CN115184913A - Detection prevention and control method and system for mobile unmanned aerial vehicle - Google Patents
Detection prevention and control method and system for mobile unmanned aerial vehicle Download PDFInfo
- Publication number
- CN115184913A CN115184913A CN202210538778.2A CN202210538778A CN115184913A CN 115184913 A CN115184913 A CN 115184913A CN 202210538778 A CN202210538778 A CN 202210538778A CN 115184913 A CN115184913 A CN 115184913A
- Authority
- CN
- China
- Prior art keywords
- detection
- vehicle
- unmanned aerial
- aerial vehicle
- radio frequency
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 223
- 230000002265 prevention Effects 0.000 title claims abstract description 33
- 238000000034 method Methods 0.000 title claims abstract description 21
- 238000012545 processing Methods 0.000 claims description 35
- 230000000007 visual effect Effects 0.000 claims description 29
- 238000004891 communication Methods 0.000 claims description 22
- 230000000694 effects Effects 0.000 claims description 4
- 239000000523 sample Substances 0.000 description 16
- 230000009545 invasion Effects 0.000 description 8
- 238000004458 analytical method Methods 0.000 description 4
- 230000001276 controlling effect Effects 0.000 description 3
- 238000011161 development Methods 0.000 description 3
- 230000006872 improvement Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
- G01V3/15—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation specially adapted for use during transport, e.g. by a person, vehicle or boat
- G01V3/17—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation specially adapted for use during transport, e.g. by a person, vehicle or boat operating with electromagnetic waves
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04K—SECRET COMMUNICATION; JAMMING OF COMMUNICATION
- H04K3/00—Jamming of communication; Counter-measures
- H04K3/80—Jamming or countermeasure characterized by its function
- H04K3/82—Jamming or countermeasure characterized by its function related to preventing surveillance, interception or detection
- H04K3/825—Jamming or countermeasure characterized by its function related to preventing surveillance, interception or detection by jamming
Landscapes
- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Life Sciences & Earth Sciences (AREA)
- Signal Processing (AREA)
- Electromagnetism (AREA)
- Environmental & Geological Engineering (AREA)
- Geology (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geophysics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a detection prevention and control method and a detection prevention and control system for a mobile unmanned aerial vehicle, wherein the detection prevention and control method comprises the following steps: determining a traveling route of a detection vehicle according to the shape and the area of a detection area and the detection range of the detection vehicle, and positioning the position of the detection vehicle according to a vehicle-mounted positioning module on the detection vehicle; after all the detection vehicles finish the preset travelling route once, confirming to refresh the whole-area detection once, and controlling the refresh rate of the whole-area detection according to the requirement of the on-site warning state; and if the detection vehicle finds that an unknown flying object exists in the air, starting a radio frequency interference module to carry out radio frequency interference on the invading unmanned aerial vehicle. The unmanned aerial vehicle detection system has the advantages of being low in cost, flexible and efficient.
Description
Technical Field
The application relates to the technical field of unmanned aerial vehicle prevention and control, in particular to a mobile unmanned aerial vehicle detection prevention and control method and system.
Background
In recent years, the continuous development of the related technology and the support promote the rapid development of the production company of the unmanned aerial vehicle, various consumption-grade unmanned aerial vehicles with rich functions are cheaper and simpler to use and operate, and the unmanned aerial vehicle is rapidly expanded from military use to civil use, including various aspects of industry such as aerial photography, plant protection, rescue, logistics and civil use. However, rapid development and wide application of unmanned aerial vehicles also bring various hidden dangers.
In the prior art, a plurality of technical means are extended to counter an intruding unmanned aerial vehicle, wherein the technical means comprises a radio frequency detection device or a radar detection device arranged on a specific ground or a specific building to position the intruding unmanned aerial vehicle so as to counter the intruding unmanned aerial vehicle in time, but in such a way, when the requirement of large-area detection is met, the position of the intruding unmanned aerial vehicle can be effectively detected by arranging a plurality of detection devices, so that the arrangement cost of the whole detection system is high; in addition, in the case of a field which needs to be detected by the unmanned aerial vehicle temporarily, the time for completing the arrangement of the detection system is long, and the progress of each work is delayed.
Disclosure of Invention
The invention provides a mobile unmanned aerial vehicle detection prevention and control method, which is used for solving the problems of high cost for the detection prevention and control of an unmanned aerial vehicle in a large area and long time consumption for the detection prevention and control of the unmanned aerial vehicle temporarily, and comprises the following steps:
determining a traveling route of a detection vehicle according to the shape and the area of a detection area and the detection range of the detection vehicle, and positioning the position of the detection vehicle according to a vehicle-mounted positioning module on the detection vehicle;
after all the detection vehicles finish the preset traveling route once, confirming to refresh the whole-area detection once, and controlling the refresh rate of the whole-area detection according to the requirement of the on-site alert state;
if the detection vehicle finds that an unidentified flying object exists in the air, a radio frequency interference module is started to carry out radio frequency interference on the invading unmanned aerial vehicle;
when a traveling route is determined according to the shape and the area of a detection area and the detection range of the detection vehicle, ensuring that the detection range of all the detection vehicles can maximally cover the required detection area and avoiding the detection vehicles from repeatedly detecting the same area;
through the mobility detection of the detection vehicle, a detection device does not need to be arranged in a specific area or on a specific building, the equipment arrangement cost is reduced, and for a field needing unmanned aerial vehicle detection temporarily, a traveling route can be arranged according to the process to directly start the detection, so that the problem of long time consumption in arrangement of various detection devices is avoided;
if the site requires strict abstinence, the requirement of the warning state can be improved, the refresh rate of the whole-region detection is ensured, and omission is avoided.
In some embodiments of the application, in order to determine a total detection area, control the state of a detected vehicle in real time and conveniently take measures in time, a map of a required prevention and control area is divided by a visual upper computer to determine the shape and the area of the detection area;
displaying the detection vehicle on a display screen of the visual upper computer in a mode of simulating the detection vehicle moving point on a map according to the positioning information of the detection vehicle so as to determine the positions of different detection vehicles;
the visual upper computer is used for detecting the division of the area, determining the boundary of the detection area, facilitating the division of the advancing route of the detection vehicle, facilitating the working personnel to master the advancing condition of the detection vehicle in real time and the detection refresh rate of the whole prevention and control area, and facilitating the adjustment by combining the warning state.
In some embodiments of the present application, in order to be able to ensure an optimal detection effect, the number of probe vehicles or the travel speed of the probe vehicles is confirmed according to the refresh rate of the full-area detection; if the armed state is high, then the refresh rate for full-zone detection is required to be high, in which case the refresh rate for the full-zone is increased by increasing the number of probe vehicles or instructing the probe vehicles to increase the speed of travel.
In some embodiments of the present application, in order to ensure that the invading unmanned aerial vehicle is found in time during the advancing process of the detection vehicle, real-time radio frequency signal detection is performed, and if an air unknown radio frequency signal is detected, the detection vehicle enters an alarm state; in the alarm state, judging whether an invading unmanned aerial vehicle exists in the air, if the invading unmanned aerial vehicle is found in the air, starting a radio frequency interference module to carry out radio frequency interference on the invading unmanned aerial vehicle, and if the invading unmanned aerial vehicle is not found in the air, canceling the alarm state; and informing the vehicle-mounted personnel of timely taking corresponding measures through the alarm state.
In some embodiments of the application, in order to control the situation of the whole area invading the unmanned aerial vehicle and quickly react to the situation, the method is further improved, and if the detection vehicle enters an alarm state, the vehicle-mounted personnel observe the air;
if the vehicle-mounted personnel find that the invading unmanned aerial vehicle exists in the air, a signal for finding the invading unmanned aerial vehicle is sent to the visual upper computer through the vehicle-mounted communication module, and the radio frequency interference module is started to trick the invading unmanned aerial vehicle to land;
through the on-vehicle personnel of alarm state suggestion, then on-vehicle personnel in time observe whether have the invasion unmanned aerial vehicle in the air, can enough reduce the performance requirement to relevant detection equipment like this, the precision is judged also highly.
In some embodiments of this application, for the reduction to on-vehicle personnel's labor requirement, improved the method, through on-vehicle processing module on the probe vehicle is to unknown radiofrequency signal analysis, if accord with unmanned aerial vehicle radiofrequency signal characteristic, makes the probe vehicle get into alarm state.
A detection prevention and control system of a mobile unmanned aerial vehicle comprises a detection vehicle and a visual upper computer;
the visual upper computer is used for overall management of detection states of the detection vehicles and sending indication signals to the appointed detection vehicles;
the detection vehicle is used for detecting the intrusion unmanned aerial vehicle in the area, and if the intrusion unmanned aerial vehicle is found, a radio frequency interference signal is sent to the intrusion unmanned aerial vehicle through the radio frequency interference module;
the staff passes through every is known to visual host computer the specific position of detection vehicle has or not to find invasion unmanned aerial vehicle, is convenient for know the general safe condition who surveys the region, is convenient for adjust the deployment.
In some embodiments of the present application, in order to reduce the amount of labor of vehicle-mounted personnel, a system is improved, and the detection vehicle is provided with a vehicle-mounted radio frequency detection module, a vehicle-mounted processing module and an alarm module;
the vehicle-mounted radio frequency detection module is used for detecting radio frequency signals in the air in real time and sending the detected radio frequency signals to the vehicle-mounted processing module;
the vehicle-mounted processing module is used for analyzing and processing the radio frequency detection signal, judging that the unmanned aerial vehicle is invaded if the detected radio frequency signal accords with the radio frequency characteristics of the unmanned aerial vehicle, and sending an alarm signal to the alarm module;
and the alarm module is used for warning vehicle-mounted personnel and timely driving the radio frequency interference module to trick the invasion of the unmanned aerial vehicle to land.
In some embodiments of the present application, in order to improve the countering ability to the intruding unmanned aerial vehicle, the system is improved, and a tracking unmanned aerial vehicle is further disposed on the top of the probe vehicle;
the tracking unmanned aerial vehicle comprises an airborne communication module and an airborne radio frequency interference module;
the airborne communication module is used for receiving ground remote control signals so as to realize the control of vehicle-mounted personnel on the tracking unmanned aerial vehicle;
the airborne radio frequency interference module is used for transmitting radio frequency interference signals to the invading unmanned aerial vehicle;
if when the detection vehicle discovers the invading unmanned aerial vehicle, the vehicle-mounted personnel transmit remote control signals to the airborne communication module through the remote controller, and then the tracked unmanned aerial vehicle is close to the invading unmanned aerial vehicle, and the airborne radio frequency interference module directionally transmits radio frequency interference signals to the invading unmanned aerial vehicle.
In some embodiments of the present application, in order to further reduce the amount of labor of the vehicle-mounted personnel, the tracking drone has a self-tracking capability, so an improvement is made to the tracking drone, which can further include an airborne radar module, an airborne processing module, an airborne radio frequency interference module, an airborne camera module, and an airborne communication module;
the airborne communication module is used for receiving a control signal sent by an antenna of the detection vehicle;
the airborne radio frequency interference module is used for transmitting a radio frequency interference module to the invading unmanned aerial vehicle;
the airborne radar module is used for detecting the specific direction of the invading unmanned aerial vehicle;
the airborne camera module is used for identifying a landing platform of a detection vehicle and sending an image signal to the airborne processing module;
the airborne processing module is used for analyzing the image signals, determining the relative position of a landing platform of a detection vehicle, driving a machine body to adjust the direction, the speed and the height, and finishing the aircraft nose landing of the tracked unmanned aerial vehicle;
wherein, the landing platform of surveying the vehicle is provided with the logo pattern for airborne camera discernment.
The unmanned aerial vehicle detection system has the advantages of being low in cost, flexible and efficient.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is an execution flow chart of a detection prevention and control method of a mobile unmanned aerial vehicle according to the present invention;
FIG. 2 is a schematic diagram of the connection relationship between modules of a probe vehicle according to the present invention;
fig. 3 is a schematic diagram of a connection relationship between modules for tracking an unmanned aerial vehicle according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present application will be described clearly and completely with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only some embodiments of the present application, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
As shown in fig. 1, the present invention provides a mobile unmanned aerial vehicle detection prevention and control method, which is used for solving the problems of high cost for unmanned aerial vehicle detection prevention and control in a large area and long time consumption for temporarily performing unmanned aerial vehicle detection prevention and control, and includes: determining the traveling route of the detection vehicle according to the shape and the area of the detection area and the detection range of the detection vehicle, and positioning the position of the detection vehicle according to an on-board positioning module on the detection vehicle.
And after all the detection vehicles finish the preset travelling route once, confirming to refresh the whole-region detection once, and controlling the refresh rate of the whole-region detection according to the requirement of the on-site alert state.
And if the detection vehicle finds that an unknown flying object exists in the air, starting a radio frequency interference module to carry out radio frequency interference on the invading unmanned aerial vehicle.
When the traveling route is determined by the shape and the area of the detection area and the detection range of the detection vehicle, the detection range of all the detection vehicles can be ensured to cover the required detection area to the maximum extent, and the detection vehicle needs to be prevented from repeatedly detecting the same area.
Through the mobility of surveying the vehicle and surveying, need not arrange detection device to in the specific area or on the specific building again, reduced the expense that the equipment was arranged to, to the place that interim needs carry out unmanned aerial vehicle and survey, can arrange the route of marcing according to above-mentioned flow and directly begin to survey, avoided arranging the problem that all kinds of detection equipment consume time many.
If the site requires strict abstinence, the requirement of the warning state can be improved, the refresh rate of the whole-region detection is ensured, and omission is avoided.
In some embodiments of the application, in order to determine a total detection area and control the state of a detection vehicle in real time, and facilitate timely response measures, a map of a required prevention and control area is divided by a visual upper computer, and the shape and the area of the detection area are determined.
And displaying the detection vehicle on a display screen of the visual upper computer in a mode of simulating the activity point of the detection vehicle on a map according to the positioning information of the detection vehicle so as to determine the positions of different detection vehicles.
The visual upper computer is used for detecting the division of the area, determining the boundary of the detection area, facilitating the division of the advancing route of the detection vehicle, facilitating the working personnel to master the advancing condition of the detection vehicle in real time and the detection refresh rate of the whole prevention and control area, and facilitating the adjustment by combining the warning state.
In some embodiments of the present application, in order to be able to ensure an optimal detection effect, the number of probe vehicles or the travel speed of the probe vehicles is confirmed according to the refresh rate of the full-area detection; if the armed state is high, then the refresh rate for full-zone detection is required to be high, in which case the refresh rate for the full-zone is increased by increasing the number of probe vehicles or instructing the probe vehicles to increase the speed of travel.
In some embodiments of the present application, in order to ensure that the invading unmanned aerial vehicle is found in time during the advancing process of the detection vehicle, real-time radio frequency signal detection is performed, and if an air unknown radio frequency signal is detected, the detection vehicle enters an alarm state; in the alarm state, judging whether an invading unmanned aerial vehicle exists in the air, if the invading unmanned aerial vehicle is found in the air, starting a radio frequency interference module to carry out radio frequency interference on the invading unmanned aerial vehicle, and if the invading unmanned aerial vehicle is not found in the air, canceling the alarm state; and informing the vehicle-mounted personnel of timely taking corresponding measures through the alarm state.
In some embodiments of this application, in order to be able to control the invasion unmanned aerial vehicle condition of full region to and can respond to this rapidly, the method is further improved, if it gets into alarm state to survey the vehicle, then vehicle-mounted personnel observe to the sky.
If the vehicle-mounted personnel find that the invading unmanned aerial vehicle exists in the air, a signal for finding the invading unmanned aerial vehicle is sent to the visual upper computer through the vehicle-mounted communication module, and the radio frequency interference module is started to trick the invading unmanned aerial vehicle to land.
Through the on-vehicle personnel of alarm state suggestion, then on-vehicle personnel in time observe whether have the invasion unmanned aerial vehicle in the air, can enough reduce the performance requirement to relevant detection equipment like this, the precision is judged also highly.
In some embodiments of this application, in order to reduce the work requirement to on-vehicle personnel, the method is improved, through on-vehicle processing module on the detection vehicle is to unknown radio frequency signal analysis, if accord with unmanned aerial vehicle radio frequency signal characteristic, makes the detection vehicle get into alarm state.
A detection prevention and control system of a mobile unmanned aerial vehicle comprises a detection vehicle and a visual upper computer;
the visual upper computer is used for overall management of detection states of the detection vehicles and sending indication signals to the appointed detection vehicles;
the detection vehicle is used for detecting the intrusion unmanned aerial vehicle in the area, and if the intrusion unmanned aerial vehicle is found, the radio frequency interference module is used for sending a radio frequency interference signal to the intrusion unmanned aerial vehicle;
the staff passes through every is known to visual host computer the concrete position of detection vehicle has or not to find invasion unmanned aerial vehicle, is convenient for know the general safe condition of surveying the region, is convenient for adjust the deployment.
In some embodiments of the present application, an improvement is made to a system for reducing the amount of labor of on-board personnel, the probe vehicle being provided with an on-board radio frequency probe module, an on-board processing module, and an alarm module.
The vehicle-mounted radio frequency detection module is used for detecting radio frequency signals in the air in real time and sending the detected radio frequency signals to the vehicle-mounted processing module.
And the vehicle-mounted processing module is used for analyzing and processing the radio frequency detection signal, judging that the unmanned aerial vehicle is invaded if the detected radio frequency signal accords with the radio frequency characteristics of the unmanned aerial vehicle, and sending an alarm signal to the alarm module.
And the alarm module is used for warning vehicle-mounted personnel and timely driving the radio frequency interference module to trick the invasion of the unmanned aerial vehicle to land.
In some embodiments of the application, the system is improved for improving the countering ability to intrude into the drone, the probe vehicle roof is also provided with a tracking drone.
The tracking unmanned aerial vehicle comprises an airborne communication module and an airborne radio frequency interference module.
The airborne communication module is used for receiving ground remote control signals, and therefore vehicle-mounted personnel can control the tracking unmanned aerial vehicle.
And the airborne radio frequency interference module is used for transmitting radio frequency interference signals to the invading unmanned aerial vehicle.
If when the detection vehicle discovers the invading unmanned aerial vehicle, the vehicle-mounted personnel transmit remote control signals to the airborne communication module through the remote controller, and then the tracked unmanned aerial vehicle is close to the invading unmanned aerial vehicle, and the airborne radio frequency interference module directionally transmits radio frequency interference signals to the invading unmanned aerial vehicle.
In some embodiments of the present application, in order to further alleviate the amount of labor of the vehicle-mounted personnel, make it has the ability to track itself, so it is right to track unmanned aerial vehicle, it can also include airborne radar module, airborne processing module, airborne radio frequency interference module, airborne camera module and airborne communication module.
And the onboard communication module is used for receiving a control signal sent by an antenna of the detection vehicle.
And the airborne radio frequency interference module is used for transmitting the radio frequency interference module to the invading unmanned aerial vehicle.
And the airborne radar module is used for detecting the specific position of the invading unmanned aerial vehicle.
And the airborne camera module is used for identifying a landing platform of the detection vehicle and sending the image signal to the airborne processing module.
And the airborne processing module is used for analyzing the image signals, determining the relative position of a landing platform of the detection vehicle, and driving the aircraft body to adjust the direction, the speed and the height so as to finish the aircraft nose landing of the tracked unmanned aerial vehicle.
Wherein, the landing platform of detection vehicle is provided with the logo pattern for airborne camera discernment.
In order to further explain the technical idea of the present application, the technical solution of the present application is now described with reference to specific application scenarios.
Referring to fig. 1, now, for a temporary area to rapidly deploy unmanned aerial vehicle detection and prevention, the following steps are required:
and S101, determining the traveling route of the detection vehicle according to the shape and the area of the detection area and the detection range of the detection vehicle.
And S102, determining the refresh rate of the full-area detection according to the warning requirement.
And S103, determining the number or the traveling speed of the detected vehicles according to the refresh rate of the full-area detection.
And S104, detecting the position of the vehicle above the position.
And S105, judging that the detection vehicle finds that the unidentified flying object exists in the air.
And S106, if an unknown flying object is found, starting a radio frequency interference module to carry out radio frequency interference on the invading unmanned aerial vehicle, and if the unknown flying object is not found, returning to S105.
And S107, integrating the position information and the detection state of the detection vehicle on a map, and displaying the position information and the detection state to workers through a visual upper computer.
And S108, regulating and controlling all the detection vehicles in a whole manner according to the information displayed by the visual upper computer.
The visual upper computer is internally provided with a ground positioning module, the position of the visual upper computer is positioned by the ground positioning module, the position is displayed by combining a map, the full detection area is divided, the range to be detected is determined, a plurality of detection points are arranged according to the detection range of the detected vehicle, the advancing route of each detected vehicle is divided, the position of the vehicle is transmitted to the upper computer processing module of the visual upper computer by the vehicle-mounted positioning module of the detected vehicle, the video signals generated by the analysis and decoding of the upper computer processing module are transmitted to the display screen of the visual upper computer, so that a monitoring person can timely and effectively confirm the position of the detected vehicle, the full-area detection refresh rate of the total detection area is determined, and more detected vehicles are added to improve the full-area detection refresh rate in a high-alert state.
As shown in FIG. 2 and FIG. 3, the application also discloses a mobile unmanned aerial vehicle detection prevention and control system, which comprises a detection vehicle and a visual upper computer.
The visual upper computer is used for overall management of a plurality of detection states of the detection vehicles and sending indication signals to the appointed detection vehicles.
The detection vehicle is used for detecting the unmanned aerial vehicle invading the area, and if the invading unmanned aerial vehicle is found, the radio frequency interference module sends a radio frequency interference signal to the invading unmanned aerial vehicle.
The staff passes through every is known to visual host computer the specific position of detection vehicle has or not to find invasion unmanned aerial vehicle, is convenient for know the general safe condition who surveys the region, is convenient for adjust the deployment.
In some embodiments of the present application, as shown in fig. 2, the system is modified to reduce the amount of labor on board the vehicle, which is provided with an on board radio frequency detection module, an on board processing module and an alarm module.
The vehicle-mounted radio frequency detection module is used for detecting radio frequency signals in the air in real time and sending the detected radio frequency signals to the vehicle-mounted processing module.
And the vehicle-mounted processing module is used for analyzing and processing the radio frequency detection signal, judging that the unmanned aerial vehicle is invaded if the detected radio frequency signal accords with the radio frequency characteristics of the unmanned aerial vehicle, and sending an alarm signal to the alarm module.
And the alarm module is used for warning vehicle-mounted personnel and driving the radio frequency interference module to trick the unmanned aerial vehicle into landing.
In some embodiments of the application, in order to promote the counter-braking ability to invading unmanned aerial vehicle, the system is improved, the probe vehicle top is also provided with a tracking unmanned aerial vehicle.
The tracking unmanned aerial vehicle comprises an airborne communication module and an airborne radio frequency interference module.
The airborne communication module is used for receiving ground remote control signals, and therefore control of vehicle-mounted personnel on tracking of the unmanned aerial vehicle is achieved.
And the airborne radio frequency interference module is used for transmitting radio frequency interference signals to the invading unmanned aerial vehicle.
If when the detection vehicle discovers the invading unmanned aerial vehicle, the vehicle-mounted personnel transmit remote control signals to the airborne communication module through the remote controller, and then the tracked unmanned aerial vehicle is close to the invading unmanned aerial vehicle, and the airborne radio frequency interference module directionally transmits radio frequency interference signals to the invading unmanned aerial vehicle.
In some embodiments of the present application, as shown in fig. 3, the tracking drone is capable of self-tracking in order to further reduce the labor of the vehicle-mounted personnel, so that an improvement is made to the tracking drone, which can further include an onboard radar module, an onboard processing module, an onboard radio frequency interference module, an onboard camera module, and an onboard communication module.
And the onboard communication module is used for receiving a control signal sent by an antenna of the detection vehicle.
And the airborne radio frequency interference module is used for transmitting the radio frequency interference module to the invading unmanned aerial vehicle.
And the airborne radar module is used for detecting the specific direction of the invading unmanned aerial vehicle.
And the airborne camera module is used for identifying a landing platform of the detection vehicle and sending the image signal to the airborne processing module.
And the airborne processing module is used for analyzing the image signals, determining the relative position of the landing platform of the detection vehicle, and driving the machine body to adjust the direction, the speed and the height to finish the landing of the aircraft nose of the tracked unmanned aerial vehicle.
Wherein, the landing platform of surveying the vehicle is provided with the logo pattern for airborne camera discernment.
After the unmanned aerial vehicle that traces executed the task, confirm through on-vehicle personnel, send back the instruction (or judge by oneself by tracing unmanned aerial vehicle), then, trace unmanned aerial vehicle and carry the processing module analysis comparison of machine, confirm and trace unmanned aerial vehicle route of flying back, fly to the detection car top after, through the machine-mounted camera, constantly search for the landing sign, after the machine-mounted camera shows the sign, unmanned aerial vehicle is by the flight control conversion of original dependence locating information visual control landing flight, machine-mounted camera passes the image of shooing back machine processing module, calculate the big or small shape of image and handle, calculate and trace unmanned aerial vehicle and the relative position of detection vehicle and corresponding each deviation, and then control on-vehicle unmanned aerial vehicle's descending.
The unmanned aerial vehicle detection system has the advantages of being low in cost, flexible and efficient.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application 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; such modifications and substitutions do not necessarily depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.
Claims (10)
1. A mobile unmanned aerial vehicle detection prevention and control method is characterized by comprising the following steps:
determining a traveling route of a detection vehicle according to the shape and the area of a detection area and the detection range of the detection vehicle, and positioning the position of the detection vehicle according to a vehicle-mounted positioning module on the detection vehicle;
after all the detection vehicles finish the preset travelling route once, confirming to refresh the whole-area detection once, and controlling the refresh rate of the whole-area detection according to the requirement of the on-site warning state;
and if the detection vehicle finds that an unknown flying object exists in the air, starting a radio frequency interference module to carry out radio frequency interference on the invading unmanned aerial vehicle.
2. The detection prevention and control method for the mobile unmanned aerial vehicle as claimed in claim 1, wherein the map of the required prevention and control area is divided by the visual upper computer to determine the shape and area of the detection area;
and displaying the detection vehicle on a display screen of the visual upper computer in a mode of simulating the activity point of the detection vehicle on a map according to the positioning information of the detection vehicle so as to determine the positions of different detection vehicles.
3. The on-the-fly unmanned aerial vehicle detection prevention and control method as claimed in claim 2, wherein the number of detection vehicles or the traveling speed of the detection vehicles is confirmed according to a refresh rate of the full-area detection.
4. The detection, prevention and control method for mobile unmanned aerial vehicles according to claim 2, wherein if an air unknown radio frequency signal is detected, the detection vehicle enters an alarm state;
and under the alarm state, judging whether the invading unmanned aerial vehicle exists in the air, if the invading unmanned aerial vehicle is found in the air, starting a radio frequency interference module to carry out radio frequency interference on the invading unmanned aerial vehicle, and if the invading unmanned aerial vehicle is not found in the air, canceling the alarm state.
5. The on-the-fly unmanned aerial vehicle detection prevention and control method according to claim 4,
if the detection vehicle enters an alarm state, vehicle-mounted personnel observe the air;
if the vehicle-mounted personnel find that the invading unmanned aerial vehicle exists in the air, the vehicle-mounted personnel send a signal for finding the invading unmanned aerial vehicle to the visual upper computer through the vehicle-mounted communication module, and the radio frequency interference module is started to trick the invading unmanned aerial vehicle to land.
6. The detection, prevention and control method for mobile unmanned aerial vehicles according to claim 4, wherein the unknown RF signal is analyzed by the on-board processing module of the detection vehicle, and if the characteristic of the RF signal of the unmanned aerial vehicle is satisfied, the detection vehicle is enabled to enter an alarm state.
7. A mobile unmanned aerial vehicle detection prevention and control system is characterized by comprising a detection vehicle and a visual upper computer;
the visual upper computer is used for overall management of detection states of the detection vehicles and sending indication signals to the appointed detection vehicles;
the detection vehicle is used for detecting an area invading unmanned aerial vehicle, and if the invading unmanned aerial vehicle is found, the detection vehicle sends a radio frequency interference signal to the invading unmanned aerial vehicle through the radio frequency interference module.
8. The detection, prevention and control system for a mobile unmanned aerial vehicle of claim 7, wherein the detection vehicle is provided with an on-board radio frequency detection module, an on-board processing module and an alarm module;
the vehicle-mounted radio frequency detection module is used for detecting radio frequency signals in the air in real time and sending the detected radio frequency signals to the vehicle-mounted processing module;
the vehicle-mounted processing module is used for analyzing and processing the radio frequency detection signal, judging that the unmanned aerial vehicle is invaded if the detected radio frequency signal accords with the radio frequency characteristic of the unmanned aerial vehicle, and sending an alarm signal to the alarm module;
and the alarm module is used for warning vehicle-mounted personnel and driving the radio frequency interference module to trick the unmanned aerial vehicle into landing.
9. The on-the-fly unmanned aerial vehicle detection and prevention and control system of claim 8, wherein the detection vehicle roof is further provided with a tracking unmanned aerial vehicle;
the tracking unmanned aerial vehicle comprises an airborne communication module and an airborne radio frequency interference module;
the airborne communication module is used for receiving ground remote control signals so as to realize the control of vehicle-mounted personnel on the tracking unmanned aerial vehicle;
and the airborne radio frequency interference module is used for transmitting radio frequency interference signals to the invading unmanned aerial vehicle.
10. The detection, prevention and control system of mobile unmanned aerial vehicle of claim 9, wherein the tracking unmanned aerial vehicle further comprises an airborne radar module, an airborne processing module, an airborne radio frequency interference module, an airborne camera module and an airborne communication module;
the airborne communication module is used for receiving a control signal sent by an antenna of the detection vehicle;
the airborne radio frequency interference module is used for transmitting a radio frequency interference module to the invading unmanned aerial vehicle;
the airborne radar module is used for detecting the specific direction of the invading unmanned aerial vehicle;
the airborne camera module is used for identifying a landing platform of a detection vehicle and sending an image signal to the airborne processing module;
the airborne processing module is used for analyzing the image signals, determining the relative position of a landing platform of a detection vehicle, driving a machine body to adjust the direction, the speed and the height, and finishing the aircraft nose landing of the tracked unmanned aerial vehicle;
wherein, the landing platform of surveying the vehicle is provided with the logo pattern for airborne camera discernment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210538778.2A CN115184913A (en) | 2022-05-18 | 2022-05-18 | Detection prevention and control method and system for mobile unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210538778.2A CN115184913A (en) | 2022-05-18 | 2022-05-18 | Detection prevention and control method and system for mobile unmanned aerial vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115184913A true CN115184913A (en) | 2022-10-14 |
Family
ID=83513030
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210538778.2A Pending CN115184913A (en) | 2022-05-18 | 2022-05-18 | Detection prevention and control method and system for mobile unmanned aerial vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115184913A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20200021872A (en) * | 2018-08-21 | 2020-03-02 | 윤성욱 | Method for identifying and neutralizaing low altitude unmanned aircraft |
| CN210664153U (en) * | 2019-08-26 | 2020-06-02 | 杭州蓝海特种车辆有限公司 | Unmanned aerial vehicle detection, prevention and control multifunctional vehicle |
| CN111439187A (en) * | 2020-05-12 | 2020-07-24 | 公安部第一研究所 | Intelligent patrol car system |
| CN211182529U (en) * | 2020-01-03 | 2020-08-04 | 北京融鼎盛低空安全科技有限公司 | Unmanned aerial vehicle counter-braking vehicle |
| CN112763976A (en) * | 2021-04-07 | 2021-05-07 | 理工全盛(北京)科技有限公司 | Black-flying unmanned aerial vehicle flyer positioning system and method |
| CN113096425A (en) * | 2021-03-29 | 2021-07-09 | 紫清智行科技(北京)有限公司 | Dispatching method and system for automatic driving patrol car applied to large scene |
| CN114489148A (en) * | 2021-12-30 | 2022-05-13 | 中国航天系统科学与工程研究院 | Anti-unmanned aerial vehicle system based on intelligent detection and electronic countermeasure |
-
2022
- 2022-05-18 CN CN202210538778.2A patent/CN115184913A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20200021872A (en) * | 2018-08-21 | 2020-03-02 | 윤성욱 | Method for identifying and neutralizaing low altitude unmanned aircraft |
| CN210664153U (en) * | 2019-08-26 | 2020-06-02 | 杭州蓝海特种车辆有限公司 | Unmanned aerial vehicle detection, prevention and control multifunctional vehicle |
| CN211182529U (en) * | 2020-01-03 | 2020-08-04 | 北京融鼎盛低空安全科技有限公司 | Unmanned aerial vehicle counter-braking vehicle |
| CN111439187A (en) * | 2020-05-12 | 2020-07-24 | 公安部第一研究所 | Intelligent patrol car system |
| CN113096425A (en) * | 2021-03-29 | 2021-07-09 | 紫清智行科技(北京)有限公司 | Dispatching method and system for automatic driving patrol car applied to large scene |
| CN112763976A (en) * | 2021-04-07 | 2021-05-07 | 理工全盛(北京)科技有限公司 | Black-flying unmanned aerial vehicle flyer positioning system and method |
| CN114489148A (en) * | 2021-12-30 | 2022-05-13 | 中国航天系统科学与工程研究院 | Anti-unmanned aerial vehicle system based on intelligent detection and electronic countermeasure |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111169479B (en) | Cruise control method, device and system, vehicle and storage medium | |
| CN111045444B (en) | Adaptive sensing and avoidance system | |
| US7269513B2 (en) | Ground-based sense-and-avoid display system (SAVDS) for unmanned aerial vehicles | |
| CN103592948B (en) | Unmanned plane flight collision avoidance method | |
| KR101747180B1 (en) | Auto video surveillance system and method | |
| JP7436695B2 (en) | Multi-source detection system for operational elements on airport surfaces | |
| US10354521B2 (en) | Facilitating location positioning service through a UAV network | |
| CN113257041A (en) | System and method for automated cross-vehicle navigation using sensor data fusion | |
| WO2017114496A1 (en) | Facilitating location positioning service through a uav network | |
| US20210024095A1 (en) | Method and device for controlling autonomous driving of vehicle, medium, and system | |
| US20100063650A1 (en) | System and methods for aircraft preflight inspection | |
| CN105280025A (en) | Aircraft display systems and methods for providing an aircraft display for use with airport departure and arrival procedures | |
| CN112506212A (en) | System and method for calculating flight control for vehicle landing | |
| CN103699713A (en) | Collision detection method for airplane formation and application of method | |
| US11928976B2 (en) | Cross-checking localization during aircraft terminal operations | |
| US20240034242A1 (en) | Systems and Methods for a Housing Equipment for a Security Vehicle | |
| CN109597077A (en) | A kind of detection system based on unmanned plane | |
| US9097527B2 (en) | Method and system for generating a route | |
| JP2017208678A (en) | Communication and control device and method of small-sized unmanned airplane | |
| CN111819610A (en) | Air situation information and traffic management system for unmanned aerial vehicles and manned aircraft | |
| CN210377164U (en) | Air-ground cooperative operation system | |
| CN114063090A (en) | Mobile equipment positioning method and device and mobile equipment | |
| US7855675B2 (en) | Method and device for detecting an environning aircraft | |
| EP4063987A1 (en) | Systems and methods for identifying landing zones for unmanned aircraft | |
| CN115184913A (en) | Detection prevention and control method and system for mobile unmanned aerial vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |