CN110247729A - A kind of unmanned plane real-time tracking and quick counter integral control system and method - Google Patents
A kind of unmanned plane real-time tracking and quick counter integral control system and method Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04K—SECRET COMMUNICATION; JAMMING OF COMMUNICATION
- H04K3/00—Jamming of communication; Counter-measures
- H04K3/40—Jamming having variable characteristics
- H04K3/42—Jamming having variable characteristics characterized by the control of the jamming frequency or wavelength
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04K—SECRET COMMUNICATION; JAMMING OF COMMUNICATION
- H04K3/00—Jamming of communication; Counter-measures
- H04K3/60—Jamming involving special techniques
- H04K3/62—Jamming involving special techniques by exposing communication, processing or storing systems to electromagnetic wave radiation, e.g. causing disturbance, disruption or damage of electronic circuits, or causing external injection of faults in the information
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04K—SECRET COMMUNICATION; JAMMING OF COMMUNICATION
- H04K3/00—Jamming of communication; Counter-measures
- H04K3/80—Jamming or countermeasure characterized by its function
- H04K3/92—Jamming or countermeasure characterized by its function related to allowing or preventing remote control
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Abstract
The invention discloses a kind of unmanned plane real-time tracking and quick counter integral control system and methods, the system includes sequentially connected receiving antenna, attenuation module, frequency mixing module, IF process module, high-speed ADC, FPGA, high-speed DAC, IQ drive module, IQ modulation module, couple detection module, amplifier and transmitting antenna, the frequency mixing module is connected with local oscillator is received, the FPGA is connected with CPU, transmitting local oscillator is connected by phase modulation module with the IQ modulation module, this method realizes the real-time processing to unmanned plane signal using efficient digital signal Processing Algorithm, the capture of Frequency Hopping Signal is completed in a very short period of time, analysis, identify echo signal, and signal is broken through to objective emission, counter signal can track the jump of Frequency Hopping Signal, the instantaneous spectrum for breaking through signal is relatively narrow, only The instantaneous spectrum of Frequency Hopping Signal need to be covered, power is saved, reduces to electromagnetic environmental impact.
Description
Technical field
The present invention relates to unmanned plane monitoring and counter technical field, in particular to a kind of unmanned plane real-time tracking and quickly anti-
Integral control system processed and method.
Background technique
With unmanned plane market rapid growth, some the problem of being caused by unmanned plane " black to fly ", give occasion safety guarantee
Bring hidden trouble；Unmanned plane has the characteristics that maneuverability, manipulation are intelligent, cheap, and some criminals utilize nothing
Man-machine carry out illegal activity, seriously threatens public safety, it is therefore desirable to be especially " black to fly " unmanned plane to unmanned plane and carry out
Effective monitoring and counter.
Unmanned plane detection mainly includes radar detection, radio signal monitoring, photoelectric tracking, sound wave identification etc..Radar pair
Very small unmanned plane can not detect, and urban environment is not available；Acoustic detection and photoelectric tracking are dry vulnerable to environment, weather
It disturbs.Detectable " the low small slow " target of radio monitoring, round-the-clock, green is radiationless, and unmanned plane is switched in monitoring range
It can be found target, without taking off.
Unmanned plane counter mode mainly has laser to damage, net is caught, radio interference.It is easy to fall after laser damage unmanned plane
Secondary injury is caused, is not suitable for using in dense population areas such as cities；Net, which is caught, needs unmanned plane in the visible range, it is difficult to fight
A group of planes, captures and flies hand skill requirement height, and range is limited.Have quickly, flexibly using wireless electromagnetic interference means counter unmanned plane
The advantages of, it can work under night, thick fog harsh climate.
Exist currently, having the equipment for being detected or being broken through to unmanned plane using wireless system, but is used
Detection and counter mode be relative separation, the effect of signals monitoring that counter when emits cannot be accomplished to track in real time
Formula is simultaneously broken through.No-manned machine distant control signal uses frequency hopping or spread-spectrum signal, and Hop duration is short, and occupied bandwidth is big, if cannot
Tracking compacting in real time, can only carry out full frequency band compacting, in this way transmitting high-power signal, seriously affect compacting coverage area, and
And successive bands are interfered.The equipment volume separated at present is big, not readily transportable and installation.
Summary of the invention
In order to solve the above technical problems, the present invention provides a kind of unmanned plane real-time trackings and quick counter overall-in-one control schema
System and method is saved power, is reduced to electromagnetic environment to reach real-time tracking unmanned plane Frequency Hopping Signal and generate counter signal
The purpose of influence.
In order to achieve the above objectives, technical scheme is as follows:
A kind of unmanned plane real-time tracking and quickly counter integral control system, including sequentially connected receiving antenna, decline
Subtract module, frequency mixing module, IF process module, high-speed ADC, FPGA, high-speed DAC, IQ drive module, IQ modulation module, coupling
Detection module, amplifier and transmitting antenna, the frequency mixing module are connected with local oscillator is received, and the FPGA is connected with CPU, and transmitting is originally
Vibration is connected by phase modulation module with the IQ modulation module.
In above scheme, in the FPGA include sequentially connected Fast Fourier Transform (FFT) unit, frequency hopping point detection unit,
Regular judging unit and signaling control unit, the signaling control unit occur with frequency generation unit and narrow-band noise single respectively
Member is connected, and the frequency generation unit and narrow-band noise generating unit are connected by complex mixer unit with counter signal element, institute
Regular judging unit is stated to be connected by frequency control unit with frequency generation unit.
A kind of unmanned plane real-time tracking and quickly counter integrated control method, using above-mentioned unmanned plane real-time tracking with
Quickly counter integral control system, comprises the following processes:
(1) radio signal of unmanned plane enters system by receiving antenna, becomes after overdamping, mixing, IF process
For analog if signal, analog if signal is become IQ base band letter after high-speed sampling and Digital Down Convert by high-speed ADC
Number, IQ baseband signal receives input FPGA by high speed fibre；
(2) FPGA constantly regulate the step frequency for receiving local oscillator, and the side according to step (1) is successively segmented to received signal
Method is scanned monitoring, realizes that panorama quickly scans monitoring, to quickly identify the working frequency range of unmanned plane；
(3) after the working frequency range for monitoring unmanned plane, IQ baseband signal at this time is transmitted to CPU by FPGA, and CPU calculates jump
Frequency signal duration T0, and T0Return to FPGA；
(4) detection of frequency hopping point is carried out using Fast Fourier Transform (FFT) method in FPGA, after rule judgement, generates phase
Corresponding narrowband noise signals and tone signal, output counter signal carries out digital-to-analogue to high-speed DAC, high-speed DAC after complex mixer
Counter signal is become analog signal by conversion；
(5) analog signal of high-speed DAC output enters IQ modulation module after IQ drives, the letter generated with transmitting local oscillator
Number carry out IQ modulation be output to transmitting antenna then through overcoupling detection module and amplifier and interfered；
(6) signaling control unit is according to T0Frequency generation unit and narrow-band noise generating unit are closed, is repeated the above steps
(4) and (5) it, monitors next frequency hopping dot frequency and is interfered.
In further technical solution, the step (4) specifically includes following procedure:
1) Fast Fourier Transform (FFT) unit receives IQ base band data, and processing obtains N point FFT data real part [RE0, RE1…
REN-1] and imaginary part [IM0, IM1…IMN-1] two arrays, modulus operation is done to plural number and obtains the performance number [A of N number of Frequency point0,
A1…AN-1]；
2) performance number [A0, A1…AN-1] enter the maximum value A that frequency hopping point detection unit is foundM, corresponding index is M；
3)AMIt is compared with the value X for the register being set in advance in regular judging unit, if meeting condition, rule is sentenced
Disconnected unit exports control signal to signaling control unit, and will index M to frequency control unit；
4) frequency control unit is for zero-frequency according to the frequency F, F that M calculates baseband signal, and having just has negative, F=(M-
N/2)*FS/ N, FSFor sample rate, F is inputted into frequency generation unit；
5) signaling control unit excites narrow-band noise generating unit and frequency generation unit, narrowband to make an uproar according to control signal
Sound generating unit generates narrowband noise signals, and the band of narrowband noise signals is wider than the bandwidth of single Frequency Hopping Signal；Frequency occurs
Unit generates the tone signal that frequency is F；
6) after the tone signal complex mixer that narrowband noise signals and frequency spectrum are F, by tearing filtering open in counter signal element,
It is input to high-speed DAC.
In further technical solution, for the Fast Fourier Transform (FFT) unit using sequentially inputting, inverted order output is each
The dish-like operation of grade is by changing twiddle factor, and difference points are by changing in quick Fu of real-time variable point that address generator is realized
Leaf transformation.
In further technical solution, the narrow-band noise generating unit is used longest linear feedback shift register
The method that random sequence is transformed into equally distributed Gauss number generates the white Gaussian noise of full bandwidth, forms and filters by low pass
Wave device becomes narrowband Gaussian white noise.
In further technical solution, the frequency generation unit can generate orthogonal IQ two-way tone signal, adopt
Realize modified sine and cosine trigonometric function with Coordinate Rotating Algorithm, frequency is can be in the bandwidth of -100MHz to 100MHz
The high-precision monotony frequency arbitrarily changed.
In further technical solution, the counter signal element uses follow-on multiphase to the signal after complex mixer
Interpolation filter is improved.
Through the above technical solutions, unmanned plane real-time tracking provided by the invention and quickly counter integral control system and
Method is using detection and counter integration signal processing method, and the residence time of each frequency point of Frequency Hopping Signal is extremely short, using efficient
Digital signal processing algorithm realizes the real-time processing to unmanned plane signal, completes the capture of Frequency Hopping Signal in a very short period of time, divides
Analysis identifies echo signal, and breaks through signal to objective emission, and counter signal can track the jump of Frequency Hopping Signal, break through signal
Instantaneous spectrum it is relatively narrow, need to only cover the instantaneous spectrum of Frequency Hopping Signal, save power, reduce to electromagnetic environmental impact, together
The power operating distance of sample is farther.Monitoring simultaneously and counter integrated design equipment volume are small, light-weight, are readily disassembled and transport
Installation.It is parallel with counter using monitoring, it quickly identifies Frequency Hopping Signal and suppresses, close compacting before the appearance of next Frequency Hopping Signal
Signal does not influence to monitor, and quickly finds unmanned plane and breaks through.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described.
Fig. 1 is a kind of unmanned plane real-time tracking and quick counter integral control system knot disclosed in the embodiment of the present invention
Structure schematic diagram；
Fig. 2 is schematic diagram of the constituent unit inside FPGA disclosed in the embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description.
A kind of the present invention provides unmanned plane real-time tracking and quickly counter integral control system and method, such as Fig. 1 and
Shown in Fig. 2, which realizes efficient Digital Signal Algorithm using field programmable gate array, can real-time tracking without
Man-machine signal is simultaneously broken through, it is only necessary to be emitted narrow-band interference signal, can be increased counter range, and avoid to successive bands
And next frequency hopping point interferes.
The specific method is as follows:
1, after the radio signal of unmanned plane enters radio-frequency front-end by receiving antenna, at overdamping, mixing, intermediate frequency
Become the baseband signal that centre frequency is 153.6MHz, bandwidth is 200MHz after reason, FPGA constantly regulate the stepping for receiving local oscillator
Frequency receives local oscillator and scans in 500MHz-6.2GH, the monitoring of the unmanned plane signal of 400MHz-6GHz realized, using quick
The working frequency range of monitoring pattern identification unmanned plane is scanned, the bandwidth of operation of unmanned plane is of the invention probably in 100MHz or so
The working frequency range of unmanned plane can be completely covered in 200MHz.
2, setting unmanned plane monitoring centre frequency is F0, monitoring frequency range at this time is [F0- 100, F0+ 100] complete in MHz
The working frequency range of all standing unmanned plane Frequency Hopping Signal.After the working frequency range for monitoring unmanned plane, IQ baseband signal at this time is passed
FM signal duration T is calculated to CPU, CPU0, and T0Return to FPGA.
3, unmanned plane signal is suppressed using tracking jamming pattern, Fast Fourier Transform (FFT) unit receives the IQ of 200M bandwidth
Base band data obtains N point FFT data real part [RE0, RE1…REN-1] and imaginary part [IM0, IM1…IMN-1] two arrays, to plural number
It does modulus operation and obtains the performance number [A of N number of Frequency point0, A1…AN-1]。
4, performance number [A0, A1…AN-1] enter the maximum value A that frequency hopping point detection unit is foundM, corresponding index is M；AM
It is compared with the value X for the register being set in advance in regular judging unit, if meeting condition, regular judging unit output control
Signal processed will index M to frequency control unit to signaling control unit；Frequency control unit calculates baseband signal according to M
Frequency F, F be for zero-frequency, having just has negative, F=(M-N/2) * FS/ N, FSFor sample rate, F is inputted into frequency generation unit；
5, signaling control unit excites narrow-band noise transmission unit and frequency generation unit, narrowband to make an uproar according to control signal
Sound occurs that the noise signal of narrowband can be generated, and the band of narrow band signal is wider than the bandwidth of single Frequency Hopping Signal；Frequency generation unit
Generate the tone signal that frequency is F.
6, defeated by tearing filtering open in counter signal element after the tone signal complex mixer that narrowband noise signals and frequency spectrum are F
Enter to high-speed DAC, it is found that Frequency Hopping Signal only needs tens microseconds to throttle signal is generated.
7, transmitting local oscillator generates F0Signal and high-speed DAC output signal carry out IQ modulation, then through overcoupling detection
Module, amplifier are output to transmitting antenna and are interfered.
8, signaling control unit is according to T0Frequency generation unit and narrow-band noise generating unit are closed, is repeated the above steps
(3) (7) are arrived, monitors next frequency hopping dot frequency and is interfered.
The citing of total system control method: by taking certain existing unmanned plane on the market as an example, remote signal work exists
2.4GHz frequency range:
1. system work in 400MHz-6GH panoramic scanning monitoring pattern, it is found that unmanned plane Frequency Hopping Signal carries out early warning and mentions
It wakes up；
2. monitoring that 2.4GHz frequency range is the working frequency range of unmanned plane, 2.4GHz is set by the centre frequency of system, it is real
When sweep width be 200MHz.
3. identifying that current frequency hopping point is a certain Frequency point in 2.3GHz to 2.5GHz, the Frequency Hopping Signal duration is general
2ms, FFT operation is done by the FPGA of high speed can find unmanned planes in us grades of units and break through, and transmitting counter signal continues
It is closed after 2ms.
4. monitoring next Hopping frequencies point, two Hopping frequencies point interval about 10ms are left back, and step above is repeated after discovery
Rapid 3, after a period of time, nobody can land or make a return voyage automatically.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (8)
1. a kind of unmanned plane real-time tracking and quickly counter integral control system, which is characterized in that connect including sequentially connected
Receive antenna, attenuation module, frequency mixing module, IF process module, high-speed ADC, FPGA, high-speed DAC, IQ drive module, IQ modulation
Module, coupling detection module, amplifier and transmitting antenna, the frequency mixing module are connected with local oscillator is received, the FPGA and CPU phase
Even, transmitting local oscillator is connected by phase modulation module with the IQ modulation module.
2. a kind of unmanned plane real-time tracking according to claim 1 and quick counter integral control system, feature exist
In including sequentially connected Fast Fourier Transform (FFT) unit, frequency hopping point detection unit, regular judging unit and letter in the FPGA
Number control unit, the signaling control unit are connected with frequency generation unit and narrow-band noise generating unit respectively, the frequency
Generating unit and narrow-band noise generating unit are connected by complex mixer unit with counter signal element, and the rule judging unit is logical
Overfrequency control unit is connected with frequency generation unit.
3. a kind of unmanned plane real-time tracking and quickly counter integrated control method, using unmanned plane as claimed in claim 2
Real-time tracking and quickly counter integral control system, which is characterized in that comprise the following processes:
(1) radio signal of unmanned plane enters system by receiving antenna, becomes mould after overdamping, mixing, IF process
Analog if signal is become IQ baseband signal, IQ after high-speed sampling and Digital Down Convert by quasi- intermediate-freuqncy signal, high-speed ADC
Baseband signal receives input FPGA by high speed fibre；
(2) FPGA constantly regulate the step frequency for receiving local oscillator, received signal is successively segmented method according to step (1) into
Row scanning monitoring, realizes that panorama quickly scans monitoring, to quickly identify the working frequency range of unmanned plane；
(3) after the working frequency range for monitoring unmanned plane, IQ baseband signal at this time is transmitted to CPU by FPGA, and CPU calculates frequency hopping letter
Number duration T0, and T0Return to FPGA；
(4) detection of frequency hopping point is carried out using Fast Fourier Transform (FFT) method in FPGA, after rule judgement, generated corresponding
Narrowband noise signals and tone signal, after complex mixer output counter signal arrive high-speed DAC, high-speed DAC progress digital-to-analogue conversion,
Counter signal is become into analog signal；
(5) high-speed DAC output analog signal after IQ drives enter IQ modulation module, with transmitting local oscillator generate signal into
Row IQ modulation, then through overcoupling detection module and amplifier, is output to transmitting antenna and is interfered；
(6) signaling control unit is according to T0Close frequency generation unit and narrow-band noise generating unit, repeat the above steps (4) and
(5), it monitors next frequency hopping dot frequency and is interfered.
4. a kind of unmanned plane real-time tracking according to claim 3 and quick counter integrated control method, feature exist
In the step (4) specifically includes following procedure:
1) Fast Fourier Transform (FFT) unit receives IQ base band data, and processing obtains N point FFT data real part [RE0, RE1…REN-1] and
Imaginary part [IM0, IM1…IMN-1] two arrays, modulus operation is done to plural number and obtains the performance number [A of N number of Frequency point0, A1…AN-1]；
2) performance number [A0, A1…AN-1] enter the maximum value A that frequency hopping point detection unit is foundM, corresponding index is M；
3)AMIt is compared with the value X for the register being set in advance in regular judging unit, if meeting condition, rule judgement is single
Member exports control signal to signaling control unit, and will index M to frequency control unit；
4) frequency control unit is for zero-frequency according to the frequency F, F that M calculates baseband signal, and having just has negative, F=(M-N/2) *
FS/ N, FSFor sample rate, F is inputted into frequency generation unit；
5) signaling control unit excites narrow-band noise generating unit and frequency generation unit, narrow-band noise hair according to control signal
Raw unit generates narrowband noise signals, and the band of narrowband noise signals is wider than the bandwidth of single Frequency Hopping Signal；Frequency generation unit
Generate the tone signal that frequency is F；
6) after the tone signal complex mixer that narrowband noise signals and frequency spectrum are F, by tearing filtering open in counter signal element, pass through
GTX high-speed interface is input to high-speed DAC.
5. a kind of unmanned plane real-time tracking according to claim 4 and quick counter integrated control method, feature exist
In, the Fast Fourier Transform (FFT) unit using sequentially inputting, inverted order output, every dish-like operation of level-one by change rotation because
Son, difference points are by changing the real-time variable point quick Fourier transformation that address generator is realized.
6. a kind of unmanned plane real-time tracking according to claim 4 and quick counter integrated control method, feature exist
In the narrow-band noise generating unit, which is used, is transformed into equally distributed height longest linear feedback shift register random sequence
The method of this random number generates the white Gaussian noise of full bandwidth, becomes narrowband Gaussian white noise by low pass formed filter.
7. a kind of unmanned plane real-time tracking according to claim 4 and quick counter integrated control method, feature exist
In the frequency generation unit can generate orthogonal IQ two-way tone signal, and modified is being realized using Coordinate Rotating Algorithm just
Cosine, frequency are the high-precision monotony frequencies that can arbitrarily change in the bandwidth of -100MHz to 100MHz.
8. a kind of unmanned plane real-time tracking according to claim 4 and quick counter integrated control method, feature exist
In the counter signal element improves the signal after complex mixer using follow-on polyphase interpolating filter.
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| CN114301568B (en) * | 2021-12-10 | 2023-12-01 | 成都能通科技股份有限公司 | Real-time tracking aiming type unmanned aerial vehicle interference method |
| CN114489148A (en) * | 2021-12-30 | 2022-05-13 | 中国航天***科学与工程研究院 | Anti-unmanned aerial vehicle system based on intelligent detection and electronic countermeasure |
| CN114489148B (en) * | 2021-12-30 | 2023-08-29 | 中国航天***科学与工程研究院 | Anti-unmanned aerial vehicle system based on intelligent detection and electronic countermeasure |
| CN114760004A (en) * | 2022-03-18 | 2022-07-15 | 杭州麒麟壹零贰安保服务有限公司 | Unmanned aerial vehicle counter-braking method and system |
| CN114389623B (en) * | 2022-03-23 | 2022-07-26 | 湖南华诺星空电子技术有限公司 | Traversing machine identification and driving-away method, system and storage medium |
| CN114389623A (en) * | 2022-03-23 | 2022-04-22 | 湖南华诺星空电子技术有限公司 | Traversing machine identification and driving-away method, system and storage medium |
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