CN206087337U - Anti - unmanned aerial vehicle system of interference formula - Google Patents
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Abstract
The utility model relates to an unmanned aerial vehicle field, in particular to anti - unmanned aerial vehicle system of interference formula, including the detection unit, cloud platform unit disturbs unit and main control unit, the detection unit is used for surveying the real time transport monitor message to the scanning of low latitude field, cloud platform unit is used for driving the detection unit rotates, disturb the unit to be used for sending interfering signal to target unmanned aerial vehicle, the main control unit to survey the unit and send detection control command, receive the monitor message of the detection unit transmission, recognized target unmanned aerial vehicle carries out the target and follows the trail of, the main control unit is received the azimuth information of cloud platform unit, to cloud platform unit sends cloud platform control command, the main control unit to disturb the unit to send and disturb the instruction. This anti - unmanned aerial vehicle system can effectively deal with unmanned aerial vehicle and threaten, and does not produce related influence.
Description
Technical field
The utility model is related to unmanned plane field, the anti-UAS of more particularly to a kind of interfering type.
Background technology
It is referred to as within 2014 the unmanned plane first year, unmanned plane gradually comes into the life of people as novel product in recent years.
With the decline of unmanned plane manufacturing cost, the continuous lifting of performance, unmanned plane just gradually moves towards popular from military and high-end commercialization
Market.Consumer electronics association of the U.S. is, it is expected that global civilian unmanned plane (consumer level and technical grade) in 2016 is expected to sell 300,000 framves.
And by 2018, it is contemplated that global unmanned plane market scale will rise at least 1,000,000,000 dollars.At present SUAV is extensive
Be applied to medical aid, low latitude logistics, safety monitoring, forest fire protection, geological prospecting, video display take photo by plane, air mapping, polar region reliability
Etc. industry.
However, unmanned plane is used as a kind of flight carrier, different people can do different things by it.Can neither be unrestricted
Use, can not because of it have assist crime potentiality with regard to total ban.Although unmanned plane is conducive to various outdoor studies
Demand, but the angle from emptying and crime says that unmanned plane can become great dangerous air armament really.If unmanned plane into
For the instrument that world terrorist endangers society, they can carry camera, weapon, toxic chemical substance and explosive etc.,
And the attack of terrorism, act of espionage and smuggling activity may be largely used to, if bad the becoming of management and control is suspended in determining on people's head
When bomb.
Mankind's love existing to unmanned plane has hatred again, and unmanned plane quantity grows with each passing day in the world, and this is to such as
The key facilities such as airport, prison and nuclear facilities cause great potential safety hazard.There is unmanned plane to enter White House etc. before this
The case of key facility, regulator and the military also gradually generate new worry, and they worry that low price unmanned plane can navigate to business
Class, important infrastructure even army constitute a threat to, and the danger that unmanned plane may bring how are tackled, for the strick precaution of unmanned plane
Have become problem in the urgent need to address.In order to avoid unmanned plane produces security threat, mainly there are three sides in prior art
The counter-measure in face：
Unmanned plane production firm adds prevention restriction in unmanned plane product flight control system, such as limits nothing using GPS
Man-machine flying height must not exceed prescribed limit, or forbid empty flight on the specific area.Unmanned plane is main near the whole world
When airport and sensitive area, central area cannot start unmanned plane, and radiation areas unmanned plane will automatically reduce flying height.
Such measures are easy to be held as a hostage.Unmanned plane GPS Protocols are carried out by additional module distorting with regard to energy easily
Bypass the restricted area domain of production firm's setting.
Second aspect is by putting into effect relevant laws and regulations, from flight time, flying distance, flying distance and unmanned plane weight
Unmanned plane is limited Deng reverse side.
Such measures still fall within the Passive Defence to unmanned plane, and the malice that can not prevent unmanned plane is used.
3rd aspect is using the hard defensive measure for directly destroying unmanned plane, by physics or laser means to nobody
Machine is directly hit.
Such measures are more in military field application, if directly applying to civilian unmanned plane field, easily cause other
Related injury, application is limited more.
In sum, with unmanned plane application and the expansion using scale, may bring in unmanned plane application process
Threaten also in synchronous increase.Also do not occur for unmanned plane in prior art, particularly civilian unmanned plane can successfully manage nothing
The man-machine threat for bringing and the anti-UAS for being adapted to large-scale promotion application.
Utility model content
The purpose of this utility model is to overcome the shortcomings of that prior art can not successfully manage unmanned plane threat, there is provided a kind of
The anti-UAS of interfering type.
In order to realize foregoing invention purpose, the utility model provides technical scheme below：
A kind of anti-UAS of interfering type, including probe unit, head unit, interference unit and main control unit；
The probe unit is used for low latitude field scanning probe, real-time Transmission monitoring information；
The head unit is used to drive the probe unit to rotate；
The interference unit is used to send interference signal to UAV targets；
The main control unit to the detection unit sends detection control instruction, receives the monitoring of the probe unit transmission
Information, recognizes UAV targets and carries out target tracking；
The main control unit receives the azimuth information of the head unit, sends cradle head control to the head unit and refers to
Order；
The main control unit to the interference unit sends interference instruction.
Further, the probe unit include LED infrared monitoring machines, laser infrared monitoring equipment, infrared thermography and
One or more in radar-probing system.
LED infrared monitorings machine actively can be projected infrared light on object using infrared launcher, infrared light Jing objects
It is imaged into camera lens after reflection.Laser infrared monitoring equipment is that laser lamp source is mixed on analog video camera, and laser lamp is adopted
The uniform reinforcement technique of hot spot, hot spot Autofocus Technology compares common thermal camera, and laser camera range is strong, and picture is more
Plus uniform, little power consumption, physical life is longer.Under remote monitor scene, there is laser infrared monitoring equipment more excellent monitoring to imitate
Really.Infrared thermography receives the infrared energy distribution map of measured target using Infrared Detectors and optical imagery object lens,
Reflect on the light-sensitive element of Infrared Detectors, so as to obtain the heat of Infrared Thermogram, the Infrared Thermogram and body surface
Divide and compensate corresponding, the different colours on thermal image represent the different temperatures of testee.Radar-probing system includes unmanned plane
Radar detecting equipment and photoelectric detection equipment, radar detection principle and perfect digital signal technique section realize the low void of zero false dismissal
It is alert, it is ensured that to the effective early warning into target-area object, but radar is difficult to distinguish the classification of target, such as target is people
Or animal.Photoelectric detection equipment can just overcome this defect, therefore radar detecting equipment and photoelectric detection equipment collaboration
Work is capable of achieving the monitoring of big regional extent, and the scene radar-probing system higher for monitoring requirement can meet requirement.
Infrared acquisition be capable of achieving under the insufficient lights such as day and night, the scene of ambient black to the effective of target area
Monitoring, radar detection coordinates photodetection to can further improve monitoring range and early warning precision.According to the difference choosing of application scenarios
With one or more monitor modes therein, one or more image information can be collected, further, therefrom can preferably be gone out
The image information of readily identified unmanned plane is identified, and also can carry out fusion utilization to various image informations, further improves and knows
Other precision.
Preferably, the probe unit is arranged at the center in management and control spatial domain, be beneficial to it is comprehensive to monitor area enter
Row effective monitoring.
Further, the head unit is two axle The Cloud Terraces, and it is 0 ° -360 ° that it horizontally rotates angle, vertical rotation angle
For 0 °-± 90 °, 0.1 ° -160 °/s of the horizontal speed of manipulation, 0.1 ° -120 °/s of the vertical speed of manipulation.Head includes two servo electricity
The mounting platform of machine composition, by positioned at its fortune both horizontally and vertically of the cloud platform control system remotely control of middle control unit
It is dynamic.Cradle head controllor positioned at head end receives the control instruction of the cloud platform control system and is decoded, and is converted to control
The control signal of motor operation.Cradle head controllor drives the motor on head to carry out corresponding actions according to control signal.
Further, the cradle head control instruction includes head tracking mode.The head tracking mode include manually with
Track mode and autotrack mode.The autotrack mode is chased after with the main control unit to the target after UAV targets' identification
Track path is adapted, and receives the cradle head control instruction control head enforcement automatic tracing from main control unit.
Further, in the communication link of the interference signal jamming target unmanned plane, control link, gps signal extremely
A kind of few signal.
Further, the interference unit adopts Sweeping nonlinearity, including the radiofrequency signal generation module, filtering that are sequentially connected
Device module, gain module and directional aerial.Ministry of Industry and Information's regulation UAV Communication frequency is 840.5-845MHz, 1430-
1444MHz and 2408-2440MHz.Frequency coverage frequencies above and GPS frequency (1180MHz- that interference unit is produced
1600MHz), the interference unit is performed a scan in range of target frequencies, when interference signal frequency and UAV Communication
The collision probability of frequency reaches certain numerical value, that is, affect the signal to noise ratio of UAV Communication, causes the bit error rate to increase, and produces effective
Interference.
Specifically, the radio-frequency oscillator frequency modulation of radiofrequency signal generation module first generates radiofrequency signal, by wave filter pair
The radiofrequency signal is purified, and removes useless interference signal, filters out the signal of needs, and the ideal signal for filtering out is sent out
Deliver to gain module, there is provided the gain energy of output signal, it is then fragrant to transmission great-power electromagnetic ripple around by orienting day.Mesh
The interference signal of mark unmanned plane receiver meeting preferential receipt signal enhancing, so as to reach the purpose to UAV targets' interference.
Further, signal transmission ＆ control for convenience, it is to avoid forceful electric power produces Electromagnetic Interference holding wire, should try one's best and subtract
The quantity of few outside exposed electric wire, weak electric signal is concentrated on and transmit on a circuit.The light current letter of the anti-UAS
Number there are the video information that picture pick-up device is transmitted, the control link of picture pick-up device, head and interference unit, the interference letter of Radio frequency interference device
Number etc..
Further, the main control unit recognizes UAV targets and carries out target following and comprises the following steps：
S1, the monitoring information to receiving carries out Image semantic classification；
S2, UAV targets' detection；
S3, UAV targets' tracking.
Further, step S1 Image semantic classification time-domain Image Pretreatment Algorithm, transform domain image Preprocessing Algorithm or
Spatial domain Image Pretreatment Algorithm.
The main purpose of Image semantic classification is to suppress background, improves signal noise ratio (snr) of image and relative enhancing echo signal.Time
Area image Preprocessing Algorithm frame for before and after does not have the image sequence of relative motion, has short-term stationarity according to background interframe
Characteristic carries out background compacting.Conventional time-domain Image Pretreatment Algorithm is including finite impulse response filter (FIR) and infinitely
Impact response filter (IIR).
Transform domain image Preprocessing Algorithm includes frequency high-pass filter method and wavelet analysis Preprocessing Algorithm.Frequency high-pass is filtered
Ripple method corresponds respectively to the high fdrequency component and low frequency component of frequency domain using target and background, and primary signal is by just changing to frequency
Rate domain, leaches low frequency component, then obtains filtered image information by inverse transformation.Wavelet analysis has good time-frequency because of it
Localization property, using very wide on background suppresses.Original image is decomposed using wavelet transformation, obtains the low frequency of image
And HFS, the low-frequency image obtained to wavelet decomposition and high frequency imaging carry out background estimating, and finally reconstruct obtains processing knot
Fruit image.
Correlation of the spatial domain Image Pretreatment Algorithm according to background in neighborhood is predicted, according to projected background and reality
Error self-adaptative adjustment wave filter inherent parameters between the background of border, are then realized by comparison prediction background and original image
Background is suppressed.Common spatial domain Image Pretreatment Algorithm includes median filtering algorithm
Further, the S1 Image semantic classifications are pre-processed using the regularized image based on Markov random field model
Algorithm, specific algorithm is as follows：
Lattice point in grid set is held as parameter with plane, the two-dimensional random field of just probability and Markov property is met
It is referred to as markov random file (MRF).Markov random field model provides a kind of statistics description to image, the model
Basic thought be to be distributed to be described the partial statistics characteristic of image with regard to the condition of its neighborhood pixel using each pixel.
Meanwhile, it need not assume that image is extended stationary or stationary random process, with wider range of application.
The discrete two-dimensional random field being defined in two-dimensional finite rectangular grid for one, grid set expression is：L=
{ the ＜ i ＜ w of (i, j) Shu 1,1 ＜ j ＜ h }, wherein, w and h represents respectively the width and height of image.It is every in for grid set L
Individual lattice site (i, j), defines its neighborhood system：When stochastic variable X at position (i, j) placeI, jCorresponding function variable xI, jIt is full
Foot its conditional probability P (xI, j|x1,1, x1,2...xP, q... xW, h) only with variable xP, qIt is relevant, then position (p, q) becomes position
The neighborhood of (i, j), the collection being made up of position (i, j) all neighbours is collectively referred to as the neighborhood of position (i, j), is designated as ηI, j.Physics is upper
It is reciprocity to put (i, j) and (p, q), therefore, neighborhood system η being defined on grid set L is represented by：
The two-dimensional random script holder being defined on grid set L is X={ X by we1,1, X1,2...XW, h, its reality
Now it is designated as x={ x1,1, x1,2...xW, h, it is when two conditions are met, two-dimensional random field X={ XijBe referred to as with regard to neighborhood system
The MRF of system η：
Wherein, (1) formula is referred to as just probability, if it states certain pixel function variable xI, jCan independently occur, then
All pixel function variables can occur simultaneously；(2) formula be referred to as the conditional probability density of Markov property, i.e. certain pixel only with
Its neighborhood pixel is relevant.
MRF has equivalence relation with gibbs (Gibbs) random field.Gibbs random field describes one using clustering architecture
Position is adjacent the various possibilities of the interphase interaction of each position.The concept of cluster is built upon in neighborhood system, and it will
Neighborhood system is divided into different units according to the spatial relationship of each position, and with c cluster is represented, the entirety of c is designated as C.
Based on above concept, a Gibbs random field being defined in neighborhood system LJoint probability distribution
With following form：
In formula, Z is normalized function：
The set that Ω is made up of all possible structure x of random field, corresponding to piece image, the possible ash of representative image
Angle value.U (x) is referred to as energy function, is expressed as：
U (x) characterizes the center pixel tightness degree related to neighborhood territory pixel, wherein,It is the gesture letter associated with cluster c
Number.
To sum up, MRF is represented by：
The process of UAV targets' signal is rebuild in pretreatment from the observed image of monitoring unit transmission, and this process can
To be expressed as：
X and u represent respectively the graphics signal before and after filtering, and K is filter operator, and α is a scalar.And (7) are one and owe
Determine equation group, in order to overcome the multi-solution of the underdetermined system of equations, increase an addition Item is carried out further about to equation solution procedure
Beam so that the solution of problem is continuously relied on and observation data, and the process is regularization.
MRF provides a kind of description method to image prior probability, the prior probability mould of the image set up using MRF
Type as additional regularization term, to overcome the less qualitative of (7) process.The regularization method finds one and can make following formula cost
Function J (u) obtains minimum of a value u.
Wherein, Section 1 is data item, and it makes the solution approaching to reality solution tried to achieve, and Section 2 is additional regularization term, root
Row constraint is entered to solution procedure according to the priori of view data, it is less qualitative to overcome.
The prior probability model of image is described with MRF random fields, then：
In formula, energy function U (x) for unmanned plane target image background suppress when, it is desirable to be able to reflect target without
Man-machine, background homogeneity area and the feature difference of background edge.From (3) formula, at the large area homogeneity area of background and its edge
Region, U (x) should have less energy, and corresponding P (x) is bigger, i.e., center pixel and its neighborhood territory pixel are divided into one group of possibility
Property is bigger, so as to the possibility that the region becomes UAV targets is less；Conversely, UAV targets show as in the picture local
Gray scale memory point, so as to U (x) should have large energy, P (x) is less, and center pixel is divided into one group with its neighborhood territory pixel
Possibility is less, so as to the possibility that the region is identified as unmanned plane is bigger.
UAV targets show as in the picture local gray level singular point, and the roughness of its region is larger；Background is same
It is less that matter region shows as roughness；Background edge region show as roughness between it is above-mentioned between the two.Accordingly, can pass through
Increase UAV targets realize suppressing background with the roughness features difference of background, strengthen target.Roughness is defined as second order
In neighborhood system cluster C,
In formula, N is the number of pixels included in second order neighborhood.
Build based on the new potential function of the roughness：
Vc(xi,j)=ρ (dcxi,j) (11)
As (i, j) ∈ C, Vc(xi,j)=ρ (dcxi,j)；
WhenWhen, Vc(xi,j)=0.
Based on energy function characteristic and reverse diffusion principle, new potential function should have following property：
Property 1：For background area, roughness is less, and the region is largely suppressed, then require ρ (dcxi,j)
Meet：
Property 2：For target area, roughness is larger, the region is not done and is suppressed, then require ρ (dcxi,j) meet：
Property 3：In order to ensure the stability of background process of inhibition, Vc(xi,jThe convex continuous function of)=should be, and dullness passs
Increasing, continuously differentiable.
Structure meets the new potential function of above-mentioned requirements, convolution (8), regularization term JaX () is to pixel xi,jFlatness
By the second order neighborhood weighting matrix k of the pointi,jIt is determined that, the image after background suppresses is equivalent to original image and anisotropic filtering
Weighting matrix ki,jConvolution.
Spatial domain Image Pretreatment Algorithm compare time-domain and transform domain image Preprocessing Algorithm amount of calculation and data volume compared with
It is little, it is more easy to real-time implementation.The above-mentioned regularized image Preprocessing Algorithm based on Markov random field model compares Traditional Space
Area image Preprocessing Algorithm for the fine difference of UAV targets and spatial context intensity profile have more excellent identification and point
From ability, the performance of Traditional Space area image Preprocessing Algorithm is significantly improved.
After Image semantic classification, image will be processed and compared with the target image storehouse in main control unit, detect exception
Unmanned plane target in target, rejects the non-unmanned plane abnormal objects such as birds.Destination image data storehouse includes at present institute on the market
Some unmanned plane characteristic image information, and unmanned plane characteristic picture information is set up as much as possible for various special-shaped unmanned planes,
In adding to the destination image data storehouse.
Target following obtains the corresponding relation of the static object and tracked UAV targets extracted in image detection.
After target is targeted, the main control unit is processed the information such as the distance of UAV targets, orientation, speed,
It is defined as moving target to be followed the trail of.The main control unit sends head unit control instruction, control to the head unit at random
Head processed switchs to target tracking state by regular scanning mode, until follow the trail of terminating.
If UAV targets are confirmed as " black to fly " unmanned plane, the main control unit sends dry to the interference unit immediately
Disturb instruction, the interference unit sends interference signal, destroy UAV targets C2 (communication link and control link) links and
GPS links, interrupt its signal transmission with remote terminal so as to make a return voyage or fall.
Prior art is compared, the beneficial effects of the utility model：
The utility model takes unmanned plane Passive Defence or take the initiative defence but the subsidiary shadow of presence for prior art
Loud anti-unmanned plane measure provides a kind of active anti-UAS, and the anti-UAS takes infrared acquisition, radar
Detection combines the various round-the-clock monitoring means of photodetection, is realized to the fast of unmanned plane based on comprehensive fast automatic control head
Speed tracking, anti-unmanned plane takes the soft defensive measure for sending interference signal, interference signal to be held by main control unit interference instruction control
OK, interference signal is sent from directional aerial to UAV targets direction, effectively prevent the adverse effect to neighboring area.It is described
Anti- UAS structure is simplified, it is easy to arranged, can flexibly be laid in public place, successfully manages the unmanned plane of each application scenarios
Threaten.
Description of the drawings：
Fig. 1 is the anti-UAS structure chart of interfering type；
Fig. 2 is that the anti-UAS of interfering type disturbs cellular construction figure.
Specific embodiment
The utility model is described in further detail with reference to test example and specific embodiment.But should not be by this
The scope for being interpreted as the above-mentioned theme of the utility model is only limitted to below example, all to be realized based on the utility model content
Technology belongs to scope of the present utility model.
Embodiment 1
The anti-UAS of a kind of interfering type, as shown in figure 1, including probe unit, head unit, interference unit and master
Control unit；
The probe unit is used for low latitude field scanning probe, real-time Transmission monitoring information；
The head unit is used to drive the probe unit to rotate；
The interference unit is used to send interference signal to UAV targets；
The main control unit to the detection unit sends detection control instruction, receives the monitoring of the probe unit transmission
Information, recognizes UAV targets and carries out target tracking；
The main control unit receives the azimuth information of the head unit, sends cradle head control to the head unit and refers to
Order；
The main control unit to the interference unit sends interference instruction.
Optionally, the probe unit includes LED infrared monitoring machines, laser infrared monitoring equipment, infrared thermography and thunder
Up to one or more in detection system.
LED infrared monitorings machine actively can be projected infrared light on object using infrared launcher, infrared light Jing objects
It is imaged into camera lens after reflection.Laser infrared monitoring equipment is that laser lamp source is mixed on analog video camera, and laser lamp is adopted
The uniform reinforcement technique of hot spot, hot spot Autofocus Technology compares common thermal camera, and laser camera range is strong, and picture is more
Plus uniform, little power consumption, physical life is longer.Under remote monitor scene, there is laser infrared monitoring equipment more excellent monitoring to imitate
Really.Infrared thermography receives the infrared energy distribution map of measured target using Infrared Detectors and optical imagery object lens,
Reflect on the light-sensitive element of Infrared Detectors, so as to obtain the heat of Infrared Thermogram, the Infrared Thermogram and body surface
Divide and compensate corresponding, the different colours on thermal image represent the different temperatures of testee.Radar-probing system includes unmanned plane
Radar detecting equipment and photoelectric detection equipment, radar detection principle and perfect digital signal technique section realize the low void of zero false dismissal
It is alert, it is ensured that to the effective early warning into target-area object, but radar is difficult to distinguish the classification of target, such as target is people
Or animal.Photoelectric detection equipment can just overcome this defect, therefore radar detecting equipment and photoelectric detection equipment collaboration
Work is capable of achieving the monitoring of big regional extent, and the scene radar-probing system higher for monitoring requirement can meet requirement.
Infrared acquisition be capable of achieving under the insufficient lights such as day and night, the scene of ambient black to the effective of target area
Monitoring, radar detection coordinates photodetection to can further improve monitoring range and early warning precision.
As a kind of specific embodiment, from two or more monitor modes, two or more image informations are gathered,
Further, using many image fusion technologies, image recognition precision is improved.
Preferably, the probe unit is arranged at the center in management and control spatial domain, be beneficial to it is comprehensive to monitor area enter
Row effective monitoring.
Further, the head unit is two axle The Cloud Terraces, and it is 0 ° -360 ° that it horizontally rotates angle, vertical rotation angle
For 0 °-± 90 °, 0.1 ° -160 °/s of the horizontal speed of manipulation, 0.1 ° -120 °/s of the vertical speed of manipulation.Head includes two servo electricity
The mounting platform of machine composition, by positioned at its fortune both horizontally and vertically of the cloud platform control system remotely control of middle control unit
It is dynamic.Cradle head controllor positioned at head end receives the control instruction of the cloud platform control system and is decoded, and is converted to control
The control signal of motor operation.Cradle head controllor drives the motor on head to carry out corresponding actions according to control signal.
Further, the cradle head control instruction includes head tracking mode.The head tracking mode include manually with
Track mode and autotrack mode.The autotrack mode is chased after with the main control unit to the target after UAV targets' identification
Track path is adapted, and receives the cradle head control instruction control head enforcement automatic tracing from main control unit.
Further, the communication link of the interference signal jamming target unmanned plane, control link and/or gps signal.
Further, the interference unit adopts Sweeping nonlinearity, including the radiofrequency signal generation module, filtering that are sequentially connected
Device module, gain module and directional aerial.Ministry of Industry and Information's regulation UAV Communication frequency is 840.5-845MHz, 1430-
1444MHz and 2408-2440MHz.Frequency coverage frequencies above and GPS frequency (1180MHz- that interference unit is produced
1600MHz), the interference unit is performed a scan in range of target frequencies, when interference signal frequency and UAV Communication
The collision probability of frequency reaches certain numerical value, that is, affect the signal to noise ratio of UAV Communication, causes the bit error rate to increase, and produces effective
Interference.
Specifically, as shown in Fig. 2 first the radio-frequency oscillator frequency modulation of radiofrequency signal generation module generates radiofrequency signal, lead to
Wave filter is purified to the radiofrequency signal, removes useless interference signal, filters out the signal of needs, by what is filtered out
Ideal signal is sent to gain module, there is provided the gain energy of output signal, then fragrant to around sending big work(by orienting day
Rate electromagnetic wave.The interference signal of UAV targets' receiver meeting preferential receipt signal enhancing, it is dry to UAV targets so as to reach
The purpose disturbed.
As a kind of specific embodiment, the communication link of interference signal jamming target unmanned plane, interrupt targets nobody
The data transfer of machine and its remote control terminal.
As a kind of specific embodiment, the gps signal of interference signal jamming target unmanned plane so as to make a return voyage or fall
Fall.
Further, signal transmission ＆ control for convenience, it is to avoid forceful electric power produces Electromagnetic Interference holding wire, should try one's best and subtract
The quantity of few outside exposed electric wire, weak electric signal is concentrated on and transmit on a circuit.The light current letter of the anti-UAS
Number there are the video information that picture pick-up device is transmitted, the control link of picture pick-up device, head and interference unit, the interference letter of Radio frequency interference device
Number etc..
Used as a kind of specific embodiment, the monitoring unit, head unit and interference unit export altogether 1 RJ-45
Interface, is connected with the main control unit.
Optionally, computer is directly connected to by the RJ-45 interfaces, in computer terminal loading monitoring control program, cloud
Platform control program and interference control program.
Optionally, by RJ-45 interfaces connection route device first, then outer net is connected by router, so
Realize Internet remote monitorings.
Preferably, video recorder is connected by the RJ-45 interfaces, reconnects a display device, be so capable of achieving monitoring number
According to effective storage and management.
Further, the master control unit includes the computer with image recognition Yu following function.
Further, the main control unit recognizes UAV targets and carries out target following and comprises the following steps：
S1, the monitoring information to receiving carries out Image semantic classification；
S2, UAV targets' detection；
S3, UAV targets' tracking.
Further, step S1 Image semantic classification time-domain Image Pretreatment Algorithm, transform domain image Preprocessing Algorithm or
Spatial domain Image Pretreatment Algorithm.
The main purpose of Image semantic classification is to suppress background, improves signal noise ratio (snr) of image and relative enhancing echo signal.Time
Area image Preprocessing Algorithm frame for before and after does not have the image sequence of relative motion, has short-term stationarity according to background interframe
Characteristic carries out background compacting.Conventional time-domain Image Pretreatment Algorithm is including finite impulse response filter (FIR) and infinitely
Impact response filter (IIR).
Transform domain image Preprocessing Algorithm includes frequency high-pass filter method and wavelet analysis Preprocessing Algorithm.Frequency high-pass is filtered
Ripple method corresponds respectively to the high fdrequency component and low frequency component of frequency domain using target and background, and primary signal is by just changing to frequency
Rate domain, leaches low frequency component, then obtains filtered image information by inverse transformation.Wavelet analysis has good time-frequency because of it
Localization property, using very wide on background suppresses.Original image is decomposed using wavelet transformation, obtains the low frequency of image
And HFS, the low-frequency image obtained to wavelet decomposition and high frequency imaging carry out background estimating, and finally reconstruct obtains processing knot
Fruit image.
Correlation of the spatial domain Image Pretreatment Algorithm according to background in neighborhood is predicted, according to projected background and reality
Error self-adaptative adjustment wave filter inherent parameters between the background of border, are then realized by comparison prediction background and original image
Background is suppressed.Common spatial domain Image Pretreatment Algorithm includes median filtering algorithm
Further, the S1 Image semantic classifications are pre-processed using the regularized image based on Markov random field model
Algorithm.
Claims (10)
1. the anti-UAS of a kind of interfering type, it is characterised in that including probe unit, head unit, interference unit and master
Control unit；
The probe unit is used for low latitude field scanning probe, real-time Transmission monitoring information；
The head unit is used to drive the probe unit to rotate；
The interference unit is used to send interference signal to UAV targets；
The main control unit to the detection unit sends detection control instruction, receives the monitoring letter of the probe unit transmission
Breath, recognizes UAV targets and carries out target tracking；
The main control unit receives the azimuth information of the head unit, and to the head unit cradle head control instruction is sent；
The main control unit to the interference unit sends interference instruction.
2. anti-UAS according to claim 1, it is characterised in that the probe unit includes LED infrared monitorings
One or more in machine, laser infrared monitoring equipment, infrared thermography and radar-probing system.
3. anti-UAS according to claim 2, it is characterised in that the probe unit is arranged at management and control spatial domain
Center.
4. anti-UAS according to claim 1, it is characterised in that the head unit is two axle The Cloud Terraces, its water
Flat rotational angle is 0 ° -360 °, and vertical rotation angle is 0 °-± 90 °, 0.1 ° -160 °/s of the horizontal speed of manipulation, axial bond rate controlling
0.1 ° -120 °/s of degree.
5. anti-UAS according to claim 1, it is characterised in that the cradle head control instruction includes that head is tracked
Mode.
6. anti-UAS according to claim 1, it is characterised in that the interference signal jamming target unmanned plane
At least one in communication link, control link, gps signal.
7. anti-UAS according to claim 6, it is characterised in that the interference unit adopts Sweeping nonlinearity, bag
Include radiofrequency signal generation module, filter module, gain module and the directional aerial being sequentially connected.
8. the anti-UAS according to any one of claim 1-7, it is characterised in that the probe unit, head list
Unit and interference one output interface of units shared, are connected with the main control unit.
9. anti-UAS according to claim 8, it is characterised in that the probe unit, head unit and interference
1 RJ-45 interface of units shared, is connected with the main control unit.
10. the anti-UAS according to any one of claim 9, it is characterised in that the main control unit includes having
Image recognition and the computer of following function.
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| CN106335646A (en) * | 2016-09-30 | 2017-01-18 | 成都紫瑞青云航空宇航技术有限公司 | Interference-type anti-UAV (Unmanned Aerial Vehicle) system |
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