CN113885579A - Urban environment unmanned aerial vehicle detection and countercheck system and method - Google Patents
Urban environment unmanned aerial vehicle detection and countercheck system and method Download PDFInfo
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- CN113885579A CN113885579A CN202111354407.0A CN202111354407A CN113885579A CN 113885579 A CN113885579 A CN 113885579A CN 202111354407 A CN202111354407 A CN 202111354407A CN 113885579 A CN113885579 A CN 113885579A
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
The invention relates to a city environment unmanned aerial vehicle detection and control system and a method thereof, wherein the system comprises a radio detection interference device, a photoelectric search tracking device and a display control device; the radio interference detection device is used for detecting the unmanned aerial vehicle, sending first alarm information to the display control device after the unmanned aerial vehicle is detected, and responding to an interference control command sent by the display control device to send an interference signal; the photoelectric searching and tracking device is used for detecting the unmanned aerial vehicle, tracking the unmanned aerial vehicle in response to a tracking control instruction sent by the display control device, and sending second alarm information to the display control device after detecting or tracking the unmanned aerial vehicle; the display control equipment is used for generating a tracking control instruction according to the orientation information of the unmanned aerial vehicle, performing target identification and verification according to the image information of the unmanned aerial vehicle, and generating an interference control instruction according to the communication frequency band information and the position information of the target unmanned aerial vehicle. The system does not need to actively radiate electromagnetic waves outwards for detection in the daily early warning process, is low in power consumption and can verify a target.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a system and a method for detecting and countering an unmanned aerial vehicle in an urban environment.
Background
Along with the continuous development and perfection of unmanned aerial vehicle technology, the market of civil commercial small unmanned aerial vehicles is gradually expanded, more and more people can acquire unmanned aerial vehicles, and the operation degree of difficulty of operating unmanned aerial vehicles is also lower and lower. At present, laws and regulations for unmanned aerial vehicle flight management are not complete, a large gap exists in supervision, and the unmanned aerial vehicle production industry does not form a uniform standard, so that potential safety hazards exist in flying of most unmanned aerial vehicles, and meanwhile lawless persons can take advantage of the unmanned aerial vehicle.
In the prior art, a radar detection mode is often adopted for an aerial target. Under urban environment, electromagnetic environment is complicated, the topography is complicated, and population density is big, detects unmanned aerial vehicle through the radar and probably causes the interference to the electromagnetic field in the surroundings, influences resident daily life.
Disclosure of Invention
The invention aims to provide an unmanned aerial vehicle detection and countering system and method for detecting without actively radiating electromagnetic waves outwards in the daily early warning process aiming at least part of defects.
In order to achieve the above object, the present invention provides an unmanned aerial vehicle detection and countering system for urban environment, which comprises: the system comprises a radio detection interference device, a photoelectric searching and tracking device and a display control device;
the radio interference detection device is used for detecting the unmanned aerial vehicle, sending first alarm information to the display control device after the unmanned aerial vehicle is detected, responding to an interference control command sent by the display control device, and sending a corresponding interference signal to perform interference striking on a communication frequency band of the target unmanned aerial vehicle; the first alarm information at least comprises the direction information and the communication frequency range information of the unmanned aerial vehicle;
the photoelectric searching and tracking device is used for detecting the unmanned aerial vehicle, tracking the unmanned aerial vehicle in response to a tracking control instruction sent by the display control device, and sending second alarm information to the display control device after detecting or tracking the unmanned aerial vehicle; the second alarm information at least comprises position information and image information of the unmanned aerial vehicle;
the display control device is used for generating a corresponding tracking control instruction according to the direction information of the unmanned aerial vehicle after receiving the first alarm information and sending the tracking control instruction to the photoelectric search tracking device, carrying out target identification and verification according to the image information of the unmanned aerial vehicle after receiving the second alarm information, generating a corresponding interference control instruction according to the communication frequency range information and the position information of the target unmanned aerial vehicle after verifying and determining to identify the target unmanned aerial vehicle, and sending the interference control instruction to the radio detection interference device and/or generating a corresponding alarm report and reporting the alarm report to a user.
Optionally, the optoelectronic search and tracking device includes a turntable, a communication processing board and an infrared detector; the turntable is used for carrying the infrared detector, and the communication processing board is used for realizing information interaction inside the photoelectric searching and tracking equipment.
Optionally, the optoelectronic search and tracking device further comprises a visible light camera disposed on the turntable.
Optionally, the radio interference detection device includes a detection antenna, an interference antenna, a receiving channel unit, an antenna power amplifier unit, and a signal processing unit;
the detecting antenna is used for receiving radio signals to detect the unmanned aerial vehicle and sending wave data back to the signal processing unit through the receiving channel unit;
the signal processing unit is used for processing based on echo data, determining azimuth information and communication frequency band information of the unmanned aerial vehicle, processing based on an interference control instruction sent by the display control equipment, determining the frequency band and power of an interference signal, and sending a corresponding instruction to the antenna power amplification unit;
and the antenna power amplifier unit is used for responding to the instruction sent by the signal processing unit, generating a corresponding interference signal and transmitting the interference signal through the interference antenna.
Optionally, the generating of the corresponding interference signal by the antenna power amplifier unit includes:
and covering the communication frequency band of the target unmanned aerial vehicle to generate a broadband interference signal.
Optionally, the system for detecting and countering urban environment unmanned aerial vehicle further includes: a network connection device;
the display control equipment is connected with the radio interference detection equipment and the photoelectric searching and tracking equipment through the network connection equipment.
Optionally, the system for detecting and countering urban environment unmanned aerial vehicle further includes: a server;
the server is connected with the radio interference detection device and the photoelectric search and tracking device through the network connection device.
Optionally, the network connection device, the radio interference detection device and the photoelectric search and tracking device are connected by optical fibers, and signal conversion is performed by an optical fiber transceiver.
The invention also provides a method for detecting and countering the urban environment unmanned aerial vehicle, which is realized by adopting the urban environment unmanned aerial vehicle detecting and countering system, and comprises the following steps:
s1, detecting the unmanned aerial vehicle through the radio interference detection device and the photoelectric search tracking device;
s2, if the radio detection interference equipment detects the unmanned aerial vehicle, executing a step S3, and if the photoelectric search tracking equipment detects the unmanned aerial vehicle, directly executing a step S4;
s3, generating a corresponding tracking control instruction according to the azimuth information of the unmanned aerial vehicle acquired by the radio detection interference equipment, sending the tracking control instruction to the photoelectric searching and tracking equipment, and guiding the photoelectric searching and tracking equipment to track the corresponding unmanned aerial vehicle;
s4, identifying and verifying a target according to the image information of the unmanned aerial vehicle acquired by the photoelectric searching and tracking device, judging whether the current unmanned aerial vehicle is the target unmanned aerial vehicle, if so, executing a step S5, otherwise, returning to the step S1;
and S5, generating and transmitting a corresponding interference signal according to the communication frequency band information and the position information of the target unmanned aerial vehicle, and performing interference striking on the communication frequency band of the target unmanned aerial vehicle.
Optionally, in step S5, the generating and transmitting the corresponding interference signal includes:
and generating a broadband interference signal covering the communication frequency band of the target unmanned aerial vehicle and transmitting the broadband interference signal aiming at the communication frequency band of the target unmanned aerial vehicle.
The technical scheme of the invention has the following advantages: the invention provides a system and a method for detecting and countering an urban environment unmanned aerial vehicle, which adopts a photoelectric detection technology and a composite radio technology, wherein a photoelectric search and tracking device can search a target by itself and can also receive the guidance of radio early warning, no active electromagnetic radiation exists outside in the early warning and detection stage, no influence is caused on surrounding resident personnel and surrounding communication, and the target can be verified based on image information acquired by the photoelectric search and tracking device, so that the detection precision is high, and a false alarm event is not easy to occur; meanwhile, the target unmanned aerial vehicle is treated in an electromagnetic interference mode, so that the unmanned aerial vehicle is not easy to crash, and the probability of secondary injury is reduced.
Drawings
Fig. 1 is a block diagram of a detecting and countering system of an unmanned aerial vehicle in an urban environment according to an embodiment of the present invention;
fig. 2 is a schematic diagram illustrating steps of a method for detecting a counter-braking by an unmanned aerial vehicle in an urban environment according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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 some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
As shown in fig. 1, an embodiment of the present invention provides an unmanned aerial vehicle detection and countermeasure system for an urban environment, which includes a radio interference detection device, a photoelectric search and tracking device, and a display and control device. Specifically, wherein:
the radio detection interference equipment is used for detecting the unmanned aerial vehicle, sending first alarm information to the display control equipment after the unmanned aerial vehicle is detected, and sending a corresponding interference signal to perform interference striking on a communication frequency band of the target unmanned aerial vehicle in response to an interference control instruction sent by the display control equipment; wherein, first alarm information includes unmanned aerial vehicle's position information and communication frequency channel information at least.
The photoelectric searching and tracking device is used for detecting the unmanned aerial vehicle, tracking the corresponding unmanned aerial vehicle in response to a tracking control instruction sent by the display control device, and sending second alarm information to the display control device after detecting or tracking the unmanned aerial vehicle; wherein, the second alarm information includes unmanned aerial vehicle's positional information and image information at least.
The display control device is used for generating a corresponding tracking control instruction and sending the tracking control instruction to the photoelectric search tracking device according to the acquired azimuth information of the unmanned aerial vehicle after receiving the first alarm information, identifying and verifying a target according to the acquired image information of the unmanned aerial vehicle after receiving the second alarm information, generating a corresponding interference control instruction and sending the interference control instruction to the radio detection interference device according to the communication frequency range information and the position information of the target unmanned aerial vehicle after confirming and identifying the target unmanned aerial vehicle after verifying, and/or generating a corresponding alarm report and reporting the alarm report to a user. The position information of the target unmanned aerial vehicle is from a photoelectric searching and tracking device, and the photoelectric searching and tracking device can determine the distance between a target and the photoelectric searching and tracking device through a laser ranging unit; the communication frequency range information of the target unmanned aerial vehicle can come from radio detection interference equipment, and can be further combined with the unmanned aerial vehicle communication frequency range disclosed in the prior art. Through reporting the corresponding alarm report, the user can also select manual operation based on the alarm report to counter the target unmanned aerial vehicle.
The radio detection technology detects, searches and intercepts radio signals in the airspace, analyzes and identifies the radio signals, acquires corresponding technical parameters, working characteristics, radiation positions and other data to judge and track the unmanned aerial vehicle, and obtains information of an azimuth angle, a pitch angle, a communication frequency band and the like of the unmanned aerial vehicle, so that the unmanned aerial vehicle has early warning capability and high search speed, but has the problem that false alarms and atypical frequency bands cannot be detected; the photoelectric detection technology does not have the early warning capability, but can determine the specific position of the target through laser ranging after the target is detected, and acquire the image information of the target. The urban environment unmanned aerial vehicle detection and countering system provided by the invention adopts a mode of combining radio detection and photoelectric detection, monitors an airspace by utilizing the early warning capability of a radio detection technology, can generally quickly find a target, guides the photoelectric detection to track the corresponding target based on the azimuth angle and the pitch angle determined by the radio detection, simultaneously can independently search and track the target by using a photoelectric search and tracking device, and acquires corresponding image information after tracking the target.
Preferably, as shown in fig. 1, the photoelectric search and tracking device comprises a turntable, a communication processing board and an infrared detector. The rotary table is used for carrying an infrared detector, the all-round monitoring of the surrounding 360-degree airspace can be realized through the high-speed rotation of the rotary table and the image splicing technology, and the rotary table can provide high-precision azimuth pitching data. The communication processing board is used for realizing information interaction inside the photoelectric searching and tracking equipment. The infrared detector can realize day and night monitoring, the acquired infrared image information can be used for target identification, point targets on the infrared image can be locked through an image processing algorithm, and the targets can be stably tracked by matching with the rotary table.
Further, the photoelectric searching and tracking device also comprises a visible light camera which is also arranged on the rotary table. The visible light image is obtained through the visible light camera, the wide-range airspace can be observed by utilizing the visible light image, and meanwhile, the target is magnified by variable times under a stable tracking state, so that a user can observe and confirm the target.
Preferably, as shown in fig. 1, the radio frequency interference detecting device includes a detecting antenna, an interfering antenna, a receiving channel unit, an antenna power amplifier unit and a signal processing unit. Specifically, wherein:
the detection antenna is used for receiving radio signals to detect the unmanned aerial vehicle and sending detected echo data to the signal processing unit through the receiving channel unit;
the signal processing unit is used for processing based on the echo data, determining the azimuth information and the communication frequency band information of the unmanned aerial vehicle, processing based on an interference control command sent by the display control equipment, determining the frequency band and the power of an interference signal, and sending a corresponding command to the antenna power amplification unit;
the antenna power amplifier unit is used for responding to the instruction sent by the signal processing unit, generating a corresponding interference signal, transmitting the interference signal through the interference antenna and carrying out interference striking on the communication frequency band of the target unmanned aerial vehicle.
In the radio interference detecting device, the detecting antenna and the interference antenna are used for receiving and generating magnetic signals respectively.
Furthermore, the antenna system can be composed of a log-periodic eight-antenna array, the log-periodic antenna array works at 0.4 GHz-6 GHz, eight antenna array elements are utilized to induce the same radio electromagnetic wave signal in space into wired electric signals with different amplitudes and phases, and the detection angle can be adjusted according to the antenna array elements.
Further, the receiving channel unit can comprise a switch array and an analog down-conversion part. The switch array mainly realizes the functions of direction finding antenna and self-correcting signal switching. The analog down-conversion is used for carrying out frequency conversion processing on input radio frequency signals of 0.3 GHz-3.5 GHz to 5 paths of 140MHz intermediate frequency signals for output, and mainly comprises the functions of frequency conversion, amplification, gain control, signal bandwidth filtering and the like. Two SOM boards are arranged in the signal processing unit and used for driving the antenna to receive radio signals of 70M-6 GHZ, and after the received electric signals are amplified by the LNA, protocol decomposition and intelligent analysis are carried out on the electric signals by a built-in algorithm, so that the radio detection function is realized.
Further, the antenna power amplifier unit generates a corresponding interference signal, including:
and covering the communication frequency band of the target unmanned aerial vehicle to generate a broadband interference signal.
The broadband interference signal covers the whole unmanned aerial vehicle communication frequency band, so that the control is realized, the general typical unmanned aerial vehicle communication frequency band is 2400 plus 2480MHz, 5725 plus 5850MHz, and the setting can also be performed according to the communication frequency band information in the first alarm information.
In consideration of the detection requirement on urban environment, the radio detection interference equipment and the photoelectric search tracking equipment are preferably arranged at urban elevation points. In order to facilitate operation and management, the urban environment unmanned aerial vehicle detection and counteraction system further comprises a network connection device, and the display and control device is connected with the radio detection interference device and the photoelectric search and tracking device through the network connection device. Therefore, the radio detection interference equipment and the photoelectric searching and tracking equipment can be arranged at required positions as front-end equipment, and the display control equipment can realize remote control through the network connection equipment, such as: and receiving the alarm information and the image information sent by the front-end equipment, and controlling the front-end equipment according to the selection of a user. The use of network connection devices facilitates the rapid exchange of large amounts of data.
Preferably, the urban environment unmanned aerial vehicle detection and countercheck system further comprises a server; the server is connected with the radio interference detection device and the photoelectric searching and tracking device through the network connection device. Through the server, besides the user who controls the display and control equipment, other users can also acquire the detection information of the target by the radio detection interference equipment and the photoelectric search and tracking equipment, and information sharing is realized.
Furthermore, optical fiber connections are adopted between the network connection equipment and the radio interference detection equipment and between the network connection equipment and the photoelectric searching and tracking equipment, and signal conversion is carried out through an optical fiber transceiver. Considering that the distance between the front-end equipment and the back-end equipment (display control equipment and server) is far under the urban environment, the adoption of the optical fiber and the optical fiber transceiver is favorable for realizing signal transmission.
As shown in fig. 2, the present invention further provides a method for detecting and countering an unmanned aerial vehicle in an urban environment, which is implemented by the system for detecting and countering an unmanned aerial vehicle in an urban environment according to any of the above embodiments, and specifically includes the following steps:
s1, detecting the unmanned aerial vehicle through the radio interference detection device and the photoelectric search tracking device;
s2, if the radio detection interference equipment detects the unmanned aerial vehicle, executing step S3, if the photoelectric search tracking equipment detects the unmanned aerial vehicle, not executing step S3 and directly executing step S4;
s3, generating a corresponding tracking control command according to the azimuth information of the unmanned aerial vehicle acquired by the radio detection interference equipment, sending the tracking control command to the photoelectric searching and tracking equipment, and guiding the photoelectric searching and tracking equipment to track the corresponding unmanned aerial vehicle so as to acquire the position information and the image information of the unmanned aerial vehicle;
s4, identifying and verifying a target according to the image information of the unmanned aerial vehicle acquired by the photoelectric searching and tracking equipment, judging whether the current unmanned aerial vehicle is the target unmanned aerial vehicle, if so, executing a step S5, otherwise, returning to the step S1, and continuing to detect other unmanned aerial vehicles;
and S5, generating and transmitting a corresponding interference signal according to the communication frequency band information and the position information of the target unmanned aerial vehicle, and performing interference striking on the communication frequency band of the target unmanned aerial vehicle.
Preferably, in step S5, generating and transmitting the corresponding interference signal includes:
and generating a broadband interference signal covering the communication frequency band of the target unmanned aerial vehicle and transmitting the broadband interference signal aiming at the communication frequency band of the target unmanned aerial vehicle.
In conclusion, the invention provides a system and a method for detecting and countering an urban environment unmanned aerial vehicle, which adopt a photoelectric detection composite radio early warning mode and do not adopt a conventional radar detection mode aiming at an aerial target, so that detection is performed without actively radiating electromagnetic waves outwards in the daily early warning process, and the system and the method are safe, environment-friendly, low in power consumption and suitable for urban environments; the front-end equipment in the system can be erected at a height-control point, can perform integral prevention and control on a certain range of area, and has small shielding effect and good effect relative to ground equipment; the radio detection equipment has the early warning capability, and has the problems of false alarm and untypical frequency band failure detection; the photoelectric searching and tracking equipment has no early warning capability, but the stably tracked image information can verify a target, and the searching capability can independently search the target.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A city environment unmanned aerial vehicle detects counter-system, its characterized in that includes: the system comprises a radio detection interference device, a photoelectric searching and tracking device and a display control device;
the radio interference detection device is used for detecting the unmanned aerial vehicle, sending first alarm information to the display control device after the unmanned aerial vehicle is detected, responding to an interference control command sent by the display control device, and sending a corresponding interference signal to perform interference striking on a communication frequency band of the target unmanned aerial vehicle; the first alarm information at least comprises the direction information and the communication frequency range information of the unmanned aerial vehicle;
the photoelectric searching and tracking device is used for detecting the unmanned aerial vehicle, tracking the unmanned aerial vehicle in response to a tracking control instruction sent by the display control device, and sending second alarm information to the display control device after detecting or tracking the unmanned aerial vehicle; the second alarm information at least comprises position information and image information of the unmanned aerial vehicle;
the display control device is used for generating a corresponding tracking control instruction according to the direction information of the unmanned aerial vehicle after receiving the first alarm information and sending the tracking control instruction to the photoelectric search tracking device, carrying out target identification and verification according to the image information of the unmanned aerial vehicle after receiving the second alarm information, generating a corresponding interference control instruction according to the communication frequency range information and the position information of the target unmanned aerial vehicle after verifying and determining to identify the target unmanned aerial vehicle, and sending the interference control instruction to the radio detection interference device and/or generating a corresponding alarm report and reporting the alarm report to a user.
2. The urban environment unmanned aerial vehicle detection and countermeasures system of claim 1, wherein:
the photoelectric searching and tracking equipment comprises a rotary table, a communication processing board and an infrared detector; the turntable is used for carrying the infrared detector, and the communication processing board is used for realizing information interaction inside the photoelectric searching and tracking equipment.
3. The urban environment unmanned aerial vehicle detection and countermeasures system of claim 2, wherein:
the photoelectric searching and tracking equipment further comprises a visible light camera which is arranged on the rotary table.
4. The urban environment unmanned aerial vehicle detection and countermeasures system of claim 1, wherein:
the radio interference detection equipment comprises a detection antenna, an interference antenna, a receiving channel unit, an antenna power amplification unit and a signal processing unit;
the detecting antenna is used for receiving radio signals to detect the unmanned aerial vehicle and sending wave data back to the signal processing unit through the receiving channel unit;
the signal processing unit is used for processing based on echo data, determining azimuth information and communication frequency band information of the unmanned aerial vehicle, processing based on an interference control instruction sent by the display control equipment, determining the frequency band and power of an interference signal, and sending a corresponding instruction to the antenna power amplification unit;
and the antenna power amplifier unit is used for responding to the instruction sent by the signal processing unit, generating a corresponding interference signal and transmitting the interference signal through the interference antenna.
5. The system of claim 4, wherein the antenna power amplifier unit generates a corresponding interference signal, comprising:
and covering the communication frequency band of the target unmanned aerial vehicle to generate a broadband interference signal.
6. The system of claim 1, further comprising: a network connection device;
the display control equipment is connected with the radio interference detection equipment and the photoelectric searching and tracking equipment through the network connection equipment.
7. The system of claim 6, further comprising: a server;
the server is connected with the radio interference detection device and the photoelectric search and tracking device through the network connection device.
8. The system according to any one of claims 6 or 7, wherein:
the network connection equipment, the radio interference detection equipment and the photoelectric searching and tracking equipment are connected by optical fibers, and signal conversion is carried out through an optical fiber transceiver.
9. A method for detecting and countering an urban environment unmanned aerial vehicle, which is implemented by using the urban environment unmanned aerial vehicle detection and countering system according to any one of claims 1 to 8, and comprises the following steps:
s1, detecting the unmanned aerial vehicle through the radio interference detection device and the photoelectric search tracking device;
s2, if the radio detection interference equipment detects the unmanned aerial vehicle, executing a step S3, and if the photoelectric search tracking equipment detects the unmanned aerial vehicle, directly executing a step S4;
s3, generating a corresponding tracking control instruction according to the azimuth information of the unmanned aerial vehicle acquired by the radio detection interference equipment, sending the tracking control instruction to the photoelectric searching and tracking equipment, and guiding the photoelectric searching and tracking equipment to track the corresponding unmanned aerial vehicle;
s4, identifying and verifying a target according to the image information of the unmanned aerial vehicle acquired by the photoelectric searching and tracking device, judging whether the current unmanned aerial vehicle is the target unmanned aerial vehicle, if so, executing a step S5, otherwise, returning to the step S1;
and S5, generating and transmitting a corresponding interference signal according to the communication frequency band information and the position information of the target unmanned aerial vehicle, and performing interference striking on the communication frequency band of the target unmanned aerial vehicle.
10. The method of claim 9, wherein the step S5 of generating and transmitting the corresponding interference signal includes:
and generating a broadband interference signal covering the communication frequency band of the target unmanned aerial vehicle and transmitting the broadband interference signal aiming at the communication frequency band of the target unmanned aerial vehicle.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114719685A (en) * | 2022-04-18 | 2022-07-08 | 北京航天兴科高新技术有限公司 | Portable detection and countercheck equipment and method thereof |
| CN115733954A (en) * | 2022-11-08 | 2023-03-03 | 宁夏超高压电力工程有限公司 | Intelligent interception method based on transformer substation anti-jamming unmanned aerial vehicle |
| CN115913448A (en) * | 2023-01-31 | 2023-04-04 | 北京瑞达恩科技股份有限公司 | Wireless detection interference gun and system |
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2021
- 2021-11-15 CN CN202111354407.0A patent/CN113885579A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114719685A (en) * | 2022-04-18 | 2022-07-08 | 北京航天兴科高新技术有限公司 | Portable detection and countercheck equipment and method thereof |
| CN114719685B (en) * | 2022-04-18 | 2024-03-01 | 北京航天兴科高新技术有限公司 | Portable detecting and countering equipment and method thereof |
| CN115733954A (en) * | 2022-11-08 | 2023-03-03 | 宁夏超高压电力工程有限公司 | Intelligent interception method based on transformer substation anti-jamming unmanned aerial vehicle |
| CN115913448A (en) * | 2023-01-31 | 2023-04-04 | 北京瑞达恩科技股份有限公司 | Wireless detection interference gun and system |
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