CN113867416B - Processing method, system and device for unmanned aerial vehicle detection - Google Patents
Processing method, system and device for unmanned aerial vehicle detection Download PDFInfo
- Publication number
- CN113867416B CN113867416B CN202111461202.2A CN202111461202A CN113867416B CN 113867416 B CN113867416 B CN 113867416B CN 202111461202 A CN202111461202 A CN 202111461202A CN 113867416 B CN113867416 B CN 113867416B
- Authority
- CN
- China
- Prior art keywords
- information
- unmanned aerial
- aerial vehicle
- detection
- handheld
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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 provides a processing method, a system and a device for unmanned aerial vehicle detection, wherein the method is applied to a server and comprises the following steps: receiving a plurality of probe information; determining flight information of the unmanned aerial vehicle according to the plurality of detection information and the corresponding credibility information; according to the flight information and the positions of the handheld unmanned aerial vehicle detection devices, N handheld unmanned aerial vehicle detection devices are selected as target detection devices to monitor the unmanned aerial vehicle. The unmanned aerial vehicle is jointly detected by the plurality of handheld unmanned aerial vehicle detection devices, so that the convenience of the handheld unmanned aerial vehicle detection devices is brought into play, the number advantage of the handheld unmanned aerial vehicle detection devices can be utilized, and the detection performance of the unmanned aerial vehicle is improved; the invention can meet the detection and early warning requirements of various places and activities on the unmanned aerial vehicle, and has low cost and high retentivity.
Description
Technical Field
The invention relates to the technical field of communication, in particular to a processing method, a system and a device for unmanned aerial vehicle detection.
Background
The detection and early warning of the unmanned aerial vehicle means that the unmanned aerial vehicle is detected by detecting an unmanned aerial vehicle signal in the space, and whether the unmanned aerial vehicle is legal is determined by the detected unmanned aerial vehicle signal, so that the early warning of the illegal unmanned aerial vehicle is realized, and the premise of implementing management and control on the unmanned aerial vehicle is provided.
In the prior art, the detection and early warning of the unmanned aerial vehicle are generally based on fixed or vehicle-mounted equipment, and for some temporary important meetings or daily security activities, the deployment convenience and retentivity of the heavy equipment are not good enough, and the deployment cost is high. For the detection of the sporadic unmanned aerial vehicle, the resource waste is large.
Disclosure of Invention
The invention provides a processing method, a system and a device for unmanned aerial vehicle detection, which aim to solve the problems of low portability and high cost of unmanned aerial vehicle detection.
According to a first aspect of the present invention, there is provided a processing method for detecting a drone, applied to a server, including:
receiving a plurality of probe information; the detection information is a signal obtained by detecting the signal of the unmanned aerial vehicle by a plurality of handheld unmanned aerial vehicle detection devices at a plurality of moments;
determining flight information of the unmanned aerial vehicle according to the plurality of detection information and the corresponding credibility information; the credibility information represents the credibility of the signal detected by the handheld unmanned aerial vehicle detection equipment corresponding to the detection information; the flight information comprises a flight position and a flight direction;
according to the flight information and the positions of the handheld unmanned aerial vehicle detection devices, N handheld unmanned aerial vehicle detection devices are selected as target detection devices to monitor the unmanned aerial vehicle.
Optionally, the detection information includes signal strength information;
according to the detection information and the corresponding credibility information, determining the flight information of the unmanned aerial vehicle, including:
for M pieces of signal strength information at any moment, determining the position of the unmanned aerial vehicle according to the M pieces of signal strength information and corresponding credibility information;
and determining the flight direction of the unmanned aerial vehicle according to the positions of the unmanned aerial vehicle at multiple moments.
Optionally, for M pieces of signal strength information at any time, determining the position of the unmanned aerial vehicle according to the M pieces of signal strength information and corresponding reliability information, includes:
dividing the geographic range where the handheld unmanned aerial vehicle detection devices are located into L squares, wherein each square at most comprises one handheld unmanned aerial vehicle detection device;
determining signal situation information of the M pieces of detection information according to the M pieces of signal strength information, the corresponding credibility information and the positions of the plurality of handheld unmanned aerial vehicle detection devices; the signal situation information represents the signal intensity situations of the L grids;
and determining the position of the unmanned aerial vehicle according to the signal situation information.
Optionally, determining the position of the drone according to the signal situation information includes:
according to the signal situation information, determining a target grid where the unmanned aerial vehicle is located in the L grids;
determining a signal propagation attenuation model of the plurality of handheld unmanned aerial vehicle detection devices according to terrain and obstacle features between the plurality of handheld unmanned aerial vehicle detection devices and the target grid; the signal propagation attenuation model represents the signal attenuation condition of the detection information reaching the handheld unmanned aerial vehicle detection equipment;
determining the distance between the handheld unmanned aerial vehicle detection equipment corresponding to the M pieces of signal strength information and the unmanned aerial vehicle according to the signal propagation attenuation model and the M pieces of signal strength information;
and determining the position of the unmanned aerial vehicle according to the M distances.
Optionally, the signal propagation attenuation models of at least some of the handheld drone detecting devices are different.
Optionally, the probe information includes identity information;
the method further comprises the following steps:
and determining sending information according to the identity information, and sending the sending information outwards.
Optionally, determining sending information according to the identity information, and sending the sending information to the outside, including:
and if the identity information is matched with identity information of a legal unmanned aerial vehicle, issuing the flight information to the plurality of handheld unmanned aerial vehicle detection devices as part or all of the sending information.
Optionally, the sending information includes first sending information and second sending information;
determining sending information according to the identity information, and sending the sending information outwards, wherein the sending information comprises the following steps:
if the identity information does not match with the identity information of the legal unmanned aerial vehicle, then:
reporting the flight information to an unmanned aerial vehicle management system as part or all of the first sending information;
determining orientation information of the unmanned aerial vehicle to the plurality of handheld unmanned aerial vehicle detection devices according to the positions of the plurality of handheld unmanned aerial vehicle detection devices and the current position of the unmanned aerial vehicle, and generating alarm information;
and issuing the flight information, the direction information and the alarm information to corresponding handheld unmanned aerial vehicle detection equipment as part or all of the second sending information.
Optionally, in the multiple handheld unmanned aerial vehicle detection devices, after selecting N handheld unmanned aerial vehicle detection devices as target detection devices to detect the unmanned aerial vehicle, the method includes:
determining position adjustment information of the N target detection devices according to the positions of the N target detection devices and the flight information, wherein the position adjustment information represents the direction needing to be adjusted and the adjustment distance of the N target detection devices;
and issuing the position adjustment information to corresponding target detection equipment.
According to a second aspect of the invention, there is provided a processing system for drone detection, comprising a server, a plurality of handheld drone detection devices,
the server is adapted to perform the method of the first aspect of the invention and its alternatives;
the handheld drone detecting device is capable of detecting radio signals and is configured to be able to communicate with the server.
Optionally, the handheld unmanned aerial vehicle detection device includes a communication module, a signal detection module, and a processor;
the signal detection module is connected with the processor and is used for detecting radio signals in a target area and feeding the detected radio signals back to the server;
the processor is connected with the communication module and used for analyzing and processing the radio signal, if the radio signal is matched with a signal sent by an unmanned aerial vehicle, the related information of the radio signal is recorded as detection information, and the detection information is fed back to the communication module;
the communication module is in wireless connection with the server and is used for sending the detection information to the server.
Optionally, the processor is specifically configured to:
extracting the signal characteristics and the intensity of the radio signals;
according to the signal characteristics and the signal strength, the radio signal is determined to be matched with a signal sent by the unmanned aerial vehicle;
recording relevant information of the radio signal as detection information, and feeding back the detection information to the communication module.
Optionally, the communication module is further configured to at least one of:
receiving sending information from a server and feeding the sending information back to the processor;
and receiving position adjusting information from a server, and feeding the position adjusting information back to the processor.
Optionally, the handheld unmanned aerial vehicle detection device communicates with the server in any one of the following manners:
wifi, 4G, 5G, Ad hoc modules.
According to a third aspect of the present invention, there is provided a processing apparatus for drone detection, applied to a server, including:
the device comprises a detection information receiving module, a detection information processing module and a detection information processing module, wherein the detection information receiving module is used for receiving a plurality of detection information; the detection information is a signal obtained by detecting the signal of the unmanned aerial vehicle by a plurality of handheld unmanned aerial vehicle detection devices at a plurality of moments;
the flight information determining module is used for determining the flight information of the unmanned aerial vehicle according to the detection information and the corresponding credibility information; the credibility information represents the credibility of the signal detected by the handheld unmanned aerial vehicle detection equipment corresponding to the detection information; the flight information comprises a flight position and a flight direction;
the detection device selection module is used for selecting N handheld unmanned aerial vehicle detection devices as target detection devices to monitor the unmanned aerial vehicle according to the flight information and the positions of the handheld unmanned aerial vehicle detection devices.
According to a fourth aspect of the present invention, there is provided an electronic device comprising a processor and a memory,
the memory is used for storing codes and related data;
the processor is adapted to execute code in the memory for implementing the method of the first aspect of the invention and its alternatives.
According to a fifth aspect of the present invention there is provided a storage medium having stored thereon a computer program which, when executed by a processor, performs the method of the first aspect of the present invention and its alternatives.
According to the processing method, the processing system and the processing device for unmanned aerial vehicle detection, the unmanned aerial vehicle is jointly detected through the plurality of handheld unmanned aerial vehicle detection devices, the flight information of the unmanned aerial vehicle is determined according to the obtained detection information, and then the most appropriate target detection device is selected according to the flight information of the unmanned aerial vehicle to continuously detect the unmanned aerial vehicle; the invention not only exerts the convenience of the handheld unmanned aerial vehicle detection equipment, but also can improve the detection performance of the unmanned aerial vehicle by utilizing the number advantages of the handheld unmanned aerial vehicle detection equipment, and makes up the defects of weak detection performance and incomplete function of single equipment; compared with a fixed vehicle-mounted unmanned aerial vehicle detection and early warning system, the system can meet the detection and early warning requirements of various places and activities on the unmanned aerial vehicle, and is low in cost and high in retentivity;
meanwhile, the flight information of the unmanned aerial vehicle is determined by combining the credibility information of the detection signal, and more accurate flight information can be obtained.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a first flowchart illustrating a processing method for drone detection according to an embodiment of the present invention;
FIG. 2 is a flowchart illustrating step S102 according to an embodiment of the present invention;
FIG. 3 is a flowchart illustrating the step S1021 according to an embodiment of the present invention;
FIG. 4 is a flowchart illustrating step S10213 according to an embodiment of the present invention;
fig. 5 is a second flowchart illustrating a processing method for detecting an unmanned aerial vehicle according to an embodiment of the present invention;
FIG. 6 is a flowchart illustrating step S104 according to an embodiment of the present invention;
fig. 7 is an application scenario diagram of a processing method for drone detection in an embodiment of the present invention;
fig. 8 is a schematic structural diagram of a handheld unmanned aerial vehicle detection device in an embodiment of the present invention;
fig. 9 is a first schematic diagram of program modules of a processing device for drone detection according to an embodiment of the present invention;
fig. 10 is a schematic diagram of program modules of a processing device for drone detection in an embodiment of the present invention;
fig. 11 is a third schematic program module diagram of a processing device for drone detection according to an embodiment of the present invention;
fig. 12 is a schematic structural diagram of an electronic device in an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terms "first," "second," "third," "fourth," and the like in the description and in the claims, as well as in the drawings, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The technical solution of the present invention will be described in detail below with specific examples. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments.
Referring to fig. 1, an embodiment of the present invention provides a processing method for detecting an unmanned aerial vehicle, applied to a server, including:
s101: receiving a plurality of probe information;
the detection information is a signal obtained by detecting the signal of the unmanned aerial vehicle by a plurality of handheld unmanned aerial vehicle detection devices at a plurality of moments;
in one example, the detection information is a radio signal of the unmanned aerial vehicle detected by the handheld unmanned aerial vehicle detection device, and in another example, the detection information is information generated according to the radio signal of the unmanned aerial vehicle detected by the handheld unmanned aerial vehicle detection device, and may include, for example, the strength of the signal and the identity information of the corresponding unmanned aerial vehicle;
s102: determining flight information of the unmanned aerial vehicle according to the plurality of detection information and the corresponding credibility information;
the credibility information represents the credibility of the signal detected by the handheld unmanned aerial vehicle detection device corresponding to the detection information,
step S102 may be understood that reliability information of probe information sent to the server by different handheld unmanned aerial vehicle probe devices is different, and thus when flight information is determined, the received probe information cannot be directly processed, and a weight needs to be added to different probe information according to the reliability information, and then the flight information is determined;
the flight information comprises a flight position and a flight direction;
s103: according to the flight information and the positions of the plurality of handheld unmanned aerial vehicle detection devices, selecting N handheld unmanned aerial vehicle detection devices as target detection devices to monitor the unmanned aerial vehicle from the plurality of handheld unmanned aerial vehicle detection devices;
in step S103, for the selection of the target detection device, a more suitable handheld unmanned aerial vehicle detection device may be used to continuously detect the unmanned aerial vehicle.
According to the processing method for unmanned aerial vehicle detection provided by the embodiment of the invention, the unmanned aerial vehicle is jointly detected by the plurality of handheld unmanned aerial vehicle detection devices, the flight information of the unmanned aerial vehicle is determined according to the obtained detection information, and then the most appropriate target detection device is selected according to the flight information of the unmanned aerial vehicle to continuously detect the unmanned aerial vehicle; the invention not only exerts the convenience of the handheld unmanned aerial vehicle detection equipment, but also can improve the detection performance of the unmanned aerial vehicle by utilizing the number advantages of the handheld unmanned aerial vehicle detection equipment, and makes up the defects of weak detection performance and incomplete function of single equipment; compared with a fixed vehicle-mounted unmanned aerial vehicle detection and early warning system, the system can meet the detection and early warning requirements of various places and activities on the unmanned aerial vehicle, and is low in cost and high in retentivity;
meanwhile, the flight information of the unmanned aerial vehicle is determined by combining the credibility information of the detection signal, and more accurate flight information can be obtained.
Referring to fig. 2, in one embodiment, the probing information includes signal strength information;
step S102, comprising:
s1021: for M pieces of signal strength information at any moment, determining the position of the unmanned aerial vehicle according to the M pieces of signal strength information and corresponding credibility information;
in step S1021, determining the position of the unmanned aerial vehicle according to the M pieces of signal strength information and the corresponding reliability information, where it can be understood that the reliability information corresponding to the signal strength information is used as a weight of the signal strength information, new signal strength information is obtained by weighting the signal strength information, and the new signal strength information is used to locate the unmanned aerial vehicle
Referring to fig. 3, in one embodiment, the step S1021 includes:
s10211: dividing the geographic range where the handheld unmanned aerial vehicle detection devices are located into L squares, wherein each square at most comprises one handheld unmanned aerial vehicle detection device;
the sizes of the L grids in step S10211 may be equal or unequal; furthermore, the geographical range where the plurality of handheld unmanned aerial vehicle detection devices are located can be regarded as a two-dimensional plane, the two-dimensional plane is further divided at equal intervals, and the geographical range where the plurality of handheld unmanned aerial vehicle detection devices are located can be divided according to the actual geographical morphology, for example, the geographical range is divided in consideration of the altitude of the position or an obstacle;
furthermore, no matter what method is adopted for division, each grid at most comprises one handheld unmanned aerial vehicle detection device, namely, the handheld unmanned aerial vehicle detection devices are not arranged in some grids;
s10212: determining signal situation information of the M pieces of detection information according to the M pieces of signal strength information, the corresponding credibility information and the positions of the plurality of handheld unmanned aerial vehicle detection devices;
the signal situation information represents the signal intensity situations of the L grids;
the signal situation information can be represented in an image form, for example, a geographical range is regarded as a two-dimensional plane, each divided grid corresponds to one grid of the plane, different colors are used for representing different signal intensities, and then the signal situation information is generated according to the M pieces of signal intensity information, the corresponding credibility information and the positions of the plurality of handheld unmanned aerial vehicle detection devices;
s10213: determining the position of the unmanned aerial vehicle according to the signal situation information;
in one example, the position determination in step S10213 is: the server trains according to a plurality of data, can determine the position of the unmanned aerial vehicle in the signal situation information according to machine learning, and further can position the unmanned aerial vehicle according to the learning result when executing the step S10213;
s1022: determining the flight direction of the unmanned aerial vehicle according to the positions of the unmanned aerial vehicle at multiple moments;
in one example, in step S1022, a current flight trajectory of the unmanned aerial vehicle may be fitted according to the position of the unmanned aerial vehicle and the corresponding time point, and then the flight direction of the unmanned aerial vehicle is predicted according to the current flight trajectory;
in an example, step S1021 may be executed first, and then step S1022 may be executed; in another example, step S1022 may be performed first, and then step S1021 is performed, that is, there is no fixed precedence relationship between step S1021 and step S1022.
Referring to fig. 4, in one embodiment, step S10213 includes:
s10214: according to the signal situation information, determining a target grid where the unmanned aerial vehicle is located in the L grids;
step S10214 may be understood as the server, according to the learning result, being able to select one or more squares with the highest signal strength among the L squares as the target grid;
s10215: determining a signal propagation attenuation model of the plurality of handheld unmanned aerial vehicle detection devices according to terrain and obstacle features between the plurality of handheld unmanned aerial vehicle detection devices and the target grid;
the signal propagation attenuation model represents the signal attenuation condition of the detection information reaching the handheld unmanned aerial vehicle detection equipment;
in one example, the signal propagation attenuation models of at least some of the handheld drone detecting devices are different;
in one example, the signal propagation attenuation models of the plurality of handheld drone detecting devices are the same;
the signal propagation attenuation model is determined according to the terrain and the obstacle characteristics between each handheld unmanned aerial vehicle detection device and the target grid, and the signals of the unmanned aerial vehicles are attenuated to different degrees when being transmitted to the handheld unmanned aerial vehicle detection devices from the target grid due to the different positions of the handheld unmanned aerial vehicle detection devices;
s10216: determining the distance between the handheld unmanned aerial vehicle detection equipment corresponding to the M pieces of signal strength information and the unmanned aerial vehicle according to the signal propagation attenuation model and the M pieces of signal strength information;
s10217: determining the position of the unmanned aerial vehicle according to the M distances;
in one example, in step S10217, the position of the drone may be determined by using a set cross-location method according to the known M distances.
In one embodiment of the invention, by adopting a signal propagation attenuation model, the range of the position of the unmanned aerial vehicle obtained by positioning by adopting signal situation information is further narrowed, and a more accurate position can be obtained; further, adopt different signal propagation attenuation models, calculate hand-held type unmanned aerial vehicle detecting equipment and unmanned aerial vehicle's distance, can reduce the error of position calculation, obtain more accurate unmanned aerial vehicle's position, and then when tracking the monitoring to unmanned aerial vehicle, can realize tracking more accurately.
Referring to fig. 5, in one embodiment, the probe information includes identity information;
the method further comprises the following steps:
s104: determining sending information according to the identity information, and sending the sending information outwards;
the sending information may be information sent by the server to the handheld unmanned aerial vehicle detection device, or information sent to the unmanned aerial vehicle management system.
Referring to fig. 6, in one embodiment, step S104 includes:
s1041: whether the identity information matches identity information of a legitimate unmanned aerial vehicle;
if the determination result in the step S1041 is yes, then:
s1042: and issuing the flight information to the plurality of handheld unmanned aerial vehicle detection devices as part or all of the transmission information.
In one embodiment, the transmission information includes first transmission information and second transmission information;
if the determination result in the step S1041 is no, then:
s1043: reporting the flight information to an unmanned aerial vehicle management system as part or all of the first sending information;
s1044: determining orientation information of the unmanned aerial vehicle to the plurality of handheld unmanned aerial vehicle detection devices according to the positions of the plurality of handheld unmanned aerial vehicle detection devices and the current position of the unmanned aerial vehicle, and generating alarm information;
s1045: and issuing the flight information, the direction information and the alarm information to corresponding handheld unmanned aerial vehicle detection equipment as part or all of the second sending information.
Above embodiment can understand that, step S1041 judges that unmanned aerial vehicle is illegal unmanned aerial vehicle, can report illegal unmanned aerial vehicle to unmanned aerial vehicle management system, can confirm the position of unmanned aerial vehicle for hand-held type unmanned aerial vehicle detecting equipment according to unmanned aerial vehicle' S current position simultaneously, and then can realize the early warning or the counter-measure to illegal unmanned aerial vehicle.
In the above embodiment, when step S1041 is executed, the identity of the unmanned aerial vehicle may be determined through communication with the unmanned aerial vehicle relationship system.
In one embodiment, after step S103, the method comprises:
s105: determining position adjustment information of the N target detection devices according to the positions of the N target detection devices and the flight information;
the position adjustment information represents the direction and the distance of the N target detection devices to be adjusted;
s106: issuing the position adjustment information to corresponding target detection equipment;
steps S105, S106 and step S104 may be included simultaneously, and step S104 may be before steps S105 and S106, or after steps S105 and S106.
In the above embodiment, through the adjustment to the position of hand-held type unmanned aerial vehicle detecting equipment, can realize tracing unmanned aerial vehicle better, compare and adopt the fixed station to listen to unmanned aerial vehicle in partial scheme, can make full use of hand-held type unmanned aerial vehicle detecting equipment handy advantage, the deployment condition of optimizing equipment realizes the performance of listening better.
Please refer to fig. 7, which is an application scenario diagram in an embodiment of the present invention, and the following describes the positive effects of the present invention in detail with reference to the diagram:
in the figure, unmanned aerial vehicles a1, a2, A3 and a4 represent illegal unmanned aerial vehicles, unmanned aerial vehicles B1 and B2 represent legal unmanned aerial vehicles, a plurality of handheld unmanned aerial vehicle detection devices 22 are arranged around the unmanned aerial vehicles,
the method comprises the steps that a plurality of handheld unmanned aerial vehicle detection devices 22 send detected detection information of the unmanned aerial vehicles to a server, the server executes step S101, then executes steps S10211 and S10212 to generate signal situation information of the unmanned aerial vehicles, after the signal situation information is generated, the server specifies target grids according to the signal situation information according to machine learning results, namely step S10214 is executed, then steps S10215, S10216 and S10217 are executed to determine the positions of the unmanned aerial vehicles, and then step S1022 is executed to obtain the flight directions of the unmanned aerial vehicles;
in addition, the step S104 can be executed to determine whether the unmanned aerial vehicle is legal for the received detection information, and send the information to the handheld unmanned aerial vehicle detection device;
the deployment of the handheld unmanned aerial vehicle detection equipment can be realized according to the current position of the unmanned aerial vehicle by executing the steps S105 and S106, so that the unmanned aerial vehicle can be tracked better;
the handheld unmanned aerial vehicle detection device can be brought into play, the good overall detection performance can be obtained by utilizing the number advantages of the handheld unmanned aerial vehicle detection device, and the handheld unmanned aerial vehicle detection device is suitable for detection and early warning requirements of various places and activities on the unmanned aerial vehicle.
The invention also provides a processing system for unmanned aerial vehicle detection, which comprises a server 21, a plurality of handheld unmanned aerial vehicle detection devices 22,
the server 21 is configured to perform the method described above;
the handheld drone detecting device 22 is able to detect radio signals and is configured to be able to communicate with the server 21.
In one embodiment, the handheld drone detecting device 22 communicates with the server 21 by any one of:
wifi, 4G, 5G, Ad hoc modules.
Referring to fig. 8, in one embodiment, the handheld drone detecting device 22 includes a communication module 221, a signal detecting module 223, and a processor 222;
the signal detection module 223 is connected to the processor 222, and the signal detection module 223 is configured to detect a radio signal in a target area and feed back the detected radio signal to the server 222;
the processor 222 is connected to the communication module 221, and the processor 222 is configured to analyze and process the radio signal, record relevant information of the radio signal as probe information if the radio signal matches a signal sent by the drone, and feed the probe information back to the communication module 221;
the communication module 221 is wirelessly connected to the server 21, and the communication module 221 is configured to send the probe information to the server 21.
In one example, the communication module 221 includes a wireless connection unit, and the establishment of the wireless connection relationship between the handheld unmanned aerial vehicle detection device and the server may configure relevant parameters of the handheld unmanned aerial vehicle detection device by using the wireless connection unit of the communication module through a deployment plan of the pre-device, so as to complete the wireless connection between the handheld unmanned aerial vehicle detection device and the server.
In one embodiment, the processor 222 is specifically configured to:
extracting the signal characteristics and the intensity of the radio signals;
according to the signal characteristics and the signal strength, the radio signal is determined to be matched with a signal sent by the unmanned aerial vehicle;
the related information of the radio signal is recorded as the probe information, and the probe information is fed back to the communication module 221.
In one embodiment, the communication module 221 is further configured to at least one of:
receiving the transmission information from the server 21 and feeding back the transmission information to the processor 222;
receives position adjustment information from the server 21 and feeds the position adjustment information back to the processor 222.
Referring to fig. 9, an embodiment of the present invention further provides a processing apparatus 3 for detecting a drone, which is applied to a server 21, and includes:
a probe information receiving module 31 for receiving a plurality of probe information; the detection information is a signal obtained by detecting the signal of the unmanned aerial vehicle by a plurality of handheld unmanned aerial vehicle detection devices at a plurality of moments;
a flight information determining module 32, configured to determine flight information of the unmanned aerial vehicle according to the multiple pieces of detection information and the corresponding credibility washing information; the credibility information represents the credibility of the signal detected by the handheld unmanned aerial vehicle detection equipment corresponding to the detection information; the flight information comprises a flight position and a flight direction;
a detection device selection module 33, configured to select N handheld unmanned aerial vehicle detection devices as target detection devices to monitor the unmanned aerial vehicle according to the flight information and the positions of the plurality of handheld unmanned aerial vehicle detection devices.
Referring to fig. 10, in one embodiment, the probing information includes signal strength information;
a flight information determination module 32 comprising:
an unmanned aerial vehicle positioning unit 321, configured to determine, for M pieces of signal strength information at any time, a position of the unmanned aerial vehicle according to the M pieces of signal strength information and corresponding reliability information;
a flight direction determining unit 322, configured to determine a flight direction of the unmanned aerial vehicle according to the positions of the unmanned aerial vehicle at multiple times.
Referring to fig. 11, in one embodiment, the drone positioning unit 321 includes:
a geographic dividing unit 3211, configured to divide a geographic range in which the handheld unmanned aerial vehicle detection devices are located into L squares, where each square includes at most one handheld unmanned aerial vehicle detection device;
a situation map generating subunit 3212, configured to determine, according to the M pieces of signal strength information, the corresponding reliability information, and the positions of the multiple pieces of handheld unmanned aerial vehicle detection equipment, signal situation information of the M pieces of detection information; the signal situation information represents the signal intensity situations of the L grids;
and the positioning subunit 3213 is configured to determine the position of the unmanned aerial vehicle according to the signal situation information.
In one embodiment, the positioning subunit 3213 is specifically configured to:
according to the signal situation information, determining a target grid where the unmanned aerial vehicle is located in the L grids;
determining a signal propagation attenuation model of the plurality of handheld unmanned aerial vehicle detection devices according to terrain and obstacle features between the plurality of handheld unmanned aerial vehicle detection devices and the target grid; the signal propagation attenuation model represents the signal attenuation condition of the detection information reaching the handheld unmanned aerial vehicle detection equipment;
determining the distance between the handheld unmanned aerial vehicle detection equipment corresponding to the M pieces of signal strength information and the unmanned aerial vehicle according to the signal propagation attenuation model and the M pieces of signal strength information;
and determining the position of the unmanned aerial vehicle according to the M distances.
In one embodiment, the signal propagation attenuation models of at least some of the handheld drone detecting devices are different.
In one embodiment, the probe information includes identity information;
the device further comprises:
and the information sending module 34 is configured to determine sending information according to the identity information, and send the sending information to the outside.
In one embodiment, the transmission information includes first transmission information and second transmission information; the information sending module 34 is configured to:
and if the identity information is matched with identity information of a legal unmanned aerial vehicle, issuing the flight information to the plurality of handheld unmanned aerial vehicle detection devices as part or all of the sending information.
In one embodiment, the information sending module 34 is specifically configured to:
if the identity information does not match with the identity information of the legal unmanned aerial vehicle, then:
reporting the flight information to an unmanned aerial vehicle management system as part or all of the first sending information;
determining orientation information of the unmanned aerial vehicle to the plurality of handheld unmanned aerial vehicle detection devices according to the positions of the plurality of handheld unmanned aerial vehicle detection devices and the current position of the unmanned aerial vehicle, and generating alarm information;
and issuing the flight information, the direction information and the alarm information to corresponding handheld unmanned aerial vehicle detection equipment as part or all of the second sending information.
In one embodiment, the apparatus further comprises:
an adjustment information determining module 35, configured to determine, according to the positions of the N target detection devices and the flight information, position adjustment information of the N target detection devices, where the position adjustment information represents directions and distances of the N target detection devices that need to be adjusted;
and an adjustment information sending module 36, configured to issue the position adjustment information to the corresponding target detection device.
Referring to fig. 12, the present invention further provides an electronic device 40, including:
a processor 41; and the number of the first and second groups,
a memory 42 for storing executable instructions for the processor;
wherein the processor 41 is configured to perform the above-mentioned method via execution of executable instructions.
The processor 41 is capable of communicating with the memory 42 via the bus 43.
Embodiments of the present invention also provide a computer-readable storage medium, on which a computer program is stored, which when executed by a processor implements the above-mentioned method.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (14)
1. A processing method for unmanned aerial vehicle detection is applied to a server and is characterized by comprising the following steps:
receiving a plurality of probe information; the detection information is a signal obtained by detecting the signal of the unmanned aerial vehicle by a plurality of handheld unmanned aerial vehicle detection devices at a plurality of moments;
determining flight information of the unmanned aerial vehicle according to the plurality of detection information and the corresponding credibility information; the credibility information represents the credibility of the signal detected by the handheld unmanned aerial vehicle detection equipment corresponding to the detection information; the flight information comprises a flight position and a flight direction;
according to the flight information and the positions of the plurality of handheld unmanned aerial vehicle detection devices, selecting N handheld unmanned aerial vehicle detection devices as target detection devices to monitor the unmanned aerial vehicle from the plurality of handheld unmanned aerial vehicle detection devices;
wherein the probe information comprises signal strength information;
according to the detection information and the corresponding credibility information, determining the flight information of the unmanned aerial vehicle, including:
for M pieces of signal strength information at any moment, determining the position of the unmanned aerial vehicle according to the M pieces of signal strength information and corresponding credibility information;
determining the flight direction of the unmanned aerial vehicle according to the positions of the unmanned aerial vehicle at multiple moments;
wherein, for M signal strength information at any moment, according to M signal strength information and corresponding credibility information, determine the position of the unmanned aerial vehicle, including:
dividing the geographic range where the handheld unmanned aerial vehicle detection devices are located into L squares, wherein each square at most comprises one handheld unmanned aerial vehicle detection device;
determining signal situation information of the plurality of detection information according to the M pieces of signal strength information, the corresponding credibility information and the positions of the plurality of handheld unmanned aerial vehicle detection devices; the signal situation information represents the signal intensity situations of the L grids;
according to the signal situation information, determining a target grid where the unmanned aerial vehicle is located in the L grids;
determining a signal propagation attenuation model of the plurality of handheld unmanned aerial vehicle detection devices according to terrain and obstacle features between the plurality of handheld unmanned aerial vehicle detection devices and the target grid; the signal propagation attenuation model represents the signal attenuation condition of the detection information reaching the handheld unmanned aerial vehicle detection equipment;
determining the distance between the handheld unmanned aerial vehicle detection equipment corresponding to the M pieces of signal strength information and the unmanned aerial vehicle according to the signal propagation attenuation model and the M pieces of signal strength information;
and determining the position of the unmanned aerial vehicle according to the M distances.
2. Processing method for drone detection according to claim 1, characterized in that the signal propagation attenuation models of at least part of the handheld drone detection devices are different.
3. A processing method for drone detection according to claim 1, characterized in that the detection information includes identity information;
the method further comprises the following steps:
and determining sending information according to the identity information, and sending the sending information outwards.
4. The processing method for unmanned aerial vehicle detection according to claim 3, wherein determining sending information according to the identity information, and sending the sending information outwards comprises:
and if the identity information is matched with identity information of a legal unmanned aerial vehicle, issuing the flight information to the plurality of handheld unmanned aerial vehicle detection devices as part or all of the sending information.
5. The processing method for drone detection of claim 3, wherein the transmission information includes a first transmission information and a second transmission information;
determining sending information according to the identity information, and sending the sending information outwards, wherein the sending information comprises the following steps:
if the identity information does not match with the identity information of the legal unmanned aerial vehicle, then:
reporting the flight information to an unmanned aerial vehicle management system as part or all of the first sending information;
determining orientation information of the unmanned aerial vehicle to the plurality of handheld unmanned aerial vehicle detection devices according to the positions of the plurality of handheld unmanned aerial vehicle detection devices and the current position of the unmanned aerial vehicle, and generating alarm information;
and issuing the flight information, the direction information and the alarm information to corresponding handheld unmanned aerial vehicle detection equipment as part or all of the second sending information.
6. The processing method for drone detection according to claim 1, wherein after selecting N handheld drone detection devices as target detection devices to detect the drone among the plurality of handheld drone detection devices, comprising:
determining position adjustment information of the N target detection devices according to the positions of the N target detection devices and the flight information, wherein the position adjustment information represents the direction needing to be adjusted and the adjustment distance of the N target detection devices;
and issuing the position adjustment information to corresponding target detection equipment.
7. A processing system for unmanned aerial vehicle detection is characterized by comprising a server and a plurality of handheld unmanned aerial vehicle detection devices,
the server is configured to perform the method of any one of claims 1 to 6;
the handheld drone detecting device is capable of detecting radio signals and is configured to be able to communicate with the server.
8. The processing system for drone detection of claim 7, wherein the handheld drone detection device includes a communication module, a signal detection module, a processor;
the signal detection module is connected with the processor and is used for detecting radio signals in a target area and feeding the detected radio signals back to the server;
the processor is connected with the communication module and used for analyzing and processing the radio signal, if the radio signal is matched with a signal sent by an unmanned aerial vehicle, the related information of the radio signal is recorded as detection information, and the detection information is fed back to the communication module;
the communication module is in wireless connection with the server and is used for sending the detection information to the server.
9. The processing system for drone detection of claim 8, wherein the processor is specifically configured to:
extracting the signal characteristics and the intensity of the radio signals;
according to the signal characteristics and the signal strength, the radio signal is determined to be matched with a signal sent by the unmanned aerial vehicle;
recording relevant information of the radio signal as detection information, and feeding back the detection information to the communication module.
10. The processing system for drone detection of claim 8, wherein the communication module is further to at least one of:
receiving sending information from a server and feeding the sending information back to the processor;
and receiving position adjusting information from a server, and feeding the position adjusting information back to the processor.
11. The processing system for drone detection of claim 7, wherein the handheld drone detection device communicates with the server by any one of:
wifi, 4G, 5G, Ad hoc modules.
12. A processing apparatus for unmanned aerial vehicle surveys is applied to the server, its characterized in that includes:
the device comprises a detection information receiving module, a detection information processing module and a detection information processing module, wherein the detection information receiving module is used for receiving a plurality of detection information; the detection information is a signal obtained by detecting the signal of the unmanned aerial vehicle by a plurality of handheld unmanned aerial vehicle detection devices at a plurality of moments;
the flight information determining module is used for determining the flight information of the unmanned aerial vehicle according to the detection information and the corresponding credibility information; the credibility information represents the credibility of the signal detected by the handheld unmanned aerial vehicle detection equipment corresponding to the detection information; the flight information comprises a flight position and a flight direction;
the detection equipment selection module is used for selecting N handheld unmanned aerial vehicle detection equipment as target detection equipment to monitor the unmanned aerial vehicle from the plurality of handheld unmanned aerial vehicle detection equipment according to the flight information and the positions of the plurality of handheld unmanned aerial vehicle detection equipment;
wherein the probe information comprises signal strength information;
the flight information determination module includes:
the unmanned aerial vehicle positioning unit is used for determining the position of the unmanned aerial vehicle according to the M pieces of signal strength information and the corresponding credibility information aiming at the M pieces of signal strength information at any moment;
the flight direction determining unit is used for determining the flight direction of the unmanned aerial vehicle according to the positions of the unmanned aerial vehicle at multiple moments;
wherein, unmanned aerial vehicle positioning unit includes:
the geographical division subunit is used for dividing the geographical range where the handheld unmanned aerial vehicle detection devices are located into L grids, and each grid at most comprises one handheld unmanned aerial vehicle detection device;
the situation map generating subunit is configured to determine, according to the M pieces of signal strength information, the corresponding reliability information, and the positions of the multiple pieces of handheld unmanned aerial vehicle detection equipment, signal situation information of the multiple pieces of detection information; the signal situation information represents the signal intensity situations of the L grids;
the positioning subunit is used for determining the position of the unmanned aerial vehicle according to the signal situation information; the positioning subunit is specifically configured to:
according to the signal situation information, determining a target grid where the unmanned aerial vehicle is located in the L grids;
determining a signal propagation attenuation model of the plurality of handheld unmanned aerial vehicle detection devices according to terrain and obstacle features between the plurality of handheld unmanned aerial vehicle detection devices and the target grid; the signal propagation attenuation model represents the signal attenuation condition of the detection information reaching the handheld unmanned aerial vehicle detection equipment;
determining the distance between the handheld unmanned aerial vehicle detection equipment corresponding to the M pieces of signal strength information and the unmanned aerial vehicle according to the signal propagation attenuation model and the M pieces of signal strength information;
and determining the position of the unmanned aerial vehicle according to the M distances.
13. An electronic device, comprising a processor and a memory,
the memory is used for storing codes and related data;
the processor to execute code in the memory to implement the method of any one of claims 1 to 6.
14. A storage medium having stored thereon a computer program which, when executed by a processor, carries out the method of any one of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111461202.2A CN113867416B (en) | 2021-12-03 | 2021-12-03 | Processing method, system and device for unmanned aerial vehicle detection |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111461202.2A CN113867416B (en) | 2021-12-03 | 2021-12-03 | Processing method, system and device for unmanned aerial vehicle detection |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113867416A CN113867416A (en) | 2021-12-31 |
| CN113867416B true CN113867416B (en) | 2022-04-22 |
Family
ID=78985693
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111461202.2A Active CN113867416B (en) | 2021-12-03 | 2021-12-03 | Processing method, system and device for unmanned aerial vehicle detection |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113867416B (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103149457A (en) * | 2013-03-01 | 2013-06-12 | 西安电子科技大学 | Space electromagnetic intensity distribution analysis method |
| CN104950907A (en) * | 2015-06-26 | 2015-09-30 | 广州快飞计算机科技有限公司 | Method, device and system for monitoring unmanned aerial vehicle |
| CN108268052A (en) * | 2017-12-29 | 2018-07-10 | 河南鸿马实业有限公司 | Unmanned plane breaks through method and system |
| CN110425935A (en) * | 2019-07-08 | 2019-11-08 | 北京国卫星通科技有限公司 | Multisystem combined anti-unmanned plane method, apparatus, storage medium and control equipment |
| CN111413690A (en) * | 2020-02-14 | 2020-07-14 | 沈阳同保信电气设备有限公司 | Handheld unmanned aerial vehicle positioning device and method |
| CN111628843A (en) * | 2020-06-19 | 2020-09-04 | 北京融鼎盛低空安全科技有限公司 | Handheld unmanned aerial vehicle detection interference equipment |
| CN112348882A (en) * | 2020-11-13 | 2021-02-09 | 北京环境特性研究所 | Low-altitude target tracking information fusion method and system based on multi-source detector |
| CN112947580A (en) * | 2021-03-24 | 2021-06-11 | 上海特金无线技术有限公司 | Fusion processing method, device, system, equipment and medium for unmanned aerial vehicle positioning |
| CN112986901A (en) * | 2021-05-11 | 2021-06-18 | 上海特金信息科技有限公司 | Positioning method, system and device based on spatial spectrum direction finding and TDOA |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018112823A1 (en) * | 2016-12-22 | 2018-06-28 | Intel Corporation | Uav positions method and apparatus |
| CN113342030B (en) * | 2021-04-27 | 2022-07-08 | 湖南科技大学 | Multi-unmanned aerial vehicle cooperative self-organizing control method and system based on reinforcement learning |
-
2021
- 2021-12-03 CN CN202111461202.2A patent/CN113867416B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103149457A (en) * | 2013-03-01 | 2013-06-12 | 西安电子科技大学 | Space electromagnetic intensity distribution analysis method |
| CN104950907A (en) * | 2015-06-26 | 2015-09-30 | 广州快飞计算机科技有限公司 | Method, device and system for monitoring unmanned aerial vehicle |
| CN108268052A (en) * | 2017-12-29 | 2018-07-10 | 河南鸿马实业有限公司 | Unmanned plane breaks through method and system |
| CN110425935A (en) * | 2019-07-08 | 2019-11-08 | 北京国卫星通科技有限公司 | Multisystem combined anti-unmanned plane method, apparatus, storage medium and control equipment |
| CN111413690A (en) * | 2020-02-14 | 2020-07-14 | 沈阳同保信电气设备有限公司 | Handheld unmanned aerial vehicle positioning device and method |
| CN111628843A (en) * | 2020-06-19 | 2020-09-04 | 北京融鼎盛低空安全科技有限公司 | Handheld unmanned aerial vehicle detection interference equipment |
| CN112348882A (en) * | 2020-11-13 | 2021-02-09 | 北京环境特性研究所 | Low-altitude target tracking information fusion method and system based on multi-source detector |
| CN112947580A (en) * | 2021-03-24 | 2021-06-11 | 上海特金无线技术有限公司 | Fusion processing method, device, system, equipment and medium for unmanned aerial vehicle positioning |
| CN112986901A (en) * | 2021-05-11 | 2021-06-18 | 上海特金信息科技有限公司 | Positioning method, system and device based on spatial spectrum direction finding and TDOA |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113867416A (en) | 2021-12-31 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11388648B2 (en) | System and method for detecting and controlling contraband devices | |
| US10271179B1 (en) | Geolocation determination using deep machine learning | |
| CN113075714B (en) | Auxiliary positioning method, device and equipment based on reference point position | |
| CN108243451B (en) | Method and system for positioning in TD-LTE grid based on MR data | |
| CN102355671B (en) | Available frequency spectrum determination method and equipment | |
| CN106060863A (en) | Radio communication systems with integrated location-based measurements for diagnostics and performance optimization | |
| US20140225590A1 (en) | Method and system for implementing remote spectrum analysis | |
| CN108337645B (en) | Gridding radio signal monitoring system architecture and interference signal joint detection method | |
| CN112947580A (en) | Fusion processing method, device, system, equipment and medium for unmanned aerial vehicle positioning | |
| CN113030588A (en) | Airport communication navigation equipment electromagnetic environment detecting system based on unmanned aerial vehicle | |
| CN111181627A (en) | Target detection system | |
| CN113867416B (en) | Processing method, system and device for unmanned aerial vehicle detection | |
| CN114337763A (en) | Control method and controller for receiving TDOA (time difference of arrival) auxiliary RID (Rich infrared) signal | |
| US10764718B1 (en) | System and method for obtaining radio frequency (RF) signal data | |
| CN112986909B (en) | Positioning method, system and device based on antenna switching and TDOA | |
| US11621791B2 (en) | Apparatus and method for precise positioning based on deep learning | |
| CN112835382A (en) | 5G base station test system based on unmanned aerial vehicle | |
| CN113015081A (en) | Electronic fence wireless base station identification and positioning method and system | |
| CN114067554B (en) | Road side terminal abnormality detection method, device, computer equipment and storage medium | |
| CN210862390U (en) | Unmanned aerial vehicle monitoring and intercepting device | |
| CN109283488B (en) | Position determination method and device | |
| CN109246597B (en) | Position determination method and device | |
| US10791437B2 (en) | Data transfer utilizing two-way radio transmission independent of or concurrent with other data transfer means | |
| US20230394360A1 (en) | Method of training an artificial intelligence circuit, monitoring method and system for monitoring a radio frequency environment | |
| US20230087554A1 (en) | Mobile device id tracking for automatic incident data association and correlation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20220331 Address after: 201112 unit A1, floor 2, building 36, No. 1188, LIANHANG Road, Minhang District, Shanghai Applicant after: Tejin Intelligent Technology (Shanghai) Co.,Ltd. Address before: Block 22301-331, building 14, No. 498, GuoShouJing Road, China (Shanghai) pilot Free Trade Zone, Pudong New Area, Shanghai, 201203 Applicant before: SHANGHAI TEJIN INFORMATION TECHNOLOGY CO.,LTD. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |