RU2769037C2 - Multifunctional complex of means of detection, tracking and radio countermeasures to the application of small-class unmanned aerial vehicles - Google Patents

Abstract

FIELD: radio location.

SUBSTANCE: invention relates to the field of countermeasures to performance of tasks of a UAV and can be used for comprehensive monitoring of the air situation, detection, direction finding, recognition and neutralisation of operation of the UAV equipment. The complex is based on active and passive radio location systems, an electro-optical system, a radio suppression system, an information processing and storage apparatus, and a navigation and orientation module. The solid-state digital active phased array antenna array and the pulse-Doppler multipath three-dimensional radar of the S frequency range included in the active radio location system, together with the control and processing server, provide a possibility of simultaneous operation in the emission and reception modes in several spatial directions with varying signal characteristics. The passive radio location system is based on a distributed system with N, wherein N is no less than two, remote posts, wherein each post includes a two-dimensional detector direction finder and navigation and time-referencing equipment.

EFFECT: accuracy of detection and possibility of countering the UAV is increased.

4 cl, 3 dwg

Description

The invention relates to the field of counteracting the performance of tasks by unmanned aerial vehicles and can be used for integrated monitoring of the air situation, detection, direction finding, recognition and neutralization of the functioning of the equipment of unmanned aerial vehicles (UAVs), including small and low speed ones.

Known protection system against unmanned aerial vehicles (UAV) [1 - UAV Defense System, P.D. Whitmarsh, Saha Whitmarsh, WO 2017/106005 A1F 41H 13/00 22.6.2017], containing several radio receiving sensors that detect and receive UAV signals, a control device in which the type of UAV is identified based on the information about the signals stored in the database or according to the MAC addresses of the UAV manufacturer, and an interference signal is generated in accordance with a certain type of UAV, as well as a radio transmitting device that emits an interference signal in the direction of the UAV.

The disadvantages of this system are the inability to detect and counteract UAVs flying in radio silence mode, the possibility of false alarms when manufacturers use MAC addresses in devices other than UAVs (for example, in camera stabilization systems in DH selfie sticks), the inability to determine the elevation angle of the UAV, which greatly complicates the identification of UAVs with signals missing from the database.

A known system for detecting and countering UAVs, Rafael [2 - N. Antonov. The fight against small drones, part 1, Military review. https://topwar.ru/141797-borba-s-malorazmemymi-dronami-chast-l.html, 05/24/2018], containing the Rada RPS-42 hemispherical portable radar [3 - RPS-42 Radar System for Tactical Air Surveillance , https://www.rada.com/images/brochures/radars/RPS-42.pdf, 04/28/2014],

providing detection of UAVs by active radar methods at a distance of 150 m (blind zone radius) to 3.5 km with an effective UAV scattering surface of 0.002 m ² with a minimum radial speed of 10 km / h and a distance determination accuracy of 50 m, the Net Sense Comlnt Netline radio intelligence system , which provides detection of UAV signals [http://www.netlinetech.com/products/detection/netsense.html, 12/16/2013], in the frequency range from 20 MHz to 6 GHz and determines the direction to it in the azimuthal plane in the sector 60° and identification of known UAV types, Controp MEOS optoelectronic unit [https://www.controp.com/short-range-scanning-observation/meos-u/, 12.12.2016] with day and night thermal imaging cameras, providing identification of detected targets, the NetlineC-Guard jamming system [http://www.netlinetech.com/solutions/defense/jamming-force-protection/ied-jamming-neutralization.html, 12/16/2013], providing , omnidirectional yu in azimuth, in five fixed public frequency bands from 433 MHz to 6000 MHz.

The disadvantages of the UAV detection and countermeasure system described above are the impossibility of identifying and detecting unknown types of UAVs, the low range of UAV countermeasures, the high minimum radial speed of target detection, which causes a high probability of missing detection and disruption of tracking low-speed UAVs of a mini and small class, as well as UAVs that perform anti-radar maneuvers with minimization of radial velocity, large radius of the blind zone, causing low efficiency of use in urban environments, in which covert launching of UAVs at a distance of 50 to 150 m is possible, low accuracy of UAV location, leading to a decrease in the likelihood of UAV counteraction, identification by means of passive radar directions to the UAV only in the azimuthal plane, which makes it difficult to identify the UAV by passive radar methods among other radiation sources and does not provide accurate targeting of countermeasures to the UAV, limiting frequency ranges of radio suppression means, which allows radio suppression only for commercial UAVs.

Known radar-optical complex for the security of objects and neutralization of the UAV "ROSC-l", designed for integrated monitoring of the air situation, detection, recognition and neutralization of small and low-speed unmanned aerial vehicles, created by JSC "NPO" LEMZ "[3 - Radar - optical complex for ensuring the security of objects and neutralizing UAVs "ROSC-l" http://www.lemz.ru /publicdata/ROSC-l%20pyc%20 spread pdf, 20.02.2018; Catalog "Day of advanced technologies of law enforcement agencies of the Russian Federation", p. 93, http://e-edition.ru/katalog/dpt-18/files/assets/basic-html/page95.html 05/24/2018; Military-technical collection "Bastion", online publication, media registration certificate EL No. FS 77 - 62556 dated 07/31/2015, http://bastion-karpenko.ru/neutralize-the-uav-rosc-l/, 06/18/2018 G.]. The radar-optical complex for ensuring the security of objects and neutralizing unmanned aerial vehicles is essentially a multifunctional complex of means

detection and countermeasures against the use of unmanned aerial vehicles and includes a number of basic electronic means: a two-beam X-band surveillance radar with a solid-state amplifier operating in the azimuthal plane in a circular manner, in the elevation plane in terms of detection - in a sector of angles 30 ° wide, in terms of determining the direction to the detected UAV in elevation - in the zone of intersection of the upper and lower beams with a width of 2 °, and providing detection of UAVs at distances from 300 m to 15000 m with an information update rate of 2.5 s; built-in block of dependent surveillance equipment ADS-B for airspace control and aircraft tracking; optoelectronic system containing television and thermal imaging cameras and providing electromechanical targeting in azimuth - circular, in elevation - in the sector of angles from minus 3° to 45°; a radio monitoring system that provides detection of signals emitted by UAVs and their direction finding in the azimuthal plane with an accuracy of up to 4 ° in the frequency range from 400 to 6000 MHz; electronic control system; a radio impact system that provides an impact on the control and navigation channels of the UAV at a distance of up to 2 km. All radio-electronic means are transported on a vehicle in a container body, which also has a diesel generator, power supply and communication racks and a turntable with an X-band radar placed on it. The optical-electronic system and the radio monitoring system can be taken out for remote operation. The equipment of the complex is placed on one KAMAZ-type truck chassis, including the main and auxiliary systems. It is possible to place the equipment of the complex on stationary objects.

The disadvantages of the radar-optical complex for ensuring the safety of objects and neutralizing unmanned aerial vehicles include:

- low efficiency and range of radio suppression and the impossibility of pairing without additional search with the means of high-precision destruction of UAVs, due to the impossibility of accurately targeting the maximum radiation of radio suppression means and striking devices of means of high-precision destruction of UAVs due to the lack of determination of the direction to the UAV by elevation as a radio monitoring system , and radar in the entire sector of the radar;

- the impossibility of detecting unknown types of UAVs and identifying the signals detected by the radio monitoring system as UAV signals in urban areas, over heavy traffic routes and in other areas with the presence of false stationary and moving targets in the frequency range of UAV radiation, due to the lack of the possibility of selecting detected targets by angle places (height);

- the inability to detect UAVs flying in radio silence against the background of natural decoys (birds), due to the inability to identify the main classifying features - small changes in the trajectory and flight speed, micro-Doppler frequency shift of the radar signal reflected from the target caused by the movement of the wings of birds, propellers UAVs, etc., due to the large update period, short time of continuous contact of the radar radio emission with the target and the lack of information about the target's flight altitude;

- the impossibility of determining the location of the UAV ground control points, due to the impossibility of determining the location by the radio monitoring system;

- the impossibility of self-defense of the complex from threats other than UAVs. The closest analogue of the claimed invention according to

technical essence and the achieved result (prototype) is a complex of counteraction to commercial unmanned aerial vehicles (UAV) [4 - Deterrent For UnmannedAerial Systems, D.A. Parker, D.E. Stern, L.S. Pierce, US Patent 9715009 B1, GO IS 7/38, F41H 11/02, GO IS 13/66, G01S 13/86 06/25/2017], containing a direction finder of radio signals, including receiving omnidirectional and receiving directional antennas and providing detection of radio signals and determining the direction to the source of radio emission in the azimuthal plane, a spectrum analyzer that provides analysis of detected radio signals and identification of UAVs by the characteristic features of the spectrum of their signals stored in the database of the complex, a modified radar for ground (surface) targets of the Vista SSRSSF100 frequency range with an electromechanical overview of the sector of work, providing detection, determination of the range, azimuth, elevation angle of the target and classification of the type of target based on the determination of the level of the reflected signal, the Doppler shift of the signal frequency (radial velocity of the target), polarization, and thermal imaging nuyu cameras combined with the help of software interface with a laser rangefinder that determines the correct direction to the UAV, data processor,

making a decision on the detection of a UAV based on the analysis of a complex portrait from a radar,

a direction finder, a spectrum analyzer, an electronic-optical system with or without the participation of an operator, a radio suppression system containing a signal generator that generates a signal adapted for the detected UAV based on the features of the UAV spectrum, an amplifier of the generated signal, a set of directional antennas, the radiation of which is oriented in the direction of the detected UAV. At the same time, the radar detects UAVs flying in radio silence and / or radio communication modes, determines their location, traces and identifies the UAV against the background of decoys, the radio signal direction finder detects and takes direction finding radio signals emitted by the UAV, ground control points of the UAV or other sources of radio emission,

classifies the detected signals and allocates those belonging to UAVs and / or certain types of UAVs based on the analysis of the structure of the signals or the information they carry and the comparison of the identified features of the signals or the information they carry with the signal database, the optoelectronic system is aimed at the detected target according to the target designations of the active and / or passive radar, detects the UAV automatically by the characteristic features of the UAV image stored in the database of images or manually with the participation of the operator, transmits the target image to the screen of the operator’s workplace and displays a television and / or thermal imaging image on it, provides an updated determining the direction to the target, according to the results of the operation of the radar, radio direction finder and optoelectronic system, the processor classifies the target, replenishes the database of characteristic features of UAVs of various types at the direction of the operator, the radio suppression system generates a signal la interference, pointing the maximum radiation pattern of the radio suppression antenna at the target, amplifying the interference signal and its radiation in the direction of the target.

The complex adopted as a prototype ensures the detection of known (radiation characteristics of which are recorded in the database of the complex) types of commercial UAVs at a distance of up to 2 km based on the results of a joint analysis of the operation of the direction finder, radar and electron-optical system. At the same time, the main classifying features that determine the detection of UAVs are the detection of UAV radiation signals, the spectral or informational (MAC addresses) characteristics of which correspond to those available in the database of the complex, the results of television or thermal imaging surveillance of the UAV and the cargo carried by it and their visual identification as threats. The remaining classifying features (the level of the reflected radar signal, flight speed, trajectory features, target size) are auxiliary. The technical solutions and methods for detecting UAVs used in the UAV countermeasures complex and the technical characteristics achievable on the basis of their use correspond to the characteristics of small commercial UAVs: flight range up to 2 km, flight only in radio mode, known for each type of UAV features of the radio signals emitted by them.

The main disadvantages of the complex are:

- the impossibility of detecting UAVs flying in radio communication mode with unknown signal characteristics that are not in the database of the complex, without the participation of the operator, due to the fact that the selection of UAVs and / or their identification in the complex in automatic mode is carried out only by comparing the characteristics of the detected signals with the available information in the database of characteristics of the UAV complex;

- the inability to automatically detect and identify unknown UAVs flying in radio silence outside the zone of visual control without the participation of the operator, due to the fact that the selection of UAVs and / or their identification in the complex is carried out only by comparing the characteristics of the reflected radar signals with the radar portraits of the UAV available in the database of the complex;

- restrictions on the range of the complex, due to the fact that the alarm is generated when the UAV is detected and allocated by several systems simultaneously, that is, the range of the complex is determined by the minimum range of the systems of the complex;

- the impossibility of determining the location of the ground control point of the UAV flying in radio mode, outside the zone of visual observation without the participation of the operator,

due to the fact that the direction finder only determines the direction in the azimuthal plane;

inefficient use of radio suppression equipment that does not protect the complex from air and ground threats when the complex is moved.

The zone of visual control provided by means of electron-optical surveillance significantly depends on weather conditions (rain, snow, fog, cloud cover significantly reduce the range or make it impossible to detect targets), the range of operation of electron-optical means, as a rule, is significantly less than the range of other detection systems UAV. To ensure visual control, the participation of the operator is necessary. Therefore, for the effective, weather-independent, use of the complex, it is important to ensure the possibility of detecting the UAV outside the zone of visual control.

The technical problems to be solved by the invention are:

ensuring the detection of UAVs flying in radio mode with unknown characteristics of signals that are not in the database of the complex, with or without the participation of the operator;

- ensuring the possibility of determining the location of the ground control point of the UAV flying in radio mode, with or without the participation of the operator;

- ensuring the detection of unknown UAVs flying in radio silence mode, with or without the participation of the operator;

- increasing the range of the complex;

- expanding the functionality of the complex in terms of ensuring the protection of objects and self-defense against various types of threats and in various operating conditions.

To solve these technical problems, a multifunctional complex of means for detecting, tracking and counteracting the use of small unmanned aerial vehicles is proposed, which includes a passive radar system, an active radar system, an electron-optical system containing a television and thermal imaging cameras with a rotary device, a processing device and information storage, a radio suppression system, including a jamming device, a set of amplifiers and sets of transmitting omnidirectional and directional antennas oriented in the direction of the target in azimuth and elevation using an electromechanical rotary device, an operator's workplace, a navigation and orientation module, a power supply system, a communication system , vehicle.

According to the invention, N, at least two remote posts, navigation and time reference equipment at each of the remote posts, a device for transmitting data from remote posts and a secondary processing server with a module for processing cartographic information are introduced as part of the passive radar system, as part of the active radar signal image storage module and a control and processing server with a classification module and a cartographic information processing module, as part of the radio suppression system, a detection subsystem, a radio transmitting subsystem and a processing device, each of N remote posts using a data transmission device is connected to the secondary processing server of the passive radar, which is connected by data lines to the device for processing and storing information, the cartographic information processing module is connected by data lines to the secondary processing server, the control and processing server of the active radar communication system n data transmission lines with a module for storing images of radar signals, a module for processing cartographic information, a classification module, as well as with an active radar antenna system and with an information processing and storage device, the processing device as part of a radio suppression system is connected by data transmission lines with a detection subsystem, a radio transmitting subsystem , a jamming device, a rotary device of the radio suppression system and an information storage and processing device, the formation of an alarm signal about the detection of a UAV is carried out on the basis of criteria adapted to the operating range of each of the systems of the complex and to the types of detected UAVs.

The active radar system is made in the form of a pulse-Doppler three-coordinate radar connected to an antenna, a module for storing images of radar signals and a control and processing server with a classification module and a mapping information processing module, the control input of the rotary device, on which the antenna is located, is connected to the control and processing server , a solid-state digital active phased antenna array was used as an antenna, which provides the possibility of simultaneous operation in radiation and reception modes in several spatial directions with different signal characteristics, a solid-state digital active phased antenna array is connected by data transmission lines to a control and processing server and a radar image storage module signals, the control and processing server is connected by data transmission lines to the module for storing images of radar signals and with the help of an information processing and storage device. rmation with the operator’s workplace, while the pulse-Doppler three-coordinate radar determines the range, azimuth, elevation angle of the target and the speed of the target, as well as the relative speeds of movement of individual parts of the target, on the basis of which the separation of the UAV and targets of natural origin (birds, insects, air formations, etc.), identifies the UAV against the background of decoys by analyzing the features of the reflected radar signals, and / or on the basis of the trace-cartographic analysis, which consists in analyzing the passage of the route over the terrain, analyzing the relative speeds of moving parts of the target.

In the secondary processing server of the passive radar subsystem, connected by data transmission lines to the information processing and storage device, as well as to the cartographic information processing module, the target is classified as an unmanned aerial vehicle based on the criterion for identifying an unmanned aerial vehicle, at remote posts according to temporary, spectral or informational characteristics of the received signals, and/or based on the criterion of finding a detected source of radio emission above the ground (criterion for exceeding a given height of the target), and/or as a result of path-cartographic analysis, based on the criterion of passing the target route away from roads, over difficult-to-pass features terrain, the classification of the target as a ground control point occurs on the basis of information about the identification of the ground control point transmitted from remote posts according to the temporal, spectral or informational characteristics of the received signals.

The radio transmitting subsystem of the jamming system includes a set of transmitting directional and a set of transmitting non-directional antennas, each of which can be connected through a two-channel switch to a set of amplifiers connected

with a jamming device, the detection subsystem consists of a receiving omnidirectional antenna and a radio receiver connected in series, connected to the processing device, the radio transmitting subsystem provides the ability to work in the following modes: radio jamming of UAV control and navigation channels by external target designation, autonomous radio jamming of control and navigation channels UAV and radio suppression mode of radio fuse control lines, in the mode of radio suppression by external target designations, the jamming device generates interference signals to UAV control channels adapted for each of the known types of UAVs, noise interference signals for unknown types of UAVs in accordance with the task received from the control and processing server active radar systems, and interference signals to radio navigation systems, interference signals through a set of amplifiers are emitted in the direction of a suppressed source of radio emission, in autonomous radio mode suppression, the signal detection subsystem performs omnidirectional detection of the UAV radio signal according to the database of UAV signals, the jamming device generates interference signals to the UAV control and navigation channels, adapted for each of the known types of UAVs, interference signals are amplified and radiated through omnidirectional antennas, in the mode of radio suppression of radio fuse control lines the signal detection subsystem performs omnidirectional detection of the radio signal of the radio fuse control line, the jamming device generates an interference signal adapted to the type of the radio fuse control channel, the interference signals are amplified and emitted through omnidirectional antennas, in the mode of autonomous radio jamming of the UAV control and navigation channels and the mode of radio jamming of the radio fuse control lines radio suppression can work both in the parking lot and on the move, providing self-defense of the complex.

The claimed multifunctional complex of detection, tracking and radio countermeasures for the use of small unmanned aerial vehicles has a set of essential features that are not known from the prior art for objects of this purpose, which allows us to conclude that the criterion of "novelty" for the invention is met.

The claimed multifunctional complex of means for detecting, tracking and radio counteraction to the use of small unmanned aerial vehicles, according to the applicant and the authors, meets the criterion of "inventive step", since for specialists it does not explicitly follow from the prior art, that is, it is not known from available scientific sources. , technical and patent information as of the filing date of the application.

The technical result is the creation of a multifunctional complex of detection and radio countermeasures for the use of unmanned aerial vehicles with an increased range and reliability of detection, determined by the possibility of detecting and detecting unmanned aerial vehicles flying both in radio silence mode and in radio communication mode with signal characteristics missing in the database of the complex , identifying against the background of other targets of natural or artificial origin, determining the location of their ground control points, increased information content of data on detected unmanned aerial vehicles, increased possibility of radio countermeasures for their use and increased functionality of the complex.

The rationale for the achieved technical result is given below.

1 Detection of UAVs flying in radio mode with unknown characteristics of signals that are not in the database of the complex. This result is achieved by

as part of the passive radar system, N, N at least two remote posts of passive radar are used, the two-coordinate direction finder-detector from the remote post of passive radar is designed in such a way that it allows determining the bearing

in azimuth and elevation of the target, and as a criterion for detecting a UAV flying in radio silence mode, the criteria for determining the characteristics of the detected signal, identifying a non-zero target height, and analyzing the features of its trajectory are used. A two-coordinate direction finder-detector detects a target and determines the bearing on it in azimuth and elevation. In the local server of the remote post of passive radar, a temporal, spectral and informational analysis of the signal is carried out by comparing it with information about the signals of various types of UAVs and other air vehicles. If, as a result of the analysis, it is established that the signal belongs to one of the known types of UAVs, then a decision is made to detect the UAV. If the signal does not belong to any of the known types of UAVs and does not belong to any of the known types of other aircraft, then the values of the bearing to the target are analyzed. If the bearing to the target in elevation exceeds the error in determining the bearing in elevation, then a decision is made to detect the UAV. That is, the criterion is used that the unknown signal is a UAV. If the bearing to the target in elevation is less than the error in determining the bearing in elevation, then information about the detected target is transmitted through the data transmission system to the secondary processing server of the passive radar system with the map information analysis module installed. The same information is sent to the secondary processing server from several remote stations of passive radar, in which the target signal was detected. According to the signal characteristics and target bearings transmitted in several measurement cycles, the target movement trajectory is determined in the secondary processing server. The module for analyzing cartographic information performs a route-cartographic analysis by comparing the target's trajectory with information about roads and other possible ways of moving ground targets, with information about obstacles to moving ground targets (forest belts, ravines, rivers, etc.). If the target's trajectory does not coincide with possible paths and/or crosses obstacles, and the signal does not belong to any of the known air targets of another type, then a decision is made to detect the UAV. As a result, not only known, but also unknown, with characteristics of signals and types of UAVs missing in the database of the complex, are detected.

2 Determining the location of the UAV ground control station flying in radio mode. This result is achieved by the fact that the passive radar system uses N, N at least two remote passive radar stations. Detection of the signal emitted by the ground control point of the UAV is carried out by several, at least two, remote posts of passive radar. The two-coordinate direction finder-detector in each of the remote posts of passive radar, in which the signal of the ground control station was detected, determines the bearing to it in azimuth and elevation. In the local server of the remote post of passive radar, a temporal, spectral and informational analysis of the signal is carried out by comparing it with information about the signals of various types of ground control posts, UAVs and other air assets. If, as a result of the analysis, it is established that the signal belongs to one of the known types of ground control points and the bearing in elevation to the target is less than the error in determining the bearing in elevation, then a decision is made to detect the ground control point. Information about the detected target is transmitted through the data transmission system to the secondary processing server of the passive radar system. The same information is sent to the secondary processing server from several remote stations of passive radar, in which the target signal was detected. Based on the transmitted signal characteristics and target bearings, the location of the ground control point is determined in the secondary processing server by the triangulation method.

3 Detection of unknown UAVs flying in radio silence mode. This result is achieved by the fact that a solid-state digital active phased antenna array from the active radar system is designed in such a way that it allows simultaneous operation in several directions with different signal characteristics, and a classification module and a mapping processing module are implemented in the control and processing server of the passive radar system. . The active radar system detects and determines the location (range, azimuth, elevation) of the target with a survey beam operating in the pulse-Doppler mode. To ensure a high rate of updating the information necessary to build the trajectory of the UAV, the survey beam performs a constant restructuring of the direction of work from pulse to pulse. Information about the characteristics of the signal reflected from the target and the location of the target is transmitted to the control and processing server. The control and processing server builds the target's trajectory and analyzes the characteristics of reflected radar signals and compares them with the database of reflected signals for various types of targets. If it is established that the reflected signal belongs to one of the known types of UAVs and the target height exceeds the error in determining the direction to the target in terms of elevation, then it is decided that an UAV of one of the known types has been detected. If the reflected radar signal does not match any of the known types of UAV, then in the cartographic information module of the control and processing server, the target trajectory is analyzed, built on several readings transmitted to the control and processing server. The module for analyzing cartographic information performs a route-cartographic analysis by comparing the target's trajectory with information about roads and other possible ways of moving ground targets, with information about obstacles to moving ground targets (forest belts, ravines, rivers, etc.). If the target's trajectory does not coincide with the possible paths and/or crosses obstacles, or if the target's height exceeds the error in determining the height by the active radar system, then a decision is made to detect an air target. After identifying the target as an airborne control and processing server, it issues a command to form and process a classification beam. Classification beam pulses are emitted simultaneously with survey beam pulses. Classification beam pulses are emitted continuously in the direction of the target being classified. Survey beam pulses, as mentioned above, constantly change the direction of radiation. Thus, the duty cycle of the target classification beam is significantly reduced relative to the duty cycle of the survey beam. The radiation power of the signal in the classification beam is less than the radiation power in the survey beam in proportion to the decrease in the duty cycle. As a result, a signal with a high pulse repetition frequency is formed in the classification beam, which, by analyzing the high-precision Doppler frequency shift, makes it possible to identify the relative movements of the target parts relative to each other (microdoppler), due to which it is possible to identify the UAV against the background of targets of natural origin (birds, insects). , air formations, etc.). The micro-Doppler analysis, as well as the analysis of signs of air targets other than UAVs, is performed in the classification module. As a result, unknown types of UAVs are detected and identified against the background of other targets of natural or artificial origin.

4 Increased UAV detection range. This result is achieved by the fact that the passive radar system and the active radar system are designed in such a way that they provide the possibility of detecting and isolating both known and unknown UAVs against the background of other targets, regardless of other systems, by changing the criterion for deciding whether to detect UAVs based on the results of a joint operation of the systems of the complex. As a result of the operation of passive or active radar systems, the detection of known or unknown types of UAVs occurs, the main criteria of which, as described above, is that the detected target belongs to air targets and its mismatch with other known and non-UAV types of air targets. Such a sign is sufficient to make a decision on the detection of the UAV. The UAV can also be detected based on the results of the operation of the electro-optical system based on the analysis of the received images of the target automatically or by the operator. This is also sufficient to detect the UAV. For the described complex, it is sufficient to detect an UAV with only one of its systems. As a criterion for making a decision on the detection of a UAV, the decision of the problem of its detection by one of the systems of the complex is taken. Thus, the operating range of the complex is determined by the greatest operating range of all UAV detection systems. That is, the range of work, in comparison with the prototype, increases.

5 Expanding the functionality of the multifunctional complex. This result is achieved by the fact that a processing device and a detection subsystem are included in the radio suppression system, and a set of omnidirectional antennas is included in the radio transmitting system. At the same time, the radio suppression system can work both jointly and independently of other systems and modules of the complex, both in the parking lot and on the move. The detection system provides omnidirectional signal reception, and the processing device - analysis of the temporal and spectral characteristics of the received signal. Signal analysis is carried out in terms of determining the correspondence of information about the received signal to the information available in the database about possible threats: known types of UAVs, radio links for controlling explosive devices, etc. When a signal is identified as a threat, the processing device generates an interference signal in accordance with the models interference signal corresponding to the type of detected threat, the signal is amplified and radiated through a set of omnidirectional antennas. Thus, the self-protection of the multifunctional complex is ensured both in the parking lot and in motion. The column, in which the complex is moving, is also protected from radio-controlled explosive devices. This ensures the expansion of the functionality of the described complex relative to the prototype.

A comparative analysis of the features of the claimed multifunctional complex of detection, tracking and radio countermeasures for the use of small unmanned aerial vehicles and the prototype complex shows that the set of essential features has been changed in the claimed complex:

- introduced N, at least two, remote posts of the passive radar system;

- navigation and timing equipment was introduced at each of the remote posts of passive radar;

- a device for transmitting data from remote posts of the passive radar system was introduced;

- a server for secondary processing of the passive radar system with a module for processing cartographic information was introduced;

- a module for storing images of radar signals of the active radar system was introduced;

- a control and processing server with a classification module and a module for processing cartographic information of the active radar system was introduced;

- a subsystem for detecting a radio suppression system was introduced;

- a processing device was introduced as part of the radio suppression system;

- the design of the direction finder of the passive radar system has been changed: each of their remote posts is made in the form of a two-coordinate detector-direction finder that provides determination of the azimuth and elevation angle to the detected source of radio emission and operates in a continuous operating frequency range from the minimum to the maximum possible for use in UAVs or ground control stations frequencies, a two-coordinate direction finder, together with navigation and time reference equipment, makes it possible to detect signals from UAVs and ground control points, to bind the detected signal to time, to identify whether it belongs to a certain type of UAV, or to a ground control point or to an air vehicle of another type based on comparing the features of the received signal or the identification information transmitted by the signal with the data stored in the UAV signal database, transmit information about the characteristics of the detected signal through the data transmission system: detection and direction finding time, frequency, bearing in azimuth and elevation, type of identified UAV, ground control point or sign of lack of identification (additional information can be transmitted);

- the performance of the passive radar system has been changed, which is made distributed in the form of N, at least two, remote posts, a data transmission system and a secondary processing server, the secondary processing server, as a result of analyzing the information transmitted from remote passive radar posts, determines whether the detected signal belongs to one source of radio emission , calculates the coordinates of the detected device (latitude, longitude, altitude), classifies the target as an UAV based on the UAV identification information transmitted from remote posts and / or based on the criterion for the detected source of radio emission to be above the ground (criterion for exceeding a given height of the target), and / or on the basis of path mapping analysis, i.e. analysis of flight path information in comparison with cartographic information (movement through obstacles, along roads, etc.), classifies the target as a ground control point based on information about the identification of the ground control point, ne redannoy from remote posts;

- the design of the active radar system has been changed: the radar is made in the form of a pulse-Doppler multi-beam three-coordinate radar of the S frequency band, an active solid-state digital antenna array is used as an antenna, which makes it possible to simultaneously operate in radiation and reception modes in several spatial directions with different signal characteristics, and Classification and cartographic processing modules are implemented in the control and processing server of the passive radar system. The active radar system detects and determines the location (range, azimuth, elevation) of the target with a survey beam operating in the pulse-Doppler mode. To ensure a high rate of updating the information necessary to build the trajectory of the UAV, the survey beam performs a constant restructuring of the direction of work from pulse to pulse. Information about the characteristics of the signal reflected from the target and the location of the target is transmitted to the control and processing server. The control and processing server builds the target's trajectory and analyzes the characteristics of reflected radar signals and compares them with the database of reflected signals for various types of targets. If it is established that the reflected signal belongs to one of the known types of UAVs and the target height exceeds the error in determining the direction to the target in terms of elevation, then it is decided that an UAV of one of the known types has been detected. If the reflected radar signal does not match any of the known types of UAV, then in the cartographic information module of the control and processing server, the target trajectory is analyzed, built on several readings transmitted to the control and processing server. The module for analyzing cartographic information performs a route-cartographic analysis by comparing the target's trajectory with information about roads and other possible ways of moving ground targets, with information about obstacles to moving ground targets (forest belts, ravines, rivers, etc.). If the target's trajectory does not coincide with the possible paths and/or crosses obstacles, or if the target's height exceeds the error in determining the height by the active radar system, then a decision is made to detect an air target. After identifying the target as an airborne control and processing server, it issues a command to form and process a classification beam. The classification beam pulses are emitted simultaneously with the survey beam pulses. Classification beam pulses are emitted continuously in the direction of the target being classified. Survey beam pulses, as mentioned above, constantly change the direction of radiation. Thus, the duty cycle of the target classification beam is significantly reduced relative to the duty cycle of the survey beam. The radiation power of the signal in the classification beam is less than the radiation power in the survey beam in proportion to the decrease in the duty cycle. As a result, a signal with a high pulse repetition frequency is formed in the classification beam, which, by analyzing the high-precision Doppler frequency shift, makes it possible to identify the relative movements of the target parts relative to each other (microdoppler), due to which it is possible to identify the UAV against the background of targets of natural origin (birds, insects). , air formations, etc.). The micro-Doppler analysis, as well as the analysis of signs of air targets other than UAVs, is performed in the classification module. As a result, unknown types of UAVs are detected and identified against the background of other targets of natural or artificial origin;

- the implementation of the radio suppression system has been changed, which contains a radio transmitting subsystem, a radio receiving detection subsystem, sets of directional and omnidirectional antennas and a processing device, it provides the ability to work in the following modes: radio suppression of UAV control and navigation channels by external target designation, autonomous radio suppression of control and navigation channels UAV, the mode of autonomous radio suppression of radio fuse control lines, and can operate both in the parking lot and on the move, providing self-defense of the complex, in the mode of radio suppression by external target designation, the interference signal is emitted by directional antennas in the direction of the UAV, in autonomous modes of operation, radiation occurs through omnidirectional antennas ;

- the implementation of the interference generation device has been changed, which provides the formation of the following types of interference: interference signals to control and navigation channels of known UAVs, adapted for each of the known types of UAVs, noise interference signals for control and navigation channels of unknown types of UAVs in the detected and most common frequency ranges, interference signals to radio fuse control lines adapted to the type of radio fuse control channel;

- the operating mode of the information processing and storage device has been changed: the alarm signal is selected based on criteria adapted to the operating range of each system and taking into account the results of the operation of each of the systems of the complex. Each of the systems of the complex ensures the detection of UAVs with high reliability and gives an assessment of the reliability of the decision to detect. The decision to detect the UAV is carried out with a high level of assessment of the reliability of the decision to detect - based on the results of the operation of one of the systems, with an insufficient level of reliability of the decision to detect - based on the results of the operation of several systems of the complex and their comprehensive assessment;

- new connections have been changed and introduced: each of the N outrigger posts is connected via a data transmission system to a passive radar secondary processing server, which is connected by data transmission lines to an information processing and storage device and a mapping processing module, a radar control and processing server is connected by data transmission lines with a classification module, a cartographic processing module, a module for storing images of radar signals, with an antenna system of active radar and with an information processing and storage device, the processing device as part of the radio suppression system is connected by data transmission lines to the jamming device, the radio receiver of the radio suppression system, a set of amplifiers and rotary device of a set of directional antennas of the radio suppression system and with a device for storing and processing information.

The essence of the proposed multifunctional complex of detection, tracking and radio countermeasures for the use of small-class UAVs is illustrated by the figures.

The figure 1 shows a block diagram of a multifunctional complex of detection, tracking and radio countermeasures for the use of small unmanned aerial vehicles.

The figure 2 shows a block diagram of a remote post of a passive radar system.

The figure 3 shows a diagram explaining the placement of remote posts of passive radar.

The claimed multifunctional complex, in addition to the systems and devices listed above, includes a vehicle, power supply, communication, navigation and orientation systems.

Considering that the vehicle, power supply, communication, navigation and orientation systems are also part of the prototype complex, these features, which do not have significant differences, are not shown in figure 1 for simplicity.

The composition of the multifunctional complex of detection, tracking and radio countermeasures for the use of small UAVs (hereinafter referred to as MFC) includes (figure 1): active radar system (SAR) 1, passive radar system (SPR) 6, electron-optical system (EOS) 10, radio suppression system (CP) 14, information processing and storage device (UOKHI) 26, operator workplace (RMO) 27. In addition to the above tools, the MFC includes a power supply system not shown in figure 1, a communication system, a navigation and orientation module (MHO ), vehicle.

SAR 1, SPR 6, EOS 10, CP 14, RMO 27, MHO are connected by data transmission lines to UOKHI 26. All MFC systems and devices are connected to the power supply system. All MFC systems and devices are located at the transport base.

ACS 1 includes a digital active phased array antenna (TsAFAR) 2, a rotary device (PU) 3, a radar signal sample storage module (MCHORS) 4, a control and processing server (CSA) 5 with a classification module (MK) 5.1 and a processing module cartographic information (MOKI) 5.2. TsAFAR 2 is installed on PU 3 and is connected by data transmission lines with MHORS 4 and SLA 5. The data transmission line of SSA 5 is connected with UOHI 26, MK 5.1 and MOKI 5.2.

The structure of the DSS 6 includes N, at least two, remote posts of passive radar (VPPR) 7 (7.1 ... 7.N), a data transmission device (UPD) 8, a secondary processing server (SVO) 9 with a cartographic information processing module (MOKI) 9.1. VPPR 7 through UPD 8 connected with CBO 9, which is connected by a data line with UOHI 26 and MOKI 9.1. UPD 8 contains end terminals between which data is transmitted. One end terminal UTD 8 is installed on each VPR 7 and at the location of the secondary processing server 9. The terminal terminals UPD 8 are connected by transmission lines with the VPR 7 equipment and with the secondary processing server 9. Each VPR 7, figure 2, includes navigation equipment and reference to time (ANPV) 35, two-coordinate (azimuth, elevation) direction finder-detector (DPO) 28, power supply device (UEP) 37. All components of the VPR 7 are connected to the power supply device 37. These connections are not given so as not to clutter scheme. DPO 28 includes a set of omnidirectional antennas (KVNA) 29, a set of hemispherical antenna arrays (CARPO) 30, sets of radio receiving paths (CRTP) 31, 32, a two-channel radio receiver (DRPU) 33, made according to a common local oscillator scheme, a two-channel device digital processing (DUCO) 34, the channels of which operate from a single clock generator, a local server (LS) 36. The outputs of the LS 36 are the outputs of the DPO 28. KVNA 29 and CARPO 30 through KRTP 31.32 are connected to the inputs of the DRPU 33: KVNA 29 - with one input, CARPO 30 - with another input DRPU 33. The outputs of DRPU 33 are connected to the inputs DUCO 34. ANPV 35 is connected by data channels with DUCO 34 and LAN 36, interconnected by data channels. DPO 28 and its components provide the implementation of the known method of correlation direction finding, for example [5 - Patent RU, No. 2207583 C1, class. G01S 3/00, G01S 3/14, G01S 3/74, Shevchenko V.N., Vertogradov G.G., Ivanov N.M., Bersenev E.V. Direction finding method for multiple sources of radio emission simultaneously falling into the reception band, priority 29.11.2001, pub. June 27, 2003]. Hemispherical antenna arrays are built on the basis of known technical solutions, for example, hemispherical antenna arrays described in [6 - D.I. Voskresensky, L.I. Ponomarev, B.C. Filippov. Convex scanning antennas, M., “Sov. radio”, 1978]. As omnidirectional antennas, known types of antennas can be used, for example, biconical antennas described in [7 - G.Z. Aizenberg, V.G. Yampolsky, O.N. Tereshin. VHF antennas, part 1, M., Svyaz 1977, 384 s]. KVNA 29, CARPO 30 and KRTP 31, 32 are formed as a result of the use of several antennas or paths that provide lettered coverage of the operating frequency range of sets 29-32. That is, each of the antennas or each of the radio receiving paths from the kits 29-32 covers part of the operating frequency range of the kits 29-32. The full operating range of kits 29-32 is covered by the full set of antennas or radio receiving paths from kits 29-32.

The composition of the CP 14, figure 1, includes a radio transmission subsystem (RPPS) 15, a detection subsystem (PSO) 21, a processing device (UO) 24. RPPS 15 and PSO 21 are connected by data lines with the UO 24. UO 24 is connected to the UOHI 26 lines data transmission. RPPS 15 includes a set of transmitting directional antennas (KPNA) 16, a set of transmitting non-directional antennas (KPNNA) 17, an electromechanical rotary device (PU) 18, a set of amplifiers (KU) 19, a jamming device (UFP) 20, a switch (PC) 25. Sets of KPNA 16, KPNNA 17 through PC 25 are connected by high-frequency transmission lines (cables) with KU J9. KU 19 is connected by high-frequency transmission lines (cables) with UFP 20. UFP 20 is connected by data transmission lines to processing device 24. Control input of PU 18 is connected to UO 24. The detection subsystem 21 includes a non-directional receiving antenna (PNNA) 22 and a radio receiver ( RPU) 23. PNNA 22 is connected to RPU 23 by high-frequency transmission lines (cables), RPU 23 is connected to processing unit 24 by data transmission lines.

The structure of the EOS 10 includes a television camera (TC) 11, a thermal imaging camera (TVK) 12, a rotary device (PU) 13. TK 11, TVK 12, PU 13 are connected by data transmission channels with UOHI 26.

The IFC functions as follows.

The MFC operates in the following modes:

- multiposition mode of territory protection;

- single-position mode of territory protection;

- self-defense mode and protection of columns in the parking lot and in motion. At the same time, the MFC provides the following functions:

1 Detection of an UAV operating in radio communication mode by means of passive radar.

2 Detection of UAV ground control points operating in radio communication mode by means of passive radar.

3 Identification of known types of UAVs by the characteristic features of the detected signals or the information contained in them, by comparing the database of signals available in the IFC.

4 Identification of known types of ground control stations by the characteristics of the detected signals or the information contained in them, by comparison with the signal database held in the IFC.

5 Direction finding of a UAV detected by means of passive radar, operating in radio mode, in azimuth.

6 Direction finding of a UAV detected by means of passive radar, operating in radio mode, in elevation.

7 Determining the location (geographical coordinates, height) of the UAV and / or ground control point of the UAV operating in radio communication mode by means of passive radar.

8 Identification (identification as UAV) UAV operating in radio mode with unknown types of communication and data transmission signals.

9 Identification (identification as a UAV ground control point) of a UAV ground control point operating in radio mode with unknown types of communication and data transmission signals.

10 Characterization of the jamming signal based on the detected UAV type and/or ground control station information available in the IFC signal database.

11 Determining the characteristics of the jamming signal of the detected UAV and/or UAV ground control station with unknown types of signals and data transmission.

12 Detection and location determination (geographical coordinates, altitude) of a UAV operating in radio silence or radio communication modes by means of active radar.

13 Route tracking of a UAV operating in radio silence or radio communication modes by means of active radar.

14 Isolation of a UAV operating in radio silence or radio communication modes against the background of natural decoys (birds) by means of active radar.

15 Detection and tracking of a UAV operating in radio silence or radio communication modes by EOS 10 equipment.

16 Display of visual information obtained in the visible or thermal range by the EOS 10 equipment on the RMO 27 screen.

17 Determination of the characteristics of the radio suppression signal of the detected UAV based on the results of its detection by SAR 1 or EOS 10.

18 Formation and emission of an interference signal to radio communication channels and / or satellite navigation by CP 14 equipment in the direction of the UAV.

19 Formation of transparency windows in the interference signal emitted by the CP 14 equipment in the specified frequency ranges.

20 Automatic determination of the location and orientation (azimuth, roll, pitch) of the carrier of the IFC and VPLO 7.

21 Automatic or at the command of the operator, guidance of any of the MFK systems (SAR 1, SPR 6, CP 14, EOS 10) based on the results of the operation of one or more other MFK systems.

22 Making a decision on the detection of the UAV based on the results of the operation of several IFC systems.

23 Making a decision on the detection of UAVs based on the results of the operation of one IFC system with criteria for the detection and detection of UAVs adapted to the characteristics in terms of range.

24 Detection and detection of signals of radio control lines for explosive devices.

25 Formation and emission of radio suppression signals to radio control lines of explosive devices.

26 Ensuring the protection of territories and facilities and self-defense of the IFC in the parking lot.

27 Ensuring the protection of the self-defense of the IFC and the protection of convoys in motion.

The functions of the IFC listed in paragraphs 2, 4, 6, 7, 8, 9, 11, 14, 17, 20, 23, 24-26 were not implemented in the prototype and expand the functionality of the described IFC relative to the prototype.

In the multi-position territory protection mode, the MFK functions listed in paragraphs 1-23, 26 are implemented. In the single-position territory protection mode, the MFK functions listed in paragraphs 1-6, 8, 10, 11-23, 26 are implemented. In the self-defense and column protection mode functions 1-3, 10, 18-20, 23, 24-25, 27 are implemented.

In the multipositional protection mode of the territory, the VPLO 7, figure 1, are deployed near or inside the protected area at a distance from each other, which makes it possible to transfer data between the VPLO 7 and/or the OMS 5, the energy availability of the UAV signals from which protection is planned in the protected area is not less than two VPPR 7. It is best to place the VPPR 7 in such a way that the beams drawn from the location of the post to any point of the protected territory intersect at an angle a from 30 ° to 120 °, figure 3. At other angles of intersection, the performance of the SPR 6 will remain, however, it is possible to reduce the accuracy of determining the location of the target in accordance with the results given in [8 - I.S. Kukes, M.E. Old man. Fundamentals of radio direction finding, M., Sov. radio, 1964, 640 s]. As a rule, this distance is from 1 km to 10 km. One of the VPPR 7 is located near or on the transport carrier of the IFC. The coordinates and orientation (relative to the north, roll, pitch) of each of the runways 7 are determined in the automatic mode ARPV 35, figure 2.

As ANPV 35, existing purchased equipment can be used, for example, goniometric equipment of the MRK-32P type [http://krtz.rf/nav_mrc-3 2p.html].

In the single-position territory protection mode, only one VPPR 7, figure 1, is deployed, located near or on the MFC transport carrier.

The remaining systems and modules of the MFC are deployed in the same way both in multi-position and in single-position modes of territory protection.

The coordinates and orientation (relative to the north, roll, pitch) of the MFC equipment are determined automatically by the orientation and navigation module, which is not shown in figures 2 and 3, since its functional purpose is the same as that of the prototype complex. As an orientation and navigation module, existing purchased equipment can be used, for example, goniometric equipment of the MRK-32P type [15].

A UAV flying in radio mode can be detected by one or more VPR 7 by communication and data transmission signals emitted by the UAV and/or by ACS 1. The detection range of the UAV by the SPR 6 equipment is close to the radio communication range of the UAV with the UAV ground control station. So for light UAVs (for example, the Orlan-10 type), the radio communication and detection range can be up to 120 km. For mini and micro UAVs (for example, the Phantom-4 type), the range of radio communication and detection of SPR 6 can be from 3 to 10 km. Since the effective scattering surface (ESR) of mini, micro and light UAVs is small (ranging from 0.001 to 0.5 m ² ), their detection range of ATS 1 is from 1 km to 15-20 km. In this regard, it is possible to detect a UAV flying in radio mode, both by the SPR 6 equipment at a distance exceeding the detection range of the SAR 1 equipment, and jointly by the SPR 6 and SAR 1 equipment.

Signals of radio communication and data transmission of the UAV are received by sets of antennas 29, 30 of one or more VPR 7 depending on the mode of operation of the MFC. The received signals through KRTP 31, 32 are fed to the input of the respective channels DRPU 33, where they are coherently transferred to the intermediate frequency. From the outputs of the DRPU 33 the intermediate frequency signals are fed to the corresponding inputs of the DCU 34, where they are synchronously digitized. To a separate input DUCO 34 from ANPV 35 receives marks (signals) of the exact time (for example, second marks transmitted by satellite navigation systems). In DUCO 34, data packets are formed containing the received digitized signals with reference to the exact time signals. The data packets from the outputs of the DUCO 34 are sent for further processing to the local server 36. The local server 36 calculates the bearing to the received signal in azimuth and elevation and analyzes the signal. Direction finding is performed by a known method of correlation direction finding, for example [9 - Patent RU, No. 2207583 C1, class. G01S 3/00, G01S 3/14, G01S 3/74, Shevchenko V.N., Vertogradov G.G., Ivanov N.M., Bersenev E.V. Direction finding method for multiple sources of radio emission simultaneously falling into the reception band, priority 29.11.2001, pub. June 27, 2003].

In the local server 36, the temporal and spectral characteristics of the signals are determined, the information component in the signals is analyzed (for example, MAC addresses of the detected signals are allocated when using signals with a Wi-Fi similar structure). The characteristics of the received signals and the extracted information are compared with the database of signals from UAVs and other aircraft. If the received signal coincides with one of the database signals, a decision is made about the reliable detection of the UAV and its type or the type of the detected aircraft. If the signal does not correspond to the known UAV type, the bearings are analyzed. If the bearing in elevation is greater than zero and exceeds the error in determining the bearing in elevation, that is, it significantly indicates that the target is at a certain height above the ground and the signal characteristics do not correspond to any of the permitted and known signals of other types of aircraft (airplanes, helicopters etc.), then a decision is made on the reliable detection of an unknown type of UAV. The signal is recorded in the database of newly detected signals for further analysis.

Determining the fact that the target is at a certain height above the earth's surface allows us to solve the problem of detecting UAVs by means of passive radar against the background of terrestrial stationary and moving sources of radio emission. Terrestrial radio sources have zero altitude and therefore zero or less bearing errors. The prototype, which does not allow you to determine the elevation angle of the target, does not provide the ability to select UAVs by means of passive radar against the background of ground-based stationary and moving sources of radio emission.

When the MFC is operating in a single-position mode, the alarm signal is transmitted to the secondary processing server 9, figure 1, VPPR 7, and through it to the WOHI 26.

When the MFK is operating in multi-position mode, information with the main characteristics of each detected signal (frequency, bandwidth, transmission signal duration, detection time, UAV type attribute: type of detected UAV (known or unknown) or lack of target classification as UAV, bearing to the target according to azimuth and elevation) is transmitted through the ATC 8 to the SVO 9. In the secondary processing server 9, the target location is calculated by the triangulation method [8] based on the results of target detection and direction finding by several VPLOs 7. Before solving the task of determining the target location, it is checked that information about those involved in determining the location of the signals transmitted from different VPR 7 belonged to the same source of radio emission, that is, the main spectral and temporal characteristics of the signals, as well as the time of their detection, coincided. According to a series of sequentially incoming information corresponding in spectral and temporal characteristics of the signal of one target, the trajectory of the target movement is constructed. The construction of the trajectory of movement can be carried out by one of the known methods and algorithms, for example, given in [10 - Farina A., Studer F. Digital processing of radar information. Goal tracking. M., Radio and communication, 1993, 320 s]. Trajectory information is transmitted via communication lines to MOKI 9.1. MOKI 9.1 stores pre-prepared cartographic information about the area where the UAV is detected. The cartographic information defines the places of passage of highways, roads, paths and other objects along which ground vehicles can move, as well as the places of passage of obstacles (forest belts, ravines, mountains, etc.) on which the movement of ground vehicles is difficult. In MOKI 9.1, a trace-cartographic analysis is performed, that is, a comparison of the target's trajectory with the locations of obstacles and roads. When a significant proportion of the route passing outside the road, as well as the route passing through obstacles for the movement of ground vehicles, is detected, a decision is made to detect an air target. At the same time, if the route passes through an obstacle, then the detection is considered reliable, if the movement off the road (at a distance exceeding the accuracy of determining the location of the target) is more than a certain value, for example, 50%, of the route, then the detection of an air target is considered reliable if less than this value , detection requires confirmation by other systems. In the case when the signal is not identified by the database as a signal of an aircraft other than a UAV, a decision is made to detect the UAV with the above reliability. In addition, the UAV detection is considered reliable if the target is identified as a UAV by at least one of the VPLOs 7 according to the criterion of matching the characteristics of the signal with the characteristics of the signal database or by the criterion of height. The results of the detection of the UAV SAR 1 are transmitted along with the sign of reliability and the established coordinates, the height of the target, the detection time and the main spectral and temporal characteristics of the signals to the ROHI 26.

Thus, SDR 6 provides, in contrast to the prototype, the detection of both known and unknown types of UAVs by the signals they emit.

Signals emitted by UAV ground control stations both in single-position and multi-position modes are received and processed similarly to radiation signals of UAV communication and data transmission systems. As a criterion for detecting the ground control point of the UAV, the signal of the ground control point is identified by comparing the temporal, spectral or information characteristics of the signal of the ground control point with the characteristics recorded in the signal database, and by the criterion of height, less error in determining the bearing in elevation. In the multi-position mode, the DSS 6 determines the location of the ground control point by the triangulation method in the same way as the location of the UAV is determined (described above). Thus described the IFC allows you to solve the problem of determining the location of the ground control point, in contrast to the prototype.

SAR 1, which is a pulse-Doppler radar, surveys the space using TsAFAR 2. TsAFAR 2 can be built on the basis of well-known principles set forth in [11 - Dobychina E.M., Koltsov Yu.V. Digital antenna arrays in airborne radar systems. M.: MAI, 2013. 160 s]. In the proposed multifunctional complex, digital images of all signals used in the process of operation are stored in MHORS 4. In accordance with the task received from the OMS 5, one or another signal image is extracted from MHORS 4 and fed to the input of TsAFAR 2. This method of signal generation minimizes the time required for its formation (it is reduced to the time of signal retrieval from memory) and provides the ability to quickly measure the type of signal and/or extract several signals simultaneously. In TsAFAR 2, each extracted signal in digital form enters the input of each channel of TsAFAR 2, is multiplied by the corresponding complex coefficient, forming the necessary amplitude-phase distribution on the elements of TsAFAR 2. When using several signals, the signals in digital form are summed, after which in each channel of TsAFAR 2 2 are synchronously converted to analog form, coherently transferred to a high frequency, amplified and radiated into space. When using several channels, their characteristics are chosen so that the spectra of both channels are located within the operating frequency band of TsAFAR 2. When a signal reflected from the target is received, it is coherently transferred in each channel to an intermediate frequency, amplified, synchronously digitized, for each of the signals used, matched filtering. The filtered signals in each channel of DAFAR 2 are multiplied by the corresponding complex coefficient, which provides in-phase summation of signals from a given direction, after which they are digitally summed, forming digital streams, the number of which corresponds to the number of signals used.

In the described SAR 1, it is possible to form two beams. The survey beam constantly scans the sector of work, detects targets and determines the location of the target. When solving the problem of detecting targets moving at low speed, it is necessary to observe targets for a long time to distinguish them against the background of stationary targets using Doppler target selection methods. So when working in the S frequency band, the characteristic wavelength is 0.1 m, and the target speed is 1.5 m/s, the Doppler frequency shift will be

where ν is the speed of the target;

λ is the wavelength.

При ширине диаграммы направленности антенны РЛС 5° и стоянии в одном направлении необходимый для доплеровской селекции целей интервал времени, период обновления информации в секторе работы 90×90° составит 10,69 с, что неприемлемо. С целью уменьшения периода обновления информации в САР 1 реализован режим работы с вложенными пачками, когда от импульса к импульсу происходит изменение направления работы обзорного луча. При этом излучение двух последовательно идущих импульсов (импульсы излучаются в разных направлениях) происходит через время, необходимое для распространения импульса на выбранное максимальное расстояние и обратно. Возврат к работе в направлении по цели происходит через достаточно большой интервал времени, определяемое длительностью пачки и количеством импульсов в ней. Количество импульсов в пачке определяется необходимостью энергии накопления сигнала для обеспечения энергетической доступности цели и разрешения по скорости. Так при 32 импульсах в пачке время между импульсами, излучаемыми в одном направлении, может достигать от 1 до 3 мс. Это обеспечит как энергетическую доступность целей типа БПЛА, так и необходимый уровень селекции и разрешения целей по скорости. При этом скважность сигнала по работе в одном направлении может достигать от 100 до 1000. Время между двумя последовательно излучаемыми импульсами составляет, например, от 33 мкс до 166 мкс.При таком режиме работы с вложенными пачками период обновления информации составит в секторе работы ЦАФАР 2 90x90° от 0,1 до 0,3 с, а в секторе работы 360x90° не более 1-2 с. Однако такие интервалы между импульсами не позволяют выявить относительные движения частей цели между собой, что является существенным классифицирующим признаком БПЛА выделения БПЛА на фоне естественных ложных целей (птиц, насекомых и т.п.) [12 -P.Molchanov and ect. Classification of small UAVs and birds by micro-Doppler signatures, International Journal of Microwave and Wireless Technologies, v.6 issue 3-4, June2014,pp.435-444]. С целью классификации цели в описываемой САР 1 обеспечивается возможность формирования одновременно с обзорным лучом луча классификации. Каждый из импульсов, излучаемых в луче классификации, излучается одновременно с импульсами обзорного луча в направлении классифицируемой цели. При этом скважность облучения цели увеличивается, по сравнению с обзорным лучом, от 10 до 1000 раз. Для обеспечения необходимого энергетического доступа к цели мощность излучения в луче классификации может быть уменьшена относительно мощности излучения в обзорном луче на величину скважности, то есть, например, от 10 до 30 дБ. При этом дальность работы обзорного луча 1 практически не изменится. Разрешающая способность по скорости в луче классификации увеличится пропорционально скважности обзорного луча. В результате обеспечивается возможность определения микродоплеровского спектра цели и выделения по скорости относительного движения частей цели. Зная эти относительные скорости, возможно классифицировать цель, выделив на фоне естественных ложных целей БПЛА.To determine such a Doppler frequency shift, the observation time must be at least

With a radar antenna beamwidth of 5° and standing in one direction, the time interval required for Doppler target selection will be 10.69 s in the 90×90° work sector, which is unacceptable. In order to reduce the information update period, ACS 1 implements a nested burst mode, when the direction of the survey beam changes from pulse to pulse. In this case, the emission of two consecutive pulses (pulses are emitted in different directions) occurs after the time required for the pulse to propagate to the selected maximum distance and back. The return to work in the direction of the target occurs after a sufficiently large time interval, determined by the duration of the burst and the number of pulses in it. The number of pulses in a burst is determined by the need for signal accumulation energy to ensure the energy availability of the target and speed resolution. So, with 32 pulses in a burst, the time between pulses emitted in one direction can reach from 1 to 3 ms. This will ensure both the energy availability of UAV-type targets and the required level of selection and resolution of targets in terms of speed. In this case, the duty cycle of the signal for operation in one direction can reach from 100 to 1000. The time between two successively emitted pulses is, for example, from 33 μs to 166 μs. ° from 0.1 to 0.3 s, and in the sector of work 360x90 ° no more than 1-2 s. However, such intervals between pulses do not allow one to detect the relative movements of the target parts between themselves, which is an essential classifying feature of the UAV for distinguishing the UAV against the background of natural decoys (birds, insects, etc.) [12 -P. Molchanov and ect. Classification of small UAVs and birds by micro-Doppler signatures, International Journal of Microwave and Wireless Technologies, v.6 issue 3-4, June2014, pp.435-444]. In order to classify the target in the described SAR 1, it is possible to form the classification beam simultaneously with the survey beam. Each of the pulses emitted in the classification beam is emitted simultaneously with the survey beam pulses in the direction of the target being classified. In this case, the target irradiation duty cycle increases, in comparison with the survey beam, from 10 to 1000 times. To provide the necessary energy access to the target, the radiation power in the classification beam can be reduced relative to the radiation power in the survey beam by the duty cycle, that is, for example, from 10 to 30 dB. In this case, the operating range of the survey beam 1 will practically not change. The velocity resolution in the classification beam will increase in proportion to the duty cycle of the survey beam. As a result, it is possible to determine the micro-Doppler spectrum of the target and select the relative movement speed of the target parts. Knowing these relative speeds, it is possible to classify the target, highlighting the UAV against the background of natural decoys.

CAP 1 functions as follows. SAR 1 with the help of a survey beam emits and receives a radar signal. Information about the characteristics of the beam reflected from the target and the location of the target is transmitted to the control and processing server 5. In the control and processing server, the target movement trajectory is built, the characteristics of the reflected radar signals are analyzed and compared with the database of reflected signals for various types of targets. If it is established that the reflected signal belongs to one of the known UAV types and the target height exceeds the error in determining the direction to the target in terms of elevation, then a decision is made that a UAV of one of the known types has been reliably detected. If the reflected radar signal does not match any of the known UAV types, then in MOKI 5.2 SLA 5 the target trajectory is analyzed, built on several samples transmitted to the control and processing server in the same way as was described earlier when describing the operation of MOKI 9.1 DDS 6. MOKI 5.2 compares the target's trajectory with information about roads and other possible ways of moving ground targets, with information about obstacles for moving ground targets (forest belts, ravines, rivers, etc.). If the target's trajectory does not coincide with possible paths and/or crosses obstacles, or if the target's height exceeds the error in determining the height by the active radar system, then a decision is made to detect an air target. After identifying the target as an air target, the OMS 5 issues a command for the formation and processing of the classification beam. The types of pulses of the detection beam and the classification beam are transmitted from MHORS 4 to TsAFAR 2, from where they are emitted in the direction of the target. Classification beam pulses are emitted simultaneously with survey beam pulses. Classification beam pulses are emitted continuously with a certain duty cycle in the direction of the target being classified. Survey beam pulses, as mentioned above, constantly change the direction of radiation. Thus, the duty cycle of the target classification beam is significantly reduced relative to the duty cycle of the survey beam. The radiation power of the signal in the classification beam is less than the radiation power in the survey beam in proportion to the decrease in the duty cycle. As a result, a signal with a high pulse repetition frequency is formed in the classification beam, which, by analyzing the high-precision Doppler frequency shift, makes it possible to identify the relative movements of the target parts relative to each other (microdoppler), due to which it is possible to identify the UAV against the background of targets of natural origin (birds, insects). , air formations, etc.). Birds are characterized by the movement of body parts (wings) relative to the body with a frequency of 10 to 30 Hz with a signal amplitude close to the amplitude of the signal reflected from the target. For UAVs, the level of micro-Doppler components is lower than the level of reflection from the target as a whole by 10-20 dB, the Doppler shift frequency corresponds to 50 to 200 Hz. Micro-Doppler analysis, as well as analysis of signs of air targets other than UAVs, is performed in the classification module 5.1. As a result, unknown types of UAVs are detected and identified against the background of other targets of natural or artificial origin. When a significant proportion of the target route passing off the road, as well as the route passing through obstacles for the movement of ground vehicles, is detected, a decision is made to detect an air target. At the same time, if the path passes through an obstacle, then the detection is considered reliable, if the movement outside the road (at a distance exceeding the accuracy of determining the location of the target) is more than a certain value, for example, 50%, of the route, then the detection of an air target is considered reliable, if less than this values, then detection requires confirmation by other systems. If it is established by micro-Doppler analysis that the target does not belong to the type of false targets of natural origin, then a decision is made to detect the UAV with the above reliability. Information about the detected targets and routes is displayed on the RMO 27 screen.

EOS 10 according to target designations from SAR1, SPR 6 or the operator transmitted through the UOHI 26, is directed in a given direction using an electromechanical control unit 13. The image from the TC 11 and / or TVK 12 enters the UOHI 26 and from it to the RMO screen 27. Detection and target recognition is carried out by the operator by visual observation of the displayed image or automatically by comparison, carried out in UOHI 26, with the image database of the complex. If the images match the image of the UAV in the database of the complex or if the UAV is visually identified, the operator makes a decision about the reliable detection of the UAV.

SAR 1, SPR 6, EOS 10 are designed in such a way that they provide the possibility of detecting and isolating both known and unknown UAVs against the background of other targets, regardless of other systems. For the described complex, it is sufficient to detect an UAV with only one of its systems. As a criterion for making a decision on the detection of a UAV, the solution of the problem of its reliable detection by one of the systems of the complex or detection by two systems with less reliability is taken. Thus, the operating range of the complex is determined by the greatest operating range of all UAV detection systems. That is, the range of work, in comparison with the prototype, increases.

CP 14 provides the ability to work in the following modes:

- mode of radio suppression of UAV control and navigation channels by external target designation;

- mode of autonomous radio suppression of UAV control and navigation channels;

- the mode of autonomous radio suppression of radio fuse control lines.

In the mode of radio suppression of the UAV control and navigation channels by external target designation, target designations are received from the UOKHI 26 based on the results of the analysis of the operation of the SAR 1, SPR 6, EOS 10 or at the command of the operator. In the target designation, the direction, type of UAV and / or frequency range of the interference signal is given. Upon receipt of the target designation in the UO 24, the type of UAV is analyzed and a command is transmitted to generate an interference signal in the FPA 20, where an interference signal is generated for the control and navigation channels of the UAV in accordance with the characteristics of the interference signal for the detected type of UAV stored in the memory of the UFP 20. When an unknown is detected type of UAV and/or ground control station with a known frequency range of the UAV communication systems, jamming of the UAV navigation channels and the formation of noise interference in the operating frequency ranges of the UAV and/or ground control station is carried out. When an unknown UAV flying in radio silence mode is detected, interference is made to navigation channels and in the most common international UAV radio channels (ISM, Wi-Fi, cellular networks). KPNA 16 with the help of PU 18 is oriented in a given direction, the interference signal from the output of UFP 20 is amplified in KU 19 and through PC 25 and KPNA 16 is radiated in a given direction.

The modes of autonomous suppression of radio suppression of UAV control and navigation channels and radio fuse control lines function in the same way and can be combined. In these modes, the KNNA 17 is connected to the output of the KU 19 through the PC 25. The terrestrial signals are received by the PNNA 22, transferred to an intermediate frequency, digitized in the RPU 23 and sent for analysis to the UO 24. In the UO 24, the temporal and spectral characteristics of the received signals are compared (duration , frequency, modulation type, repetition period, spectrum width, etc.) with the characteristics of the signals of the main means that pose a threat (UAVs, ground control posts, control lines for radio fuses, etc.). If the characteristics of the received signals coincide with the characteristics of the signals recorded in the database, a decision is made to detect a threat. VOO 24 determines the type of threat and the FPA 20 issued a command to generate an interference signal adapted to the detected threat. Due to the fact that these two modes use omnidirectional antennas, they can be used both in the parking lot and on the move, providing self-defense of the complex and protection of the column in which the complex moves when the operation of the other systems of the complex is turned off and independently of them.

When the interference signal is turned on, in order to exclude adverse effects on the rest of the MFC systems, information about the operation of the CP 14 for radiation is transmitted to the UOHI 26 and the receiving radio systems of the MFC are turned off. In accordance with a predetermined target, frequency transparency windows can be formed in the interference signal, excluding the emission of the interference signal within the specified frequency ranges.

In accordance with the above description, a sample of the IFC was made, which passed the necessary tests. It provided detection and jamming of known and unknown micro, mini and light class UAVs at a distance of 6 km to 70 km, depending on the type of UAV and the system used, as well as counteracting various types of threats.

Thus, it follows from the presented materials that the implementation of systems that are part of the multifunctional complex of means for detecting, tracking and radio counteraction to the use of small unmanned aerial vehicles, and their subsystems and devices, will not cause difficulties due to the fact that these elements are widely used, as testifies to the IFC sample, which has passed a series of tests, during which its effectiveness has been confirmed.

The foregoing allows us to conclude that the proposed multifunctional complex of detection, tracking and radio countermeasures for the use of small unmanned aerial vehicles meets the criterion of "industrial applicability" for the invention.

Claims (4)

1. A multifunctional complex of means for detecting, tracking and radio counteraction to the use of small unmanned aerial vehicles, including a passive radar system, an active radar system, an electron-optical system containing a television and thermal imaging cameras with a rotary device; information processing and storage device, radio suppression system, including a jamming device, a set of amplifiers and sets of transmitting omnidirectional and directional antennas oriented in the direction of the target in azimuth and elevation using an electromechanical rotary device, operator's workplace, navigation and orientation module, power supply system , a communication system, a vehicle, characterized in that N, at least two, remote posts are introduced as part of the passive radar system, navigation and time reference equipment at each of the remote posts, a data transmission device from remote posts and a secondary processing server with a module processing of cartographic information, as part of an active radar system - a module for storing images of radar signals and a control and processing server with a classification module and a module for processing cartographic information, as part of a radio suppression system - a detection subsystem, radio transmitting under processing system and device; each of the N outrigger posts is connected with the secondary processing server of the passive radar system by means of a data transmission device, which is connected by data transmission lines to the information processing and storage device, the cartographic information processing module is connected by data transmission lines to the secondary processing server, the control and processing server of the active radar system radar is connected by data transmission lines with a module for storing images of radar signals, a module for processing cartographic information, a classification module, as well as with an antenna system of active radar and with a device for processing and storing information, a processing device as part of a radio suppression system is connected by data transmission lines with a detection subsystem, radio transmitting subsystem, a jamming device, a rotary device of the radio suppression system and an information processing and storage device, the formation of an alarm signal about the detection of a UAV is carried out on the basis of criteria adapted adjusted to the operating range of each of the systems of the complex and to the types of detected UAVs. 2. The multifunctional complex according to claim 1, characterized in that the active radar system is made in the form of a pulse-Doppler three-coordinate radar connected to an antenna, a module for storing images of radar signals and a control and processing server with a classification module and a module for processing cartographic information, to the server control and processing, the control input of the rotary device is connected, on which the antenna is located, a solid-state digital active phased antenna array is used as an antenna, which provides the possibility of simultaneous operation in the modes of radiation and reception in several spatial directions with different signal characteristics, a solid-state digital active phased antenna array is connected data transmission lines with the control and processing server and with the radar signal image storage module, the control and processing server is connected by data transmission lines with the radar image storage module signals and using an information processing and storage device with the operator’s workplace, while the pulse-Doppler three-coordinate radar determines the range, azimuth, elevation angle of the target and target speed, as well as the relative speeds of movement of individual parts of the target, on the basis of which the UAV is separated and targets of natural origin, identifies the UAV against the background of false targets by analyzing the features of the reflected radar signals, and / or analyzing the relative speeds of movement of the target parts, and / or based on the path-cartographic analysis, which consists in analyzing the passage of the route over the terrain. 3. The multifunctional complex according to claim 1, characterized in that in the secondary processing server of the passive radar subsystem, connected by data transmission lines to the information processing and storage device, as well as to the cartographic information processing module, the target is classified as an unmanned aerial vehicle based on the criterion on the identification of an unmanned aerial vehicle, at remote posts by the temporal, spectral or informational characteristics of the received signals, and / or based on the criterion of finding a detected source of radio emission above the ground, and / or as a result of a route-cartographic analysis based on the criterion of passing the target route away from roads , over difficult terrain features, the classification of the target as a ground control point occurs on the basis of information about the identification of the ground control point transmitted from remote posts according to the temporal, spectral or informational characteristics of the received signals. 4. The multifunctional complex according to claim 1, characterized in that the radio transmitting subsystem of the radio suppression system includes a set of transmitting directional and a set of transmitting non-directional antennas, each of which can be connected through a two-channel switch to a set of amplifiers connected to a jamming device, the detection subsystem consists of serially connected receiving non-directional antenna and a radio receiver connected to the processing device; The radio transmitting subsystem provides the ability to operate in the following modes: the mode of radio suppression of control channels and navigation of an unmanned aerial vehicle by external target designation, the mode of autonomous radio suppression of control channels and navigation of an unmanned aerial vehicle and the mode of radio suppression of control lines of radio fuses, in the mode of radio suppression by external target designation, the jamming device generates signals interference to the control channels of an unmanned aerial vehicle adapted for each of the known types of unmanned aerial vehicles, noise interference signals for unknown types of unmanned aerial vehicles in accordance with the task received from the control and processing server of the active radar system, and interference signals to radio navigation systems, interference signals through a set of amplifiers are emitted in the direction of the suppressed source of radio emission, in the mode of autonomous radio suppression, the signal detection subsystem is implemented omnidirectional detection of the radio signal of an unmanned aerial vehicle according to the database of signals of unmanned aerial vehicles, the jamming device generates interference signals to the control and navigation channels of the unmanned aerial vehicle, adapted for each of the known types of unmanned aerial vehicles, the interference signals are amplified and radiated through omnidirectional antennas, in the mode signal suppression of radio fuse control lines, the signal detection subsystem performs omnidirectional detection of the radio signal of the radio fuse control line, the jamming device generates an interference signal adapted to the type of radio fuse control channel, interference signals are amplified and radiated through omnidirectional antennas, in the modes of autonomous radio suppression of control and navigation channels of an unmanned aerial vehicle and mode of radio suppression of control lines of radio fuses, the radio suppression system can work as if standing nke, and on the move, providing self-defense of the complex.

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