CN113740884A - Low-slow small unmanned aerial vehicle target decoy interference effect evaluation method - Google Patents
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- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
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Abstract
The invention relates to the technical field of unmanned aerial vehicles, in particular to a low-slow small unmanned aerial vehicle target spoofing interference effect evaluation method, which is used for evaluating the spoofing interference effect of low-slow small unmanned aerial vehicle navigation spoofing equipment, wherein the navigation spoofing equipment emits spoofing track data to induce the low-slow small unmanned aerial vehicle to be positioned according to the real GNSS signals of the low-slow small unmanned aerial vehicle, and the evaluation comprises the following steps: setting a low-slow small unmanned aerial vehicle trapping track, and acquiring real-time dynamic data of the low-slow small unmanned aerial vehicle running track in an experimental site by using a measuring robot; and comparing the real-time dynamic data of the low-speed small unmanned aerial vehicle running track with the set trapping track, and evaluating the trapping interference effect of the navigation trapping device through the comparison result. The invention utilizes the measuring robot to automatically track and measure the dynamic unmanned aerial vehicle target with high precision by means of non-satellite positioning to realize the estimation of the trapping interference effect, is suitable for the estimation test of different trapping interference scenes and has better application prospect.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a method for evaluating target decoy interference effect of a low-speed small unmanned aerial vehicle.
Background
The low-slow small unmanned aerial vehicle is an aerial vehicle with the flying height of below 1000 meters (low altitude), the flying speed of less than 200km/s (slow speed) and the reflecting area of less than 2 square meters (small size). With the technical progress, the low-slow small unmanned aerial vehicle plays more and more important roles in the aspects of military application, aerial surveying and mapping, emergency rescue and relief, power inspection, agricultural plant protection and the like, but the low-slow small unmanned aerial vehicle also has many hazards and hidden dangers: the low-speed small unmanned aerial vehicle is generally difficult to detect, find and track, and meanwhile, the low-speed small unmanned aerial vehicle is low in cost and easy to become a tool for lawless persons. The flight safety is ensured, once the low-speed small unmanned aerial vehicle enters the air above facilities such as an airport and the like due to intentional or unintentional reasons, the flight safety can be endangered if the unmanned aerial vehicle is not disposed in time; military security, overseas lawless persons often utilize the aircraft to take photos and take pictures of important military facilities; personal infringement, which is also frequently reported, is snooped on personal privacy by using low-speed small unmanned aerial vehicles. For this reason, appropriate management and control are required for low-speed small unmanned aerial vehicles. The technology utilizes the reality that the low-slow small unmanned aerial vehicle usually depends on GNSS (Global Navigation Satellite System) to realize Navigation and positioning, and induces the unmanned aerial vehicle to obtain wrong positioning information by transmitting false signals which are the same as or similar to real GNSS signals and have stronger power, thereby realizing effective driving away of the unmanned aerial vehicle or successful decoy. Compared with other management and control technologies, the trap interference can take effect on all low and slow small targets in a certain airspace range at the same time, accurate control on the targets can be achieved, and a good management and control effect is achieved. However, different deception jamming devices have different deception effects even on the same type of low-slow small unmanned aerial vehicle due to differences in manufacturing processes, software design and the like. How to reasonably evaluate the low-slow small unmanned aerial vehicle target decoy interference effect has important effects on improving the performance of interference equipment and improving the target management and control precision.
In the existing deception jamming effect evaluation of the low-slow small unmanned aerial vehicle, a small multi-system GNSS receiver or other system GNSS receivers different from a deception target self-positioning system are loaded on a deception target, and then the deception jamming equipment is used for deceiving the deception target self-positioning system, so that the positioning result of the multi-system GNSS receiver is still correct and can be used as a standard to evaluate whether the deception target is successfully deceived according to a preset deception track and how the deception precision is; however, there is a requirement for the positioning system of the unmanned flying target itself, that is, the positioning system cannot be the same as the positioning system of the comparison standard receiver, and meanwhile, the deception jamming equipment cannot broadcast the system-wide jamming signal at the same time, otherwise, the receiver as the comparison standard is also tricked, and an accurate and reliable positioning result cannot be provided. In addition, the frequencies used by the main navigation systems overlap to some extent, and when a decoy disturbance is applied to one of the frequencies, the positioning result of other systems may be affected to some extent, so that the accuracy level of the comparison standard itself may be reduced. The land radar is also used for independently positioning the cheated target, and the positioning result is used as a standard to evaluate whether the cheated target is successfully cheated according to a preset cheating track and how the cheating precision is; however, to realize high-precision radar positioning, the technical parameters of the radar are required to be high, the cost is usually high, and the radar is difficult to obtain for common civil use, so that the application field is limited.
Disclosure of Invention
Therefore, the method for evaluating the target trapping interference effect of the low-slow small unmanned aerial vehicle fully considers the characteristics of low, slow and small low-slow unmanned aerial vehicle targets, realizes the trapping interference effect evaluation by utilizing the automatic tracking and high-precision measurement of the dynamic unmanned aerial vehicle target by a measuring robot through a non-satellite positioning means, and can be suitable for evaluation tests of different trapping interference scenes.
According to the design scheme provided by the invention, the low-slow small unmanned aerial vehicle target spoofing interference effect evaluation method is used for evaluating the spoofing interference effect of the low-slow small unmanned aerial vehicle navigation spoofing equipment, the navigation spoofing equipment emits spoofing track data to induce the low-slow small unmanned aerial vehicle to be positioned according to the real GNSS signals of the low-slow small unmanned aerial vehicle, and the evaluation process comprises the following contents:
setting a low-slow small unmanned aerial vehicle trapping track, and acquiring real-time dynamic data of the low-slow small unmanned aerial vehicle running track in an experimental site by using a measuring robot;
and comparing the real-time dynamic data of the low-speed small unmanned aerial vehicle running track with the set trapping track, and evaluating the trapping interference effect of the navigation trapping device through the comparison result.
As the target deception jamming effect evaluation method for the low-slow small unmanned aerial vehicle, an omnidirectional prism for dynamic data acquisition of a measuring robot is erected on the low-slow small unmanned aerial vehicle.
As the method for evaluating the target deception jamming effect of the low-speed small unmanned aerial vehicle, further, a datum point and a datum direction point which are used for positioning the measuring robot and are marked with a point mark are arranged in an experimental field, wherein the measuring robot utilizes the datum point to erect a host, and utilizes the datum direction point to set the initial focusing direction of the measuring robot.
As the low-slow small unmanned aerial vehicle target decoy interference effect evaluation method, further, at least 1 datum point is arranged; the number of the reference square points is 2.
As the low-slow small unmanned aerial vehicle target decoy interference effect evaluation method, further, the measuring robot adopts an industrial automatic measuring robot with an automatic target recognition function.
As the low-slow small unmanned aerial vehicle target spoofing interference effect evaluation method, further, the measuring robot and the navigation spoofing device are controlled to synchronously operate through the synchronous clock signal.
As the method for evaluating the target spoofing interference effect of the low-slow small unmanned aerial vehicle, the spoofing interference effect of the navigation spoofing device is further evaluated by utilizing the mean square error of the track coordinate difference between the real-time dynamic data of the running track and the set spoofing track according to the comparison result.
The method for evaluating the target decoy interference effect of the low-slow small unmanned aerial vehicle further comprises the following stepsThe mean square error calculation formula is expressed as:
wherein RMSAMean square error representing the difference in track coordinates; n represents the number of sampling points on the two tracks; i represents the ith sample point; x is the number ofi、yi、hiRepresenting the plane coordinates and the elevation of the ith sampling point on the real-time dynamic data;
and the plane coordinates and the elevation of the ith sampling point on the decoy track are represented.
The invention has the beneficial effects that:
the method is scientific and reasonable in design, and aiming at the characteristics of the low-speed small unmanned aerial vehicle, the measuring robot is utilized to realize the evaluation of the decoy effect of the unmanned aerial vehicle by a non-satellite positioning means; meanwhile, in order to ensure the tracking effect, a simple omnidirectional prism can be carried on the unmanned aerial vehicle, the requirement on the unmanned aerial vehicle is low, and the omnidirectional prism can be more simply popularized and applied to unmanned aerial vehicles of different models; the method provides a simple and feasible technical approach for evaluating the trapping effect of the low-speed small unmanned aerial vehicle, has important significance for improving the performance of interference equipment and improving the target control precision, and has a better application prospect.
Description of the drawings:
FIG. 1 is a schematic flow chart of target spoofing interference effect evaluation of a low-slow small unmanned aerial vehicle in an embodiment;
fig. 2 is a schematic diagram of the working principle of the estimation of the spoofing interference effect in the embodiment.
The specific implementation mode is as follows:
the present invention will be described in further detail below with reference to the accompanying drawings and technical solutions, and embodiments of the present invention will be described in detail by way of preferred examples, but the embodiments of the present invention are not limited thereto.
The embodiment of the invention, as shown in fig. 1, provides a method for evaluating the target spoofing interference effect of a low-slow small unmanned aerial vehicle, which is used for evaluating the spoofing interference effect of a low-slow small unmanned aerial vehicle navigation spoofing device, wherein the navigation spoofing device transmits spoofing trajectory data to induce the low-slow small unmanned aerial vehicle to be positioned according to the real GNSS signal of the low-slow small unmanned aerial vehicle, and the evaluation process includes the following contents:
s101, setting a low-slow small unmanned aerial vehicle trapping track, and acquiring real-time dynamic data of the low-slow small unmanned aerial vehicle running track of an experimental site by using a measuring robot;
s102, comparing the real-time dynamic data of the low-speed small unmanned aerial vehicle running track with the set trapping track, and evaluating the trapping interference effect of the navigation trapping device according to the comparison result.
The characteristics of low, slow and small unmanned flying targets are fully considered, the trap interference effect evaluation is realized by utilizing the measuring robot to automatically track and measure the dynamic unmanned aircraft target in high precision through a non-satellite positioning means, and the method is suitable for evaluation tests of different trap interference scenes.
As the target deception jamming effect evaluation method for the low-slow small unmanned aerial vehicle, an omnidirectional prism for dynamic data acquisition of a measuring robot is erected on the low-slow small unmanned aerial vehicle. Further, the measuring robot adopts an industrial automatic measuring robot with an automatic target recognition function. Further, the measuring robot and the navigation decoy device are controlled to run synchronously through a synchronous clock signal.
The measuring robot can realize automatic tracking and high-precision measurement on the dynamic target within a certain range (within a distance of 1000km and low); considering the tracking ability of the automatic measuring robot, the moving speed of the dynamic target is not too fast (slow), and meanwhile, in order to ensure the tracking effect, only a common light-weight (small) omnidirectional prism needs to be erected on the dynamic target. The omnidirectional prism is used as the sighting target of the automatic measuring robot, and other types of prisms can be used as the sighting target, which is an alternative. The 360-degree omnidirectional prism can be also switched through the structural part, can be adapted to different types of unmanned aerial vehicles, effectively controls the test cost, can test different types of unmanned aerial vehicles, and has a better application prospect.
Further, as shown in fig. 2, according to the actual application requirements, a Leica TDA5005 switzerland industrial automatic measurement robot may be selected to meet the automatic target recognition function (ATR-automatic target recognition), and the automatic target finding, automatic accurate target aiming, automatic target locking and automatic target tracking may be implemented by a motor and a CCD camera built in the apparatus. Leica TDA5005 has a range accuracy of 5mm +2mm K in tracking mode, K is an observation distance (unit: km) and an angle accuracy of 0.5 ". And the upper computer is used for generating a time synchronization and measurement control instruction part to complete the time synchronization between the GNSS time and the dynamic tracking and detection control part, controlling the tracking and detection control according to the time synchronization result, and sending out a tracking and data acquisition instruction according to the set time so as to accurately determine the accurate time of dynamic data acquisition. The measuring robot control host machine performs dynamic tracking control and data acquisition and storage, and completes functions of relevant control instruction issuing, data storage and the like. The power supply/power source part can adopt a battery pack to supply power for related equipment.
As the method for evaluating the target deception jamming effect of the low-speed small unmanned aerial vehicle, further, a datum point and a datum direction point which are used for positioning the measuring robot and are marked with a point mark are arranged in an experimental field, wherein the measuring robot utilizes the datum point to erect a host, and utilizes the datum direction point to set the initial focusing direction of the measuring robot.
The reference point can be used as a reference point for field measurement, has high-precision known coordinate values, good point position marks and a good observation environment, and is convenient for erecting a measuring robot host and other related equipment. Furthermore, the measuring robot performs target positioning by simultaneously performing angle measurement and distance measurement, and at least 1 detection reference point is required. The reference azimuth point is a reference point establishing a known direction, is not less than 100 meters away from the reference point, has high-precision known coordinate values (or known azimuth angle values from the reference point to the point), a perfect point position mark and good measurement environment and conditions. To facilitate measurement verification by the measurement robot mainframe, 2 reference azimuth points should typically be provided for known azimuth alignment. The field area can be an open area within a proper distance from the detection datum point, and the unmanned aerial vehicle platform can conveniently develop dynamic experiments.
As the method for evaluating the target spoofing interference effect of the low-speed small unmanned aerial vehicle in the embodiment of the invention, further, aiming at the comparison result, the spoofing interference effect of the navigation spoofing equipment is evaluated by utilizing the mean square error of the track coordinate difference between the real-time dynamic data of the running track and the set spoofing track. And evaluating whether the final trapping purpose of the navigation trapping device is achieved or not and how high the final trapping purpose is achieved by utilizing the mean square error analysis. Further, the mean square error calculation formula is expressed as:
wherein RMSAMean square error representing the difference in track coordinates; n represents the number of sampling points on the two tracks; i represents the ith sample point; x is the number ofi、yi、hiRepresenting the plane coordinates and the elevation of the ith sampling point on the real-time dynamic data;
and the plane coordinates and the elevation of the ith sampling point on the decoy track are represented.
In the embodiment of the scheme, the characteristics of the low-slow small unmanned aerial vehicle are combined, the real track data of the low-slow small unmanned aerial vehicle is obtained by using the measuring robot, and the data is compared with the trapping track to realize feasible trapping interference effect evaluation of the low-slow small unmanned aerial vehicle; the dynamic high-precision positioning of the decoy target is realized by a non-satellite positioning means, the technology is not interfered by satellite navigation decoy signals, and the method can be suitable for different decoy interference scenes, and even under the condition of multi-system interference signals, the scheme is still suitable; in the test evaluation, except for ground equipment, only a light 360-degree omnidirectional prism needs to be carried on the unmanned aerial vehicle, the unmanned aerial vehicle can be adapted to different types of unmanned aerial vehicles through the structural member switching, the test cost is effectively controlled, different types of unmanned aerial vehicles can be tested, and the test platform has a good application prospect.
The term "and/or" herein means that three relationships may exist. For example, a and/or B may represent: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter associated objects are in an "or" relationship.
Unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. The use of "first," "second," and similar terms in the description and claims of this application do not denote any order, quantity, or importance, but rather the terms are used to distinguish one element from another. Also, the use of the terms "a" or "an" and the like do not necessarily denote a limitation of quantity. The word "comprising" or "comprises", and the like, means that the element or item listed before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.
Exemplary embodiments of the present invention have been described in detail with reference to the preferred embodiments, however, it will be understood by those skilled in the art that various changes and modifications may be made to the specific embodiments described above and various combinations of the technical features and structures proposed by the present invention may be made without departing from the concept of the present invention, and the scope of the present invention is defined by the appended claims. The foregoing description of specific exemplary embodiments of the invention is not intended to limit the invention to the precise form disclosed, and obviously many modifications and variations are possible in light of the above teaching. The exemplary embodiments were chosen and described in order to explain certain principles of the invention and its practical application to enable one skilled in the art to make and use various exemplary embodiments of the invention and various alternatives and modifications as are suited to the particular use contemplated. It is intended that the scope of the invention be defined by the claims and their equivalents.
Claims (8)
1. A low-slow small unmanned aerial vehicle target spoofing interference effect evaluation method is used for evaluating the spoofing interference effect of low-slow small unmanned aerial vehicle navigation spoofing equipment, and the navigation spoofing equipment emits spoofing trajectory data to induce the low-slow small unmanned aerial vehicle to be positioned according to the real GNSS signals of the low-slow small unmanned aerial vehicle, and is characterized in that the evaluation process comprises the following contents:
setting a low-slow small unmanned aerial vehicle trapping track, and acquiring real-time dynamic data of the low-slow small unmanned aerial vehicle running track in an experimental site by using a measuring robot;
and comparing the real-time dynamic data of the low-speed small unmanned aerial vehicle running track with the set trapping track, and evaluating the trapping interference effect of the navigation trapping device through the comparison result.
2. The method for evaluating the target decoy interference effect of the low-slow small unmanned aerial vehicle as claimed in claim 1, wherein an omnidirectional prism for dynamic data acquisition of a measuring robot is erected on the low-slow small unmanned aerial vehicle.
3. The method for evaluating the target spoofing interference effect of the low-slow small unmanned aerial vehicle as claimed in claim 1 or 2, wherein a reference point and a reference direction point for positioning the measuring robot and marking a point mark with known coordinate values are arranged in the experimental site, wherein the measuring robot sets a host by using the reference point and sets the initial focusing direction of the measuring robot by using the reference direction point.
4. The method for evaluating the target decoy interference effect of the low-slow small unmanned aerial vehicle according to claim 3, wherein the number of the reference points is at least 1; the number of the reference square points is 2.
5. The method for evaluating the target decoy interference effect of the low-speed small unmanned aerial vehicle according to claim 1, wherein the measuring robot is an industrial automatic measuring robot with an automatic target recognition function.
6. The method for evaluating the target spoofing interference effect of the low-slow small unmanned aerial vehicle as claimed in claim 1, wherein the measuring robot and the navigation spoofing device are controlled to run synchronously by a synchronous clock signal.
7. The method for evaluating the target spoofing interference effect of the low-slow small unmanned aerial vehicle as claimed in claim 1, wherein the target spoofing interference effect of the navigation spoofing device is evaluated by using the mean square error of the difference between the real-time dynamic data of the running track and the track coordinates of the set spoofing track according to the comparison result.
8. The method for evaluating the target decoy interference effect of the low-slow small unmanned aerial vehicle according to claim 7, wherein the mean square error calculation formula is represented as:
wherein RMSAMean square error representing the difference in track coordinates; n represents the number of sampling points on the two tracks; i represents the ith sample point; x is the number ofi、yi、hiRepresenting the plane coordinates and the elevation of the ith sampling point on the real-time dynamic data;
and the plane coordinates and the elevation of the ith sampling point on the decoy track are represented.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114740511A (en) * | 2022-06-13 | 2022-07-12 | 广州地铁设计研究院股份有限公司 | Unmanned aerial vehicle positioning method and unmanned aerial vehicle positioning system based on measuring robot |
| CN117240399A (en) * | 2023-11-13 | 2023-12-15 | 西安千将云信息科技有限公司 | Navigation decoy signal processing method and device, storage medium and electronic equipment |
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