阅读说明：本技术 基于空中中继的无人机反制系统 (Unmanned aerial vehicle counter-braking system based on aerial relay ) 是由 雷洋 章玉刚 王军 齐法琳 田甜 江波 郑金涛 于 2021-08-20 设计创作，主要内容包括：本发明公开了一种基于空中中继的无人机反制系统,包括：地面反制系统,布设于地面,用于探测目标无人机的无线信号,并在探测到目标无人机的无线信号之后,发射反制信号；至少一个中继系统,每个中继系统挂载于一个飞行器上,以通过飞行器布设于空中,中继系统用于探测目标无人机的无线信号,并在探测到目标无人机的无线信号之后,将探测结果发送至地面反制系统或相邻的其它中继系统。本发明可以扩大探测范围,增加探测距离,能够探测到更远的地方,避免障碍物带来的探测死角。(The invention discloses an unmanned aerial vehicle counter-braking system based on aerial relay, which comprises: the ground control system is arranged on the ground and used for detecting the wireless signal of the target unmanned aerial vehicle and transmitting a control signal after detecting the wireless signal of the target unmanned aerial vehicle; each relay system is mounted on one aircraft and arranged in the air through the aircraft, and the relay systems are used for detecting wireless signals of the target unmanned aerial vehicle and sending detection results to the ground control system or other adjacent relay systems after detecting the wireless signals of the target unmanned aerial vehicle. The invention can enlarge the detection range, increase the detection distance, detect a farther place and avoid the detection dead angle caused by the barrier.)

1. An unmanned aerial vehicle counteraction system based on aerial relay, characterized in that includes:

the ground control system is arranged on the ground and used for detecting the wireless signal of the target unmanned aerial vehicle and transmitting a control signal after detecting the wireless signal of the target unmanned aerial vehicle;

each relay system is mounted on one aircraft and arranged in the air through the aircraft, and the relay systems are used for detecting the wireless signals of the target unmanned aerial vehicles and sending detection results to the ground reaction system or other adjacent relay systems after detecting the wireless signals of the target unmanned aerial vehicles.

2. The aerial relay-based drone countermeasure system of claim 1, wherein the ground countermeasure system and each of the relay systems include a wireless communication module, each of the relay systems communicating with the ground countermeasure system therebetween through the wireless communication module to transmit the probe results of the relay systems.

3. The aerial relay-based drone reflexion system of claim 1, wherein said ground reflexion system comprises a first probe antenna, a first probe signal processing module, and a processor; the first detection antenna is used for detecting the wireless signal; the first detection signal processing module is used for performing signal processing on the wireless signal detected by the first detection antenna; the processor is used for judging whether the wireless signal after signal processing is the wireless signal of the target unmanned aerial vehicle.

4. The aerial relay based drone countermeasure system of claim 3, wherein the processor is further configured to parse a wireless signal in the probing result sent by the relay system to determine whether the wireless signal in the probing result is the same as the wireless signal processed by the first probing signal processing module; under the same condition, determining that the wireless signals are the wireless signals of the same unmanned aerial vehicle; and under different conditions, respectively judging whether the different wireless signals are the wireless signals of the target unmanned aerial vehicle.

5. The aerial relay-based drone countermeasure system of claim 3, wherein the ground countermeasure system further comprises a countermeasure signal generation module and a countermeasure antenna; the reverse signal generation module is used for generating the reverse signal; the countering antenna is configured to transmit the countering signal, and the processor is configured to control the countering signal generation module to generate the countering signal if the wireless signal is determined to be that of the target drone.

6. The aerial relay-based drone opposing system of claim 5, wherein the processor is further configured to determine a type of the target drone based on the detected wireless signal of the target drone, and determine a frequency and a waveform of the opposing signal based on the type, and control the opposing signal generation module to generate the opposing signal according to the frequency and the waveform.

7. The aerial relay-based drone countermeasure system of claim 6, further comprising a memory for storing a correspondence of model of drone and characteristics of the wireless signal, including frequency and/or waveform of the wireless signal.

8. The aerial relay-based drone reflexion system of claim 3, wherein said ground reflexion system further comprises a display module for displaying processing results of said processor.

9. The aerial relay-based drone countermeasure system of claim 3, wherein the ground countermeasure system further comprises an alarm module to issue an alarm after the processor determines that the wireless signal is that of the target drone.

10. The aerial relay-based drone reflexion system of claim 1, wherein said relay system includes a second probe antenna for probing said wireless signal and a second probing module; the second detection signal processing module is configured to perform signal processing on the wireless signal detected by the second detection antenna.

Technical Field

The invention relates to the technical field of unmanned aerial vehicle counter-braking, in particular to an unmanned aerial vehicle counter-braking system based on aerial relay.

Background

With the popularization and application of unmanned aerial vehicles, a new threat is posed to the low-altitude safety of important areas such as railways and airports. Therefore, the flight activity of the unmanned aerial vehicle entering an important area illegally is monitored and controlled, and the method has important significance. Before countering to unmanned aerial vehicle, need discover the target, also be exactly to the survey and the tracking of unmanned aerial vehicle target, provide a radio detection among the prior art and adopted the radio frequency scanning technique, can monitor through the different characteristics to the unmanned aerial vehicle control signal wave form of different grade type.

For the railway line, except for passing through a station, most of electromagnetic environments are simple, and can be detected by using a radio monitoring technology, however, the detection distance of the radio monitoring technology in an open place is usually 3-6 kilometers, and if an obstacle blocks the detection distance, the detection distance can be greatly reduced. Because the railway distance along the line is longer, when the railway turns round, passes through the tunnel, the mountain body also can shelter from the signal of railway line top, and these circumstances are the adverse factor to the regional unmanned aerial vehicle reaction technique of railway application, lead to that the monitoring distance of unmanned aerial vehicle reaction technique is shorter.

Disclosure of Invention

The embodiment of the invention provides an unmanned aerial vehicle control system based on an aerial relay, which is used for improving the monitoring distance of the unmanned aerial vehicle control technology, and comprises the following components:

the ground control system is arranged on the ground and used for detecting the wireless signal of the target unmanned aerial vehicle and transmitting a control signal after detecting the wireless signal of the target unmanned aerial vehicle;

each relay system is mounted on one aircraft and arranged in the air through the aircraft, and the relay systems are used for detecting wireless signals of the target unmanned aerial vehicle and sending detection results to the ground control system or other adjacent relay systems after detecting the wireless signals of the target unmanned aerial vehicle.

Optionally, the ground reaction system and each relay system include a wireless communication module, and each relay system communicates with the ground reaction system through the wireless communication module to transmit the detection result of the relay system.

Optionally, the ground reaction system includes a first detection antenna, a first detection signal processing module, and a processor; the first detection antenna is used for detecting a wireless signal; the first detection signal processing module is used for executing signal processing on the wireless signal detected by the first detection antenna; the processor is used for judging whether the wireless signals after the signal processing are the wireless signals of the target unmanned aerial vehicle.

Optionally, the processor is further configured to analyze a wireless signal in the detection result sent by the relay system to determine whether the wireless signal in the detection result is the same as the wireless signal processed by the first detection signal processing module; under the same condition, judging that the wireless signals are the wireless signals of the same target unmanned aerial vehicle; and under different conditions, respectively judging whether the different wireless signals are the wireless signals of the target unmanned aerial vehicle.

Optionally, the ground reaction system further comprises a reaction signal generation module and a reaction antenna; the counter signal generating module is used for generating a counter signal; the countering antenna is used for transmitting a countering signal, and the processor is used for controlling the countering signal generation module to generate the countering signal under the condition that the wireless signal is determined to be the wireless signal of the target unmanned aerial vehicle.

Optionally, the processor is further configured to determine a type of the target drone according to the detected wireless signal of the target drone, determine a frequency and a waveform of the counter signal according to the type, and control the counter signal generation module to generate the counter signal according to the frequency and the waveform.

Optionally, the ground reaction system further includes a memory, and the memory is used for storing a correspondence between the model of the drone and characteristics of the wireless signal, where the characteristics of the wireless signal include a frequency and/or a waveform of the wireless signal.

Optionally, the ground reaction system further comprises a display module for displaying the processing result of the processor.

Optionally, the ground countermeasure system further includes an alarm module, and the alarm module is used for sending out an alarm after the processor judges that the wireless signal is the wireless signal of the target unmanned aerial vehicle.

Optionally, the relay system includes a second detection antenna and a second detection module, where the second detection antenna is configured to detect the wireless signal; the second detection signal processing module is used for executing signal processing on the wireless signal detected by the second detection antenna.

In the embodiment of the invention, the relay system is carried on the aircraft and can be arranged in the air, so that the wireless signal of the unmanned aerial vehicle is detected in the air, and the relay system feeds back the detection result to the ground reaction system after detecting the wireless signal in the air.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts. In the drawings:

fig. 1 is a schematic diagram of an alternative unmanned aerial vehicle countering system based on an aerial relay in an embodiment of the present invention;

fig. 2 is a schematic diagram of an alternative aerial relay-based drone countermeasure system in an embodiment of the invention;

FIG. 3 is a schematic view of an alternative ground reaction system in accordance with an embodiment of the present invention;

FIG. 4 is a schematic view of an alternative ground reaction system in accordance with an embodiment of the present invention;

fig. 5 is a schematic diagram of an alternative unmanned aerial vehicle countering system based on an aerial relay in the embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the embodiments of the present invention are further described in detail below with reference to the accompanying drawings. The exemplary embodiments and descriptions of the present invention are provided to explain the present invention, but not to limit the present invention.

The embodiment of the invention provides an unmanned aerial vehicle control system based on aerial relay, which comprises a ground control system and at least one relay system.

As shown in fig. 1, an alternative unmanned aerial vehicle countering system based on an aerial relay according to an embodiment of the present invention includes a ground countering system 101 and a relay system 103.

Ground system 101 of countering lays in ground for survey target unmanned aerial vehicle's wireless signal, and after detecting target unmanned aerial vehicle's wireless signal, the transmission is countering the signal. By way of example, a target drone is an illegitimate drone, i.e. a drone that is not permitted to enter a no-fly area. When judging whether the detected wireless signal is the wireless signal of the target unmanned aerial vehicle, the wireless signal can be judged according to the characteristics of the frequency, the waveform and the like of the wireless signal.

The relay system 103 is mounted on one aircraft 102 to fly in the air through the aircraft 102, so that the relay system 103 is arranged in the air, and the relay system 103 is used for detecting the wireless signal of the target unmanned aerial vehicle and sending the detection result to the ground reaction system 101 after detecting the wireless signal of the target unmanned aerial vehicle.

Optionally, the ground reaction system and each relay system include a wireless communication module, and each relay system communicates with the ground reaction system through the wireless communication module to transmit the detection result of the relay system. For example, the relay system 103 and the ground reaction system 101 may communicate with each other through a wireless communication network, which may be, for example, a mobile network (including 2G, 3G, 4G, and 5G), a WIFI network (e.g., 2.4GHZ and 5.8GHZ), a data transmission and dedicated network, and the like.

In other examples, the unmanned aerial vehicle countermeasure system based on aerial relay according to the embodiment of the present invention may include more than one relay system, so that the detection range may be expanded.

As shown in fig. 2, another alternative drone anti-system based on aerial relay according to the embodiment of the present invention includes a ground anti-system 101, a relay system 103, and a relay system 105. Among them, the relay system 105 is mounted on the aircraft 104. The relay system 105 may be configured to detect the wireless signal of the target drone and send the detection result to the ground reaction system 101 after detecting the wireless signal of the target drone.

Optionally, in a case that the unmanned aerial vehicle anti-braking system based on the aerial relay includes more than one relay system, when detecting the wireless signal of the target unmanned aerial vehicle, any one relay system may directly send the wireless signal to the ground anti-braking system, or send the wireless signal to another adjacent relay system, and forward the wireless signal to the ground anti-braking system through another relay system. In this way, the detection result can be transmitted back to the ground reaction system through another way in case of a problem in the communication connection of the relay system and the ground reaction system.

Different relay systems can be arranged at different positions, each relay system can be configured with a number in advance, and when a detection result is sent, the number of the relay system can be marked on the detection result, so that the ground reaction system can determine the relay system arranged at which position according to the number.

In the embodiment of the invention, the relay system is carried on the aircraft and can be arranged in the air, so that the wireless signal of the unmanned aerial vehicle is detected in the air, and the relay system feeds back the detection result to the ground reaction system after detecting the wireless signal in the air.

In an alternative example, as shown in fig. 3, the ground reaction system may include a first probe antenna 1011, a first probe signal processing module 1012 and a processor 1013, and a wireless communication module 1010. The first detecting antenna 1011 is used for detecting wireless signals; the first detection signal processing module 1012 is configured to perform signal processing on the wireless signal detected by the first detection antenna 1011; processor 1013 is configured to determine whether the wireless signal after being subjected to the signal processing is a wireless signal of the target drone.

Optionally, if the ground control system and the aerial relay system both detect the wireless signal of the target unmanned aerial vehicle, the comparison may be performed to determine whether the target unmanned aerial vehicle is the same unmanned aerial vehicle, and thus different processing is performed according to the difference of the determination results.

Specifically, the processor 1013 may be further configured to analyze a wireless signal in the probe result sent by any one of the relay systems to determine whether the wireless signal in the probe result is the same as the wireless signal processed by the first probe signal processing module 1012. Under the condition that the two wireless signals are the same, the unmanned aerial vehicle detected by the relay system and the ground control system is determined to be the same, and therefore whether the wireless signals are the wireless signals of the target unmanned aerial vehicle or not can be judged by executing primary judgment. And under the condition that the two wireless signals are different, judging whether the different wireless signals are the wireless signals of the target unmanned aerial vehicle or not respectively.

In one example, as shown in fig. 4, the ground-based countering system can include a countering signal generation module 1014 and a countering antenna 1015 in addition to the modules shown in fig. 3. The counter signal generating module 1014 is used for generating a counter signal; the countering antenna 1015 is configured to transmit a countering signal, and the processor 1013 is configured to control the countering signal generation module 1014 to generate the countering signal if the wireless signal is determined to be that of the target drone.

Alternatively, the processor 1013 may further determine the type of the target drone according to the detected wireless signal of the target drone, and determine the frequency and waveform of the counter signal according to the type, thereby controlling the counter signal generation module 1014 to generate the counter signal according to the frequency and waveform. Optionally, the ground reaction system may further include a memory for storing a correspondence between the model of the drone and characteristics of the wireless signal, including a frequency and/or a waveform of the wireless signal.

As shown in fig. 4, the ground reaction system may further include a display module 1016, and the display module 1016 is used for displaying the processing result of the processor.

As shown in fig. 4, the ground reaction system may further include an alarm module 1017, where the alarm module 1017 is configured to issue an alarm after the processor 1013 determines that the wireless signal is the wireless signal of the target drone.

Optionally, in the relay system, a second detection antenna and a second detection module may be included, the second detection antenna being configured to detect the wireless signal; the second detection signal processing module is used for executing signal processing on the wireless signal detected by the second detection antenna.

Optionally, the unmanned countering system may also include the aircraft described above. The aircraft may be a drone, an airship, an aerostat, or the like.

According to the embodiment of the invention, the relay system arranged in the air can bypass the obstacle during detection along the railway, so that the detection range is expanded; if there are no obstacles, the maximum detection range of the radio detection technique can be extended at least by a factor of 2. Because the aerial relay system does not process complex data, the equipment volume is not big, the power consumption is not high, the cost can obviously be reduced, even if the expense of the aircraft is added, the expense is far lower than the ground station of the unmanned aerial vehicle counter-control system based on aerial relay, and the aerial relay system is a low-cost solution for managing and controlling the railway line.

An optional unmanned aerial vehicle countering system based on the aerial relay in the embodiment of the invention is described below with reference to an application scenario. The ground unmanned aerial vehicle anti-braking system based on aerial relay can further enlarge the detection distance through the aerial relay system, can bypass the obstruction of the obstacles by detecting from the air, and can detect a farther place through the relay of a plurality of aerial relay systems.

As shown in fig. 5, the ground-based countering system 1 includes a processor 2, an interaction module 3, a countering module 4 (countering signal generation module), a countering antenna 5, a detection antenna 6 (first detection antenna), a detection module 7 (first detection signal processing module), and a communication module 8 (wireless communication module). The interaction module 3 may include a display module and an operation module, where the operation module is used for performing human-computer interaction, and may be, for example, an input/output device such as a keyboard, a mouse, a microphone, and a touch screen.

The relay system 9 is mounted on an aircraft 10. The relay system 9 includes a communication module 11 (wireless communication module), a probe module 12 (second probe signal processing module), and a probe antenna 13 (second probe antenna).

As shown in fig. 5, when the aircraft 10 flies in the air, the relay system 9 can detect the wireless signal of the unmanned aerial vehicle 14, and is blocked by the obstacle 15, and the ground control system 1 cannot detect the wireless signal of the unmanned aerial vehicle 14, so that the aerial relay system can improve the detection range of the unmanned aerial vehicle control system based on aerial relay, and bypass the blocking of the obstacle.

In one example workflow, the ground reaction system 1 operates after start-up, after the aircraft 10 is lifted off with the relay system 9, when an illegal drone 14 enters the environment as in figure 5, due to the obstruction of the obstacle, the detection antenna 6 in the ground countermeasure system 1 cannot detect the illegal unmanned aerial vehicle 14, but at this time, the aerial relay system 9 is in the air, the detection antenna 13 can monitor the unmanned aerial vehicle 14, and feeds back the detection result to the detection module 12 of the relay system 9, after the detection module 12 processes the wireless signal, the wireless signal is judged to be an illegal unmanned aerial vehicle, and at this time, the result can be transmitted to the communication module 11 of the ground reaction system 1 through the communication module 11 of the relay system 9, and then is analyzed and processed by the processor 2 of the ground reaction system 1, and the result of the analysis and processing is transmitted to the interaction module 3. And if the analysis processing result determines that the anti-jamming is needed, the anti-jamming module 4 is controlled to generate anti-jamming signals and output the anti-jamming signals to the anti-jamming antenna 5 to interfere with the anti-jamming signals of the illegal intrusion unmanned aerial vehicle.

In another scenario, if the drone is entering illegally in front of an obstacle, the ground reaction system 1 and the relay system 9 may detect the target at the same time. In this case, the relay system 9 still repeats the above process, and after obtaining the detection result of the relay system 9, the ground countermeasure system 1 compares the detection results transmitted back by the illegal unmanned aerial vehicle and the relay system 9, which are monitored by the detection antenna 6 and the detection module 7, and if the detection results are the same, performs the countermeasures uniformly, and if the detection results are different, determines the countermeasures to process the countermeasures.

The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are only exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.