CN107830767B - Based on the unmanned plane counter method remotely controlled and medium - Google Patents
Based on the unmanned plane counter method remotely controlled and medium Download PDFInfo
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- CN107830767B CN107830767B CN201710997681.7A CN201710997681A CN107830767B CN 107830767 B CN107830767 B CN 107830767B CN 201710997681 A CN201710997681 A CN 201710997681A CN 107830767 B CN107830767 B CN 107830767B
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41H—ARMOUR; ARMOURED TURRETS; ARMOURED OR ARMED VEHICLES; MEANS OF ATTACK OR DEFENCE, e.g. CAMOUFLAGE, IN GENERAL
- F41H11/00—Defence installations; Defence devices
- F41H11/02—Anti-aircraft or anti-guided missile or anti-torpedo defence installations or systems
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
Abstract
It is a kind of that method is broken through based on the unmanned plane remotely controlled, it includes the following steps: S1, obtains the treated black Fetion breath of unmanned plane within the scope of certain time, generates the black black winged region space-time hotspot graph flown with time correlation of unmanned plane in monitoring area according to the black Fetion breath of unmanned plane；According to counter unmanned plane scheduling information in black winged region space-time hotspot graph configuration monitoring region；Counter unmanned plane scheduling information includes the linkage capture chain for breaking through unmanned plane scheduling in the monitoring area；S2, unmanned plane during flying frequency information set is obtained, using the flight frequency information of acquisition as monitoring frequency variable factor information in monitoring area；After monitoring frequency variable factor information in monitoring area is merged with environmental background information in the server as monitoring comparative information storage in monitoring area；Frequency information in S3, real time monitoring monitoring area, compares comparative information is monitored in the frequency information and server of acquisition.
Description
Technical field
It is the present invention relates to unmanned aerial vehicle (UAV) control technical field, in particular to a kind of that method is broken through based on the unmanned plane remotely controlled
And medium.
Background technique
Universal with unmanned plane application range, there are the black winged phenomenons of unmanned plane in a large amount of controlled areas, i.e., without
Unmanned plane is arbitrarily let in permission fly away in controlled area without authorization, brings very big challenge, above-mentioned unmanned plane to country, public safety
Also referred to as black winged unmanned plane.
Existing unmanned plane counter is often confined to unmanned plane and appears in controlled area, then is intercepted, and not formed body
The prediction of systemization, monitoring, processing system.
Summary of the invention
In view of this, the present invention provide a kind of architecture based on the unmanned plane counter method remotely controlled and medium.
It is a kind of that method is broken through based on the unmanned plane remotely controlled comprising following steps:
S1, the treated black Fetion breath of unmanned plane within the scope of certain time is obtained, is generated according to the black Fetion breath of unmanned plane
The black black winged region space-time hotspot graph flown with time correlation of unmanned plane in monitoring area；It is configured according to black winged region space-time hotspot graph
Unmanned plane scheduling information is broken through in monitoring area；Counter unmanned plane scheduling information includes counter unmanned plane tune in the monitoring area
The linkage of degree captures chain；
S2, unmanned plane during flying frequency information set is obtained, using the flight frequency information of acquisition as monitoring in monitoring area
Frequency variation element information；As monitoring after monitoring frequency variable factor information in monitoring area is merged with environmental background information
Comparative information storage is monitored in region in the server；
Frequency information in S3, real time monitoring monitoring area, by monitoring comparison letter in the frequency information and server of acquisition
Breath compares, and judges whether there is black winged unmanned plane according to comparing result, in the presence of jump to step S4, otherwise repeat
Step S3；
S4, server are logical to black winged unmanned plane according to unmanned plane schedule information schedules counter unmanned plane is broken through in monitoring area
Track algorithm is crossed to be tracked；
The linkage capture chain of S5, in the server configuration counter unmanned plane corresponds to following range information, and judges black winged nothing
Man-machine whether correspond in following range in the linkage capture chain for breaking through unmanned plane is landed, in black winged unmanned plane in counter unmanned plane
Linkage capture chain corresponds to landing in following range, jumps to step S6, otherwise jumps to step S8；
The image information in default monitoring range in black winged unmanned plane landing is sent server by S6, counter unmanned plane；
Server judges whether to jump to when with figure information with figure information according to the image information in default monitoring range
Step S7；Otherwise step S8 is jumped to；
S7, server identify figure information from the image information in default monitoring range, with a timing in step S1
Between in range the treated black Fetion breath of unmanned plane be compared and judge whether it is first treated, it is right when for first treated
Black winged unmanned plane is captured and the figure information that will identify that, unmanned plane type information, capture time information are stored in service
In device；Otherwise capture is carried out and by unmanned plane treated within the scope of certain time black Fetion breath from recalling to black winged unmanned plane
Owner's information of black winged unmanned plane, by the unmanned plane type information of this capture, capture time information and black winged unmanned plane
Owner's information stores in the server；
S8, correspond to following range boundary in the linkage capture chain of counter unmanned plane black winged unmanned plane is captured, and general
Unmanned plane type information, the storage of capture time information are in the server.
Of the present invention based in the unmanned plane counter method remotely controlled,
The step S1 includes:
The treated black Fetion breath of unmanned plane within the scope of certain time is obtained, the unmanned plane Black people information includes passing through
The black winged temporal information of black winged unmanned plane of processing, type information, black winged unmanned plane owner information, black winged unmanned aerial vehicle flight path information；
Monitoring area is divided and is divided into multiple sub- monitoring units according to three-dimensional space-time information, according to the survey of sub- monitoring unit
It draws information and generates corresponding sub- monitoring unit monitoring area capture guidance vector；
Configure the unique identifier of each sub- monitoring unit monitoring area；
The treated black winged unmanned aerial vehicle flight path information that will acquire is split as track according to sub- monitoring unit monitoring area
Section, and the corresponding track section parameter of each track section is obtained, the track section parameter includes absolute three-dimensional coordinate parameters；
It generates sub- monitoring unit monitoring area three-dimensional according to track section parameter, the black winged black winged temporal information of unmanned plane and moves relatively
State image information；And according to the mapping information of sub- monitoring unit by sub- monitoring unit monitoring area three-dimensional relative dynamic image information
Be converted to sub- monitoring unit monitoring area hot spot subgraph vector；
By black winged unmanned plane type information, black winged unmanned plane owner information superposition to sub- monitoring unit monitoring area hot spot
In figure vector, and configure the unique of sub- monitoring unit monitoring area hot spot subgraph vector and sub- monitoring unit monitoring area after superposition
The mapping relations of identification code are to generate the black black winged region space-time hotspot graph flown with time correlation of unmanned plane in monitoring area；
It is configured in each sub- monitoring unit monitoring area hot spot subgraph vector according to black winged region space-time hotspot graph and breaks through nothing
Man-machine quantity information；
Each sub- monitoring unit monitoring area hot spot is configured according to the sub- monitoring unit monitoring area capture guidance vector of correspondence
Each counter unmanned plane scheduling information in subgraph vector；
There is quantity information, black winged unmanned plane during flying velocity interval according to black winged unmanned plane in sub- monitoring unit monitoring area
Information is configured each anti-by counter unmanned plane scheduling information each in each sub- monitoring unit monitoring area hot spot subgraph vector
Unmanned plane linkage rule processed；The linkage rule includes take off sequencing, tracking linkage range and task allocation information；
According to each in each counter unmanned plane linkage rule and each sub- monitoring unit monitoring area hot spot subgraph vector
A counter unmanned plane scheduling information, which obtains, breaks through unmanned plane scheduling information in black winged region space-time hotspot graph configuration monitoring region.
Of the present invention based in the unmanned plane counter method remotely controlled,
The step S2 includes:
Various black winged unmanned plane during flying frequency informations after treatment are obtained, as unmanned plane during flying frequency information
Set；
Obtain the frequency fluctuation range in monitoring area when unmanned plane during flying is not present；
Black winged unmanned plane during flying frequency informations various in unmanned plane during flying frequency information set are subjected to variety classes, quantity
Superposition, using superimposed frequency information range as monitoring frequency variable factor information in monitoring area；
Monitoring frequency variable factor information in monitoring area and frequency fluctuation range when unmanned plane during flying is not present are melted
After conjunction in the server as monitoring comparative information storage in monitoring area.
Of the present invention based in the unmanned plane counter method remotely controlled,
The step S4 includes:
Determine that black winged unmanned plane first appears the sub- monitoring unit region hot spot subgraph vector in monitoring area；
Quantity information, the black winged unmanned plane during flying velocity interval information that black winged unmanned plane occurs are obtained, what be will acquire is black winged
Quantity information, black winged unmanned plane during flying velocity interval information and the configuration of each counter unmanned plane scheduling information that unmanned plane occurs are each
A counter unmanned plane linkage rule carries out matching and determines the counter unmanned plane linkage rule finally executed；
The sequencing that takes off, tracking linkage range and task are determined according to the counter unmanned plane linkage rule finally executed
Distribute information；
According to determining determination take off sequencing, tracking linkage range and task allocation information to black winged unmanned plane into
Row segmentation tracking.
It is described to be taken off elder generation according to determining determination of the present invention based in the unmanned plane counter method remotely controlled
Sequence, tracking linkage range and task allocation information be segmented tracking to black winged unmanned plane afterwards includes:
According to determining that the sequencing that takes off, tracking linkage range and task allocation information determine that counter unmanned plane takes off elder generation
Afterwards sequence, counter unmanned plane during flying corresponding to sub- monitoring unit monitoring area unique identifier；Break through the task class of unmanned plane
Type information；
By guiding vector to initial in sub- monitoring unit monitoring area according to the sub- monitoring unit monitoring area capture of correspondence
The counter unmanned plane of flight carries out capture guidance；
Segmentation tracking is carried out to black winged unmanned plane by default track algorithm model in track, and executes corresponding task class
The corresponding task of type information.
Of the present invention based in the unmanned plane counter method remotely controlled,
The default track algorithm model is as follows:
Wherein, DijFor tracking based on probability
Model；For Coordinate Transformation Models, whereinFor the direction x coordinate square in relative coordinate system
Battle array；For the direction y coordinates matrix in relative coordinate system；For Z-direction coordinate square in relative coordinate system
Battle array；For translation vector matrix, wherein TxFor the direction x translation vector, TyFor the direction y translation vector, TzIt is translated towards for the direction z
Amount；Compensation model is converted for coordinate, wherein Q (x, y, z) is x, y, penalty coefficient on the direction z；M is that son monitoring is single
First monitoring area hot spot subgraph arrow number；θi,jIt is the black winged unmanned plane i of target for the correction value of the probability j of region；For the black winged unmanned plane i of target position tracking value range in probability j, k is the tracking moment.
Of the present invention based in the unmanned plane counter method remotely controlled,
Server also wraps after identifying figure information in the image information in default monitoring range in the step S7
It includes:
The figure information that will identify that is sent to police service platform, police service platform by face recognition scheme to figure information into
Row analysis when hitting the figure information analyzed in police service platform, will hit information as identifying when first treated
Figure information, the figure information identified include the owner residence information of black winged unmanned plane；
By the black winged black winged range information of unmanned plane of owner residence information prediction, by the black winged black winged range information of unmanned plane
Storage is in the server in corresponding figure information.
The present invention also provides a kind of non-transient computer readable storage medium, the non-transient computer readable storage medium
Computer instruction is stored, the computer instruction makes the computer execute any of the above-described method.
Advantageous effects: it is of the invention compared with the existing technology, can be realized: being matched according to black winged region space-time hotspot graph
It sets and breaks through unmanned plane scheduling information in monitoring area, sufficiently realize the science that counter unmanned plane is deployed to ensure effective monitoring and control of illegal activities.
Detailed description of the invention
Fig. 1 is provided in an embodiment of the present invention based on the unmanned plane remotely controlled counter method flow diagram.
Specific embodiment
As shown in Figure 1, in embodiments of the present invention, one is a kind of based on the unmanned plane remotely controlled counter method comprising
Following steps:
S1, the treated black Fetion breath of unmanned plane within the scope of certain time is obtained, is generated according to the black Fetion breath of unmanned plane
The black black winged region space-time hotspot graph flown with time correlation of unmanned plane in monitoring area；It is configured according to black winged region space-time hotspot graph
Unmanned plane scheduling information is broken through in monitoring area；Counter unmanned plane scheduling information includes counter unmanned plane tune in the monitoring area
The linkage of degree captures chain；
S2, unmanned plane during flying frequency information set is obtained, using the flight frequency information of acquisition as monitoring in monitoring area
Frequency variation element information；As monitoring after monitoring frequency variable factor information in monitoring area is merged with environmental background information
Comparative information storage is monitored in region in the server；
Frequency information in S3, real time monitoring monitoring area, by monitoring comparison letter in the frequency information and server of acquisition
Breath compares, and judges whether there is black winged unmanned plane according to comparing result, in the presence of jump to step S4, otherwise repeat
Step S3；
S4, server are logical to black winged unmanned plane according to unmanned plane schedule information schedules counter unmanned plane is broken through in monitoring area
Track algorithm is crossed to be tracked；
The linkage capture chain of S5, in the server configuration counter unmanned plane corresponds to following range information, and judges black winged nothing
Man-machine whether correspond in following range in the linkage capture chain for breaking through unmanned plane is landed, in black winged unmanned plane in counter unmanned plane
Linkage capture chain corresponds to landing in following range, jumps to step S6, otherwise jumps to step S8.
In this step, the linkage capture chain provided with counter unmanned plane corresponds to following range information, so that tracking is not only
It is limited to inside the continuation of the journey of single unmanned plane, routinely black winged unmanned plane can be tracked.
Moreover, it is judged that whether black winged unmanned plane corresponds to land in following range in the linkage capture chain for breaking through unmanned plane also makes
It obtains the embodiment of the present invention and is different from the prior art, often directly black winged unmanned plane is captured and expelled in the prior art,
The meaning captured in this way is only limitted to this, when carrying out black winged activity again by same people next time, then helpless.Pass through judgement
Black winged unmanned plane whether counter unmanned plane linkage capture chain corresponds in following range, can be effectively combined following range with
And the necessity of capture, it focuses in evidence obtaining, is not limited only to capturing behavior itself.
The image information in default monitoring range in black winged unmanned plane landing is sent server by S6, counter unmanned plane；
Server judges whether to jump to when with figure information with figure information according to the image information in default monitoring range
Step S7；Otherwise step S8 is jumped to；
In the embodiment of the present invention the step of, black fly into of figure information and unmanned plane combination is gone into, has been believed with portrait
It when breath, will not directly be captured, but jump to step S7, be different from existing unmanned plane and break through technology.
S7, server identify figure information from the image information in default monitoring range, with a timing in step S1
Between in range the treated black Fetion breath of unmanned plane be compared and judge whether it is first treated, it is right when for first treated
Black winged unmanned plane is captured and the figure information that will identify that, unmanned plane type information, capture time information are stored in service
In device；Otherwise capture is carried out and by unmanned plane treated within the scope of certain time black Fetion breath from recalling to black winged unmanned plane
Owner's information of black winged unmanned plane, by the unmanned plane type information of this capture, capture time information and black winged unmanned plane
Owner's information stores in the server；
In the embodiment of the present invention the step of, only there is figure information in the image information in default monitoring range,
Just captured.And distinguished first treated and accumulative processing, in first treated, black winged unmanned plane is captured and incite somebody to action
The figure information that identifies, unmanned plane type information, the storage of capture time information in the server, can take in expansion step S1
The treated black Fetion breath of unmanned plane, improves the essence of counter unmanned plane scheduling information within the scope of the certain time stored in business device
Degree.
S8, correspond to following range boundary in the linkage capture chain of counter unmanned plane black winged unmanned plane is captured, and general
Unmanned plane type information, the storage of capture time information are in the server.
Of the present invention based in the unmanned plane counter method remotely controlled,
The step S1 includes:
The treated black Fetion breath of unmanned plane within the scope of certain time is obtained, the unmanned plane Black people information includes passing through
The black winged temporal information of black winged unmanned plane of processing, type information, black winged unmanned plane owner information, black winged unmanned aerial vehicle flight path information；
Monitoring area is divided and is divided into multiple sub- monitoring units according to three-dimensional space-time information, according to the survey of sub- monitoring unit
It draws information and generates corresponding sub- monitoring unit monitoring area capture guidance vector；
In the embodiment of the present invention the step of, corresponding sub- monitoring unit is generated according to the mapping information of sub- monitoring unit and is monitored
Areas captured guides vector, can improve capture guidance in conjunction with landform, the geomorphic feature in controlled area (i.e. monitoring area)
Precision and accuracy.Certainly, in embodiments of the present invention, the compliance and specific implementation hand of mapping activity itself are not considered
Section.
Configure the unique identifier of each sub- monitoring unit monitoring area；
The treated black winged unmanned aerial vehicle flight path information that will acquire is split as track according to sub- monitoring unit monitoring area
Section, and the corresponding track section parameter of each track section is obtained, the track section parameter includes absolute three-dimensional coordinate parameters；
The step of embodiment of the present invention, combines with the unique identifier for configuring each sub- monitoring unit monitoring area, will split
It for track section, and obtains the corresponding track section parameter of each track section and is cooperated with unique identifier, can navigate to rapidly
Specific sub- monitoring unit monitoring area, and guidance vector is captured by sub- monitoring unit monitoring area and carries out capture guidance.
It generates sub- monitoring unit monitoring area three-dimensional according to track section parameter, the black winged black winged temporal information of unmanned plane and moves relatively
State image information；And according to the mapping information of sub- monitoring unit by sub- monitoring unit monitoring area three-dimensional relative dynamic image information
Be converted to sub- monitoring unit monitoring area hot spot subgraph vector；
By black winged unmanned plane type information, black winged unmanned plane owner information superposition to sub- monitoring unit monitoring area hot spot
In figure vector, and configure the unique of sub- monitoring unit monitoring area hot spot subgraph vector and sub- monitoring unit monitoring area after superposition
The mapping relations of identification code are to generate the black black winged region space-time hotspot graph flown with time correlation of unmanned plane in monitoring area；
Through the embodiment of the present invention the step of, can be accurate to each sub- monitoring unit monitoring area unmanned plane it is black fly with
The black winged region space-time hot spot of time correlation.
It is configured in each sub- monitoring unit monitoring area hot spot subgraph vector according to black winged region space-time hotspot graph and breaks through nothing
Man-machine quantity information；
Each sub- monitoring unit monitoring area hot spot is configured according to the sub- monitoring unit monitoring area capture guidance vector of correspondence
Each counter unmanned plane scheduling information in subgraph vector；
There is quantity information, black winged unmanned plane during flying velocity interval according to black winged unmanned plane in sub- monitoring unit monitoring area
Information is configured each anti-by counter unmanned plane scheduling information each in each sub- monitoring unit monitoring area hot spot subgraph vector
Unmanned plane linkage rule processed；The linkage rule includes take off sequencing, tracking linkage range and task allocation information；
According to each in each counter unmanned plane linkage rule and each sub- monitoring unit monitoring area hot spot subgraph vector
A counter unmanned plane scheduling information, which obtains, breaks through unmanned plane scheduling information in black winged region space-time hotspot graph configuration monitoring region.
Of the present invention based in the unmanned plane counter method remotely controlled,
The step S2 includes:
Various black winged unmanned plane during flying frequency informations after treatment are obtained, as unmanned plane during flying frequency information
Set；
Obtain the frequency fluctuation range in monitoring area when unmanned plane during flying is not present；
Black winged unmanned plane during flying frequency informations various in unmanned plane during flying frequency information set are subjected to variety classes, quantity
Superposition, using superimposed frequency information range as monitoring frequency variable factor information in monitoring area；
Monitoring frequency variable factor information in monitoring area and frequency fluctuation range when unmanned plane during flying is not present are melted
After conjunction in the server as monitoring comparative information storage in monitoring area.
Of the present invention based in the unmanned plane counter method remotely controlled,
The step S4 includes:
Determine that black winged unmanned plane first appears the sub- monitoring unit region hot spot subgraph vector in monitoring area；
Quantity information, the black winged unmanned plane during flying velocity interval information that black winged unmanned plane occurs are obtained, what be will acquire is black winged
Quantity information, black winged unmanned plane during flying velocity interval information and the configuration of each counter unmanned plane scheduling information that unmanned plane occurs are each
A counter unmanned plane linkage rule carries out matching and determines the counter unmanned plane linkage rule finally executed；
The sequencing that takes off, tracking linkage range and task are determined according to the counter unmanned plane linkage rule finally executed
Distribute information；
According to determining determination take off sequencing, tracking linkage range and task allocation information to black winged unmanned plane into
Row segmentation tracking.
It is described to be taken off elder generation according to determining determination of the present invention based in the unmanned plane counter method remotely controlled
Sequence, tracking linkage range and task allocation information be segmented tracking to black winged unmanned plane afterwards includes:
According to determining that the sequencing that takes off, tracking linkage range and task allocation information determine that counter unmanned plane takes off elder generation
Afterwards sequence, counter unmanned plane during flying corresponding to sub- monitoring unit monitoring area unique identifier；Break through the task class of unmanned plane
Type information；
By guiding vector to initial in sub- monitoring unit monitoring area according to the sub- monitoring unit monitoring area capture of correspondence
The counter unmanned plane of flight carries out capture guidance；
Segmentation tracking is carried out to black winged unmanned plane by default track algorithm model in track, and executes corresponding task class
The corresponding task of type information.
Of the present invention based in the unmanned plane counter method remotely controlled,
The default track algorithm model is as follows:
Wherein, DijFor tracking based on probability
Model；For Coordinate Transformation Models, whereinFor the direction x coordinate square in relative coordinate system
Battle array；For the direction y coordinates matrix in relative coordinate system；For Z-direction coordinate square in relative coordinate system
Battle array；For translation vector matrix, wherein TxFor the direction x translation vector, TyFor the direction y translation vector, TzIt is translated towards for the direction z
Amount；Compensation model is converted for coordinate, wherein Q (x, y, z) is x, y, penalty coefficient on the direction z；M is that son monitoring is single
First monitoring area hot spot subgraph arrow number (i.e. unique identifier)；θi,jIt is the black winged unmanned plane i of target for the general of region
The correction value of rate j；For the black winged unmanned plane i of target position tracking value range in probability j, k is the tracking moment.
In embodiments of the present invention, Q (x, y, z) is x, y, and penalty coefficient is constant value on the direction z.
Of the present invention based in the unmanned plane counter method remotely controlled,
Server also wraps after identifying figure information in the image information in default monitoring range in the step S7
It includes:
The figure information that will identify that is sent to police service platform, police service platform by face recognition scheme to figure information into
Row analysis when hitting the figure information analyzed in police service platform, will hit information as identifying when first treated
Figure information, the figure information identified include the owner residence information of black winged unmanned plane；
By the black winged black winged range information of unmanned plane of owner residence information prediction, by the black winged black winged range information of unmanned plane
Storage is in the server in corresponding figure information.
It is that can combine acquisition unmanned plane with police service platform by Identification of Images first by implementing the embodiment of the present invention
Owner's information is given a clue for subsequent processing, also can fly nobody by the way that the owner residence information prediction of acquisition is black again
The black winged range information of machine generates the black area Hei Fei flown with time correlation of unmanned plane in monitoring area to according to the black Fetion breath of unmanned plane
Domain space-time hotspot graph is modified.
The present invention also provides a kind of non-transient computer readable storage medium, the non-transient computer readable storage medium
Computer instruction is stored, the computer instruction makes the computer execute any of the above-described method.
Advantageous effects: it is of the invention compared with the existing technology, can be realized: being matched according to black winged region space-time hotspot graph
It sets and breaks through unmanned plane scheduling information in monitoring area, sufficiently realize the science that counter unmanned plane is deployed to ensure effective monitoring and control of illegal activities.
It is understood that for those of ordinary skill in the art, can do in accordance with the technical idea of the present invention
Various other changes and modifications out, and all these changes and deformation all should belong to the protection model of the claims in the present invention
It encloses.
Claims (5)
1. a kind of break through method based on the unmanned plane remotely controlled, which is characterized in that it includes the following steps:
S1, the treated black Fetion breath of unmanned plane within the scope of certain time is obtained, monitoring is generated according to the black Fetion breath of unmanned plane
The black black winged region space-time hotspot graph flown with time correlation of unmanned plane in region；According to black winged region space-time hotspot graph configuration monitoring
Unmanned plane scheduling information is broken through in region；Counter unmanned plane scheduling information includes that counter unmanned plane is dispatched in the monitoring area
Linkage capture chain；
S2, unmanned plane during flying frequency information set is obtained, using the flight frequency information of acquisition as monitoring frequency in monitoring area
Variable factor information；Monitoring area is used as after monitoring frequency variable factor information in monitoring area is merged with environmental background information
Interior monitoring comparative information storage is in the server；
S3, real time monitoring monitoring area in frequency information, will in the frequency information and server of acquisition monitor comparative information into
Row comparison, black winged unmanned plane is judged whether there is according to comparing result, in the presence of jump to step S4, otherwise repeat step
S3；
S4, server according in monitoring area break through unmanned plane schedule information schedules counter unmanned plane to black winged unmanned plane by with
Track algorithm is tracked；
The linkage capture chain of S5, in the server configuration counter unmanned plane corresponds to following range information, and judges black winged unmanned plane
Whether correspond in following range and land in the linkage capture chain for breaking through unmanned plane, in black winged unmanned plane in the linkage for breaking through unmanned plane
Capture chain corresponds to landing in following range, jumps to step S6, otherwise jumps to step S8；
The image information in default monitoring range in black winged unmanned plane landing is sent server by S6, counter unmanned plane；Service
Device judges whether to jump to step when with figure information with figure information according to the image information in default monitoring range
S7；Otherwise step S8 is jumped to；
S7, server identify figure information from the image information in default monitoring range, with certain time model in step S1
It encloses the black Fetion breath of interior treated unmanned plane and is compared and judge whether it is first treated, when for first treated, fly to black
Unmanned plane captured and will identify that figure information, unmanned plane type information, capture time information storage in the server；
Otherwise capture is carried out to black winged unmanned plane and ceased the black Fetion of unmanned plane treated within the scope of certain time black winged from recalling
Owner's information of unmanned plane, by the owner of the unmanned plane type information of this capture, capture time information and black winged unmanned plane
Information stores in the server；
S8, correspond to following range boundary in the linkage capture chain of counter unmanned plane black winged unmanned plane captured, and by nobody
Machine type information, the storage of capture time information are in the server；
The step S1 includes:
The treated black Fetion breath of unmanned plane within the scope of certain time is obtained, the black Fetion breath of unmanned plane includes by processing
The black winged temporal information of black winged unmanned plane, type information, black winged unmanned plane owner information, black winged unmanned aerial vehicle flight path information；
Monitoring area is divided and is divided into multiple sub- monitoring units according to three-dimensional space-time information, is believed according to the mapping of sub- monitoring unit
Breath generates corresponding sub- monitoring unit monitoring area capture guidance vector；
Configure the unique identifier of each sub- monitoring unit monitoring area；
The treated black winged unmanned aerial vehicle flight path information that will acquire is split as track section according to sub- monitoring unit monitoring area, and
The corresponding track section parameter of each track section is obtained, the track section parameter includes absolute three-dimensional coordinate parameters；
Sub- monitoring unit monitoring area three-dimensional relative dynamic figure is generated according to track section parameter, the black winged black winged temporal information of unmanned plane
As information；And sub- monitoring unit monitoring area three-dimensional relative dynamic image information is converted according to the mapping information of sub- monitoring unit
For sub- monitoring unit monitoring area hot spot subgraph vector；
Black winged unmanned plane type information, black winged unmanned plane owner information superposition to sub- monitoring unit monitoring area hot spot subgraph are sweared
In amount, and configure the unique identification of sub- monitoring unit monitoring area hot spot subgraph vector and sub- monitoring unit monitoring area after superposition
The mapping relations of code are to generate the black black winged region space-time hotspot graph flown with time correlation of unmanned plane in monitoring area；
It is configured in each sub- monitoring unit monitoring area hot spot subgraph vector according to black winged region space-time hotspot graph and breaks through unmanned plane
Quantity information；
Each sub- monitoring unit monitoring area hot spot subgraph is configured according to the sub- monitoring unit monitoring area capture guidance vector of correspondence
Each counter unmanned plane scheduling information in vector；
There is quantity information, black winged unmanned plane during flying velocity interval letter according to black winged unmanned plane in sub- monitoring unit monitoring area
Breath configures each counter by counter unmanned plane scheduling information each in each sub- monitoring unit monitoring area hot spot subgraph vector
Unmanned plane linkage rule；The linkage rule includes take off sequencing, tracking linkage range and task allocation information；
According to each anti-in each counter unmanned plane linkage rule and each sub- monitoring unit monitoring area hot spot subgraph vector
Unmanned plane scheduling information processed, which obtains, breaks through unmanned plane scheduling information in black winged region space-time hotspot graph configuration monitoring region；
The step S2 includes:
Various black winged unmanned plane during flying frequency informations after treatment are obtained, as unmanned plane during flying frequency information collection
It closes；
Obtain the frequency fluctuation range in monitoring area when unmanned plane during flying is not present；
By black winged unmanned plane during flying frequency informations various in unmanned plane during flying frequency information set carry out variety classes, quantity is folded
Add, using superimposed frequency information range as monitoring frequency variable factor information in monitoring area；
After monitoring frequency variable factor information in monitoring area is merged with frequency fluctuation range when unmanned plane during flying is not present
It is stored in the server as comparative information is monitored in monitoring area；
The step S4 includes:
Determine that black winged unmanned plane first appears the sub- monitoring unit region hot spot subgraph vector in monitoring area；
Quantity information, the black winged unmanned plane during flying velocity interval information that black winged unmanned plane occurs are obtained, what be will acquire black flies nobody
Quantity information, black winged unmanned plane during flying velocity interval information and the configuration of each counter unmanned plane scheduling information that machine occurs are each anti-
Unmanned plane linkage rule processed carries out matching and determines the counter unmanned plane linkage rule finally executed；
The sequencing that takes off, tracking linkage range and task distribution are determined according to the counter unmanned plane linkage rule finally executed
Information；
According to determining determination take off sequencing, tracking linkage range and task allocation information black winged unmanned plane is divided
Section tracking.
2. breaking through method based on the unmanned plane remotely controlled as described in claim 1, which is characterized in that described according to determining
Determine that the sequencing that takes off, tracking linkage range and task allocation information carry out segmentation tracking to black winged unmanned plane and include:
It is successive suitable to determine that counter unmanned plane takes off according to the determining sequencing that takes off, tracking linkage range and task allocation information
The unique identifier of sub- monitoring unit monitoring area corresponding to sequence, counter unmanned plane during flying；Break through the task type letter of unmanned plane
Breath；
By guiding vector to initial flight in sub- monitoring unit monitoring area according to the sub- monitoring unit monitoring area capture of correspondence
Counter unmanned plane carry out capture guidance；
Segmentation tracking is carried out to black winged unmanned plane by default track algorithm model in track, and executes corresponding task type letter
Cease corresponding task.
3. breaking through method based on the unmanned plane remotely controlled as claimed in claim 2, which is characterized in that the default tracking is calculated
Method model is as follows:
Wherein, DijFor trace model based on probability；For Coordinate Transformation Models, whereinFor the direction x coordinates matrix in relative coordinate system；For the direction y coordinates matrix in relative coordinate system；For Z-direction coordinates matrix in relative coordinate system；For translation vector matrix, wherein TxFor the direction x translation vector, TyFor the direction y translation vector, TzFor the direction z translation vector；Compensation model is converted for coordinate, wherein Q (x, y, z) is x, y, penalty coefficient on the direction z；M is sub- monitoring unit
Monitoring area hot spot subgraph arrow number；θi,jIt is the black winged unmanned plane i of target for the correction value of the probability j of region；For the black winged unmanned plane i of target position tracking value range in probability j, k is the tracking moment.
4. breaking through method based on the unmanned plane remotely controlled as described in claim 1, which is characterized in that
Server is after identifying figure information in the step S7 in the image information in default monitoring range, further includes:
The figure information that will identify that is sent to police service platform, and police service platform divides figure information by face recognition scheme
Analysis, when hitting the figure information analyzed in police service platform, using hit information as the portrait identified when first treated
Information, the figure information identified include the owner residence information of black winged unmanned plane；
By the black winged black winged range information of unmanned plane of owner residence information prediction, the black winged black winged range information of unmanned plane is stored
In the server in corresponding figure information.
5. a kind of non-transient computer readable storage medium, which is characterized in that the non-transient computer readable storage medium is deposited
Computer instruction is stored up, the computer instruction makes the computer execute the method as described in Claims 1-4 is any.
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| CN109557934B (en) * | 2018-09-20 | 2022-01-14 | 中建科技有限公司深圳分公司 | Unmanned aerial vehicle cruise control method and device based on fabricated building platform |
| CN109597433B (en) * | 2018-12-14 | 2021-08-20 | 桂林电子科技大学 | Unmanned aerial vehicle prevention and control intelligent decision-making method based on composite interception strategy |
| CN111123970B (en) * | 2019-11-26 | 2024-05-07 | 珠海璇玑科技有限公司 | Target countering method based on unmanned aerial vehicle and related equipment thereof |
| CN111314017B (en) * | 2020-05-09 | 2020-08-14 | 上海特金信息科技有限公司 | Scheduling method and device of unmanned aerial vehicle signal suppression equipment, electronic equipment and medium |
| CN111866456B (en) * | 2020-07-13 | 2022-04-12 | 张恩宇 | Unmanned aerial vehicle tracking and countering method and device |
| CN113406966B (en) * | 2021-06-09 | 2022-12-06 | 航天科工仿真技术有限责任公司 | Unmanned aerial vehicle counter-braking method and unmanned aerial vehicle counter-braking system |
| CN114322668B (en) * | 2021-12-15 | 2024-04-19 | 中国船舶重工集团公司第七0九研究所 | Unmanned aerial vehicle countering auxiliary decision-making method for ground defense |
| CN114963879B (en) * | 2022-05-20 | 2023-11-17 | 中国电子科技集团公司电子科学研究院 | Comprehensive control system and method for unmanned aerial vehicle |
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