CN113406966A - Unmanned aerial vehicle counter-braking method and unmanned aerial vehicle counter-braking system - Google Patents
Unmanned aerial vehicle counter-braking method and unmanned aerial vehicle counter-braking system Download PDFInfo
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- CN113406966A CN113406966A CN202110645395.0A CN202110645395A CN113406966A CN 113406966 A CN113406966 A CN 113406966A CN 202110645395 A CN202110645395 A CN 202110645395A CN 113406966 A CN113406966 A CN 113406966A
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Abstract
The invention discloses a counter-braking method of an unmanned aerial vehicle and a counter-braking system of the unmanned aerial vehicle, wherein the method comprises the following steps: according to the flight information of the black-flying unmanned aerial vehicle in the airspace, sending a first control instruction for tracking and flying the black-flying unmanned aerial vehicle to a countering unmanned aerial vehicle; controlling the countering unmanned aerial vehicle to carry out tracking flight on the black flying unmanned aerial vehicle by combining the real-time flight position information of the countering unmanned aerial vehicle and the real-time flight position information of the black flying unmanned aerial vehicle; judging whether the distance difference between the real-time flight position information of the countering unmanned aerial vehicle and the real-time flight position information of the black unmanned aerial vehicle is larger than a preset specified attack range or not, and if not, sending a second control instruction for launching near-explosive ammunition to the black unmanned aerial vehicle to the countering unmanned aerial vehicle. By the design, the control method for directly attacking the black flying unmanned aerial vehicle by using the control unmanned aerial vehicle carrying the near-explosive ammunition has the advantages of good maneuverability and capability of thoroughly destroying the black flying unmanned aerial vehicle; in addition, the black flying unmanned aerial vehicle who comes to the team also has good striking effect.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a method for countering a black flying unmanned aerial vehicle by adopting a countering unmanned aerial vehicle carrying near explosive and a countering system of the unmanned aerial vehicle.
Background
At present, unmanned aerial vehicles are developed vigorously in methods such as agriculture, military, games and commerce, and the accompanying problems are obvious, such as black flies, candid shots, illegal carrying of contraband and explosives and the like. China also has corresponding unmanned aerial vehicle operation management regulations, and the black flying behavior of the unmanned aerial vehicle is limited. But requires corresponding measures in addition to relying on regulations.
The patent "unmanned plane reaction device" of application No. 202030271326.4 only describes a gun-like device, and cannot see the actual use; the patent of application No. 202011108854.3, "a countering unmanned aerial vehicle device based on photoelectric interference technology", describes a method for countering an unmanned aerial vehicle by laser; the 202030398585.3 "hand-held drone countermeasure device" describes a countermeasure device that can be hand-held; the patent 'unmanned aerial vehicle counter-control system based on radar, high-precision rotary table and cloud energy storage power supply' of application No. 201922160179.8 introduces a method for developing a remote controller pressing and inducing management and control system on the basis of signal analysis of an unmanned aerial vehicle; patent application No. 202020264978.X "an unmanned aerial vehicle counteraction apparatus and system" introduces an unmanned aerial vehicle counteraction jammer. The method can play a certain counter-braking role for the unmanned aerial vehicle, but is applied to the ground, the acting distance is limited, meanwhile, the black flying unmanned aerial vehicle cannot be struck thoroughly, and the black flying unmanned aerial vehicle still has flight capability.
Disclosure of Invention
Therefore, the technical problem to be solved by the invention is to overcome the defect that the anti-braking equipment of the unmanned aerial vehicle in the prior art cannot directly attack and destroy the black flying unmanned aerial vehicle, so that the anti-braking method of the unmanned aerial vehicle and the anti-braking system of the unmanned aerial vehicle are provided.
In order to solve the technical problems, the technical scheme of the invention is as follows:
a countering method of a drone, comprising:
s1, according to the flight information of the black flying unmanned aerial vehicle in the airspace, sending a first control instruction for tracking and flying the black flying unmanned aerial vehicle to a counter unmanned aerial vehicle;
s2, controlling the countering unmanned aerial vehicle to track and fly the black-flying unmanned aerial vehicle by combining the real-time flight position information of the countering unmanned aerial vehicle and the real-time flight position information of the black-flying unmanned aerial vehicle;
and S3, judging whether the distance difference between the real-time flight position information of the countering unmanned aerial vehicle and the real-time flight position information of the black flying unmanned aerial vehicle is larger than a preset specified attack range or not, and if not, sending a second control instruction for launching near-explosive ammunition to the black flying unmanned aerial vehicle to the countering unmanned aerial vehicle.
Further, according to the flight information of the black unmanned aerial vehicle that flies, send to the counter unmanned aerial vehicle and follow the track flight the first control command of the black unmanned aerial vehicle that flies includes:
s11, acquiring the current spatial position coordinate and the flight speed of the black-flying unmanned aerial vehicle according to the flight information of the black-flying unmanned aerial vehicle;
s12, predicting the flight path of the black-flying unmanned aerial vehicle in the T1 time period according to the current spatial position coordinate of the black-flying unmanned aerial vehicle and the flight speed of the black-flying unmanned aerial vehicle;
s13, respectively calculating the flight space range which can be reached by each frame of the counter unmanned aerial vehicle in the counter unmanned aerial vehicle cluster in the T1 time period according to the space position coordinates of each frame of the counter unmanned aerial vehicle in the counter unmanned aerial vehicle cluster and the maximum flight speed of each frame of the counter unmanned aerial vehicle;
s14, judging whether the flight path of the black flying unmanned aerial vehicle in the T1 time period passes through the flight space range of any counter unmanned aerial vehicle which can fly in the T1 time period;
s15, if the judgment result is yes, selecting a counter unmanned aerial vehicle corresponding to the flight space range as a counter unmanned aerial vehicle for attack, and sending a first control instruction for tracking and flying the black flying unmanned aerial vehicle to the selected counter unmanned aerial vehicle;
s16, if the judgment result is negative, continuing to predict the flight trajectory of the black-flying unmanned aerial vehicle in the time period of T1+ T2;
and S17, repeating the steps S14-S16 until a first control command for tracking and flying the black flying unmanned aerial vehicle is sent to the finally selected counter unmanned aerial vehicle.
Further, each of the opposing unmanned aerial vehicles in the opposing unmanned aerial vehicle cluster is arranged in a grid shape at a fixed point position.
Further, combine the real-time flight positional information of countering unmanned aerial vehicle with the real-time flight positional information who flies unmanned aerial vehicle black, control countering unmanned aerial vehicle is right the unmanned aerial vehicle black flies to follow tracks of flight, include:
s21, acquiring real-time flight position information of the counter unmanned aerial vehicle and real-time flight position information of the black unmanned aerial vehicle;
s22, planning the flight track of the counter unmanned aerial vehicle according to the real-time position of the black unmanned aerial vehicle;
and S23, controlling the countering unmanned aerial vehicle to follow the planned flight track of the countering unmanned aerial vehicle to track and fly the black unmanned aerial vehicle.
Further, in the step of obtaining real-time flight position information of the countering unmanned aerial vehicle and real-time flight position information of the black unmanned aerial vehicle, the detection device for obtaining real-time flight position information of the black unmanned aerial vehicle is located on the countering unmanned aerial vehicle.
Further, before the sending a second control instruction to the countering unmanned aerial vehicle to launch near-explosive ammunition to the black-flying unmanned aerial vehicle, the method further includes: and adjusting the flight attitude of the countering unmanned aerial vehicle according to the flight attitude of the black flying unmanned aerial vehicle until the launching direction of the near-explosive ammunition on the countering unmanned aerial vehicle aims at the black flying unmanned aerial vehicle.
An unmanned aerial vehicle countering system, comprising: the system comprises a counter unmanned aerial vehicle, an unmanned aerial vehicle detection system and a command control center; wherein the content of the first and second substances,
the countering unmanned aerial vehicle comprises a machine body, a transmitting device installed on the machine body and a transmitting control device arranged on the machine body; the launching device is provided with a near-explosive ammunition, and the launching control device is used for controlling the launching device to launch the near-explosive ammunition;
the unmanned aerial vehicle detection system is used for detecting flight information of a black flying unmanned aerial vehicle in the air and uploading the flight information of the black flying unmanned aerial vehicle to the command control center;
the command control center is used for receiving flight information of the black unmanned aerial vehicle, sends tracking flight to the control unmanned aerial vehicle according to flight information of the black unmanned aerial vehicle, and combines real-time flight position information of the control unmanned aerial vehicle and distance difference between the real-time flight position information of the black unmanned aerial vehicle to the control unmanned aerial vehicle sends a second control instruction to the black unmanned aerial vehicle to launch near-explosive ammunition.
Further, still be equipped with detection device and flight control device on the organism, detection device is used for surveying black unmanned aerial vehicle's real-time flight positional information that flies, flight control device is used for adjusting the airspeed and the flight gesture of organism.
Further, the near-explosive cartridge comprises a metal projectile body, a near-explosive fuse, a central explosion tube and a solid rocket engine; the solid rocket engine is used for providing thrust for the metal projectile body during launching; the proximity fuse is positioned at the front end of the metal bomb body and used for sensing the position close to a target; the central explosion tube is positioned inside the metal projectile body and connected with the proximity fuse, and explosives are arranged in the central explosion tube; the proximity detonator is used for sensing a distance difference between the metal bomb body and a target and detonating the central detonating tube when the distance difference reaches a set value so as to explode the metal bomb body to produce a plurality of metal fragments.
The technical scheme of the invention has the following advantages:
1. the invention provides a counter-control method of an unmanned aerial vehicle, which is characterized in that a first control instruction is sent to a counter-control unmanned aerial vehicle according to the flight information of a black-flying unmanned aerial vehicle in the air, the counter-control unmanned aerial vehicle tracks and flies the black-flying unmanned aerial vehicle according to the first control instruction, when the distance difference between the real-time flight position information of the counter-control unmanned aerial vehicle and the real-time flight position information of the black-flying unmanned aerial vehicle reaches a specified attack range, a second control instruction is sent to the counter-control unmanned aerial vehicle, the counter-control unmanned aerial vehicle is controlled by the second control instruction to transmit near-explosive ammunition carried by the counter-control unmanned aerial vehicle to the black-flying unmanned aerial vehicle, a large number of fragments generated after the explosion of the near-explosive ammunition fly at high speed, the black-flying unmanned aerial vehicle can be damaged after the counter-control unmanned aerial vehicle collides with the body of the black-flying unmanned aerial vehicle, and if key parts of the black-flying unmanned aerial vehicle, such as a battery, a motor, a flight control module and the black-flying unmanned aerial vehicle, etc., are damaged; even can not destroy completely, also can reduce black unmanned aerial vehicle's performance that flies by a wide margin. And if the black unmanned aerial vehicle is the condition of the cluster, a plurality of black unmanned aerial vehicles can be knocked down at the same time. The anti-braking method of the unmanned aerial vehicle has good maneuverability, can directly attack and thoroughly destroy the black flying unmanned aerial vehicle, and has good attack effect on the black flying unmanned aerial vehicle coming from the team.
2. According to the counter-braking method of the unmanned aerial vehicle, the current spatial position coordinate and the flight speed of the black unmanned aerial vehicle are obtained according to the flight information of the black unmanned aerial vehicle, and the flight track of the black unmanned aerial vehicle in the T1 time period is predicted; then respectively calculating the flight space range which can be reached by each frame of the counter unmanned aerial vehicle in the counter unmanned aerial vehicle cluster in the T1 time period according to the space position coordinate of each frame of the counter unmanned aerial vehicle in the counter unmanned aerial vehicle cluster and the maximum flight speed of each frame of the counter unmanned aerial vehicle; judging whether the flight path of the black flying unmanned aerial vehicle in the time period T1 passes through the flight space range of any counter unmanned aerial vehicle which can fly in the time period T1; if the judgment result is yes, selecting the counter unmanned aerial vehicle corresponding to the flight space range as the counter unmanned aerial vehicle for attack, and sending a first control instruction for tracking and flying the black flying unmanned aerial vehicle to the selected counter unmanned aerial vehicle. The anti-braking method can control the anti-braking unmanned aerial vehicle at the most favorable attack position to attack the black-flying unmanned aerial vehicle, and improves the execution speed of the anti-braking attack on the black-flying unmanned aerial vehicle.
3. According to the countering method of the unmanned aerial vehicle, before a second control instruction for launching the near-explosive ammunition is sent to the countering unmanned aerial vehicle, the flight attitude of the countering unmanned aerial vehicle is adjusted according to the flight attitude of the black-flying unmanned aerial vehicle until the launching direction of the near-explosive ammunition on the countering unmanned aerial vehicle aims at the black-flying unmanned aerial vehicle, so that the accuracy of the countering unmanned aerial vehicle in attacking the black-flying unmanned aerial vehicle can be improved.
4. According to the anti-braking system of the unmanned aerial vehicle, the command control center receives the flight information of the black flying unmanned aerial vehicle, then the flight information is quickly processed, then a first control instruction is sent to the anti-braking unmanned aerial vehicle in a favorable attack position, the anti-braking unmanned aerial vehicle flies according to the first control instruction, and when the black flying unmanned aerial vehicle approaches, operations such as aiming and launching near-explosive ammunition are carried out. A large amount of fragments that produce after the explosion of nearly bomb explosive fly at a high speed, hit the organism that flies unmanned aerial vehicle black, can damage and fly unmanned aerial vehicle black. This kind of unmanned aerial vehicle's counter-system, mobility is good, can directly attack, thoroughly destroy black unmanned aerial vehicle that flies. The unmanned aerial vehicle has good striking effect on black flies from a team.
5. The invention provides a counter-braking system of an unmanned aerial vehicle. The solid rocket engine is used for generating thrust to propel the near-bomb powder to fly at high speed during launching; the proximity detonator has the effects that the central detonation tube is detonated when the proximity explosive is close to the black flying unmanned aerial vehicle, TNT explosive is placed in the central detonation tube, a metal bomb body can be exploded after detonation, the metal bomb body can generate metal fragments (more than 100), the metal fragments fly at high speed, the black flying unmanned aerial vehicle can be damaged after the metal bomb body hits the body of the black flying unmanned aerial vehicle, and if the key parts of the black flying unmanned aerial vehicle, such as a battery, a motor, a flight control module and the like, are damaged, the black flying unmanned aerial vehicle can be thoroughly destroyed; even can not destroy completely, also can reduce black unmanned aerial vehicle's performance that flies by a wide margin. And if the black unmanned aerial vehicle that flies is the condition of cluster, a large amount of metal fragments can hit many black unmanned aerial vehicles that fly down simultaneously, also have good striking effect to the black unmanned aerial vehicle that flies that the team came.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a flowchart of an implementation of a countering method of an unmanned aerial vehicle according to an embodiment of the present invention;
FIG. 2 is a schematic structural view of a near-explosive ammunition according to a second embodiment of the present invention;
description of reference numerals: 1. a metal elastomer; 2. a solid rocket engine; 3. a proximity fuse; 4. and (4) central pipe bursting.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Example one
As shown in fig. 1, a countering method of an unmanned aerial vehicle, in particular to a countering method for directly attacking and thoroughly destroying a black flying unmanned aerial vehicle by a countering unmanned aerial vehicle carrying near bomb explosive, the method comprises the following steps:
and step S1, according to the flight information of the black unmanned aerial vehicle in the airspace, sending a first control instruction for tracking and flying the black unmanned aerial vehicle to a counter unmanned aerial vehicle.
Where a black-flying drone refers to a drone that is not licensed to fly in a particular airspace. Adopt radio detection equipment such as radar or photoelectric detection equipment to detect the black unmanned aerial vehicle that flies in the airspace, when the black unmanned aerial vehicle that flies into unauthorized airspace, acquire the flight information that the black unmanned aerial vehicle that flies in the airspace and send command control center, command control center's signal reception module sends command control center's control module after receiving the flight information that the black unmanned aerial vehicle that flies to handle, control module sends the first control command of tracking flight black unmanned aerial vehicle to the anti-control unmanned aerial vehicle through signal transmission module after handling fast.
And step S2, combining the real-time flight position information of the countering unmanned aerial vehicle and the real-time flight position information of the black unmanned aerial vehicle, and controlling the countering unmanned aerial vehicle to track and fly the black unmanned aerial vehicle.
In this embodiment, be provided with detection device on the anti-unmanned aerial vehicle, detection device is used for surveying black unmanned aerial vehicle's that flies position, and anti-unmanned aerial vehicle trails black unmanned aerial vehicle that flies according to methods such as hotspot tracking flight, and the method that unmanned aerial vehicle trails the target and fly is prior art, and this here is easily given redundant details.
And step S3, judging whether the distance difference between the real-time flight position information of the countering unmanned aerial vehicle and the real-time flight position information of the black flying unmanned aerial vehicle is larger than a preset specified attack range or not, and if not, sending a second control instruction for launching near-explosive ammunition to the black flying unmanned aerial vehicle to the countering unmanned aerial vehicle.
Wherein, the near-explosive charge comprises a metal bomb body, a near-explosive fuse, a central explosion tube and a solid rocket engine. The proximity fuse is positioned at the front end of the metal bomb body and used for sensing the position close to the target; the central explosion tube is positioned in the metal bomb body and connected with the near-explosive fuse, and TNT explosive is arranged in the central explosion tube; the proximity detonator is used to sense the difference in distance between the metal projectile and the target and detonate the central squib when the difference in distance reaches a set value (e.g., 2 meters, which may also be adjusted as needed) to cause the metal projectile to explode to produce a large number of metal fragments (greater than 100). The solid rocket engine is used for generating thrust to propel near-bomb-powder to fly at high speed during launching, and the near-bomb-powder is close to the black flying unmanned aerial vehicle quickly. The flying speed of the near explosive is more than 200 m/s, so that if the attack is initiated at a distance of 20 m, the time is 0.1 s, the black flying unmanned aerial vehicle flies at a speed of 10 m/s, namely, the distance of 1 m, and the hitting effect can be ensured within the damage range of the near explosive. In addition, the counter unmanned aerial vehicle can carry a plurality of near-explosive ammunitions simultaneously.
The anti-braking method of the unmanned aerial vehicle comprises the steps that a first control instruction is sent to the anti-braking unmanned aerial vehicle according to flight information of the black-flying unmanned aerial vehicle in the airspace, the anti-braking unmanned aerial vehicle tracks and flies the black-flying unmanned aerial vehicle according to the first control instruction, when a distance difference value between real-time flight position information of the anti-braking unmanned aerial vehicle and real-time flight position information of the black-flying unmanned aerial vehicle reaches a specified attack range, a second control instruction is sent to the anti-braking unmanned aerial vehicle, the anti-braking unmanned aerial vehicle is controlled by the second control instruction to emit near-explosive ammunition carried by the black-flying unmanned aerial vehicle, a large number of fragments generated after the explosion of the near-explosive ammunition fly at high speed, the black-flying unmanned aerial vehicle can be damaged after the fragments hit the body of the black-flying unmanned aerial vehicle, and if key parts of the black-flying unmanned aerial vehicle, such as a battery, a motor, a flight control module and the like, the black-flying unmanned aerial vehicle can be thoroughly destroyed; even can not destroy completely, also can reduce black unmanned aerial vehicle's performance that flies by a wide margin. And if the black unmanned aerial vehicle is the condition of the cluster, a plurality of black unmanned aerial vehicles can be knocked down at the same time. The anti-braking method of the unmanned aerial vehicle has good maneuverability, can directly attack and thoroughly destroy the black flying unmanned aerial vehicle, and has good attack effect on the black flying unmanned aerial vehicle coming from the team.
In step S1, the step of sending a first control instruction for tracking and flying the black-flying drone to a countering drone according to the flight information of the black-flying drone specifically includes:
step S11, acquiring the current spatial position coordinates and the flight speed of the black-flying unmanned aerial vehicle according to the flight information of the black-flying unmanned aerial vehicle;
and step S12, predicting the flight path of the black-flying unmanned aerial vehicle in the T1 time period according to the current spatial position coordinate of the black-flying unmanned aerial vehicle and the flight speed of the black-flying unmanned aerial vehicle. For example, the T1 time period is 5s, and the flight trajectory of the black-flying drone within 5s is the set of all spatial points passed by the black-flying drone.
And step S13, respectively calculating the flying space range which can be reached by each frame of the counter unmanned aerial vehicle in the counter unmanned aerial vehicle cluster in the T1 time period according to the space position coordinates of each frame of the counter unmanned aerial vehicle in the counter unmanned aerial vehicle cluster and the maximum flying speed of each frame of the counter unmanned aerial vehicle.
Specifically, each counter unmanned aerial vehicle in the counter unmanned aerial vehicle cluster is in a grid-shaped layout at a fixed point.
And step S14, judging whether the flight path of the black unmanned plane in the T1 time period passes through the flight space range of any one counter unmanned plane which can fly in the T1 time period.
And step S15, if the judgment result is yes, selecting the counter unmanned aerial vehicle corresponding to the flight space range as the counter unmanned aerial vehicle for attack, and sending a first control instruction for tracking and flying the black flying unmanned aerial vehicle to the selected counter unmanned aerial vehicle.
And step S16, if the judgment result is negative, continuing predicting the flight track of the black-flying unmanned aerial vehicle in the time period of T1+ T2. For example, T2 for a period of 2 s.
And step S17, repeating the steps S14-S16 until a first control command for tracking and flying the black flying unmanned aerial vehicle is sent to the finally selected counter unmanned aerial vehicle.
The anti-braking method of the unmanned aerial vehicle can control the anti-braking unmanned aerial vehicle at the most favorable attack position to attack the black unmanned aerial vehicle, and improves the execution speed of the anti-braking attack on the black unmanned aerial vehicle.
In step S2, the step of controlling the countering unmanned aerial vehicle to track and fly the black unmanned aerial vehicle includes, in combination with the real-time flight position information of the countering unmanned aerial vehicle and the real-time flight position information of the black unmanned aerial vehicle:
and S21, acquiring the real-time flight position information of the counter unmanned aerial vehicle and the real-time flight position information of the black unmanned aerial vehicle. Wherein, the detection device that acquires black unmanned aerial vehicle's real-time flight positional information is located on the anti-unmanned aerial vehicle.
And S22, planning the flight track of the counter unmanned aerial vehicle according to the real-time position of the black unmanned aerial vehicle.
And S23, controlling the countering unmanned aerial vehicle to follow the planned flight track of the countering unmanned aerial vehicle to track and fly the black unmanned aerial vehicle.
In step S3, before the step of issuing a second control command to the countering drone to fire near-explosive ammunition to the black-flying drone, the method further includes: according to the flight attitude adjustment of the black unmanned aerial vehicle, the flight attitude of the reverse unmanned aerial vehicle is adjusted until the launching direction of the near-explosive ammunition on the reverse unmanned aerial vehicle aims at the black unmanned aerial vehicle, so that the black unmanned aerial vehicle is guaranteed to be within the damage range of the near-explosive ammunition launched by the reverse unmanned aerial vehicle.
Example two
The second embodiment of the invention provides an unmanned aerial vehicle counter-control system, which adopts a counter-control unmanned aerial vehicle carrying near explosive to directly attack and thoroughly destroy a black flying unmanned aerial vehicle. The unmanned aerial vehicle control system comprises a control unmanned aerial vehicle, an unmanned aerial vehicle detection system and a command control center; the countering unmanned aerial vehicle comprises a machine body, a transmitting device installed on the machine body and a transmitting control device arranged on the machine body; the launching device is provided with the near-explosive ammunition, and the launching control device is used for controlling the launching device to launch the near-explosive ammunition. The unmanned aerial vehicle detection system is used for detecting flight information of the black unmanned aerial vehicle in the airspace and uploading the flight information of the black unmanned aerial vehicle to the command control center. The command control center is used for receiving flight information of the black unmanned aerial vehicle, sending a first control instruction for tracking the black unmanned aerial vehicle to the countering unmanned aerial vehicle according to the flight information of the black unmanned aerial vehicle, and sending a second control instruction for transmitting near-explosive ammunition to the black unmanned aerial vehicle to the countering unmanned aerial vehicle by combining the real-time flight position information of the countering unmanned aerial vehicle and the real-time flight position information of the black unmanned aerial vehicle.
According to the anti-braking system of the unmanned aerial vehicle, after the command control center receives flight information of the black flying unmanned aerial vehicle, the flight information is quickly processed, then a first control instruction is sent to the anti-braking unmanned aerial vehicle in a favorable attack position, the anti-braking unmanned aerial vehicle flies according to the first control instruction, and when the anti-braking unmanned aerial vehicle is close to the black flying unmanned aerial vehicle, operations such as aiming, launching near-explosive ammunition and the like are carried out. A large amount of fragments that produce after the explosion of nearly bomb explosive fly at a high speed, hit the organism that flies unmanned aerial vehicle black, can damage and fly unmanned aerial vehicle black. This kind of unmanned aerial vehicle's counter-system, mobility is good, can directly attack, thoroughly destroy black unmanned aerial vehicle that flies. The unmanned aerial vehicle has good striking effect on black flies from a team.
In this embodiment, still be equipped with detection device and flight control device on the organism, detection device is used for surveying black unmanned aerial vehicle's real-time flight positional information that flies, and flight control device is used for adjusting the airspeed and the flight gesture of organism.
In this embodiment, the near-explosive charge comprises a metal projectile body 1, a near-explosive detonator 3, a central squib 4, and a solid rocket engine 2. The proximity fuse 3 is positioned at the front end of the metal bomb body 1 and used for sensing the position close to a target; the central explosion tube 4 is positioned inside the metal projectile body 1 and is connected with the proximity fuse 3, and TNT explosive is arranged in the central explosion tube 4; the proximity detonator 3 is used to sense a difference in distance between the metal projectile 1 and a target and detonate the central squib 4 when the difference in distance reaches a set value (e.g., 2 meters, which may also be adjusted as needed) to explode the metal projectile 1 to produce a large number of metal fragments (greater than 100). The solid rocket engine 2 is used for generating thrust to propel near-bomb-powder to fly at high speed during launching, and the near-bomb-powder is close to the black flying unmanned aerial vehicle quickly. The flying speed of the near explosive is more than 200 m/s, so that if the attack is initiated at a distance of 20 m, the time is 0.1 s, the black flying unmanned aerial vehicle flies at a speed of 10 m/s, namely, the distance of 1 m, and the hitting effect can be ensured within the damage range of the near explosive. In addition, the counter unmanned aerial vehicle can carry a plurality of near-explosive ammunitions simultaneously.
In summary, the anti-braking method of the unmanned aerial vehicle and the anti-braking system of the unmanned aerial vehicle provided by the embodiment of the invention utilize the anti-braking unmanned aerial vehicle carrying the near bomb powder to directly attack the black flying unmanned aerial vehicle, and have the advantages of good maneuverability and capability of thoroughly destroying the black flying unmanned aerial vehicle; in addition, the black flying unmanned aerial vehicle who comes to the team also has good striking effect.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.
Claims (9)
1. A counter-braking method of an unmanned aerial vehicle, comprising:
s1, according to the flight information of the black flying unmanned aerial vehicle in the airspace, sending a first control instruction for tracking and flying the black flying unmanned aerial vehicle to a counter unmanned aerial vehicle;
s2, controlling the countering unmanned aerial vehicle to track and fly the black-flying unmanned aerial vehicle by combining the real-time flight position information of the countering unmanned aerial vehicle and the real-time flight position information of the black-flying unmanned aerial vehicle;
and S3, judging whether the distance difference between the real-time flight position information of the countering unmanned aerial vehicle and the real-time flight position information of the black flying unmanned aerial vehicle is larger than a preset specified attack range or not, and if not, sending a second control instruction for launching near-explosive ammunition to the black flying unmanned aerial vehicle to the countering unmanned aerial vehicle.
2. The method for countering the unmanned aerial vehicle according to claim 1, wherein the issuing a first control instruction to the countering unmanned aerial vehicle to follow the flight of the black-flying unmanned aerial vehicle according to the flight information of the black-flying unmanned aerial vehicle includes:
s11, acquiring the current spatial position coordinate and the flight speed of the black-flying unmanned aerial vehicle according to the flight information of the black-flying unmanned aerial vehicle;
s12, predicting the flight path of the black-flying unmanned aerial vehicle in the T1 time period according to the current spatial position coordinate of the black-flying unmanned aerial vehicle and the flight speed of the black-flying unmanned aerial vehicle;
s13, respectively calculating the flight space range which can be reached by each frame of the counter unmanned aerial vehicle in the counter unmanned aerial vehicle cluster in the T1 time period according to the space position coordinates of each frame of the counter unmanned aerial vehicle in the counter unmanned aerial vehicle cluster and the maximum flight speed of each frame of the counter unmanned aerial vehicle;
s14, judging whether the flight path of the black flying unmanned aerial vehicle in the T1 time period passes through the flight space range of any counter unmanned aerial vehicle which can fly in the T1 time period;
s15, if the judgment result is yes, selecting a counter unmanned aerial vehicle corresponding to the flight space range as a counter unmanned aerial vehicle for attack, and sending a first control instruction for tracking and flying the black flying unmanned aerial vehicle to the selected counter unmanned aerial vehicle;
s16, if the judgment result is negative, continuing to predict the flight trajectory of the black-flying unmanned aerial vehicle in the time period of T1+ T2;
and S17, repeating the steps S14-S16 until a first control command for tracking and flying the black flying unmanned aerial vehicle is sent to the finally selected counter unmanned aerial vehicle.
3. The method of claim 2, wherein each opposing drone in the cluster of opposing drones is in a grid-like layout at a fixed location.
4. The unmanned aerial vehicle countering method according to claim 1, wherein the controlling the countering unmanned aerial vehicle to follow the black-flying unmanned aerial vehicle in combination with real-time flight position information of the countering unmanned aerial vehicle and real-time flight position information of the black-flying unmanned aerial vehicle includes:
s21, acquiring real-time flight position information of the counter unmanned aerial vehicle and real-time flight position information of the black unmanned aerial vehicle;
s22, planning the flight track of the counter unmanned aerial vehicle according to the real-time position of the black unmanned aerial vehicle;
and S23, controlling the countering unmanned aerial vehicle to follow the planned flight track of the countering unmanned aerial vehicle to track and fly the black unmanned aerial vehicle.
5. The countering method for the unmanned aerial vehicle according to claim 4, wherein in the step of acquiring the real-time flight position information of the countering unmanned aerial vehicle and the real-time flight position information of the black-flying unmanned aerial vehicle, a detection device that acquires the real-time flight position information of the black-flying unmanned aerial vehicle is located on the countering unmanned aerial vehicle.
6. The unmanned aerial vehicle countering method according to claim 1, wherein before issuing a second control command to the countering unmanned aerial vehicle to fire near-explosive ammunition to the black-flying unmanned aerial vehicle, the method further comprises: and adjusting the flight attitude of the countering unmanned aerial vehicle according to the flight attitude of the black flying unmanned aerial vehicle until the launching direction of the near-explosive ammunition on the countering unmanned aerial vehicle aims at the black flying unmanned aerial vehicle.
7. An unmanned aerial vehicle's countering system which characterized in that includes: the system comprises a counter unmanned aerial vehicle, an unmanned aerial vehicle detection system and a command control center; wherein the content of the first and second substances,
the countering unmanned aerial vehicle comprises a machine body, a transmitting device installed on the machine body and a transmitting control device arranged on the machine body; the launching device is provided with a near-explosive ammunition, and the launching control device is used for controlling the launching device to launch the near-explosive ammunition;
the unmanned aerial vehicle detection system is used for detecting flight information of a black flying unmanned aerial vehicle in the air and uploading the flight information of the black flying unmanned aerial vehicle to the command control center;
the command control center is used for receiving flight information of the black unmanned aerial vehicle, sends tracking flight to the control unmanned aerial vehicle according to flight information of the black unmanned aerial vehicle, and combines real-time flight position information of the control unmanned aerial vehicle and distance difference between the real-time flight position information of the black unmanned aerial vehicle to the control unmanned aerial vehicle sends a second control instruction to the black unmanned aerial vehicle to launch near-explosive ammunition.
8. The unmanned aerial vehicle's counteraction system of claim 7, wherein the organism is further provided with a detection device and a flight control device, the detection device is used for detecting real-time flight position information of a black-flying unmanned aerial vehicle, and the flight control device is used for adjusting the flight speed and flight attitude of the organism.
9. The drone's countering system of claim 7, wherein the near-bomb includes a metal bomb, a near-detonator, a central squib, a solid rocket engine; the solid rocket engine is used for providing thrust for the metal projectile body during launching; the proximity fuse is positioned at the front end of the metal bomb body and used for sensing the position close to a target; the central explosion tube is positioned inside the metal projectile body and connected with the proximity fuse, and explosives are arranged in the central explosion tube; the proximity detonator is used for sensing a distance difference between the metal bomb body and a target and detonating the central detonating tube when the distance difference reaches a set value so as to explode the metal bomb body to produce a plurality of metal fragments.
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