CN109547153B - Method and device for simultaneously controlling frequency spectrum detection and signal suppression of unmanned aerial vehicle - Google Patents
Method and device for simultaneously controlling frequency spectrum detection and signal suppression of unmanned aerial vehicle Download PDFInfo
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- CN109547153B CN109547153B CN201811510984.2A CN201811510984A CN109547153B CN 109547153 B CN109547153 B CN 109547153B CN 201811510984 A CN201811510984 A CN 201811510984A CN 109547153 B CN109547153 B CN 109547153B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04K—SECRET COMMUNICATION; JAMMING OF COMMUNICATION
- H04K3/00—Jamming of communication; Counter-measures
- H04K3/20—Countermeasures against jamming
- H04K3/22—Countermeasures against jamming including jamming detection and monitoring
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04K—SECRET COMMUNICATION; JAMMING OF COMMUNICATION
- H04K3/00—Jamming of communication; Counter-measures
- H04K3/40—Jamming having variable characteristics
- H04K3/45—Jamming having variable characteristics characterized by including monitoring of the target or target signal, e.g. in reactive jammers or follower jammers for example by means of an alternation of jamming phases and monitoring phases, called "look-through mode"
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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
- H04K3/90—Jamming or countermeasure characterized by its function related to allowing or preventing navigation or positioning, e.g. GPS
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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
- H04K3/92—Jamming or countermeasure characterized by its function related to allowing or preventing remote control
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Abstract
The invention discloses a method and a device for simultaneously controlling frequency spectrum detection and signal suppression of an unmanned aerial vehicle, wherein the method comprises the following steps: s1, performing unmanned aerial vehicle frequency spectrum detection, and when an unmanned aerial vehicle target is detected, executing a step S2; s2, controlling to alternately switch and execute the frequency spectrum detection of the unmanned aerial vehicle and suppress interference in different time slots according to a time division multiplexing mode, so that the frequency spectrum detection of the unmanned aerial vehicle and the suppression interference are executed in a time-staggered manner by dividing the time slots; the device comprises more than one unmanned aerial vehicle frequency spectrum detection device, more than one interference device and a control device. The invention has the advantages of simple realization, capability of realizing simultaneous work of frequency spectrum detection and signal suppression of the unmanned aerial vehicle without mutual influence, good detection and signal suppression performance and the like.
Description
Technical Field
The invention relates to the technical field of anti-unmanned aerial vehicle detection, interference and control, in particular to a method and a device for simultaneously controlling frequency spectrum detection and signal suppression of an unmanned aerial vehicle.
Background
The theory of operation that anti unmanned aerial vehicle interference unit implements suppression interference is the same with unmanned aerial vehicle working frequency channel, the higher radio wave of power, with the radio communication who covers between unmanned aerial vehicle and remote control, the satellite positioning signal that unmanned aerial vehicle received, the theory of operation of unmanned aerial vehicle frequency spectrum detection equipment is the radio communication who surveys between unmanned aerial vehicle and remote control, unmanned aerial vehicle frequency spectrum detection equipment and interference unit can mutual interference if simultaneous working promptly, when the interference unit during operation, the signal that produces can be received by frequency spectrum detection equipment, make unmanned aerial vehicle's signal can't be correctly analyzed, influence the unable real-time update unmanned aerial vehicle state of frequency spectrum detection subassembly.
In order to realize the spectrum detection of the unmanned aerial vehicle and the interference of the anti-unmanned aerial vehicle at the same time, the prior art generally combines the spectrum detection of the unmanned aerial vehicle and the interference of the anti-unmanned aerial vehicle, for example, the chinese patent application CN201710949168 discloses a system and a method for accurately controlling the interference of a full-band civil unmanned aerial vehicle flight control signal. But in the above-mentioned simple unmanned aerial vehicle frequency spectrum detection, anti-unmanned aerial vehicle interference ware carried out the scheme of making up, unmanned aerial vehicle frequency spectrum detection, anti-unmanned aerial vehicle interference can't simultaneous working, detect unmanned aerial vehicle and in case open the back of disturbing, interference signal is continuously sent, stops until disturbing, and need suspend the target detection flow during sending interference signal, frequency spectrum detection equipment is equivalent to the inefficacy, consequently can have following problem:
1) the position of the unmanned aerial vehicle can not be obtained in real time after the interference is started, and if the unmanned aerial vehicle is no longer in the effective wave beam range of the interference unit for some reasons, the system can cause the interference failure because the direction of the interference unit can not be adjusted;
2) after the interference is started, whether the unmanned aerial vehicle leaves a defense deployment area or not can not be judged, if the unmanned aerial vehicle is driven away successfully, the interference may need to be stopped immediately, but the system can not judge whether the unmanned aerial vehicle is driven away or not, so that the interference can not be stopped in time.
Therefore, it is highly desirable to provide a method for controlling spectrum detection and signal suppression of an unmanned aerial vehicle, so that the spectrum detection and the signal suppression of the unmanned aerial vehicle can be controlled to work simultaneously, and simultaneously, the spectrum detection of the unmanned aerial vehicle is not influenced by each other, and the influence of an interference device on the spectrum detection of the unmanned aerial vehicle during working is avoided.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: aiming at the technical problems in the prior art, the invention provides a method and a device which are simple to realize, can realize the simultaneous work of frequency spectrum detection and signal suppression of the unmanned aerial vehicle and are not influenced mutually, have good detection and signal suppression performance and simultaneously control the frequency spectrum detection and the signal suppression of the unmanned aerial vehicle.
In order to solve the technical problems, the technical scheme provided by the invention is as follows:
a method for simultaneously controlling spectrum detection and signal suppression of an unmanned aerial vehicle comprises the following steps:
s1, performing unmanned aerial vehicle frequency spectrum detection, and when an unmanned aerial vehicle target is detected, executing a step S2;
and S2, controlling to alternately switch and execute the frequency spectrum detection of the unmanned aerial vehicle and implement interference suppression at different time slots according to a time division multiplexing mode, so that the time staggered time of the time slots is divided into a plurality of time slots to execute the frequency spectrum detection of the unmanned aerial vehicle and implement interference suppression.
As a further improvement of the process of the invention: and when the step S2 is controlled in a time division multiplexing manner, alternately performing data acquisition of spectrum detection of the unmanned aerial vehicle and performing interference suppression, wherein when the data acquisition of the spectrum detection of the unmanned aerial vehicle is performed, the interference suppression is stopped, and when the interference suppression is performed, the data acquisition of the spectrum detection of the unmanned aerial vehicle is stopped.
As a further improvement of the process of the invention: and simultaneously executing the processing of the acquired spectrum detection data of the unmanned aerial vehicle in the time period for suppressing the interference.
As a further improvement of the process of the invention: the specific steps of step S2 include:
s21, signal acquisition of the unmanned aerial vehicle frequency spectrum detection is executed, and the suppression of interference is forbidden;
s22, controlling execution state switching, switching to implementation of interference suppression, and executing processing on the acquired unmanned aerial vehicle frequency spectrum detection data;
s23, controlling execution state switching, switching to execute signal acquisition of the unmanned aerial vehicle spectrum detection, and stopping implementing the interference suppression;
s24, circularly executing the steps S22-S23 until the control is exited.
As a further improvement of the process of the invention: the method comprises the steps of pre-configuring the total duration of each period, the data acquisition duration for executing the unmanned aerial vehicle frequency spectrum detection in each period, the duration for implementing interference suppression and the duration for executing state switching, constructing a working time sequence table of each period according to the configured durations, executing the unmanned aerial vehicle frequency spectrum detection and the implementation interference suppression in the working time sequence table in turn, and controlling each period to execute the unmanned aerial vehicle frequency spectrum detection and the implementation interference suppression according to the time sequence in the constructed working time sequence table in the step S2.
As a further improvement of the process of the invention: dividing the time length for executing the data acquisition of the unmanned aerial vehicle frequency spectrum detection and implementing the interference suppression in each period into a plurality of sub-time periods respectively, wherein each sub-time period for executing the data acquisition of the unmanned aerial vehicle frequency spectrum detection and each sub-time period for implementing the interference suppression in the working time sequence table are distributed in a staggered mode in sequence; and step S2, acquiring the current time, and determining the current working timing state according to the working timing table.
As a further improvement of the process of the invention: the method also comprises a step of carrying out clock synchronization on the unmanned aerial vehicle frequency spectrum detection device used for carrying out the unmanned aerial vehicle frequency spectrum detection and the interference device used for suppressing interference according to a specified time interval.
As a further improvement of the process of the invention: when suppressing interference in step S2, the method further includes obtaining a currently detected motion trajectory of the unmanned aerial vehicle, and determining whether to continue to perform interference according to the motion trajectory of the unmanned aerial vehicle, or adjusting an interference direction in real time according to the motion trajectory of the unmanned aerial vehicle, or switching an interference device for performing interference suppression according to the motion trajectory of the unmanned aerial vehicle.
The invention further provides a device for implementing the method for simultaneously controlling the spectrum detection and signal suppression of the unmanned aerial vehicle, which comprises the following steps:
more than one unmanned aerial vehicle frequency spectrum detection device is used for executing unmanned aerial vehicle frequency spectrum detection;
more than one interference device for suppressing interference;
the control equipment is respectively connected with the unmanned aerial vehicle frequency spectrum detection equipment and the interference equipment and is used for controlling the unmanned aerial vehicle frequency spectrum detection equipment to execute unmanned aerial vehicle frequency spectrum detection and start the interference equipment to implement suppression interference according to a time division multiplexing mode at different time slots when the unmanned aerial vehicle frequency spectrum detection equipment detects an unmanned aerial vehicle target so as to divide a plurality of time slots into staggered time to execute unmanned aerial vehicle frequency spectrum detection and implement suppression interference.
As a further improvement of the device of the invention: still include image acquisition equipment and/or supplementary unmanned aerial vehicle detection equipment.
Compared with the prior art, the invention has the advantages that:
1. according to the invention, after the unmanned aerial vehicle target is detected, the time division multiplexing mode is adopted to control the frequency spectrum detection of the unmanned aerial vehicle and implement interference suppression, the frequency spectrum detection of the unmanned aerial vehicle and the interference suppression are respectively executed in different time slots, the frequency spectrum detection of the unmanned aerial vehicle is not influenced by interference signals during the frequency spectrum detection of the unmanned aerial vehicle, and the frequency spectrum detection can also simultaneously work during the interference suppression, so that the frequency spectrum detection and the interference suppression of the unmanned aerial vehicle can simultaneously work, and are not influenced mutually, the detection data of the unmanned aerial vehicle can be simultaneously obtained during the interference suppression, and the frequency spectrum detection work of the unmanned aerial vehicle is not influenced during the interference implementation.
2. According to the invention, the acquired spectrum detection data of the unmanned aerial vehicle are processed simultaneously in the time period for suppressing the interference, so that the time period for performing the interference can be fully utilized to process the detection data, whether the unmanned aerial vehicle leaves or not can be judged simultaneously in the process of performing the interference, whether the interference needs to be performed continuously or not can be judged, the detected target of the unmanned aerial vehicle can be reported and the like, the direction of interference equipment can be adjusted or the interference equipment can be switched in real time conveniently, the interference effect on a moving target can be kept, and the problems that the position of the unmanned aerial vehicle can not be obtained in real time and whether the unmanned aerial vehicle leaves a defense area or not can not be judged in the traditional interference applying process can be effectively solved.
Drawings
Fig. 1 is a schematic flow chart of an implementation of the method for simultaneously controlling spectrum detection and signal suppression of an unmanned aerial vehicle according to the embodiment.
Fig. 2 is a schematic diagram of the operation timing of the tdm control in this embodiment.
Fig. 3 is a schematic structural diagram of an apparatus for implementing a method for simultaneously controlling spectrum detection and signal suppression of an unmanned aerial vehicle in this embodiment.
Detailed Description
The invention is further described below with reference to the drawings and specific preferred embodiments of the description, without thereby limiting the scope of protection of the invention.
As shown in fig. 1, the method for simultaneously controlling spectrum detection and signal suppression of the unmanned aerial vehicle in the embodiment includes the steps of:
s1, performing unmanned aerial vehicle frequency spectrum detection, and when an unmanned aerial vehicle target is detected, executing a step S2;
and S2, controlling to alternately switch and execute the frequency spectrum detection of the unmanned aerial vehicle and implement interference suppression at different time slots according to a time division multiplexing mode, so that the time staggered time of the time slots is divided into a plurality of time slots to execute the frequency spectrum detection of the unmanned aerial vehicle and implement interference suppression.
In the embodiment, after the unmanned aerial vehicle target is detected, the frequency spectrum detection of the unmanned aerial vehicle is controlled and interference suppression is implemented by adopting a time division multiplexing mode, namely, the time is divided into a plurality of time slots, the unmanned aerial vehicle frequency spectrum detection and the interference suppression are respectively executed in different time slots, because the frequency spectrum detection and interference suppression of the unmanned aerial vehicle are divided into a plurality of time slots which are alternately switched and executed at staggered time, the frequency spectrum detection of the unmanned aerial vehicle is not influenced by interference signals, and the frequency spectrum detection can work simultaneously in the process of interference implementation, compared with the traditional method of continuously sending interference signals, the frequency spectrum detection and interference suppression of the unmanned aerial vehicle can work simultaneously without influencing each other, the unmanned aerial vehicle detection data can be acquired simultaneously in the implemented interference process, and the problems that the position of the unmanned aerial vehicle cannot be acquired in real time and whether the unmanned aerial vehicle leaves a defense deployment area or not can not be judged when the traditional interference is implemented are effectively solved.
In this embodiment, when the control is performed in step S2 in a time division multiplexing manner, specifically, data acquisition for performing spectrum detection of the unmanned aerial vehicle is switched in turn, and interference suppression is performed, wherein when data acquisition for performing spectrum detection of the unmanned aerial vehicle is performed, interference suppression is stopped, and when interference suppression is performed, data acquisition for performing spectrum detection of the unmanned aerial vehicle is stopped, that is, specifically, in a data acquisition process of spectrum detection, an interferer is prohibited from performing interference, and interference is allowed only after acquisition is completed, so that working time for performing spectrum detection data acquisition of the unmanned aerial vehicle and interference suppression is staggered, and mutual influence is not caused.
In this embodiment, specifically, in the time period of suppressing interference, processing on the acquired spectrum detection data of the unmanned aerial vehicle is performed at the same time, and the time period of performing interference can be fully utilized to perform processing on the detection data, so that whether the unmanned aerial vehicle has left and report the detected target of the unmanned aerial vehicle can be judged at the same time in the process of performing interference. As shown in fig. 2, in the data acquisition process of spectrum detection in one period, the jammer is prohibited from performing interference, interference is allowed only after acquisition is completed, calculation of the data acquisition of spectrum detection is performed simultaneously in the process of allowing interference, next switching is performed, and acquisition and interference of spectrum detection are performed by switching in turn.
In this embodiment, the specific step of step S2 includes:
s21, signal acquisition of unmanned aerial vehicle frequency spectrum detection is executed, and interference suppression is forbidden;
s22, controlling execution state switching, switching to implementation of interference suppression, and executing processing on the acquired spectrum detection data of the unmanned aerial vehicle;
s23, controlling execution state switching, switching to signal acquisition for executing unmanned aerial vehicle frequency spectrum detection, and stopping implementing interference suppression;
s24, circularly executing the steps S22-S23 until the control is exited.
Through the steps, unmanned aerial vehicle frequency spectrum detection can be completed, one period switching control of interference suppression is realized, the interference suppression is stopped when data acquisition of the unmanned aerial vehicle frequency spectrum detection is executed in each period, the data acquisition of the unmanned aerial vehicle frequency spectrum detection is stopped when the interference suppression is executed, meanwhile, data acquisition is carried out by utilizing the time period of the interference suppression, the unmanned aerial vehicle frequency spectrum detection can be realized, the interference suppression simultaneous working is realized, the unmanned aerial vehicle detection can not be influenced during the interference working, whether the unmanned aerial vehicle leaves or not can be judged simultaneously in the interference process of the implementation, the detected unmanned aerial vehicle target is reported, and the like.
In this embodiment, the total duration of each period, the data acquisition duration for performing the spectrum detection of the unmanned aerial vehicle in each period, the duration for implementing interference suppression, and the duration for performing state switching are preconfigured, a working time sequence table of each period is constructed according to the configured durations, the spectrum detection of the unmanned aerial vehicle and the implementation of interference suppression in the working time sequence table are performed in turn, in step S2, each period is controlled to perform the spectrum detection of the unmanned aerial vehicle and implement interference suppression according to the time sequence in the constructed working time sequence table, and the spectrum detection of the unmanned aerial vehicle, the implementation of interference suppression, and the state switching are performed in each period according to the configured durations. The duration of each period, the data acquisition duration, the duration of implementing interference suppression and the duration of executing state switching can be set according to actual requirements, so that the requirements of different detection and interference can be met.
In this embodiment, the time length for executing data acquisition of spectrum detection of the unmanned aerial vehicle and suppressing interference in each cycle is divided into a plurality of sub-time periods, and each sub-time period for executing data acquisition of spectrum detection of the unmanned aerial vehicle and each sub-time period for executing suppressing interference in the working time sequence table are distributed in a staggered manner in sequence, that is, the first sub-time period ts for executing data acquisition1Performing a state switch later and then performing a first sub-period ta of suppressing interference1Second sub-period ts of time for switching the state and then for acquiring the data2And so on; step S2 is followed by obtaining the current time, determining the current working time sequence state according to the working time sequence table, and controlling to execute ts1Executing state switching after time length data acquisition and then controlling to execute ts2Suppressing interference in duration, performing state switching again, and performing ts again2And (5) acquiring data of a duration.
In this embodiment, when the system is initialized, the configuration timing parameters specifically include a period time (T) and an acquisition duration (ts)1～tsn) Interference duration (ta)1～tan) And the state switching duration (th) is constructed according to the following table 1 to obtain a working time sequence table.
Table 1: and (6) working timing sequence table.
Each sub-period ts of the above-mentioned collection duration1～tsnAnd each sub-period ta of the interference duration1～tanCan be set according to actual requirements. Because the calculation time of the algorithm is not fixed, the selection of the time length ta is ensured to be more than the longest possible calculation time,and ta may be chosen longer than actually needed for the actual algorithm calculation in order to guarantee the duty cycle of the interfering signal.
According to the working time sequence table, after the current time is obtained, the remainder is taken for the period time T, and the current time sequence state, namely the state of data acquisition, state switching or interference implementation, can be obtained through calculation according to the table.
In this embodiment, the method further includes the step of performing clock synchronization on the unmanned aerial vehicle spectrum detection device for executing the unmanned aerial vehicle spectrum detection and the interference device for suppressing interference according to the specified time interval, so as to ensure clock synchronization of the unmanned aerial vehicle spectrum detection devices and the interference device, and each device can be controlled and switched accurately according to a time division multiplexing mode. When performing clock synchronization on each device, specifically, a unified clock source (such as a satellite, a time server in a local area network, etc.) may be used for performing clock synchronization on the spectrum detection device and the interference device, and then the clock synchronization may be performed repeatedly at fixed time intervals.
In this embodiment, when suppressing interference is performed in step S2, the method further includes obtaining a currently detected motion trajectory of the unmanned aerial vehicle, and determining whether to continue performing interference according to the motion trajectory of the unmanned aerial vehicle, or adjusting an interference direction in real time according to the motion trajectory of the unmanned aerial vehicle, or switching a short-distance interference device according to the motion trajectory of the unmanned aerial vehicle. Because can acquire unmanned aerial vehicle detection data simultaneously at the interference process of implementing, can judge whether unmanned aerial vehicle has left in order to judge whether need continue to implement the interference according to unmanned aerial vehicle's motion trajectory when implementing the interference, can also adjust interfering device direction or switch interfering device in real time according to unmanned aerial vehicle orbit to keep the interference effect to moving target.
As shown in fig. 3, the apparatus for the method for simultaneously controlling spectrum sensing and signal suppression of the drone in the embodiment includes:
more than one unmanned aerial vehicle frequency spectrum detection device is used for executing unmanned aerial vehicle frequency spectrum detection;
more than one interference device for suppressing interference;
the control device is respectively connected with the spectrum detection devices of the unmanned aerial vehicles and the interference devices, and is used for controlling the spectrum detection devices of the unmanned aerial vehicles to alternately start the spectrum detection devices of the unmanned aerial vehicles to execute spectrum detection of the unmanned aerial vehicles and start the interference devices to implement suppression interference according to time division multiplexing modes when the spectrum detection devices of the unmanned aerial vehicles detect targets of the unmanned aerial vehicles, so that the spectrum detection of the unmanned aerial vehicles is executed by staggering time of a plurality of time slots and the suppression interference is implemented. In this embodiment, the control device is specifically implemented by a main control computer.
This embodiment passes through each unmanned aerial vehicle frequency spectrum detection equipment of master control computer control, interference equipment, after unmanned aerial vehicle frequency spectrum detection equipment detects the unmanned aerial vehicle target, control according to time division multiplex's mode and start unmanned aerial vehicle frequency spectrum detection equipment, interference equipment, make each unmanned aerial vehicle frequency spectrum detection equipment, interference equipment can simultaneous working, and unmanned aerial vehicle frequency spectrum detection equipment can not receive the interference equipment influence, interference equipment during operation can handle unmanned aerial vehicle detection data simultaneously.
The unmanned aerial vehicle frequency spectrum detection equipment and the interference equipment realize clock synchronization through a satellite positioning system clock or other technical means, and the clock synchronization method is specifically as described above.
The basic working flow of the unmanned aerial vehicle frequency spectrum detection device is as follows:
1) initializing;
2) setting frequency scanning parameters;
3) collecting radio data;
4) after the collection is finished, sending the collected data to an algorithm module for analysis;
5) if the algorithm judges that the unmanned aerial vehicle signal exists in the monitoring range, reporting the unmanned aerial vehicle signal to a main control computer;
6) and returning to the step 2.
The basic workflow of the jamming device is as follows:
1) initializing;
2) waiting for the command of the main control computer;
3) receiving an instruction, and executing interference starting or interference stopping according to the instruction;
4) return to step 2).
The basic working flow of the main control computer is as follows:
1) initializing;
2) connecting each device in the system;
3) after the frequency spectrum equipment reports the unmanned aerial vehicle target, judging corresponding interference equipment near an alarm area, and preparing to implement interference;
4) an operator manually selects an interference mode, or a main control computer automatically selects the interference mode according to the unattended rule to interfere the target;
5) an operator stops the interference manually, or a main control computer automatically stops the interference according to the unattended rule;
6) return to step 3).
The above-mentioned unmanned on duty rule specifically includes whether unmanned aerial vehicle lasts to invade in the frequency spectrum detection equipment, invades distance, invades the orbit etc. and judges to and lasting interference duration etc. in the jamming unit, specifically can set for according to actual demand.
The embodiment simultaneously realizes the control of the frequency spectrum detection equipment and the interference equipment of each unmanned aerial vehicle according to time division multiplexing on the basis of the frequency spectrum detection equipment, the interference equipment and the main control computer of the unmanned aerial vehicle, on the basis of the working process, the frequency spectrum detection equipment controls signal acquisition in a ts time period according to a specified time sequence, the interference equipment is started after receiving an interference starting command of the main control computer, interference is carried out only in a ta time period according to the time sequence specification, other time intervals automatically suspend interference without continuously maintaining the interference state, and due to the addition of time division multiplexing control, even in the process of interference implementation by the interference equipment, the frequency spectrum detection equipment can continuously report the target, an operator can judge whether the interference needs to be continued according to the motion track of the unmanned aerial vehicle, or the main control computer autonomously judges whether the target needs to be interfered continuously according to the rule of the unattended value; in the process of interference implementation of the interference equipment, the main control computer can adjust the hitting direction of the interference equipment in real time according to the target motion track, or switch the closer interference equipment to implement interference when the unmanned aerial vehicle is closer to the other interference equipment.
Each unmanned aerial vehicle detection device of this embodiment, interference equipment can make up in a flexible way, lay on a large scale, interference equipment can adopt the directional interference equipment who takes cloud platform control, also can adopt the omnidirectional interference equipment who does not take the cloud platform, can also further arrange image acquisition equipment, like the high definition camera and the corresponding image processing algorithm of taking the cloud platform to carry out more accurate unmanned aerial vehicle position determination and video evidence collection, can also insert the auxiliary detection device of other types or unmanned aerial vehicle interception, drive away equipment etc..
The foregoing is considered as illustrative of the preferred embodiments of the invention and is not to be construed as limiting the invention in any way. Although the present invention has been described with reference to the preferred embodiments, it is not intended to be limited thereto. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical spirit of the present invention should fall within the protection scope of the technical scheme of the present invention, unless the technical spirit of the present invention departs from the content of the technical scheme of the present invention.
Claims (10)
1. A method for simultaneously controlling spectrum detection and signal suppression of an unmanned aerial vehicle is characterized by comprising the following steps:
s1, carrying out unmanned plane frequency spectrum detection, and when an unmanned plane target is detected, executing the step S2;
and S2, controlling to alternately switch and execute the spectrum detection of the unmanned aerial vehicle and suppress interference in different time slots according to a time division multiplexing mode, so that the spectrum detection of the unmanned aerial vehicle and the suppression interference are executed in a time-staggered mode by dividing the time for executing the spectrum detection of the unmanned aerial vehicle and suppressing interference in each period into a plurality of sub-time periods, and the sub-time periods for acquiring the spectrum detection data of the unmanned aerial vehicle and the sub-time periods for suppressing interference are sequentially distributed in a staggered mode.
2. The method of simultaneous control of drone spectrum sensing and signal suppression according to claim 1, wherein: and when the step S2 is controlled in a time division multiplexing manner, alternately performing data acquisition of spectrum detection of the unmanned aerial vehicle and performing interference suppression, wherein when the data acquisition of the spectrum detection of the unmanned aerial vehicle is performed, the interference suppression is stopped, and when the interference suppression is performed, the data acquisition of the spectrum detection of the unmanned aerial vehicle is stopped.
3. The method of simultaneous control of drone spectrum sensing and signal suppression according to claim 2, wherein: and simultaneously executing the processing of the acquired spectrum detection data of the unmanned aerial vehicle in the time period for suppressing the interference.
4. The method for simultaneously controlling spectrum sensing and signal suppression of unmanned aerial vehicles according to claim 3, wherein the specific steps of step S2 include:
s21, performing signal acquisition of the unmanned aerial vehicle spectrum detection, and forbidding implementation of interference suppression;
s22, controlling execution state switching to implement the interference suppression and simultaneously executing the processing of the collected unmanned aerial vehicle spectrum detection data;
s23, controlling execution state switching, switching to signal acquisition for executing the unmanned aerial vehicle spectrum detection, and stopping implementing the interference suppression;
s24, executing steps S22-S23 circularly until the control is exited.
5. The method for simultaneously controlling spectrum detection and signal suppression of the unmanned aerial vehicle according to any one of claims 1 to 4, wherein: the method comprises the steps of pre-configuring the total duration of each period, the data acquisition duration for executing the unmanned aerial vehicle frequency spectrum detection in each period, the duration for implementing interference suppression and the duration for executing state switching, constructing a working time sequence table of each period according to the configured durations, executing the unmanned aerial vehicle frequency spectrum detection and the implementation interference suppression in the working time sequence table in turn, and controlling each period to execute the unmanned aerial vehicle frequency spectrum detection and the implementation interference suppression according to the time sequence in the constructed working time sequence table in the step S2.
6. The method according to claim 5, wherein the time period for performing the data acquisition of the spectrum sensing of the unmanned aerial vehicle and suppressing the interference in each cycle is divided into a plurality of sub-time periods, and the sub-time periods for performing the data acquisition of the spectrum sensing of the unmanned aerial vehicle and the sub-time periods for performing the suppressing the interference in the working timing schedule are distributed in a staggered manner; and step S2, acquiring the current time, and determining the current working timing state according to the working timing table.
7. The method for simultaneously controlling spectrum sensing and signal suppression of unmanned aerial vehicles according to any one of claims 1-4, further comprising the step of clock synchronization of the spectrum sensing device of the unmanned aerial vehicle for performing spectrum sensing of the unmanned aerial vehicle and the jamming device for performing jamming suppression at specified time intervals.
8. The method for simultaneously controlling spectrum detection and signal suppression of the unmanned aerial vehicle according to any one of claims 1 to 4, wherein: when suppressing interference in step S2, the method further includes obtaining a currently detected motion trajectory of the unmanned aerial vehicle, and determining whether to continue to perform interference according to the motion trajectory of the unmanned aerial vehicle, or adjusting an interference direction in real time according to the motion trajectory of the unmanned aerial vehicle, or switching an interference device for performing interference suppression according to the motion trajectory of the unmanned aerial vehicle.
9. An apparatus for implementing the method for simultaneously controlling spectrum sensing and signal suppression of unmanned aerial vehicles according to any one of claims 1-8, comprising:
more than one unmanned aerial vehicle frequency spectrum detection device is used for executing unmanned aerial vehicle frequency spectrum detection;
more than one interference device for suppressing interference;
the control equipment is respectively connected with the unmanned aerial vehicle frequency spectrum detection equipment and the interference equipment and is used for controlling the unmanned aerial vehicle frequency spectrum detection equipment to execute unmanned aerial vehicle frequency spectrum detection and start the interference equipment to implement suppression interference according to a time division multiplexing mode at different time slots when the unmanned aerial vehicle frequency spectrum detection equipment detects an unmanned aerial vehicle target so as to divide a plurality of time slots into staggered time to execute unmanned aerial vehicle frequency spectrum detection and implement suppression interference.
10. The apparatus of claim 9, further comprising an image acquisition device and/or an auxiliary drone detection device.
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| CN1819496A (en) * | 2006-03-09 | 2006-08-16 | 武汉大学 | Method for realizing frequency monitoring by high-frequency radar receiver |
| US9529360B1 (en) * | 2015-01-28 | 2016-12-27 | Howard Melamed | System and method for detecting and defeating a drone |
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