CN107561593A - A kind of small-sized unmanned aircraft composite detecting device - Google Patents
A kind of small-sized unmanned aircraft composite detecting device Download PDFInfo
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- CN107561593A CN107561593A CN201710345481.3A CN201710345481A CN107561593A CN 107561593 A CN107561593 A CN 107561593A CN 201710345481 A CN201710345481 A CN 201710345481A CN 107561593 A CN107561593 A CN 107561593A
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Abstract
The present invention provides a kind of small-sized unmanned aircraft composite detecting device; pass through integrated Spectral Receiver, multispectral photoelectronic imaging instrument, video tracker and photoelectricity localizer etc.; under being uniformly coordinated of main control computer; complex probe is carried out to the small-sized unmanned aircraft of illegal invasion; early discovery, early early warning, early disposal are realized, prevents that probably sudden and violent molecule utilizes these aircraft crisis social public securitys.The invention has the advantages that：(1) the spectrum monitoring method of reseptance used in belongs to passive scouting, and detection range is remote, and more sensing point co-locateds can be achieved；(2) possess multispectral imaging ability, adapt to target acquisition and imaging under the bad weathers such as night, haze；(3) spectrum signature of target can be provided, realizes the Input of Data of target with comparing, can accurately identify target type, producer and model；(4) to target continuous precise video tracking, dynamic surveillance, video evidence obtaining, Target track displaying and record that can be based on GIS be realized.
Description
Technical field
The present invention relates to Air Vehicle Detection technical field, more particularly, to a kind of small-sized unmanned aircraft complex probe
Device.
Background technology
Unmanned vehicle using SUAV as representative increases sharply in number in the whole world, to such as great rally, Civil Aviation Airport,
The key facility such as prison and nuclear facilities causes great potential safety hazard.US Federal Aviation Administration (FAA) is commercial unmanned plane
Mode of operation and flight range formulated guideline.According to the rules, small-sized unmanned aircraft can not be in 8 kilometers away from airport models
Enclose interior flight, and flying height must 400 feet (being roughly equal to 122 meters) below --- in above-mentioned distance and height, unmanned plane
The unlikely aircraft for interfering with pilot driver.Civilian unmanned vehicle is just drilled towards the direction of miniaturization, lightness
Become so that they are more difficult to be detected, and widely used and inexpensive unmanned vehicle may be to flight, critical facility even army
Team constitutes a serious threat.These flying machines have been caused in recent years to be brought disaster upon several times.In January, 2015, amateur nobody
Machine surprisingly crashes on the lawn at the White House, causes White House's emergency cut-off.Fire-fighting operation of San Bernardino, just as spiraling
Unmanned plane above flare and be interfered.Due to worrying to collide with unmanned plane, fire-extinguisher helicopter can only Suspend Job.2013
Year August, the factory overhead that a frame unmanned plane be located at England the north from British Aerospace PLC (BAE) are skimmed over, and are Britain emperor there
The construction base of family's naval submarine.The same year September, the mini unmanned plane of a frame disturb the campaign rally of German Chancellor Merkel,
Rally is caused to interrupt.Domestic aspect, on January 15th, 2017, citizen Yuan is using unmanned plane in Hangzhou Xiaoshan area Xin Jie towns away from machine
Field about 8.5 kms lift-off shooting sunset, threatens flight safety；2 months 2 nights in 2017, Mianyang, Sichuan airport annex are found
Not clear lift-off thing, causes the flight delay of 5, airport, and 3 flights are made preparation for dropping；On 2 3rd, 2017, the flight unit report of Shenzhen Airport 3
Accuse during taking off and landing it is again seen that not clear lift-off thing, blank pipe department collection stringent effort, during which airport is multiple leaves the port
Flight suffers from this appearance delay in various degree；Repeatedly there is unmanned plane and swarmed into the long water dispenser field in Kunming during the Spring Festival；2 months 2017
About during afternoon 4 on the 6th, a frame unmanned plane has swarmed into Taipei Domestic Airport regulatory area, causes airport pause flight landing 55 minutes,
It is delayed 6 flights.
In view of aircraft industry, government, military etc. constantly deepen to the worry of unmanned plane, a new industry requirement is continuous
Rise, that is, anti-unmanned plane equipment, the detection of wherein small-sized unmanned aircraft are the discovery that main bugbear.The system that USA and Europe occurs
Row event indicates the importance of defence unmanned plane.Expert points out that unmanned vehicle brings the challenge in many defence.One
It is attributed to the developing direction of conventional radar systems.For many years, radar manufacturer ensures that flying bird does not appear in using software
On radar screen, avoid showing this kind of miscellaneous point on screen.Second, this kind of target belongs to typical low, slow, Small object type, it is right
Radar detection is unanimously a problem.Industry specialists all most clearly recognize that client flies to efficient, economic miniature self-service
The active demand of device complex probe method and realization device.
In view of the harm of small-sized unmanned aircraft increasingly increases, have begun to formulate relevant policies from government aspect, strictly
Management and control, also stepping up to put into effect thinner higher code requirement from industry field, for example requiring that this kind of aircraft producer is disclosed with frequency
Information, including the use of frequency, bandwidth, the information of data encoding format, the country includes big boundary in interior unmanned vehicle producer
These information of beginning external disclosure.Thus, it is domestic to establish a complete unmanned vehicle frequency spectrum resource storehouse completely, make
The illegal invasion in spectrum monitoring receiver detecting real-time relevant range must be utilized to threaten target spectrum, then compared with database
It is right, unmanned vehicle model and producer are investigated, effective foundation is provided for follow-up tracking user.Thus, the skill based on spectrum monitoring
Art approach will turn into one of maximally effective detection means of small-sized unmanned aircraft, in conjunction with focal length multi-optical spectrum imaging system, build
Vertical a set of effective composite detecting device has urgent current demand.
The content of the invention
The present invention is to overcome at least one defect described in above-mentioned prior art, there is provided a kind of small-sized unmanned aircraft is compound
Detection device, spectrum detection, photoelectricity verification and tracking, frequency spectrum discerning, video can be carried out to the intrusion target in zone of protection
Evidence obtaining.
In order to solve the above technical problems, technical scheme is as follows：
A kind of small-sized unmanned aircraft composite detecting device, it is characterised in that including：
Spectrum monitoring receiver：For being scanned for the frequency spectrum of the small-sized unmanned aircraft measurement and control signal in detection spatial domain
Direction finding is carried out with identifying and being sent to main control computer, while to small-sized unmanned aircraft；
Multi-spectral imager：Small-sized unmanned aircraft for being detected to spectrum monitoring receiver carries out multispectral imaging
And main control computer is sent to, identification, monitoring and evidence obtaining to small-sized unmanned aircraft are realized, individually can also be entered to scouting region
The small-sized unmanned aircraft invaded carries out photoelectronic imaging search；
Video tracker：For according to multispectral imaging result, using video image track algorithm, calculating miniature self-service and flying
Gun parallax, the trim information of row device, and give photoelectricity localizer；
Photoelectricity localizer：For according to gun parallax, trim information, passing through servo-control system and servo-drive realization pair
The high accuracy sensing of small-sized unmanned aircraft, realize that multi-spectral imager is traced and monitored, locked to the automatic of small-sized unmanned aircraft
Fixed, videograph；
Main control computer：Shown for frequency spectrum, frequency spectrum discerning, frequency spectrum data library management, multispectral imaging image show, are more
Light spectrum image-forming image recognition, videograph, the control of photoelectricity localizer, small-sized unmanned aircraft course line track and GIS display functions.
In a kind of preferable scheme, described spectrum monitoring receiver includes frequency measurement subsystem and direction finding subsystem；
Frequency measurement subsystem receives small-sized unmanned aircraft measurement and control signal, received front end, the filtering of switch filter group, lower change
To bandwidth intermediate-freuqncy signal after frequency, spectrum signature parameter is formed after the processing of wideband digital channel receiver, frequency spectrum is deposited in real time
Storage, and deliver to main control computer and analyzed and identified；
Direction finding subsystem receive small-sized unmanned aircraft measurement and control signal, through the amplification of passage amplitude-phase consistency, bandpass filter,
To bandwidth intermediate-freuqncy signal after low-converter, frequency measurement is carried out to signal through superhet/direction-finding receiver, is handled than width, than phase direction finding,
Direction finding result is sent out simultaneously to main control computer, guiding photoelectricity localizer tracking target, realize multi-optical spectrum image collecting, identification,
Verification and storage.
In a kind of preferable scheme, the frequency measurement subsystem and direction finding subsystem receive nothing by wideband circular antenna array
People's Spacecraft TT＆C signal, wideband circular antenna array is by 8 0.4GHz-2GHz to all antennas and 8 2GHz-6GHz loudspeaker days
Line forms, and lines up round battle array.Antenna Operation frequency range covers all conventional frequencies of existing small-sized unmanned aircraft measurement and control signal：L ripples
Section navigation, 433MHz, 2.4GHz, 5.8GHz.
In a kind of preferable scheme, described multi-spectral imager includes medium-wave infrared, short-wave infrared and visible ray three
Individual wave band imaging device, adapt to be imaged under the environment such as night, haze, daytime respectively, the round-the-clock more of small aircraft can be achieved
Light spectrum image-forming, the image and video of intrusion target are gathered, possess big visual field search, small field of view surveillance coverage.
In a kind of preferable scheme, described video tracker includes video decoding unit, image preprocessing and logic
Control unit (FPGA), image data processing unit (DSP), image storage unit, video encoding unit and serial ports, image are located in advance
Reason and logic control element pre-process to multispectral imaging result, and pretreated image is after video encoding unit encodes
Stored by image storage unit, pretreated image also carries out specifying target to be tracked place by graphics processing unit
Reason, Motion parameters are carried out, real-time resolving goes out exact position of the target in image scene, and exports target deviation system and regard
The orientation and pitching miss distance of axle, it is sent to servo-control system, driving photoelectricity localizer tracking target.
In a kind of preferable scheme, described photoelectricity localizer includes two-dimension high-precision capstan head, servo controller, servo
The part such as driver, collector ring, gyroscope and executor forms, and the target that photoelectricity localizer feeds back according to video tracker deviates
System optical axis orientation and pitching miss distance, by servo-control system, implement the adjustment photoelectricity optical axis and point to target, make target all the time
In imaging viewing field center, the high precision tracking to target is realized.
In a kind of preferable scheme, described main control computer is received by RS422 communication interfaces and comes from spectrum monitoring
Receiver detecting invasion illegitimate target azimuth information instruction, guiding photoelectricity localizer work, further according to video tracker feedback
Target deviates optical axis orientation and pitching miss distance, by servo-control system, implements the adjustment photoelectricity optical axis and points to target, make target
All the time imaging viewing field center is in, realizes the high precision tracking to target.
In a kind of preferable scheme, described main control computer includes power supply and driving cabinet, DVR, manipulation
Keyboard, trace ball, liquid crystal display, liquid crystal display provide human-computer interaction interface.
Compared with prior art, the beneficial effect of technical solution of the present invention is：The present invention provides a kind of miniature self-service flight
Device composite detecting device, by integrating Spectral Receiver, multispectral photoelectronic imaging instrument, video tracker and photoelectricity localizer etc.,
Under being uniformly coordinated of main control computer, complex probe is carried out to the small-sized unmanned aircraft of illegal invasion, realizes early find, early
Early warning, early disposal, prevent that probably sudden and violent molecule utilizes these aircraft crisis social public securitys.The invention has the advantages that：(1)
Used spectrum monitoring method of reseptance belongs to passive scouting, and detection range is remote, and more sensing point co-locateds can be achieved；(2) have
Standby multispectral imaging ability, adapt to target acquisition and imaging under the bad weathers such as night, haze；(3) frequency of target can be provided
Spectrum signature, the Input of Data of target is realized with comparing, can accurately identify target type, producer and model；(4) it is continuous to target
High-precision video tracking, realize dynamic surveillance, video evidence obtaining, Target track displaying and record that can be based on GIS.
Brief description of the drawings
Fig. 1 is the composition frame chart of small-sized unmanned aircraft composite detecting device of the present invention.
Fig. 2 is spectrum monitoring receiver composition frame chart.
Fig. 3 is multi-spectral imager composition frame chart.
Fig. 4 is video tracker composition frame chart.
Fig. 5 is video tracker workflow diagram.
Fig. 6 is photoelectricity localizer servo-control system theory diagram.
Fig. 7 is photoelectricity localizer and mission payload working-flow figure.
Fig. 8 is spectrum monitoring received spectrum processing terminal interactive interface.
Fig. 9 is multispectral imaging video tracking interface, namely manipulation software video track terminal interface.
Wherein：1st, spectrum monitoring receiver；2nd, multi-spectral imager；3rd, video tracker；4th, photoelectricity localizer；5th, it is main
Control computer.
Embodiment
Accompanying drawing being given for example only property explanation, it is impossible to be interpreted as the limitation to this patent；
In order to more preferably illustrate the present embodiment, some parts of accompanying drawing have omission, zoomed in or out, and do not represent actual product
Size；
To those skilled in the art, it is to be appreciated that some known features and its explanation, which may be omitted, in accompanying drawing
's.
Technical scheme is described further with reference to the accompanying drawings and examples.
Embodiment 1
A kind of as shown in figure 1, small-sized unmanned aircraft composite detecting device, it is characterised in that including：
Spectrum monitoring receiver 1：For being searched to the frequency spectrum of the small-sized unmanned aircraft measurement and control signal in detection spatial domain
Rope carries out direction finding with identifying and being sent to main control computer 5 to small-sized unmanned aircraft；
Multi-spectral imager 2：For the small-sized unmanned aircraft that is detected to spectrum monitoring receiver 1 carry out it is multispectral into
Picture is simultaneously sent to main control computer 5, realizes identification, monitoring and evidence obtaining to small-sized unmanned aircraft, also can be individually to reconnaissance zone
The small-sized unmanned aircraft of domain invasion carries out photoelectronic imaging search；
Video tracker 3：For according to multispectral imaging result, using video image track algorithm, calculating miniature self-service
Gun parallax, the trim information of aircraft, and give photoelectricity localizer 4；
Photoelectricity localizer 4：For according to gun parallax, trim information, being realized by servo-control system and servo-drive
The high accuracy of small-sized unmanned aircraft is pointed to, realize multi-spectral imager 2 to small-sized unmanned aircraft it is automatic trace and monitor,
Locking, videograph；
Main control computer 5：Shown for frequency spectrum, frequency spectrum discerning, frequency spectrum data library management, multispectral imaging image are shown,
Multispectral imaging image recognition, videograph, the control of photoelectricity localizer, small-sized unmanned aircraft course line track and GIS show work(
Energy.
As shown in Fig. 2 described spectrum monitoring receiver 1 includes frequency measurement subsystem and direction finding subsystem；
Frequency measurement subsystem receives small-sized unmanned aircraft measurement and control signal, received front end, the filtering of switch filter group, lower change
To bandwidth intermediate-freuqncy signal after frequency, spectrum signature parameter is formed after the processing of wideband digital channel receiver, frequency spectrum is deposited in real time
Storage, and deliver to main control computer 5 and analyzed and identified；
Direction finding subsystem receive small-sized unmanned aircraft measurement and control signal, through the amplification of passage amplitude-phase consistency, bandpass filter,
To bandwidth intermediate-freuqncy signal after low-converter, frequency measurement is carried out to signal through superhet/direction-finding receiver, is handled than width, than phase direction finding,
Direction finding result to main control computer 5, guiding photoelectricity localizer 4 is sent out simultaneously and tracks target, is realized multi-optical spectrum image collecting, is known
Not, verification and storage.
The frequency measurement subsystem and direction finding subsystem receive unmanned vehicle measurement and control signal by wideband circular antenna array, wide
Band circular array is made up of 8 0.4GHz-2GHz to all antennas and 8 2GHz-6GHz electromagnetic horns, lines up round battle array.Realize
360 degree of omnidirectionals are received, and direction finding is carried out to target using than amplitude ratio phase system.Antenna Operation frequency range covers existing miniature self-service and flown
All conventional frequencies of row device measurement and control signal：L-band navigation, 433MHz, 2.4GHz, 5.8GHz.
As shown in figure 3, described multi-spectral imager 2 include medium-wave infrared, three wave bands of short-wave infrared and visible ray into
As equipment, adapt to be imaged under the environment such as night, haze, daytime respectively, the round-the-clock multispectral imaging of small aircraft can be achieved,
The image and video of intrusion target are gathered, possesses big visual field search, small field of view surveillance coverage.Medium-wave infrared, short-wave infrared and can
See that three wave band imaging devices of light carry out image co-registration after carrying out optical zoom, imaging, Digital Image Processing respectively.Visible ray and
Medium-wave infrared application is very universal, but the two imaging effect under the adverse circumstances such as haze, flue dust is bad, to make up this not
Foot, what the present invention innovated employs short-wave infrared imaging, and equivalent condensate thickness is the weight for influenceing characteristics of atmospheric transmission in air
Reason is wanted, and the transmission in 1.5um-1.7um radiation is barely affected, the light also filled up between visible ray and medium-wave infrared
Vacancy is composed, realizes " the multispectral Gapless infrared detecting " in three air infrared projection windows.
As shown in figure 4, described video tracker 3 includes video decoding unit, image preprocessing and logic control element
(FPGA), image data processing unit (DSP), image storage unit, video encoding unit and serial ports, image preprocessing and logic
Control unit is pre-processed to multispectral imaging result, and pretreated image is deposited after video encoding unit encodes by image
Storage unit is stored, and pretreated image also carries out specifying target to be tracked processing by graphics processing unit, carries out
Motion parameters, real-time resolving go out exact position of the target in image scene, and export the side that target deviates the system optical axis
Position and pitching miss distance, are sent to servo-control system, and driving photoelectricity localizer 4 tracks target.The workflow of video tracker 3
As shown in Figure 5.Video tracker 3 can realize that related, the scene locking of built-in barycenter, edge, multiple target, correlation, phase etc. is a variety of
Track algorithm, support multi-target automatic detection and multiple target from motion tracking, target transient loss intelligent locking and reacquisition algorithm.
Described photoelectricity localizer 4 includes two-dimension high-precision capstan head, servo controller, servo-driver, collector ring, gyro
The part such as instrument and executor forms.
The structural framing component of photoelectricity localizer 4 includes orientation framework, pitching frame, and the electricity of corresponding shafting framework
The part such as machine, angular transducer and conducting ring assemblies forms.Two frame structure forms used, small in volume, light level
The higher aluminium alloy of platform structure choice modulus of elasticity is as material of main part.Structure design and machining accuracy must are fulfilled for task device
Orientation, pitch axis mechanical zero and electrical zero conformity error：0.05°；Task device shock absorber dynamic random error：
1.5mrad；Installation frame upper surface and elevating mechanism mounting plane when task device installation frame is down to elevating mechanism lower dead center
Parallelism error：0.08mm tolerance fit requirement.
The servo control unit of photoelectricity localizer 4 is made up of angle sensor device assembly, motor, servo processing circuit, is used
Current loop mode controlled motor, theory diagram are as shown in Figure 6.Servo control unit has manual search, from motion tracking work
Operation mode.Servo control unit control photoelectric platform manual search, from motion tracking while, will also with main control computer 5 and
Image tracker communicates.Processor uses motor control the Special 16-bit DSP, model TMS320F28335 of TI companies.DSP cores
There is abundant motor control peripheral hardware and substantial amounts of I/O mouths to be used for the collection of level signal, control in piece, localizer can be met
Control requires.
Photoelectricity localizer 4 uses as a photoelectric platform, and mission payload includes multi-spectral imager 2, video tracker 3
And other auxiliary units, photoelectricity localizer 4 and its mission payload form a system, operation principle as shown in fig. 7, system in master
Control and worked under the control of computer 5, realize photoelectronic reconnaissance and following function, main control computer 5 is received by RS422 communication interfaces
Detect invasion illegitimate target azimuth information instruction from spectrum monitoring receiver 1, guiding photoelectricity localizer 4 works, further according to regarding
The target that frequency tracker 3 feeds back deviates optical axis orientation and pitching miss distance, by servo-control system, implements the adjustment photoelectricity optical axis
Target is pointed to, target is in imaging viewing field center all the time, realizes the high precision tracking to target.
Described main control computer 5 includes power supply and driving cabinet, DVR, manipulation keyboard, trace ball, liquid crystal
Show device, liquid crystal display provides human-computer interaction interface.Comprising two main sub-interfaces, it can show that spectrum monitoring receiver 1 is found
Target spectrum, photoelectric image, tracking lock instruction etc., spectrum monitoring received spectrum processing terminal interactive interface is as shown in figure 8, more
Light spectrum image-forming video tracking interface is as shown in Figure 9.
Same or analogous label corresponds to same or analogous part；
Term the being given for example only property explanation of position relationship described in accompanying drawing, it is impossible to be interpreted as the limitation to this patent；
Obviously, the above embodiment of the present invention is only intended to clearly illustrate example of the present invention, and is not pair
The restriction of embodiments of the present invention.For those of ordinary skill in the field, may be used also on the basis of the above description
To make other changes in different forms.There is no necessity and possibility to exhaust all the enbodiments.It is all this
All any modification, equivalent and improvement made within the spirit and principle of invention etc., should be included in the claims in the present invention
Protection domain within.
Claims (8)
- A kind of 1. small-sized unmanned aircraft composite detecting device, it is characterised in that including：Spectrum monitoring receiver (1)：For being scanned for the frequency spectrum of the small-sized unmanned aircraft measurement and control signal in detection spatial domain Direction finding is carried out with identifying and being sent to main control computer (5), while to small-sized unmanned aircraft；Multi-spectral imager (2)：For the small-sized unmanned aircraft that is detected to spectrum monitoring receiver (1) carry out it is multispectral into Picture is simultaneously sent to main control computer (5), realizes identification, monitoring and the evidence obtaining to small-sized unmanned aircraft；Video tracker (3)：For according to multispectral imaging result, using video image track algorithm, calculating miniature self-service and flying Gun parallax, the trim information of row device, and give photoelectricity localizer (4)；Photoelectricity localizer (4)：For according to gun parallax, trim information, passing through servo-control system and servo-drive realization pair The high accuracy sensing of small-sized unmanned aircraft, realize multi-spectral imager (2) to small-sized unmanned aircraft it is automatic trace and monitor, Locking, videograph；Main control computer (5)：Shown for frequency spectrum, frequency spectrum discerning, frequency spectrum data library management, multispectral imaging image show, are more Light spectrum image-forming image recognition, videograph, the control of photoelectricity localizer, small-sized unmanned aircraft course line track and GIS display functions.
- 2. small-sized unmanned aircraft composite detecting device according to claim 1, it is characterised in that described spectrum monitoring Receiver (1) includes frequency measurement subsystem and direction finding subsystem；Frequency measurement subsystem receives small-sized unmanned aircraft measurement and control signal, and received front end, switch filter group filter, after down coversion To bandwidth intermediate-freuqncy signal, spectrum signature parameter is formed after the processing of wideband digital channel receiver, to the real-time storage of frequency spectrum, and Main control computer (5) is delivered to be analyzed and identified；Direction finding subsystem receives small-sized unmanned aircraft measurement and control signal, through the amplification of passage amplitude-phase consistency, bandpass filter, lower change To bandwidth intermediate-freuqncy signal after frequency device, frequency measurement is carried out to signal through superhet/direction-finding receiver, is handled than width, than phase direction finding, simultaneously Direction finding result is sent out to main control computer (5), guiding photoelectricity localizer (4) tracking target, multi-optical spectrum image collecting is realized, knows Not, verification and storage.
- 3. small-sized unmanned aircraft composite detecting device according to claim 2, it is characterised in that the frequency measurement subsystem Unmanned vehicle measurement and control signal is received by wideband circular antenna array with direction finding subsystem, wideband circular antenna array is by 8 0.4GHz-2GHz lines up round battle array to all antennas and 8 2GHz-6GHz electromagnetic horns compositions.
- 4. small-sized unmanned aircraft composite detecting device according to claim 1, it is characterised in that it is described it is multispectral into As instrument (2) includes three medium-wave infrared, short-wave infrared and visible ray wave band imaging devices.
- 5. small-sized unmanned aircraft composite detecting device according to claim 1, it is characterised in that described video tracking Device (3) include video decoding unit, image preprocessing and logic control element, image data processing unit, image storage unit, Video encoding unit and serial ports, image preprocessing and logic control element pre-process to multispectral imaging result, pretreatment Image afterwards is stored after video encoding unit encodes by image storage unit, pretreated image also by image at Reason unit carries out specifying target to be tracked processing, carries out Motion parameters, and real-time resolving goes out target in image scene Exact position, and orientation and pitching miss distance that target deviates the system optical axis are exported, servo-control system is sent to, drives photoelectricity Localizer (4) tracks target.
- 6. small-sized unmanned aircraft composite detecting device according to claim 5, it is characterised in that described photoelectricity points to Device (4) includes two-dimension high-precision capstan head, servo controller, servo-driver, collector ring, gyroscope and executor, and photoelectricity points to The target that device (4) feeds back according to video tracker (3) deviates system optical axis orientation and pitching miss distance, passes through SERVO CONTROL system System, implement the adjustment photoelectricity optical axis and point to target, target be in imaging viewing field center all the time, realize to target it is high-precision with Track.
- 7. small-sized unmanned aircraft composite detecting device according to claim 6, it is characterised in that described master control calculates Machine (5) is received by RS422 communication interfaces and instructed from spectrum monitoring receiver (1) detecting invasion illegitimate target azimuth information, Photoelectricity localizer (4) work is guided, deviates optical axis orientation and pitching miss distance further according to the target of video tracker (3) feedback, By servo-control system, implement the adjustment photoelectricity optical axis and point to target, target is in imaging viewing field center all the time.
- 8. small-sized unmanned aircraft composite detecting device according to claim 6, it is characterised in that described master control calculates Machine (5) includes power supply and driving cabinet, DVR, manipulation keyboard, trace ball, liquid crystal display, liquid crystal display provide Human-computer interaction interface.
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| CN109324631A (en) * | 2018-09-19 | 2019-02-12 | 北京机械设备研究所 | A kind of photoelectronic tracking device auxiliary body having positioning direction-measuring function |
| CN109709512A (en) * | 2019-01-02 | 2019-05-03 | 成都华日通讯技术有限公司 | A kind of single station of unmanned plane detecting and unmanned plane detecting system |
| CN110262564A (en) * | 2019-05-17 | 2019-09-20 | 安徽翔翼智能科技有限公司 | A kind of miniaturization mission payload system, software and carry device |
| CN110596698A (en) * | 2019-07-25 | 2019-12-20 | 姚碧琛 | Active and passive integrated unmanned aerial vehicle detection and identification technology |
| CN112925339A (en) * | 2020-12-01 | 2021-06-08 | 理工雷科电子(西安)有限公司 | Intrusion prevention system equipment for unmanned small aircraft |
| CN113364536A (en) * | 2021-06-07 | 2021-09-07 | 西安邮电大学 | Spectrum monitoring method and system |
| CN114814970A (en) * | 2022-04-14 | 2022-07-29 | 中交遥感天域科技江苏有限公司 | Unmanned aerial vehicle discovery device for airport and disposal method thereof |
| CN115542318A (en) * | 2022-10-12 | 2022-12-30 | 南京航空航天大学 | Air-ground combined multi-domain detection system and method for unmanned aerial vehicle group target |
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