WO2022257510A1

WO2022257510A1 - Countering method for unmanned aerial vehicle and countering system for unmanned aerial vehicle

Info

Publication number: WO2022257510A1
Application number: PCT/CN2022/078565
Authority: WO
Inventors: 徐晓; 杨兴光; 柳艳青; 路建刚; 罗嘉伟; 张晨
Original assignee: 航天科工仿真技术有限责任公司
Priority date: 2021-06-09
Filing date: 2022-03-01
Publication date: 2022-12-15
Also published as: CN113406966B; CN113406966A

Abstract

A countering method for an unmanned aerial vehicle and a countering system for an unmanned aerial vehicle. The method for directly attacking an unlicensed flying unmanned aerial vehicle by using a countering unmanned aerial vehicle carrying a proximity bomb has the advantages that maneuverability is good and the unlicensed flying unmanned aerial vehicle can be thoroughly destroyed. In addition, the method also has a good attack effect on unlicensed flying unmanned aerial vehicles which are grouped. The method comprises: according to flight information of an unlicensed flying unmanned aerial vehicle in an airspace, transmitting a first control instruction of tracking the unlicensed flying unmanned aerial vehicle to a countering unmanned aerial vehicle (S1); in combination with real-time flight position information of the countering unmanned aerial vehicle and real-time flight position information of the unlicensed flying unmanned aerial vehicle, controlling the countering unmanned aerial vehicle to track the unlicensed flying unmanned aerial vehicle (S2); and determining whether a distance difference value between the real-time flight position information of the countering unmanned aerial vehicle and the real-time flight position information of the unlicensed flying unmanned aerial vehicle is greater than a preset specified attack range, and if not, transmitting, to the countering unmanned aerial vehicle, a second control instruction of launching a proximity bomb to the unlicensed flying unmanned aerial vehicle (S3).

Description

A countermeasure method of unmanned aerial vehicle and countermeasure system of unmanned aerial vehicle

Cross References to Related Applications

This application claims the priority of the patent application number 202110645395.0 filed with the China Patent Office on June 9, 2021, the entire contents of which are incorporated herein by reference.

technical field

This application relates to the technical field of unmanned aerial vehicles, and specifically relates to a method for countering black-flying unmanned aerial vehicles and a countermeasure system for unmanned aerial vehicles by using a counter-unmanned aerial vehicle carrying close-in ammunition.

Background technique

At present, drones are booming in agriculture, military, games, business and other methods, and the accompanying problems are also obvious, such as black flying, sneak shots, illegally carrying contraband and explosives, etc. Our country also has corresponding regulations on the operation and management of drones, which restricts the black flight of drones. But in addition to relying on regulations, corresponding means are also required.

Patent application number 202030271326.4 "UAV countermeasure equipment" only introduces a device similar to a gun, and the actual use cannot be seen; patent application number 202011108854.3 "An anti-drone device based on photoelectric interference technology" introduces A method of using lasers to counter drones; patent 202030398585.3 "Handheld drone counter equipment" introduces a counter equipment that can be held in the hand; patent application number 201922160179.8 "Radar-based, high-precision turntable UAV countermeasure system powered by cloud energy storage” introduces a method of developing a remote control suppression and induction control system based on the analysis of UAV signals; the patent application number 202020264978. Aircraft countermeasure device and system" introduces a kind of UAV countermeasure jammer. The above methods can all play a certain role in counteracting UAVs, but they are all applied on the ground, and the action distance is limited. At the same time, they cannot completely attack Heifei UAVs. Heifei UAVs still have the ability to fly.

Contents of the invention

Therefore, the technical problem to be solved in this application is to overcome the defect that the countermeasure equipment for unmanned aerial vehicles in the prior art cannot directly attack and destroy the black flying unmanned aerial vehicle, thereby providing a countermeasure method for unmanned aerial vehicles and unmanned countermeasures. machine's countermeasure system.

In order to solve the problems of the technologies described above, the technical scheme of the present application is as follows:

A countermeasure against drones, comprising:

S1, according to the flight information of the black flying drone in the airspace, send a first control instruction to track and fly the black flying drone to the counter drone;

S2, combining the real-time flight position information of the counter-drone and the real-time flight position information of the black-flying drone, controlling the counter-drone to track and fly the black-flying drone;

S3, judging whether the distance difference between the real-time flight position information of the counter drone and the real-time flight position information of the black flying drone is greater than the preset designated attack range, if the judgment result is no, send to The counter UAV sends out a second control command for launching proximity bombs to the black flying UAV.

Optionally, according to the flight information of the black-flying UAV, sending a first control instruction for tracking and flying the black-flying UAV to the counter-UAV, including:

S11, according to the flight information of the black-flying drone, obtain the current spatial position coordinates of the black-flying drone and the flight speed of the black-flying drone;

S12, predicting the flight trajectory of the black flying drone within the T1 time period according to the current spatial position coordinates of the black flying drone and the flight speed of the black flying drone;

S13, according to the spatial position coordinates of each counter-UAV in the counter-UAV fleet and the maximum flight speed of each counter-UAV, respectively calculate each counter-UAV in the counter-UAV fleet The flight space range that can be reached by flying within the T1 time period;

S14, judging whether the flight trajectory of the black flying drone within the T1 time period passes through the flight space range that any counter drone can fly within the T1 time period;

S15, if the judgment result is yes, select the counter drone corresponding to the flight space range as the counter drone for attacking, and send the black flight tracking flight to the selected counter drone. The first control command of the UAV;

S16, if the judgment result is no, then continue to predict the flight trajectory of the black flying drone in the T1+T2 time period;

S17, repeating the above steps S14-S16, until a first control instruction for tracking and flying the black flying drone is issued to the finally selected counter drone.

Optionally, each counter-UAV in the counter-UAV fleet is arranged in a grid at a fixed point.

Optionally, the combination of the real-time flight position information of the counter drone and the real-time flight position information of the black flying drone controls the counter drone to carry out the black flying drone. Track your flight, including:

S21, obtaining the real-time flight location information of the counter drone and the real-time flight location information of the black flying drone;

S22, according to the real-time position of the black flying drone, plan the flight trajectory of the counter drone;

S23. Control the counter drone to track and fly the black flying drone along the planned flight path of the counter drone.

Optionally, in the step of obtaining the real-time flight position information of the counter drone and the real-time flight position information of the black flying drone, the detection device for obtaining the real-time flight position information of the black flying drone is located at on the counter drone.

Optionally, before sending the second control instruction to the counter drone to launch a proximity bomb to the black flying drone, it also includes: adjusting the counter drone according to the flight attitude of the black flying drone. Control the flight attitude of the drone until the anti-drone is aimed at the black flying drone in the direction of launching the explosives on the counter drone.

A drone countermeasure system, including: counter drone, drone detection system and command and control center; wherein,

The anti-drone includes a body, a launching device installed on the body, and a launch control device arranged on the body; the launch device is equipped with proximity bombs, and the launch control device is used for controlling the launching device to launch the proximity munition;

The drone detection system is used to detect the flight information of the black flying drone in the airspace, and upload the flight information of the black flying drone to the command and control center;

The command and control center is used to receive the flight information of the black-flying drone, and send the first order of tracking and flying the black-flying drone to the counter drone according to the flight information of the black-flying drone. control instructions, and in combination with the distance difference between the real-time flight position information of the counter-drone and the real-time flight position information of the black-flying drone, send a message to the black-flying unit to the counter-drone The second control order for the UAV to launch the proximity bomb.

Optionally, the body is also provided with a detection device and a flight control device, the detection device is used to detect the real-time flight position information of the black flying drone, and the flight control device is used to adjust the flight speed of the body and flight attitude.

Optionally, the proximity bomb includes a metal projectile, a proximity fuze, a central squib, and a solid rocket motor; the solid rocket motor is used to provide thrust for the metal projectile when launching; the proximity fuze Located at the front end of the metal projectile, it is used to sense the position close to the target; the central squib is located inside the metal projectile and connected to the proximity fuze, and explosives are arranged in the central squib; The proximity fuze is used to sense the distance difference between the metal projectile and the target and detonate the central squib when the distance difference reaches a set value so that the metal projectile explodes to produce a plurality of metal debris.

The technical solution of the present application has the following advantages:

1. The UAV countermeasure method provided by this application sends the first control command to the counter UAV according to the flight information of the black flying UAV in the airspace, and the counter UAV tracks the flight according to the first control command The black flying UAV, when the distance difference between the real-time flight position information of the counter UAV and the real-time flight position information of the Black Fly UAV reaches the specified attack range, send a second control to the counter UAV Instructions, the counter-drone is controlled by the second control command to launch the proximity bomb it carries to the black flying drone. After the explosion of the proximity bomb, a large number of fragments fly at high speed, and after hitting the body of the black flying drone , it will damage the Heifei drone. If it damages the key parts of the Heifei drone, such as the battery, motor, flight control module, etc., it will completely destroy the Heifei drone; even if it cannot be completely destroyed, it will be greatly reduced. The performance of the black flying drone. And if the black flying drones are clustered, multiple black flying drones can be shot down at the same time. This kind of UAV countermeasure has good maneuverability, can directly attack and completely destroy the Heifei UAV, and also has a good strike effect on the Heifei UAV coming in a team.

2. The UAV countermeasure method provided by this application, according to the flight information of the Heifei UAV, obtains the current spatial position coordinates of the Heifei UAV, the flight speed of the Heifei UAV, and predicts the flight speed of the Heifei UAV. The flight trajectory of the man-machine in the T1 time period; then, according to the spatial position coordinates of each counter-UAV in the counter-UAV fleet and the maximum flight speed of each counter-UAV, the anti-unmanned countermeasures are calculated respectively. The range of flight space that each counter drone in the aircraft fleet can fly within the T1 time period; judge whether the flight trajectory of the black flying drone passes through any counter drone within the T1 time period The flight space range that can be flown within the T1 time period; if the judgment result is yes, then select the counter-UAV corresponding to the flight space range as the counter-UAV for attacking, and report to the selected counter-UAV The anti-drone sends out the first control instruction of tracking and flying the black-flying unmanned aerial vehicle. This countermeasure method can control the counter drone in the most favorable attack position to attack the black flying drone, and improve the execution speed of the counter attack on the black flying drone.

3. The countermeasure method of the unmanned aerial vehicle provided by this application, before sending out the second control instruction to launch the close explosive ammunition to the anti-unmanned aerial vehicle, adjust the counter-unmanned aerial vehicle according to the flying attitude of the black-flying unmanned aerial vehicle Flying posture, until the anti-drone is aimed at the black flying drone in the direction of launching the explosives near the anti-drone, it can improve the accuracy of the counter-drone attacking the black flying UAV.

4. For the UAV countermeasure system provided by this application, after the command and control center receives the flight information of the black flying UAV, it will quickly process it, and then issue the first control command to the counter UAV in a favorable attack position , the anti-drone flies according to the first control instruction, and performs operations such as aiming and launching close-in bombs when approaching the black flying drone. A large number of fragments generated after the explosion of the nearby explosives fly at high speed, and after hitting the body of the Heifei drone, it will damage the Heifei drone. This kind of drone countermeasure system has good mobility and can directly attack and completely destroy the black flying drone. It also has a good strike effect on the black flying drones that come in a team.

5. The anti-drone system provided by this application, the proximity ammunition consists of a metal projectile, a proximity fuze, a central squib, and a solid rocket motor. The solid rocket motor is used to generate thrust to propel the near explosives to fly at a high speed during launch; the function of the proximity fuze is to detonate the central squib when the close explosives are close to the black flying drone, and TNT explosives are placed in the central squib. Explode the metal projectile, the metal projectile will produce metal fragments (more than 100 pieces), the metal fragments fly at high speed, after hitting the body of the black flying drone, it will damage the black flying drone, if it is damaged to the black flying drone The key parts of the drone, such as batteries, motors, flight control modules, etc., will completely destroy the Heifei UAV; even if it cannot be completely destroyed, it will greatly reduce the performance of the Heifei UAV. And if the black flying drones are clustered, a large number of metal fragments can shoot down multiple black flying drones at the same time, and it also has a good strike effect on the black flying drones that come in a team.

Description of drawings

In order to more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the following will briefly introduce the accompanying drawings that need to be used in the description of the specific embodiments or prior art. Obviously, the accompanying drawings in the following description The drawings are some implementations of the present application, and those skilled in the art can obtain other drawings based on these drawings without creative work.

Fig. 1 is the flow chart of the implementation of the countermeasure method of unmanned aerial vehicles in the first embodiment of the present application;

FIG. 2 is a schematic structural view of the proximity bomb in Example 2 of the present application;

Explanation of reference signs: 1. Metal projectile; 2. Solid rocket motor; 3. Proximity fuze; 4. Central squib.

Detailed ways

The technical solutions of the present application will be clearly and completely described below in conjunction with the accompanying drawings. Apparently, the described embodiments are some of the embodiments of the present application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.

In the description of this application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" etc. The indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, use a specific orientation construction and operation, therefore should not be construed as limiting the application. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and should not be construed as indicating or implying relative importance.

In the description of this application, it should be noted that unless otherwise specified and limited, the terms "installation", "connection", and "connection" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection. Connected, or integrally connected; it may be mechanically connected or electrically connected; it may be directly connected or indirectly connected through an intermediary, and it may be the internal communication of two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in this application in specific situations.

Embodiment one

A kind of unmanned aerial vehicle countermeasure method as shown in Figure 1, specifically is a kind of countermeasure method that adopts the anti-unmanned aerial vehicle carrying close explosives to directly attack and completely destroy the black-flying unmanned aerial vehicle, and the method includes The following steps:

Step S1, according to the flight information of the black flying drone in the airspace, send a first control instruction to the counter drone to track and fly the black flying drone.

Among them, black flying drones refer to drones flying in specific airspace without permission. Use radar and other radio detection equipment or photoelectric detection equipment to detect black-flying drones in the airspace. When the black-flying drones fly into unauthorized airspace, the flight information of the black-flying drones in the airspace is obtained and sent To the command and control center, the signal receiving module of the command and control center receives the flight information of the black flying drone and sends it to the control module of the command and control center for processing. Track the first control order of the flying black flying drone.

Step S2, combining the real-time flight position information of the counter-drone and the real-time flight position information of the black-flying drone, controlling the counter-drone to track and fly the black-flying drone.

In this embodiment, a detection device is provided on the anti-drone, and the detection device is used to detect the position of the black flying UAV. The method for tracking the target to fly is a prior art, so it is easy to repeat it here.

Step S3, judging whether the distance difference between the real-time flight position information of the counter drone and the real-time flight position information of the black flying drone is greater than the preset designated attack range, if the judgment result is no, A second control instruction for launching proximity bombs to the black flying drone is issued to the counter drone.

Among them, the proximity explosives include metal projectiles, proximity fuzes, central squibs, and solid rocket motors. The proximity fuze is located at the front end of the metal projectile and is used to sense the position of the approaching target; the central detonator is located inside the metal projectile and is connected with the proximity fuze, and TNT explosive is arranged in the central detonator; the proximity fuze is used for sensing The distance difference between the metal projectile and the target and when the distance difference reaches a set value (for example, 2 meters, the set value can also be adjusted according to needs) detonates the central squib so that the metal projectile explodes and produces a large number of metal fragments ( greater than 100). The solid rocket motor is used to generate thrust at launch to propel the flight near the explosives at high speed, and the explosives approach the black flying UAV quickly. The flying speed of the bombs near the bombs should reach more than 200 m/s. In this way, if an attack is launched at a distance of 20 meters, it will take 0.1 seconds. Within the range of damage, the strike effect can be guaranteed. In addition, the anti-drone can carry multiple proximity bombs at the same time.

This UAV countermeasure method, according to the flight information of the black flying UAV in the airspace, sends the first control command to the counter UAV, and the counter UAV tracks and flies the black flying unmanned aircraft according to the first control command. machine, when the distance difference between the real-time flight position information of the counter drone and the real-time flight position information of the black flying drone reaches the specified attack range, a second control command is issued to the counter drone, and the counter The UAV is controlled by the second control command to launch the proximity bomb it carries to the Heifei UAV. After the explosion of the proximity bomb, a large number of fragments fly at high speed, and after hitting the body of the Heifei UAV, it will damage the Heifei UAV. If the flying drone is damaged to the key parts of the black flying drone, such as battery, motor, flight control module, etc., it will completely destroy the black flying drone; even if it cannot be completely destroyed, it will greatly reduce the black flying drone machine performance. And if the black flying drones are clustered, multiple black flying drones can be shot down at the same time. This kind of UAV countermeasure has good maneuverability, can directly attack and completely destroy the Heifei UAV, and also has a good strike effect on the Heifei UAV coming in a team.

In step S1, according to the flight information of the black-flying drone, the step of sending a first control instruction for tracking and flying the black-flying drone to the counter-UAV specifically includes:

Step S11, according to the flight information of the black-flying drone, obtain the current spatial position coordinates of the black-flying drone and the flight speed of the black-flying drone;

Step S12, predicting the flight trajectory of the black flying drone within the T1 time period according to the current spatial position coordinates of the black flying drone and the flying speed of the black flying drone. For example, the T1 time period is 5s, and the flight trajectory of the Heifei UAV within 5s is the collection of all the space points that the Heifei UAV passes through.

Step S13, according to the spatial position coordinates of each counter-UAV in the counter-UAV fleet and the maximum flight speed of each counter-UAV, respectively calculate the The flight space range that the aircraft can fly within the T1 time period.

Specifically, each counter-UAV in the counter-UAV fleet is arranged in a grid at a fixed point.

Step S14, judging whether the flight trajectory of the black flying drone within the T1 time period passes through the flight space range that any counter drone can fly within the T1 time period.

Step S15, if the judgment result is yes, then select the counter drone corresponding to the flight space range as the counter drone for attacking, and send the black drone tracking flight to the selected counter drone. The first control command to fly the drone.

Step S16, if the judgment result is no, continue to predict the flight trajectory of the black flying drone within the time period T1+T2. For example, the time period of T2 is 2s.

Step S17, repeating the above steps S14-S16, until the first control instruction of tracking and flying the black flying drone is issued to the finally selected counter drone.

This UAV countermeasure method can control the anti-UAV in the most favorable attack position to attack the Black Flying UAV, and improve the execution speed of the counter-attack on the Black Flying UAV.

In step S2, combining the real-time flight position information of the counter drone and the real-time flight position information of the black flying drone, controlling the counter drone to track the black flying drone The steps of flight include:

S21, obtain the real-time flight position information of the counter drone and the real-time flight position information of the black flying drone. Wherein, the detection device for obtaining the real-time flight position information of the black flying drone is located on the counter drone.

S22. According to the real-time position of the black flying drone, plan the flight trajectory of the counter drone.

In step S3, before the step of issuing the second control instruction to the black-flying drone to launch a proximity bomb to the counter-unmanned aerial vehicle, it also includes: adjusting the counter-measure according to the flight attitude of the black-flying drone The flight attitude of the UAV is aimed at the black flying UAV until the launch direction of the near-munitions on the counter-UAV, so as to ensure that the Heifei UAV is within the damage range of the near-munitions launched by the counter-UAV.

Embodiment two

Embodiment 2 of the present application provides a UAV countermeasure system, which uses a counter UAV carrying close explosives to directly attack and completely destroy the black flying UAV. The UAV countermeasure system includes anti-UAV, UAV detection system and command and control center; among them, the anti-UAV includes the body, the launching device installed on the body, and the launch control device installed on the body Proximity ammunition is installed on the launcher, and the launch control device is used to control the launcher to launch the proximity ammunition. The drone detection system is used to detect the flight information of black flying drones in the airspace, and upload the flight information of black flying drones to the command and control center. The command and control center is used to receive the flight information of the black-flying UAV, and send the first control command to the counter-drone to track the flying black-flying UAV according to the flight information of the black-flying UAV, and combine the counter-unmanned aerial vehicle The distance difference between the real-time flight position information of the man-machine and the real-time flight position information of the black-flying UAV sends a second control command to the counter-drone to launch close bombs to the black-flying UAV.

For this kind of UAV countermeasure system, the command and control center will quickly process the flight information of the black flying UAV after receiving it, and then issue the first control command to the counter UAV in a favorable attack position. The man-machine flies according to the first control instruction, and performs operations such as aiming and launching close-in bombs when approaching the black flying drone. A large number of fragments generated after the explosion of the nearby explosives fly at high speed, and after hitting the body of the Heifei drone, it will damage the Heifei drone. This kind of drone countermeasure system has good mobility and can directly attack and completely destroy the black flying drone. It also has a good strike effect on the black flying drones that come in a team.

In this embodiment, the body is also provided with a detection device and a flight control device, the detection device is used to detect the real-time flight position information of the black flying drone, and the flight control device is used to adjust the flight speed and flight attitude of the body.

In this embodiment, the proximity bomb includes a metal projectile 1 , a proximity fuze 3 , a central squib 4 and a solid rocket motor 2 . Proximity fuze 3 is positioned at the front end of metal projectile 1, and is used for sensing the position close to target; Central detonator 4 is positioned at the inside of metal projectile 1 and is connected with proximity fuze 3, is provided with TNT explosive in central detonator 4; The proximity fuze 3 is used to sense the distance difference between the metal projectile 1 and the target and detonates the central squib 4 when the distance difference reaches a set value (for example, 2 meters, and the set value can also be adjusted as required). Make metal projectile 1 explode to produce a large number of metal fragments (greater than 100). The solid rocket motor 2 is used to generate thrust to propel the flight near the explosives at a high speed when launching, and the explosives approach the black-flying unmanned aerial vehicle rapidly. The flying speed of the bombs near the bombs should reach more than 200 m/s. In this way, if an attack is launched at a distance of 20 meters, it will take 0.1 seconds. Within the range of damage, the strike effect can be guaranteed. In addition, the anti-drone can carry multiple proximity bombs at the same time.

In summary, the UAV countermeasure method and the UAV countersystem system provided by the embodiment of the present application use the counter UAV carrying close bombs to directly attack the black flying UAV, which has the advantages of maneuverability. Good performance, can completely destroy the advantages of Heifei UAV; in addition, it also has a good strike effect on Heifei UAVs that come in a team.

Apparently, the above-mentioned embodiments are only examples for clear description, rather than limiting the implementation. For those of ordinary skill in the art, other changes or changes in different forms can be made on the basis of the above description. It is not necessary and impossible to exhaustively list all the implementation manners here. And the obvious changes or changes derived therefrom are still within the scope of protection of the present invention.

Claims

A countermeasure method for unmanned aerial vehicle, is characterized in that, comprises:

S1, according to the flight information of the black flying drone in the airspace, send a first control instruction to track and fly the black flying drone to the counter drone;

S2, combining the real-time flight position information of the counter-drone and the real-time flight position information of the black-flying drone, controlling the counter-drone to track and fly the black-flying drone;

S3, judging whether the distance difference between the real-time flight position information of the counter drone and the real-time flight position information of the black flying drone is greater than the preset designated attack range, if the judgment result is no, send to The counter UAV sends out a second control command for launching proximity bombs to the black flying UAV.
The countermeasure method of the unmanned aerial vehicle according to claim 1, wherein, according to the flight information of the black flying unmanned aerial vehicle, the black flying unmanned aerial vehicle is sent to the counter unmanned aerial vehicle to track and fly. The first control order, including:

S11, according to the flight information of the black-flying drone, obtain the current spatial position coordinates of the black-flying drone and the flight speed of the black-flying drone;

S12, predicting the flight trajectory of the black flying drone within the T1 time period according to the current spatial position coordinates of the black flying drone and the flight speed of the black flying drone;

S13, according to the spatial position coordinates of each counter-UAV in the counter-UAV fleet and the maximum flight speed of each counter-UAV, respectively calculate each counter-UAV in the counter-UAV fleet The flight space range that can be reached by flying within the T1 time period;

S14, judging whether the flight trajectory of the black flying drone within the T1 time period passes through the flight space range that any counter drone can fly within the T1 time period;

S15, if the judgment result is yes, select the counter drone corresponding to the flight space range as the counter drone for attacking, and send the black flight tracking flight to the selected counter drone. The first control command of the UAV;

S16, if the judgment result is no, then continue to predict the flight trajectory of the black flying drone in the T1+T2 time period;

S17, repeating the above steps S14-S16, until a first control instruction for tracking and flying the black flying drone is issued to the finally selected counter drone.
The countermeasure method for unmanned aerial vehicle according to claim 2, characterized in that, each counter-unmanned aerial vehicle in the counter-unmanned aerial vehicle fleet is arranged in a grid at a fixed point.
The countermeasure method of unmanned aerial vehicle according to claim 1, it is characterized in that, described in conjunction with the real-time flight position information of described counter-unmanned aerial vehicle and the real-time flight position information of described black flying unmanned aerial vehicle, control all The above-mentioned anti-drone carries out tracking flight to the black-flying unmanned aerial vehicle, including:

S21, obtaining the real-time flight location information of the counter drone and the real-time flight location information of the black flying drone;

S22, according to the real-time position of the black flying drone, plan the flight trajectory of the counter drone;

S23. Control the counter drone to track and fly the black flying drone along the planned flight path of the counter drone.
The countermeasure method of unmanned aerial vehicle according to claim 4, it is characterized in that, in the step of obtaining the real-time flight position information of the counter-unmanned aerial vehicle and the real-time flight position information of the black flying unmanned aerial vehicle, obtain the The detection device of the real-time flight position information of the black flying drone is located on the counter drone.
The countermeasure method of the unmanned aerial vehicle according to claim 1, wherein, before sending the second control instruction to the said anti-unmanned aerial vehicle to launch the close bomb to the black flying unmanned aerial vehicle, further It includes: adjusting the flight attitude of the counter-drone according to the flight attitude of the black-flying drone, until the launch direction of the close bomb on the counter-drone is aimed at the black-flying drone.
A kind of anti-drone anti-drone system, it is characterized in that, comprises: anti-drone, UAV detection system and command and control center; Wherein,

The anti-drone includes a body, a launching device installed on the body, and a launch control device arranged on the body; the launch device is equipped with proximity bombs, and the launch control device is used for controlling the launching device to launch the proximity munition;

The drone detection system is used to detect the flight information of the black flying drone in the airspace, and uploads the flight information of the black flying drone to the command and control center;

The command and control center is used to receive the flight information of the black-flying drone, and send the first order of tracking and flying the black-flying drone to the counter drone according to the flight information of the black-flying drone. control instructions, and in combination with the distance difference between the real-time flight position information of the counter-drone and the real-time flight position information of the black-flying drone, send a message to the black-flying unit to the counter-drone The second control order for the UAV to launch the proximity bomb.
The countermeasure system of the unmanned aerial vehicle according to claim 7, wherein the body is also provided with a detection device and a flight control device, and the detection device is used to detect the real-time flight position information of the black flying unmanned aerial vehicle , the flight control device is used to adjust the flight speed and flight attitude of the body.
The countermeasure system of unmanned aerial vehicle according to claim 7, it is characterized in that, described proximity ammunition comprises metal projectile, proximity fuze, center squib, solid rocket motor; Described solid rocket motor is used for launching provide thrust for the metal projectile; the proximity fuze is located at the front end of the metal projectile for sensing the position close to the target; the central squib is located inside the metal projectile and is connected to the metal projectile The proximity fuze is connected, and explosives are arranged in the center squib; the proximity fuze is used to sense the distance difference between the metal projectile and the target and detonate the A center squib causes the metal projectile to explode producing a plurality of metal fragments.