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WO2022257510A1 - 一种无人机的反制方法及无人机的反制系统 - Google Patents

一种无人机的反制方法及无人机的反制系统 Download PDF

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Publication number
WO2022257510A1
WO2022257510A1 PCT/CN2022/078565 CN2022078565W WO2022257510A1 WO 2022257510 A1 WO2022257510 A1 WO 2022257510A1 CN 2022078565 W CN2022078565 W CN 2022078565W WO 2022257510 A1 WO2022257510 A1 WO 2022257510A1
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drone
black
flying
flight
counter
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PCT/CN2022/078565
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English (en)
French (fr)
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徐晓
杨兴光
柳艳青
路建刚
罗嘉伟
张晨
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航天科工仿真技术有限责任公司
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Publication of WO2022257510A1 publication Critical patent/WO2022257510A1/zh

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft

Definitions

  • This application relates to the technical field of unmanned aerial vehicles, and specifically relates to a method for countering black-flying unmanned aerial vehicles and a countermeasure system for unmanned aerial vehicles by using a counter-unmanned aerial vehicle carrying close-in ammunition.
  • drones are booming in agriculture, military, games, business and other methods, and the accompanying problems are also obvious, such as black flying, sneak shots, illegally carrying contraband and explosives, etc.
  • Our country also has corresponding regulations on the operation and management of drones, which restricts the black flight of drones. But in addition to relying on regulations, corresponding means are also required.
  • Patent application number 202030271326.4 "UAV countermeasure equipment” only introduces a device similar to a gun, and the actual use cannot be seen;
  • patent application number 202011108854.3 "An anti-drone device based on photoelectric interference technology” introduces A method of using lasers to counter drones;
  • patent 202030398585.3 “Handheld drone counter equipment” introduces a counter equipment that can be held in the hand;
  • patent application number 201922160179.8 “Radar-based, high-precision turntable UAV countermeasure system powered by cloud energy storage” introduces a method of developing a remote control suppression and induction control system based on the analysis of UAV signals;
  • the patent application number 202020264978 Aircraft countermeasure device and system” introduces a kind of UAV countermeasure jammer.
  • the technical problem to be solved in this application is to overcome the defect that the countermeasure equipment for unmanned aerial vehicles in the prior art cannot directly attack and destroy the black flying unmanned aerial vehicle, thereby providing a countermeasure method for unmanned aerial vehicles and unmanned countermeasures. machine's countermeasure system.
  • a countermeasure against drones comprising:
  • S1 according to the flight information of the black flying drone in the airspace, send a first control instruction to track and fly the black flying drone to the counter drone;
  • sending a first control instruction for tracking and flying the black-flying UAV to the counter-UAV including:
  • each counter-UAV in the counter-UAV fleet is arranged in a grid at a fixed point.
  • the combination of the real-time flight position information of the counter drone and the real-time flight position information of the black flying drone controls the counter drone to carry out the black flying drone.
  • Track your flight including:
  • the detection device for obtaining the real-time flight position information of the black flying drone is located at on the counter drone.
  • the second control instruction to the counter drone to launch a proximity bomb to the black flying drone before sending the second control instruction to the counter drone to launch a proximity bomb to the black flying drone, it also includes: adjusting the counter drone according to the flight attitude of the black flying drone. Control the flight attitude of the drone until the anti-drone is aimed at the black flying drone in the direction of launching the explosives on the counter drone.
  • a drone countermeasure system including: counter drone, drone detection system and command and control center; wherein,
  • the anti-drone includes a body, a launching device installed on the body, and a launch control device arranged on the body; the launch device is equipped with proximity bombs, and the launch control device is used for controlling the launching device to launch the proximity munition;
  • the drone detection system is used to detect the flight information of the black flying drone in the airspace, and upload the flight information of the black flying drone to the command and control center;
  • the command and control center is used to receive the flight information of the black-flying drone, and send the first order of tracking and flying the black-flying drone to the counter drone according to the flight information of the black-flying drone.
  • control instructions and in combination with the distance difference between the real-time flight position information of the counter-drone and the real-time flight position information of the black-flying drone, send a message to the black-flying unit to the counter-drone
  • the body is also provided with a detection device and a flight control device, the detection device is used to detect the real-time flight position information of the black flying drone, and the flight control device is used to adjust the flight speed of the body and flight attitude.
  • the proximity bomb includes a metal projectile, a proximity fuze, a central squib, and a solid rocket motor; the solid rocket motor is used to provide thrust for the metal projectile when launching; the proximity fuze Located at the front end of the metal projectile, it is used to sense the position close to the target; the central squib is located inside the metal projectile and connected to the proximity fuze, and explosives are arranged in the central squib; The proximity fuze is used to sense the distance difference between the metal projectile and the target and detonate the central squib when the distance difference reaches a set value so that the metal projectile explodes to produce a plurality of metal debris.
  • the UAV countermeasure method provided by this application sends the first control command to the counter UAV according to the flight information of the black flying UAV in the airspace, and the counter UAV tracks the flight according to the first control command
  • the black flying UAV when the distance difference between the real-time flight position information of the counter UAV and the real-time flight position information of the Black Fly UAV reaches the specified attack range, send a second control to the counter UAV Instructions, the counter-drone is controlled by the second control command to launch the proximity bomb it carries to the black flying drone. After the explosion of the proximity bomb, a large number of fragments fly at high speed, and after hitting the body of the black flying drone , it will damage the Heifei drone.
  • the UAV countermeasure method provided by this application according to the flight information of the Heifei UAV, obtains the current spatial position coordinates of the Heifei UAV, the flight speed of the Heifei UAV, and predicts the flight speed of the Heifei UAV.
  • the anti-drone sends out the first control instruction of tracking and flying the black-flying unmanned aerial vehicle.
  • This countermeasure method can control the counter drone in the most favorable attack position to attack the black flying drone, and improve the execution speed of the counter attack on the black flying drone.
  • the countermeasure method of the unmanned aerial vehicle before sending out the second control instruction to launch the close explosive ammunition to the anti-unmanned aerial vehicle, adjust the counter-unmanned aerial vehicle according to the flying attitude of the black-flying unmanned aerial vehicle Flying posture, until the anti-drone is aimed at the black flying drone in the direction of launching the explosives near the anti-drone, it can improve the accuracy of the counter-drone attacking the black flying UAV.
  • the command and control center After the command and control center receives the flight information of the black flying UAV, it will quickly process it, and then issue the first control command to the counter UAV in a favorable attack position , the anti-drone flies according to the first control instruction, and performs operations such as aiming and launching close-in bombs when approaching the black flying drone. A large number of fragments generated after the explosion of the nearby explosives fly at high speed, and after hitting the body of the Heifei drone, it will damage the Heifei drone.
  • This kind of drone countermeasure system has good mobility and can directly attack and completely destroy the black flying drone. It also has a good strike effect on the black flying drones that come in a team.
  • the proximity ammunition consists of a metal projectile, a proximity fuze, a central squib, and a solid rocket motor.
  • the solid rocket motor is used to generate thrust to propel the near explosives to fly at a high speed during launch; the function of the proximity fuze is to detonate the central squib when the close explosives are close to the black flying drone, and TNT explosives are placed in the central squib.
  • the metal projectile will produce metal fragments (more than 100 pieces), the metal fragments fly at high speed, after hitting the body of the black flying drone, it will damage the black flying drone, if it is damaged to the black flying drone
  • the key parts of the drone such as batteries, motors, flight control modules, etc., will completely destroy the Heifei UAV; even if it cannot be completely destroyed, it will greatly reduce the performance of the Heifei UAV.
  • the black flying drones are clustered, a large number of metal fragments can shoot down multiple black flying drones at the same time, and it also has a good strike effect on the black flying drones that come in a team.
  • Fig. 1 is the flow chart of the implementation of the countermeasure method of unmanned aerial vehicles in the first embodiment of the present application
  • FIG. 2 is a schematic structural view of the proximity bomb in Example 2 of the present application.
  • connection should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection. Connected, or integrally connected; it may be mechanically connected or electrically connected; it may be directly connected or indirectly connected through an intermediary, and it may be the internal communication of two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in this application in specific situations.
  • a kind of unmanned aerial vehicle countermeasure method as shown in Figure 1 specifically is a kind of countermeasure method that adopts the anti-unmanned aerial vehicle carrying close explosives to directly attack and completely destroy the black-flying unmanned aerial vehicle, and the method includes The following steps:
  • Step S1 according to the flight information of the black flying drone in the airspace, send a first control instruction to the counter drone to track and fly the black flying drone.
  • black flying drones refer to drones flying in specific airspace without permission. Use radar and other radio detection equipment or photoelectric detection equipment to detect black-flying drones in the airspace.
  • the signal receiving module of the command and control center receives the flight information of the black flying drone and sends it to the control module of the command and control center for processing. Track the first control order of the flying black flying drone.
  • Step S2 combining the real-time flight position information of the counter-drone and the real-time flight position information of the black-flying drone, controlling the counter-drone to track and fly the black-flying drone.
  • a detection device is provided on the anti-drone, and the detection device is used to detect the position of the black flying UAV.
  • the method for tracking the target to fly is a prior art, so it is easy to repeat it here.
  • Step S3 judging whether the distance difference between the real-time flight position information of the counter drone and the real-time flight position information of the black flying drone is greater than the preset designated attack range, if the judgment result is no, A second control instruction for launching proximity bombs to the black flying drone is issued to the counter drone.
  • the proximity explosives include metal projectiles, proximity fuzes, central squibs, and solid rocket motors.
  • the proximity fuze is located at the front end of the metal projectile and is used to sense the position of the approaching target;
  • the central detonator is located inside the metal projectile and is connected with the proximity fuze, and TNT explosive is arranged in the central detonator;
  • the proximity fuze is used for sensing
  • the distance difference between the metal projectile and the target and when the distance difference reaches a set value detonates the central squib so that the metal projectile explodes and produces a large number of metal fragments ( greater than 100).
  • the solid rocket motor is used to generate thrust at launch to propel the flight near the explosives at high speed, and the explosives approach the black flying UAV quickly.
  • the flying speed of the bombs near the bombs should reach more than 200 m/s. In this way, if an attack is launched at a distance of 20 meters, it will take 0.1 seconds. Within the range of damage, the strike effect can be guaranteed.
  • the anti-drone can carry multiple proximity bombs at the same time.
  • This UAV countermeasure method sends the first control command to the counter UAV, and the counter UAV tracks and flies the black flying unmanned aircraft according to the first control command.
  • a second control command is issued to the counter drone, and the counter
  • the UAV is controlled by the second control command to launch the proximity bomb it carries to the Heifei UAV. After the explosion of the proximity bomb, a large number of fragments fly at high speed, and after hitting the body of the Heifei UAV, it will damage the Heifei UAV.
  • the flying drone If the flying drone is damaged to the key parts of the black flying drone, such as battery, motor, flight control module, etc., it will completely destroy the black flying drone; even if it cannot be completely destroyed, it will greatly reduce the black flying drone machine performance. And if the black flying drones are clustered, multiple black flying drones can be shot down at the same time.
  • This kind of UAV countermeasure has good maneuverability, can directly attack and completely destroy the Heifei UAV, and also has a good strike effect on the Heifei UAV coming in a team.
  • step S1 according to the flight information of the black-flying drone, the step of sending a first control instruction for tracking and flying the black-flying drone to the counter-UAV specifically includes:
  • Step S11 according to the flight information of the black-flying drone, obtain the current spatial position coordinates of the black-flying drone and the flight speed of the black-flying drone;
  • Step S12 predicting the flight trajectory of the black flying drone within the T1 time period according to the current spatial position coordinates of the black flying drone and the flying speed of the black flying drone.
  • the T1 time period is 5s
  • the flight trajectory of the Heifei UAV within 5s is the collection of all the space points that the Heifei UAV passes through.
  • Step S13 according to the spatial position coordinates of each counter-UAV in the counter-UAV fleet and the maximum flight speed of each counter-UAV, respectively calculate the The flight space range that the aircraft can fly within the T1 time period.
  • each counter-UAV in the counter-UAV fleet is arranged in a grid at a fixed point.
  • Step S14 judging whether the flight trajectory of the black flying drone within the T1 time period passes through the flight space range that any counter drone can fly within the T1 time period.
  • Step S15 if the judgment result is yes, then select the counter drone corresponding to the flight space range as the counter drone for attacking, and send the black drone tracking flight to the selected counter drone.
  • the first control command to fly the drone.
  • Step S16 if the judgment result is no, continue to predict the flight trajectory of the black flying drone within the time period T1+T2.
  • the time period of T2 is 2s.
  • Step S17 repeating the above steps S14-S16, until the first control instruction of tracking and flying the black flying drone is issued to the finally selected counter drone.
  • This UAV countermeasure method can control the anti-UAV in the most favorable attack position to attack the Black Flying UAV, and improve the execution speed of the counter-attack on the Black Flying UAV.
  • step S2 combining the real-time flight position information of the counter drone and the real-time flight position information of the black flying drone, controlling the counter drone to track the black flying drone
  • the steps of flight include:
  • step S3 before the step of issuing the second control instruction to the black-flying drone to launch a proximity bomb to the counter-unmanned aerial vehicle, it also includes: adjusting the counter-measure according to the flight attitude of the black-flying drone The flight attitude of the UAV is aimed at the black flying UAV until the launch direction of the near-munitions on the counter-UAV, so as to ensure that the Heifei UAV is within the damage range of the near-munitions launched by the counter-UAV.
  • Embodiment 2 of the present application provides a UAV countermeasure system, which uses a counter UAV carrying close explosives to directly attack and completely destroy the black flying UAV.
  • the UAV countermeasure system includes anti-UAV, UAV detection system and command and control center; among them, the anti-UAV includes the body, the launching device installed on the body, and the launch control device installed on the body Proximity ammunition is installed on the launcher, and the launch control device is used to control the launcher to launch the proximity ammunition.
  • the drone detection system is used to detect the flight information of black flying drones in the airspace, and upload the flight information of black flying drones to the command and control center.
  • the command and control center is used to receive the flight information of the black-flying UAV, and send the first control command to the counter-drone to track the flying black-flying UAV according to the flight information of the black-flying UAV, and combine the counter-unmanned aerial vehicle
  • the distance difference between the real-time flight position information of the man-machine and the real-time flight position information of the black-flying UAV sends a second control command to the counter-drone to launch close bombs to the black-flying UAV.
  • the command and control center will quickly process the flight information of the black flying UAV after receiving it, and then issue the first control command to the counter UAV in a favorable attack position.
  • the man-machine flies according to the first control instruction, and performs operations such as aiming and launching close-in bombs when approaching the black flying drone.
  • a large number of fragments generated after the explosion of the nearby explosives fly at high speed, and after hitting the body of the Heifei drone, it will damage the Heifei drone.
  • This kind of drone countermeasure system has good mobility and can directly attack and completely destroy the black flying drone. It also has a good strike effect on the black flying drones that come in a team.
  • the body is also provided with a detection device and a flight control device, the detection device is used to detect the real-time flight position information of the black flying drone, and the flight control device is used to adjust the flight speed and flight attitude of the body.
  • the proximity bomb includes a metal projectile 1 , a proximity fuze 3 , a central squib 4 and a solid rocket motor 2 .
  • Proximity fuze 3 is positioned at the front end of metal projectile 1, and is used for sensing the position close to target;
  • Central detonator 4 is positioned at the inside of metal projectile 1 and is connected with proximity fuze 3, is provided with TNT explosive in central detonator 4;
  • the proximity fuze 3 is used to sense the distance difference between the metal projectile 1 and the target and detonates the central squib 4 when the distance difference reaches a set value (for example, 2 meters, and the set value can also be adjusted as required).
  • the solid rocket motor 2 is used to generate thrust to propel the flight near the explosives at a high speed when launching, and the explosives approach the black-flying unmanned aerial vehicle rapidly.
  • the flying speed of the bombs near the bombs should reach more than 200 m/s. In this way, if an attack is launched at a distance of 20 meters, it will take 0.1 seconds. Within the range of damage, the strike effect can be guaranteed.
  • the anti-drone can carry multiple proximity bombs at the same time.
  • the UAV countermeasure method and the UAV countersystem system use the counter UAV carrying close bombs to directly attack the black flying UAV, which has the advantages of maneuverability. Good performance, can completely destroy the advantages of Heifei UAV; in addition, it also has a good strike effect on Heifei UAVs that come in a team.

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Abstract

一种无人机的反制方法及无人机的反制系统，利用携带近炸弹药的反制无人机对黑飞无人机进行直接攻击，具有机动性好、可以彻底摧毁黑飞无人机的优点，另外，对组队而来的黑飞无人机也有良好的打击效果。该方法包括：根据空域中黑飞无人机的飞行信息，向反制无人机发出跟踪飞行黑飞无人机的第一控制指令（S1）；结合反制无人机的实时飞行位置信息和黑飞无人机的实时飞行位置信息，控制反制无人机对黑飞无人机进行跟踪飞行（S2）；判断反制无人机的实时飞行位置信息和黑飞无人机的实时飞行位置信息之间的距离差值是否大于预设的指定攻击范围，若判断结果为否，向反制无人机发出向黑飞无人机发射近炸弹药的第二控制指令（S3）。

Description

一种无人机的反制方法及无人机的反制系统
相关申请的交叉引用
本申请要求了2021年6月9日向中国专利局提交的申请号为202110645395.0的专利的优先权，其全部内容以引用的方式并入本文中。
技术领域
本申请涉及无人机技术领域，具体涉及一种采用携带近炸弹药的反制无人机对黑飞无人机进行反制的方法及无人机的反制系统。
背景技术
目前无人机在农业、军事、游戏、商业等方法蓬勃发展，与之相伴随的问题也很明显，例如黑飞、偷拍、违法携带违禁品和炸药等。我国也有相应的无人机运行管理条例，限制无人机黑飞行为。但除了依靠条例之外，还需要有相应的手段。
申请号202030271326.4的专利“无人机反制设备”仅介绍了一款类似枪的设备，无法看到实际用途；申请号202011108854.3的专利“一种基于光电干扰技术的反制无人机装置”介绍了一种用激光对无人机进行反制的方法；专利202030398585.3“手持式无人机反制设备”介绍了一种可以手持的反制设备；申请号201922160179.8的专利“基于雷达、高精度转台和云储能供电的无人机反制系统”介绍了一种在对无人机信号分析基础上，开发遥控器压制与诱导管控系统的方法；申请号202020264978.X的专利“一种无人机反制装置以及系统”介绍了一种无人机反制干扰器。上述方法均能对无人机起到一定的反制作用，但均是在地面应用，作用距离有限，同时也无法对黑飞无人机进行彻底打击， 黑飞无人机仍有飞行能力。
发明内容
因此，本申请要解决的技术问题在于克服现有技术中针对无人机的反制设备无法直接攻击、摧毁黑飞无人机的缺陷，从而提供一种无人机的反制方法及无人机的反制系统。
为解决上述技术问题，本申请的技术方案如下：
一种无人机的反制方法，包括：
S1，根据空域中黑飞无人机的飞行信息，向反制无人机发出跟踪飞行所述黑飞无人机的第一控制指令；
S2，结合所述反制无人机的实时飞行位置信息和所述黑飞无人机的实时飞行位置信息，控制所述反制无人机对所述黑飞无人机进行跟踪飞行；
S3，判断所述反制无人机的实时飞行位置信息和所述黑飞无人机的实时飞行位置信息之间的距离差值是否大于预设的指定攻击范围，若判断结果为否，向所述反制无人机发出向所述黑飞无人机发射近炸弹药的第二控制指令。
可选地，所述根据所述黑飞无人机的飞行信息，向反制无人机发出跟踪飞行所述黑飞无人机的第一控制指令，包括：
S11，根据所述黑飞无人机的飞行信息，获取黑飞无人机当前的空间位置坐标、黑飞无人机的飞行速度；
S12,根据所述黑飞无人机当前的空间位置坐标、黑飞无人机的飞行速度，预测黑飞无人机在T1时间段内的飞行轨迹；
S13，根据反制无人机机群中各架反制无人机的空间位置坐标和各架反制无人机的最大飞行速度，分别计算反制无人机机群中各架反制无人机在T1时间段内所能飞行达到的飞行空间范围；
S14，判断所述黑飞无人机在T1时间段内的飞行轨迹是否穿过任意一架反制无人机的在T1时间段内所能飞行达到的飞行空间范围；
S15，若判断结果为是，则选定该飞行空间范围对应的反制无人机作为用于攻击的反制无人机，并向选定的反制无人机发出跟踪飞行所述黑飞无人机的第一控制指令；
S16，若判断结果为否，则继续预测黑飞无人机在T1+T2时间段内的飞行轨迹；
S17，重复上述步骤S14-S16，直至向最终选定的反制无人机发出跟踪飞行所述黑飞无人机的第一控制指令。
可选地，所述反制无人机机群中各架反制无人机呈网格状布局在定点位置处。
可选地，所述结合所述反制无人机的实时飞行位置信息和所述黑飞无人机的实时飞行位置信息，控制所述反制无人机对所述黑飞无人机进行跟踪飞行，包括：
S21，获取反制无人机的实时飞行位置信息和黑飞无人机的实时飞行位置信息；
S22，根据黑飞无人机的实时位置，规划反制无人机的飞行轨迹；
S23，控制反制无人机沿规划的所述反制无人机的飞行轨迹对所述黑飞无人机进行跟踪飞行。
可选地，在所述获取反制无人机的实时飞行位置信息和黑飞无人机的实时飞行位置信息的步骤中，获取所述黑飞无人机的实时飞行位置信息的探测装置位于所述反制无人机上。
可选地，所述向所述反制无人机发出向所述黑飞无人机发射近炸弹药的第二控制指令之前，还包括：根据黑飞无人机的飞行姿态调整所述反制无人机的飞行姿态，直至反制无人机上近炸弹药的发射方向瞄准黑飞无人机。
一种无人机反制系统，包括：反制无人机、无人机探测系统和指挥控制中心；其中，
所述反制无人机包括机体、安装在所述机体上的发射装置、以及设置在所 述机体上的发射控制装置；所述发射装置上安装有近炸弹药，所述发射控制装置用于控制所述发射装置发射所述近炸弹药；
所述无人机探测系统用于探测空域中黑飞无人机的飞行信息，并将所述黑飞无人机的飞行信息上传至所述指挥控制中心；
所述指挥控制中心用于接收所述黑飞无人机的飞行信息，并根据所述黑飞无人机的飞行信息向反制无人机发出跟踪飞行所述黑飞无人机的第一控制指令，并结合所述反制无人机的实时飞行位置信息和所述黑飞无人机的实时飞行位置信息之间的距离差值向所述反制无人机发出向所述黑飞无人机发射近炸弹药的第二控制指令。
可选地，所述机体上还设有探测装置和飞行控制装置，所述探测装置用于探测黑飞无人机的实时飞行位置信息，所述飞行控制装置用于调整所述机体的飞行速度和飞行姿态。
可选地，所述近炸弹药包括金属弹体、近炸引信、中心爆管、固体火箭发动机；所述固体火箭发动机用于在发射时为所述金属弹体提供推力；所述近炸引信位于所述金属弹体的前端，用于感测接近目标的位置；所述中心爆管位于所述金属弹体的内部且与所述近炸引信连接，所述中心爆管内设有爆炸物；所述近炸引信用于感测所述金属弹体和目标之间的距离差值并在距离差值达到设定值时引爆所述中心爆管以使所述金属弹体爆炸生产多个金属碎片。
本申请技术方案，具有如下优点：
1.本申请提供的无人机的反制方法，根据空域中黑飞无人机的飞行信息，向反制无人机发送第一控制指令，反制无人机根据第一控制指令跟踪飞行黑飞无人机，当反制无人机的实时飞行位置信息和黑飞无人机的实时飞行位置信息之间的距离差值达到指定攻击范围时，向反制无人机发出第二控制指令，反制无人机受第二控制指令控制向黑飞无人机发射其携带的近炸弹药，近炸弹药爆炸后产生的大量碎片高速飞行，在撞到黑飞无人机的机体后，会损坏黑飞无人机，如果损坏到黑飞无人机的关键部位，比如电池、电机、飞控模块等，就会 彻底摧毁黑飞无人机；即使不能彻底摧毁，也会大幅降低黑飞无人机的性能。并且如果黑飞无人机是集群的情况，可以同时击落多架黑飞无人机。这种无人机的反制方法，机动性好，可以直接攻击、彻底摧毁黑飞无人机，对组队而来的黑飞无人机也有良好的打击效果。
2.本申请提供的无人机的反制方法，根据黑飞无人机的飞行信息，获取黑飞无人机当前的空间位置坐标、黑飞无人机的飞行速度，并预测黑飞无人机在T1时间段内的飞行轨迹；然后根据反制无人机机群中各架反制无人机的空间位置坐标和各架反制无人机的最大飞行速度，分别计算反制无人机机群中各架反制无人机在T1时间段内所能飞行达到的飞行空间范围；判断黑飞无人机在T1时间段内的飞行轨迹是否穿过任意一架反制无人机的在T1时间段内所能飞行达到的飞行空间范围；若判断结果为是，则选定该飞行空间范围对应的反制无人机作为用于攻击的反制无人机，并向选定的反制无人机发出跟踪飞行所述黑飞无人机的第一控制指令。这种反制方法，可以控制处于最有利的攻击位置的反制无人机对黑飞无人机进行攻击，提高对黑飞无人机进行反制攻击的执行速度。
3.本申请提供的无人机的反制方法，在向反制无人机发出向发射近炸弹药的第二控制指令之前，根据黑飞无人机的飞行姿态调整反制无人机的飞行姿态，直至反制无人机上近炸弹药的发射方向瞄准黑飞无人机，可以提高反制无人机攻击黑飞无人机的精准度。
4.本申请提供的无人机的反制系统，指挥控制中心接收到黑飞无人机的飞行信息后，快速进行处理，然后对处于有利攻击位置的反制无人机发出第一控制指令，反制无人机根据第一控制指令飞行，在接近黑飞无人机的时候，进行瞄准、发射近炸弹药等操作。近炸弹药爆炸后产生的大量碎片高速飞行，在撞到黑飞无人机的机体后，会损坏黑飞无人机。这种无人机的反制系统，机动性好，可以直接攻击、彻底摧毁黑飞无人机。对组队而来的黑飞无人机也有良好的打击效果。
5.本申请提供的无人机的反制系统，近炸弹药由金属弹体、近炸引信、中心爆管、固体火箭发动机组成。固体火箭发动机用于在发射时产生推力高速推进近炸弹药飞行；近炸引信的作用是在近炸弹药接近黑飞无人机时引爆中心爆管，中心爆管中放置TNT炸药，引爆后会炸裂金属弹体，金属弹体会产生金属碎片(大于100个)，金属碎片高速飞行，在撞到黑飞无人机的机体后，会损坏黑飞无人机，如果损坏到黑飞无人机的关键部位，比如电池、电机、飞控模块等，就会彻底摧毁黑飞无人机；即使不能彻底摧毁，也会大幅降低黑飞无人机的性能。并且如果黑飞无人机是集群的情况，大量金属碎片可以同时击落多架黑飞无人机，对组队而来的黑飞无人机也有良好的打击效果。
附图说明
为了更清楚地说明本申请具体实施方式或现有技术中的技术方案，下面将对具体实施方式或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图是本申请的一些实施方式，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本申请实施例一中无人机的反制方法的实现流程图；
图2为本申请实施例二中近炸弹药的结构示意图；
附图标记说明：1、金属弹体；2、固体火箭发动机；3、近炸引信；4、中心爆管。
具体实施方式
下面将结合附图对本申请的技术方案进行清楚、完整地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
在本申请的描述中，需要说明的是，术语“中心”、“上”、“下”、“左”、“右”、“竖直”、“水平”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。此外，术语“第一”、“第二”、“第三”仅用于描述目的，而不能理解为指示或暗示相对重要性。
在本申请的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本申请中的具体含义。
实施例一
如图1所示的一种无人机的反制方法，具体为一种采用携带近炸弹药的反制无人机对黑飞无人机进行直接攻击、彻底摧毁的反制方法，方法包括以下步骤：
步骤S1，根据空域中黑飞无人机的飞行信息，向反制无人机发出跟踪飞行所述黑飞无人机的第一控制指令。
其中，黑飞无人机指的是未经许可在特定空域中飞行的无人机。采用雷达等无线电侦测设备或光电侦测设备侦查空域中的黑飞无人机，当黑飞无人机飞进未经许可的空域时，获取空域中黑飞无人机的飞行信息并发送到指挥控制中心，指挥控制中心的信号接收模块接收到黑飞无人机的飞行信息后发送到指挥控制中心的控制模块进行处理，控制模块快速处理后通过信号发射模块向反制无人机发出跟踪飞行黑飞无人机的第一控制指令。
步骤S2，结合所述反制无人机的实时飞行位置信息和所述黑飞无人机的实时飞行位置信息，控制所述反制无人机对所述黑飞无人机进行跟踪飞行。
在本实施例中，反制无人机上设置有探测装置，探测装置用于探测黑飞无 人机的位置，反制无人机根据热点跟踪飞行等方法追踪黑飞无人机，无人机跟踪目标进行飞行的方法是现有技术，此处易于赘述。
步骤S3，判断所述反制无人机的实时飞行位置信息和所述黑飞无人机的实时飞行位置信息之间的距离差值是否大于预设的指定攻击范围，若判断结果为否，向所述反制无人机发出向所述黑飞无人机发射近炸弹药的第二控制指令。
其中，近炸弹药包括金属弹体、近炸引信、中心爆管、固体火箭发动机。近炸引信位于金属弹体的前端，用于感测接近目标的位置；中心爆管位于金属弹体的内部且与近炸引信连接，中心爆管内设有TNT炸药；近炸引信用于感测金属弹体和目标之间的距离差值并在距离差值达到设定值(例如2米，设定值也可以根据需要调整)时引爆中心爆管以使金属弹体爆炸生产大量金属碎片(大于100个)。固体火箭发动机用于在发射时产生推力高速推进近炸弹药飞行，近炸弹药快速接近黑飞无人机。近炸弹药飞行的速度要达到200米/秒以上，这样如果距离20米发起攻击，用时0.1秒，黑飞无人机按照10米/秒速度飞行，也就是1米的距离，在近炸弹药的毁伤范围之内，可以保证打击效果。另外，反制无人机上可以同时携带多枚近炸弹药。
这种无人机的反制方法，根据空域中黑飞无人机的飞行信息，向反制无人机发送第一控制指令，反制无人机根据第一控制指令跟踪飞行黑飞无人机，当反制无人机的实时飞行位置信息和黑飞无人机的实时飞行位置信息之间的距离差值达到指定攻击范围时，向反制无人机发出第二控制指令，反制无人机受第二控制指令控制向黑飞无人机发射其携带的近炸弹药，近炸弹药爆炸后产生的大量碎片高速飞行，在撞到黑飞无人机的机体后，会损坏黑飞无人机，如果损坏到黑飞无人机的关键部位，比如电池、电机、飞控模块等，就会彻底摧毁黑飞无人机；即使不能彻底摧毁，也会大幅降低黑飞无人机的性能。并且如果黑飞无人机是集群的情况，可以同时击落多架黑飞无人机。这种无人机的反制方法，机动性好，可以直接攻击、彻底摧毁黑飞无人机，对组队而来的黑飞无人机也有良好的打击效果。
在步骤S1中，根据所述黑飞无人机的飞行信息，向反制无人机发出跟踪飞行所述黑飞无人机的第一控制指令的步骤具体包括：
步骤S11，根据所述黑飞无人机的飞行信息，获取黑飞无人机当前的空间位置坐标、黑飞无人机的飞行速度；
步骤S12，根据所述黑飞无人机当前的空间位置坐标、黑飞无人机的飞行速度，预测黑飞无人机在T1时间段内的飞行轨迹。例如T1时间段为5s，黑飞无人机在5s内的飞行轨迹为黑飞无人机经过所有空间点的集合。
步骤S13，根据反制无人机机群中各架反制无人机的空间位置坐标和各架反制无人机的最大飞行速度，分别计算反制无人机机群中各架反制无人机在T1时间段内所能飞行达到的飞行空间范围。
具体的，反制无人机机群中各架反制无人机呈网格状布局在定点位置处。
步骤S14，判断所述黑飞无人机在T1时间段内的飞行轨迹是否穿过任意一架反制无人机的在T1时间段内所能飞行达到的飞行空间范围。
步骤S15，若判断结果为是，则选定该飞行空间范围对应的反制无人机作为用于攻击的反制无人机，并向选定的反制无人机发出跟踪飞行所述黑飞无人机的第一控制指令。
步骤S16，若判断结果为否，则继续预测黑飞无人机在T1+T2时间段内的飞行轨迹。例如T2时间段为2s。
步骤S17，重复上述步骤S14-步骤S16，直至向最终选定的反制无人机发出跟踪飞行所述黑飞无人机的第一控制指令。
这种无人机的反制方法，可以控制处于最有利的攻击位置的反制无人机对黑飞无人机进行攻击，提高对黑飞无人机进行反制攻击的执行速度。
在步骤S2中，结合所述反制无人机的实时飞行位置信息和所述黑飞无人机的实时飞行位置信息，控制所述反制无人机对所述黑飞无人机进行跟踪飞行的步骤具体包括：
S21，获取反制无人机的实时飞行位置信息和黑飞无人机的实时飞行位置信 息。其中，获取所述黑飞无人机的实时飞行位置信息的探测装置位于所述反制无人机上。
S22，根据黑飞无人机的实时位置，规划反制无人机的飞行轨迹。
S23，控制反制无人机沿规划的所述反制无人机的飞行轨迹对所述黑飞无人机进行跟踪飞行。
在步骤S3中，在向所述反制无人机发出向所述黑飞无人机发射近炸弹药的第二控制指令的步骤之前还包括：根据黑飞无人机的飞行姿态调整反制无人机的飞行姿态，直至反制无人机上近炸弹药的发射方向瞄准黑飞无人机，以保证黑飞无人机在反制无人机发射的近炸弹药的毁伤范围之内。
实施例二
本申请实施例二提供一种无人机反制系统，采用携带近炸弹药的反制无人机对黑飞无人机进行直接攻击、彻底摧毁。无人机反制系统包括反制无人机、无人机探测系统和指挥控制中心；其中，反制无人机包括机体、安装在机体上的发射装置、以及设置在机体上的发射控制装置；发射装置上安装有近炸弹药，发射控制装置用于控制发射装置发射近炸弹药。无人机探测系统用于探测空域中黑飞无人机的飞行信息，并将黑飞无人机的飞行信息上传至指挥控制中心。指挥控制中心用于接收黑飞无人机的飞行信息，并根据黑飞无人机的飞行信息向反制无人机发出跟踪飞行黑飞无人机的第一控制指令，并结合反制无人机的实时飞行位置信息和黑飞无人机的实时飞行位置信息之间的距离差值向反制无人机发出向黑飞无人机发射近炸弹药的第二控制指令。
这种无人机的反制系统，指挥控制中心接收到黑飞无人机的飞行信息后，快速进行处理，然后对处于有利攻击位置的反制无人机发出第一控制指令，反制无人机根据第一控制指令飞行，在接近黑飞无人机的时候，进行瞄准、发射近炸弹药等操作。近炸弹药爆炸后产生的大量碎片高速飞行，在撞到黑飞无人机的机体后，会损坏黑飞无人机。这种无人机的反制系统，机动性好，可以直接攻击、彻底摧毁黑飞无人机。对组队而来的黑飞无人机也有良好的打击效果。
在本实施例中，机体上还设有探测装置和飞行控制装置，探测装置用于探测黑飞无人机的实时飞行位置信息，飞行控制装置用于调整机体的飞行速度和飞行姿态。
在本实施例中，近炸弹药包括金属弹体1、近炸引信3、中心爆管4、固体火箭发动机2。近炸引信3位于金属弹体1的前端，用于感测接近目标的位置；中心爆管4位于金属弹体1的内部且与近炸引信3连接，中心爆管4内设有TNT炸药；近炸引信3用于感测金属弹体1和目标之间的距离差值并在距离差值达到设定值(例如2米，设定值也可以根据需要调整)时引爆中心爆管4以使金属弹体1爆炸生产大量金属碎片(大于100个)。固体火箭发动机2用于在发射时产生推力高速推进近炸弹药飞行，近炸弹药快速接近黑飞无人机。近炸弹药飞行的速度要达到200米/秒以上，这样如果距离20米发起攻击，用时0.1秒，黑飞无人机按照10米/秒速度飞行，也就是1米的距离，在近炸弹药的毁伤范围之内，可以保证打击效果。另外，反制无人机上可以同时携带多枚近炸弹药。
综上所述，本申请实施例提供的无人机的反制方法及无人机的反制系统，利用携带近炸弹药的反制无人机对黑飞无人机进行直接攻击，具有机动性好，可以彻底摧毁黑飞无人机的优点；另外，对组队而来的黑飞无人机也有良好的打击效果。
显然，上述实施例仅仅是为清楚地说明所作的举例，而并非对实施方式的限定。对于所属领域的普通技术人员来说，在上述说明的基础上还可以做出其它不同形式的变化或变动。这里无需也无法对所有的实施方式予以穷举。而由此所引伸出的显而易见的变化或变动仍处于本发明创造的保护范围之中。

Claims (9)

  1. 一种无人机的反制方法，其特征在于，包括：
    S1，根据空域中黑飞无人机的飞行信息，向反制无人机发出跟踪飞行所述黑飞无人机的第一控制指令；
    S2，结合所述反制无人机的实时飞行位置信息和所述黑飞无人机的实时飞行位置信息，控制所述反制无人机对所述黑飞无人机进行跟踪飞行；
    S3，判断所述反制无人机的实时飞行位置信息和所述黑飞无人机的实时飞行位置信息之间的距离差值是否大于预设的指定攻击范围，若判断结果为否，向所述反制无人机发出向所述黑飞无人机发射近炸弹药的第二控制指令。
  2. 根据权利要求1所述的无人机的反制方法，其特征在于，所述根据所述黑飞无人机的飞行信息，向反制无人机发出跟踪飞行所述黑飞无人机的第一控制指令，包括：
    S11，根据所述黑飞无人机的飞行信息，获取黑飞无人机当前的空间位置坐标、黑飞无人机的飞行速度；
    S12，根据所述黑飞无人机当前的空间位置坐标、黑飞无人机的飞行速度，预测黑飞无人机在T1时间段内的飞行轨迹；
    S13，根据反制无人机机群中各架反制无人机的空间位置坐标和各架反制无人机的最大飞行速度，分别计算反制无人机机群中各架反制无人机在T1时间段内所能飞行达到的飞行空间范围；
    S14，判断所述黑飞无人机在T1时间段内的飞行轨迹是否穿过任意一架反制无人机的在T1时间段内所能飞行达到的飞行空间范围；
    S15，若判断结果为是，则选定该飞行空间范围对应的反制无人机作为用于攻击的反制无人机，并向选定的反制无人机发出跟踪飞行所述黑飞无人机的第一控制指令；
    S16，若判断结果为否，则继续预测黑飞无人机在T1+T2时间段内的飞行轨 迹；
    S17，重复上述步骤S14-S16，直至向最终选定的反制无人机发出跟踪飞行所述黑飞无人机的第一控制指令。
  3. 根据权利要求2所述的无人机的反制方法，其特征在于，所述反制无人机机群中各架反制无人机呈网格状布局在定点位置处。
  4. 根据权利要求1所述的无人机的反制方法，其特征在于，所述结合所述反制无人机的实时飞行位置信息和所述黑飞无人机的实时飞行位置信息，控制所述反制无人机对所述黑飞无人机进行跟踪飞行，包括：
    S21，获取反制无人机的实时飞行位置信息和黑飞无人机的实时飞行位置信息；
    S22，根据黑飞无人机的实时位置，规划反制无人机的飞行轨迹；
    S23，控制反制无人机沿规划的所述反制无人机的飞行轨迹对所述黑飞无人机进行跟踪飞行。
  5. 根据权利要求4所述的无人机的反制方法，其特征在于，在所述获取反制无人机的实时飞行位置信息和黑飞无人机的实时飞行位置信息的步骤中，获取所述黑飞无人机的实时飞行位置信息的探测装置位于所述反制无人机上。
  6. 根据权利要求1所述的无人机的反制方法，其特征在于，所述向所述反制无人机发出向所述黑飞无人机发射近炸弹药的第二控制指令之前，还包括：根据黑飞无人机的飞行姿态调整所述反制无人机的飞行姿态，直至反制无人机上近炸弹药的发射方向瞄准黑飞无人机。
  7. 一种无人机的反制系统，其特征在于，包括：反制无人机、无人机探测系统和指挥控制中心；其中，
    所述反制无人机包括机体、安装在所述机体上的发射装置、以及设置在所述机体上的发射控制装置；所述发射装置上安装有近炸弹药，所述发射控制装置用于控制所述发射装置发射所述近炸弹药；
    所述无人机探测系统用于探测空域中黑飞无人机的飞行信息，并将所述黑 飞无人机的飞行信息上传至所述指挥控制中心；
    所述指挥控制中心用于接收所述黑飞无人机的飞行信息，并根据所述黑飞无人机的飞行信息向反制无人机发出跟踪飞行所述黑飞无人机的第一控制指令，并结合所述反制无人机的实时飞行位置信息和所述黑飞无人机的实时飞行位置信息之间的距离差值向所述反制无人机发出向所述黑飞无人机发射近炸弹药的第二控制指令。
  8. 根据权利要求7所述的无人机的反制系统，其特征在于，所述机体上还设有探测装置和飞行控制装置，所述探测装置用于探测黑飞无人机的实时飞行位置信息，所述飞行控制装置用于调整所述机体的飞行速度和飞行姿态。
  9. 根据权利要求7所述的无人机的反制系统，其特征在于，所述近炸弹药包括金属弹体、近炸引信、中心爆管、固体火箭发动机；所述固体火箭发动机用于在发射时为所述金属弹体提供推力；所述近炸引信位于所述金属弹体的前端，用于感测接近目标的位置；所述中心爆管位于所述金属弹体的内部且与所述近炸引信连接，所述中心爆管内设有爆炸物；所述近炸引信用于感测所述金属弹体和目标之间的距离差值并在距离差值达到设定值时引爆所述中心爆管以使所述金属弹体爆炸生产多个金属碎片。
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