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CN106788874B - A kind of invasion of unmanned plane and tracking interference system and method - Google Patents

A kind of invasion of unmanned plane and tracking interference system and method Download PDF

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Publication number
CN106788874B
CN106788874B CN201710042188.XA CN201710042188A CN106788874B CN 106788874 B CN106788874 B CN 106788874B CN 201710042188 A CN201710042188 A CN 201710042188A CN 106788874 B CN106788874 B CN 106788874B
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China
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interference
unmanned plane
tracking
equipment unit
uav
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CN106788874A (en
Inventor
陈积明
梁超
史治国
程鹏
何倩雯
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Zhejiang University ZJU
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Zhejiang University ZJU
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04K—SECRET COMMUNICATION; JAMMING OF COMMUNICATION
    • H04K3/00—Jamming of communication; Counter-measures
    • H04K3/80—Jamming or countermeasure characterized by its function
    • H04K3/82—Jamming or countermeasure characterized by its function related to preventing surveillance, interception or detection
    • H04K3/825—Jamming or countermeasure characterized by its function related to preventing surveillance, interception or detection by jamming
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04K—SECRET COMMUNICATION; JAMMING OF COMMUNICATION
    • H04K3/00—Jamming of communication; Counter-measures
    • H04K3/80—Jamming or countermeasure characterized by its function
    • H04K3/82—Jamming or countermeasure characterized by its function related to preventing surveillance, interception or detection
    • H04K3/822—Jamming or countermeasure characterized by its function related to preventing surveillance, interception or detection by detecting the presence of a surveillance, interception or detection
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04K—SECRET COMMUNICATION; JAMMING OF COMMUNICATION
    • H04K3/00—Jamming of communication; Counter-measures
    • H04K3/80—Jamming or countermeasure characterized by its function
    • H04K3/90—Jamming or countermeasure characterized by its function related to allowing or preventing navigation or positioning, e.g. GPS
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

It include wireless invasive unit, tracking equipment unit and jamming equipment unit the invention discloses a kind of invasion of unmanned plane and tracking interference system and method, system.Wireless invasive unit set radio acquisition techniques obtain movement and the location information of unmanned plane, tracking equipment unit is directed toward unmanned plane according to the unmanned plane location information control directional aerial intercepted in real time, and jamming equipment unit generates interference signal and sent by the directional aerial of tracking equipment unit to realize to unmanned plane instruction, navigation and the interference of figure communication number.The present invention is on the basis of unmanned plane signal interference equipment, increase radio acquisition techniques to obtain movement and the location information of unmanned plane, and tracking equipment real-time tracking unmanned plane is passed through using directional aerial, interference is guided simultaneously, reduce influence of the signal interference to ambient electronics, the efficiency and efficiency of interference are improved, unmanned plane defensive missions are accurately and efficiently completed, reducing defence cost and subsidiary air interference influences.

Description

A kind of invasion of unmanned plane and tracking interference system and method
Technical field
The present invention relates to unmanned plane defense technique field, the invasion of especially a kind of unmanned plane and tracking interference system and side Method.
Background technique
Unmanned plane is widely used, at low cost, and efficiency-cost ratio is good, and risk that no one was injured, survival ability is strong, and mobility is good, It is easy to use, there is extremely important application value in modern war and civil field.But unmanned plane has many advantages, such as same When there is also a large amount of problems, more prevalent with unmanned plane, people can not have to complicated training can be with relatively low Price buy and operate a unmanned plane and take photo by plane and even carry dangerous goods, thus bring privacy and safety problem Cause the extensive concern of people.The quantity of unmanned plane is all doubled and redoubled every year, it is meant that by its bring risk and harm It is being doubled and redoubled, within the scope of unmanned plane during flying, is capturing personal images or transmission video without permission, all can is being life and society It can cause safely to perplex.Therefore, for sensitive area, being monitored with technological means and expelling unmanned plane just is particularly important.
Currently, the mode that signal interference is generallyd use in unmanned plane system of defense is on the defensive to unmanned plane, and current nothing The working frequency range of man-machine jamming equipment, which is substantially all, is fixed on 1.5GHz, 2.4GHz or 5.8GHz or so, and alignment is general The open working frequency of consumer level unmanned plane, and these open working frequencies are not only that unmanned plane is using, there are also it is many its There are also wifi signals also all to work in above-mentioned described disclosure for his equipment such as automobile Shangdi navigation device and Mobile Telephone Gps Inside frequency range, and jamming equipment sends the antenna of interference signal if omnidirectional antenna, will be to periphery having electronic communication System such as automobile, mobile phone, wifi etc. generate larger interference.So orientation can be passed through by designing a kind of antenna tracking holder The mode of antenna tracks to unmanned plane and sends interference signal, to reduce signal interference bring added influence.
In addition, a complete unmanned plane system of defense should also have to unmanned plane other than it can interfere with unmanned plane Carry out detecting positioning, generally use at present the modes such as video detection, audio detection, radio detection to unmanned plane scouted with And positioning, and these reconnaissance equipments are at high cost, low efficiency, are difficult effectively to carry out accurate tracking and positioning to unmanned plane at present, Also face that many technical bottlenecks are urgently to be resolved, so if can by the way of wirelessly permeating to the communication data packet of unmanned plane into Row is intercepted and captured and the movement for therefrom obtaining unmanned plane and location information are just at a kind of means for efficiently detecting unmanned plane position, together When can also greatly reduce detecting unmanned plane cost.
Summary of the invention
The technical problem to be solved in the present invention are as follows: on the basis of existing unmanned plane signal interference equipment, increase nothing Line electricity acquisition techniques obtain movement and the location information of unmanned plane, are realized in a manner of a kind of high efficiency, low cost and are detectd to unmanned plane Position is measured, and sends directional jamming signal to UAV targets in the way of directional aerial tracking unmanned plane, is guaranteed dry Disturbing during unmanned plane works normally and capture unmanned plane reduces added influence brought by signal interference.
In order to solve the above-mentioned technical problem technical solution that the present invention proposes is as follows: the invasion and tracking of a kind of unmanned plane are dry System is disturbed, which includes invasion unit, tracking equipment unit, jamming equipment unit.
Wireless invasive unit is intercepted and captured and is parsed data packet by the communications band of monitoring unmanned plane and earth station, obtained The movement and position data of unmanned plane are taken, and the position data of unmanned plane is sent to tracking equipment unit；
Tracking equipment unit is connected by TELEM1 interface with wireless invasive unit, and tracking equipment unit is according to invasion The unmanned plane location information that unit sends over, the directional aerial controlled on tracking equipment unit are done within the scope of 360 degree Within the scope of horizontal deflection and 180 degree pitching deflection to guarantee directional aerial can with the aerial any position of real-time tracking nobody Machine target；
Jamming equipment unit includes that can send instruction interference signal to UAV targets respectively, scheme to pass interference signal and navigation The instruction interference module of interference signal, figure pass interference module and navigation interference module；Jamming equipment unit by SMA connecting line with The directional aerial of tracking equipment unit is connected, and the interference signal that jamming equipment unit generates passes through the orientation day of tracking equipment unit Line is sent, to realize the signal interference to UAV targets.
Further, the wireless invasive equipment by one customize wireless data sending constitute, come complete to target nobody The intercepting and capturing of machine location information；The wireless data sending of customization is firmware source code on the basis of common wireless data sending to wireless data sending It modifies, so that the wireless data sending of customization is first parsed when receiving the MavLink protocol data packet that unmanned plane sends over Network ID number in data packet out, then compared with the network ID number of the wireless data sending of customization itself, if network ID number is consistent, The wireless data sending then customized can directly establish connection with unmanned plane and receive the data packet that unmanned plane sends over, if net Network ID number is inconsistent, then the wireless data sending customized cannot establish connection with unmanned plane, and the wireless data sending customized at this time can be by itself Network ID number be automatically set to consistent with the network ID number in data packet, the wireless data sending at this moment customized can be built with unmanned plane It is vertical to connect and receive the data packet that unmanned plane sends over, due to containing the states such as unmanned plane movement and position in data packet Information, therefore the location information of unmanned plane can be intercepted and captured using the wireless data sending of customization, the wireless data sending finally customized can will be intercepted and captured Unmanned Aerial Vehicle Data packet be sent to the tracking equipment unit being attached thereto.Using the wireless data sending of customization as wirelessly entering in the present invention Unit is invaded to intercept and capture the location information of unmanned plane, the tracking equipment unit being connected with wireless invasive unit can obtain To the position data of unmanned plane.
Further, the tracking equipment unit includes a holder, two steering engines, a GPS, magnetometer, one Directional aerial, a controller；Main body of the holder as tracking equipment unit, all equipment are all placed in the specific of holder Region includes horizontal rotating shaft and vertical rotation axis on holder, and one 360 degree of steering engine, which is mounted on, to be responsible for controlling holder on horizontal rotating shaft Horizontal deflection, horizontal deflection range are 360 degree, and it is vertical that the steering engine of a 180 degree is mounted on vertical rotation axis responsible control holder Deflection, vertical deflection range are 180 degrees, and two steering engines are connected with controller respectively by Du Pont's line.Controller is installed on rack Vertical rotation axis on, GPS and magnetometer are mounted on the both ends of vertical rotation axis, and GPS passes through the GPS interface phase of Du Pont's line and controller It is used in conjunction in the location information of measurement tracking equipment unit itself, magnetometer is mutually used in conjunction by Du Pont's line and the I2C interface of controller Angle measurement is carried out in tracking equipment unit.Controller in above-mentioned wireless invasive unit and tracking equipment unit TELEM1 interface be connected, controller by receive wireless invasive equipment be transmitted through come unmanned plane location information, while controller lead to Connected GPS and magnetometer are crossed to obtain the location information of tracking equipment unit itself and the deflection angle of holder, controller The location information of unmanned plane and position and the angle information of tracking equipment unit itself are analyzed, two-way PWM wave is exported respectively and arrives Two steering engines on holder control the rotational angle of steering engine and determine to drive to be installed on holder using the variation of duty ratio The deflection on both horizontally and vertically is done to antenna, so that directional aerial is directed toward the direction of UAV targets, directional aerial in real time Holder can be followed to do the pitching deflection within the scope of horizontal deflection and 180 degree within the scope of 360 degree to guarantee that directional aerial can To track the unmanned plane target of aerial any position.
Further, the jamming equipment unit includes that switch, jamming signal type generator, frequency converter, power is selected to put Big device.Jamming signal type generator includes digital frequency synthesizer, voltage controlled oscillator and noise source, and jamming signal type generator receives choosing The interference control signal that switch is sent is selected, digital command and noise source signal of the voltage controlled oscillator based on controller generate interference The problems such as signal of required frequency, but exist and set that frequency precision is not high, the frequency poor repeatability generated under same instruction.Using number Frequency synthesizer can produce the accurate signal of frequency.Above-mentioned noise FM signal is received with digital frequency synthesizer, with its own The radiofrequency signal of generation is mixed, to generate broadband swept-frequency signal or comb spectrum interference signal；Jamming signal type generator produces Raw interference signal is exported to the different power amplifier of multiple working frequency range through frequency converter and is amplified, and interference signal is by each It is exported after power amplifier amplification by the directional antenna radiation of tracking equipment unit, to reach jamming target unmanned plane letter Number effect.
For the working frequency range of above-mentioned each power amplifier within the scope of 0.1GHz-6GHz, each power amplifier is all made of solid-state Continuous wave power amplifier.Three power amplifiers are such as set, and working frequency range is respectively 1.5GHz, 2.4GHz and 5.8GHz, can Working frequency range is often used to cover the unmanned plane of working frequency range and 2.4G and 5.8G where GPS/GLNOSS/BD.Variant frequency After the power amplifier of section amplifies Navigation of Pilotless Aircraft, instruction and image interference signal, pass through the antenna of corresponding band It is radiated.200W solid-state continuous wave power amplifier can be used in solid-state continuous wave power amplifier.
The invasion of unmanned plane based on above system and tracking interference method, comprising the following steps:
Step 1 monitors the communication frequency of unmanned plane and earth station by the wireless data sending customized in wireless invasive unit Section, receives unmanned plane and is sent to after the Mavlink data packet of earth station, first parse the network ID number in data packet, so Afterwards compared with the network ID number of the wireless data sending of customization itself, if network ID number is consistent, the wireless data sending customized can be straight It connects and establishes connection with unmanned plane and receive the data packet that unmanned plane sends over, it is fixed at this time if network ID number is inconsistent The wireless data sending of system cannot establish connection with unmanned plane, and the network ID number of itself can be arranged automatically for the wireless data sending then customized At consistent with the network ID number in data packet, the wireless data sending then customized can establish connection with unmanned plane and receive nobody The Unmanned Aerial Vehicle Data packet received is sent to the control of tracking equipment unit by the data packet that machine sends over, the wireless data sending of customization Device processed；
Step 2, the controller of tracking equipment unit obtain the location information of unmanned plane in data packet, and by with control The connected GPS of device measures the location information of tracking equipment unit itself, while the magnetometer being connected with controller is used to measure The deflection angle of holder in tracking equipment unit, controller analyze the location information of unmanned plane and the position of tracking equipment unit itself Confidence breath and angle information, the PWM wave for exporting particular duty cycle are instructed to the steering engine on holder, control steering engine horizontal, vertical Specific angle is rotated respectively in straight both direction, to drive the directional aerial on holder to rotate, so that directional aerial is real-time It is directed toward the orientation of UAV targets.
Step 3, jamming equipment unit select different signal interference modules to generate respectively using selection switch as needed Corresponding unmanned plane interference signal, comprising: the unmanned plane that instruction interference module generates instructs interference signal；Figure passes interference module and produces Raw unmanned plane figure passes interference signal；The Navigation of Pilotless Aircraft interference signal that interference module of navigating generates.Jamming equipment unit can be with Select above-mentioned one or more signals and by the directional antenna radiation of tracking cell send to realize to target nobody The interference of machine.
The present invention is based on unmanned plane signal interference equipment, the difficult point for detecting and arresting for current unmanned plane uses radio Acquisition techniques obtain movement and the location information of unmanned plane, and are interfered using the directional aerial of tracking to unmanned plane directive sending Signal, interference unmanned plane is worked normally and is reduced and adds brought by signal interference while realizing detection defence unmanned plane It influences.
Technical concept of the invention are as follows: in order to realize unmanned plane invasion with radio technology, over the ground by invasion unmanned plane Communication network intercepts and captures the data packet of unmanned plane.For invasion unmanned plane communication network over the ground, by the firmware code of wireless data sending into Row modification enables the wireless data sending for invading unit to modify own net ID according to the network ID number of intercepting and capturing, to receive Unmanned plane number passes the data packet sent.To realize that unmanned plane directive sending interference signal, reducing interference signal bring adds It influences, devises antenna tracking equipment, the sending direction of interference signal is adjusted according to unmanned plane position, unmanned plane is done in realization It disturbs.
The invention has the benefit that increasing radio the present invention is based on existing unmanned plane signal interference equipment and cutting Movement and location information that technology obtains unmanned plane are obtained, realizes that the detecting to unmanned plane is fixed in a manner of a kind of high efficiency, low cost Position, and directional jamming signal is sent to UAV targets in the way of directional aerial tracking unmanned plane, guarantee in interference nothing Added influence brought by signal interference is reduced during man-machine normal work and capture unmanned plane.Specifically have following excellent Point:
1. the present invention enables the wireless data sending of the customization as unmanned plane by improving the firmware code of wireless data sending Wireless invasive equipment, this invasion unit can be according to network ID number modification invasion equipment itself in the data packet of intercepting and capturing Network ID, and then establish connection with UAV targets and receive the number on unmanned plane and pass the data packet sent, by data packet Include moves with status informations such as positions the detecting positioning realized to unmanned plane about unmanned plane, is that one kind is efficiently detected The method of unmanned plane position, while can also substantially reduce the cost of detecting unmanned plane.
2. the antenna tracking system that the present invention designs sends interference signal to unmanned plane by way of directional aerial, can Effectively solves the problems, such as to interfere caused by directional aerial disturbance range is fixed low success rate of, while being also avoided to improve to interfere Success rate and use the big problem of interference effect range caused by omnidirectional antenna.Antenna tracking system designed by the present invention exists It improves while unmanned plane interference intercepts success rate and has been greatly reduced added influence brought by signal interference.
Detailed description of the invention
Fig. 1 show system structure diagram；
Fig. 2 show invasion device structure schematic diagram；
Fig. 3 show tracking equipment structural schematic diagram；
Fig. 4 show jamming equipment structural schematic diagram；
Fig. 5 show method flow schematic diagram.
Specific embodiment
Below in conjunction with the drawings and specific embodiments, the invention will be further described.
With reference to Fig. 1, unmanned plane invasion and tracking interference system of the invention, including invasion unit, tracking equipment list Member, jamming equipment unit:
Wireless invasive unit is intercepted and captured and is parsed data packet by the communications band of monitoring unmanned plane and earth station, obtained The movement and position data of unmanned plane are taken, and the position data of unmanned plane is sent to tracking equipment unit；
Tracking equipment unit is connected by TELEM1 interface with wireless invasive unit, and tracking equipment unit is according to invasion The unmanned plane location information that unit sends over, the directional aerial controlled on tracking equipment unit are done within the scope of 360 degree Within the scope of horizontal deflection and 180 degree pitching deflection to guarantee directional aerial can with the aerial any position of real-time tracking nobody Machine target；
Jamming equipment unit includes that can send instruction interference signal to UAV targets respectively, scheme to pass interference signal and navigation The instruction interference module of interference signal, figure pass interference module and navigation interference module；Jamming equipment unit by SMA connecting line with The directional aerial of tracking equipment unit is connected, and the interference signal that jamming equipment unit generates passes through the orientation day of tracking equipment unit Line is sent, to realize the signal interference to UAV targets.
Embodiment
With reference to Fig. 2, the 433MHz (or 915MHz, 2.4GHz) that wireless invasive equipment of the invention is customized by one is without line number It passes and constitutes, to complete the intercepting and capturing to UAV targets' location information；Common 433MHz (or 915MHz, 2.4GHz) wireless data sending It is wirelessly connected and is communicated with earth station for unmanned plane, unmanned plane and earth station are respectively equipped with a common wireless data sending And guarantee that unmanned plane and earth station are wirelessly connected by being arranged to identical network ID number, and pass through Mavlink agreement It carries out wireless communication.Customizing wireless data sending is to repair on the basis of common wireless data sending to the firmware source code of wireless data sending Change, so that customization wireless data sending first parses data packet when receiving the MavLink protocol data packet that unmanned plane sends over In network ID number, if network ID number is consistent, customized then compared with the network ID number of the wireless data sending of customization itself Wireless data sending can directly establish connection with unmanned plane and receive the data packet that unmanned plane sends over, if network ID number is not Unanimously, then the wireless data sending customized cannot establish connection with unmanned plane, and customizing wireless data sending at this time can be by the network ID number of itself Be automatically set to it is consistent with the network ID number in data packet, the wireless data sending at this moment customized can be established with unmanned plane connection and The data packet that unmanned plane sends over is received, due to containing the status informations such as unmanned plane movement and position in data packet, therefore is made The location information that unmanned plane can be intercepted and captured with the wireless data sending of customization, the wireless data sending finally customized can be by the unmanned plane numbers of intercepting and capturing The tracking equipment unit being attached thereto is sent to according to packet.Using the wireless data sending of customization as wireless invasive unit in the present invention The location information of unmanned plane is intercepted and captured, the tracking equipment unit being connected with wireless invasive unit can get unmanned plane Position data.
With reference to Fig. 3, tracking equipment unit of the present invention includes a holder, two steering engines, a GPS, magnetometer, one it is fixed To antenna, a controller；Main body of the holder as tracking equipment unit, all equipment are all placed in the given zone of holder Domain includes horizontal rotating shaft and vertical rotation axis on holder, and one 360 degree of steering engine, which is mounted on, to be responsible for controlling holder water on horizontal rotating shaft Flat deflection, horizontal deflection range is 360 degree, and it is vertically inclined that the steering engine of a 180 degree is mounted on vertical rotation axis responsible control holder Turn, vertical deflection range is 180 degree, and two steering engines are connected with controller respectively by Du Pont's line.Controller is installed on rack On vertical rotation axis, GPS and magnetometer are mounted on the both ends of vertical rotation axis, and GPS is connected by Du Pont's line with the GPS interface of controller For measuring the location information of tracking equipment unit itself, magnetometer, which is connected by Du Pont's line with the I2C interface of controller, to be used for Tracking equipment unit carries out angle measurement.The TELEM1 of controller in the wireless invasive unit and tracking equipment unit of Fig. 2 Interface is connected, and controller is transmitted through the unmanned plane location information come by receiving wireless invasive equipment, at the same controller pass through it is connected GPS and magnetometer obtain the location information of tracking equipment unit itself and the deflection angle of holder, controller analyzes nothing The position of man-machine location information and tracking equipment unit itself and angle information export in two-way PWM wave to holder respectively Two steering engines control the rotational angle of steering engine to drive the directional aerial being installed on holder using the variation of duty ratio The deflection on both horizontally and vertically is done, so that directional aerial is directed toward the direction of UAV targets in real time, directional aerial can be with The pitching deflection within the scope of horizontal deflection and 180 degree within the scope of 360 degree is done with holder to guarantee that directional aerial can track The unmanned plane target of aerial any position.
With reference to Fig. 4, in the present invention, the jamming equipment unit includes selection switch, jamming signal type generator, frequency conversion Device, power amplifier.Jamming signal type generator includes digital frequency synthesizer, voltage controlled oscillator and noise source, and jamming signal type produces Raw device receives the interference that selection switch is sent and controls signal, and voltage controlled oscillator is based on interference control signal and noise source signal, produces The noisy modulated signal of raw nominated bandwidth, but exist and set that frequency precision is not high, frequency poor repeatability generated under same instruction etc. is asked Topic.The accurate signal of frequency can produce using digital frequency synthesizer.Above-mentioned noise FM letter is received with digital frequency synthesizer Number, it is mixed with its own radiofrequency signal generated, to generate broadband swept-frequency signal or comb spectrum interference signal；Interfere sample The interference signal that formula generator generates, which is exported through frequency converter to the different power amplifier of multiple working frequency range, to be amplified, and is interfered Signal is exported after the amplification of each power amplifier by the directional antenna radiation of tracking equipment unit, to reach interference mesh Mark the effect of unmanned plane signal.
Within the scope of 0.1GHz-6GHz, each power amplifier is respectively adopted solid the working frequency range of above-mentioned each power amplifier State continuous wave power amplifier.Three power amplifiers are such as set, working frequency range is respectively 1.5GHz, 2.4GHz and 5.8GHz, The unmanned plane that working frequency range and 2.4G and 5.8G where GPS/GLNOSS/BD can be covered often uses working frequency range.It is variant After the power amplifier of frequency range amplifies Navigation of Pilotless Aircraft, instruction and image interference signal, pass through the day of corresponding band Line is radiated.200W solid-state continuous wave power amplifier can be used in solid-state continuous wave power amplifier.
With reference to Fig. 5, the invasion and tracking interference of the unmanned plane of invasion and tracking interference system based on above-mentioned unmanned plane Method, comprising the following steps:
Step 1 monitors the communication frequency of unmanned plane and earth station by the wireless data sending customized in wireless invasive unit Section, receives unmanned plane and is sent to after the Mavlink data packet of earth station, first parse the network ID number in data packet, so Afterwards compared with the network ID number of the wireless data sending of customization itself, if network ID number is consistent, the wireless data sending customized can be straight It connects and establishes connection with unmanned plane and receive the data packet that unmanned plane sends over, it is fixed at this time if network ID number is inconsistent The wireless data sending of system cannot establish connection with unmanned plane, and the network ID number of itself can be arranged automatically for the wireless data sending then customized At consistent with the network ID number in data packet, the wireless data sending then customized can establish connection with unmanned plane and receive nobody The Unmanned Aerial Vehicle Data packet received is sent to the control of tracking equipment unit by the data packet that machine sends over, the wireless data sending of customization Device processed；
Step 2, the controller of tracking equipment unit obtain the location information of unmanned plane in data packet, and by with control The connected GPS of device measures the location information of tracking equipment unit itself, while the magnetometer being connected with controller is used to measure The deflection angle of holder in tracking equipment unit, controller analyze the location information of unmanned plane and the position of tracking equipment unit itself Confidence breath and angle information, the PWM wave for exporting particular duty cycle are instructed to the steering engine on holder, control steering engine horizontal, vertical Specific angle is rotated respectively in straight both direction, to drive the directional aerial on holder to rotate, so that directional aerial is real-time It is directed toward the orientation of UAV targets.
Step 3, jamming equipment unit select different signal interference modules to generate respectively using selection switch as needed Corresponding unmanned plane interference signal, comprising: the unmanned plane that instruction interference module generates instructs interference signal；Figure passes interference module and produces Raw unmanned plane figure passes interference signal；The Navigation of Pilotless Aircraft interference signal that interference module of navigating generates.Jamming equipment unit can be with Select above-mentioned one or more signals and by the directional antenna radiation of tracking cell send to realize to target nobody The interference of machine.

Claims (4)

1.一种无人机的入侵和跟踪干扰系统，其特征是，包括无线入侵设备单元、跟踪设备单元和干扰设备单元；1. a kind of invasion of unmanned aerial vehicle and tracking interference system, it is characterized in that, comprise wireless intrusion equipment unit, tracking equipment unit and interference equipment unit; 无线入侵设备单元通过监听无人机与地面站的通信频段，截获并解析数据包，获取无人机的运动和位置数据，并将无人机的位置数据发送给跟踪设备单元；无线入侵设备单元由一个定制的无线数传模块构成，来完成对无人机的位置信息的截获；定制的无线数传模块是在普通的无线数传模块基础上对无线数传的固件源代码进行修改，使得定制的无线数传模块在接收到无人机发送过来的MavLink协议数据包时，先解析出数据包中的网络ID号，然后与定制的无线数传模块本身的网络ID号比较，如果网络ID号一致，则定制的无线数传模块就能直接与无人机建立连接并且接收无人机发送过来的数据包，如果网络ID号不一致，则定制的无线数传模块不能与无人机建立连接，此时定制的无线数传模块将自身的网络ID号自动设置成和数据包中的网络ID号一致，这时定制的无线数传模块就能与无人机建立连接并且接收无人机发送过来的数据包，由于数据包中含有无人机运动以及位置等状态信息，故使用定制的无线数传模块就能截获无人机的位置信息，最后定制的无线数传模块将接收到的数据包发送给与之相连的跟踪设备单元；The wireless intrusion device unit intercepts and parses the data packets by monitoring the communication frequency band between the drone and the ground station, obtains the movement and position data of the drone, and sends the position data of the drone to the tracking device unit; the wireless intrusion device unit It is composed of a customized wireless data transmission module to complete the interception of the location information of the UAV; the customized wireless data transmission module modifies the firmware source code of the wireless data transmission on the basis of the ordinary wireless data transmission module, so that the When the customized wireless data transmission module receives the MavLink protocol data packet sent by the drone, it first parses out the network ID number in the data packet, and then compares it with the network ID number of the customized wireless data transmission module itself. If the network ID numbers are the same, the customized wireless data transmission module can directly establish a connection with the UAV and receive the data packets sent by the UAV. If the network ID number is inconsistent, the customized wireless data transmission module cannot establish a connection with the UAV. At this time, the customized wireless data transmission module will automatically set its own network ID number to be consistent with the network ID number in the data packet. At this time, the customized wireless data transmission module can establish a connection with the drone and receive the transmission from the drone. The incoming data packet, because the data packet contains the status information such as the movement and position of the drone, the customized wireless data transmission module can be used to intercept the position information of the drone, and finally the customized wireless data transmission module will receive the data. The packet is sent to the tracking equipment unit connected to it; 跟踪设备单元根据无线入侵设备单元发送过来的无人机的位置信息，控制跟踪设备单元上的定向天线做360度范围内的水平偏转和180度范围内的俯仰偏转从而保证定向天线可以实时跟踪空中任意位置的无人机目标；The tracking equipment unit controls the directional antenna on the tracking equipment unit to perform horizontal deflection within 360 degrees and pitch deflection within 180 degrees according to the position information of the UAV sent by the wireless intrusion equipment unit, so as to ensure that the directional antenna can track the air in real time. UAV targets at any location; 干扰设备单元包括分别可向无人机发送指令干扰信号、图传干扰信号和导航干扰信号的指令干扰模块、图传干扰模块和导航干扰模块，以及选择开关；干扰设备单元与跟踪设备单元的定向天线相连，干扰设备单元产生的干扰信号通过跟踪设备单元的定向天线发送出去，从而实现对无人机的信号干扰。The jamming equipment unit includes an instruction jamming module, an image transmission jamming module and a navigation jamming module that can respectively send command jamming signals, image transmission jamming signals and navigation jamming signals to the UAV, as well as a selection switch; the orientation of the jamming device unit and the tracking device unit The antennas are connected, and the interference signal generated by the interference equipment unit is sent out through the directional antenna of the tracking equipment unit, so as to achieve signal interference to the UAV. 2.根据权利要求1所述的无人机的入侵和跟踪干扰系统，其特征是，所述定制的无线数传模块工作在433MHz或915MHz或2.4GHz频段。2 . The UAV intrusion and tracking jamming system according to claim 1 , wherein the customized wireless data transmission module operates in a frequency band of 433MHz or 915MHz or 2.4GHz. 3 . 3.根据权利要求1所述的无人机的入侵和跟踪干扰系统，其特征是，跟踪设备单元包括云台、两个舵机、GPS、地磁仪、定向天线和控制器；云台作为跟踪设备单元的主体，所有的设备都被安置在云台的特定区域，云台上包括水平转轴和垂直转轴，一个360度的舵机安装在水平转轴上负责控制云台水平偏转，水平偏转范围是360度，一个180度的舵机安装在垂直转轴上负责控制云台垂直偏转，垂直偏转范围是180度，两个舵机分别与控制器相连；控制器安装于云台的垂直转轴上，GPS和地磁仪安装在垂直转轴的两端，GPS与控制器的GPS接口相连用于测量跟踪设备单元自身的位置信息，地磁仪与控制器的I2C接口相连用于跟踪设备单元进行角度测量；无线入侵设备单元与控制器相连，控制器通过接收无线入侵设备传过来的数据包来获得无人机的位置信息，同时控制器通过相连的GPS和地磁仪来获取跟踪设备单元自身的位置信息以及云台的偏转角度，控制器分析无人机的位置信息和跟踪设备单元自身的位置以及云台的偏转角度信息，分别输出两路PWM波到云台上的两个舵机，利用占空比的变化，控制舵机的转动角度从而带动安装于云台上的定向天线做水平和垂直方向上的偏转，使得定向天线实时指向无人机的方向，定向天线可以跟随云台做360度范围内的水平偏转和180度范围内的俯仰偏转从而保证定向天线可以跟踪空中任意位置的无人机目标。3. The intrusion of unmanned aerial vehicle according to claim 1 and the tracking interference system are characterized in that, the tracking equipment unit comprises a pan-tilt, two steering gears, GPS, a geomagnetic instrument, a directional antenna and a controller; the pan-tilt is used for tracking The main body of the equipment unit, all the equipment are placed in a specific area of the gimbal. The gimbal includes a horizontal axis and a vertical axis. A 360-degree steering gear is installed on the horizontal axis to control the horizontal deflection of the gimbal. The horizontal deflection range is 360 degrees, a 180-degree steering gear is installed on the vertical axis to control the vertical deflection of the gimbal. The vertical deflection range is 180 degrees. The two steering gears are respectively connected to the controller; the controller is installed on the vertical axis of the gimbal, and the GPS It is installed at both ends of the vertical shaft with the geomagnetic instrument. The GPS is connected to the GPS interface of the controller to measure the position information of the tracking device unit itself. The geomagnetic instrument is connected to the I2C interface of the controller to measure the angle of the tracking device unit; wireless intrusion The equipment unit is connected to the controller. The controller obtains the location information of the UAV by receiving the data packets from the wireless intrusion device. At the same time, the controller obtains the location information of the tracking equipment unit and the PTZ through the connected GPS and geomagnetic instrument. The controller analyzes the position information of the UAV and the position of the tracking equipment unit itself and the deflection angle information of the gimbal, and outputs two PWM waves to the two servos on the gimbal respectively, and uses the change of the duty cycle. , control the rotation angle of the steering gear to drive the directional antenna installed on the gimbal to deflect in the horizontal and vertical directions, so that the directional antenna points to the direction of the drone in real time, and the directional antenna can follow the gimbal to make a horizontal rotation within a 360-degree range. The yaw and pitch deflection within 180 degrees ensures that the directional antenna can track the UAV target at any position in the air. 4.一种基于权利要求1至3任一项所述系统的无人机的入侵和跟踪干扰方法，其特征是，包括以下步骤：4. a kind of intrusion and tracking interference method based on the unmanned aerial vehicle of any one of the described systems of claim 1 to 3, is characterized in that, comprises the following steps: 步骤一，通过无线入侵设备单元中定制的无线数传模块监听无人机与地面站的通信频段，接收到无人机发送到地面站的Mavlink数据包之后，先解析出数据包中的网络ID号，然后与定制的无线数传模块本身的网络ID号比较，如果网络ID号一致，则定制的无线数传模块就能直接与无人机建立连接并且接收无人机发送过来的数据包，如果网络ID号不一致，则此时定制的无线数传模块不能与无人机建立连接，于是定制的无线数传模块会将自身的网络ID号自动设置成和数据包中的网络ID号一致，然后定制的无线数传模块就能与无人机建立连接并且接收无人机发送过来的数据包，定制的无线数传模块将接收到的数据包发送给跟踪设备单元的控制器；Step 1: Monitor the communication frequency band between the drone and the ground station through the customized wireless data transmission module in the wireless intrusion device unit, and after receiving the Mavlink data packet sent by the drone to the ground station, first parse out the network ID in the data packet number, and then compare it with the network ID number of the customized wireless data transmission module itself. If the network ID number is the same, the customized wireless data transmission module can directly establish a connection with the drone and receive the data packets sent by the drone. If the network ID numbers are inconsistent, the customized wireless data transmission module cannot establish a connection with the drone at this time, so the customized wireless data transmission module will automatically set its own network ID number to be consistent with the network ID number in the data packet. Then the customized wireless data transmission module can establish a connection with the UAV and receive the data packets sent by the UAV, and the customized wireless data transmission module sends the received data packets to the controller of the tracking equipment unit; 步骤二，跟踪设备单元的控制器获得数据包中无人机的位置信息，并通过与控制器相连的GPS来测量跟踪设备单元自身的位置信息，同时与控制器相连的地磁仪用于测量跟踪设备单元中云台的偏转角度，控制器分析无人机的位置信息和跟踪设备单元自身的位置信息以及云台的偏转角度信息，分别输出两路PWM波到云台上的两个舵机，利用占空比的变化，控制两个舵机分别在水平、垂直两个方向上转动特定的角度，从而带动云台上的定向天线转动，使得定向天线实时指向无人机的方位；In step 2, the controller of the tracking equipment unit obtains the position information of the UAV in the data packet, and measures the position information of the tracking equipment unit itself through the GPS connected to the controller, and the geomagnetic instrument connected to the controller is used for measuring and tracking. The deflection angle of the gimbal in the equipment unit, the controller analyzes the position information of the UAV and tracks the position information of the equipment unit itself and the deflection angle information of the gimbal, and outputs two PWM waves to the two servos on the gimbal respectively. Using the change of the duty cycle, the two steering gears are controlled to rotate by a specific angle in the horizontal and vertical directions, thereby driving the directional antenna on the gimbal to rotate, so that the directional antenna points to the azimuth of the UAV in real time; 步骤三，干扰设备单元根据需要利用选择开关分别选择不同的信号干扰模块产生对应的无人机干扰信号，包括：指令干扰模块产生的无人机指令干扰信号；图传干扰模块产生的无人机图传干扰信号；导航干扰模块产生的无人机导航干扰信号；干扰设备单元可以选择上述一种或多种信号并通过跟踪设备单元的定向天线辐射发送出去从而实现对无人机的干扰。Step 3, the interference equipment unit uses the selection switch to select different signal interference modules to generate corresponding drone interference signals according to needs, including: the drone command interference signal generated by the command interference module; the drone generated by the image transmission interference module. Image transmission jamming signal; UAV navigation jamming signal generated by the navigation jamming module; The jamming equipment unit can select one or more of the above-mentioned signals and radiate them through the directional antenna of the tracking device unit to achieve interference to the UAV.
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