阅读说明：本技术 一种黑飞无人机飞手定位系统及方法 (Black-flying unmanned aerial vehicle flyer positioning system and method ) 是由 叶方全 王豪 于 2021-04-07 设计创作，主要内容包括：本申请实施例中提供了一种黑飞无人机飞手定位系统及方法,属于无人机计算技术领域,包括无人机管控平台子系统、TDOA无线电探测子系统和无线电干扰子系统,TDOA无线电探测子系统用于获取无人机通信信号；无人机管控平台子系统用于接收TDOA无线电探测子系统的数据并做可视化处理,确定无人机位置和航线轨迹,向无线电干扰子系统发送控制命令,根据航线轨迹计算得到无人机飞手位置；无线电干扰子系统用于接收无人机管控平台子系统的控制命令,向无人机发射干扰信号,以及诱导无人机沿航线轨迹的任意切向方向进行飞行。通过本申请的处理方案,可实现定位盲区和防区外的飞手位置,精准迫降,功耗低,对周边无线电环境绿色无污染,自动化管控,可视化监管。(The embodiment of the application provides a system and a method for positioning a flyer of a black-flying unmanned aerial vehicle, which belong to the technical field of unmanned aerial vehicle calculation, and comprise an unmanned aerial vehicle control platform subsystem, a TDOA radio detection subsystem and a radio interference subsystem, wherein the TDOA radio detection subsystem is used for acquiring communication signals of the unmanned aerial vehicle; the unmanned aerial vehicle control platform subsystem is used for receiving data of the TDOA radio detection subsystem, performing visualization processing, determining the position and the route track of the unmanned aerial vehicle, sending a control command to the radio interference subsystem, and calculating according to the route track to obtain the position of the flying hand of the unmanned aerial vehicle; the radio interference subsystem is used for receiving a control command of the unmanned aerial vehicle control platform subsystem, transmitting an interference signal to the unmanned aerial vehicle and inducing the unmanned aerial vehicle to fly along any tangential direction of the air route track. Through the processing scheme of this application, can realize the location blind area and prevent the outer flier position in district, accurate compel falls, and the low power dissipation is green pollution-free to peripheral radio environment, automatic management and control, visual supervision.)

1. A femto cell location system, which is characterized in that the system comprises a femto cell management and control platform subsystem, a TDOA radio detection subsystem and a radio interference subsystem, wherein,

the TDOA radio detection subsystem is used for acquiring unmanned aerial vehicle communication signals;

the unmanned aerial vehicle control platform subsystem is used for receiving data of the TDOA radio detection subsystem, performing visualization processing and determining the position and the air route track of the unmanned aerial vehicle; sending a control command to the radio interference subsystem; calculating to obtain the position of the flying hand of the unmanned aerial vehicle according to the air route track;

the radio interference subsystem is used for receiving a control command of the unmanned aerial vehicle control platform subsystem, transmitting an interference signal to the unmanned aerial vehicle and inducing the unmanned aerial vehicle to fly along any tangential direction of the air route track.

2. The boomerang positioning system of a black-fly unmanned aerial vehicle according to claim 1, wherein the unmanned aerial vehicle management and control platform subsystem comprises a GIS map, a TDOA radio detection subsystem data acquisition module and a radio interference subsystem control module.

3. A black fly drone flier location system as claimed in claim 1, wherein the TDOA radio detection subsystem is provided with a number of radio detectors, the location of the drone being determined by calculating the time difference of the drone signal reaching each of the radio detectors.

4. The black plane drone of claim 1, wherein the radio jamming subsystem includes a radio directional jamming device for emitting jamming signals and a satellite navigation spoofing device for inducing the drone to fly in any tangential direction of the flight path trajectory.

5. The black plane drone of claim 4, wherein the radio directional jamming device includes a radio jamming module, a network control module, and a follower device.

6. The black plane unmanned aerial vehicle flier positioning system of claim 4, wherein the satellite navigation spoofing device comprises a signal transmitting module, a satellite navigation signal modulating module and a network control module.

7. A method for positioning a flying hand of a black flying unmanned aerial vehicle is characterized by comprising the following steps:

the TDOA radio detection subsystem acquires an unmanned aerial vehicle communication signal, transmits the unmanned aerial vehicle communication signal to the unmanned aerial vehicle control platform subsystem and determines the position of the unmanned aerial vehicle;

the radio interference subsystem transmits an interference signal to the unmanned aerial vehicle, and the unmanned aerial vehicle is segmented to communicate with a flyer to enable the unmanned aerial vehicle to fly back;

the TDOA radio detection subsystem acquires a first return flight track of the unmanned aerial vehicle and transmits the first return flight track to the unmanned aerial vehicle control platform subsystem;

the radio interference subsystem stops transmission of the interference signal;

the radio interference subsystem induces the unmanned aerial vehicle to fly to a preset position along any tangential direction of the first return trajectory;

the radio interference subsystem transmits interference signals to the unmanned aerial vehicle again to enable the unmanned aerial vehicle to return to the air;

the TDOA radio detection subsystem acquires a second return flight track of the unmanned aerial vehicle and transmits the second return flight track to the unmanned aerial vehicle control platform subsystem;

and the unmanned aerial vehicle control platform subsystem calculates the route extension line intersection point of the first return flight track and the second return flight track, and determines the flying hand position of the unmanned aerial vehicle.

8. The black-fly drone flyer location method of claim 7, wherein the radio jamming subsystem transmitting jamming signals to the drone is through a radio directional jamming device within the radio jamming subsystem.

9. The black plane drone of claim 7, wherein the radio jamming subsystem induces the drone to fly in any tangential direction of the first return trajectory is accomplished by a satellite navigation spoofing device within the radio jamming subsystem.

10. The method for positioning the flying hand of the black flying unmanned aerial vehicle according to claim 7, wherein the determining the position of the flying hand according to the intersection of the extended lines of the first return trajectory and the second return trajectory further comprises:

the radio interference subsystem stops the interfering signal transmission;

the radio interference subsystem induces the unmanned aerial vehicle to fly to a preset control position and catches the unmanned aerial vehicle flyer.

Technical Field

The application relates to the technical field of unmanned aerial vehicles, in particular to a system and a method for positioning a flyer of a black flying unmanned aerial vehicle.

Background

In recent years, the doorsill is continuously reduced due to the continuous development of the unmanned aerial vehicle technology, and unmanned aerial vehicle manufacturers are more and more, and the doorsill is low for the mass market due to the operation of the consumption-level unmanned aerial vehicle. More and more users are not trained by any standard, and a processing method for avoiding the flight fault of the unmanned aerial vehicle cannot be solved, so that a series of potential safety hazards are brought; and lawless persons, give public privacy, property, safety and cause huge threat, consequently the control blackflies unmanned aerial vehicle absolutely necessary.

The existing common unmanned aerial vehicle counter-braking system has radar or radio detection, but the radar system has a static target which cannot be detected slowly or a target with a slow moving speed; the power is high, and high-frequency signals are transmitted to generate strong electromagnetic radiation; the radar has more blind areas, such as a short-distance blind area, a headspace blind area and a low altitude blind area; and for the environment that the control terminal (namely, the flying hand) of the unmanned aerial vehicle is located, no matter the relatively high roof or the walkable road radar does not have searching performance, so that the radar detection of the flying hand cannot be realized. The position of being through descending signal location unmanned aerial vehicle to radio detection, go up signal location flier position, because it is little to go up signal data volume, the bandwidth is narrow, the continuity is poor, be difficult to the analysis behind other radio signal in the mixed environment, it is spacious to need the flier to be in, the environment that does not shelter from just can analyze out the position of flier, suppose that the flier is at the blind area scope of radio detection or effectively prevent controlling unmanned aerial vehicle outside the district, radio detection can only receive weak and incomplete remote controller uplink signal, then unable analysis condition this moment, consequently also can't fix a position the position of flier.

Disclosure of Invention

In view of this, the embodiment of the present application provides a system and a method for positioning a boomerang of a black-flying unmanned aerial vehicle, which at least partially solve the problems in the prior art by forcing the unmanned aerial vehicle to return to the home from multiple directions, acquiring a return route and determining a return destination.

In a first aspect, the embodiment of the present application provides a black-fly unmanned aerial vehicle flyer positioning system, which includes an unmanned aerial vehicle management and control platform subsystem, a TDOA radio detection subsystem, and a radio interference subsystem, wherein,

the TDOA radio detection subsystem is used for acquiring unmanned aerial vehicle communication signals;

the unmanned aerial vehicle control platform subsystem is used for receiving data of the TDOA radio detection subsystem, performing visualization processing and determining the position and the air route track of the unmanned aerial vehicle; sending a control command to the radio interference subsystem; calculating to obtain the position of the flying hand of the unmanned aerial vehicle according to the air route track;

the radio interference subsystem is used for receiving a control command of the unmanned aerial vehicle control platform subsystem, transmitting an interference signal to the unmanned aerial vehicle and inducing the unmanned aerial vehicle to fly along any tangential direction of the air route track.

According to a specific implementation manner of the embodiment of the application, the unmanned aerial vehicle management and control platform subsystem comprises a GIS map, a TDOA radio detection subsystem data acquisition module and a radio interference subsystem control module.

According to a specific implementation mode of the embodiment of the application, the TDOA radio detection subsystem is provided with a plurality of radio detectors, and the position of the unmanned aerial vehicle is determined by calculating the time difference of the unmanned aerial vehicle signal reaching each radio detector.

According to a specific implementation manner of the embodiment of the application, the radio interference subsystem comprises a radio directional interference device and a satellite navigation spoofing device, the radio directional interference device is used for emitting interference signals, and the satellite navigation spoofing device is used for inducing the unmanned aerial vehicle to fly along any tangential direction of the air route track.

According to a specific implementation manner of the embodiment of the application, the radio directional interference device comprises a radio interference module, a network control module and a follow-up device.

According to a specific implementation manner of the embodiment of the application, the satellite navigation decoy device comprises a signal transmitting module, a satellite navigation signal modulation module and a network control module.

In a second aspect, an embodiment of the present application further provides a method for positioning a boomerang of a black-flying unmanned aerial vehicle, including the following steps:

the TDOA radio detection subsystem acquires an unmanned aerial vehicle communication signal, transmits the unmanned aerial vehicle communication signal to the unmanned aerial vehicle control platform subsystem and determines the position of the unmanned aerial vehicle;

the radio interference subsystem transmits an interference signal to the unmanned aerial vehicle, and the unmanned aerial vehicle is segmented to communicate with a flyer to enable the unmanned aerial vehicle to fly back;

the TDOA radio detection subsystem acquires a first return flight track of the unmanned aerial vehicle and transmits the first return flight track to the unmanned aerial vehicle control platform subsystem;

the radio interference subsystem stops transmission of the interference signal;

the radio interference subsystem induces the unmanned aerial vehicle to fly to a preset position along any tangential direction of the first return trajectory;

the radio interference subsystem transmits interference signals to the unmanned aerial vehicle again to enable the unmanned aerial vehicle to return to the air;

the TDOA radio detection subsystem acquires a second return flight track of the unmanned aerial vehicle and transmits the second return flight track to the unmanned aerial vehicle control platform subsystem;

and the unmanned aerial vehicle control platform subsystem calculates the route extension line intersection point of the first return flight track and the second return flight track, and determines the flying hand position of the unmanned aerial vehicle.

According to a specific implementation manner of the embodiment of the present application, the radio jamming subsystem transmits the jamming signal to the drone through a radio directional jamming device in the radio jamming subsystem.

According to a specific implementation manner of the embodiment of the application, the radio interference subsystem induces the unmanned aerial vehicle to fly along any tangential direction of the first return trajectory by a satellite navigation decoy device in the radio interference subsystem.

According to a specific implementation manner of the embodiment of the application, determining the position of the flying hand according to the intersection point of the extended lines of the first return trajectory and the second return trajectory further includes:

the radio interference subsystem stops the interfering signal transmission;

the radio interference subsystem induces the unmanned aerial vehicle to fly to a preset control position and catches the unmanned aerial vehicle flyer.

Advantageous effects

The system and the method for positioning the hands of the black flying unmanned aerial vehicle in the embodiment of the application are a navigation, decoy and anti-unmanned aerial vehicle system based on a TDOA radio detection technology, and the position of an unmanned aerial vehicle remote controller, namely the hand position, can be calculated in an unmanned aerial vehicle management and control platform subsystem through unmanned aerial vehicle communication data acquired by a radio interference subsystem and the TDOA radio detection subsystem; the coverage area is enlarged, the real-time position, distance, height and flight track of the unmanned aerial vehicle can be accurately calculated, accurate striking is realized, the interference to the surrounding electromagnetic environment is reduced, and the unmanned aerial vehicle is green and environment-friendly; the satellite navigation decoy can forcibly guide the unmanned aerial vehicle to an open area to land, so that potential safety hazards caused by the unmanned aerial vehicle under the uncontrolled condition are reduced; the early warning of the air route track and the three-dimensional coordinate of the unmanned aerial vehicle can be realized, the accurate forced landing of the unmanned aerial vehicle can be realized, the power consumption is low, the unmanned aerial vehicle belongs to passive receiving wireless signals, the receiving range is wide, automatic management and control are realized, and visual supervision is realized.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a schematic diagram of a black-fly unmanned aerial vehicle flyer positioning system according to an embodiment of the invention;

fig. 2 is a flowchart of a method for positioning a boomerang of a black-flying unmanned aerial vehicle according to an embodiment of the invention;

fig. 3 is a schematic diagram of a method for positioning a femto drone in a black plane according to an embodiment of the present invention.

Detailed Description

The embodiments of the present application will be described in detail below with reference to the accompanying drawings.

The following description of the embodiments of the present application is provided by way of specific examples, and other advantages and effects of the present application will be readily apparent to those skilled in the art from the disclosure herein. It is to be understood that the embodiments described are only a few embodiments of the present application and not all embodiments. The present application is capable of other and different embodiments and its several details are capable of modifications and/or changes in various respects, all without departing from the spirit of the present application. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It is noted that various aspects of the embodiments are described below within the scope of the appended claims. It should be apparent that the aspects described herein may be embodied in a wide variety of forms and that any specific structure and/or function described herein is merely illustrative. Based on the present application, one skilled in the art should appreciate that one aspect described herein may be implemented independently of any other aspects and that two or more of these aspects may be combined in various ways. For example, an apparatus may be implemented and/or a method practiced using any number of the aspects set forth herein. Additionally, such an apparatus may be implemented and/or such a method may be practiced using other structure and/or functionality in addition to one or more of the aspects set forth herein.

It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present application, and the drawings only show the components related to the present application rather than the number, shape and size of the components in actual implementation, and the type, amount and ratio of the components in actual implementation may be changed arbitrarily, and the layout of the components may be more complicated.

In addition, in the following description, specific details are provided to facilitate a thorough understanding of the examples. However, it will be understood by those skilled in the art that the aspects may be practiced without these specific details.

In order to solve the problems of a radar countercheck system, an anti-unmanned aerial vehicle system formed by radar and satellite navigation trapping is adopted at present, the radar is used for detecting an unmanned aerial vehicle and then guiding forced landing through satellite trapping, but the radar has the defects of high power, multiple blind spots, high false alarm and the like in a complex urban environment; the used satellite navigation is deceived in that the unmanned aerial vehicle is induced to trigger a protection mechanism to leave the area by simulating signals of a navigation satellite, but the process is relatively long, the transmitted signals are usually 360 degrees, and great influence is brought to surrounding equipment which also needs satellite navigation signals, equipment deployed in other industries is mistakenly killed while the unmanned aerial vehicle is started in an all-around mode for a long time, and huge economic loss can be caused seriously.

The embodiment of the application provides a black-flying Unmanned Aerial Vehicle (UAV) flyer positioning system, which is a navigation decoy anti-UAV system based on a Time Difference of Arrival (TDOA) radio detection technology, and the system comprises a TDOA radio detection subsystem, a radio interference subsystem and an UAV management and control platform subsystem. When the unmanned aerial vehicle appears in the coverage area of a defense area, a radio directional interference device in a radio interference subsystem tracks the horizontal vertical angle of the unmanned aerial vehicle through a TDOA radio detection subsystem, interference signals only aiming at the direction of the unmanned aerial vehicle are realized, satellite navigation decoy in the radio interference subsystem is matched, data required by the TDOA radio detection subsystem for calculating the position of a remote controller of the unmanned aerial vehicle, namely the position of a flying hand, is acquired, the concealed flying hand is caught, and the unmanned aerial vehicle is accurately landed at a specified landing position. Accurate striking is realized, and the influence on the surrounding environment is reduced.

The black-flying unmanned aerial vehicle flyer positioning system and method according to the embodiment of the application will be described in detail below with reference to fig. 1 to 3.

The embodiment specifically describes a positioning system of a boomerang unmanned aerial vehicle, and the system includes an unmanned aerial vehicle management and control platform subsystem, a TDOA radio detection subsystem, and a radio interference subsystem, and refers to a schematic diagram of the positioning system of the boomerang unmanned aerial vehicle shown in fig. 1.

The radio detection technology is through surveying the uplink and downlink communication signal between remote controller and the unmanned aerial vehicle, according to uplink signal location remote controller position, downlink signal location unmanned aerial vehicle's position, uplink signal is remote controller and sends control signal to unmanned aerial vehicle, the position that the remote controller can be judged to the analysis uplink signal is the position of flyer promptly, downlink signal is unmanned aerial vehicle's picture biography signal, can track unmanned aerial vehicle's position through the downlink signal that the analysis received. And the problems of small data size, narrow bandwidth and the like exist when the position of the flyer is judged through the uplink signal, so that the method determines the position of the unmanned aerial vehicle through the downlink signal and reversely pushes the position of the flyer.

In this embodiment, a TDOA radio detection subsystem is employed for acquiring the drone communication signals. Specifically, the TDOA radio detection subsystem is composed of a plurality of radio detectors, each radio detector is a station, and positioning of the unmanned aerial vehicle is performed by using a time difference between a downlink signal of the unmanned aerial vehicle and each station. By calculating the time when the downlink signal of the unmanned aerial vehicle reaches each radio detection station, the distance of the unmanned aerial vehicle can be determined. The position of the unmanned aerial vehicle can be determined by utilizing the distance from the downlink signal of the unmanned aerial vehicle to each radio detection station.

The TDOA radio detection subsystem has the advantages of large coverage area, high detection precision and low standby power, only passively receives radio signals, is green and pollution-free to the electromagnetic environment in the covered defense range, and can continuously work for 7-24 hours without interruption.

The unmanned aerial vehicle control platform subsystem is used for receiving data of the TDOA radio detection subsystem, performing visualization processing and determining the position and the route track of the unmanned aerial vehicle; sending a control command to the radio interference subsystem; and calculating according to the flight path track to obtain the position of the unmanned aerial vehicle flyer.

In a specific embodiment, the drone management and control platform subsystem includes a GIS map (Geographic Information Science), a data collection module, and a control module. The GIS map is a technical system for collecting, storing, managing, operating, analyzing, displaying and describing relevant geographic distribution data in the whole or partial earth surface (including the atmosphere) space under the support of a computer hardware and software system, and is used for positioning the position of the unmanned aerial vehicle according to the unmanned aerial vehicle data acquired by the TDOA radio detection subsystem. The data acquisition module is used for receiving the data transmitted by the TDOA radio detection subsystem and analyzing and processing the received data. And the control module is used for sending a control command to the radio interference subsystem according to the analysis processing result.

And the radio interference subsystem is used for receiving a control command of the unmanned aerial vehicle control platform subsystem, transmitting an interference signal to the unmanned aerial vehicle and inducing the unmanned aerial vehicle to fly along any tangential direction of the air route track.

In a specific embodiment, the radio interference subsystem comprises a radio directional interference device and a satellite navigation decoy device, wherein the radio directional interference device is used for transmitting an interference signal to the unmanned aerial vehicle, so that the communication between the unmanned aerial vehicle and the remote controller is interrupted, and a protection mechanism of the unmanned aerial vehicle is triggered to return; the satellite navigation decoy device is used for inducing the unmanned aerial vehicle which is already in the return flight stage to fly along any tangential direction of the air route track.

Furthermore, the radio directional interference device is composed of a radio interference module, a network control module and a follow-up device. The unmanned aerial vehicle management and control platform subsystem carries out analysis processing after acquiring the data that TDOA radio detection subsystem gathered, generates control command and sends to the directional interference device of radio, directs follow-up device to point to unmanned aerial vehicle through network control module, uses radio interference module transmission simultaneously and carries out directional interference unmanned aerial vehicle with unmanned aerial vehicle common frequency signal, cuts apart unmanned aerial vehicle and the communication of remote controller flyer promptly, triggers unmanned aerial vehicle protection mechanism and makes it return voyage. This directional jamming unit of radio can realize accurate directional unmanned aerial vehicle, and accurate striking to reduce the influence to the surrounding environment.

Furthermore, the satellite navigation decoy device is composed of a signal transmitting module, a satellite navigation signal modulation module and a network control module. The satellite navigation decoy device is started in a matched manner by acquiring the dynamic data after the interference of the unmanned aerial vehicle communication signal is acquired by the TDOA radio detection subsystem through the unmanned aerial vehicle control platform subsystem. That is to say, after receiving the interference signal that radio directional interference device sent and making it fly back, the unmanned aerial vehicle navigates and lures the device to open, then controls satellite navigation through network control module and lures the device, makes satellite navigation signal modulation module produce the interference signal and plans unmanned aerial vehicle's flight direction, and the interference signal that produces is launched by signal emission module to unmanned aerial vehicle, cooperates with TDOA radio detection subsystem to gather the required data of remote controller detection. It should be noted here that, before planning the flight direction of the unmanned aerial vehicle, the designated position where the unmanned aerial vehicle flies may be preset according to actual conditions, and the satellite navigation decoy device is used for inducing the unmanned aerial vehicle to fly to the preset designated position along the induced flight direction.

The method for positioning the flying hand of the black flying unmanned aerial vehicle is described in detail below with reference to the flowchart of fig. 2, and the positioning method comprises the following steps:

s201, the TDOA radio detection subsystem acquires an unmanned aerial vehicle communication signal, transmits the unmanned aerial vehicle communication signal to the unmanned aerial vehicle control platform subsystem, and determines the position of the unmanned aerial vehicle.

When unmanned aerial vehicle got into the defence area within range, its communication signal was received by TDOA radio detection subsystem, and TDOA radio detection subsystem comprises a plurality of radio detector, uploads to unmanned aerial vehicle management and control platform subsystem after each radio detector received unmanned aerial vehicle communication signal, confirms unmanned aerial vehicle's position through calculating the time difference that unmanned aerial vehicle signal reachd each radio detector.

S202, the radio interference subsystem transmits interference signals to the unmanned aerial vehicle, and the unmanned aerial vehicle is enabled to return to the air by the communication between the segmented unmanned aerial vehicle and the flyer.

After the unmanned aerial vehicle management and control platform subsystem confirms the unmanned aerial vehicle position, send control command to the radio interference subsystem, make the radio interference subsystem to unmanned aerial vehicle transmission interference signal, the unmanned aerial vehicle is driven away from in the communication of segmentation unmanned aerial vehicle and flight hand, makes unmanned aerial vehicle trigger protection mechanism return a journey.

More specifically, the interference signal is transmitted by a radio directional interference device of the radio interference subsystem, and the radio directional interference device is composed of a radio interference module, a network control module and a follow-up device. After the unmanned aerial vehicle management and control platform subsystem determines the position of the unmanned aerial vehicle, a network control module of the radio interference subsystem guides the follow-up device to point to the unmanned aerial vehicle, and the radio interference module is used for transmitting the same-frequency signal with the unmanned aerial vehicle to directionally interfere the unmanned aerial vehicle so as to enable the unmanned aerial vehicle to return.

The radio interference subsystem links with TDOA radio detection subsystem, gathers unmanned aerial vehicle's frequency spectrum, frequency hopping pattern, modulation mode through TDOA radio detection subsystem and carries out the analysis, and the radio interference subsystem transmission interference efficiency modulation signal higher is attacked to put and is promoted the back by directional transmitting antenna release through low-power, and the interference time is short, and it is fast to take effect, and the coverage area is wide, and is green pollution-free to the electromagnetic environment in the defense sector that covers, and the interference frequency is many.

S203, the TDOA radio detection subsystem acquires a first return flight track of the unmanned aerial vehicle and transmits the first return flight track to the unmanned aerial vehicle control platform subsystem.

When the unmanned aerial vehicle navigates back, the course of the unmanned aerial vehicle flies towards the remote controller, namely the position of the flyer, at the moment, the TDOA radio detection subsystem can acquire a route track at the moment, the route track is a first route track for detecting the flyer of the unmanned aerial vehicle, and the first route track is uploaded to the unmanned aerial vehicle control platform subsystem for monitoring.

And S204, the radio interference subsystem stops the transmission of the interference signal.

When unmanned aerial vehicle returns to navigate, when flying to certain distance along the direction of returning to navigate, the directional jamming unit of radio that unmanned aerial vehicle management and control platform subsystem control radio disturbed sub-system stops interfering signal's transmission, makes unmanned aerial vehicle stop returning to navigate.

S205, the radio interference subsystem induces the unmanned aerial vehicle to fly to a preset position along any tangential direction of the first return trajectory.

And a satellite navigation decoy device is also arranged in the radio interference subsystem and used for inducing the unmanned aerial vehicle to fly along a certain direction. When the unmanned aerial vehicle stops back-flying, the satellite navigation decoy device of the radio interference subsystem induces the unmanned aerial vehicle to fly along any tangential direction of the first back-flying track, so that the unmanned aerial vehicle flies to a preset position. The specific working principle can refer to the description of the satellite navigation decoy device in the black unmanned aerial vehicle flyer positioning system, and is not repeated herein.

And S206, the radio interference subsystem transmits the interference signal to the unmanned aerial vehicle again to enable the unmanned aerial vehicle to return to the air.

After this aircraft flies to preset position, open radio interference subsystem's radio directional jamming unit again and to unmanned aerial vehicle transmission interference signal, the unmanned aerial vehicle is driven away from in the communication of segmentation unmanned aerial vehicle and flight hand, makes unmanned aerial vehicle trigger protection mechanism return to the journey once more.

And S207, the TDOA radio detection subsystem acquires a second return flight track of the unmanned aerial vehicle and transmits the second return flight track to the unmanned aerial vehicle control platform subsystem.

When the unmanned aerial vehicle navigates back, the course of the unmanned aerial vehicle flies towards the remote controller, namely, the flying hand position, at the moment, the TDOA radio detection subsystem can acquire the route track of the unmanned aerial vehicle at the moment, the route track is the second route track for detecting the flying hand of the unmanned aerial vehicle, and the TDOA radio detection subsystem acquires the route track and uploads the route track to the unmanned aerial vehicle management and control platform subsystem for monitoring.

And S208, after receiving the data, the unmanned aerial vehicle control platform subsystem calculates a cross point of the line extension lines of the first return flight track and the second return flight track, wherein the cross point is the position of the remote controller, and the position of the flying hand of the unmanned aerial vehicle is determined.

In one embodiment, determining the position of the flying hand according to the intersection of the extended lines of the first return trajectory and the second return trajectory further comprises:

and S209, stopping the interference signal transmission by the radio interference subsystem.

After the flying hand position of the invading unmanned aerial vehicle is determined, the emission of the interference signal can be stopped, and the action of continuing the return flight is stopped.

S210, the radio interference subsystem induces the unmanned aerial vehicle to fly to a preset control position and catches the unmanned aerial vehicle flyer.

The control position is the place that the black unmanned aerial vehicle that flies that is used for making the capture berthed that predetermines in advance berths, and the control position can be the arbitrary unmanned aerial vehicle's that can place position in the defence area. The navigation in the radio interference subsystem is lured the deceiving device and is opened when receiving the information that unmanned aerial vehicle stopped returning the journey, then controls satellite navigation through network control module and lures the deceiving device, makes satellite navigation signal modulation module produce interfering signal, and this interfering signal is sent by signal emission module, and the induced unmanned aerial vehicle flies to the control position along the unmanned aerial vehicle direction of flight that plans. And capturing the unmanned aerial vehicle according to the calculated position of the flying hand of the unmanned aerial vehicle control platform subsystem.

For the sake of understanding, the method is described below by using a specific example, and referring to the schematic diagram shown in fig. 3, a circle in the diagram represents a defense area, a point C is a core point of the defense area, and an arrow represents the flight direction of the black-flying drone.

The unmanned aerial vehicle takes off at any point outside the defense area range as the point A (the point A is the position of a flying hand), the core point of the defense area is the point C, the unmanned aerial vehicle flies to the point B at any point in the defense area after taking off, the unmanned aerial vehicle can fly to the point C at the core of the defense area after reaching the point B, and the point D is the point passing through any point.

The unmanned aerial vehicle management and control platform subsystem discovers that the unmanned aerial vehicle flies and monitors to the C point direction through the TDOA radio detection subsystem at the B point position, discover the unmanned aerial vehicle at the B point promptly, when the unmanned aerial vehicle flies to the D point position towards defence area core point C, open radio interference subsystem transmission interfering signal, drive away from unmanned aerial vehicle, unmanned aerial vehicle then sails backward to the A point direction from the D point, in figure 3, the straight line direction that unmanned aerial vehicle was followed along DA line segment place promptly flies and sails backward, can monitor this orbit of sailing backward in unmanned aerial vehicle management and control platform subsystem, unmanned aerial vehicle is the first reference course data of surveying unmanned aerial vehicle flight hand (remote controller) position at the D point to the orbit of sailing backward of A point direction.

Set as E point by D point to the arbitrary point of A point return journey direction at unmanned aerial vehicle, the unmanned aerial vehicle who closes the radio interference subsystem at E point drives away, open the satellite navigation of radio interference subsystem and lure the cheating device and carry out the luring, set for the arbitrary tangential one point of E point and be F point, F point can be a position of preset, intervene unmanned aerial vehicle to F point, close satellite navigation and lure the unmanned aerial vehicle to open again and drive away, cut off unmanned aerial vehicle and flying hand (remote controller) communication, unmanned aerial vehicle drives to A point, F point to A point direction return journey track is second reference course data.

The unmanned aerial vehicle control platform subsystem calculates an intersection point of extension lines of the two routes through the collected first reference route data and second reference route data, wherein the intersection point is the position of the flyer, and theoretically, the intersection point is the point A.

And after the flying hand position is obtained, setting any point in the return direction of the unmanned aerial vehicle from the point F to the point A as a point G, closing the unmanned aerial vehicle to drive away, starting the satellite navigation trapping device to trap, and interfering the unmanned aerial vehicle to a preset landing position to land safely.

The embodiment provided by the invention aims at the problems of detection blind areas and the like of the existing unmanned aerial vehicle reverse system and the problem of locating a flyer outside a defense area coverage range, and provides a flyer locating system and a method of a black-flying unmanned aerial vehicle, wherein the method expands the coverage area by using a TDOA radio detection subsystem consisting of a plurality of radio detectors, analyzes detected downlink communication signals of the unmanned aerial vehicle in real time, can accurately calculate the real-time position, distance, height and flight track of the unmanned aerial vehicle and guide a radio directional jammer in the radio interference subsystem to realize accurate striking of the unmanned aerial vehicle, reduces the interference to the surrounding electromagnetic environment, and is green and environment-friendly; satellite navigation lures and cheats the device and can force unmanned aerial vehicle to guide the spacious region of predetermineeing good safety and descend, reduces the potential safety hazard that unmanned aerial vehicle brought under uncontrolled condition, and unmanned aerial vehicle management and control platform subsystem passes through the data that radio interference subsystem and TDOA radio detection subsystem acquireed, can calculate the position of unmanned aerial vehicle remote controller in unmanned aerial vehicle management and control platform subsystem, flies hand position promptly.

The method for capturing the unmanned aerial vehicle flyer in the defense blind area or outside the defense area is realized by matching the TDOA radio detection subsystem with the radio interference subsystem, is convenient and fast to operate compared with the traditional capturing method, is simple to implement, reduces the waste of human resources, accurately controls the track of the unmanned aerial vehicle by adopting the TDOA radio detection technology, provides data for deducing the position of the flyer, and solves the problem of capturing the black unmanned aerial vehicle flyer.

The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present application should be covered within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.