CN115840223A - Unmanned aerial vehicle detection system and method capable of identifying target attributes - Google Patents
Unmanned aerial vehicle detection system and method capable of identifying target attributes Download PDFInfo
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Abstract
The invention belongs to the technical field of unmanned aerial vehicle detection, and discloses an unmanned aerial vehicle detection system and method capable of identifying target attributes, wherein radar signals are transmitted to the air, and reflection signals from an unmanned aerial vehicle are received, wherein the reflection signals comprise echo signals only from an illegal unmanned aerial vehicle, echo signals only from the unmanned aerial vehicle of the same party, stimulated radiation signals, echo signals from the illegal unmanned aerial vehicle and echo signals and stimulated radiation signals from the unmanned aerial vehicle of the same party; performing matched filtering processing on the reflection signal to obtain a matched filtering result; and performing fusion processing on the matched filtering results to obtain unmanned aerial vehicle detection results and unmanned aerial vehicle attribute identification results, thereby realizing attribute identification on the unmanned aerial vehicle of the owner and the illegal invasive unmanned aerial vehicle.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle detection, in particular to an unmanned aerial vehicle detection system and method capable of identifying target attributes.
Background
At present, important places such as airports, hydroelectric dams, power stations and the like are often invaded by illegal unmanned aerial vehicles, and the safety of the places is seriously influenced. Therefore, the method has important significance for implementing safety control aiming at the illegal unmanned aerial vehicle in some important places. The safety control for the illegal unmanned aerial vehicle generally adopts an anti-unmanned aerial vehicle detection radar to monitor and track the aerial unmanned aerial vehicle, and starts an electronic countermeasure means (such as an electronic interference gun) to interfere and drive away the aerial unmanned aerial vehicle. However, the existing anti-drone radar lacks the capability of classifying and identifying the attributes of the aerial drone, so that the illegal drone and the drone of one party cannot be accurately identified, and interference is caused to the drone of one party performing a task in the air. In view of this, the present application is specifically made.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the existing anti-unmanned aerial vehicle radar lacks the capability of classifying and identifying the attributes of the aerial unmanned aerial vehicle, and can cause interference to the unmanned aerial vehicle of the same party. The unmanned aerial vehicle detection system and method can detect whether an unmanned aerial vehicle exists above a pipe control area or not and can detect the attributes of the detected unmanned aerial vehicle (an illegal unmanned aerial vehicle or the unmanned aerial vehicle of the same party).
The invention is realized by the following technical scheme:
in one aspect, the invention provides an unmanned aerial vehicle detection system capable of identifying target attributes, comprising a radar transmitter for transmitting radar signals to the air; the stimulated radiator is used for stimulating the radar signal and radiating a stimulated radiation signal; the stimulated radiator is installed on the unmanned aerial vehicle of the same party; a radar receiver for receiving a reflected signal from the drone; the reflection signals comprise echo signals only from illegal unmanned aerial vehicles, echo signals and stimulated radiation signals only from unmanned aerial vehicles of the same party, and echo signals and stimulated radiation signals from the illegal unmanned aerial vehicles and the unmanned aerial vehicles of the same party; and the digital signal processor is used for performing matched filtering processing on the reflection signals, outputting matched filtering results, performing fusion processing on the matched filtering results, and outputting unmanned aerial vehicle detection results and unmanned aerial vehicle attribute identification results.
Further, the excited radiator is a passive excited radiator, the passive excited radiator comprises an input matching network, a resonance network, a passive crystal oscillator, a HEMT transistor and a capacitive sensor, the input matching network is connected with the drain electrode of the HEMT transistor, the resonance network is connected with the source electrode of the HEMT transistor, the passive crystal oscillator is connected with the gate electrode of the HEMT transistor, and the capacitive sensor is connected between the gate electrode of the HEMT transistor and the passive crystal oscillator.
Further, the digital signal processor comprises an echo signal processing unit, which is used for performing matched filtering processing on the echo signal and outputting the position information of the unmanned aerial vehicle carried by the echo signal; the stimulated radiation processing unit is used for performing matched filtering processing on the stimulated radiation signal and outputting the position information of the unmanned aerial vehicle carried by the stimulated radiation signal; and the correlation matching unit is used for setting a correlation threshold, performing correlation matching on the unmanned aerial vehicle position information output by the echo signal processing unit and the unmanned aerial vehicle position information output by the stimulated radiation processing unit according to the correlation threshold, and outputting an unmanned aerial vehicle detection result and an unmanned aerial vehicle attribute identification result.
On the other hand, the invention provides an unmanned aerial vehicle detection method capable of identifying target attributes, which is based on the unmanned aerial vehicle detection system and comprises the following steps: transmitting radar signals to the air; receiving reflection signals from the unmanned aerial vehicles, wherein the reflection signals comprise echo signals only from illegal unmanned aerial vehicles, echo signals and stimulated radiation signals only from unmanned aerial vehicles of the same party, and echo signals and stimulated radiation signals from the illegal unmanned aerial vehicles and the unmanned aerial vehicles of the same party; performing matched filtering processing on the reflection signal to obtain a matched filtering result; and carrying out fusion processing on the matched filtering results to obtain unmanned aerial vehicle detection results and unmanned aerial vehicle attribute identification results.
Further, the frequency of the stimulated radiation signal is orthogonal to the frequency of the echo signal reflected by the unmanned aerial vehicle of our party, and the time width, the bandwidth and the repetition period of the stimulated radiation signal are correspondingly the same as those of the echo signal reflected by the unmanned aerial vehicle of our party.
Further, the matched filtering processing of the reflected signal includes the following steps: performing matched filtering processing on the echo signals, and outputting the position information of the unmanned aerial vehicle carried by the echo signals; and carrying out matched filtering processing on the stimulated emission signals, and obtaining the position information of the unmanned aerial vehicle through signal detection and parameter estimation.
Further, the unmanned aerial vehicle position information comprises the distance and the angle between the unmanned aerial vehicle and the radar signal transmitting place.
Further, the method for performing matched filtering processing on the echo signal comprises the following steps: establishing an echo signal matched filtering model, and performing matched filtering processing on an echo signal by using the echo signal matched filtering model; the expression of the echo signal matched filtering model is
Wherein is present>
Represents an echo signal, is greater than or equal to>
，/>
Indicates a radar transmission signal, <' > is present>
Represents the time delay corresponding to the two-way distance between the radar signal transmitting point and the unmanned aerial vehicle, and then>
，f 0 Represents the radar signal carrier, < > or >>
Represents a modulation function of the radar signal>
A matched filter function representing the echo signal;
the method for carrying out matched filtering processing on the stimulated radiation signal comprises the following steps: establishing a stimulated radiation signal matched filtering model, and performing matched filtering processing on the stimulated radiation signal by using the stimulated radiation signal matched filtering model; the expression of the stimulated radiation signal matched filtering model is
Wherein, in the step (A),/>
which is representative of the stimulated emission signal,
，/>
，f 1 indicating the frequency of the stimulated emission device relative to the emission signal radiationf 1 And withf 0 When the frequency interval exceeds the bandwidth of the radar emission signal, the echo signal is orthogonal to the frequency of the stimulated radiation signal and is combined with the frequency of the stimulated radiation signal>
Representing the stimulated emission signal matched filter function.
Further, the fusing processing of the matched filtering result includes the following steps: s1: setting a distance correlation threshold
And an angle-associated threshold->
(ii) a S2: distance in unmanned aerial vehicle position information carried by echo signalR r Clustering in drone location information carried with stimulated emission signalR e Match, with angle in the unmanned aerial vehicle position information that echo signal carried->
Match with the angle in the unmanned aerial vehicle position information that stimulated emission signal carried, if->
And is
And if not, determining that the detected unmanned aerial vehicle is an illegal unmanned aerial vehicle.
Further, the step S2 comprises the following steps: detecting whether the received reflection signal contains a stimulated radiation signal; if the stimulated radiation signal is contained, S2 is continuously executed; otherwise, the detected unmanned aerial vehicle is judged to be an illegal unmanned aerial vehicle.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. in the prior art, only an unmanned aerial vehicle in the air is monitored and tracked, and the attribute of the unmanned aerial vehicle cannot be identified, the stimulated radiator is arranged on the unmanned aerial vehicle of the owner, and the stimulated radiator is used as a mark for distinguishing the unmanned aerial vehicle of the owner from an illegal unmanned aerial vehicle; on the one hand, unmanned aerial vehicle detection can be realized by detecting echo signals, on the other hand, an association threshold is set according to the relation characteristic that the distance between a stimulated radiator and an unmanned aerial vehicle is smaller than the distance between the stimulated radiator and an illegal unmanned aerial vehicle, unmanned aerial vehicle position parameters carried by echo signals and unmanned aerial vehicle position parameters carried by stimulated radiation signals are associated and matched, and the association matching result and the association threshold are comprehensively judged, so that attribute identification of the unmanned aerial vehicle and the illegal unmanned aerial vehicle is realized. 2. The stimulated radiator adopts the passive working system, need not the power supply and small, light in weight, can be applicable to little unmanned aerial vehicle. 3. The format of the stimulated radiation signal is the same as that of the echo signal, the stimulated radiation signal and the echo signal are received by the radar receiver at the same time, the radar receiver has the same time, frequency and antenna aperture receiving resources, the distance and angle resolution of the other two signals are the same, the measurement accuracy is approximate, and a good correlation matching effect can be realized; 4. the frequency of the stimulated radiation signal is orthogonal to the frequency of the echo signal, and the detection and the identification are not interfered with each other; 5. the hardware of the existing radar equipment is not required to be changed, the received signals are only subjected to matching processing in the digital signal processing section, the detection and attribute identification of the unmanned aerial vehicle can be realized simultaneously, and the integrated detection and identification capability is achieved.
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In order to more clearly illustrate the technical solutions of the exemplary embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and that for those skilled in the art, other related drawings can be obtained from these drawings without inventive effort.
Fig. 1 is a schematic diagram illustrating positions and relationships of components in an unmanned aerial vehicle detection system capable of identifying target attributes according to embodiment 1 of the present invention;
fig. 2 is a schematic flow chart of a method for detecting an unmanned aerial vehicle capable of identifying a target attribute according to embodiment 2 of the present invention;
fig. 3 is a schematic diagram illustrating a relationship between an echo signal detection position, a stimulated radiation signal detection position, and an association threshold when only one of the unmanned aerial vehicles of the present invention is detected in embodiment 2;
fig. 4 is a schematic diagram illustrating a relationship between an echo signal detection position, a stimulated radiation signal detection position, and an association threshold when only an illegal unmanned aerial vehicle is detected according to embodiment 2 of the present invention;
fig. 5 is a schematic diagram illustrating a relationship among an echo signal detection position, a stimulated radiation signal detection position, and an association threshold when an illegal unmanned aerial vehicle and an unmanned aerial vehicle of the present party are detected simultaneously in embodiment 2 of the present invention.
Reference numbers and corresponding part names in the drawings:
1-radar transmitter, 2-stimulated radiator, 3-radar receiver, 4-digital signal processor, 41-echo signal processing unit, 42-stimulated radiation processing unit and 43-correlation matching unit.
Detailed description of the preferred embodiments
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to examples and accompanying drawings, and the exemplary embodiments and descriptions thereof are only used for explaining the present invention and are not meant to limit the present invention.
Example 1
As shown in fig. 1, an unmanned aerial vehicle detection system capable of identifying target attributes provided by the embodiment of the invention includes a radar transmitter 1 for transmitting a radar signal to the air; the stimulated radiator 2 is used for stimulating the radar signal and radiating a stimulated radiation signal; a radar receiver 3 for receiving a reflected signal from the drone; the reflection signals comprise echo signals only from the illegal unmanned aerial vehicles, echo signals and stimulated radiation signals only from the unmanned aerial vehicles of the own party, and echo signals and stimulated radiation signals from the illegal unmanned aerial vehicles and the unmanned aerial vehicles of the own party; and the digital signal processor 4 is used for performing matched filtering processing on the reflection signals, outputting matched filtering results, performing fusion processing on the matched filtering results, and outputting unmanned aerial vehicle detection results and unmanned aerial vehicle attribute identification results.
Wherein, the stimulated radiator is installed on my unmanned aerial vehicle, can carry out the stimulation to echo signal when my unmanned aerial vehicle reflects echo signal to the stimulated emission signal who is used for discerning my unmanned aerial vehicle radiates out. Because the stimulated radiation signal can not be radiated because the stimulated radiation device is not installed on the illegal unmanned aerial vehicle, the stimulated radiation device can be used as a mark for distinguishing the unmanned aerial vehicle and the illegal unmanned aerial vehicle.
It should be noted that the stimulated radiator provided in this embodiment is a passive stimulated radiator. The basic circuit structure comprises an input matching network, a resonant network, a passive crystal oscillator, an HEMT transistor and a capacitive sensor, wherein the input matching network is connected with the drain electrode of the HEMT transistor, the resonant network is connected with the source electrode of the HEMT transistor, the passive crystal oscillator is connected with the grid electrode of the HEMT transistor, and the capacitive sensor is connected between the grid electrode of the HEMT transistor and the passive crystal oscillator.
The passive stimulated radiator of this structure need not the passive frequency conversion transmission that the power supply can realize sensing signal, and small, light in weight, low cost, applicable in little unmanned aerial vehicle.
In addition, the digital signal processor 4 shown in fig. 1 includes an echo signal processing unit 41, configured to perform matched filtering processing on the echo signal, and output the position information of the unmanned aerial vehicle carried by the echo signal; the stimulated radiation processing unit 42 is configured to perform matched filtering processing on the stimulated radiation signal and output the position information of the unmanned aerial vehicle carried by the stimulated radiation signal; and the association matching unit 43 is configured to set an association threshold, perform association matching on the unmanned aerial vehicle position information output by the echo signal processing unit 41 and the unmanned aerial vehicle position information output by the stimulated radiation processing unit 42 according to the association threshold, and output an unmanned aerial vehicle detection result and an unmanned aerial vehicle attribute identification result.
The unmanned aerial vehicle detection system of distinguishable target attribute that this embodiment provided, its theory of operation is as follows:
erect the radar transmitter in the management and control area and to aerial transmission radar signal, survey aerial unmanned aerial vehicle. After the transmitted radar signal irradiates the unmanned aerial vehicle, the unmanned aerial vehicle reflects the echo signal to the ground and can receive the echo signal by the radar receiver. On one hand, the numerical signal processor performs matched filtering on the received echo signals, and obtains the position information (distance and angle) of the unmanned aerial vehicle through signal detection and parameter estimation, so that the detection of the unmanned aerial vehicle in the air can be realized. On the other hand, the unmanned aerial vehicle of our party provided with the passive excited radiator passively excites the radar signal and radiates an excited radiation signal which is orthogonal to the frequency of the echo signal reflected by the unmanned aerial vehicle of our party and has the same signal time width, bandwidth and repetition period; the stimulated radiation signal and the echo signal are simultaneously received by a radar receiver; because echo signal and stimulated emission signal frequency quadrature, wherein in digital signal processing, carry out matched filtering to echo signal by echo signal processing unit respectively, resolve unmanned aerial vehicle positional information (distance and angle) that carries in echo signal, carry out matched filtering to stimulated emission signal by stimulated emission signal processing unit, resolve unmanned aerial vehicle information (distance and angle) that carries in stimulated emission signal, if echo signal and stimulated emission signal's distance and angle value are in the correlation threshold, then can judge that the unmanned aerial vehicle that detects is my unmanned aerial vehicle, otherwise be illegal unmanned aerial vehicle.
In summary, in the unmanned aerial vehicle detection system capable of identifying the target attribute provided by this embodiment, the stimulated radiator is installed on the unmanned aerial vehicle of one party, so that on one hand, the unmanned aerial vehicle detection can be realized by detecting the echo signal; on the other hand, the unmanned aerial vehicle position parameters carried by the echo signals and the unmanned aerial vehicle position parameters carried by the stimulated radiation signals are subjected to correlation matching, correlation matching results and correlation thresholds are comprehensively judged, and attribute identification of the unmanned aerial vehicle and the illegal invasive unmanned aerial vehicle can be realized.
Example 2
In the method for detecting the unmanned aerial vehicle capable of identifying the target attribute provided by this embodiment, based on the unmanned aerial vehicle detection system shown in embodiment 1, the stimulated radiator provided in embodiment 1 also needs to be installed on the unmanned aerial vehicle of one party, and the detection of the unmanned aerial vehicle and the identification of the attribute of the unmanned aerial vehicle can be simultaneously realized by the method. The implementation flow of the method is shown in fig. 2, and comprises the following steps:
step 1: and transmitting radar signals to the air.
Step 2: receive a reflected signal from the drone. The reflection signals include echo signals only from the illegal unmanned aerial vehicle, echo signals and stimulated radiation signals only from the own unmanned aerial vehicle, and echo signals and stimulated radiation signals from both the illegal unmanned aerial vehicle and the own unmanned aerial vehicle.
It should be noted that, since there may be an illegal drone and a drone of the same party above the control area, after a radar signal is generated to the control, a reflected signal of the drone received on the ground includes the following three situations: in the first situation, when only an illegal unmanned aerial vehicle is positioned above the control area, the received reflected signal only contains an echo signal reflected by the illegal unmanned aerial vehicle; in the second situation, when only the unmanned aerial vehicle of the same party exists above the control area, because the unmanned aerial vehicle of the same party is provided with the stimulated radiator, the stimulated radiator can stimulate the radar signal and radiate a stimulated radiation signal which is orthogonal to the frequency of the echo signal reflected by the unmanned aerial vehicle of the same party and has the same signal time width, bandwidth and repetition period, and therefore the received reflection signal simultaneously contains the echo signal reflected by the unmanned aerial vehicle of the same party and the stimulated radiation signal radiated by the stimulated radiator; and in the third situation, when the illegal unmanned aerial vehicle and the unmanned aerial vehicle of the same party exist in the sky of the control area, the received reflected signals simultaneously contain echo signals reflected by the illegal unmanned aerial vehicle, echo signals reflected by the unmanned aerial vehicle of the same party and stimulated radiation signals radiated by the stimulated radiator.
And step 3: performing matched filtering processing on the echo signals, and outputting the position information of the unmanned aerial vehicle carried by the echo signals; and carrying out matched filtering processing on the stimulated emission signal, and outputting the position information of the unmanned aerial vehicle carried by the stimulated emission signal. The unmanned aerial vehicle position information refers to the distance and the angle between the unmanned aerial vehicle and a radar signal transmitting place. Because the frequency of the stimulated emission signal is orthogonal to the frequency of the echo signal, the echo signal and the stimulated emission signal are subjected to independent matched filtering processing respectively, so that detection and identification are not interfered with each other.
It should be further noted that, in this embodiment, the echo signal is processed by using an echo signal matched filtering model, where the expression of the echo signal matched filtering model is
Wherein is present>
Is representative of the echo signal or signals,
，/>
indicates a radar transmission signal, <' > is present>
Represents the time delay corresponding to the two-way distance between the radar signal transmitting point and the unmanned aerial vehicle, and then>
，f 0 Represents the radar signal carrier, < > or >>
A modulation function representing a radar signal>
A matched filter function representing the echo signal;
matched filtering of stimulated emission signalsThe wave processing method comprises the following steps: establishing a stimulated radiation signal matched filtering model, and performing matched filtering processing on the stimulated radiation signal by using the stimulated radiation signal matched filtering model; the expression of the stimulated radiation signal matched filtering model is
Wherein is present>
Which is representative of the stimulated emission signal,
，/>
，f 1 indicating the frequency of the stimulated emission device relative to the emission signal radiationf 1 Andf 0 when the frequency interval exceeds the bandwidth of the radar emission signal, the echo signal is orthogonal to the frequency of the stimulated radiation signal and is combined with the frequency of the stimulated radiation signal>
Representing a stimulated emission signal matched filter function.
And 4, step 4: and carrying out fusion processing on unmanned aerial vehicle position information carried by the echo signal and unmanned aerial vehicle position information carried by the stimulated radiation signal, and outputting an unmanned aerial vehicle detection result and an unmanned aerial vehicle attribute identification result.
Specifically, first, a distance correlation threshold is set
And an angle-associated threshold->
(ii) a S2: distance in unmanned aerial vehicle position information carried by echo signalR r Clustering in drone location information carried with stimulated emission signalR e Match, with angle in the unmanned aerial vehicle position information that echo signal carried->
Match with the angle in the unmanned aerial vehicle position information that stimulated emission signal carried, if->
And->
And if not, determining that the detected unmanned aerial vehicle is an illegal unmanned aerial vehicle. Certainly, before the attribute identification of the unmanned aerial vehicle is performed, whether the received reflection signal contains a stimulated radiation signal needs to be detected; if the stimulated radiation signals are contained, continuing to identify the attributes of the unmanned aerial vehicle; otherwise, the detected unmanned aerial vehicle is judged to be an illegal unmanned aerial vehicle.
According to the three cases described in step 2, the fusion process performed in step 4 includes the following three corresponding cases:
in the first case, when only one unmanned aerial vehicle exists above the control area, the principle of fusion processing of the reflected signals received on the ground is shown in fig. 3. In fig. 3, the area between two dotted line traffic represents a radar beam coverage area, a solid circle represents the position of the unmanned aerial vehicle analyzed after performing matched filtering on the echo signal reflected by the unmanned aerial vehicle of our party, a square represents the position of the unmanned aerial vehicle analyzed after performing matched filtering on the stimulated radiation signal reflected by the unmanned aerial vehicle of our party, and an ellipse represents the association threshold. It can be seen from the figure that the unmanned aerial vehicle positional information who analyzes out from two kinds of signals falls within the correlation threshold, and the distance of stimulated radiator and unmanned aerial vehicle is less than the threshold distance promptly, can regard as to install stimulated radiator on the unmanned aerial vehicle, explains that the unmanned aerial vehicle that detects is my unmanned aerial vehicle.
In the second case, when only an illegal unmanned aerial vehicle exists above the control area, the principle of fusion processing of the reflected signals received on the ground is shown in fig. 4. In fig. 4, the area between two dotted traffic lines represents a radar beam coverage area, the open circles represent positions of the unmanned aerial vehicles analyzed after performing matched filtering on echo signals reflected by the illegal unmanned aerial vehicles, and the ellipses represent correlation thresholds. Because illegal unmanned aerial vehicle does not install passive stimulated emission equipment, consequently ground can't receive the stimulated emission signal, so can not resolve the unmanned aerial vehicle positional information that the stimulated emission signal carried, then can judge that the unmanned aerial vehicle that detects is illegal unmanned aerial vehicle.
In the third case, when an illegal drone and a drone of the same party coexist above the control area, the principle of fusion processing of the reflected signals received on the ground is shown in fig. 5. In fig. 5, the area between two dotted line traffic represents the radar beam coverage area, the solid circle represents the position of the unmanned aerial vehicle analyzed after the echo signal reflected by the unmanned aerial vehicle of our party is subjected to matched filtering, the square represents the position of the unmanned aerial vehicle analyzed after the stimulated radiation signal reflected by the unmanned aerial vehicle of our party is subjected to matched filtering, the ellipse represents the association threshold, and the hollow circle represents the position of the unmanned aerial vehicle analyzed after the echo signal reflected by the illegal unmanned aerial vehicle is subjected to matched filtering. If my unmanned aerial vehicle and illegal invading unmanned aerial vehicle exist in the radar wave beam at the same time, my unmanned aerial vehicle and illegal unmanned aerial vehicle can be detected after echo signals are subjected to matched filtering, but because a certain interval exists between the illegal unmanned aerial vehicle and my unmanned aerial vehicle, when unmanned aerial vehicle position information carried in echo signals and unmanned aerial vehicle information carried in stimulated radiation signals are subjected to associated matching, the associated matching result of the unmanned aerial vehicle position information carried in the echo signals of the illegal unmanned aerial vehicle and the unmanned aerial vehicle information carried in the stimulated radiation signals is greater than an associated threshold, so that when the associated matching result of the unmanned aerial vehicle information carried by the two signals is less than the associated threshold, the detected unmanned aerial vehicle can be judged to be my unmanned aerial vehicle.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. An unmanned aerial vehicle detection system capable of identifying target attributes, which is characterized by comprising
A radar transmitter (1) for transmitting a radar signal into the air;
the stimulated radiator (2) is used for stimulating the radar signal and radiating a stimulated radiation signal; the stimulated radiator (2) is installed on the unmanned aerial vehicle of the same party;
a radar receiver (3) for receiving a reflected signal from the drone; the reflection signals comprise echo signals only from illegal unmanned aerial vehicles, echo signals and stimulated radiation signals only from unmanned aerial vehicles of the same party, and echo signals and stimulated radiation signals from the illegal unmanned aerial vehicles and the unmanned aerial vehicles of the same party;
and the digital signal processor (4) is used for performing matched filtering processing on the reflection signals, outputting matched filtering results, performing fusion processing on the matched filtering results, and outputting unmanned aerial vehicle detection results and unmanned aerial vehicle attribute identification results.
2. An unmanned aerial vehicle detection system capable of identifying target attributes as claimed in claim 1, wherein the excited radiator (2) is a passive excited radiator, the passive excited radiator comprising an input matching network, a resonant network, a passive crystal oscillator, a HEMT transistor and a capacitive sensor, the input matching network being connected to a drain of the HEMT transistor, the resonant network being connected to a source of the HEMT transistor, the passive crystal oscillator being connected to a gate of the HEMT transistor, the capacitive sensor being connected between the gate of the HEMT transistor and the passive crystal oscillator.
3. An unmanned aerial vehicle detection system capable of identifying target attributes as claimed in claim 1 or 2, wherein the digital signal processor (4) comprises
The echo signal processing unit (41) is used for performing matched filtering processing on the echo signal, outputting the echo signal and obtaining the position information of the unmanned aerial vehicle through signal detection and parameter estimation;
the stimulated radiation processing unit (42) is used for carrying out matched filtering processing on the stimulated radiation signal and obtaining the position information of the stimulated radiation signal through signal detection and parameter estimation;
and the association matching unit (43) is used for setting an association threshold, performing association matching on the unmanned aerial vehicle position information output by the echo signal processing unit (41) and the unmanned aerial vehicle position information output by the stimulated radiation processing unit (42) according to the association threshold, and outputting an unmanned aerial vehicle detection result and an unmanned aerial vehicle attribute identification result.
4. A method for detecting unmanned aerial vehicle capable of identifying target attribute, which is based on the unmanned aerial vehicle detection system of any one of claims 1-3, and comprises the following steps:
transmitting radar signals to the air;
receiving reflection signals from the unmanned aerial vehicles, wherein the reflection signals comprise echo signals only from illegal unmanned aerial vehicles, echo signals and stimulated radiation signals only from unmanned aerial vehicles of the same party, and echo signals and stimulated radiation signals from the illegal unmanned aerial vehicles and the unmanned aerial vehicles of the same party;
performing matched filtering processing on the reflection signal to obtain a matched filtering result;
and performing fusion processing on the matched filtering result to obtain an unmanned aerial vehicle detection result and an unmanned aerial vehicle attribute identification result.
5. The UAV detection method according to claim 4, wherein the frequency of the stimulated emission signal is orthogonal to the frequency of the echo signal reflected by the UAV of the same party, and the time width, the bandwidth and the repetition period of the stimulated emission signal are the same as those of the echo signal reflected by the UAV of the same party.
6. A method as claimed in claim 4 or 5, wherein the step of matched filtering the reflected signals comprises the steps of:
performing matched filtering processing on the echo signals, and obtaining the position information of the unmanned aerial vehicle through signal detection and parameter estimation;
and performing matched filtering processing on the stimulated emission signal, and acquiring the position information of the stimulated emission signal through signal detection and parameter estimation.
7. The drone detecting method according to claim 6, wherein the drone location information includes the distance and angle between the drone and the radar signal transmission site.
8. The unmanned aerial vehicle detection method capable of identifying target attributes as claimed in claim 6, wherein the method for performing matched filtering processing on the echo signals comprises: establishing an echo signal matched filtering model, and performing matched filtering processing on an echo signal by using the echo signal matched filtering model; the expression of the echo signal matched filtering model is
Wherein, in the step (A),
is representative of the echo signal or signals,
，
which is representative of a signal transmitted by the radar,
representing the time delay corresponding to the two-way distance between the radar signal transmitting point and the unmanned aerial vehicle,
，f 0 which represents a carrier wave of the radar signal,
represents the modulation function of the radar signal and,
a matched filter function representing the echo signal;
the method for carrying out matched filtering processing on the stimulated radiation signal comprises the following steps: establishing a stimulated radiation signal matched filtering model, and performing matched filtering processing on the stimulated radiation signal by using the stimulated radiation signal matched filtering model; the expression of the stimulated radiation signal matched filtering model is
Wherein, in the step (A),
which is representative of the stimulated emission signal,
，
，f 1 indicating the frequency of the stimulated emission device relative to the emission signal radiationf 1 Andf 0 when the frequency interval exceeds the bandwidth of the radar emission signal, the echo signal is orthogonal to the frequency of the stimulated emission signal,
representing a stimulated emission signal matched filter function.
9. The method for detecting unmanned aerial vehicle capable of identifying target attribute as claimed in claim 7, wherein fusing the matched filtering result comprises the following steps:
s1: setting a distance correlation threshold
Angle-dependent threshold
；
S2: distance in unmanned aerial vehicle position information carried by echo signalR r Clustering in drone location information carried with stimulated emission signalsR e Matching, and carrying out angle in unmanned aerial vehicle position information carried by echo signals
Match with the angle in the unmanned aerial vehicle position information that the stimulated emission signal carried, if
And is
And if not, determining that the detected unmanned aerial vehicle is an illegal unmanned aerial vehicle.
10. A method for drone detection with identifiable target attributes as claimed in claim 9, characterised in that said S2 is preceded by the following steps: detecting whether the received reflection signal contains a stimulated radiation signal; if the stimulated radiation signal is contained, S2 is continuously executed; otherwise, the detected unmanned aerial vehicle is judged to be an illegal unmanned aerial vehicle.
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