阅读说明：本技术 一种基于群体协同信息的无人机蜂群反制方法 (Unmanned aerial vehicle swarm counter-control method based on swarm cooperative information ) 是由 席建祥 杨小冈 焦聪 李俊龙 王乐 陈璐 范志良 侯博 于 2021-08-05 设计创作，主要内容包括：本发明公开了一种基于群体协同信息的无人机蜂群反制方法,包括：Step1.探测预警；Step2.跟踪定位；Step3.判断是否反制；Step4.反制蜂群目标；Step5.确定反制效果；针对基于声呐信息/视觉信息感知实现自主导航和群体协同的无人机蜂群,本发明方法采用声波攻击和强光干扰的方式可有效破坏部分无人机的自主导航能力、与邻近无人机的分布式协同能力,使得声波攻击和强光干扰范围内无人机无法获取导航定位信息和邻近无人机位置信息,蜂群期望队形难以维持,进而实现对无人机蜂群的有效反制,具有攻击角度和瞄准位置精度高、攻击效率和反制成功率高的特点。(The invention discloses an unmanned aerial vehicle swarm counter-control method based on swarm cooperative information, which comprises the following steps: step1, detection and early warning; step2, tracking and positioning; step3, judging whether to reverse the control; step4, reversing the bee colony target; step5, determining a countercheck effect; aiming at the unmanned aerial vehicle swarm realizing autonomous navigation and swarm cooperation based on sonar information/visual information perception, the method provided by the invention can effectively destroy the autonomous navigation capability of part of unmanned aerial vehicles and the distributed cooperation capability of adjacent unmanned aerial vehicles by adopting sound wave attack and strong light interference modes, so that the unmanned aerial vehicles cannot acquire navigation positioning information and position information of the adjacent unmanned aerial vehicles within the sound wave attack and strong light interference ranges, the expected formation of the swarm is difficult to maintain, and further effective countermeasures on the unmanned aerial vehicle swarm are realized.)

1. An unmanned aerial vehicle swarm countercheck method based on swarm cooperative information is characterized in that: comprises the steps of

Step1, detection and early warning: the detection early warning system transmits and receives radar, images and sound wave signals when working, monitors whether dangerous unmanned aerial vehicle swarms appear in a threat airspace in real time, sends out early warning if the dangerous unmanned aerial vehicle swarms are detected, marks the dangerous unmanned aerial vehicle swarms as threat unmanned aerial vehicle swarms, and sends preliminary position information to the positioning tracking system;

step2. tracking and positioning: after receiving the initial position information sent by the detection early warning system, the positioning and tracking system positions and tracks the threat unmanned aerial vehicle swarm in real time, calculates the position offset of the swarm and sends the position offset as a targeting position to a sound wave attack system and a visual interference system matched with the positioning and tracking system; the signal emission angles of the sound wave attack system and the visual interference system are kept consistent with those of the positioning and tracking system;

step3. determine if there is a reaction: the positioning and tracking system judges whether the threat unmanned aerial vehicle swarm enters a countercheck area, if so, the threat unmanned aerial vehicle swarm is marked as an unmanned aerial vehicle swarm target to be counterchecked, an attack instruction and an interference instruction are respectively sent to a corresponding sound wave attack system and a corresponding visual interference system, and meanwhile, the positioning and tracking system continuously tracks the unmanned aerial vehicle swarm target to be counterchecked; if not, the positioning and tracking system continuously positions and tracks the threat unmanned aerial vehicle swarm;

step4. reverse swarm targeting: the sound wave attack system and the visual interference system which receive the attack and interference instruction transmit a sound wave attack signal which distorts a target communication signal of the swarm to be countered and a strong light interference signal which weakens visual cooperative detection based on the current aiming position and the transmitting angle;

determining the reaction effect: the positioning and tracking system judges whether the movement track of the swarm target after the set time delta t deviates from the original track, namely whether the distance between the actual position of the swarm and the calculated expected position is greater than a set threshold value or not, whether the array form of the swarm changes or not, if so, a counter-success command is generated and sent to the sound wave attack system and the visual interference system, and the attack is stopped; if not, the positioning and tracking system continuously positions and tracks the swarm target;

and step6, after receiving a command of successfully countering, enabling a sound wave attack system and a visual interference system of the positioning and tracking system to enter a standby state, and enabling the detection and early warning system to continuously monitor whether a swarm target enters a threat airspace.

2. The unmanned aerial vehicle swarm opposing method based on swarm cooperative information according to claim 1, wherein the method comprises the following steps:

(1) the detection early warning system is arranged at different positions of a threat airspace in Step1 and is used for transmitting and receiving radar, image and sound wave signals, monitoring whether dangerous unmanned aerial vehicle swarms appear in the threat airspace, and sending the monitored preliminary position information of the threat unmanned aerial vehicle swarms to a positioning and tracking system;

(2) and Step1 and Step2, arranging sound wave attack systems and visual interference systems in the positioning and tracking systems, arranging the sound wave attack systems and the visual interference systems at different positions of a countercheck area, and performing positioning and tracking on the dangerous unmanned plane swarm, and respectively sending attack and interference instructions to the corresponding sound wave attack systems and the corresponding visual interference systems to enable the dangerous unmanned plane swarm to deviate from an expected track.

3. The unmanned aerial vehicle swarm opposing method based on swarm cooperative information according to claim 2, wherein the method comprises the following steps: the detection early warning system comprises a signal transmitting module, a signal receiving module, a network communication module and a control module, wherein the signal transmitting module, the signal receiving module, the network communication module and the control module are arranged in the system

The signal transmitting module is used for transmitting a detection signal;

the signal receiving module is used for receiving the detection signal and sending the detection signal to the control module;

the control module is used for calculating the target position information of the unmanned aerial vehicle swarm according to the monitoring data and judging whether to send out early warning;

the network communication module is used for communicating and interacting with the positioning and tracking system.

4. The unmanned aerial vehicle swarm anti-jamming system based on swarm cooperative information according to claim 2, characterized in that: the positioning and tracking system also comprises a radar, a transmitter, a receiver, a four-degree-of-freedom follow-up holder, a speed measuring module, a distance measuring module, a control module and a network communication module, wherein the radar, the transmitter, the receiver, the four-degree-of-freedom follow-up holder, the speed measuring module, the distance measuring module, the control module and the network communication module are arranged in the positioning and tracking system

The radar, the transmitter and the receiver are used for accurately positioning the unmanned aerial vehicle swarm position;

the four-degree-of-freedom follow-up cradle head is used for aligning the drone swarm target position in real time;

the speed measuring module and the distance measuring module are used for calculating the direction, the speed and the distance information of the swarm target and sending the information to the control module;

the control module is used for calculating the target aiming position and the signal emission angle of the swarm;

the network communication module is used for communicating and interacting with the sound wave attack system and the visual interference system and sending instructions.

5. The unmanned aerial vehicle swarm anti-jamming system based on swarm cooperative information according to claim 2, characterized in that: said

(1) The threat airspace is a hemispherical area which takes a target to be protected as a circle center and takes 3 times of security defense distance as a radius;

(2) the reverse airspace is a hemispherical area which takes the target to be protected as the center of a circle and takes the 0.8-time farthest attack and interference distance as the radius.

6. The unmanned aerial vehicle swarm anti-jamming system based on swarm cooperative information according to claim 1, characterized in that: in Step3, whether the drone swarm enters a reverse control area or not, the positioning and tracking system always positions and tracks the swarm target and sends aiming position information and emission angles to the sound wave attack system and the visual interference system in real time.

7. The unmanned aerial vehicle swarm anti-jamming system based on swarm cooperative information according to claim 1, characterized in that: step4 said

(1) The sound wave attack system comprises a signal generator, a power amplifier, a transducer, a four-degree-of-freedom follow-up holder, a control module and a network communication module, wherein the signal generator, the power amplifier, the transducer, the four-degree-of-freedom follow-up holder, the control module and the network communication module are connected with the signal generator

The network communication system is used for communication interaction with the positioning and tracking system;

the control module adjusts the direction of the four-degree-of-freedom follow-up holder in real time according to the received aiming position and the transmitting angle;

the signal generator generates an electric signal according to the signal frequency set by the control module, the electric signal is converted into a noise interference signal by the transducer after being amplified by the power amplifier, and the noise interference signal is used for suppressing an unmanned aerial vehicle sonar system so that the unmanned aerial vehicle cannot sense accurate cooperative information;

(2) the visual interference system comprises a high-power strong light instrument, a four-degree-of-freedom follow-up holder, a control module and a network communication module, wherein the high-power strong light instrument is connected with the control module through the network communication module

The high-power highlight instrument is used for generating highlight according to the signal determined by the control module;

the control module is used for controlling the angle of the holder in real time according to the received aiming position and the emission angle;

the network communication module is used for communication interaction with the positioning and tracking system.

8. The unmanned aerial vehicle swarm anti-jamming system based on swarm cooperative information according to claim 7, wherein: the sound wave attack system described in Step4 cuts off the cooperative link between drones by covering the whole bandwidth of the drone swarm communication signal with a noise interference signal, and the sound wave attack interference process includes:

(1) to realize information communication between unmanned aerial vehicles, the sound wave signal must be a periodic signal, and the sound wave signal is set to satisfy a function S_g(t)，S_g(t) is developed in the form of Fourier series to obtain

(2) The coefficients of the fourier series are:

in formula (2), T is the period of the acoustic signal, and ω is the angular frequency;

(3) the average power of the acoustic signal is then:

(4) designing the noise interference signal N (T) as a random signal with the period T tending to infinity and the coefficient Q of the Fourier series_nExpressed as:

(5) to describe the spectral characteristics of a random noise signal, a frequency density function Q (ω) is defined, expressed as

(6) According to equation (5), the noise interference signal N (t) is obtained

Wherein in formula (6), Q (ω) is a sound frequency density function, and ω is a sound angular frequency.

9. The unmanned aerial vehicle swarm anti-jamming system based on swarm cooperative information according to claim 7, wherein: the visual interference system in the Step4 cuts off the visual perception capability of the drone swarm by using strong light interference to realize the countermeasures to the drone swarm, and the specific process comprises the following steps:

(1) by autonomous navigation of the visual perception capability of the unmanned aerial vehicle, target graphs marked on other unmanned aerial vehicle bodies are detected for cooperative positioning, azimuth angle and distance information of the target unmanned aerial vehicle and the target unmanned aerial vehicle are calculated, and the information is used as state information of a neighbor set unmanned aerial vehicle in a control protocol to realize intelligent cooperation based on visual information;

(2) to this type of unmanned aerial vehicle bee colony, the vision interference system can produce the highlight and disturb unmanned aerial vehicle machine and carry the vision sensor, shields unmanned aerial vehicle vision perception, weakens unmanned aerial vehicle bee colony vision and surveys in coordination with the discernment ability.

10. The unmanned aerial vehicle swarm opposing method based on swarm cooperative information according to claim 1, wherein the method comprises the following steps: the process of determining the reaction effect at Step5 includes:

step501, after the sound wave attack system/visual interference system acts on the swarm target time delta t, setting the unmanned plane swarm formation deviation degree function as:

wherein, in the formula (7), (x)_i,y_i,z_i) And (x)_*,y_*,z_*) Respectively representing the actual position and the expected position of the ith unmanned plane, N is the number of the drone colonies,to representPosition deviation of the ith unmanned aerial vehicle, D^*Representing the average deviation degree of the whole formation of the unmanned plane swarm;

step502. if D^*And if the number of the swarms is larger than the set threshold value, judging that the reverse control of the swarms is successful.

Technical Field

The invention relates to the technical field of unmanned aerial vehicle countermeasures, in particular to an unmanned aerial vehicle swarm countermeasure method based on swarm cooperative information.

Background

In recent years, distributed unmanned aerial vehicle swarm technology based on swarm synergy is rapidly developed, and when the distributed unmanned aerial vehicle swarm technology is widely applied to the civil and military fields, some illegally flying unmanned aerial vehicle swarm poses great safety threats to various important facilities and key targets;

the existing unmanned aerial vehicle countermeasures technology mainly comprises a hard countermeasure technology and a soft countermeasure technology, wherein the hard countermeasure technology comprises firepower interception, laser attack, microwave resistance, curtain type interception and the like, and the problems of low cost-effectiveness ratio, incapability of saturation attack, difficulty in controlling collateral damage and the like exist; the soft countermeasures comprise signal suppression interference, data link control deprivation, navigation trapping and the like, and have the defects of low interference success rate, strict detection equipment requirement and the like, wherein the navigation trapping has a good effect on directionally repelling the unmanned plane swarm, but is only effective on the unmanned plane swarm depending on satellite navigation;

with the breakthrough innovation in advanced science and technology fields such as detection, sensing and communication technologies, many countries successively release unmanned aerial vehicle bee colony projects based on sonar information/visual information coordination, and under the condition of no GNSS signals, autonomous navigation and intelligent coordination are performed through equipment such as a visual sensor, a sound wave sensor and a laser range finder carried by an unmanned aerial vehicle, so that new challenges are brought to important facility defense and unmanned aerial vehicle bee colony countermeasure, and therefore the problem that the unmanned aerial vehicle bee colony based on sonar information/visual information coordination (without GNSS navigation signals and unmanned aerial vehicle bee colony coordinated through sonar information/visual information perception) countermeasure cannot be fundamentally solved by the hard countermeasure and soft countermeasure technology as described above is caused, and interception of the unmanned aerial vehicle bee colony cannot be effectively completed.

Disclosure of Invention

Aiming at the existing problems, the invention aims to provide an unmanned aerial vehicle bee colony reverse control method based on colony cooperative information, aiming at an unmanned aerial vehicle bee colony which realizes autonomous navigation and colony cooperation based on sonar information/visual information perception, the method adopts a sound wave attack and strong light interference mode to effectively destroy the autonomous navigation capability of part of unmanned aerial vehicles and the distributed cooperative capability of adjacent unmanned aerial vehicles, so that the unmanned aerial vehicles in the sound wave attack and strong light interference range can not obtain navigation positioning information and position information of the adjacent unmanned aerial vehicles, the expected formation of the bee colony is difficult to maintain, and further the effective reverse control of the unmanned aerial vehicle bee colony is realized.

In order to achieve the purpose, the technical scheme adopted by the invention is as follows:

an unmanned aerial vehicle swarm countercheck method based on swarm cooperative information comprises the steps of

Step1, detection and early warning: the detection early warning system transmits and receives radar, images and sound wave signals when working, monitors whether dangerous unmanned aerial vehicle swarms appear in a threat airspace in real time, sends out early warning if the dangerous unmanned aerial vehicle swarms are detected, marks the dangerous unmanned aerial vehicle swarms as threat unmanned aerial vehicle swarms, and sends preliminary position information to the positioning tracking system;

step2. tracking and positioning: after receiving the initial position information sent by the detection early warning system, the positioning and tracking system positions and tracks the threat unmanned aerial vehicle swarm in real time, calculates the position offset of the swarm and sends the position offset as a targeting position to a sound wave attack system and a visual interference system matched with the positioning and tracking system; the signal emission angles of the sound wave attack system and the visual interference system are kept consistent with those of the positioning and tracking system;

step3. determine if there is a reaction: the positioning and tracking system judges whether the threat unmanned aerial vehicle swarm enters a countercheck area, if so, the threat unmanned aerial vehicle swarm is marked as an unmanned aerial vehicle swarm target to be counterchecked, an attack instruction and an interference instruction are respectively sent to a corresponding sound wave attack system and a corresponding visual interference system, and meanwhile, the positioning and tracking system continuously tracks the unmanned aerial vehicle swarm target to be counterchecked; if not, the positioning and tracking system continuously positions and tracks the threat unmanned aerial vehicle swarm;

step4. reverse swarm targeting: the sound wave attack system and the visual interference system which receive the attack and interference instruction transmit a sound wave attack signal which distorts a target communication signal of the swarm to be countered and a strong light interference signal which weakens visual cooperative detection based on the current aiming position and the transmitting angle;

determining the reaction effect: the positioning and tracking system judges whether the movement track of the swarm target after the set time delta t deviates from the original track, namely whether the distance between the actual position of the swarm and the calculated expected position is greater than a set threshold value or not, whether the array form of the swarm changes or not, if so, a counter-success command is generated and sent to the sound wave attack system and the visual interference system, and the attack is stopped; if not, the positioning and tracking system continuously positions and tracks the swarm target;

and step6, after receiving a command of successfully countering, enabling a sound wave attack system and a visual interference system of the positioning and tracking system to enter a standby state, and enabling the detection and early warning system to continuously monitor whether a swarm target enters a threat airspace.

Preferably, (1) the detection early warning system described in Step1 is arranged at different positions of a threat airspace, and is used for transmitting and receiving radar, image and sound wave signals, monitoring whether a dangerous drone swarm appears in the threat airspace, and sending the monitored preliminary position information of the threat drone swarm to a positioning and tracking system;

(2) and Step1 and Step2, arranging sound wave attack systems and visual interference systems in the positioning and tracking systems, arranging the sound wave attack systems and the visual interference systems at different positions of a countercheck area, and performing positioning and tracking on the dangerous unmanned plane swarm, and respectively sending attack and interference instructions to the corresponding sound wave attack systems and the corresponding visual interference systems to enable the dangerous unmanned plane swarm to deviate from an expected track.

Preferably, the detection early warning system comprises a signal transmitting module, a signal receiving module, a network communication module and a control module, wherein

The signal transmitting module is used for transmitting a detection signal;

the signal receiving module is used for receiving the detection signal and sending the detection signal to the control module;

the control module is used for calculating the target position information of the unmanned aerial vehicle swarm according to the monitoring data and judging whether to send out early warning;

the network communication module is used for communicating and interacting with the positioning and tracking system.

Preferably, the positioning and tracking system further comprises a radar, a transmitter, a receiver, a four-degree-of-freedom follow-up pan-tilt, a speed measurement module, a distance measurement module, a control module and a network communication module, wherein the radar, the transmitter, the receiver, the four-degree-of-freedom follow-up pan-tilt, the speed measurement module, the distance measurement module, the control module and the network communication module are arranged in the same plane, and the radar, the transmitter, the receiver, the four-degree-of-freedom follow-up pan-tilt, the speed measurement module, the distance measurement module, the control module and the network communication module are arranged in the same plane

The radar, the transmitter and the receiver are used for accurately positioning the unmanned aerial vehicle swarm position;

the four-degree-of-freedom follow-up cradle head is used for aligning the drone swarm target position in real time;

the speed measuring module and the distance measuring module are used for calculating the direction, the speed and the distance information of the swarm target and sending the information to the control module;

the control module is used for calculating the target aiming position and the signal emission angle of the swarm;

the network communication module is used for communicating and interacting with the sound wave attack system and the visual interference system and sending instructions.

Preferably, the threat airspace (1) is a hemispherical area which takes a target to be protected as a circle center and takes 3 times of security defense distance as a radius;

(2) the reverse airspace is a hemispherical area which takes the target to be protected as the center of a circle and takes the 0.8-time farthest attack and interference distance as the radius.

Preferably, in Step3, the positioning and tracking system always positions and tracks the swarm target and sends the aiming position information and the emission angle to the sound wave attack system and the visual disturbance system in real time whether the drone swarm enters the countercheck area or not.

Preferably, Step4 describes

(1) The sound wave attack system comprises a signal generator, a power amplifier, a transducer, a four-degree-of-freedom follow-up holder, a control module and a network communication module, wherein the signal generator, the power amplifier, the transducer, the four-degree-of-freedom follow-up holder, the control module and the network communication module are connected with the signal generator

The network communication system is used for communication interaction with the positioning and tracking system;

the control module adjusts the direction of the four-degree-of-freedom follow-up holder in real time according to the received aiming position and the transmitting angle;

the signal generator generates an electric signal according to the signal frequency set by the control module, the electric signal is converted into a noise interference signal by the transducer after being amplified by the power amplifier, and the noise interference signal is used for suppressing an unmanned aerial vehicle sonar system so that the unmanned aerial vehicle cannot sense accurate cooperative information;

(2) the visual interference system comprises a high-power strong light instrument, a four-degree-of-freedom follow-up holder, a control module and a network communication module, wherein the high-power strong light instrument is connected with the control module through the network communication module

The high-power highlight instrument is used for generating highlight according to the signal determined by the control module;

the control module is used for controlling the angle of the holder in real time according to the received aiming position and the emission angle;

the network communication module is used for communication interaction with the positioning and tracking system.

Preferably, the sound wave attack system described in Step4 cuts off the cooperative link between drones by covering the whole bandwidth of the drone swarm communication signal with a noise interference signal, and the sound wave attack interference process includes:

(1) to realize information communication between unmanned aerial vehicles, the sound wave signal must be a periodic signal, and the sound wave signal is set to satisfy a function S_g(t)，S_g(t) is developed in the form of Fourier series to obtain

(2) The coefficients of the fourier series are:

in formula (2), T is the period of the acoustic signal, and ω is the angular frequency;

(3) the average power of the acoustic signal is then:

(4) designing the noise interference signal N (T) as a random signal with a period T tending to infinity, FourierCoefficient of progression Q_nExpressed as:

(5) to describe the spectral characteristics of a random noise signal, a frequency density function Q (ω) is defined, expressed as

(6) According to equation (5), the noise interference signal N (t) is obtained

Wherein in formula (6), Q (ω) is a sound frequency density function, and ω is a sound angular frequency.

Preferably, the visual disturbance system in Step4 utilizes strong light disturbance to cut off the visual perception capability of the drone swarm to realize the countermeasures to the drone swarm, and the specific process includes:

(1) by autonomous navigation of the visual perception capability of the unmanned aerial vehicle, target graphs marked on other unmanned aerial vehicle bodies are detected for cooperative positioning, azimuth angle and distance information of the target unmanned aerial vehicle and the target unmanned aerial vehicle are calculated, and the information is used as state information of a neighbor set unmanned aerial vehicle in a control protocol to realize intelligent cooperation based on visual information;

(2) to this type of unmanned aerial vehicle bee colony, the vision interference system can produce the highlight and disturb unmanned aerial vehicle machine and carry the vision sensor, shields unmanned aerial vehicle vision perception, weakens unmanned aerial vehicle bee colony vision and surveys in coordination with the discernment ability.

Preferably, the Step of Step5 for determining the counter effect includes:

step501, after the sound wave attack system/visual interference system acts on the swarm target time delta t, setting the unmanned plane swarm formation deviation degree function as:

wherein, in the formula (7), (x)_i,y_i,z_i) And (x)_*,y_*,z_*) Respectively representing the actual position and the expected position of the ith unmanned plane, N is the number of the drone colonies,indicating the degree of positional deviation of the ith unmanned aerial vehicle, D^*Representing the average deviation degree of the whole formation of the unmanned plane swarm;

step502. if D^*And if the number of the swarms is larger than the set threshold value, judging that the reverse control of the swarms is successful.

The invention has the beneficial effects that: the invention discloses an unmanned aerial vehicle bee colony countercheck method based on colony collaborative information, compared with the prior art, the improvement of the invention is as follows:

aiming at the problem that the prior art can not fundamentally solve the problem of the anti-control of the unmanned aerial vehicle swarm based on sonar information/visual information cooperation (unmanned aerial vehicle swarm cooperative through sonar information and visual information perception without GNSS navigation signals), the invention provides the anti-control method of the unmanned aerial vehicle swarm based on the swarm cooperative information, the method can effectively destroy the autonomous navigation capability of part of unmanned aerial vehicles and the distributed cooperative capability of adjacent unmanned aerial vehicles through sound wave attack and strong light interference, so that the unmanned aerial vehicles in the ranges of the sound wave attack and the strong light interference can not acquire navigation positioning information and position information of the adjacent unmanned aerial vehicles, the expected formation of the swarm is difficult to maintain, and further the effective anti-control of the unmanned aerial vehicle swarm is realized; meanwhile, the detection early warning system can provide sufficient preparation time for subsequent positioning, tracking and attack interference, the system launching angle precision and the aiming position accuracy are improved, and due to the fact that each system is distributed, multiple targets can be attacked at the same time, and the method has the advantages of being high in attack angle and aiming position precision, high in attack efficiency and high in counterattack success rate.

Drawings

Fig. 1 is a flow chart of an unmanned aerial vehicle swarm counter-control method based on swarm cooperative information.

FIG. 2 is a block diagram of the flow of the invention for the swarm sound wave attack based on sonar information cooperation.

Fig. 3 is a schematic diagram of the principle of unmanned aerial vehicle swarm countermeasure based on sonar information cooperation.

Fig. 4 is a schematic diagram of the principle of the unmanned aerial vehicle swarm reaction based on visual information cooperation.

Detailed Description

In order to make those skilled in the art better understand the technical solution of the present invention, the following further describes the technical solution of the present invention with reference to the drawings and the embodiments.

Referring to the unmanned aerial vehicle swarm anti-control method based on the swarm cooperative information shown in the attached figures 1-4, the method is used for aiming at the problem that under the condition of no GNSS signal, part of unmanned aerial vehicle swarm performs autonomous navigation and intelligent cooperation through sonar information/visual information perception, and the traditional anti-unmanned aerial vehicle methods such as signal suppression, navigation trapping and the like have little effect on the unmanned aerial vehicle swarm, and the unmanned aerial vehicle swarm anti-control system and the method based on sound wave attack and strong light interference are designed to resist the unmanned aerial vehicle swarm; the method comprises the following specific steps:

step1, detection and early warning: the detection early warning system transmits and receives radar, images and sound wave signals when working, monitors whether dangerous unmanned aerial vehicle swarms appear in a threat airspace in real time, sends out early warning if the dangerous unmanned aerial vehicle swarms are detected, marks the dangerous unmanned aerial vehicle swarms as threat unmanned aerial vehicle swarms, and sends preliminary position information to the positioning tracking system;

step2. tracking and positioning: after receiving the initial position information sent by the detection early warning system, the positioning and tracking system positions and tracks the threat unmanned aerial vehicle swarm in real time, calculates the position offset of the swarm and sends the position offset as a targeting position to a sound wave attack system and a visual interference system matched with the positioning and tracking system; the signal emission angles of the sound wave attack system and the visual interference system are kept consistent with those of the positioning and tracking system;

step3. determine if there is a reaction: the positioning and tracking system judges whether the threat unmanned aerial vehicle swarm enters a countercheck area, if so, the threat unmanned aerial vehicle swarm is marked as an unmanned aerial vehicle swarm target to be counterchecked, an attack instruction and an interference instruction are respectively sent to a corresponding sound wave attack system and a corresponding visual interference system, and meanwhile, the positioning and tracking system continuously tracks the unmanned aerial vehicle swarm target to be counterchecked; if not, the positioning and tracking system continuously positions and tracks the threat unmanned aerial vehicle swarm;

step4. reverse swarm targeting: the sound wave attack system and the visual interference system which receive the attack and interference instruction transmit a sound wave attack signal which distorts a target communication signal of the swarm to be countered and a strong light interference signal which weakens visual cooperative detection based on the current aiming position and the transmitting angle;

determining the reaction effect: the positioning and tracking system judges whether the movement track of the swarm target after the set time delta t deviates from the original track, namely whether the distance between the actual position of the swarm and the calculated expected position is greater than a set threshold value or not, whether the array form of the swarm changes or not, if so, a counter-success command is generated and sent to the sound wave attack system and the visual interference system, and the attack is stopped; if not, the positioning and tracking system continuously positions and tracks the swarm target;

and step6, after receiving a command of successfully countering, enabling a sound wave attack system and a visual interference system of the positioning and tracking system to enter a standby state, and enabling the detection and early warning system to continuously monitor whether a swarm target enters a threat airspace.

Preferably, the process of setting the threat and countering area according to steps 1 and 2 includes:

(1) according to the geographical position and the environment of a target to be protected, a threat airspace is set as follows: a hemispherical area which takes the target to be protected as the circle center and takes 3 times of safety defense distance as the radius;

(2) in order to improve the anti-system effect, the anti-system airspace is set as follows: a hemispherical area which takes the target to be protected as the circle center and takes the farthest attack/interference distance of 0.8 times as the radius; setting detection early warning systems in the threat area, wherein the specific number is related to the security defense distance, and the positions are set to be close to the boundary of the threat area so as to realize the maximization of early warning efficiency; and a positioning and tracking system and a sound wave attack system/visual interference system are arranged in a reaction area, the specific number is set according to actual requirements, the positioning and tracking system and the sound wave attack system/visual interference system are provided with follow-up cloud platforms, and the launching angles of the positioning and tracking system and the sound wave attack system/visual interference system are always kept consistent and are aimed at the drone swarm target.

Preferably, the detection early warning system described in Step1 is arranged at different positions of the threat airspace, and is used for transmitting and receiving radar, image and sound wave signals, monitoring whether a dangerous drone swarm appears in the threat airspace, and sending the monitored preliminary position information of the threat drone swarm to the positioning and tracking system; the detection early warning system comprises a signal transmitting module, a signal receiving module, a network communication module and a control module, wherein the signal transmitting module is used for transmitting a detection signal; the signal receiving module is used for receiving the detection signal and sending the detection signal to the control module; the control module is used for calculating the target position information of the unmanned aerial vehicle swarm according to the monitoring data and judging whether to send out early warning; the network communication module is used for communicating and interacting with the positioning and tracking system.

Preferably, the positioning and tracking systems in steps 1 and 2 are equipped with sound wave attack systems and visual interference systems, are arranged at different positions of a countercheck area, and are used for positioning and tracking the dangerous drone swarm, and respectively send attack and interference instructions corresponding to the sound wave attack systems and the visual interference systems, so that the dangerous drone swarm deviates from an expected track; the positioning and tracking system further comprises a radar, a transmitter, a receiver, a four-degree-of-freedom follow-up cradle head, a speed measuring module, a distance measuring module, a control module and a network communication module, wherein the radar, the transmitter and the receiver are used for accurately positioning the position of the unmanned aerial vehicle swarm; the four-degree-of-freedom follow-up cradle head is used for aligning the drone swarm target position in real time; the speed measuring module and the distance measuring module are used for calculating the direction, the speed and the distance information of the swarm target and sending the information to the control module; the control module is used for calculating the target aiming position and the signal emission angle of the swarm; the network communication module is used for communicating and interacting with the sound wave attack system and the visual interference system and sending instructions.

Preferably, in Step3, the positioning and tracking system always positions and tracks the swarm target and sends the aiming position information and the emission angle to the sound wave attack system and the visual disturbance system in real time whether the drone swarm enters the countercheck area or not.

Preferably, the sound wave attack system described in Step4 includes a signal generator, a power amplifier, a transducer, a four-degree-of-freedom follow-up pan-tilt, a control module and a network communication module, where the network communication module is used for communication interaction with a positioning and tracking system; the control module adjusts the direction of the four-degree-of-freedom follow-up holder in real time according to the received aiming position and the transmitting angle; the signal generator generates an electric signal according to the signal frequency set by the control module, the electric signal is converted into a noise interference signal by the transducer after being amplified by the power amplifier, and the noise interference signal is used for suppressing an unmanned aerial vehicle sonar system so that the unmanned aerial vehicle cannot sense accurate cooperative information;

the design process of the sound wave attack system comprises the following steps:

(1) the communication interaction of the unmanned aerial vehicle swarm based on sonar information perception and communication mainly takes sound wave transmission as a main part, and the frequency of sound waves emitted by an information generator is easily influenced by environmental noise, so that the communication interconnection between unmanned aerial vehicles is influenced to a great extent by the strong noise interference of corresponding frequency; the noise signal enters a communication channel and is mixed with the cooperative signal, so that the signal received by the sound wave receiver is distorted, namely noise interference; in the invention, the sound wave attack system utilizes noise interference signals to cover the whole bandwidth of the unmanned aerial vehicle swarm communication signals to cut off the cooperative link between the unmanned aerial vehicles, and the sound wave attack interference flow block diagram is shown in figure 2;

to realize information communication between unmanned aerial vehicles, the sound wave signal must be a periodic signal, and the sound wave signal is supposed to satisfy the function S_g(t)，S_g(t) is developed in the form of Fourier series to obtain

(2) The coefficients of the fourier series are:

in formula (2), T is the period of the acoustic signal, and ω is the angular frequency;

(3) the average power of the acoustic signal is then:

(4) designing the noise interference signal N (T) as a random signal with the period T tending to infinity and the coefficient Q of the Fourier series_nExpressed as:

(5) to describe the spectral characteristics of a random noise signal, a frequency density function Q (ω) is defined, expressed as

(6) According to equation (5), the noise interference signal N (t) is obtained

Wherein in formula (6), Q (ω) is a sound frequency density function, and ω is a sound angular frequency;

the signal generator produces the signal of telecommunication according to the signal frequency that control module set for, is turned into the sound wave signal by the transducer after power amplifier enlargies, and the sound wave signal effect makes attacked unmanned aerial vehicle unable and neighbor unmanned aerial vehicle communication, can't acquire neighbor unmanned aerial vehicle real-time position information, and the cooperative control item among its control protocol can't be updated for each unmanned aerial vehicle flight trajectory conflict is difficult to form the formation in the bee colony, thereby effectively counter-acts the unmanned aerial vehicle bee colony.

Preferably, the visual disturbance system in Step4 includes a high-power highlight meter, a four-degree-of-freedom follow-up pan-tilt, a control module, and a network communication module, where the high-power highlight meter is configured to generate highlight according to a signal determined by the control module; the control module is used for controlling the angle of the holder in real time according to the received aiming position and the emission angle; the network communication module is used for communication interaction with the positioning and tracking system;

wherein the design process of the vision disturbance system comprises the following steps:

(1) the unmanned aerial vehicle swarm based on the autonomous navigation of visual information and intelligent cooperation collects image and terrain data in real time through an airborne visual sensor, and carries out scene matching and terrain matching with an existing satellite orthographic image gallery and an existing elevation gallery, so that the autonomous navigation based on the visual information perception is realized; similarly, the unmanned aerial vehicles in the swarm detect target graphs marked on the bodies of other unmanned aerial vehicles through the visual sensor, calculate azimuth angles and distance information of the target unmanned aerial vehicle and the unmanned aerial vehicle, and use the information as state information of neighbor set unmanned aerial vehicles in a control protocol to realize intelligent cooperation based on visual information;

(2) for the unmanned plane swarm, the visual interference system can generate strong light to interfere an airborne visual sensor of the unmanned plane, shield visual perception of the unmanned plane and weaken visual cooperative detection and identification capability of the unmanned plane swarm; the principle of unmanned plane swarm reaction based on visual information cooperation is shown in fig. 4.

Preferably, in Step5, if the sound wave attack system/visual interference system is effective on a part of targets of the swarm, the individual unmanned aerial vehicle cannot acquire state information of an adjacent unmanned aerial vehicle, and after the sound wave attack system/visual interference system acts on the swarm target for a time delta t, the formation of the swarm of the unmanned aerial vehicle changes and deviates from a preset motion trajectory, and at this time, the unmanned aerial vehicle swarm countermeasures based on the synergy of the sound wave/visual information are considered to be effective;

the process of determining the countering effect comprises

Step501, after the sound wave attack system/visual interference system acts on the swarm target time delta t, setting the unmanned plane swarm formation deviation degree function as:

wherein, in the formula (7), (x)_i,y_i,z_i) And (x)_*,y_*,z_*) Respectively representing the actual position and the expected position of the ith unmanned plane, N is the number of the drone colonies,indicating the degree of positional deviation of the ith unmanned aerial vehicle, D^*Representing the average deviation degree of the whole formation of the unmanned plane swarm;

step502. if D^*And if the number of the swarms is larger than the set threshold value, judging that the reverse control of the swarms is successful.

In the embodiment 1, for the unmanned aerial vehicle swarm based on visual information cooperation, an unmanned aerial vehicle acquires topographic data through an airborne visual sensor to perform autonomous positioning; the positions of other unmanned aerial vehicles are detected through visual ability to carry out intelligent cooperation. The unmanned plane swarm does not need traditional GNSS signals and does not depend on navigation information, and the traditional navigation countermeasures method cannot effectively counter the unmanned plane swarm.

As shown in fig. 4, the unmanned aerial vehicle a collects images and terrain data in real time, and performs scene matching and terrain matching with an off-line satellite orthoimage gallery and an altitude gallery, thereby implementing autonomous navigation based on visual information perception; meanwhile, the relative positions of the unmanned planes B and C are detected through the vision sensor, and the azimuth angle and distance information of the unmanned plane B, C and the unmanned plane is calculated. The three unmanned aerial vehicles can cooperate intelligently based on visual information through the information design distributed control protocol.

Aiming at the bee colony, the invention provides a visual interference system based on strong light, which cuts off the visual perception capability of an unmanned aerial vehicle A through the strong light interference, so that the ground scene information cannot be obtained, and the position information of unmanned aerial vehicles B and C cannot be obtained. Unmanned aerial vehicle A can not fix a position navigation, simultaneously in the distributed control agreement with B, C relative position information disappearance lead to cooperative failure, the formation can't continue to be maintained to unmanned aerial vehicle bee colony finally to realize the effective countermeasures of unmanned aerial vehicle bee colony. The invention mainly aims at the unmanned aerial vehicle swarm based on the visual information cooperation, has simple structure, lower requirement on detection and reaction equipment and no collateral damage caused by a hard reaction method, and develops a new thought for the unmanned aerial vehicle swarm reaction based on the visual information cooperation.

The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.