CN113949480A - Unmanned aerial vehicle defense system and method based on fusion sensing perception and navigation decoy - Google Patents
Unmanned aerial vehicle defense system and method based on fusion sensing perception and navigation decoy Download PDFInfo
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Abstract
The invention discloses an unmanned aerial vehicle defense system and a method based on fusion sensing and navigation decoy, belonging to the technical field of unmanned aerial vehicle management and control, wherein the system comprises a sensing module, a navigation decoy module, a wireless link interference module and a software control platform; the method comprises the following steps: obtaining unmanned aerial vehicle presence or absence information, unmanned aerial vehicle azimuth information and frequency spectrum characteristic information; obtaining real-time azimuth information and distance information of the unmanned aerial vehicle; setting a defense strategy target, a course and a track through a strategy and action control area unit according to the real-time azimuth information and the distance information of the unmanned aerial vehicle; the wireless link interference module is mobilized to cut off a communication link between the unmanned aerial vehicle and a remote controller thereof, and the navigation cheating module is mobilized to dynamically adjust the cheating signals and guide the unmanned aerial vehicle to land to a specified place according to a set course and track; the invention solves the problems of taking over and guiding the invading unmanned aerial vehicle and controlling the invading unmanned aerial vehicle to leave a defense area or to forcibly land to a specified place according to a preset course and track.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle management and control, and particularly relates to an unmanned aerial vehicle defense system and method based on fusion sensing perception and navigation decoy.
Background
The development of the related art of unmanned aerial vehicles, that is, unmanned aerial vehicles mentioned in general, is rapid, and the application scenarios thereof are also more and more extensive, for example: power inspection, agricultural planting, emergency rescue, environmental monitoring and the like. Unmanned aerial vehicles play a vital role in these areas. However, in recent years, many events such as illegal flight, photographing, and delivery of illegal articles by unmanned aerial vehicles at fixed places and peripheral areas have occurred at home and abroad. Although the country also has made corresponding laws and regulations to carry out certain restrictions, the prevention of the fixed place for the unmanned aerial vehicle is not slow, and an unmanned aerial vehicle management and control system needs to be built and perfected urgently. The low-altitude unmanned stereo defense system can become an important jigsaw of a security system of a base with high safety requirements, and powerful guarantee is provided for emergency events.
The invention aims at the actual demand of a key security area on low-altitude unmanned aerial vehicle defense, designs the low-altitude unmanned aerial vehicle defense based on relevant regulations of the industry, adopts radio detection perception, finds, confirms and locks a target by a low-altitude target detection radar, links a navigation decoy module and a wireless link interference module, takes over and guides an intruding unmanned aerial vehicle, and controls the intruding unmanned aerial vehicle to be far away from the defense area or to be forced to fall to a specified place according to a preset course and track. Compared with the existing defense schemes with single means, the unmanned aerial vehicle defense system can reduce the cost of establishing, applying and maintaining the unmanned aerial vehicle defense system, improve the accuracy of detecting and finding the unmanned aerial vehicle, improve the effect of defending the unmanned aerial vehicle, has wide application range, and can be applied to the fields of public security police, petroleum industry, electric power system, military and other scenes with requirements on unmanned aerial vehicle defense.
Disclosure of Invention
Aiming at the defects in the prior art, the unmanned aerial vehicle defense system and the unmanned aerial vehicle defense method based on fusion sensing perception and navigation decoy solve the problems that the invading unmanned aerial vehicle is taken over and guided, and the invading unmanned aerial vehicle is controlled to be far away from a defense area or is forced to land to a specified place according to a preset course and track.
In order to achieve the purpose of the invention, the invention adopts the technical scheme that:
the invention provides an unmanned aerial vehicle defense system based on fusion sensing and navigation decoy, which comprises a sensing module, a navigation decoy module, a wireless link interference module and a software control platform, wherein the sensing module is used for sensing the unmanned aerial vehicle;
the unmanned aerial vehicle detection sensing module is used for acquiring, processing and analyzing an electromagnetic signal of the unmanned aerial vehicle to obtain the existence information of the unmanned aerial vehicle, the orientation information of the unmanned aerial vehicle and the frequency spectrum characteristic information; the system is used for accurately positioning the azimuth and the distance of the unmanned aerial vehicle and continuously tracking the unmanned aerial vehicle to obtain real-time azimuth information and distance information of the unmanned aerial vehicle;
the navigation trapping module is used for trapping and controlling the course, track and fluctuation state of the unmanned aerial vehicle, dynamically adjusting trapping signals under the action of the software control platform, and guiding the unmanned aerial vehicle to land to a specified place according to the set course and track, wherein the navigation trapping module simultaneously supports the simulated emission of four navigation satellite signals of GPS, Beidou, Galileo and Glonass;
the wireless link interference module is used for interfering the unmanned aerial vehicle in a specified frequency band and a specified direction under the action of the software control platform, and cutting off a communication link between the unmanned aerial vehicle and a remote controller of the unmanned aerial vehicle;
the software control platform is used for selecting a platform sub-module, setting working parameters of access equipment, displaying the working state of the access equipment, displaying the direction and distance of the unmanned aerial vehicle on an electronic map, and setting a defense strategy target, a course and a track, wherein the defense strategy target comprises a directional driving away unmanned aerial vehicle, a forced landing unmanned aerial vehicle and a fixed point forced landing unmanned aerial vehicle; the system is used for fusing the information of existence and nonexistence of the unmanned aerial vehicle, the azimuth information of the unmanned aerial vehicle and the frequency spectrum characteristic information obtained by the radio detection submodule, moving the low-altitude target detection radar submodule to accurately position the azimuth and the distance of the unmanned aerial vehicle and continuously tracking the unmanned aerial vehicle; the unmanned aerial vehicle remote control system is used for moving a wireless link interference module to cut off a communication link between the unmanned aerial vehicle and a remote controller thereof according to a defense strategy target, moving a navigation cheating module to dynamically adjust cheating signals and guiding the unmanned aerial vehicle to land to a specified place according to a set course and track, wherein the defense strategy target comprises a directional driving unmanned aerial vehicle, a forced landing unmanned aerial vehicle and a fixed point forced landing unmanned aerial vehicle; the system is used for accessing and managing the sensing equipment, the navigation decoy equipment and the wireless link interference equipment, controlling the access equipment to be opened or closed, and configuring the working parameters of the access equipment; the method is used for establishing the local area network and the internet communication for the access equipment in a communication physical connection mode according to a communication protocol.
The invention has the beneficial effects that: the unmanned aerial vehicle defense system based on fusion sensing perception and navigation decoy comprises a set of complete unmanned aerial vehicle sensing perception, navigation decoy, wireless link interference and a software control platform, wherein the software control platform can realize user interaction, decision control and communication management; the system solves the problems that the invading unmanned aerial vehicle is taken over and guided, and the invading unmanned aerial vehicle is controlled to leave a defense area or is forced to land to a specified place according to a preset course and track; the navigation decoy module simultaneously supports four navigation satellite signals of GPS, Beidou, Galileo and Glonass for analog transmission, decoys and controls the course, track and fluctuation state of the invading unmanned aerial vehicle by adopting a time synchronization technology, a distance delay compensation technology and a dynamic track injection technology, dynamically adjusts the decoy signal under the guidance of a software control platform, and guides the unmanned aerial vehicle to land to a specified position.
Furthermore, the detection sensing module comprises a radio detection sensing submodule and a low-altitude target detection radar submodule, and the radio detection sensing submodule and the low-altitude target detection radar submodule work in a combined mode;
the radio detection sensing submodule is used for acquiring, processing and analyzing an electromagnetic signal of the unmanned aerial vehicle to obtain the existence information of the unmanned aerial vehicle, the azimuth information of the unmanned aerial vehicle and the frequency spectrum characteristic information;
the low-altitude target detection radar submodule is used for accurately positioning the azimuth and the distance of the unmanned aerial vehicle, continuously transmitting high-frequency radio waves and receiving radio echoes to track the unmanned aerial vehicle, and obtaining real-time azimuth information and distance information of the unmanned aerial vehicle.
The beneficial effect of adopting the further scheme is as follows: the radio detection sensing submodule has the advantages of high response speed, capability of continuously working, capability of not radiating electromagnetic waves and direction finding outwards, capability of analyzing the working frequency spectrum and frequency band of the unmanned aerial vehicle, incapability of accurately positioning the azimuth and distance of the target unmanned aerial vehicle and capability of continuously tracking the target unmanned aerial vehicle; the low-altitude target detection radar sub-module has accurate ranging and positioning capabilities, can continuously track a locked target unmanned aerial vehicle, is not suitable for continuous starting due to the fact that electromagnetic waves need to be continuously emitted in the working process, is poor in radar mobility, needs time when rotating in a direction, is not fast enough in reaction speed, and is not suitable for quick target searching; the invention combines the radio detection and the low-altitude target detection radar for use, and can achieve the purposes of continuously detecting for 7 x 24 hours, quickly finding an invading unmanned aerial vehicle, quickly locking a target unmanned aerial vehicle and accurately measuring the azimuth and the distance of the unmanned aerial vehicle.
Furthermore, the wireless link interference module is integrated with a 2.4GHz first communication frequency band interference submodule, a 5.8GHz second communication frequency band interference submodule, an 800/900MHz third communication frequency band interference submodule and a fourth communication frequency band interference submodule for expanding frequency;
the first communication frequency band interference submodule, the second communication frequency band interference submodule, the third communication frequency band interference submodule and the fourth communication frequency band interference submodule are all used for interfering the unmanned aerial vehicle at a specified frequency band and a specified direction under the action of the software control platform, and a communication link between the unmanned aerial vehicle and a remote controller of the unmanned aerial vehicle is cut off.
The beneficial effect of adopting the further scheme is as follows: the wireless link interference module can control the on and off of interference signals of 2.4GHz, 5.8GHz and 800/900MHz communication frequency bands, and the source wireless communication link of the target unmanned aerial vehicle is cut off.
Further, the software control platform comprises a user interaction interface sub-module, a fusion perception sub-module, a decision and defense strategy control sub-module, an equipment management sub-module and a communication and networking sub-module;
the user interaction interface submodule comprises a menu bar unit, a parameter setting area unit, an electronic map unit, a state display area unit and a strategy and action control area unit;
the menu bar unit is used for selecting the platform function submodule; the parameter setting unit is used for setting working parameters of the access equipment; the electronic map unit is used for displaying the position and the distance of the unmanned aerial vehicle on the electronic map; the strategy and action control area unit is used for setting a defense strategy target, a course and a track, wherein the defense strategy target comprises a directional driving unmanned aerial vehicle, a forced landing unmanned aerial vehicle and a fixed point forced landing unmanned aerial vehicle;
the fusion sensing submodule is used for fusing the information of existence and nonexistence of the unmanned aerial vehicle, the position information of the unmanned aerial vehicle and the frequency spectrum characteristic information which are obtained by the radio detection submodule, moving the low-altitude target detection radar submodule to accurately position the direction and the distance of the unmanned aerial vehicle, and continuously tracking the unmanned aerial vehicle to obtain the real-time direction information and the distance information of the unmanned aerial vehicle;
the decision and defense strategy control submodule is used for transferring the wireless link interference module to cut off a communication link between the unmanned aerial vehicle and a remote controller thereof according to a defense strategy target, transferring the navigation cheating module to dynamically adjust the cheating signal and guiding the unmanned aerial vehicle to land to a specified place according to a set course and track;
the device management submodule is used for accessing and managing the sensing device, the navigation decoy device and the wireless link interference device, controlling the access device to be opened or closed, and configuring working parameters of the access device;
the communication and networking submodule is used for establishing a local area network and establishing internet communication for the access equipment in a communication physical connection mode according to a communication protocol.
The beneficial effect of adopting the further scheme is as follows: the software control platform provides a user interaction interface submodule for controlling and setting an interface for a user, can display defense situation, provides a fusion sensing module for detecting and locking the unmanned aerial vehicle, provides a decision and defense strategy control submodule for formulating a defense strategy target, course and track, provides an equipment management submodule for realizing control on, off and working parameter setting of each access equipment, and provides a communication and networking submodule for realizing communication networking among each access equipment.
The invention provides a method of an unmanned aerial vehicle defense system based on fusion sensing perception and navigation decoy, which comprises the following steps:
s1, starting the sensing device, the navigation decoy device and the wireless link interference device through the device management submodule, and respectively setting working parameters of the sensing device, the navigation decoy device and the wireless link interference device;
s2, establishing a local area network and establishing Internet communication for the sensing equipment, the navigation decoy equipment and the wireless link interference equipment by utilizing the communication and networking sub-modules according to a communication protocol in a communication physical connection mode;
s3, acquiring, processing and analyzing the electromagnetic signals of the unmanned aerial vehicle by using the radio detection and sensing submodule to obtain the existence information, the azimuth information and the frequency spectrum characteristic information of the unmanned aerial vehicle;
s4, judging whether the unmanned aerial vehicle is detected or not according to the unmanned aerial vehicle existence information, if so, entering the step S5, otherwise, returning to the step S3;
s5, fusing the information of existence and nonexistence of the unmanned aerial vehicle, the azimuth information of the unmanned aerial vehicle and the frequency spectrum characteristic information obtained by the radio detection submodule by utilizing the fusion sensing submodule, moving the low-altitude target detection radar submodule to accurately position the azimuth and the distance of the unmanned aerial vehicle, and continuously tracking the unmanned aerial vehicle to obtain the real-time azimuth information and the distance information of the unmanned aerial vehicle;
s6, setting a defense strategy target, a course and a track through a strategy and action control area unit according to the real-time azimuth information and the distance information of the unmanned aerial vehicle, wherein the defense strategy target comprises a directional driving unmanned aerial vehicle, a forced landing unmanned aerial vehicle and a fixed point forced landing unmanned aerial vehicle;
and S7, transferring the wireless link interference module to cut off the communication link between the unmanned aerial vehicle and the remote controller thereof according to the defense strategy target by using the decision and defense strategy control submodule, transferring the navigation spoofing module to dynamically adjust the spoofing signal, and guiding the unmanned aerial vehicle to land to a specified place according to the set course and track.
The beneficial effect of this scheme does: the unmanned aerial vehicle defense system based on fusion sensing perception and navigation trapping is provided with an unmanned aerial vehicle defense method, an access device is started through a device management submodule, working parameters of the access device are configured, an electromagnetic signal of an unmanned aerial vehicle is collected, processed and analyzed through a radio sensing perception submodule, and unmanned aerial vehicle existence information, unmanned aerial vehicle direction information and frequency spectrum characteristic information are obtained; the low-altitude target detection radar sub-module is mobilized to accurately position the azimuth and the distance of the unmanned aerial vehicle, and the unmanned aerial vehicle is continuously tracked to obtain real-time azimuth information and distance information of the unmanned aerial vehicle; and then, a defense strategy target, a course and a track are formulated according to the real-time direction information and the distance information of the unmanned aerial vehicle, after a communication link between the unmanned aerial vehicle and a remote controller of the unmanned aerial vehicle is cut off, a decoy signal is dynamically adjusted, and the unmanned aerial vehicle is guided to land to a specified place according to the set course and track.
Further, the step S3 specifically includes the following steps:
s31, collecting electromagnetic signals of the unmanned aerial vehicle by using the radio detection and perception submodule, wherein the electromagnetic signals comprise unmanned aerial vehicle remote control signals and image-transmitted radio frequency signals;
s32, down-converting the remote control signals of the unmanned aerial vehicle and the image transmission radio frequency signals to an intermediate frequency band, and sampling the intermediate frequency signals at a sampling rate 2 times greater than the carrier frequency of the intermediate frequency to obtain intermediate frequency sampling signals;
s33, performing Fast Fourier Transform (FFT) on the intermediate frequency sampling signal to obtain frequency spectrum characteristic information;
s34, judging whether the frequency spectrum characteristic information contains stable unmanned aerial vehicle remote control information or image transmission frequency spectrum characteristic information, if yes, entering a step S35, otherwise, entering a step S4;
s35, unmanned aerial vehicle information, unmanned aerial vehicle azimuth information and spectrum feature information are transmitted to the fusion perception submodule, and the step S4 is carried out.
The beneficial effect of adopting the further scheme is as follows: the method for the radio detection sensing submodule to obtain the information of existence of the unmanned aerial vehicle, the azimuth information of the unmanned aerial vehicle and the frequency spectrum characteristic information and transmit the information of existence of the unmanned aerial vehicle, the azimuth information of the unmanned aerial vehicle and the frequency spectrum characteristic information to the fusion sensing submodule is provided.
Further, the step S5 specifically includes the following steps:
s51, fusing the information of existence and nonexistence of the unmanned aerial vehicle, the azimuth information of the unmanned aerial vehicle and the frequency spectrum characteristic information obtained by the radio detection submodule by utilizing the fusion sensing submodule;
s52, using the fusion perception submodule to transfer the low-altitude target detection radar submodule to continuously transmit high-frequency radio waves;
s53, continuously transmitting high-frequency radio waves and receiving radio echoes to track the unmanned aerial vehicle through the low-altitude target detection radar submodule;
and S54, calculating echo time and Doppler frequency shift according to the radio echo, supplementing radar body motion data, and obtaining real-time azimuth information and distance information of the unmanned aerial vehicle.
The beneficial effect of adopting the further scheme is as follows: the method for obtaining the real-time azimuth information and the distance information of the unmanned aerial vehicle by fusing the perception submodule and the radio detection submodule, moving the low-altitude target detection radar submodule to accurately position the azimuth and the distance of the unmanned aerial vehicle, continuously tracking the unmanned aerial vehicle and obtaining the real-time azimuth information and the distance information of the unmanned aerial vehicle is provided
Further, the step S7 includes the following specific steps:
s71, the decision and defense strategy control submodule is used for transferring the wireless link interference module according to the defense strategy target to open one or a combination of two or more of the first communication frequency band interference submodule, the second communication frequency band interference submodule, the third communication frequency band interference submodule and the fourth communication frequency band interference submodule, so that the unmanned aerial vehicle is interfered in the designated frequency band and the designated direction, and the communication link between the unmanned aerial vehicle and the remote controller is cut off.
S72, the decision and defense strategy control submodule is used for mobilizing the navigation trap module according to the defense strategy target and switching the navigation receiver of the unmanned aerial vehicle to the trap signal of the navigation trap module by adopting a time synchronization method;
s73, deducting the transmission delay of the decoy signal by adopting a distance delay compensation method to obtain a time service synchronous decoy signal without delay;
and S74, dynamically adjusting the cheating signal by adopting a dynamic track injection method, and guiding the unmanned aerial vehicle to land to a specified place according to the set course and track.
The beneficial effect of adopting the further scheme is as follows: the method is characterized in that a decision and defense strategy control submodule is used for transferring a wireless link interference module to cut off a communication link between the unmanned aerial vehicle and a remote controller thereof according to a defense strategy target, transferring a navigation spoofing module to dynamically adjust a spoofing signal, and guiding the unmanned aerial vehicle to land to a specified place according to a set course and track.
Drawings
Fig. 1 is a block diagram of a defense system of an unmanned aerial vehicle based on fusion detection sensing and navigation spoofing in an embodiment of the present invention.
FIG. 2 is a diagram illustrating a user interaction interface sub-module according to an embodiment of the present invention.
Fig. 3 is a schematic direction-finding diagram of the radio direction-finding method in the embodiment of the invention.
Detailed Description
The following description of the embodiments of the present invention is provided to facilitate the understanding of the present invention by those skilled in the art, but it should be understood that the present invention is not limited to the scope of the embodiments, and it will be apparent to those skilled in the art that various changes may be made without departing from the spirit and scope of the invention as defined and defined in the appended claims, and all matters produced by the invention using the inventive concept are protected.
As shown in fig. 1, in an embodiment of the present invention, the present invention provides an unmanned aerial vehicle defense system based on fusion detection sensing and navigation spoofing, which includes a detection sensing module, a navigation spoofing module, a wireless link interference module, and a software control platform;
the unmanned aerial vehicle detection sensing module is used for acquiring, processing and analyzing an electromagnetic signal of the unmanned aerial vehicle to obtain the existence information of the unmanned aerial vehicle, the orientation information of the unmanned aerial vehicle and the frequency spectrum characteristic information; the system is used for accurately positioning the azimuth and the distance of the unmanned aerial vehicle and continuously tracking the unmanned aerial vehicle to obtain real-time azimuth information and distance information of the unmanned aerial vehicle;
the navigation trapping module is used for trapping and controlling the course, track and fluctuation state of the unmanned aerial vehicle, dynamically adjusting trapping signals under the action of the software control platform, and guiding the unmanned aerial vehicle to land to a specified place according to the set course and track, wherein the navigation trapping module simultaneously supports the simulated emission of four navigation satellite signals of GPS, Beidou, Galileo and Glonass;
the wireless link interference module is used for interfering the unmanned aerial vehicle in a specified frequency band and a specified direction under the action of the software control platform, and cutting off a communication link between the unmanned aerial vehicle and a remote controller of the unmanned aerial vehicle;
the software control platform is used for selecting a platform sub-module, setting working parameters of access equipment, displaying the working state of the access equipment, displaying the direction and distance of the unmanned aerial vehicle on an electronic map, and setting a defense strategy target, a course and a track, wherein the defense strategy target comprises a directional driving away unmanned aerial vehicle, a forced landing unmanned aerial vehicle and a fixed point forced landing unmanned aerial vehicle; the system is used for fusing the information of existence and nonexistence of the unmanned aerial vehicle, the azimuth information of the unmanned aerial vehicle and the frequency spectrum characteristic information obtained by the radio detection submodule, moving the low-altitude target detection radar submodule to accurately position the azimuth and the distance of the unmanned aerial vehicle and continuously tracking the unmanned aerial vehicle; the unmanned aerial vehicle remote control system is used for moving a wireless link interference module to cut off a communication link between the unmanned aerial vehicle and a remote controller thereof according to a defense strategy target, moving a navigation cheating module to dynamically adjust cheating signals and guiding the unmanned aerial vehicle to land to a specified place according to a set course and track, wherein the defense strategy target comprises a directional driving unmanned aerial vehicle, a forced landing unmanned aerial vehicle and a fixed point forced landing unmanned aerial vehicle; the system is used for accessing and managing the sensing equipment, the navigation decoy equipment and the wireless link interference equipment, controlling the access equipment to be opened or closed, and configuring the working parameters of the access equipment; the method is used for establishing the local area network and the internet communication for the access equipment in a communication physical connection mode according to a communication protocol.
The detection sensing module comprises a radio detection sensing submodule and a low-altitude target detection radar submodule, and the radio detection sensing submodule and the low-altitude target detection radar submodule work in a combined mode;
the radio detection sensing submodule is used for acquiring, processing and analyzing an electromagnetic signal of the unmanned aerial vehicle to obtain the existence information of the unmanned aerial vehicle, the azimuth information of the unmanned aerial vehicle and the frequency spectrum characteristic information;
the low-altitude target detection radar submodule is used for accurately positioning the azimuth and the distance of the unmanned aerial vehicle, continuously transmitting high-frequency radio waves and receiving radio echoes to track the unmanned aerial vehicle, and obtaining real-time azimuth information and distance information of the unmanned aerial vehicle;
the radio detection sensing submodule has the capabilities of high response speed, continuous work and no outward radiation of electromagnetic waves and lateral direction, has the capability of analyzing the working frequency spectrum and frequency band of the unmanned aerial vehicle, cannot accurately position the azimuth and distance of the target unmanned aerial vehicle, and continuously tracks the target unmanned aerial vehicle; the low-altitude target detection radar sub-module has accurate ranging and positioning capabilities, can continuously track a locked target unmanned aerial vehicle, is not suitable for continuous starting due to the fact that electromagnetic waves need to be continuously emitted in the working process, is poor in radar mobility, needs time when rotating in a direction, is not fast enough in reaction speed, and is not suitable for quick target searching; the invention combines the radio detection and the low-altitude target detection radar for use, and can achieve the purposes of continuously detecting for 7 x 24 hours, quickly finding an invading unmanned aerial vehicle, quickly locking a target unmanned aerial vehicle and accurately measuring the azimuth and the distance of the unmanned aerial vehicle.
The wireless link interference module is integrated with a 2.4GHz first communication frequency band interference submodule, a 5.8GHz second communication frequency band interference submodule, an 800/900MHz third communication frequency band interference submodule and a fourth communication frequency band interference submodule for expanding frequency;
the first communication frequency band interference submodule, the second communication frequency band interference submodule, the third communication frequency band interference submodule and the fourth communication frequency band interference submodule are all used for interfering the unmanned aerial vehicle at a specified frequency band and a specified direction under the action of the software control platform, and a communication link between the unmanned aerial vehicle and a remote controller of the unmanned aerial vehicle is cut off;
the wireless link interference module can control the on and off of interference signals of communication frequency bands of 2.4GHz, 5.8GHz and 800/900MHz, so that the source wireless communication link of the target unmanned aerial vehicle is cut off; the fourth communication frequency band interference submodule can realize expanded communication frequency band interference except for 2.4GHz, 5.8GHz and 800/900MHz communication frequency bands.
The navigation decoy module simultaneously supports four navigation satellite signal analog emission of GPS, Beidou, Galileo and Glonass, and realizes the track course induction of the target unmanned aerial vehicle through a time synchronization technology, a distance delay compensation technology and a dynamic track injection technology, thereby realizing the driving-off, landing and fixed-point landing of the unmanned aerial vehicle.
The software control platform comprises a user interaction interface sub-module, a fusion perception sub-module, a decision and defense strategy control sub-module, an equipment management sub-module and a communication and networking sub-module;
as shown in fig. 2, the user interaction interface sub-module includes a menu bar unit, a parameter setting area unit, an electronic map unit, a status display area unit, and a policy and action control area unit;
the menu bar unit is used for selecting the platform function submodule; the parameter setting unit is used for setting working parameters of the access equipment; the electronic map unit is used for displaying the position and the distance of the unmanned aerial vehicle on the electronic map; the strategy and action control area unit is used for setting a defense strategy target, a course and a track, wherein the defense strategy target comprises a directional driving unmanned aerial vehicle, a forced landing unmanned aerial vehicle and a fixed point forced landing unmanned aerial vehicle;
the fusion sensing submodule is used for fusing the information of existence and nonexistence of the unmanned aerial vehicle, the position information of the unmanned aerial vehicle and the frequency spectrum characteristic information which are obtained by the radio detection submodule, moving the low-altitude target detection radar submodule to accurately position the direction and the distance of the unmanned aerial vehicle, and continuously tracking the unmanned aerial vehicle to obtain the real-time direction information and the distance information of the unmanned aerial vehicle;
the decision and defense strategy control submodule is used for transferring the wireless link interference module to cut off a communication link between the unmanned aerial vehicle and a remote controller thereof according to a defense strategy target, transferring the navigation cheating module to dynamically adjust the cheating signal and guiding the unmanned aerial vehicle to land to a specified place according to a set course and track;
the device management submodule is used for accessing and managing the sensing device, the navigation decoy device and the wireless link interference device, controlling the access device to be opened or closed, and configuring working parameters of the access device;
the communication and networking submodule is used for establishing a local area network and establishing internet communication for the access equipment in a communication physical connection mode according to a communication protocol; the communication protocol adopted by the communication and networking submodule comprises an Ethernet TCP/IP protocol and a local bus control protocol, and the adopted communication connection mode comprises Ethernet twisted pair connection, optical fiber connection and wireless communication connection, wherein the local bus control protocol comprises serial interfaces RS232, RS485, RS422 and a CAN protocol;
the software control platform provides a user interaction interface submodule for controlling and setting an interface for a user, can display defense situation, provides a fusion sensing module for detecting and locking the unmanned aerial vehicle, provides a decision and defense strategy control submodule for formulating a defense strategy target, course and track, provides an equipment management submodule for realizing control on, off and working parameter setting of each access equipment, and provides a communication and networking submodule for realizing communication networking among each access equipment.
The invention provides a method of an unmanned aerial vehicle defense system based on fusion sensing perception and navigation decoy, which comprises the following steps:
s1, starting the sensing device, the navigation decoy device and the wireless link interference device through the device management submodule, and respectively setting working parameters of the sensing device, the navigation decoy device and the wireless link interference device;
s2, establishing a local area network and establishing Internet communication for the sensing equipment, the navigation decoy equipment and the wireless link interference equipment by utilizing the communication and networking sub-modules according to a communication protocol in a communication physical connection mode;
s3, acquiring, processing and analyzing the electromagnetic signals of the unmanned aerial vehicle by using the radio detection and sensing submodule to obtain the existence information, the azimuth information and the frequency spectrum characteristic information of the unmanned aerial vehicle;
the step S3 specifically includes the following steps:
s31, collecting electromagnetic signals of the unmanned aerial vehicle by using the radio detection and perception submodule, wherein the electromagnetic signals comprise unmanned aerial vehicle remote control signals and image-transmitted radio frequency signals;
s32, down-converting the remote control signals of the unmanned aerial vehicle and the image transmission radio frequency signals to an intermediate frequency band, and sampling the intermediate frequency signals at a sampling rate 2 times greater than the carrier frequency of the intermediate frequency to obtain intermediate frequency sampling signals;
s33, performing Fast Fourier Transform (FFT) on the intermediate frequency sampling signal to obtain frequency spectrum characteristic information;
s34, judging whether the frequency spectrum characteristic information contains stable unmanned aerial vehicle remote control information or image transmission frequency spectrum characteristic information, if yes, entering a step S35, otherwise, entering a step S4;
s35, unmanned aerial vehicle information, unmanned aerial vehicle azimuth information and spectrum feature information are transmitted to the fusion perception submodule, and the step S4 is carried out;
s4, judging whether the unmanned aerial vehicle is detected or not according to the unmanned aerial vehicle existence information, if so, entering the step S5, otherwise, returning to the step S3;
s5, fusing the information of existence and nonexistence of the unmanned aerial vehicle, the azimuth information of the unmanned aerial vehicle and the frequency spectrum characteristic information obtained by the radio detection submodule by utilizing the fusion sensing submodule, moving the low-altitude target detection radar submodule to accurately position the azimuth and the distance of the unmanned aerial vehicle, and continuously tracking the unmanned aerial vehicle to obtain the real-time azimuth information and the distance information of the unmanned aerial vehicle;
the step S5 specifically includes the following steps:
s51, fusing the information of existence and nonexistence of the unmanned aerial vehicle, the azimuth information of the unmanned aerial vehicle and the frequency spectrum characteristic information obtained by the radio detection submodule by utilizing the fusion sensing submodule;
as shown in fig. 3, the invention adopts a amplitude-comparison direction finding method as a radio direction finding method, an array antenna adopted by the invention comprises 4-9 oscillators, 4 oscillator antennas are taken as an example, the amplitude of the same signal received by the 4 antennas is compared, an interface determines that the position of the unmanned aerial vehicle is located in one of 8 areas in fig. 2, and the appearance position of the unmanned aerial vehicle is shown in the following diagram, so that the following diagram shows that: a2> A1, A2> A3 and A2> A4, the unmanned aerial vehicle is in the area 2, after the unmanned aerial vehicle is determined to be in the area 2, the strength ratio of the antenna A2 to the antenna A1 is further calculated, and the value of the included angle a is determined; the amplitude-comparison direction finding method adopted by the invention has the characteristics of small operation amount and high direction finding speed;
s52, using the fusion perception submodule to transfer the low-altitude target detection radar submodule to continuously transmit high-frequency radio waves;
s53, continuously transmitting high-frequency radio waves and receiving radio echoes to track the unmanned aerial vehicle through the low-altitude target detection radar submodule;
s54, calculating echo time and Doppler frequency shift according to the radio echo, supplementing radar body motion data, and obtaining real-time azimuth information and distance information of the unmanned aerial vehicle;
s6, setting a defense strategy target, a course and a track through a strategy and action control area unit according to the real-time azimuth information and the distance information of the unmanned aerial vehicle, wherein the defense strategy target comprises a directional driving unmanned aerial vehicle, a forced landing unmanned aerial vehicle and a fixed point forced landing unmanned aerial vehicle;
s7, transferring a wireless link interference module to cut off a communication link between the unmanned aerial vehicle and a remote controller thereof according to a defense strategy target by using a decision and defense strategy control submodule, transferring a navigation spoofing module to dynamically adjust a spoofing signal, and guiding the unmanned aerial vehicle to land to a designated place according to a set course and track;
the step S7 includes the following specific steps:
s71, the decision and defense strategy control submodule is used for transferring the wireless link interference module according to the defense strategy target to open one or a combination of two or more of the first communication frequency band interference submodule, the second communication frequency band interference submodule, the third communication frequency band interference submodule and the fourth communication frequency band interference submodule, so that the unmanned aerial vehicle is interfered in the designated frequency band and the designated direction, and the communication link between the unmanned aerial vehicle and the remote controller is cut off.
S72, the decision and defense strategy control submodule is used for mobilizing the navigation trap module according to the defense strategy target and switching the navigation receiver of the unmanned aerial vehicle to the trap signal of the navigation trap module by adopting a time synchronization method;
s73, deducting the transmission delay of the decoy signal by adopting a distance delay compensation method to obtain a time service synchronous decoy signal without delay;
and S74, dynamically adjusting the cheating signal by adopting a dynamic track injection method, and guiding the unmanned aerial vehicle to land to a specified place according to the set course and track.
The time synchronization method comprises the following steps: by receiving an on-orbit navigation satellite signal, outputting a time synchronization signal and calibrating a clock by using the signal, the constant-temperature crystal oscillator and the atomic clock are kept synchronous with a clock pulse signal broadcast by a navigation satellite, so that a time service synchronization signal which is synchronous with a real navigation satellite signal clock, has extremely low phase noise and extremely high time service performance is obtained, and a navigation receiver of a target unmanned aerial vehicle is quickly switched to a decoy signal broadcast by a navigation decoy unit, wherein the clock comprises the constant-temperature crystal oscillator and the atomic clock;
the distance delay compensation method comprises the following steps: bringing the real distance between the navigation decoy module and the target unmanned aerial vehicle into the decoy signal, removing the time delay of the time service synchronous decoy signal to obtain a time service synchronous decoy signal without time delay, and carrying out signal transmission on the unmanned aerial vehicle in real time;
the dynamic track injection method comprises the following steps: and a navigation decoy module is used for continuously receiving the course and the track set by the strategy and action control area unit, and the coordinate point information is added into a time service synchronous decoy signal without time delay, so that a navigation receiver of the target unmanned aerial vehicle is positioned on the course and the track which are continuously and dynamically changed.
Claims (8)
1. An unmanned aerial vehicle defense system based on fusion sensing perception and navigation decoy is characterized by comprising a sensing module, a navigation decoy module, a wireless link interference module and a software control platform;
the unmanned aerial vehicle detection sensing module is used for acquiring, processing and analyzing an electromagnetic signal of the unmanned aerial vehicle to obtain the existence information of the unmanned aerial vehicle, the orientation information of the unmanned aerial vehicle and the frequency spectrum characteristic information; the system is used for accurately positioning the azimuth and the distance of the unmanned aerial vehicle and continuously tracking the unmanned aerial vehicle to obtain real-time azimuth information and distance information of the unmanned aerial vehicle;
the navigation trapping module is used for trapping and controlling the course, track and fluctuation state of the unmanned aerial vehicle, dynamically adjusting trapping signals under the action of the software control platform, and guiding the unmanned aerial vehicle to land to a specified place according to the set course and track, wherein the navigation trapping module simultaneously supports the simulated emission of four navigation satellite signals of GPS, Beidou, Galileo and Glonass;
the wireless link interference module is used for interfering the unmanned aerial vehicle in a specified frequency band and a specified direction under the action of the software control platform, and cutting off a communication link between the unmanned aerial vehicle and a remote controller of the unmanned aerial vehicle;
the software control platform is used for selecting a platform sub-module, setting working parameters of access equipment, displaying the working state of the access equipment, displaying the direction and distance of the unmanned aerial vehicle on an electronic map, and setting a defense strategy target, a course and a track, wherein the defense strategy target comprises a directional driving away unmanned aerial vehicle, a forced landing unmanned aerial vehicle and a fixed point forced landing unmanned aerial vehicle; the system is used for fusing the information of existence and nonexistence of the unmanned aerial vehicle, the azimuth information of the unmanned aerial vehicle and the frequency spectrum characteristic information obtained by the radio detection submodule, moving the low-altitude target detection radar submodule to accurately position the azimuth and the distance of the unmanned aerial vehicle and continuously tracking the unmanned aerial vehicle; the unmanned aerial vehicle remote control system is used for moving a wireless link interference module to cut off a communication link between the unmanned aerial vehicle and a remote controller thereof according to a defense strategy target, moving a navigation cheating module to dynamically adjust cheating signals and guiding the unmanned aerial vehicle to land to a specified place according to a set course and track, wherein the defense strategy target comprises a directional driving unmanned aerial vehicle, a forced landing unmanned aerial vehicle and a fixed point forced landing unmanned aerial vehicle; the system is used for accessing and managing the sensing equipment, the navigation decoy equipment and the wireless link interference equipment, controlling the access equipment to be opened or closed, and configuring the working parameters of the access equipment; the method is used for establishing the local area network and the internet communication for the access equipment in a communication physical connection mode according to a communication protocol.
2. The unmanned aerial vehicle defense system based on fusion surveillance sensing and navigation decoy of claim 1, wherein the surveillance sensing module comprises a radio surveillance sensing submodule and a low-altitude target detection radar submodule, and the radio surveillance sensing submodule and the low-altitude target detection radar submodule work in combination;
the radio detection sensing submodule is used for acquiring, processing and analyzing an electromagnetic signal of the unmanned aerial vehicle to obtain the existence information of the unmanned aerial vehicle, the azimuth information of the unmanned aerial vehicle and the frequency spectrum characteristic information;
the low-altitude target detection radar submodule is used for accurately positioning the azimuth and the distance of the unmanned aerial vehicle, continuously transmitting high-frequency radio waves and receiving radio echoes to track the unmanned aerial vehicle, and obtaining real-time azimuth information and distance information of the unmanned aerial vehicle.
3. The unmanned aerial vehicle defense system based on fusion surveillance sensing and navigation decoy as claimed in claim 1, wherein the wireless link jamming module is integrated with a first communication band jamming submodule of 2.4GHz, a second communication band jamming submodule of 5.8GHz, a third communication band jamming submodule of 800/900MHz, and a fourth communication band jamming submodule of expanding frequency;
the first communication frequency band interference submodule, the second communication frequency band interference submodule, the third communication frequency band interference submodule and the fourth communication frequency band interference submodule are all used for interfering the unmanned aerial vehicle at a specified frequency band and a specified direction under the action of the software control platform, and a communication link between the unmanned aerial vehicle and a remote controller of the unmanned aerial vehicle is cut off.
4. The unmanned aerial vehicle defense system based on fusion surveillance awareness and navigation decoy of claim 1, wherein the software control platform comprises a user interaction interface sub-module, a fusion awareness sub-module, a decision and defense strategy control sub-module, a device management sub-module, and a communication and networking sub-module;
the user interaction interface submodule comprises a menu bar unit, a parameter setting area unit, an electronic map unit, a state display area unit and a strategy and action control area unit;
the menu bar unit is used for selecting the platform function submodule; the parameter setting unit is used for setting working parameters of the access equipment; the electronic map unit is used for displaying the position and the distance of the unmanned aerial vehicle on the electronic map; the strategy and action control area unit is used for setting a defense strategy target, a course and a track, wherein the defense strategy target comprises a directional driving unmanned aerial vehicle, a forced landing unmanned aerial vehicle and a fixed point forced landing unmanned aerial vehicle;
the fusion sensing submodule is used for fusing the information of existence and nonexistence of the unmanned aerial vehicle, the position information of the unmanned aerial vehicle and the frequency spectrum characteristic information which are obtained by the radio detection submodule, moving the low-altitude target detection radar submodule to accurately position the direction and the distance of the unmanned aerial vehicle, and continuously tracking the unmanned aerial vehicle to obtain the real-time direction information and the distance information of the unmanned aerial vehicle;
the decision and defense strategy control submodule is used for transferring the wireless link interference module to cut off a communication link between the unmanned aerial vehicle and a remote controller thereof according to a defense strategy target, transferring the navigation cheating module to dynamically adjust the cheating signal and guiding the unmanned aerial vehicle to land to a specified place according to a set course and track;
the device management submodule is used for accessing and managing the sensing device, the navigation decoy device and the wireless link interference device, controlling the access device to be opened or closed, and configuring working parameters of the access device;
the communication and networking submodule is used for establishing a local area network and establishing internet communication for the access equipment in a communication physical connection mode according to a communication protocol.
5. A method of the unmanned aerial vehicle defense system based on fusion sensing perception and navigation decoy as claimed in any one of claims 1 to 4, wherein the method comprises the following steps:
s1, starting the sensing device, the navigation decoy device and the wireless link interference device through the device management submodule, and respectively setting working parameters of the sensing device, the navigation decoy device and the wireless link interference device;
s2, establishing a local area network and establishing Internet communication for the sensing equipment, the navigation decoy equipment and the wireless link interference equipment by utilizing the communication and networking sub-modules according to a communication protocol in a communication physical connection mode;
s3, acquiring, processing and analyzing the electromagnetic signals of the unmanned aerial vehicle by using the radio detection and sensing submodule to obtain the existence information, the azimuth information and the frequency spectrum characteristic information of the unmanned aerial vehicle;
s4, judging whether the unmanned aerial vehicle is detected or not according to the unmanned aerial vehicle existence information, if so, entering the step S5, otherwise, returning to the step S3;
s5, fusing the information of existence and nonexistence of the unmanned aerial vehicle, the azimuth information of the unmanned aerial vehicle and the frequency spectrum characteristic information obtained by the radio detection submodule by utilizing the fusion sensing submodule, moving the low-altitude target detection radar submodule to accurately position the azimuth and the distance of the unmanned aerial vehicle, and continuously tracking the unmanned aerial vehicle to obtain the real-time azimuth information and the distance information of the unmanned aerial vehicle;
s6, setting a defense strategy target, a course and a track through a strategy and action control area unit according to the real-time azimuth information and the distance information of the unmanned aerial vehicle, wherein the defense strategy target comprises a directional driving unmanned aerial vehicle, a forced landing unmanned aerial vehicle and a fixed point forced landing unmanned aerial vehicle;
and S7, transferring the wireless link interference module to cut off the communication link between the unmanned aerial vehicle and the remote controller thereof according to the defense strategy target by using the decision and defense strategy control submodule, transferring the navigation spoofing module to dynamically adjust the spoofing signal, and guiding the unmanned aerial vehicle to land to a specified place according to the set course and track.
6. The method of claim 5, wherein the step S3 specifically comprises the following steps:
s31, collecting electromagnetic signals of the unmanned aerial vehicle by using the radio detection and perception submodule, wherein the electromagnetic signals comprise unmanned aerial vehicle remote control signals and image-transmitted radio frequency signals;
s32, down-converting the remote control signals of the unmanned aerial vehicle and the image transmission radio frequency signals to an intermediate frequency band, and sampling the intermediate frequency signals at a sampling rate 2 times greater than the carrier frequency of the intermediate frequency to obtain intermediate frequency sampling signals;
s33, performing Fast Fourier Transform (FFT) on the intermediate frequency sampling signal to obtain frequency spectrum characteristic information;
s34, judging whether the frequency spectrum characteristic information contains stable unmanned aerial vehicle remote control information or image transmission frequency spectrum characteristic information, if yes, entering a step S35, otherwise, entering a step S4;
s35, unmanned aerial vehicle information, unmanned aerial vehicle azimuth information and spectrum feature information are transmitted to the fusion perception submodule, and the step S4 is carried out.
7. The method of claim 6, wherein the step S5 includes the following steps:
s51, fusing the information of existence and nonexistence of the unmanned aerial vehicle, the azimuth information of the unmanned aerial vehicle and the frequency spectrum characteristic information obtained by the radio detection submodule by utilizing the fusion sensing submodule;
s52, using the fusion perception submodule to transfer the low-altitude target detection radar submodule to continuously transmit high-frequency radio waves;
s53, continuously transmitting high-frequency radio waves and receiving radio echoes to track the unmanned aerial vehicle through the low-altitude target detection radar submodule;
and S54, calculating echo time and Doppler frequency shift according to the radio echo, supplementing radar body motion data, and obtaining real-time azimuth information and distance information of the unmanned aerial vehicle.
8. The method of claim 7, wherein the step S7 includes the following steps:
s71, the decision and defense strategy control submodule is used for transferring the wireless link interference module according to the defense strategy target to open one or a combination of two or more of the first communication frequency band interference submodule, the second communication frequency band interference submodule, the third communication frequency band interference submodule and the fourth communication frequency band interference submodule, so that the unmanned aerial vehicle is interfered in the designated frequency band and the designated direction, and the communication link between the unmanned aerial vehicle and the remote controller is cut off.
S72, the decision and defense strategy control submodule is used for mobilizing the navigation trap module according to the defense strategy target and switching the navigation receiver of the unmanned aerial vehicle to the trap signal of the navigation trap module by adopting a time synchronization method;
s73, deducting the transmission delay of the decoy signal by adopting a distance delay compensation method to obtain a time service synchronous decoy signal without delay;
and S74, dynamically adjusting the cheating signal by adopting a dynamic track injection method, and guiding the unmanned aerial vehicle to land to a specified place according to the set course and track.
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