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CN-121977391-A - Unmanned aerial vehicle reaction interaction control method, control equipment and unmanned aerial vehicle reaction system

CN121977391ACN 121977391 ACN121977391 ACN 121977391ACN-121977391-A

Abstract

The application relates to the technical field of unmanned aerial vehicle countering, in particular to an unmanned aerial vehicle countering interaction control method, control equipment, an unmanned aerial vehicle countering system and a computer readable storage medium. According to the method, a graphic technology is combined with multi-source data of the unmanned aerial vehicle through a digital twin interaction visualization scheme based on scene driving, different display modes are set according to the danger levels of different unmanned aerial vehicles in the area to be detected, different rendering effects are presented, so that operators can see different data presentations under different danger levels, and information redundancy is reduced. Meanwhile, when the unmanned aerial vehicle is in countering, a prediction intersection point is automatically generated according to the target unmanned aerial vehicle flight data and a countering path of unmanned aerial vehicle countering equipment, and the visual warning is realized by performing outstanding rendering on the prediction intersection point.

Inventors

  • LUO ZHENYU
  • GUO HE
  • WANG PENG

Assignees

  • 深圳市塞防科技有限公司

Dates

Publication Date
20260505
Application Date
20251231

Claims (13)

  1. 1. The unmanned aerial vehicle reaction interaction control method is characterized by comprising the following steps of: Acquiring flight data of a target unmanned aerial vehicle in a region to be detected; Determining a risk level of the target unmanned aerial vehicle according to the flight data; adjusting the rendering effect of the target unmanned aerial vehicle according to the danger level; If the risk level is greater than a preset risk threshold, the target unmanned aerial vehicle is countered by unmanned aerial vehicle countering equipment; Predicting a junction of the countering path and the target unmanned aerial vehicle according to the flight data of the target unmanned aerial vehicle and the countering path of the unmanned aerial vehicle countering equipment to generate a predicted junction; rendering the prediction intersection point; acquiring a countering effect of the unmanned aerial vehicle countering equipment on the target unmanned aerial vehicle; and adjusting the rendering effect of the prediction intersection point according to the counteraction effect.
  2. 2. The method of claim 1, wherein said adjusting the rendering effect of the target drone according to the hazard level comprises: mapping the dangerous level to the front-end color attribute of the target unmanned aerial vehicle in real time through programming of a shader; and adjusting the rendering effect of the target unmanned aerial vehicle according to the front-end color attribute.
  3. 3. The method of claim 2, wherein the adjusting the rendering effect of the target drone according to the risk level further comprises: the LOD grade of the target unmanned aerial vehicle is adjusted according to the dangerous grade through a UI logic script; And adjusting the rendering effect of the target unmanned aerial vehicle according to the LOD grade.
  4. 4. The method of claim 1, wherein the countering the target drone by a drone countering device, further comprises: Executing camera animation on the target unmanned aerial vehicle, and switching the visual angle to the aiming visual angle of the unmanned aerial vehicle countering equipment; Or alternatively, the first and second heat exchangers may be, And executing camera animation on the target unmanned aerial vehicle, and switching the view angle to a chasing view angle for chasing the target unmanned aerial vehicle.
  5. 5. The method of claim 4, wherein said performing camera animation on said target drone comprises: Determining a target position and a target rotation angle of a camera according to the risk level of the target unmanned aerial vehicle and flight data of the target unmanned aerial vehicle; Performing position interpolation calculation on the target position according to a preset smooth damping algorithm to determine a middle position; Calculating an angle difference value of the target rotation angle according to a preset spherical interpolation algorithm, and determining the rotation angle; And generating the camera animation according to the intermediate position and the rotation angle.
  6. 6. The method of claim 1, wherein predicting a junction of the countering path and the target drone based on the flight data of the target drone and the countering path of the drone countering device, generating a predicted junction, comprises: Acquiring type information of the unmanned aerial vehicle countering equipment; if the type of the unmanned aerial vehicle countering equipment is energy beam countering equipment, determining the current position of the target unmanned aerial vehicle according to the flight data of the target unmanned aerial vehicle; Calculating the emitting direction of the energy beam according to the aiming direction and the target position of the energy beam countering device; And determining a prediction intersection point according to the current position of the target unmanned aerial vehicle and the emission direction of the energy beam.
  7. 7. The method of claim 1, wherein predicting a junction of the countering path and the target drone based on the flight data of the target drone and the countering path of the drone countering device, generating a predicted junction, comprises: Acquiring type information of the unmanned aerial vehicle countering equipment; If the type of the unmanned aerial vehicle countering equipment is projectile countering equipment, determining the current position of the target unmanned aerial vehicle and the speed of the target unmanned aerial vehicle according to the flight data of the target unmanned aerial vehicle; calculating the flight track of the projectile according to the launching angle, the launching speed and the target position of the projectile countering equipment; according to the current position of the target unmanned aerial vehicle, the speed of the target unmanned aerial vehicle and the flight track of the projectile, calculating the position of the projectile at a preset time point and the position of the target unmanned aerial vehicle at the preset time point through a preset iteration method; Calculating the distance between the projectile and the target unmanned aerial vehicle according to the position of the projectile at a preset time point and the position of the target unmanned aerial vehicle at the preset time point, and determining the position of the target unmanned aerial vehicle at the preset time point as a prediction intersection point if the distance is smaller than a preset threshold value.
  8. 8. The method of claim 1, wherein predicting a junction of the countering path and the target drone based on the flight data of the target drone and the countering path of the drone countering device, generating a predicted junction, comprises: Acquiring type information of the unmanned aerial vehicle countering equipment; If the type of the unmanned aerial vehicle countering equipment is signal interference equipment, generating a three-dimensional geometric body according to the effective interference radius of the signal interference equipment; Determining the current position of the target unmanned aerial vehicle according to the unmanned aerial vehicle flight data; And if the current position of the target unmanned aerial vehicle enters the three-dimensional geometric body, determining the current position of the target unmanned aerial vehicle as a prediction intersection point.
  9. 9. The method of claim 6, 7 or 8, wherein said rendering the predicted junction comprises: determining predicted hit time and predicted hit probability according to the type information of the unmanned aerial vehicle countering equipment and the predicted intersection point; And displaying the predicted hit time and the predicted hit probability on the predicted intersection point.
  10. 10. The method of claim 1, wherein the flight data of the target drone includes radar data, radio frequency data, and/or photoelectric data; the method further comprises: preprocessing the radar data, the radio frequency data and/or the photoelectric data; performing fusion processing on the preprocessed radar data, radio frequency data and/or photoelectric data according to a preset data fusion algorithm to generate target state estimation of the target unmanned aerial vehicle; generating a three-dimensional target model of the target unmanned aerial vehicle according to the target state estimation of the target unmanned aerial vehicle; rendering the three-dimensional object model in a three-dimensional scene.
  11. 11. The method according to claim 10, wherein the method further comprises: acquiring a historical track of the target unmanned aerial vehicle according to the radar data, the radio frequency data and/or the photoelectric data; displaying a historical track of the target unmanned aerial vehicle in a three-dimensional scene by using a static three-dimensional track line; Predicting the track of the target unmanned aerial vehicle according to the radar data, the radio frequency data and/or the photoelectric data to generate a future track; And displaying the future track in the three-dimensional scene according to the far and near color gradient dotted lines.
  12. 12. The unmanned aerial vehicle countering control device is characterized by comprising a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface are communicated with each other through the communication bus; The memory is configured to store at least one program that causes the processor to execute the unmanned aerial vehicle reaction interaction control method according to any one of claims 1 to 11.
  13. 13. The unmanned aerial vehicle countering system is characterized by comprising a detection and identification device, the unmanned aerial vehicle countering control device and the unmanned aerial vehicle countering device according to claim 12; The detection and identification equipment is used for detecting and identifying the target unmanned aerial vehicle in the area to be detected, generating flight data of the target unmanned aerial vehicle, and sending the flight data of the target unmanned aerial vehicle to the unmanned aerial vehicle countering control equipment; the unmanned aerial vehicle reaction control equipment is used for controlling the unmanned aerial vehicle reaction equipment to react unmanned aerial vehicle in the area of waiting to detect.

Description

Unmanned aerial vehicle reaction interaction control method, control equipment and unmanned aerial vehicle reaction system Technical Field The embodiment of the application relates to the technical field of unmanned aerial vehicle countering, in particular to an unmanned aerial vehicle countering interaction control method, control equipment, an unmanned aerial vehicle countering system and a computer readable storage medium. Background The unmanned aerial vehicle countering system is a comprehensive defense system specially designed for detecting, identifying, tracking and interfering or physically intercepting unmanned aerial vehicles, and is an important technical means for coping with increasing unmanned aerial vehicle threats. Important components in the man-machine interaction type unmanned aerial vehicle control system, and operators can judge and execute unmanned aerial vehicle control operation more conveniently and intuitively through the man-machine interaction system The inventor discovers in the research that human-computer interaction design in the existing unmanned aerial vehicle countering system requires operators to frequently switch the sight among a plurality of separated windows, and relies on the operators to integrate information and deduce situation, so that information overload and misoperation are easily caused under a multi-target and high-dynamic scene. Disclosure of Invention In view of the above problems, embodiments of the present application provide an unmanned aerial vehicle reaction interaction control method, control apparatus, unmanned aerial vehicle reaction system, and computer-readable storage medium, which are used to solve the above technical problems in the prior art. According to an aspect of an embodiment of the present application, there is provided an unmanned aerial vehicle reaction interaction control method, including: Acquiring flight data of a target unmanned aerial vehicle in a region to be detected; Determining a risk level of the target unmanned aerial vehicle according to the flight data; adjusting the rendering effect of the target unmanned aerial vehicle according to the danger level; If the risk level is greater than a preset risk threshold, the target unmanned aerial vehicle is countered by unmanned aerial vehicle countering equipment; Predicting a junction of the countering path and the target unmanned aerial vehicle according to the flight data of the target unmanned aerial vehicle and the countering path of the unmanned aerial vehicle countering equipment to generate a predicted junction; rendering the prediction intersection point; acquiring a countering effect of the unmanned aerial vehicle countering equipment on the target unmanned aerial vehicle; and adjusting the rendering effect of the prediction intersection point according to the counteraction effect. Preferably, in some embodiments, the adjusting the rendering effect of the target unmanned aerial vehicle according to the risk level includes: mapping the dangerous level to the front-end color attribute of the target unmanned aerial vehicle in real time through programming of a shader; and adjusting the rendering effect of the target unmanned aerial vehicle according to the front-end color attribute. Preferably, in some embodiments, the adjusting the rendering effect of the target unmanned aerial vehicle according to the risk level further includes: the LOD grade of the target unmanned aerial vehicle is adjusted according to the dangerous grade through a UI logic script; And adjusting the rendering effect of the target unmanned aerial vehicle according to the LOD grade. Preferably, in some embodiments, the countering, by the drone countering device, the target drone further includes: Executing camera animation on the target unmanned aerial vehicle, and switching the visual angle to the aiming visual angle of the unmanned aerial vehicle countering equipment; Or alternatively, the first and second heat exchangers may be, And executing camera animation on the target unmanned aerial vehicle, and switching the view angle to a chasing view angle for chasing the target unmanned aerial vehicle. Preferably, in some embodiments, the performing camera animation on the target unmanned aerial vehicle includes: Determining a target position and a target rotation angle of a camera according to the risk level of the target unmanned aerial vehicle and flight data of the target unmanned aerial vehicle; Performing position interpolation calculation on the target position according to a preset smooth damping algorithm to determine a middle position; Calculating an angle difference value of the target rotation angle according to a preset spherical interpolation algorithm, and determining the rotation angle; And generating the camera animation according to the intermediate position and the rotation angle. Preferably, in some embodiments, the predicting, according to the flight data of the target unmanned aeria