阅读说明：本技术 一种反无人机防御系统及防御方法 (Anti-unmanned aerial vehicle defense system and defense method ) 是由 杨顺中 黄德庆 庹季胜 于 2021-09-18 设计创作，主要内容包括：本发明涉及一种反无人机防御系统及防御方法,防御系统包括与指挥主机相连的射频装置、雷达和光电跟踪仪；防御方法包括如下步骤：1)雷达和光电跟踪仪探测无人机的位置并将数据反馈至指挥主机；2)指挥主机对雷达和光电跟踪仪反馈的数据进行处理得到无人机的位置信息；3)指挥主机根据无人机的位置信息控制射频装置向无人机发射干扰信号。本发明中,防御方法基于防御系统实现,针对不同距离分别采用雷达和光电跟踪仪来确定无人机的位置,以提高精确度并通过干扰单元实现定向打击；在使用光电跟踪仪时,通过先设定的补偿参数对无人机的位置信息进行修正,以进一步提高探测的精准度；两种探测工具灵活切换,场景受限小,精准度高。(The invention relates to a defense system and a defense method for an anti-unmanned aerial vehicle, wherein the defense system comprises a radio frequency device, a radar and a photoelectric tracker which are connected with a command host; the defense method comprises the following steps: 1) the radar and the photoelectric tracker detect the position of the unmanned aerial vehicle and feed back data to the command host; 2) the command host machine processes data fed back by the radar and the photoelectric tracker to obtain position information of the unmanned aerial vehicle; 3) and the command host controls the radio frequency device to transmit an interference signal to the unmanned aerial vehicle according to the position information of the unmanned aerial vehicle. In the invention, the defense method is realized based on a defense system, and the position of the unmanned aerial vehicle is determined by adopting a radar and a photoelectric tracker aiming at different distances so as to improve the accuracy and realize directional attack through an interference unit; when the photoelectric tracker is used, the position information of the unmanned aerial vehicle is corrected through the preset compensation parameters so as to further improve the detection accuracy; two kinds of detection instrument are nimble to be switched, and the scene is limited for a short time, and the precision is high.)

1. The utility model provides an anti unmanned aerial vehicle defense system which characterized in that: the system comprises an interference unit and a detection unit, wherein the interference unit comprises a radio frequency device, and the detection unit comprises a radar and a photoelectric tracker;

radio frequency device, radar and photoelectric tracking appearance all link to each other with the command host computer, and radar and photoelectric tracking appearance are used for surveying unmanned aerial vehicle's position, and the command host computer is used for handling the data of radar and photoelectric tracking appearance feedback and control radio frequency device operation, and radio frequency device is used for launching interfering signal to unmanned aerial vehicle.

2. An anti-unmanned aerial vehicle defense method is characterized in that: the method uses an anti-drone defense system according to claim 1, comprising the steps of:

1) the radar and the photoelectric tracker detect the position of the unmanned aerial vehicle and feed back data to the command host;

2) the command host machine processes data fed back by the radar and the photoelectric tracker to obtain position information of the unmanned aerial vehicle;

3) and the command host controls the radio frequency device to transmit an interference signal to the unmanned aerial vehicle according to the position information of the unmanned aerial vehicle.

3. The anti-drone defense method according to claim 2, characterized in that: the position information of the drone includes distance, azimuth angle and pitch angle.

4. The anti-drone defense method according to claim 3, characterized in that: in the step 2), the command host judges whether the distance of the unmanned aerial vehicle is more than 3km according to data fed back by the radar;

when the distance of the unmanned aerial vehicle is greater than 3km, the command host processes data fed back by the radar to obtain position information of the unmanned aerial vehicle;

and when the distance between the unmanned aerial vehicle and the command host is less than 3km, processing the data fed back by the photoelectric tracker by the command host to obtain the position information of the unmanned aerial vehicle.

5. The anti-drone defense method according to claim 4, characterized in that: before the step 1), the method further comprises the step 0) of setting compensation parameters of the position of the unmanned aerial vehicle in the command host;

in the step 2), when the distance between the unmanned aerial vehicle and the command host is less than 3km, the command host processes the data fed back by the photoelectric tracker to obtain the position information of the unmanned aerial vehicle, and corrects the position information of the unmanned aerial vehicle.

6. The anti-drone defense method according to claim 5, characterized in that: the compensation parameters comprise azimuth angle compensation parameters and pitch angle compensation parameters.

7. The anti-drone defense method according to claim 6, characterized in that: the step 0) of setting the azimuth angle compensation parameter of the unmanned aerial vehicle position comprises the following substeps:

00) the test unmanned aerial vehicle is controlled to fly to the true north position of the defense system, and the command host machine processes data fed back by the photoelectric tracker to obtain the azimuth angle K1 of the test unmanned aerial vehicle;

01) repeating the step 00) n times to obtain an azimuth angle K1-Kn of the test unmanned aerial vehicle;

02) and taking the arithmetic mean value K 'of K1-Kn, and setting-K' as an azimuth angle compensation parameter of the unmanned aerial vehicle position in the command host.

8. The anti-drone defense method according to claim 7, characterized in that: the step 0) of setting the pitch angle compensation parameter of the unmanned aerial vehicle position comprises the following substeps:

03) placing the test unmanned aerial vehicle on a horizontal plane, and processing data fed back by the photoelectric tracker by the command host to obtain a pitch angle E1 of the test unmanned aerial vehicle;

04) repeating the step 03) n times to obtain a pitch angle E1-En of the test unmanned aerial vehicle;

05) and taking an arithmetic mean value E 'of E1-En, and setting-E' as a pitch angle compensation parameter of the unmanned aerial vehicle position in the command host.

9. The anti-drone defense method according to claim 8, characterized in that: in step 2), the processing for correcting the position information of the unmanned aerial vehicle is as follows:

and the command host takes the sum of the azimuth angle and the azimuth angle compensation parameter as a final azimuth angle, and takes the sum of the pitch angle and the pitch angle compensation parameter as a final pitch angle.

Technical Field

The invention belongs to the technical field of anti-unmanned aerial vehicle defense, and particularly relates to an anti-unmanned aerial vehicle defense system and a defense method.

Background

In recent years, with the rapid development of the related technologies of unmanned aerial vehicles, the number of unmanned aerial vehicles in the market is increased explosively, however, due to the imperfect airspace management system and the incompleteness of unmanned aerial vehicle management, the phenomena of unmanned aerial vehicles flying in disorder, flying in black and the like are increasingly serious, and the adverse events related to the unmanned aerial vehicles also continuously enter the visual field of people, such as interference with civil aviation flight, interference with fire fighting actions, high-altitude falling, unmanned aerial vehicle crime and the like.

Therefore, fast improvement of methods for airspace management and unmanned aerial vehicle management is needed, the airspace management acquires the motion information of the unmanned aerial vehicle based on the unmanned aerial vehicle detection equipment, and when the unmanned aerial vehicle enters or approaches the no-fly airspace, the unmanned aerial vehicle is interfered or intercepted; therefore, accurate acquisition of the motion information of the unmanned aerial vehicle is the primary premise of airspace management; currently, unmanned aerial vehicle detection devices are generally based on laser scanning detection, infrared detection, radar detection, spectrum detection and the like, wherein the laser scanning detection is affected by laser devices, and the detectable airspace range is limited, such as [ michelia alba; laser resonance scanning technology research [ D ] for low-slow small target detection and identification; harbin university of industry; 2019 ] for detecting and identifying low and slow small targets; the infrared detection is easy to be greatly limited due to the complex actual scene, the single-waveband infrared detection is low in detection rate, and for example [ lyeismic, low and small slow target photoelectric detection technology research [ D ] ] provides a detection method of an infrared low and small slow target; the traditional radar detection has the defects of insufficient precision and easy loss of the detection of the unmanned aerial vehicle due to small radar reflection area, and cannot meet the actual use requirement; the spectrum detection is affected by interference in urban areas.

Therefore, a method capable of quickly and accurately positioning the unmanned aerial vehicle is needed, interference striking is performed on the unmanned aerial vehicle based on the accurate position of the unmanned aerial vehicle, effective defense is performed on the 'flying disorder' of the unmanned aerial vehicle, and reliability of airspace management is improved.

Disclosure of Invention

Aiming at the defects in the prior art, the invention aims to provide a defense system and a defense method for an anti-unmanned aerial vehicle, solve the problems of serious limitation and poor precision of the position detection of the unmanned aerial vehicle at present, and obtain the effect of accurately acquiring the position of the unmanned aerial vehicle and effectively defending.

In order to solve the technical problems, the invention adopts the following technical scheme:

an anti-unmanned aerial vehicle defense system comprises an interference unit and a detection unit, wherein the interference unit comprises a radio frequency device, and the detection unit comprises a radar and a photoelectric tracker;

radio frequency device, radar and photoelectric tracking appearance all link to each other with the command host computer, and radar and photoelectric tracking appearance are used for surveying unmanned aerial vehicle's position, and the command host computer is used for handling the data of radar and photoelectric tracking appearance feedback and control radio frequency device operation, and radio frequency device is used for launching interfering signal to unmanned aerial vehicle.

The invention also relates to a defense method against the unmanned aerial vehicle, and the defense system comprises the following steps:

1) the radar and the photoelectric tracker detect the position of the unmanned aerial vehicle and feed back data to the command host;

2) the command host machine processes data fed back by the radar and the photoelectric tracker to obtain position information of the unmanned aerial vehicle;

3) and the command host controls the radio frequency device to transmit an interference signal to the unmanned aerial vehicle according to the position information of the unmanned aerial vehicle.

Further, the position information of the drone includes distance, azimuth angle, and pitch angle.

Further, in the step 2), the command host judges whether the distance of the unmanned aerial vehicle is greater than 3km according to data fed back by the radar;

when the distance of the unmanned aerial vehicle is greater than 3km, the command host processes data fed back by the radar to obtain position information of the unmanned aerial vehicle;

and when the distance between the unmanned aerial vehicle and the command host is less than 3km, processing the data fed back by the photoelectric tracker by the command host to obtain the position information of the unmanned aerial vehicle.

Further, before the step 1), the method also comprises a step 0) of setting compensation parameters of the position of the unmanned aerial vehicle in the command host;

in the step 2), when the distance between the unmanned aerial vehicle and the command host is less than 3km, the command host processes the data fed back by the photoelectric tracker to obtain the position information of the unmanned aerial vehicle, and corrects the position information of the unmanned aerial vehicle.

Further, the compensation parameters include an azimuth angle compensation parameter and a pitch angle compensation parameter.

Further, the step 0) of setting the azimuth angle compensation parameter of the position of the unmanned aerial vehicle comprises the following substeps:

00) the test unmanned aerial vehicle is controlled to fly to the true north position of the defense system, and the command host machine processes data fed back by the photoelectric tracker to obtain the azimuth angle K1 of the test unmanned aerial vehicle;

01) repeating the step 00) n times to obtain an azimuth angle K1-Kn of the test unmanned aerial vehicle;

02) and taking the arithmetic mean value K 'of K1-Kn, and setting-K' as an azimuth angle compensation parameter of the unmanned aerial vehicle position in the command host.

Further, the step 0) of setting the pitch angle compensation parameter of the unmanned aerial vehicle position comprises the following substeps:

03) placing the test unmanned aerial vehicle on a horizontal plane, and processing data fed back by the photoelectric tracker by the command host to obtain a pitch angle E1 of the test unmanned aerial vehicle;

04) repeating the step 03) n times to obtain a pitch angle E1-En of the test unmanned aerial vehicle;

05) and taking an arithmetic mean value E 'of E1-En, and setting-E' as a pitch angle compensation parameter of the unmanned aerial vehicle position in the command host.

Further, in step 2), the processing for correcting the position information of the unmanned aerial vehicle is as follows:

and the command host takes the sum of the azimuth angle and the azimuth angle compensation parameter as a final azimuth angle, and takes the sum of the pitch angle and the pitch angle compensation parameter as a final pitch angle.

Compared with the prior art, the invention has the following beneficial effects:

according to the invention, the defense method is realized based on the defense system, when the distance is far, the accuracy of the radar is higher, and when the distance is near, the accuracy of the photoelectric tracker is higher, so that the defense system respectively uses the radar and the photoelectric tracker to determine the position of the unmanned aerial vehicle aiming at different distances, so as to improve the accuracy and realize directional strike through the interference unit; in the defense method, when the photoelectric tracker is used, compensation parameters are set first, so that the accuracy of detecting the unmanned aerial vehicle when the distance is short is further improved; two kinds of detection instrument are nimble to be switched, and the scene is limited for a short time, and the precision is high.

Drawings

Fig. 1 is a connection diagram of an anti-drone defense system of an embodiment;

fig. 2 is a flowchart of a method for defending against a drone according to an embodiment.

Detailed Description

The following describes embodiments of the present invention in further detail with reference to the accompanying drawings.

Example (b):

referring to fig. 1, an anti-unmanned aerial vehicle defense system includes an interference unit and a detection unit, wherein the interference unit includes a radio frequency device, and the detection unit includes a radar and a photoelectric tracker;

the radio frequency device, the radar and the photoelectric tracker are connected with the command host, the radar and the photoelectric tracker are used for detecting the position of the unmanned aerial vehicle, the command host is used for processing data fed back by the radar and the photoelectric tracker and controlling the radio frequency device to operate, and the radio frequency device is used for transmitting an interference signal to the unmanned aerial vehicle; when the defense system is implemented, the radio frequency device, the radar, the photoelectric tracker and the command host are arranged in a centralized manner to form the defense system.

When the unmanned aerial vehicle tracking system is implemented, the photoelectric tracker is mounted on a rotary table, the rotary table is controlled in a servo mode, the azimuth drive and the pitching drive are in an angle positioning mode, and the transmitting end of the radio frequency device and the detecting end of the photoelectric tracker rotate together; the radio frequency device is used for transmitting interference signals of different frequency bands to block signal transmission of the unmanned aerial vehicle, the control equipment and the positioning satellite, and therefore the unmanned aerial vehicle is driven or forced to land.

In the invention, because the radar has higher accuracy when the distance is far away and the photoelectric tracker has higher accuracy when the distance is near, the defense system respectively uses the radar and the photoelectric tracker to determine the position of the unmanned aerial vehicle according to different distances so as to improve the accuracy and realize directional striking through the interference unit.

Referring to fig. 2, the invention further relates to a defense method against unmanned aerial vehicles, and the defense system comprises the following steps:

0) setting compensation parameters of the position of the unmanned aerial vehicle in the command host, wherein the compensation parameters comprise azimuth angle compensation parameters and pitch angle compensation parameters, and the setting of the azimuth angle compensation parameters of the position of the unmanned aerial vehicle comprises the following substeps:

00) controlling the test unmanned aerial vehicle to fly to the true north position of the defense system, and obtaining an azimuth angle K1 of the test unmanned aerial vehicle through a photoelectric tracker;

01) repeating the step 00) n times to obtain an azimuth angle K1-Kn of the test unmanned aerial vehicle;

02) taking an arithmetic mean value K 'of K1-Kn, and setting-K' as an azimuth angle compensation parameter of the unmanned aerial vehicle position in the command host;

the method for setting the pitch angle compensation parameter of the unmanned aerial vehicle position comprises the following substeps:

03) placing the test unmanned aerial vehicle on a horizontal plane, and obtaining a pitch angle E1 of the test unmanned aerial vehicle through a photoelectric tracker;

04) repeating the step 03) n times to obtain a pitch angle E1-En of the test unmanned aerial vehicle;

05) and taking an arithmetic mean value E 'of E1-En, and setting-E' as a pitch angle compensation parameter of the unmanned aerial vehicle position in the command host.

1) The radar and the photoelectric tracker detect the position of the unmanned aerial vehicle to be struck and feed back data to the command host;

2) the command host machine processes data fed back by the radar and the photoelectric tracker to obtain position information of the unmanned aerial vehicle to be struck; the position information comprises a distance, an azimuth angle and a pitch angle;

the command host judges whether the distance between the unmanned aerial vehicle to be struck (namely the distance between the radar and the unmanned aerial vehicle to be struck, and the distance between the unmanned aerial vehicle to be struck and the defense system is larger than 3km because all parts in the defense system are arranged in a centralized manner);

when the distance between the unmanned aerial vehicle to be struck and the radar is greater than 3km, the command host processes data fed back by the radar to obtain position information of the unmanned aerial vehicle to be struck, and controls the radio frequency device to transmit an interference signal to the unmanned aerial vehicle to be struck according to the position information;

when the distance between the unmanned aerial vehicle to be struck and the target unmanned aerial vehicle is less than 3km, the command host processes data fed back by the photoelectric tracker to obtain position information of the unmanned aerial vehicle to be struck, and corrects the position information through compensation parameters to obtain corrected position information of the unmanned aerial vehicle; the corrected position information of the unmanned aerial vehicle comprises a distance, a final azimuth angle and a final pitch angle, and the command host controls the radio frequency device to transmit an interference signal to the unmanned aerial vehicle to be struck according to the corrected position information of the unmanned aerial vehicle;

the specific operation of correcting the position information of the unmanned aerial vehicle to be struck is as follows: and the command host takes the sum of the azimuth angle and the azimuth angle compensation parameter as a final azimuth angle, and takes the sum of the pitch angle and the pitch angle compensation parameter as a final pitch angle.

The defense method is carried out based on the defense system, the unmanned aerial vehicle is accurately positioned by adopting data of the radar or the photoelectric tracker according to different distances, then the unmanned aerial vehicle is subjected to interference striking through the radio frequency device, when the photoelectric tracker is used for detecting the position of the unmanned aerial vehicle, position parameter compensation is carried out on a detection result, and the detection accuracy is further improved. The defense system is arranged in a corresponding area of a no-flying airspace or in an area with frequent phenomena of 'black flying' and 'random flying', so that the adverse events of the unmanned aerial vehicle can be effectively attacked, and great help is provided for airspace management and the perfection of unmanned aerial vehicle management.

Finally, the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all of them should be covered in the claims of the present invention.