.
According to the airborne unmanned aerial vehicle prevention and control system and method, the aerial unmanned aerial vehicle reconnaissance station is arranged, and the unmanned aerial vehicle frequency spectrum detection device and the unmanned aerial vehicle interference handling device are carried and lifted, so that the unmanned aerial vehicle frequency spectrum detection device can detect a wider area and can more accurately lock the position of the black flying unmanned aerial vehicle, the problem that multipath effect is formed due to high-rise shielding and electromagnetic waves are easy to refract, reflect and scatter on the ground is solved, and meanwhile, the unmanned aerial vehicle interference handling device can better and more accurately expel the black flying unmanned aerial vehicle.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art would appreciate that the modules, elements, and/or method steps of the various embodiments described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (7)
1. An airborne unmanned aerial vehicle prevention and control system is characterized by comprising an aerial unmanned aerial vehicle reconnaissance station and a ground command control station; the aerial unmanned aerial vehicle reconnaissance station comprises an airborne flying platform, an electronic compass, unmanned aerial vehicle frequency spectrum detection equipment, unmanned aerial vehicle interference handling equipment and a central control module, wherein the electronic compass is arranged on the airborne flying platform; the controller, the electronic compass, the unmanned plane frequency spectrum detection device and the unmanned plane interference disposal device of the airborne flight platform are all in communication connection with the central control module; the central control module is in wireless communication connection with the ground command control station through a wireless communication unit, and is used for sending data information detected by the aerial unmanned aerial vehicle reconnaissance station to the ground command control station and receiving a control instruction of the ground command control station.
2. The system of claim 1, wherein the central control module comprises a storage unit for storing a drone identification database containing the center frequency and bandwidth of common drones; the central control module is used for comparing the central frequency and bandwidth characteristics of the signal obtained by the detection of the unmanned aerial vehicle frequency spectrum detection equipment with the data information in the unmanned aerial vehicle identification database to identify whether the unmanned aerial vehicle flies black or not.
3. The system of claim 1, wherein the airborne flying platform is one of a multi-rotor drone, a single-rotor drone, a fixed-wing aircraft, and a tethered drone.
4. The airborne unmanned aerial vehicle prevention and control method is characterized by comprising the following steps:
s1, controlling the airborne flying platform to lift off, and detecting electromagnetic wave signals in the air by the unmanned aerial vehicle frequency spectrum detection equipment;
s2, analyzing the electromagnetic wave signals in the air detected by the unmanned aerial vehicle frequency spectrum detection equipment, and comparing the analyzed detection data information with the existing unmanned aerial vehicle data information; when pre-stored data information consistent with the detection data information exists in the unmanned aerial vehicle identification database, judging that the unmanned aerial vehicle flies black, and sending early warning information to the ground command control station;
s3, the ground command control station controls the aerial unmanned aerial vehicle reconnaissance station to perform rotary detection at the current position through the central control module until the direction of the frequency spectrum detection antenna with the maximum signal amplitude value is found, and the direction is the azimuth angle of the black flying unmanned aerial vehicle;
and S4, the ground command control station controls the unmanned aerial vehicle interference treatment equipment to send an interference signal to the position through the central control module.
5. The airborne unmanned aerial vehicle prevention and control method according to claim 4, wherein the spectrum detection equipment of the unmanned aerial vehicle is used for analyzing electromagnetic wave signals in the air, and the analyzed detection data information is compared with prestored data information in the unmanned aerial vehicle identification database.
6. The method for preventing and controlling the airborne unmanned aerial vehicle according to claim 5, further comprising the steps of:
s2a, analyzing the electromagnetic wave signals in the air detected by the unmanned aerial vehicle frequency spectrum detection equipment, and comparing the analyzed detection data information with an unmanned aerial vehicle frequency spectrum characteristic library prestored in an unmanned aerial vehicle identification database; when pre-stored data information consistent with the detection data information exists in the unmanned aerial vehicle identification database, judging that a black flying unmanned aerial vehicle exists, and sending early warning information and the azimuth angle information of the current electronic compass to the ground command control station;
s3a, the ground command control station controls the aerial unmanned aerial vehicle reconnaissance station to perform rotary detection at the current position through the central control module until the direction of the frequency spectrum detection antenna with the largest signal amplitude value is found, and the direction is the azimuth angle of the black flying unmanned aerial vehicle;
s4a, the ground command control station controls the airborne flying platform to fly for a certain distance to reach a second position according to the current azimuth angle information of the aerial unmanned aerial vehicle reconnaissance station;
s5a, the ground command control station controls the aerial unmanned aerial vehicle reconnaissance station to rotate and detect at the second position through the central control module until the direction of the frequency spectrum detection antenna with the largest signal amplitude value is found, and the direction is the azimuth angle of the black flying unmanned aerial vehicle;
s6a, calculating the intersection point of the two azimuth angles, namely the specific position of the black flying unmanned aerial vehicle, and controlling the unmanned aerial vehicle interference disposal equipment to send an interference signal to the position by the ground command control station through the central control module.
7. The method for preventing and controlling the airborne unmanned aerial vehicle according to claim 6, wherein the ground command control station controls the airborne flying platform to tangentially fly for a distance to the second position according to the current azimuth angle information of the aerial unmanned aerial vehicle reconnaissance station.
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Application publication date: 20210914 |