CN116753778A - A UAV countermeasures system and method based on information fusion and task allocation - Google Patents

Abstract

The application relates to an unmanned aerial vehicle countering system and method based on information fusion and task allocation, comprising heterogeneous detection equipment, control equipment and countering treatment equipment, wherein the heterogeneous detection equipment is used for detecting a target and sending detection information to the control equipment; the control equipment generates control instruction information according to the detection information and sends the control instruction information to the countering processing equipment; and the countering processing equipment counteres the unmanned aerial vehicle target according to the control instruction information. According to the application, the target detection is carried out through heterogeneous detection equipment (radar, photoelectricity and detection), the detected target information is numbered, compared and fused through establishing a threat target database, threat levels of the targets are judged by utilizing task allocation software, and the treatment priority and proper treatment modes are provided, so that the targets are treated through various treatment means (interference suppression, navigation decoy, laser and unmanned aerial vehicle equipment for patrol).

Description

A UAV countermeasures system and method based on information fusion and task allocation

This application requests the priority of the Chinese patent application submitted to the China Patent Office on March 10, 2023, with the application number 2023102302857 and the application title "A UAV countermeasures system and method based on information fusion and task allocation", The entire contents of which are incorporated herein by reference.

Technical field

The invention belongs to the field of UAV technology, and specifically relates to a UAV countermeasures system and method based on information fusion and task allocation.

Background technique

In local military operations in certain areas of the world, the application of drones and drone swarms has brought war into a new dimension. Up to now, the use of drones in war has played an important role in reconnaissance and surveillance, target guidance, interception and damage, cognitive warfare, and psychological warfare, but the countermeasures against drones are obviously insufficient. In view of the current situation of UAV countermeasures command and control, due to the limitations of information technology, communication technology and operational theory level in the development era, the existing air defense command and control equipment system has multi-system command levels, weak combat capabilities, and the communication network is not robust enough. It has shortcomings and shortcomings such as difficulty in ensuring mobile communications, inflexible reorganization, scattered support of air conditions, and failure to form a unified air intelligence system. At this stage, the air defense command and control system can collect intelligence on conventional aerial targets, such as fighter jets and bombers. Discrete UAVs are similar to conventional aerial targets and basically have corresponding auxiliary decision-making and command capabilities. However, when dealing with small UAVs, There are alleged loopholes and deficiencies in machines and clusters. Facing the demand for command and control capabilities, there are shortcomings such as inflexible command and control systems and poor real-time control capabilities for anti-UAV operations. Therefore, it is urgent to propose corresponding and effective countermeasures against UAVs.

Contents of the invention

In order to overcome the above-mentioned problems existing in the existing technology, the present invention provides a UAV countermeasures system and method based on information fusion and task allocation to solve the above-mentioned problems existing in the existing technology.

A UAV countermeasures system based on information fusion and task allocation, including heterogeneous detection equipment, control equipment and countermeasures and processing equipment,

Wherein, the heterogeneous detection equipment is used to detect UAV targets and send corresponding target information to the control equipment;

The control device generates control instruction information according to the target information and sends it to the countermeasure processing device;

The countermeasure processing device performs countermeasures against the UAV target according to the control instruction information.

Based on the above aspects and any possible implementation, an implementation is further provided. The heterogeneous detection equipment includes a UAV signal detection device, a photoelectric detection device and/or a radar detection device. The UAV The signal detection device is used to detect the rough azimuth, pitch and/or link signal characteristics of the UAV target; the photoelectric detection device is used to detect the fine azimuth, pitch, distance and/or the UAV target. or image information; the radar detection device is used to detect the rough azimuth and pitch, speed and/or distance of the target.

Based on the above aspects and any possible implementation, an implementation is further provided, in which the photoelectric detection device includes an infrared detection module, a visible light detection module and/or a laser ranging module.

Based on the above aspects and any possible implementation method, an implementation method is further provided. The control device includes a threat target fusion database and a processing task allocation software, and the two are interconnected within the control device.

Based on the above aspects and any possible implementation, an implementation is further provided. The countermeasures equipment includes a UAV signal interference suppression device, a navigation decoy device, a laser destruction device and/or a patrol UAV. device.

Based on the above aspects and any possible implementation, an implementation is further provided. The patrol drone device includes a patrol drone ground station and a plurality of patrol drones. The patrol drone device The man-machine is connected to the ground station of the patrol drone, and the patrol drone carries out aerial countermeasures against the drone target.

Based on the above aspects and any possible implementation, an implementation is further provided. The aviation deception device includes deceiving the GPS navigation signal, Galileo navigation signal, GLONASS navigation signal or Beidou navigation signal of the UAV target.

Based on the above aspects and any possible implementation, an implementation is further provided, in which the radar detection device includes two operating modes: tracking while searching and scanning while tracking.

Based on the above aspects and any possible implementation, an implementation is further provided. The UAV signal interference suppression device includes performing uplink suppression and interference, downlink suppression and interference on the UAV target, The inter-machine link suppresses interference and/or the navigation link suppresses interference.

The invention also provides a countermeasure method for a UAV countermeasure system based on information fusion and task allocation. The method is implemented using the system and includes the following steps:

S1. Number the UAV targets detected by a certain heterogeneous detection device, and write the target information corresponding to the UAV targets into the threat target fusion database of the corresponding numbered control device;

S2. Based on the target information, guide other heterogeneous detection equipment to search the area where the UAV target is located, compare and fuse the detected new target information, and confirm whether the UAV target is a threat target fusion There is already a target in the database. If it is an existing target, the new target information will be written into the corresponding target number in the threat target fusion database. If it is a new target, a new number will be assigned to the UAV target, and Its target information is written into the corresponding target number in the threat target fusion database;

S3. According to the target information in the threat target fusion database, when the number of targets detected by the heterogeneous detection equipment is the same, and the fine first-level azimuth and pitch information in the threat target fusion database are within the coarse first-level azimuth and pitch, merge the threats The target information of the target fusion database is assigned to the same number; when the number of targets detected by the heterogeneous detection equipment is inconsistent, the coarse-level target information of the threat target fusion database is directly assigned to the number of the fine-level threat target fusion database;

S4. After the threat target fusion database fuses the above target information, the azimuth and pitch information of the fine-level target overwrites the azimuth and pitch information of the coarse-level target;

S5. Generate control command information based on the information in the threat target fusion database in S4, and transmit it to the UAV signal interference suppression device, navigation decoy device, laser damage device and/or patrol UAV device. Use the above command information to counterattack UAV targets.

Beneficial effects of the invention

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

The present invention detects targets through heterogeneous detection equipment (radar, photoelectric, detection), establishes a threat target database to number, compare, and fuse the detected target information, and uses task allocation software to determine the threat level of the target and Provide disposal priorities and appropriate disposal methods, and then dispose of targets through multiple types of disposal methods (interference suppression, navigation deception, laser, patrol drone equipment). Compared with the existing technology, the system and method have a simple and convenient process for processing threat target information and determine the threat level of the target based on comparison and ranking, rather than artificially rigid regulations. The target disposal methods are flexible and diverse, and have multi-target capabilities. and autonomous operation capabilities.

Description of the drawings

Figure 1 is a system structural block diagram of the present invention.

Among them, in the picture: 1. UAV signal detection device; 2. Photoelectric detection device; 3. Radar detection device; 4. Threat target fusion database; 5. Disposal task allocation software; 6. UAV signal interference suppression device ; 7. Navigation decoy device; 8. Laser destruction device; 9. Patrol drone device.

Detailed ways

In order to better understand the technical solution of the present invention, the content of the present invention includes but is not limited to the following specific embodiments. Similar technologies and methods should be regarded as within the scope of protection of the present invention. In order to make the technical problems, technical solutions and advantages to be solved by the present invention clearer, a detailed description will be given below with reference to the accompanying drawings and specific embodiments.

It should be clear that the embodiments described in the present invention are only some of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present invention.

The terminology used in the embodiments of the present invention is only for the purpose of describing specific embodiments and is not intended to limit the present invention. As used in this embodiment and the appended claims, the singular forms "a," "the" and "the" are intended to include the plural forms as well, unless the context clearly dictates otherwise.

As shown in Figure 1, the present invention provides a UAV countermeasures system based on information fusion and task allocation, including heterogeneous detection equipment, control equipment and countermeasures processing equipment.

Wherein, the heterogeneous detection equipment is used to detect UAV targets and send detection information to the control equipment;

The control device generates control instruction information according to the detection information and sends it to the countermeasure processing device;

The countermeasure processing device performs countermeasures against the UAV target according to the control instruction information.

Among them, the heterogeneous detection equipment of the present invention includes a UAV signal detection device 1, a photoelectric detection device 2 and a radar detection device 3. The UAV signal detection device 1 is used to detect the UAV target. The approximate coarse azimuth, pitch and/or link signal characteristics; the photoelectric detection device 2 is used to detect the precise azimuth and pitch, distance and/or image information of the UAV target; the radar detection device 3 is used to detect Detecting the target's coarse bearing and pitch, speed and/or range.

Further, the control equipment includes a threat target fusion database 4 and a processing task allocation software 5; the countermeasures and processing equipment includes a UAV signal interference suppression device 6, a navigation decoy device 7, a laser destruction device 8 and/or a patrol drone. Machine device 9, these devices can be used in whole or in part, and some or all of the devices can be selected according to actual needs.

Among them, the detection information of heterogeneous detection equipment such as UAV signal detection device 1, photoelectric detection device 2, radar detection device 3, etc. is transmitted through cables or wireless modules to the control equipment installed with threat target fusion database and processing task allocation software. Above, the control device of the present invention is implemented by a computer; the threat target fusion database 4 and the disposal task allocation software 5 realize data interconnection and interoperability within the computer; the control instruction information formed by the disposal task allocation software 5 is transmitted to the computer through a cable or wireless module. In the multi-dimensional countermeasure equipment such as the interference suppression device 6, the navigation decoy device 7, the laser destruction device 8, and the patrol drone device 9, control and guide the operation of these devices.

Furthermore, the UAV signal detection device 1 can detect the UAV link and obtain the rough azimuth, pitch and/or link signal characteristics of the UAV target. The photoelectric detection device 2 includes an infrared detection module, a visible light detection module and a laser ranging module, which can realize visible light image detection, infrared image detection and laser ranging of the UAV target, and obtain the precise azimuth and pitch of the UAV target. , distance and/or image information. The radar detection device 3 includes two working modes: tracking while searching (TAS) and tracking while scanning (TWS), which can obtain the rough azimuth and pitch, speed, distance and/or movement trajectory of the UAV target.

Further, the threat target fusion database numbers, fuses, and determines the target information of UAV targets detected by various heterogeneous detection equipment, specifically: first, number the detected UAV targets according to the order of discovery; secondly, The corresponding target information obtained by the heterogeneous detection equipment is subjected to data fusion processing, and the target information of the same UAV target is information fused and numbered; thirdly, the UAV target is identified through the embedded target recognition algorithm based on multi-dimensional feature fusion. The type and model are identified and determined; finally, information such as the target position, speed, track, link signal characteristics, type, model and other information of each UAV are stored under the corresponding number in the threat target fusion database. The disposal task allocation software 5 is embedded with multiple algorithms to realize threat identification based on threat target fusion database information and single target or multi-target disposal task allocation based on target characteristics and threat levels.

Further, the threat identification based on threat target fusion database information includes threat identification based on UAV target trajectory prediction and threat identification based on UAV target model. First, threat identification based on target models is used to roughly sort the threat levels of UAV targets. Through the pre-set UAV threat level experience database, it is matched with the UAV target models in the threat target fusion database, and the pre-set UAV target types are matched. The UAV experience threat level of the corresponding model in the UAV threat level experience database is assigned to the threat target and each UAV target in the database is fused and labeled to complete a rough ranking of the UAV target threat level. The previously set UAV threat level experience database has pre-written the danger level experience value of each type of UAV. Among the UAV targets with the same threat level, threat identification based on UAV target trajectory prediction is used to fine-order the threat level, specifically based on the location, flight speed, flight direction, etc. of each UAV target in the threat target fusion database. The track information predicts the arrival order of each UAV target in the fusion database of threat targets. Based on the rule that the earlier the arrival time, the higher the threat level, the threat level of each target is sorted and marked, that is, the threat level of UAV targets is refined. Sort.

Further, the single target or multi-target disposal task allocation based on target characteristics and threat level includes task allocation based on target characteristics and task allocation based on threat level. Task allocation based on threat level includes disposal task allocation software 5 according to priority. The principle of handling higher-risk UAV targets arranges the order of disposal; task assignment based on target characteristics, including disposal task assignment software 5 based on the UAV target link signal characteristics, type, model, threat level, etc. of the threat target fusion database Information, use the spatial crowdsourcing optimal task allocation algorithm based on tree decomposition and/or the task allocation algorithm based on the contract network algorithm embedded in the disposal task allocation software 5 to allocate disposal methods to UAV targets.

Further, the UAV signal interference suppression device 6 includes suppression and interference of the UAV target's uplink, downlink, inter-machine link and navigation link, so that the UAV target cannot receive its configured signal. The control signal sent by the remote controller cannot transmit image data back, cannot communicate between machines, and/or cannot receive navigation signals, which makes the UAV target lose control. The navigation deception device 7 includes forwarding deception and generative deception of GPS, Galileo, GLONASS, and Beidou navigation signals. By sending false navigation and positioning signals, it misleads the UAV target navigation system and makes the UAV target in subsequent flights. deviate from the planned route. The laser damage device 8 uses continuous laser signals to continuously illuminate the photoelectric sensor installed on the UAV target, causing damage to the photoelectric sensor to achieve dazzling and blinding of the UAV target. The patrol drone device 9 includes a patrol drone ground station and a plurality of patrol drones. The patrol drone is connected to the patrol drone ground station through a wireless communication module. Under the guidance and/or control of the patrol drone ground station, the drone follows, flies with, and impacts the drone target, thereby damaging the structure or function of the drone target, causing the drone target to lose its attitude. stable and thus fall.

The present invention also provides a countermeasure method for a UAV countermeasure system based on information fusion and task allocation. The method is implemented by the system of the present invention and includes the following steps:

S1. Number the UAV targets detected by a certain heterogeneous detection device, and write the target information corresponding to the UAV targets into the threat target fusion database of the corresponding numbered control device;

S2. Based on the target information, guide other heterogeneous detection equipment to search the area where the UAV target is located, compare and fuse the detected new target information, and confirm whether the UAV target is a threat target fusion There is already a target in the database. If it is an existing target, the new target information will be written into the corresponding target number in the threat target fusion database. If it is a new target, a new number will be assigned to the UAV target, and Its target information is written into the corresponding target number in the threat target fusion database;

S3. According to the target information in the threat target fusion database, when the number of targets detected by the heterogeneous detection equipment is the same, and the fine first-level azimuth and pitch information in the threat target fusion database are within the coarse first-level azimuth and pitch, merge the threats The target information of the target fusion database is assigned to the same number; when the number of targets detected by the heterogeneous detection equipment is inconsistent, the coarse-level target information of the threat target fusion database is directly assigned to the number of the fine-level threat target fusion database;

S4. After the threat target fusion database fuses the above target information, the azimuth and pitch information of the fine-level target overwrites the azimuth and pitch information of the coarse-level target;

S5. Generate control command information based on the information in the threat target fusion database in S4, and transmit it to the UAV signal interference suppression device, navigation decoy device, laser damage device and/or patrol UAV device. Use the above command information to counterattack UAV targets.

Specifically, the UAV signal detection device 1, radar detection device 3 and photoelectric detection device 2 in the heterogeneous detection equipment can work at the same time as needed, or two of them can work at the same time, or Work alone and set up the startup according to actual needs. UAV signal detection device 1, radar detection device 3 and photoelectric detection device 2 can all obtain the azimuth and pitch information of the UAV target. The detection accuracy of the three devices from high to low is photoelectric detection device 2, radar detection device Device 3. UAV signal detection device 1. The above-mentioned heterogeneous detection equipment operates independently. After any detection equipment detects a UAV target, it writes the target information corresponding to the detected UAV target into the threat target fusion database.

The specific process of the countermeasure method of the present invention is as follows:

The first step is to number the UAV target and write the target information corresponding to the UAV target into the threat target fusion database corresponding to the number of the target;

In the second step, based on the UAV target information, other detection equipment is guided to search the area where the UAV target is located, and new UAV targets detected in the area are assigned new numbers and the corresponding detected UAV targets are assigned new numbers. The new target information is written into the threat target fusion database with the corresponding number;

The third step is to fuse all the target information written into the threat target fusion database in the first and second steps. The number of targets detected by each heterogeneous detection device obtained in the current two steps is consistent, and the threat target fusion database is When there is no conflict between the fine-level azimuth and pitch information and the coarse-level azimuth and pitch information of two or three UAV targets, the two or three UAV targets are considered to be the same target, and then the threats are In the target fusion database, the information of the above two or three UAV targets is merged into one target number. When merging, the overlapping information (i.e. azimuth and pitch information) of the above two or three UAV targets is ) retain the most accurate azimuth and pitch information, retain all non-overlapping information, and finally merge the information of two UAV targets with different numbers into the UAV target information with the same number in the threat target fusion database, complete Information fusion, thereby realizing data fusion of the information measured by the UAV signal detection device 1, the photoelectric detection device 3 and the radar detection device 2, increasing the types of target information and reducing the UAV target positioning error; when the first step is with When the number of targets detected by the heterogeneous detection equipment obtained in the second step is inconsistent, in the threat target fusion database, the UAV signal detection device 1 or/and the radar detection device 3 detect the UAV target information except The target information other than the azimuth and pitch is directly assigned to the information of the corresponding label of the UAV target detected by the photoelectric detection device 2; that is, in the threat target fusion database, the characteristic information in the number b except the azimuth and pitch is copied to the number b a, so that these characteristic information simultaneously become the characteristic information of the UAV target numbered a.

The fourth step is to determine the type and model of the UAV target through the target recognition algorithm based on multi-dimensional feature fusion embedded in the threat target fusion database, and store the UAV target under the corresponding number of the UAV target in the threat target fusion database. Machine type, model and other information;

The fifth step is to call the embedded UAV threat level experience database through the disposal task allocation software 5, match it with the UAV target model in the threat target fusion database established in the fourth step, and add the corresponding model in the threat level experience database The empirical threat level of the UAV is assigned to each UAV target in the threat target fusion database to complete a rough ranking of the UAV target threat level;

The sixth step is to use the processing task allocation software 5 to predict each UAV in the threat target fusion database based on the location, flight speed, flight direction and other track information of each UAV target in the threat target fusion database established in the fifth step. The arrival order of the targets is based on the rule that the earlier the arrival time, the higher the threat level, and the threat level of each target is sorted to complete the fine sorting of the threat level of UAV targets;

In the seventh step, based on the UAV target position, speed, track, link signal characteristics, type, model, threat level and other information of the threat target fusion database established in the sixth step, the disposal task allocation software 5 is generated according to the task allocation algorithm The corresponding disposal means of each UAV target generates control command signals and transmits them to the UAV signal interference suppression device 6, the navigation decoy device 7, the laser destruction device 8 and/or the patrol UAV device 9. Each disposal device Carry out countermeasures to interfere with or damage UAV targets according to corresponding instructions.

After being activated, the UAV signal interference suppression device 6 releases the suppression interference signal, making it impossible for the UAV target to receive the control signal from its matching remote controller, to transmit image data back, to communicate between machines, and/or to fail. Receive navigation signals, thereby causing the UAV target to lose control; the navigation deception device 7 sends false navigation and positioning signals after being activated, misleading the UAV target navigation system, causing the UAV target to deviate from the predetermined route; the laser damage device 8 is activated The continuous laser signal is then used to continuously illuminate the photoelectric sensor of the UAV target, causing damage to the photoelectric sensor to achieve dazzling and blinding of the UAV target; after being activated, the patrol UAV device 9 The target follows, flies with, and impacts to achieve structural or functional damage to the UAV target, causing the UAV target to become unstable and fall.

An example is provided below to illustrate in detail:

Example 1

The anti-UAV fusion detection system includes UAV signal detection device, radar detection device and photoelectric detection device. When the system starts working, first power on and deploy the system, configure parameters after self-test, and start the UAV signal detection device, radar detection device, and photoelectric detection device for omnidirectional search. When the system alarms, the alarm targets are numbered according to the discovery time, such as a, b, c, d..., etc., and the alarm target sequence is entered into the threat target fusion database. When the threat target fusion database receives the first threat target signal, The threat level of the target in the threat target fusion database is initialized and then entered.

If the signal type of the UAV target is a radio signal, enter the azimuth angle and frequency characteristic information of the UAV target. The radar detection device turns on the tracking and searching TAS mode. When the radar detection device 2 detects the information of the UAV target, it will judge the identity of the UAV target in the threat target fusion database and perform a reset number. , such as merging and splitting operations, etc. The criterion for merging is that the number of UAV targets detected by the radar detection device is consistent with the number of UAVs detected by the UAV signal detection device 1, and the radar detection device 2. The detected azimuth of the UAV target is consistent with the azimuth angle detected by the UAV signal detection device 1 within the allowable error range. The split judgment criterion is that within the allowable error range, in the same direction, the number of UAV targets detected by the radar detection device 2 is greater than the number of UAVs detected by the UAV signal detection device 1. At this time , the frequency signal detected by the radio of the UAV signal detection device 1 is split into multiple ones, and each is merged into the number of the radar detection target. At this time, the target number in the threat target fusion database includes radio detection frequency points, radar range, track, azimuth angle, pitch angle and other information.

According to the radar's distance information in the threat target fusion database, if the distance exceeds the maximum photoelectric range, the radar turns on the TAS mode and updates the target's radar detection information in real time. If the distance is within the photoelectric action range, the photoelectric detection device is turned to obtain image information of the target, and the radar enters TAS mode to keep tracking the UAV target. Update all the information detected by the radar detection device and the photoelectric detection device into the threat target fusion database, use the threat target identification and processing software to determine the threat level, and update the ranking of each target in the threat target fusion database.

If the UAV target has no radio information and only radar detection information, the radar enters TAS mode and inputs the target direction angle, speed, distance and other information. Determine whether to turn on photoelectric tracking based on distance information. If the distance is within the range of photoelectric action, the photoelectric detection device is turned to obtain image information of the target, and the radar enters TAS mode to keep tracking the target. Update all information detected by the photoelectric detection device to the threat target fusion database.

If the UAV target has no radio or radar information and only photoelectric detection information exists, the UAV target direction angle, size, image and other information will be entered in the threat target fusion database.

All information on radio detection, radar detection, and photoelectric detection are integrated and updated in real time in the threat target fusion database. The disposal task allocation software compares and determines the threat level of each target in real time, and selects corresponding countermeasures based on the information in the database to generate a target for each target. The control instructions for UAV targets direct various types of disposal equipment to dispose of the targets.

If there is only a single UAV target in the threat target fusion database, and if the UAV target has radio signal characteristics, the interference suppression device 6 will be used for processing. If the UAV target does not have radio signals, the navigation deception device 7 will be turned on. Carry out treatment. After the first round of treatment, start the effectiveness evaluation. If the UAV target is not successfully dealt with, the patrol drone device 9 and the laser damage device 8 will be selected for multiple rounds of treatment based on the distance information and track information.

If there are multiple drone targets in the threat target fusion database, a task allocation algorithm is selected in the disposal task allocation software to automatically allocate corresponding disposal drone targets to various disposal methods. After the disposal is completed, the effectiveness is evaluated, such as If effective interference and damage are not completed, the drone target will continue to be counterattacked. After completing the drone target countermeasures, choose to continue the mission or recover and shut down.

The above description shows and describes several preferred embodiments of the present invention, but as mentioned above, it should be understood that the present invention is not limited to the form disclosed herein, and should not be regarded as excluding other embodiments, but can be used in various embodiments. Other combinations, modifications and environments, and can be modified through the above teachings or technology or knowledge in related fields within the scope of the application concept described herein. Any modifications and changes made by those skilled in the art that do not depart from the spirit and scope of the present invention shall be within the protection scope of the appended claims of the present invention.

Claims (10)

1. A UAV countermeasures system based on information fusion and task allocation, which is characterized by including heterogeneous detection equipment, control equipment and countermeasures processing equipment, Wherein, the heterogeneous detection equipment is used to detect UAV targets and send corresponding target information to the control equipment; The control device generates control instruction information according to the target information and sends it to the countermeasure processing device; The countermeasure processing device performs countermeasures against the UAV target according to the control instruction information. 2. The UAV countermeasure system based on information fusion and task allocation according to claim 1, characterized in that the heterogeneous detection equipment includes a UAV signal detection device, a photoelectric detection device and/or a radar detection device. Device, the UAV signal detection device is used to detect the rough azimuth, pitch and/or link signal characteristics of the UAV target; the photoelectric detection device is used to detect the precision of the UAV target Azimuth, pitch, distance and/or image information; the radar detection device is used to detect the rough azimuth, pitch, speed and/or distance of the target. 3. The UAV countermeasure system based on information fusion and task allocation according to claim 2, characterized in that the photoelectric detection device includes an infrared detection module, a visible light detection module and/or a laser ranging module. 4. The UAV countermeasure system based on information fusion and task allocation according to any one of claims 1 or 2, characterized in that the control device includes a threat target fusion database and disposal task allocation software, and both There is interconnection within the control equipment. 5. The UAV countermeasure system based on information fusion and task allocation according to claim 1, characterized in that the countermeasures processing equipment includes a UAV signal interference suppression device, a navigation decoy device, a laser damage device and /or roving drone device. 6. The UAV countermeasure system based on information fusion and task allocation according to claim 5, characterized in that the patrol UAV device includes a patrol UAV ground station, a plurality of patrol UAVs The patrol drone is connected to a ground station of the patrol drone, and the patrol drone carries out aerial countermeasures against the drone target. 7. The UAV countermeasure system based on information fusion and task allocation according to claim 5, characterized in that the aviation deception device includes GPS navigation signals, Galileo navigation signals, and GLONASS navigation signals for UAV targets. Or use Beidou navigation signals for deception. 8. The UAV countermeasure system based on information fusion and task allocation according to claim 2, characterized in that the radar detection device includes two working modes: tracking while searching and scanning while tracking. 9. The UAV countermeasure system based on information fusion and task allocation according to claim 5, characterized in that the UAV signal interference suppression device includes uplink suppression and interference to the UAV target. , downlink suppression interference, inter-machine link suppression interference and/or navigation link suppression interference. 10. A countermeasure method for a UAV countermeasures system based on information fusion and task allocation, characterized in that the method is implemented using the system according to any one of claims 1 to 9, and includes the following steps: S1. Number the UAV targets detected by a certain heterogeneous detection device, and write the target information corresponding to the UAV targets into the threat target fusion database of the corresponding numbered control device; S2. Based on the target information, guide other heterogeneous detection equipment to search the area where the UAV target is located, compare and fuse the detected new target information, and confirm whether the UAV target is a threat target fusion There is already a target in the database. If it is an existing target, the new target information will be written into the corresponding target number in the threat target fusion database. If it is a new target, a new number will be assigned to the UAV target, and Its target information is written into the corresponding target number in the threat target fusion database; S3. According to the target information in the threat target fusion database, when the number of targets detected by the heterogeneous detection equipment is the same, and the fine first-level azimuth and pitch information in the threat target fusion database are within the coarse first-level azimuth and pitch, merge the threats The target information of the target fusion database is assigned to the same number; when the number of targets detected by the heterogeneous detection equipment is inconsistent, the coarse-level target information of the threat target fusion database is directly assigned to the number of the fine-level threat target fusion database; S4. After the threat target fusion database fuses the above target information, the azimuth and pitch information of the fine-level target overwrites the azimuth and pitch information of the coarse-level target; S5. Generate control command information based on the information in the threat target fusion database in S4, and transmit it to the UAV signal interference suppression device, navigation decoy device, laser damage device and/or patrol UAV device. Use the above command information to counterattack UAV targets.