CN117439698B - Method and system for dynamically monitoring and adjusting operation state of unmanned aerial vehicle interference equipment - Google Patents
Method and system for dynamically monitoring and adjusting operation state of unmanned aerial vehicle interference equipment Download PDFInfo
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Abstract
The invention discloses a method and a system for dynamically monitoring and adjusting the running state of unmanned aerial vehicle interference equipment, which relate to the technical field of signal detection and are used for constructing a space domain based on the unmanned aerial vehicle interference equipment; generating an identification response, synchronously activating an interference operation control module along with the receiving of the identification response, and configuring an interference scheme based on an interference mode; tracking and positioning a target unmanned aerial vehicle, performing radio countering of the target unmanned aerial vehicle based on the interference scheme, and determining a target interference live condition; extracting an echo feedback signal, performing running state evaluation, and determining the brake off-axis degree; if the brake off-axis degree does not meet the threshold value standard, determining an operation disturbance factor marked with disturbance degree; the adaptive operation regulation and control of the unmanned aerial vehicle interference equipment are carried out, the problem that the unmanned aerial vehicle interference equipment in the prior art cannot be dynamically regulated according to the operation state due to insufficient rigor and insufficient completeness is solved, and the stability of the unmanned aerial vehicle interference equipment is improved.
Description
Technical Field
The invention relates to the technical field of signal detection, in particular to a method and a system for dynamically monitoring and adjusting the running state of unmanned aerial vehicle interference equipment.
Background
With the continuous development of unmanned aerial vehicle technology, unmanned aerial vehicle interference equipment is increasingly demanded in a plurality of fields such as military, security, aerial photography and the like. The unmanned aerial vehicle interference device has the main function of interfering the normal flight of the unmanned aerial vehicle by transmitting signals of specific frequency bands, so that the unmanned aerial vehicle is prevented from entering a no-fly area or dangerous tasks are executed. However, in the actual use process, the unmanned aerial vehicle interference device is often affected by various factors, so that the interference effect and stability of the unmanned aerial vehicle interference device are poor, and therefore, the running state of the unmanned aerial vehicle interference device is monitored and regulated in real time, so that the interference effect and stability are ensured, and meanwhile, the unmanned aerial vehicle interference device has lower cost and higher expandability, and can adapt to various complex environments and task demands, so that the unmanned aerial vehicle interference device has important significance.
The unmanned aerial vehicle interference equipment in the prior art is not strict enough and insufficient in completeness, so that the problem that the unmanned aerial vehicle interference equipment cannot be dynamically adjusted according to the running state is solved, and finally the interference effect and stability of the unmanned aerial vehicle interference equipment cannot be guaranteed.
Disclosure of Invention
The application provides a method and a system for dynamically monitoring and adjusting the running state of unmanned aerial vehicle interference equipment, which solve the problem that unmanned aerial vehicle interference equipment in the prior art cannot be dynamically adjusted according to the running state due to insufficient rigor and insufficient completeness, and improve the stability of the unmanned aerial vehicle interference equipment.
In view of the above problems, the present application provides a method for dynamically monitoring and adjusting an operation state of an unmanned aerial vehicle interference device.
In a first aspect, the present application provides a method for dynamically monitoring and adjusting an operation state of an unmanned aerial vehicle interference device, where the method includes: by building a spatial domain based on unmanned aerial vehicle interference equipment, the spatial domain is configured based on the equipment radio frequency range; based on detection space constraint of a space domain, combining with a detection operation control module, performing target identification through radio detection of unmanned aerial vehicle interference equipment, and generating an identification response, wherein the detection operation control module is used for controlling the unmanned aerial vehicle interference equipment to perform radio detection; along with the receiving of the identification response, synchronously activating an interference operation control module and configuring an interference scheme based on an interference mode, wherein the interference mode comprises a forced landing mode, a return mode and a flight control interference mode, and the interference operation control module is used for receiving the identification response, judging a current interference mode and configuring the interference scheme; tracking and positioning a target unmanned aerial vehicle, combining interference space constraint of a space domain, performing radio reaction of the target unmanned aerial vehicle based on the interference scheme, and determining a target interference live state; based on the recognition response and the target interference live condition, extracting an echo feedback signal and performing running state evaluation, and determining a braking off-axis degree, wherein the braking off-axis degree is the difference between an expected control effect and an actual control effect; if the brake off-axis degree does not meet a threshold value standard, tracing the source according to the brake off-axis degree, and determining an operation disturbance factor with disturbance degree; and based on the operation disturbance factors, carrying out adaptive operation regulation and control on the unmanned aerial vehicle interference equipment.
In a second aspect, the present application provides a system for dynamically monitoring and adjusting an operation state of an unmanned aerial vehicle interference device, the system comprising: space domain building module: constructing a spatial domain based on unmanned aerial vehicle interference equipment, wherein the spatial domain is configured based on the equipment radio frequency range; and an identification response module: based on detection space constraint of a space domain, combining with a detection operation control module, performing target identification through radio detection of unmanned aerial vehicle interference equipment, and generating an identification response, wherein the detection operation control module is used for controlling the unmanned aerial vehicle interference equipment to perform radio detection; an interference scheme module: along with the receiving of the identification response, synchronously activating an interference operation control module and configuring an interference scheme based on an interference mode, wherein the interference mode comprises a forced landing mode, a return mode and a flight control interference mode, and the interference operation control module is used for receiving the identification response, judging a current interference mode and configuring the interference scheme; and (3) a tracking and positioning module: tracking and positioning a target unmanned aerial vehicle, combining interference space constraint of a space domain, performing radio reaction of the target unmanned aerial vehicle based on the interference scheme, and determining a target interference live state; a state evaluation module: based on the recognition response and the target interference live condition, extracting an echo feedback signal and performing running state evaluation, and determining a braking off-axis degree, wherein the braking off-axis degree is the difference between an expected control effect and an actual control effect; disturbance factor module: if the brake off-axis degree does not meet a threshold value standard, tracing the source according to the brake off-axis degree, and determining an operation disturbance factor with disturbance degree; and an operation regulation and control module: and based on the operation disturbance factors, carrying out adaptive operation regulation and control on the unmanned aerial vehicle interference equipment.
One or more technical solutions provided in the present application have at least the following technical effects or advantages:
according to the method and the system for dynamically monitoring and adjusting the running state of the unmanned aerial vehicle interference equipment, the spatial domain based on the unmanned aerial vehicle interference equipment is built, the spatial domain is configured based on the equipment radio frequency range, the detection spatial constraint based on the spatial domain is combined with the detection operation control module, target identification is carried out through radio detection of the unmanned aerial vehicle interference equipment, recognition response is generated, the detection operation control module is used for controlling the unmanned aerial vehicle interference equipment to carry out radio detection, then the interference operation control module is synchronously activated along with the receiving of the recognition response, the interference scheme based on the interference mode is configured, tracking and positioning are carried out on the target unmanned aerial vehicle, the interference spatial constraint based on the spatial domain is combined, radio reaction of the target unmanned aerial vehicle is carried out based on the interference scheme, the target interference live condition is determined, and the echo feedback signal is extracted and the running state evaluation is carried out, the brake off-axis degree is determined, then if the brake off-axis degree does not meet the threshold standard, the tracing is carried out aiming at the brake off-axis degree, the running disturbance factor of the marked with the disturbance degree is determined, finally the adaptive operation control of the unmanned aerial vehicle interference equipment is carried out based on the running disturbance factor, the disturbance factor based on the disturbance mode, the unmanned aerial vehicle interference equipment is insufficient in the prior art, the problem that the unmanned aerial vehicle interference equipment is not completely regulated and the running state is completely due to the condition is not completely because the unmanned aerial vehicle is not regulated.
Drawings
Fig. 1 is a schematic flow chart of a method for dynamically monitoring and adjusting the operation state of unmanned aerial vehicle interference equipment;
fig. 2 is a schematic structural diagram of a dynamic monitoring and adjusting system for an operation state of an unmanned aerial vehicle interference device.
Reference numerals illustrate: the system comprises a space domain building module 11, an identification response module 12, an interference scheme module 13, a tracking and positioning module 14, a state evaluation module 15, a disturbance factor module 16 and an operation regulation and control module 17.
Detailed Description
According to the method and the system for dynamically monitoring and adjusting the running state of the unmanned aerial vehicle interference equipment, the space domain based on the unmanned aerial vehicle interference equipment is built, the space domain is configured based on the equipment radio frequency range, the detection space constraint based on the space domain is combined with the detection operation control module, target identification is carried out through radio detection of the unmanned aerial vehicle interference equipment, recognition response is generated, wherein the detection operation control module is used for controlling the unmanned aerial vehicle interference equipment to carry out radio detection, then the interference operation control module is synchronously activated along with the receiving of the recognition response, an interference scheme based on an interference mode is configured, tracking and positioning are carried out on a target unmanned aerial vehicle, the interference space constraint based on the space domain is combined, the radio reaction of the target unmanned aerial vehicle is carried out based on the interference scheme, the target interference live condition is determined, echo feedback signals are extracted, the running state evaluation is carried out, the brake off-axis degree is determined, then if the brake off-axis degree does not meet a threshold standard, the running disturbance factor with the disturbance degree is determined, and finally the unmanned aerial vehicle interference equipment is adaptively regulated and controlled based on the running disturbance factor with the disturbance degree. The problem that unmanned aerial vehicle interference equipment in the prior art cannot be dynamically adjusted according to the running state due to insufficient rigor and insufficient completeness is solved, and stability of the unmanned aerial vehicle interference equipment is improved.
In a first embodiment, as shown in fig. 1, the present application provides a method and a system for dynamically monitoring and adjusting an operation state of an unmanned aerial vehicle interference device, where the method includes:
constructing a spatial domain based on unmanned aerial vehicle interference equipment, wherein the spatial domain is configured based on the equipment radio frequency range;
the spatial domain of the unmanned aerial vehicle interference device refers to the working range of the unmanned aerial vehicle interference device, and is set according to the radio frequency range of the unmanned aerial vehicle interference device. The radio frequency range is an important index of the interference capability of unmanned aerial vehicle interference equipment, and when a space domain is built, the radio frequency range needs to be ensured to cover the interference range of the unmanned aerial vehicle so as to ensure that the unmanned aerial vehicle can be interfered. And acquiring the radio frequency range of the unmanned aerial vehicle interference equipment, and setting the space range of the unmanned aerial vehicle interference equipment according to the equipment range of the unmanned aerial vehicle to obtain the space domain of the unmanned aerial vehicle interference equipment. The space domain of the unmanned aerial vehicle interference device can be divided arbitrarily according to the device radio frequency range, the space domain of the corresponding unmanned aerial vehicle interference device is built according to the actual situation, after the coordinate system is determined, the space coordinate system is obtained, the corresponding coordinate space is generated according to the space coordinate system, and the space domain of the unmanned aerial vehicle interference device is obtained by outputting the coordinate space. The acquisition of the space domain provides a data basis for the subsequent detection space constraint based on the space domain, and the detection operation control module is combined to perform target identification through radio detection of unmanned aerial vehicle interference equipment, so as to generate an identification response.
Based on detection space constraint of a space domain, combining with a detection operation control module, performing target identification through radio detection of unmanned aerial vehicle interference equipment, and generating an identification response, wherein the detection operation control module is used for controlling the unmanned aerial vehicle interference equipment to perform radio detection;
the detection space constraint based on the space domain is a constraint for restraining detection and identification by utilizing the information of the physical space, and the unmanned aerial vehicle interference equipment cannot interfere objects in all the space domains when interfering with the unmanned aerial vehicle, so that the efficiency is low, the interference is limited, the interference to the unmanned aerial vehicle is carried out in a set mode, and the radio detection of the detection operation control module and the unmanned aerial vehicle interference equipment is combined, so that the more efficient and accurate target identification can be realized. The detection operation control module is used for controlling unmanned aerial vehicle interference equipment to conduct radio detection, performing target identification through radio detection of the unmanned aerial vehicle interference equipment, acquiring a target identification result after the radio detection is completed, acquiring the target identification result, generating a corresponding identification response according to the target identification result, representing that the target is an unmanned aerial vehicle, synchronously activating the interference operation control module along with the receiving of the identification response, and configuring an interference scheme based on an interference mode, wherein the interference mode comprises a forced landing mode, a return mode and a flight control interference mode to provide a data basis.
Along with the receiving of the identification response, synchronously activating an interference operation control module and configuring an interference scheme based on an interference mode, wherein the interference mode comprises a forced landing mode, a return mode and a flight control interference mode, and the interference operation control module is used for receiving the identification response, judging a current interference mode and configuring the interference scheme;
after receiving the identification correspondence, activating an interference operation control module, wherein the interference operation control module is used for receiving the identification correspondence, judging the current interference mode, obtaining a judging result, and configuring an interference scheme according to the judging result. The method comprises the steps of constructing an interference scheme database, wherein a plurality of interference schemes exist in the interference scheme database, a user can select an interference mode according to actual conditions, confirm a current interference mode, correspondingly select the interference scheme according to the interference mode, and complete configuration of the interference scheme. The interference modes are divided into three types, namely a forced landing mode, a return mode and a flight control interference mode, wherein the forced landing mode is used for carrying out signal interference on the unmanned aerial vehicle and enabling the unmanned aerial vehicle to drop rapidly; the back-navigation mode is to perform directional interference on the unmanned aerial vehicle, drive off the unmanned aerial vehicle and leave the space domain of unmanned aerial vehicle interference equipment; the flight control interference mode is used for interfering flight control of the unmanned aerial vehicle, so that the unmanned aerial vehicle cannot be stabilized in the flight process, and the conditions such as crash and the like occur. And determining an interference scheme, namely tracking and positioning the target unmanned aerial vehicle, combining interference space constraint of a space domain, performing radio countering of the target unmanned aerial vehicle based on the interference scheme, and determining a target interference live condition to provide a data base.
Tracking and positioning a target unmanned aerial vehicle, combining interference space constraint of a space domain, performing radio reaction of the target unmanned aerial vehicle based on the interference scheme, and determining a target interference live state;
tracking and positioning the target unmanned aerial vehicle, acquiring position information of the target unmanned aerial vehicle, acquiring speed and direction information of the target unmanned aerial vehicle, determining the position of the unmanned aerial vehicle through a GPS, acquiring the position information of the unmanned aerial vehicle, calculating the speed of the target unmanned aerial vehicle through the position information, obtaining the speed information of the target unmanned aerial vehicle, determining the direction information of the target unmanned aerial vehicle according to the speed information, obtaining the direction information, and tracking and positioning the target unmanned aerial vehicle according to the position information, the speed information and the direction information of the target unmanned aerial vehicle. The method comprises the steps of obtaining interference space constraint of a space domain, transmitting an interference signal to a target unmanned aerial vehicle according to the interference space constraint of the space domain, controlling a signal transmitting direction and a signal dosage according to the interference space constraint of the space domain, enabling the transmitting direction and the transmitting dosage to reach a preset interference effect, monitoring an interference process, determining a target interference live condition, extracting echo feedback signals and evaluating an operation state based on an identification response and the target interference live condition, and determining a brake off-axis degree to provide a data basis.
Based on the recognition response and the target interference live condition, extracting an echo feedback signal and performing running state evaluation, and determining a braking off-axis degree, wherein the braking off-axis degree is the difference between an expected control effect and an actual control effect;
and evaluating the running state of the interfered unmanned aerial vehicle, judging the interference condition of the interfered unmanned aerial vehicle, and extracting an echo feedback signal, wherein the echo feedback signal comprises a mixed signal of a reflected signal of the interfered unmanned aerial vehicle and a transmitting signal of unmanned aerial vehicle interference equipment. And extracting the echo feedback signal by identifying the response and target interference live analysis result, obtaining the echo feedback signal, performing signal processing on the echo feedback signal, obtaining a signal processing result, and performing feature extraction on the echo feedback signal of the signal processing result to obtain the signal feature of the echo feedback signal. And evaluating signal characteristics of the feedback signal, wherein evaluation indexes comprise interference effects, power consumption, stability and the like, and determining the brake off-axis degree based on the operation state evaluation effects, wherein the brake off-axis degree refers to the difference between an expected control effect and an actual control effect. And determining the brake off-axis degree, namely tracing the source according to the brake off-axis degree if the brake off-axis degree does not meet the threshold value standard, and determining the operation disturbance factor marked with the disturbance degree to provide a data basis.
If the brake off-axis degree does not meet a threshold value standard, tracing the source according to the brake off-axis degree, and determining an operation disturbance factor with disturbance degree;
and setting a brake off-axis degree threshold, wherein the brake off-axis degree threshold is the minimum qualified standard of the brake off-axis degree, and if the brake off-axis degree threshold is lower than the brake off-axis degree threshold, the current unmanned aerial vehicle interference equipment has poor unmanned aerial vehicle interference effect and needs to be adjusted. When the brake off-axis degree does not meet the brake off-axis degree threshold, tracing the brake off-axis degree, namely acquiring an echo feedback signal in the brake off-axis degree, acquiring parameters of unmanned aerial vehicle interference equipment causing the echo feedback signal, analyzing reasons, acquiring the reasons causing the echo feedback signal, namely operation disturbance factors, extracting features of the disturbance factors according to the operation disturbance factors, acquiring features of the disturbance factors, judging the disturbance degree of the features of the disturbance factors, and acquiring the disturbance degree of the disturbance factors to obtain the operation disturbance factors with disturbance degree marks. The acquisition of the operation disturbance factors provides a data basis for the follow-up adaptive operation regulation and control of the unmanned aerial vehicle interference equipment based on the operation disturbance factors.
And based on the operation disturbance factors, carrying out adaptive operation regulation and control on the unmanned aerial vehicle interference equipment.
According to operation disturbance factor, carry out corresponding regulation and control to unmanned aerial vehicle interference equipment, wherein operation disturbance factor has multiple, like ambient temperature, wind speed, atmospheric pressure, unmanned aerial vehicle type etc. for example, in the scene that the wind speed is great, unmanned aerial vehicle opportunity appears swaying indefinitely, can't maintain the condition in stable position, leads to unmanned aerial vehicle interference equipment can't carry out stable and accurate interference to target unmanned aerial vehicle, when unmanned aerial vehicle is the unmanned aerial vehicle of the stronger type of interference killing feature, the consumption of required unmanned aerial vehicle interference equipment also increases, and the interference effect also can corresponding decline. Different operation regulation methods required by different operation disturbance factors, including but not limited to signal frequency regulation, different communication signal frequencies used by different unmanned aerial vehicles, and effective interference on different unmanned aerial vehicles can be realized by regulating the signal frequency of the interference equipment; control signal power: the signal power is too large to cause interference to other electronic equipment, and too small to effectively influence the unmanned aerial vehicle, so that the signal power needs to be flexibly adjusted according to actual conditions; adjusting an interference mode: and selecting a proper interference mode according to the type and the number of the unmanned aerial vehicles. For example, for a group drone, a cooperative interference pattern may be used, and for a single drone, a directional interference pattern may be used. And analyzing the operation disturbance factors to obtain an operation regulation and control method corresponding to the operation disturbance factors, so that the adaptive operation regulation and control of the unmanned aerial vehicle interference equipment is completed, the interference effect on the unmanned aerial vehicle interference equipment can be further improved, and the interference efficiency of the unmanned aerial vehicle is improved.
Further, the method further comprises:
taking the layout space of the unmanned aerial vehicle interference equipment as a reference, and taking the equipment layout position as an origin to determine the space axial direction;
building a space coordinate system based on the space axial direction, performing longitude and latitude positioning fitting on the space coordinate system, and determining a fitting coordinate system;
and reading the detection range and the interference range of the unmanned aerial vehicle interference equipment, and performing space constraint on the fitted coordinate system to generate the space domain.
When the space domain is generated, a coordinate system is required to be established first, the space domain is generated according to the coordinate system, unmanned aerial vehicles in the space domain can be positioned, and a data base is provided for subsequent positioning and tracking of the unmanned aerial vehicles. Setting the layout position of the unmanned aerial vehicle interference equipment as a coordinate origin, taking the plane of the unmanned aerial vehicle interference equipment as a horizontal plane, carrying out space axial confirmation by taking the horizontal plane as a reference, carrying out Z-axis construction perpendicular to the horizontal plane, carrying out corresponding X-axis and Y-axis construction based on the Z axis, wherein the X axis and the Y axis are in the horizontal plane, overlapping the X axis and the Y axis of a space coordinate system with longitude and latitude of the earth, completing longitude and latitude positioning overlapping of the space coordinate system, obtaining overlapping results, and determining you and the coordinate system. Then, acquiring a detection range of the unmanned aerial vehicle interference equipment, taking an origin as a circle center in a fitting coordinate system, taking the detection range of the unmanned aerial vehicle interference equipment as a radius, and constructing a sphere in a fitting space coordinate system to acquire a hemispherical body on the ground, wherein the inner range of the hemispherical body is an actual detection range; the method comprises the steps of obtaining an interference range of unmanned aerial vehicle interference equipment, taking an origin as a circle center in a fitting coordinate system, taking the interference range of the unmanned aerial vehicle interference equipment as a radius, constructing a sphere in a fitting space coordinate system, obtaining a hemispherical body on the ground, wherein the internal range of the hemispherical body is an actual interference range, namely, completing space constraint on you and the coordinate system, and obtaining a space domain, wherein the space domain comprises an actual detection range and an actual interference range. The generation of the space domain is based on the detection space constraint of the space domain, and the detection operation control module is combined to perform target identification through radio detection of unmanned aerial vehicle interference equipment, so that an identification response is generated to provide a data basis.
Further, the method further comprises:
configuring an interference database, wherein the interference database comprises a plurality of sequences characterized as interference pattern-pre-interference schemes in which one-to-many relationships exist;
and traversing the interference database to match by taking the identification response as a constraint and the interference mode as a requirement, and determining the interference scheme.
When the interference scheme is determined, the interference scheme is required to be arranged, an interference scheme database is established, the corresponding relation of each data scheme in the interference database is established, traversal is performed in the interference scheme database according to the identification response, the corresponding interference scheme is obtained, the determination efficiency of the interference scheme is improved, and the efficiency of the whole system is further improved. And constructing the corresponding relation between the interference pattern and the interference scheme, wherein the interference scheme is used as a pre-interference scheme as the interference scheme is not executed yet, and an interference pattern-pre-interference scheme sequence is acquired. For example, the interference modes are divided into a forced landing mode, a return mode and a flight control interference mode, wherein the interference modes corresponding to the return mode comprise GPS suppression type interference, namely, the unmanned aerial vehicle GPS receiver module is saturated for transmitting high-power signals with the same frequency as a GPS satellite, so that the unmanned aerial vehicle performs forced landing; the method also corresponds to the blocking type interference, wherein the blocking type interference is to utilize noise signals to scramble a receiver of the opposite side, and complete coverage of echo is realized on a time domain, a frequency domain and a transformation domain, so that the radar of the opposite side cannot capture effective echo information, and forced landing of the unmanned aerial vehicle is completed. A plurality of interference pattern-pre-interference scheme sequences are acquired and combined into an interference database. And carrying out feature extraction on the identification response, carrying out feature matching on the interference pattern according to the identification corresponding features, obtaining a matching result, traversing in an interference database according to the matching result, obtaining a matched interference pattern, and obtaining an interference scheme according to a plurality of sequences corresponding to the interference pattern, so that the determination efficiency of the interference scheme can be improved, and the efficiency of the whole system is further improved.
Further, the method further comprises:
the method comprises the steps of configuring a control deviation tracing module, wherein the control deviation tracing module comprises an anti-interference analysis module, a control deviation analysis module and an environment field interference analysis module, and the anti-interference analysis module, the control deviation analysis module and the environment field interference analysis module are respectively used for analyzing the anti-interference capacity of the unmanned aerial vehicle and the control deviation of unmanned aerial vehicle interference equipment, and the magnetic field interference suffered by the working environment of the unmanned aerial vehicle interference equipment;
transmitting the echo feedback signal to the operation and control deviation tracing module, and performing module independent analysis to determine a single tracing result, wherein the single tracing result corresponds to each analysis module one by one;
and performing homodromous fitting on the single-item tracing result to determine the operation disturbance factor.
The braking off-axis degree of the unmanned aerial vehicle interference equipment is caused to have a plurality of reasons, the unmanned aerial vehicle has certain anti-interference capability, the control deviation of the unmanned aerial vehicle interference equipment and the magnetic field interference suffered by the working environment of the unmanned aerial vehicle interference equipment are caused, and corresponding solution modules for solving the corresponding problems, namely an anti-interference analysis module, an operation control deviation analysis module and an environment field interference analysis module, are respectively generated aiming at the braking off-axis degree reasons of the unmanned aerial vehicle interference equipment. And combining the anti-interference analysis module, the operation control deviation analysis module and the environment field interference analysis module to construct an operation control deviation tracing module, performing braking off-axis degree analysis on the operation control deviation tracing module according to the received echo feedback signals, sending the echo feedback signals to three analysis modules in the operation control deviation tracing module, respectively performing cause analysis on the echo feedback signals by the three analysis modules, judging the cause of the braking off-axis degree of the unmanned aerial vehicle interference equipment, obtaining analysis results, respectively acquiring the analysis results, performing result fitting on the three analysis results, wherein the corresponding analysis results obtained by the anti-interference analysis module, the operation control deviation analysis module and the environment field interference analysis module are single-item tracing results, and the single-item tracing results and the analysis modules analyzed by the single-item tracing results have a one-to-one correspondence relation. Fitting the single-item tracing results of each analysis module, namely integrating the analysis results obtained by the three modules, extracting the characteristics of the single-item tracing results of each module, obtaining the same deviation direction characteristics of the single-item tracing results, namely integrating the single-item tracing results of the same deviation direction characteristics according to the same deviation direction characteristics, obtaining operation disturbance factors, completing the same-direction fitting of the single-item tracing results, analyzing the brake off-axis degree by constructing a plurality of analysis modules, and greatly improving the accuracy and efficiency of analysis.
Further, the method further comprises:
searching an industrial internet, and determining an unmanned aerial vehicle interference log;
based on the unmanned aerial vehicle interference log, extracting a sample radio frequency signal, a sample echo feedback signal and sample anti-interference data corresponding to mapping;
randomly extracting one item based on the sample radio frequency signal and the sample echo feedback signal to serve as decision data and building a first decision layer;
repeating iteration, completing construction of an N decision layer, connecting the first decision layer to the level of the N decision layer, and carrying out matching identification based on the sample anti-interference data to generate an anti-interference decision tree;
and generating the anti-interference analysis module based on the anti-interference decision tree.
Searching in the industrial Internet, acquiring a large amount of sample data, searching an unmanned aerial vehicle interference log, acquiring the unmanned aerial vehicle interference log, wherein the unmanned aerial vehicle interference log comprises a large amount of radio frequency signals, echo feedback signals and anti-interference data, the sample anti-interference data are overall data generated when the unmanned aerial vehicle is interfered, the anti-interference data corresponding to different interference conditions are different, different analysis modules can be constructed according to different anti-interference data, and the radio frequency signals, the echo feedback signals and the anti-interference data in the unmanned aerial vehicle interference log are extracted to obtain sample radio frequency signals, sample echo feedback signals and sample anti-interference data. Randomly extracting from the sample radio frequency signal and the sample echo feedback signal to obtain any item of data, constructing a first decision layer by using the data most decision data, continuously extracting from the sample radio frequency signal and the sample echo feedback signal randomly to obtain any item of data, constructing a second decision layer by using the data most decision data, connecting the first decision layer with the second decision layer, constructing a plurality of layers of decision layers, constructing hierarchical connection between each layer, establishing connection between each layer of decision layers, matching the sample anti-interference data with the decision layers, obtaining a matching result, identifying according to the matching result, constructing a decision tree according to the sample anti-interference data and a plurality of decision layers, and using the sample interference data as the decision result according to the matching identification to obtain an anti-interference decision tree. And taking the anti-interference decision tree as an anti-interference analysis module to generate the anti-interference analysis module. And generating an anti-interference analysis module, namely transmitting an echo feedback signal to the operation control deviation tracing module for subsequent configuration, and performing independent analysis on the single trace result by the module, wherein the single trace result is in one-to-one correspondence with each analysis module to provide a data basis.
Further, the method further comprises:
determining a bottom layer operation control logic and an operation rule of the unmanned aerial vehicle interference equipment, and determining regulation and control constraints;
reading the operation control degree of freedom of the unmanned aerial vehicle interference equipment and determining a control range;
and carrying out operation control adjustment optimizing on the operation disturbance factors based on the regulation constraint and the regulation range, and determining a target regulation scheme.
For the underlying operation control logic and operation rules of the unmanned aerial vehicle interference device, corresponding regulation and control constraints and regulation and control ranges need to be determined, and the regulation and control constraints generally comprise maximum output power, minimum interference distance, interference mode selection and the like of the device. The regulation and control range can be set according to the operation and control degree of freedom of the unmanned aerial vehicle interference equipment, wherein the operation and control degree of freedom of the unmanned aerial vehicle interference equipment refers to the allowable range in which the unmanned aerial vehicle interference equipment can perform interference parameter setting, and proper signal frequency, signal power and the like are selected in the allowable range. And constructing a corresponding adjustment space according to the adjustment constraint and the adjustment range, generating an adjustment scheme for the operation disturbance factor in the adjustment space, screening and optimizing the adjustment scheme to obtain a target adjustment scheme, aiming at the operation disturbance factor and within the limit of the adjustment constraint and the operation control degree of freedom, the obtained target adjustment scheme has rationality and feasibility, so that the problem of poor interference effect of the unmanned aerial vehicle interference equipment caused by the fact that the adjustment scheme exceeds the achievable range is solved, and the reliability of the unmanned aerial vehicle interference equipment is further improved.
Further, the method further comprises:
building an optimizing space based on the regulation constraint and the regulation range;
in the optimizing space, randomly perturbing by taking the operation perturbation factors as references to determine a plurality of operation regulation schemes;
and constructing an fitness function by taking the regulation and control energy consumption and the operation difficulty as constraints and taking the disturbance degree as a response target, carrying out fitness measurement on the operation regulation and control scheme, and selecting a target regulation and control scheme with the maximum fitness mapping.
According to the regulation constraint and the regulation range, a space domain is built to obtain a building result, the building result is an optimizing space, operation disturbance factors are set in the optimizing space, the operation disturbance factors are set to be randomly triggered, unmanned aerial vehicle interference equipment is disturbed through the operation disturbance factors, corresponding adjustment is carried out according to the disturbance result, the adjustment methods are not unique, namely a plurality of adjustment methods are obtained, the adjustment methods are output, and a plurality of operation regulation schemes are obtained. Screening a plurality of regulation and control schemes, and formulating screening standards, wherein the screening standards comprise regulation and control energy consumption and operation difficulty, the regulation and control energy consumption refers to energy consumption generated when unmanned aerial vehicle interference equipment is regulated and controlled, and the operation difficulty is the complexity when the unmanned aerial vehicle interference equipment is operated. The method comprises the steps of constructing a function, taking the operation difficulty and disturbance degree of the energy consumption regulation as independent variables, constructing a fitness function by taking the fitness as dependent variables, constructing the corresponding relation among the operation difficulty, the disturbance degree and the fitness of the operation regulation scheme, judging the fitness of the operation regulation scheme, selecting a target regulation scheme corresponding to the maximum fitness according to the input operation difficulty and the energy consumption regulation, calculating according to the fitness function to obtain the target regulation scheme, and ensuring that the operation difficulty and the energy consumption regulation are within a reasonable range to the greatest extent, wherein the disturbance degree does not cause serious influence, and the stability and efficiency of the whole system are improved.
In a second embodiment, based on the same inventive concept as the method for dynamically monitoring and adjusting the operation state of the unmanned aerial vehicle interference device in the foregoing embodiment, as shown in fig. 2, the present application provides a system for dynamically monitoring and adjusting the operation state of the unmanned aerial vehicle interference device, where the system includes:
spatial domain building module 11: the space domain building module 11 is used for building a space domain based on unmanned aerial vehicle interference equipment, and the space domain is configured based on the equipment radio frequency range;
the recognition response module 12: the recognition response module 12 is configured to perform target recognition through radio detection of the unmanned aerial vehicle interference device based on detection space constraint of a space domain, and combine with a detection operation control module to generate a recognition response, where the detection operation control module is configured to control the unmanned aerial vehicle interference device to perform radio detection;
interference scheme module 13: the interference scheme module 13 is configured to synchronously activate an interference operation control module and configure an interference scheme based on an interference mode along with the receiving of the identification response, where the interference mode includes a forced landing mode, a return mode and a flight control interference mode, and the interference operation control module is configured to receive the identification response, determine a current interference mode and configure the interference scheme;
Tracking and positioning module 14: the tracking and positioning module 14 is configured to track and position a target unmanned aerial vehicle, combine interference space constraint of a space domain, perform radio countering of the target unmanned aerial vehicle based on the interference scheme, and determine a target interference live condition;
the state evaluation module 15: the state evaluation module 15 is configured to extract an echo feedback signal based on the recognition response and the target interference live condition and perform operation state evaluation, and determine a brake off-axis degree, where the brake off-axis degree is a difference between an expected control effect and an actual control effect;
disturbance factor module 16: the disturbance factor module 16 is configured to trace the brake off-axis degree to determine an operation disturbance factor identifying a disturbance degree if the brake off-axis degree does not meet a threshold criterion;
operation control module 17: the operation regulation and control module 17 is configured to perform adaptive operation regulation and control on the unmanned aerial vehicle interference device based on the operation disturbance factor.
Further, the spatial domain building module 11 includes the following execution steps:
taking the layout space of the unmanned aerial vehicle interference equipment as a reference, and taking the equipment layout position as an origin to determine the space axial direction;
building a space coordinate system based on the space axial direction, performing longitude and latitude positioning fitting on the space coordinate system, and determining a fitting coordinate system;
And reading the detection range and the interference range of the unmanned aerial vehicle interference equipment, and performing space constraint on the fitted coordinate system to generate the space domain.
Further, the interference scheme module 13 includes the following steps:
configuring an interference database, wherein the interference database comprises a plurality of sequences characterized as interference pattern-pre-interference schemes in which one-to-many relationships exist;
and traversing the interference database to match by taking the identification response as a constraint and the interference mode as a requirement, and determining the interference scheme.
Further, the perturbation factor module 16 includes the following execution steps:
the method comprises the steps of configuring a control deviation tracing module, wherein the control deviation tracing module comprises an anti-interference analysis module, a control deviation analysis module and an environment field interference analysis module, and the anti-interference analysis module, the control deviation analysis module and the environment field interference analysis module are respectively used for analyzing the anti-interference capacity of the unmanned aerial vehicle and the control deviation of unmanned aerial vehicle interference equipment, and the magnetic field interference suffered by the working environment of the unmanned aerial vehicle interference equipment;
transmitting the echo feedback signal to the operation and control deviation tracing module, and performing module independent analysis to determine a single tracing result, wherein the single tracing result corresponds to each analysis module one by one;
And performing homodromous fitting on the single-item tracing result to determine the operation disturbance factor.
Further, the perturbation factor module 16 includes the following execution steps:
searching an industrial internet, and determining an unmanned aerial vehicle interference log;
based on the unmanned aerial vehicle interference log, extracting a sample radio frequency signal, a sample echo feedback signal and sample anti-interference data corresponding to mapping;
randomly extracting one item based on the sample radio frequency signal and the sample echo feedback signal to serve as decision data and building a first decision layer;
repeating iteration, completing construction of an N decision layer, connecting the first decision layer to the level of the N decision layer, and carrying out matching identification based on the sample anti-interference data to generate an anti-interference decision tree;
and generating the anti-interference analysis module based on the anti-interference decision tree.
Further, the operation regulation module 17 includes the following steps:
determining a bottom layer operation control logic and an operation rule of the unmanned aerial vehicle interference equipment, and determining regulation and control constraints;
reading the operation control degree of freedom of the unmanned aerial vehicle interference equipment and determining a control range;
and carrying out operation control adjustment optimizing on the operation disturbance factors based on the regulation constraint and the regulation range, and determining a target regulation scheme.
Further, the operation regulation module 17 includes the following steps:
building an optimizing space based on the regulation constraint and the regulation range;
in the optimizing space, randomly perturbing by taking the operation perturbation factors as references to determine a plurality of operation regulation schemes;
and constructing an fitness function by taking the regulation and control energy consumption and the operation difficulty as constraints and taking the disturbance degree as a response target, carrying out fitness measurement on the operation regulation and control scheme, and selecting a target regulation and control scheme with the maximum fitness mapping.
Through the foregoing detailed description of the method for dynamically monitoring and adjusting the operation state of the unmanned aerial vehicle interference device, those skilled in the art can clearly know the method for dynamically monitoring and adjusting the operation state of the unmanned aerial vehicle interference device in this embodiment, and for the apparatus disclosed in the embodiment, the description is relatively simple, and relevant places refer to the method part for description.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (7)
1. The method for dynamically monitoring and adjusting the operation state of the unmanned aerial vehicle interference equipment is characterized by comprising the following steps:
constructing a spatial domain based on unmanned aerial vehicle interference equipment, wherein the spatial domain is configured based on the equipment radio frequency range;
based on detection space constraint of a space domain, combining with a detection operation control module, performing target identification through radio detection of unmanned aerial vehicle interference equipment, and generating an identification response, wherein the detection operation control module is used for controlling the unmanned aerial vehicle interference equipment to perform radio detection;
synchronously activating an interference operation control module along with the receiving of the identification response, and configuring an interference scheme based on an interference mode, wherein the interference mode comprises a forced landing mode, a return mode and a flight control interference mode, and the interference operation control module is used for receiving the identification response, judging a current interference mode and configuring the interference scheme;
tracking and positioning a target unmanned aerial vehicle, combining interference space constraint of a space domain, performing radio reaction of the target unmanned aerial vehicle based on the interference scheme, and determining a target interference live state;
based on the recognition response and the target interference live condition, extracting an echo feedback signal and performing running state evaluation, and determining a braking off-axis degree, wherein the braking off-axis degree is the difference between an expected control effect and an actual control effect;
If the brake off-axis degree does not meet a threshold value standard, tracing the source according to the brake off-axis degree, and determining an operation disturbance factor with disturbance degree;
wherein, trace to the braking off-axis degree, include:
the method comprises the steps of configuring a control deviation tracing module, wherein the control deviation tracing module comprises an anti-interference analysis module, a control deviation analysis module and an environment field interference analysis module, and the anti-interference analysis module, the control deviation analysis module and the environment field interference analysis module are respectively used for analyzing the anti-interference capacity of the unmanned aerial vehicle, the control deviation of unmanned aerial vehicle interference equipment and the magnetic field interference suffered by the working environment of the unmanned aerial vehicle interference equipment;
transmitting the echo feedback signal to the operation and control deviation tracing module, and performing module independent analysis to determine a single tracing result, wherein the single tracing result corresponds to each analysis module one by one;
performing homonymous fitting on the single-item tracing result to determine the operation disturbance factor;
and based on the operation disturbance factors, carrying out adaptive operation regulation and control on the unmanned aerial vehicle interference equipment.
2. The method of claim 1, wherein the constructing is based on a spatial domain of unmanned aerial vehicle interfering devices, comprising:
Taking the layout space of unmanned aerial vehicle interference equipment as a reference, and taking the layout position of the equipment as an origin, determining the axial direction of the space;
building a space coordinate system based on the space axial direction, performing longitude and latitude positioning fitting on the space coordinate system, and determining a fitting coordinate system;
and reading the detection range and the interference range of the unmanned aerial vehicle interference equipment, and performing space constraint on the fitting coordinate system to generate a space domain.
3. The method of claim 1, wherein the configuring an interference scheme based on an interference pattern comprises:
configuring an interference database, wherein the interference database comprises a plurality of sequences characterized as interference pattern-pre-interference schemes that exist in a one-to-many relationship;
and traversing the interference database to match by taking the identification response as a constraint and the interference mode as a requirement, and determining the interference scheme.
4. The method of claim 1, wherein the configuration of the tamper resistant analysis module comprises:
searching an industrial internet, and determining an unmanned aerial vehicle interference log;
based on the unmanned aerial vehicle interference log, extracting a mapped sample radio frequency signal, a sample echo feedback signal and sample anti-interference data;
Randomly extracting one item based on the sample radio frequency signal and the sample echo feedback signal to serve as decision data and building a first decision layer;
repeating iteration, completing construction of an N decision layer, connecting the first decision layer to the level of the N decision layer, and carrying out matching identification based on the sample anti-interference data to generate an anti-interference decision tree;
and generating the anti-interference analysis module based on the anti-interference decision tree.
5. The method of claim 1, wherein said adaptively operating the drone interfering device based on the operational disturbance factor comprises:
determining a bottom layer operation control logic and an operation rule of the unmanned aerial vehicle interference equipment, and determining regulation and control constraints;
reading the operation control degree of freedom of the unmanned aerial vehicle interference equipment and determining a control range;
and carrying out operation control adjustment optimizing on the operation disturbance factors based on the regulation constraint and the regulation range, and determining a target regulation scheme.
6. The method of claim 5, wherein the performing operational-control adjustment optimization for the operational disturbance factor comprises:
building an optimizing space based on the regulation constraint and the regulation range;
In the optimizing space, randomly perturbing by taking the operation perturbation factors as references to determine a plurality of operation regulation schemes;
and constructing an fitness function by taking the regulation and control energy consumption and the operation difficulty as constraints and taking the disturbance degree as a response target, carrying out fitness measurement on the operation regulation and control scheme, and selecting a target regulation and control scheme with the maximum fitness mapping.
7. Unmanned aerial vehicle interference device's running state dynamic monitoring governing system, its characterized in that, the system includes:
the space domain building module is used for building a space domain based on unmanned aerial vehicle interference equipment, and the space domain is configured based on the equipment radio frequency range;
the identification response module is used for carrying out target identification through radio detection of the unmanned aerial vehicle interference equipment based on detection space constraint of a space domain and combining with the detection operation control module to generate an identification response, wherein the detection operation control module is used for controlling the unmanned aerial vehicle interference equipment to carry out radio detection;
the interference scheme module is used for synchronously activating the interference operation control module along with the receiving of the identification response and configuring an interference scheme based on an interference mode, wherein the interference mode comprises a forced landing mode, a return mode and a flight control interference mode, and the interference operation control module is used for receiving the identification response, judging the current interference mode and configuring the interference scheme;
The tracking and positioning module is used for tracking and positioning the target unmanned aerial vehicle, combining the interference space constraint of the space domain, performing radio countering of the target unmanned aerial vehicle based on the interference scheme, and determining the target interference condition;
the state evaluation module is used for extracting echo feedback signals and performing running state evaluation based on the recognition response and the target interference live condition to determine the brake off-axis degree, wherein the brake off-axis degree is the difference between the expected control effect and the actual control effect;
the disturbance factor module is used for tracing the brake off-axis degree if the brake off-axis degree does not meet a threshold value standard, and determining an operation disturbance factor with disturbance degree;
wherein, the disturbance factor module comprises the following execution steps:
the method comprises the steps of configuring a control deviation tracing module, wherein the control deviation tracing module comprises an anti-interference analysis module, a control deviation analysis module and an environment field interference analysis module, and the anti-interference analysis module, the control deviation analysis module and the environment field interference analysis module are respectively used for analyzing the anti-interference capacity of the unmanned aerial vehicle, the control deviation of unmanned aerial vehicle interference equipment and the magnetic field interference suffered by the working environment of the unmanned aerial vehicle interference equipment;
Transmitting the echo feedback signal to the operation and control deviation tracing module, and performing module independent analysis to determine a single tracing result, wherein the single tracing result corresponds to each analysis module one by one;
performing homonymous fitting on the single-item tracing result to determine the operation disturbance factor;
and the operation regulation and control module is used for carrying out adaptive operation regulation and control on the unmanned aerial vehicle interference equipment based on the operation disturbance factors.
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