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 PDFInfo
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- 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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- 230000009545 invasion Effects 0.000 title claims abstract description 23
- 238000000034 method Methods 0.000 title claims abstract description 15
- 238000004891 communication Methods 0.000 claims abstract description 12
- 230000033001 locomotion Effects 0.000 claims abstract description 12
- 230000005540 biological transmission Effects 0.000 claims description 17
- 230000005855 radiation Effects 0.000 claims description 5
- 238000005259 measurement Methods 0.000 claims description 4
- 230000008859 change Effects 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 5
- 238000001514 detection method Methods 0.000 description 4
- 230000007123 defense Effects 0.000 description 3
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- 230000003321 amplification Effects 0.000 description 2
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- 238000005516 engineering process Methods 0.000 description 2
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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
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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
- H04K3/822—Jamming or countermeasure characterized by its function related to preventing surveillance, interception or detection by detecting the presence of a surveillance, interception or detection
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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
- 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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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
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. the invasion and tracking interference system of a kind of unmanned plane, characterized in that including wireless invasive unit, tracking equipment list
Member and jamming equipment unit；
Data packet is intercepted and captured and parsed to wireless invasive unit by the communications band of monitoring unmanned plane and earth station, obtains nothing
Man-machine movement and position data, and the position data of unmanned plane is sent to tracking equipment unit；Wireless invasive unit
The wireless data transmission module customized by one is constituted, to complete the intercepting and capturing to the location information of unmanned plane；The wireless data sending mould of customization
Block be modify on the basis of common wireless data transmission module to the firmware source code of wireless data sending so that customization without line number
Transmission module first parses the network ID number in data packet when receiving the MavLink protocol data packet that unmanned plane sends over,
Then compared with the network ID number of the wireless data transmission module of customization itself, if network ID number is consistent, the wireless data sending customized
Module can directly establish connection with unmanned plane and receive the data packet that unmanned plane sends over, if network ID number is different
It causes, then the wireless data transmission module customized cannot establish connection with unmanned plane, and the wireless data transmission module customized at this time is by the net of itself
Network ID number is automatically set to consistent with the network ID number in data packet, and the wireless data transmission module 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 transmission module of customization, the wireless data transmission module finally customized
The data packet received is sent to the tracking equipment unit being attached thereto；
The location information for the unmanned plane that tracking equipment unit is sended over according to wireless invasive unit controls tracking equipment list
Directional aerial in member does the deflection of the pitching within the scope of horizontal deflection and 180 degree within the scope of 360 degree to guarantee directional aerial
It can be with the unmanned plane target of the aerial any position of real-time tracking；
Jamming equipment unit includes that can send instruction interference signal to unmanned plane respectively, scheme to pass interference signal and navigation interference signal
Instruction interference module, figure pass interference module and navigation interference module, and selection switch；Jamming equipment unit and tracking equipment
The directional aerial of unit is connected, and the interference signal that jamming equipment unit generates is sent out by the directional aerial of tracking equipment unit
It goes, to realize the signal interference to unmanned plane.
2. the invasion of unmanned plane according to claim 1 and tracking interference system, characterized in that the customization without line number
Transmission module works in 433MHz or 915MHz or 2.4GHz frequency range.
3. the invasion of unmanned plane according to claim 1 and tracking interference system, characterized in that tracking equipment unit includes
Holder, two steering engines, GPS, magnetometer, directional aerial and controller；Main body of the holder as tracking equipment unit, all sets
It include horizontal rotating shaft and vertical rotation axis on holder, one 360 degree of steering engine is mounted on for the specific region for being all placed in holder
It is responsible for control PTZ level deflection on horizontal rotating shaft, horizontal deflection range is 360 degree, and the steering engine of a 180 degree is mounted on vertically
It is responsible for control holder vertical deflection in shaft, vertical deflection range is 180 degree, and two steering engines are connected with controller respectively；Control
Device is installed on the vertical rotation axis of holder, and GPS and magnetometer are mounted on the both ends of vertical rotation axis, the GPS interface of GPS and controller
The location information being connected for measuring tracking equipment unit itself, magnetometer is connected with the I2C interface of controller to be set for tracking
Standby unit carries out angle measurement；Wireless invasive unit is connected with controller, and controller is passed by receiving wireless invasive equipment
The data packet to come over obtains the location information of unmanned plane, while controller obtains tracking by connected GPS and magnetometer
The location information of unit itself and the deflection angle of holder, controller analyze the location information and tracking equipment of unmanned plane
The position of unit itself and the deflection angle information of holder export two steering engines in two-way PWM wave to holder respectively, utilize
The variation of duty ratio controls the rotational angle of steering engine to drive the directional aerial being installed on holder to do both horizontally and vertically
On deflection so that directional aerial is directed toward the direction of unmanned plane in real time, directional aerial can follow holder to do within the scope of 360 degree
Pitching deflection within the scope of horizontal deflection and 180 degree is to guarantee that directional aerial can track the unmanned plane mesh of aerial any position
Mark.
4. invasion and the tracking interference method of a kind of unmanned plane based on any one of claims 1 to 3 system, feature
It is, comprising the following steps:
Step 1 monitors the communication frequency of unmanned plane and earth station by the wireless data transmission module 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 transmission module of customization itself, if network ID number is consistent, the wireless data sending mould that customizes
Block can directly establish connection with unmanned plane and receive the data packet that unmanned plane sends over, if network ID number is inconsistent,
The wireless data transmission module then customized at this time cannot establish connection with unmanned plane, and the wireless data transmission module then customized can be by itself
Network ID number is automatically set to consistent with the network ID number in data packet, then to customize wireless data transmission module energy and unmanned plane
It establishes connection and receives the data packet that unmanned plane sends over, the wireless data transmission module of customization sends the data packet received
To the controller of tracking equipment unit；
Step 2, the controller of tracking equipment unit obtain the location information of unmanned plane in data packet, and by with controller phase
GPS even measures the location information of tracking equipment unit itself, while the magnetometer being connected with controller is tracked for measuring
The deflection angle of holder in unit, controller analyze the location information of unmanned plane and the position letter of tracking equipment unit itself
The deflection angle information of breath and holder exports two steering engines in two-way PWM wave to holder respectively, utilizes the change of duty ratio
Change, controls two steering engines and rotate specific angle in horizontal, vertical both direction respectively, to drive the orientation day on holder
Line rotation, so that directional aerial is directed toward the orientation of unmanned plane in real time；
Step 3, jamming equipment unit select different signal interference modules to generate correspondence respectively using selection switch as needed
Unmanned plane interference signal, comprising: instruction interference module generate unmanned plane instruct interference signal；Figure passes what interference module generated
Unmanned plane figure passes interference signal；The Navigation of Pilotless Aircraft interference signal that interference module of navigating generates；Jamming equipment unit can choose
Above-mentioned one or more signals simultaneously send to realize to unmanned plane by the directional antenna radiation of tracking equipment unit
Interference.
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