WO2019023831A1 - 一种干扰无人机的控制方法、设备和干扰系统 - Google Patents

一种干扰无人机的控制方法、设备和干扰系统 Download PDF

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Publication number
WO2019023831A1
WO2019023831A1 PCT/CN2017/095111 CN2017095111W WO2019023831A1 WO 2019023831 A1 WO2019023831 A1 WO 2019023831A1 CN 2017095111 W CN2017095111 W CN 2017095111W WO 2019023831 A1 WO2019023831 A1 WO 2019023831A1
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WIPO (PCT)
Prior art keywords
drone
satellite
interference
signal
interfere
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PCT/CN2017/095111
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English (en)
French (fr)
Inventor
赵沧波
王乃博
陈明
Original Assignee
深圳市大疆创新科技有限公司
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201780005740.6A priority Critical patent/CN108496135B/zh
Priority to PCT/CN2017/095111 priority patent/WO2019023831A1/zh
Publication of WO2019023831A1 publication Critical patent/WO2019023831A1/zh

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0022—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the communication link
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04K—SECRET COMMUNICATION; JAMMING OF COMMUNICATION
    • H04K3/00—Jamming of communication; Counter-measures
    • H04K3/60—Jamming involving special techniques
    • H04K3/65—Jamming involving special techniques using deceptive jamming or spoofing, e.g. transmission of false signals for premature triggering of RCIED, for forced connection or disconnection to/from a network or for generation of dummy target signal
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04K—SECRET COMMUNICATION; JAMMING OF COMMUNICATION
    • H04K3/00—Jamming of communication; Counter-measures
    • H04K3/80—Jamming or countermeasure characterized by its function
    • H04K3/90—Jamming or countermeasure characterized by its function related to allowing or preventing navigation or positioning, e.g. GPS
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04K—SECRET COMMUNICATION; JAMMING OF COMMUNICATION
    • H04K2203/00—Jamming of communication; Countermeasures
    • H04K2203/10—Jamming or countermeasure used for a particular application
    • H04K2203/14—Jamming or countermeasure used for a particular application for the transfer of light or images, e.g. for video-surveillance, for television or from a computer screen
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04K—SECRET COMMUNICATION; JAMMING OF COMMUNICATION
    • H04K2203/00—Jamming of communication; Countermeasures
    • H04K2203/10—Jamming or countermeasure used for a particular application
    • H04K2203/22—Jamming or countermeasure used for a particular application for communication related to vehicles
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04K—SECRET COMMUNICATION; JAMMING OF COMMUNICATION
    • H04K3/00—Jamming of communication; Counter-measures
    • H04K3/40—Jamming having variable characteristics
    • H04K3/45—Jamming having variable characteristics characterized by including monitoring of the target or target signal, e.g. in reactive jammers or follower jammers for example by means of an alternation of jamming phases and monitoring phases, called "look-through mode"
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04K—SECRET COMMUNICATION; JAMMING OF COMMUNICATION
    • H04K3/00—Jamming of communication; Counter-measures
    • H04K3/80—Jamming or countermeasure characterized by its function
    • H04K3/92—Jamming or countermeasure characterized by its function related to allowing or preventing remote control

Definitions

  • the invention relates to the technical field of drones, and more particularly to a control method, device and interference system for interfering drones.
  • the management of sensitive areas will want to capture drones, which will facilitate the accountability of drone owners and prevent drones from recording sensitive areas.
  • the drone After the drone is disturbed by the interference equipment, it usually enters the returning state or the hovering state, so that the management can not achieve the capture of the drone.
  • the drone after entering the returning state or hovering state, the drone may cause a safety accident and cause harm to people and property around the drone.
  • the present invention provides a control method, device and interference system for interfering drones, and guides the unmanned drone to a preset position, thereby realizing the capture of the drone by the management party to prevent safety. accident.
  • the present invention provides the following technical solutions:
  • a first aspect of the embodiments of the present invention provides a method for controlling an interference drone, including:
  • the satellite fraud signal transmitting device is controlled to transmit the satellite fraud signal to induce the drone to fly to a preset position.
  • a second aspect of the embodiments of the present invention provides a control device for a drone, including: a memory and a processor;
  • the memory is configured to store program code
  • the processor is configured to invoke the program code, and when the program code is executed, perform the following operations:
  • the satellite fraud signal transmitting device is controlled to transmit the satellite fraud signal to induce the drone to fly to a preset position.
  • a third aspect of the embodiments of the present invention provides an interference system, including:
  • Interference devices and satellite fraud signal transmitting devices that are in communication with the control device.
  • the embodiment of the invention provides a control method, a device and an interference system for an interference drone, and controls the interference device to interfere with the drone to make the drone assume a preset state, generate a satellite fraud signal, and control the satellite fraud signal transmission.
  • the device transmits the satellite fraud signal to induce the drone to fly to a preset position. This can ensure that the unmanned drone can be guided to the location specified by the management, to achieve the capture of the drone, and to prevent the unmanned drone from causing a safety accident.
  • FIG. 1 is a schematic flowchart of a method for controlling an interference drone according to an embodiment of the present invention
  • FIG. 2 is a schematic flowchart of a method for controlling an interference drone according to another embodiment of the present invention.
  • FIG. 3 is a schematic diagram of determining location information of a drone by a positioning information acquiring device according to an embodiment of the present invention
  • FIG. 4 is a schematic diagram of determining, by a positioning information acquiring device, positioning information of a drone according to another embodiment of the present invention.
  • FIG. 5 is a schematic diagram of interference of an interference device to a drone according to an embodiment of the present invention.
  • FIG. 6 is a schematic flowchart of a method for controlling an interference drone according to another embodiment of the present invention.
  • FIG. 7 is a schematic structural diagram of a control device for an interference drone according to an embodiment of the present invention.
  • FIG. 8 is a schematic structural diagram of an interference system according to an embodiment of the present invention.
  • An embodiment of the present invention provides a control method for an interference drone, as shown in FIG. 1 , which is provided by an embodiment of the present invention.
  • a schematic flow diagram of a control method for interfering with a drone, the method comprising:
  • Step S101 Control the interference device to interfere with the UAV to make the UAV a preset state
  • the execution body of the method of the embodiment of the present invention may be a control device that interferes with the drone. Further, the execution body of the method may be a processor of the interference device, where the processor may be a dedicated processor or General purpose processor.
  • the processor can control the interference device to interfere with the drone. Specifically, the processor controls the interference device to generate an interference signal and sends the interference signal, and the drone may not operate normally after being interfered by the interference signal, and the interference may be interfered. The drone may appear in a preset state.
  • controlling the interference device to interfere with the UAV to make the UAV a preset state comprises: controlling the interference device to interfere with the UAV to return the UAV. Specifically, after the processor controls the interference device to interfere with the drone, the unmanned drone may return, that is, the unmanned opportunity enters the returning state.
  • controlling the interference device to interfere with the drone to make the drone a preset state comprises: controlling the interference device to interfere with the drone to hover the drone. Specifically, after the processor controls the interference device to interfere with the drone, the disturbed drone may hover and no longer move, that is, the drone enters the hovering state.
  • the controlling the interference device to interfere with the UAV to make the UAV a preset state comprises: controlling the interference device to interfere with the wireless working signal of the UAV to make the UAV a preset state.
  • the wireless working signal is a wireless signal received by the drone during operation (eg, received from a satellite or received from a control terminal) or transmitted to a control terminal.
  • the wireless working signal may include one or more of a remote control signal, an image transmission signal, and a wireless navigation signal.
  • the processor controls the interference device to interfere with the wireless working signal of the drone, and when the wireless working signal is interfered, the drone may enter a preset state.
  • Step S102 generating a satellite fraud signal
  • the processor may generate a satellite spoofing signal, wherein the processor may generate a satellite spoofing signal according to a format or a modulation feature of the real satellite signal, and the drone receives the satellite spoofing signal. I will mistakenly think that I received a real satellite navigation signal.
  • Step S103 Control the satellite fraud signal transmitting device to send the satellite fraud signal to induce the drone to fly to the preset position.
  • the processor controls the satellite fraud signal transmitting device to transmit the satellite fraud signal, wherein the strength of the satellite fraud signal sent by the transmitting device may be much greater than the strength of the real satellite navigation signal, in which case the real satellite is received.
  • the possibility of the strength of the navigation signal is relatively small, and the possibility of receiving the satellite fraud signal is relatively large.
  • the drone receives the satellite fraud information, it will parse the wrong location information and navigate according to the wrong location information, so that the drone is offset by the correct flight trajectory and reaches the preset location, ie user or management.
  • the party wants the location where the disturbed drone arrives, and the drone can be captured or controlled at this time.
  • the jamming device is controlled to interfere with the drone during the flight of the drone to the preset position.
  • the processor can control the interference device to continuously interfere with the UAV, so that the UAV can fly to the preset position, so that the UAV can
  • the wireless working signal can not be received by the drone or the control terminal, which can prevent the user from regaining control of the drone, or prevent the user from seeing the image transmitted by the drone to the control terminal, or prevent the drone from parsing the current The correct location information.
  • the control terminal includes one or more of a remote controller, a smart phone, a tablet computer, a laptop computer, a wearable device (watch, bracelet, etc.).
  • the preset location is determined based on user operations detected by the interaction device.
  • the processor of the control device that interferes with the drone may be communicatively coupled to the interaction device, wherein the interaction device may be one or more of a touch display screen, a keyboard, a button, a pulsator, a rocker, and the like.
  • the user can input the position (ie, the preset position) of the desired drone that is to be disturbed by the interactive device.
  • the location information of the landing location of the drone is desired, or the interactive interface can display a digital map, and the user can click on the map to determine the preset location.
  • the interaction device detects an operation of the user, and the processor determines the preset position according to the detected operation.
  • step S101 and step S102 may be in any order, or may be performed at the same time, and is not specifically limited herein.
  • Embodiments of the present invention provide a control method for an interference drone, which controls an interference device to interfere with a drone to make a drone a preset state, generates a satellite fraud signal, and controls a satellite fraud signal transmitting device to transmit the satellite.
  • a fraud signal is used to induce the drone to fly to a preset position. This can ensure that the unmanned drone can be guided to the location specified by the management, to achieve the capture of the drone, and to prevent the unmanned drone from causing a safety accident.
  • the embodiment of the present invention provides a control method for an interference drone, as shown in FIG. 2, which is a schematic flowchart of a method for controlling an interference drone according to an embodiment of the present invention, and the implementation described in FIG. Based on the examples, the method includes:
  • Step S201 Acquire positioning information of the UAV output by the positioning information acquiring device.
  • the location information acquisition device may be in communication with the control device. Further, the location information acquisition device may be in communication with the processor, and the location information acquisition device may acquire the location information of the drone.
  • the location information may be location information or direction information.
  • the processor may obtain the obtained from the positioning information acquiring device Positioning information.
  • the positioning information acquisition device can transmit a radio frequency pulse, an ultrasonic wave, a laser, a millimeter wave, and the like, and determine the position information or direction information of the drone by receiving the detection signal from the unmanned aerial vehicle, as shown in FIG.
  • the positioning acquisition device may be a radar, an ultrasonic detector, a laser radar, a millimeter wave radar, or the like.
  • the processor may acquire the positioning information from the positioning information acquiring device.
  • the positioning device is configured on the drone, and the positioning device can obtain the position information of the drone, and the drone can transmit the position information output by the positioning device to the data link between the drone and the control terminal.
  • Control terminal As shown in FIG. 4, the positioning information acquiring device may scan a data link between the drone and the control terminal, receive a data packet including location information of the drone, and then compare the data packet according to a preset rule. Parse to get the location information included in the packet.
  • the processor may acquire the location information from the positioning information acquiring device.
  • Step S202 Control, according to the positioning information, a transmitting direction of an antenna of the interference device, so that the transmitting direction is directed to the drone;
  • the processor may control the transmission direction of the antenna in the interference device, that is, the transmission direction is directed to the UAV.
  • the drone may move in real time, and the processor may control the transmission direction of the antenna in the interference device in real time according to the positioning information of the drone, and always ensure that the transmitting direction of the antenna is directed toward the drone.
  • the interference device includes an angle adjusting device and an antenna, and the antenna is disposed on the angle adjusting device, wherein: the controlling a transmitting direction of an antenna of the interference device according to the positioning information to direct the transmitting direction
  • the drone includes: controlling the angle adjusting device according to the positioning information such that a transmitting direction of the antenna faces the drone.
  • the angle adjusting device may be a servo system or a pan/tilt system, and the angle adjusting device may be controlled by a processor, and the antenna is disposed on the antenna adjusting device, and the processor is configured according to the drone.
  • the positioning information controls the angle adjusting device that drives the antenna to rotate such that the transmitting direction of the antenna faces the drone.
  • Step S203 Control the interference device to send an interference signal to the drone through the antenna, so that the drone is in a preset state;
  • the interference device includes an interference signal generating device.
  • the interference signal generating device may be a signal generator.
  • the interference device may send the interference signal generated by the interference signal generating device through the antenna. Since the transmitting direction of the antenna is directed toward the drone, the interference signal can effectively interfere with the drone to bring the drone to a preset state.
  • Step S204 generating a satellite fraud signal
  • step S204 and step S102 are the same, and are not described here.
  • Step S205 Control the satellite fraud signal transmitting device to send the satellite fraud signal to induce the drone to fly to the preset position.
  • step S205 and step S103 are the same, and are not described here.
  • step S202 and step S204 may be interchanged, or step S202 and step S204 may be performed simultaneously, and no specific limitation is made herein.
  • Embodiments of the present invention provide a control method for an interference drone, which controls an interference device to interfere with a drone to make a drone a preset state, generates a satellite fraud signal, and controls a satellite fraud signal transmitting device to transmit the satellite.
  • a fraud signal is used to induce the drone to fly to a preset position. This can ensure that the unmanned drone can be guided to the location specified by the management, to achieve the capture of the drone, and to prevent the unmanned drone from causing a safety accident.
  • FIG. 6 is a schematic flowchart of a method for controlling an interference drone according to an embodiment of the present invention, which is described in FIG. 1 and FIG. 2 . Based on the embodiments, the method includes:
  • Step S601 Control the interference device to interfere with the UAV to make the UAV a preset state
  • step S601 and step S101 are the same, and are not described here.
  • Step S602 Acquire positioning information of the UAV output by the positioning information acquiring device.
  • step S602 and step S201 are the same, and are not described here.
  • Step S603 Generate satellite fraud information according to the positioning information and the preset position.
  • the satellite fraud information may be generated according to the positioning information and the preset position, and the drone may use the satellite fraud signal to navigate the drone. Induction is made in the direction of the preset position.
  • Step S604 Control the satellite fraud signal transmitting device to send the satellite fraud signal to induce the drone to fly to the preset position.
  • the satellite fraud signal transmitting device may be controlled to transmit the fraud signal.
  • the satellite fraud signal transmitting apparatus includes an antenna, and further, the satellite fraud signal is transmitted through an antenna of a satellite fraud signal transmitting apparatus.
  • the antenna of the satellite spoofing signal transmitting device may be the same antenna as the antenna of the interference device, or may be a different antenna, and is not specifically limited herein.
  • the controlling the satellite fraud signal transmitting device to transmit the satellite fraud signal comprises: controlling a transmitting direction of an antenna of the satellite fraud signal transmitting device according to the positioning information, so that the transmitting direction is directed to the drone, and controlling the The satellite fraud signal transmitting device transmits the satellite fraud signal to the drone through the antenna.
  • the satellite fraud signal transmitting device may include an angle adjusting device and an antenna, and the antenna is disposed on the angle adjusting device, and the angle adjusting device may be a servo system or a pan/tilt system, and the angle adjusting device may accept the processor.
  • the antenna is disposed on the antenna adjusting device, and the processor controls the angle adjusting device according to the positioning information of the drone, the angle adjusting device drives the antenna to rotate so that the transmitting direction of the antenna faces the drone, and then controls the satellite to deceive
  • the signal transmitting device transmits the satellite fraud signal to the drone.
  • the angle adjusting device of the satellite fraud signal transmitting device and the angle adjusting device and the antenna of the antenna and the interference device may be the same device or may not be the same device, and are not specifically limited herein.
  • FIG. 7 is a structural diagram of a control device for an interfering drone according to an embodiment of the present invention.
  • the device 700 includes: a memory and Processor, where
  • the memory 701 is configured to store program code
  • the processor 702 is configured to invoke the program code, and when the program code is executed, perform the following operations:
  • the satellite fraud signal transmitting device is controlled to transmit the satellite fraud signal to induce the drone to fly to a preset position.
  • the processor 702 is configured to: when the interference device interferes with the UAV to make the UAV a preset state, specifically:
  • the interference device is controlled to interfere with the drone to return the drone.
  • the processor 702 is configured to: when the interference device interferes with the UAV to make the UAV a preset state, specifically:
  • the jamming device is controlled to interfere with the drone to hover the drone.
  • the processor 702 is configured to: when the interference device interferes with the UAV to make the UAV a preset state, specifically:
  • the interference device is controlled to interfere with the wireless working signal of the drone to make the drone preset.
  • the wireless working signal is one or more of a remote control signal, an image transmission signal, and a wireless navigation signal.
  • the processor 702 is further configured to control the interference device to interfere with the drone during the flight of the drone to the preset position.
  • the processor 702 is further configured to acquire positioning information of the UAV output by the positioning information acquiring device.
  • the processor 702 controls the interference device to interfere with the drone
  • the processor 702 is specifically configured to:
  • the interference device is controlled to transmit an interference signal to the drone through the antenna.
  • the processor 702 is further configured to acquire positioning information of the UAV output by the positioning information acquiring device.
  • the processor 702 is configured to generate satellite fraud information according to the positioning information and the preset position.
  • the processor 702 controls the control satellite spoofing signal transmitting device to send the satellite spoofing signal, specifically:
  • the satellite fraud signal transmitting device is controlled to transmit the satellite fraud signal to the drone through the antenna.
  • the processor 702 is further configured to determine the preset location according to a user operation detected by the interaction device.
  • FIG. 8 it is a structural diagram of an interference system according to an embodiment of the present invention.
  • the system 800 includes:
  • control device 801 in any of the foregoing embodiments;
  • the interference device 802 may include an antenna
  • the satellite spoofing signal transmitting device 803 may include an antenna, where the antenna of the satellite spoofing signal transmitting device 803 may be the same antenna as the antenna of the interference device, or may be a different antenna.
  • the interference device 802 can include an angle adjustment device
  • the satellite fraud signal transmitting device can include an angle adjustment device, wherein the angle adjustment device of the satellite fraud signal transmitting device 803 can be the same device as the angle adjustment device of the interference device 802, or Different devices are not specifically limited herein.
  • a "computer-readable medium” can be any apparatus that can contain, store, communicate, propagate, or transport a program for use in an instruction execution system, apparatus, or device, or in conjunction with the instruction execution system, apparatus, or device.
  • computer readable media include the following: electrical connections (electronic devices) having one or more wires, portable computer disk cartridges (magnetic devices), random access memory (RAM), Read only memory (ROM), erasable editable read only memory (EPROM or flash memory), fiber optic devices, and portable compact disk read only memory (CDROM).
  • the computer readable medium may even be a paper or other suitable medium on which the program can be printed, as it may be optically scanned, for example by paper or other medium, followed by editing, interpretation or, if appropriate, other suitable The method is processed to obtain the program electronically and then stored in computer memory.
  • portions of the invention may be implemented in hardware, software, firmware or a combination thereof.
  • multiple steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system.
  • a suitable instruction execution system For example, if implemented in hardware, as in another embodiment, it can be implemented with any one or combination of the following techniques well known in the art: having logic gates for implementing logic functions on data signals. Discrete logic circuits, application specific integrated circuits with suitable combinational logic gates, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), etc.
  • each functional unit in each embodiment of the present invention may be integrated into one processing module, or may be each Units exist physically separately, or two or more units can be integrated into one module.
  • the above integrated modules can be implemented in the form of hardware or in the form of software functional modules.
  • the integrated modules, if implemented in the form of software functional modules and sold or used as stand-alone products, may also be stored in a computer readable storage medium.
  • the above mentioned storage medium may be a read only memory, a magnetic disk or an optical disk or the like.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

本发明实施例提供了一种对无人机进行控制的方法、设备和干扰系统，所述方法包括：控制干扰设备对无人机进行干扰以使无人机为预设状态；产生卫星欺骗信号；控制卫星欺骗信号发射设备发送所述卫星欺骗信号以诱导所述无人机飞向预设位置。可以保证被干扰后的无人机能够被引导到管理方指定的位置，实现对无人机的捕获，同时可以防止被干扰后的无人机造成安全事故。

Description

一种干扰无人机的控制方法、设备和干扰系统 技术领域
本发明涉及无人机技术领域，更具体涉及一种干扰无人机的控制方法、设备和干扰系统。
背景技术
近年来无人机产业高速发展，在给人们带来便利的同时，也伴随着一些安全事件的发生。对于一些敏感区域，如机场，临时的重要地域等，有关的政府部门或者组织希望采取一些措施，阻止无人机飞临或进入该区域，因此产生了对无人机进行干扰的方法和设备。
在某些情况下，对于进入敏感区域的无人机，敏感区域的管理方会希望捕获无人机，这样可以方便对无人机的机主追责，同时可以防止无人机对敏感区域记录的信息外泄。目前，无人机受到干扰设备的干扰后，一般会进入返航状态或者悬停状态，这样管理方无法实现对无人机的捕获。另外，无人机在进入返航状态或悬停状态后，可能会引起安全事故，对无人机周围的人员和财产造成伤害。
发明内容
有鉴于此，本发明提供了一种干扰无人机的控制方法、设备和干扰系统，将受到干扰后的无人机引导到预设位置，实现管理方对无人机的捕获，防止发生安全事故。
为实现上述目的，本发明提供如下技术方案：
本发明实施例的第一方面提供一种干扰无人机的控制方法，包括：
控制干扰设备对无人机进行干扰以使无人机为预设状态；
产生卫星欺骗信号；
控制卫星欺骗信号发射设备发送所述卫星欺骗信号以诱导所述无人机飞向预设位置。
本发明实施例的第二方面提供一种对无人机的控制设备，包括：存储器和处理器；
所述存储器，用于存储程序代码；
所述处理器，用于调用所述程序代码，当所述程序代码被执行时，执行以下操作：
控制干扰设备对无人机进行干扰以使无人机为预设状态；
产生卫星欺骗信号；
控制卫星欺骗信号发射设备发送所述卫星欺骗信号以诱导所述无人机飞向预设位置。
本发明实施例的第三方面提供一种干扰系统，包括：
如第二方面所述的控制设备；
与控制设备通讯连接的干扰设备和卫星欺骗信号发射设备。
本发明实施例提供了一种干扰无人机的控制方法、设备和干扰系统，控制干扰设备对无人机进行干扰以使无人机为预设状态，产生卫星欺骗信号，控制卫星欺骗信号发射设备发送所述卫星欺骗信号以诱导所述无人机飞向预设位置。这样可以保证被干扰后的无人机能够被引导到管理方指定的位置，实现对无人机的捕获，同时可以防止被干扰后的无人机造成安全事故。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据提供的附图获得其他的附图。
图1为本发明实施例提供的一种干扰无人机的控制方法的流程示意图；
图2为本发明另一实施例提供的一种干扰无人机的控制方法的流程示意图；
图3为本发明实施例中定位信息获取设备确定无人机的定位信息的示意图；
图4为本发明另一实施例中定位信息获取设备确定无人机的定位信息的示意图；
图5为本发明实施例中干扰设备对无人机进行干扰的示意图；
图6为本发明另一实施例提供的一种干扰无人机的控制方法的流程示意图；
图7为本发明实施例提供的一种干扰无人机的控制设备的结构示意图；
图8为本发明实施例提供的一种干扰系统的结构示意图。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
本发明实施例提供了一种干扰无人机的控制方法，如图1所示，为本发明实施例提供的 一种干扰无人机的控制方法的流程示意图，所述方法包括：
步骤S101：控制干扰设备对无人机进行干扰以使无人机为预设状态；
具体地，本发明实施例的方法的执行主体可以为干扰无人机的控制设备，进一步地，所述方法的执行主体可以为干扰设备的处理器，其中所述处理器可以为专用处理器或者通用处理器。
处理器可以控制干扰设备对无人机进行干扰，具体地，处理器控制干扰设备产生干扰信号并将所述干扰信号发送出去，无人机在受到干扰信号的干扰后可能无法正常运行，受到干扰的无人机可能呈现出预设的状态。
进一步地，所述控制干扰设备对无人机进行干扰以使无人机为预设状态包括：控制干扰设备对无人机进行干扰以使无人机返航。具体地，处理器控制干扰设备对无人机进行干扰之后，受到干扰的无人机可能会返航，即无人机会进入返航状态。
进一步地，所述控制干扰设备对无人机进行干扰以使无人机为预设状态包括：控制干扰设备对无人机进行干扰以使无人机悬停。具体地，处理器控制干扰设备对无人机进行干扰之后，受到干扰的无人机可能会悬停，不再移动，即无人机进入悬停状态。
可选地，所述控制干扰设备对无人机进行干扰以使无人机为预设状态包括：控制干扰设备对无人机的无线工作信号进行干扰以使无人机为预设状态。具体地，无线工作信号为无人机在运行过程中接收的(例如从卫星接收的或者从控制终端接收的)或者向控制终端发送的无线信号。其中所述无线工作信号可以包括遥控信号、图像传输信号、无线导航信号中的一种或多种。处理器控制干扰设备对无人机的无线工作信号进行干扰，当无线工作信号受到干扰时，所述无人机可能会进入预设的状态。
步骤S102；产生卫星欺骗信号；
具体地，当无人机进入预设状态之后，处理器可以产生卫星欺骗信号，其中，处理器可以按照真实卫星信号的格式或者调制特征产生卫星欺骗信号，无人机在接收到卫星欺骗信号时会误以为接收到真实的卫星导航信号。
步骤S103：控制卫星欺骗信号发射设备发送所述卫星欺骗信号以诱导所述无人机飞向预设位置。
具体地，处理器控制卫星欺骗信号发射设备发送所述卫星欺骗信号，其中所述发射设备发送的卫星欺骗信号的强度可以远大于真实卫星导航信号的强度，在这种情况下，接收到真实卫星导航信号的强度的可能性比较小，接收到卫星欺骗信号的可能性会比较大，当 无人机接收到所述卫星欺骗信息时，会解析出错误的位置信息，并按照错误的位置信息来导航，使无人机偏移正确的飞行轨迹并到达预设的位置，即用户或者管理方希望被干扰的无人机到达的位置，此时即可以对无人机进行捕获或管控。
在某些实施例中，在无人机飞向预设位置的过程中，控制所述干扰设备对无人机进行干扰。具体地，在无人机飞向预设位置的过程中，处理器可以控制干扰设备持续地对无人机进行干扰，这样可以在无人机飞向预设位置的过程，使得无人机的无线工作信号不能被无人机或控制终端接收，可以防止用户重新得到无人机的控制权，或者防止用户可以看到无人机传输到控制终端的图像，或者防止无人机可以解析出当前的正确位置信息。所述控制终端包括遥控器、智能手机、平板电脑、膝上型电脑、穿戴式设备(手表、手环等)中的一种或多种。
在某些实施例中，根据交互装置检测到的用户操作确定所述预设位置。具体地，所述干扰无人机的控制设备的处理器可以与交互装置通讯连接，其中所述交互装置可以为触摸显示屏、键盘、按键、波轮、摇杆等装置中的一种或多种。用户可以通过交互装置输入希望被干扰无人机的到达的位置(即预设位置)。例如希望无人机的降落地点的位置信息，或者交互界面可以显示数字地图，用户可以在地图上点击操作确定所述预设位置。交互装置检测用户的操作，处理器根据检测到的操作确定所述预设位置。
需要说明的是，步骤S101和步骤S102之间的顺序可以为任意顺序，也可以同时执行，在这里不做具体的限定。
本发明实施例提供了一种干扰无人机的控制方法，控制干扰设备对无人机进行干扰以使无人机为预设状态，产生卫星欺骗信号，控制卫星欺骗信号发射设备发送所述卫星欺骗信号以诱导所述无人机飞向预设位置。这样可以保证被干扰后的无人机能够被引导到管理方指定的位置，实现对无人机的捕获，同时可以防止被干扰后的无人机造成安全事故。
本发明实施例提供了一种干扰无人机的控制方法，如图2所示，为本发明实施例提供的一种对干扰无人机的控制方法的流程示意图，在图1所述的实施例的基础上，所述方法包括：
步骤S201：获取定位信息获取设备输出的无人机的定位信息；
具体地，定位信息获取设备可以与所述控制设备通讯连接，进一步地，定位信息获取设备可以与处理器通讯连接，定位信息获取设备可以获取无人机的定位信息。其中，所述定位信息可以是位置信息或者方向信息。处理器可以从所述定位信息获取设备中获取所述 定位信息。
在某些情况中，定位信息获取设备可以发送射频脉冲、超声波、激光、毫米波等探测信号，通过接收无人机反射回探测信号确定无人机的位置信息或方向信息等，如图3中所示，所述定位获取设备可以为雷达、超声波探测器、激光雷达、毫米波雷达等设备。处理器可以从所述定位信息获取设备中获取所述定位信息。
在某些情况中，无人机上配置定位设备，定位设备可以获取无人机的位置信息，无人机可以将定位设备输出的位置信息通过无人机与控制终端之间的数据链路发送给控制终端。如图4所示，定位信息获取设备可以对无人机与控制终端之间的数据链路进行扫描，接收包括无人机的位置信息的数据包，然后按照预设的规则对所述数据包进行解析以获取数据包中包括的位置信息。处理器可以从所述定位信息获取设备中获取所述位置信息。
步骤S202：根据所述定位信息控制干扰设备的天线的发射方向以使所述发射方向朝向无人机；
具体地，为了提高干扰设备的干扰效果，在获取到无人机的定位信息后，处理器可以对干扰设备中的天线的发射方向进行控制，即让所述发射方向朝向无人机。在实施干扰过程中，无人机可能实时地移动，处理器可以根据无人机的定位信息实时地对干扰设备中的天线的发射方向进行控制，始终保证天线的发射方向朝向无人机。
进一步地，所述干扰设备包括角度调节装置和天线，所述天线设置在所述角度调节装置上，其中：所述根据所述定位信息控制干扰设备的天线的发射方向以使所述发射方向朝向无人机包括：根据所述定位信息控制所述角度调节装置以使得所述天线的发射方向朝向所述无人机。具体地，如图5所示，所述角度调节装置可以为伺服系统或者云台系统，所述角度调节装置可以接受处理器的控制，天线设置在天线调节设备上，处理器根据无人机的定位信息对角度调节装置进行控制，所述角度调节装置带动天线转动使得天线的发射方向朝向无人机。
步骤S203：控制所述干扰设备通过所述天线向无人机发送干扰信号以使无人机为预设状态；
具体地，干扰设备包括干扰信号发生设备，进一步地，所述干扰信号发生设备可以为信号发生器，在处理器的控制下，干扰设备可以将干扰信号发生设备产生的干扰信号通过天线发送出去，由于所述天线的发射方向朝向无人机，干扰信号能够对无人机进行有效地干扰以使无人机达到预设状态。
步骤S204；产生卫星欺骗信号；
步骤S204和步骤S102的具体方法和原理一致，此处不再赘述。
步骤S205：控制卫星欺骗信号发射设备发送所述卫星欺骗信号以诱导所述无人机飞向预设位置。
步骤S205和步骤S103的具体方法和原理一致，此处不再赘述。
需要说明的是步骤S202和步骤S204之间的执行顺序可以互换，或者步骤S202和步骤S204可以同时执行，在这里不做具体的限定。
本发明实施例提供了一种干扰无人机的控制方法，控制干扰设备对无人机进行干扰以使无人机为预设状态，产生卫星欺骗信号，控制卫星欺骗信号发射设备发送所述卫星欺骗信号以诱导所述无人机飞向预设位置。这样可以保证被干扰后的无人机能够被引导到管理方指定的位置，实现对无人机的捕获，同时可以防止被干扰后的无人机造成安全事故。
本发明实施例提供了一种干扰无人机的控制方法，如图6所示，为本发明实施例提供的一种干扰无人机的控制方法的流程示意图，在图1和图2所述的实施例的基础上，所述方法包括：
步骤S601：控制干扰设备对无人机进行干扰以使无人机为预设状态；
步骤S601和步骤S101的具体方法和原理一致，此处不再赘述。
步骤S602：获取定位信息获取设备输出的无人机的定位信息；
步骤S602和步骤S201的具体方法和原理一致，此处不再赘述。
步骤S603：根据所述定位信息和所述预设位置产生卫星欺骗信息；
具体地，在获取到无人机的定位信息后，可以根据所述定位信息和所述预设位置产生卫星欺骗信息，无人机在使用所述卫星欺骗信号进行导航时，可以将无人机往所述预设位置的方向进行诱导。
步骤S604：控制卫星欺骗信号发射设备发送所述卫星欺骗信号以诱导所述无人机飞向预设位置。
具体地，在获取到所述卫星欺骗信号时，可以控制卫星欺骗信号发射设备发送所述欺骗信号。所述卫星欺骗信号发射设备包括天线，进一步地，通过卫星欺骗信号发射设备的天线将所述卫星欺骗信号发送出去。其中，卫星欺骗信号发射设备的天线可以和干扰设备的天线为同一个天线，也可以为不同的天线，在这里不做具体的限定。
在某些实施例中，所述控制卫星欺骗信号发射设备发送所述卫星欺骗信号包括：根据定位信息控制卫星欺骗信号发射设备的天线的发射方向，以使发射方向朝向无人机，控制所述卫星欺骗信号发射设备通过所述天线向无人机发送所述卫星欺骗信号。具体地，卫星欺骗信号发射设备可以包括角度调节装置和天线，天线设置在所述角度调节装置上，所述角度调节装置可以为伺服系统或者云台系统，所述角度调节装置可以接受处理器的控制，天线设置在天线调节设备上，处理器根据无人机的定位信息对角度调节装置进行控制，所述角度调节装置带动天线转动使得天线的发射方向朝向无人机，然后控制所述卫星欺骗信号发射设备向无人机发送所述卫星欺骗信号。需要说明的是，卫星欺骗信号发射设备的角度调节装置和天线与干扰设备的角度调节装置和天线可以为同一套装置，也可以不为同一套装置，在这里不做具体的限定。
本发明实施例提供了一种干扰无人机的控制设备，如图7所示，为本发明实施例提供的一种干扰无人机的控制设备的结构图，所述设备700包括：存储器和处理器，其中，
所述存储器701，用于存储程序代码；
所述处理器702，用于调用所述程序代码，当所述程序代码被执行时，执行以下操作：
控制干扰设备对无人机进行干扰以使无人机为预设状态；
产生卫星欺骗信号；
控制卫星欺骗信号发射设备发送所述卫星欺骗信号以诱导所述无人机飞向预设位置。
可选地，所述处理器702控制干扰设备对无人机进行干扰以使无人机为预设状态时，具体用于：
控制干扰设备对无人机进行干扰以使无人机返航。
可选地，所述处理器702控制干扰设备对无人机进行干扰以使无人机为预设状态时，具体用于：
控制干扰设备对无人机进行干扰以使无人机悬停。
可选地，所述处理器702控制干扰设备对无人机进行干扰以使无人机为预设状态时，具体用于：
控制干扰设备对无人机的无线工作信号进行干扰以使无人机为预设状态。
可选地，所述无线工作信号为遥控信号、图像传输信号、无线导航信号中的一种或多种。
可选地，所述处理器702，还用于在无人机飞向预设位置的过程中，控制所述干扰设备对无人机进行干扰。
可选地，所述处理器702，还用于获取定位信息获取设备输出的无人机的定位信息；
所述处理器702控制干扰设备对无人机进行干扰时，具体用于：
根据所述定位信息控制干扰设备的天线的发射方向以使所述发射方向朝向无人机；
控制所述干扰设备通过所述天线向无人机发送干扰信号。
可选地，所述处理器702，还用于获取定位信息获取设备输出的无人机的定位信息；
所述处理器702产生卫星欺骗信号时，具体用于根据所述定位信息和所述预设位置产生卫星欺骗信息。
可选地，所述处理器702控制控制卫星欺骗信号发射设备发送所述卫星欺骗信号时，具体用于：
根据定位信息控制卫星欺骗信号发射设备的天线的发射方向，以使发射方向朝向无人机；
控制所述卫星欺骗信号发射设备通过所述天线向无人机发送所述卫星欺骗信号。
可选地，所述处理器702，还用于根据交互装置检测到的用户操作确定所述预设位置。
本发明实施例提供了一种干扰系统，如图8所示，为本发明实施例提供的一种干扰系统的结构图，所述系统800包括：
前述任一实施例中的控制设备801；
与所述控制设备通讯连接的干扰设备802和卫星欺骗信号发射设备803。
需要说明的是，干扰设备802可以包括天线，卫星欺骗信号发射设备803可以包括天线，其中，卫星欺骗信号发射设备803的天线可以和干扰设备的天线为同一个天线，也可以为不同的天线，在这里不做具体的限定。干扰设备802可以包括角度调节装置，卫星欺骗信号发射设备可以包括角度调节装置，其中，卫星欺骗信号发射设备803的角度调节装置可以和干扰设802备的角度调节装置为同一个装置，也可以为不同的装置，在这里不做具体的限定。
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示意性实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合所述实施例或示例描述的具体特征、结构、材料或者特点包含于本发明的至少一个实施例或示例中。在本说明书中，对上述术 语的示意性表述不一定指的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施例或示例中以合适的方式结合。
流程图中或在此以其他方式描述的任何过程或方法描述可以被理解为，表示包括一个或更多个用于实现特定逻辑功能或过程的步骤的可执行指令的代码的模块、片段或部分，并且本发明的优选实施例的范围包括另外的实现，其中可以不按所示出或讨论的顺序，包括根据所涉及的功能按基本同时的方式或按相反的顺序，来执行功能，这应被本发明的实施例所属技术领域的技术人员所理解。
在流程图中表示或在此以其他方式描述的逻辑和/或步骤，例如，可以被认为是用于实现逻辑功能的可执行指令的定序列表，可以具体实现在任何计算机可读介质中，以供指令执行系统、装置或设备(如基于计算机的系统、包括处理器的系统或其他可以从指令执行系统、装置或设备取指令并执行指令的系统)使用，或结合这些指令执行系统、装置或设备而使用。就本说明书而言，"计算机可读介质"可以是任何可以包含、存储、通信、传播或传输程序以供指令执行系统、装置或设备或结合这些指令执行系统、装置或设备而使用的装置。计算机可读介质的更具体的示例(非穷尽性列表)包括以下：具有一个或多个布线的电连接部(电子装置)，便携式计算机盘盒(磁装置)，随机存取存储器(RAM)，只读存储器(ROM)，可擦除可编辑只读存储器(EPROM或闪速存储器)，光纤装置，以及便携式光盘只读存储器(CDROM)。另外，计算机可读介质甚至可以是可在其上打印所述程序的纸或其他合适的介质，因为可以例如通过对纸或其他介质进行光学扫描，接着进行编辑、解译或必要时以其他合适方式进行处理来以电子方式获得所述程序，然后将其存储在计算机存储器中。
应当理解，本发明的各部分可以用硬件、软件、固件或它们的组合来实现。在上述实施例中，多个步骤或方法可以用存储在存储器中且由合适的指令执行系统执行的软件或固件来实现。例如，如果用硬件来实现，和在另一实施例中一样，可用本领域公知的下列技术中的任一项或他们的组合来实现：具有用于对数据信号实现逻辑功能的逻辑门电路的离散逻辑电路，具有合适的组合逻辑门电路的专用集成电路，可编程门阵列(PGA)，现场可编程门阵列(FPGA)等。
本技术领域的普通技术人员可以理解实现上述实施方法携带的全部或部分步骤是可以通过程序来指令相关的硬件完成，所述的程序可以存储于一种计算机可读存储介质中，该程序在执行时，包括方法实施例的步骤之一或其组合。
此外，在本发明各个实施例中的各功能单元可以集成在一个处理模块中，也可以是各 个单元单独物理存在，也可以两个或两个以上单元集成在一个模块中。上述集成的模块既可以采用硬件的形式实现，也可以采用软件功能模块的形式实现。所述集成的模块如果以软件功能模块的形式实现并作为独立的产品销售或使用时，也可以存储在一个计算机可读取存储介质中。
上述提到的存储介质可以是只读存储器，磁盘或光盘等。尽管上面已经示出和描述了本发明的实施例，可以理解的是，上述实施例是示例性的，不能理解为对本发明的限制，本领域的普通技术人员在本发明的范围内可以对上述实施例进行变化、修改、替换和变型。

Claims (21)

  1. 一种干扰无人机的控制方法，其特征在于，包括：
    控制干扰设备对无人机进行干扰以使无人机为预设状态；
    产生卫星欺骗信号；
    控制卫星欺骗信号发射设备发送所述卫星欺骗信号以诱导所述无人机飞向预设位置。
  2. 根据权利要求1所述的方法，其特征在于，
    所述控制干扰设备对无人机进行干扰以使无人机为预设状态包括：
    控制干扰设备对无人机进行干扰以使无人机返航。
  3. 根据权利要求1所述的方法，其特征在于，
    所述控制干扰设备对无人机进行干扰以使无人机为预设状态包括：
    控制干扰设备对无人机进行干扰以使无人机悬停。
  4. 根据权利要求1-3任一项所述的方法，其特征在于，
    所述控制干扰设备对无人机进行干扰以使无人机为预设状态包括：
    控制干扰设备对无人机的无线工作信号进行干扰以使无人机为预设状态。
  5. 根据权利要求4所述的方法，其特征在于，
    所述无线工作信号为遥控信号、图像传输信号、无线导航信号中的一种或多种。
  6. 根据权利要求1-5任一项所述的方法，其特征在于，所述方法还包括：
    在无人机飞向预设位置的过程中，控制所述干扰设备对无人机进行干扰。
  7. 根据权利要求1-6任一项所述的方法，其特征在于，所述方法还包括：
    获取定位信息获取设备输出的无人机的定位信息；
    所述控制干扰设备对无人机进行干扰包括：
    根据所述定位信息控制干扰设备的天线的发射方向以使所述发射方向朝向无人机；
    控制所述干扰设备通过所述天线向无人机发送干扰信号。
  8. 根据权利要求1-7任一项所述的方法，其特征在于，所述方法还包括：
    获取定位信息获取设备输出的无人机的定位信息；
    所述产生卫星欺骗信号包括：
    根据所述定位信息和所述预设位置产生卫星欺骗信息。
  9. 根据权利要求8所述的方法，其特征在于，
    所述控制卫星欺骗信号发射设备发送所述卫星欺骗信号包括：
    根据定位信息控制卫星欺骗信号发射设备的天线的发射方向，以使发射方向朝向无人机；
    控制所述卫星欺骗信号发射设备通过所述天线向无人机发送所述卫星欺骗信号。
  10. 根据权利要求1-9所述的方法，其特征在于，所述方法还包括：
    根据交互装置检测到的用户操作确定所述预设位置。
  11. 一种干扰无人机的控制设备，其特征在于，包括：存储器和处理器；
    所述存储器，用于存储程序代码；
    所述处理器，用于调用所述程序代码，当所述程序代码被执行时，执行以下操作：
    控制干扰设备对无人机进行干扰以使无人机为预设状态；
    产生卫星欺骗信号；
    控制卫星欺骗信号发射设备发送所述卫星欺骗信号以诱导所述无人机飞向预设位置。
  12. 根据权利要求11所述的设备，其特征在于，所述处理器控制干扰设备对无人机进行干扰以使无人机为预设状态时，具体用于：
    控制干扰设备对无人机进行干扰以使无人机返航。
  13. 根据权利要求11所述的设备，其特征在于，所述处理器控制干扰设备对无人机进行干扰以使无人机为预设状态时，具体用于：
    控制干扰设备对无人机进行干扰以使无人机悬停。
  14. 根据权利要求11-13任一项所述的设备，其特征在于，所述处理器控制干扰设备对无人机进行干扰以使无人机为预设状态时，具体用于：
    控制干扰设备对无人机的无线工作信号进行干扰以使无人机为预设状态。
  15. 根据权利要求14所述的设备，其特征在于，
    所述无线工作信号为遥控信号、图像传输信号、无线导航信号中的一种或多种。
  16. 根据权利要求11-15任一项所述的设备，其特征在于，
    所述处理器，还用于在无人机飞向预设位置的过程中，控制所述干扰设备对无人机进行干扰。
  17. 根据权利要求11-16任一项所述的设备，其特征在于，
    所述处理器，还用于获取定位信息获取设备输出的无人机的定位信息；
    所述处理器控制干扰设备对无人机进行干扰时，具体用于：
    根据所述定位信息控制干扰设备的天线的发射方向以使所述发射方向朝向无人机；
    控制所述干扰设备通过所述天线向无人机发送干扰信号。
  18. 根据权利要求11-17任一项所述的设备，其特征在于，
    所述处理器，还用于获取定位信息获取设备输出的无人机的定位信息；
    所述处理器产生卫星欺骗信号时，具体用于根据所述定位信息和所述预设位置产生卫星欺骗信息。
  19. 根据权利要求18所述的设备，其特征在于，所述处理器控制控制卫星欺骗信号发射设备发送所述卫星欺骗信号时，具体用于：
    根据定位信息控制卫星欺骗信号发射设备的天线的发射方向，以使发射方向朝向无人机；
    控制所述卫星欺骗信号发射设备通过所述天线向无人机发送所述卫星欺骗信号。
  20. 根据权利要求11-19所述的设备，其特征在于，
    所述处理器，还用于根据交互装置检测到的用户操作确定所述预设位置。
  21. 一种干扰系统，包括：
    如权利要求11-20任一项所述的控制设备；
    与控制设备通讯连接的干扰设备和卫星欺骗信号发射设备。
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CN114257966A (zh) * 2021-12-27 2022-03-29 沃飞长空科技(成都)有限公司 无人机定位系统及方法
CN114257966B (zh) * 2021-12-27 2023-07-18 四川傲势科技有限公司 无人机定位系统及方法
CN115426073A (zh) * 2022-05-18 2022-12-02 北京锐士装备科技有限公司 一种无人机主、被动探测相结合的无人机诱骗方法及系统

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