CN-121995404-A - Navigation and spoofing method and system for unmanned aerial vehicle with black flight for unmanned aerial vehicle countering

CN121995404ACN 121995404 ACN121995404 ACN 121995404ACN-121995404-A

Abstract

The invention relates to the technical field of navigation decoy, in particular to a black-flying unmanned aerial vehicle navigation decoy method and system for unmanned aerial vehicle countering. The method comprises the steps of obtaining positions of a black unmanned aerial vehicle and visible satellites, constructing a signal taking the black unmanned aerial vehicle as an origin to a coordinate system, screening initial center satellites according to angle distribution density and outlier conditions among the visible satellites in the coordinate system, predicting future expected positions based on preset decoy tracks of the black unmanned aerial vehicle, obtaining comprehensive membership according to angle change conditions of the visible satellites relative to the initial center satellites in the future expected positions and angle distances of the visible satellites in the coordinate system, obtaining final center satellites of a satellite cluster according to the initial center satellites and the comprehensive membership, further obtaining decoy emission coordinates, and decoy navigation of the black unmanned aerial vehicle. According to the invention, the accuracy of navigation decoy of the black flying unmanned aerial vehicle is effectively improved by accurately acquiring the decoy emission coordinates.

Inventors

ZHANG QINGQUAN
LI MINGFU
ZHAO GUOQIANG

Assignees

华戎技术有限公司

Dates

Publication Date: 20260508
Application Date: 20260202

Claims (10)

1. The black-flying unmanned aerial vehicle navigation decoy method for unmanned aerial vehicle countering is characterized by comprising the following steps: The method comprises the steps of obtaining the position of a black unmanned aerial vehicle and the position of each visible satellite in an airspace, and constructing a signal with the black unmanned aerial vehicle as an origin to a coordinate system, wherein the signal to the coordinate system consists of a pitch angle and an azimuth angle of the visible satellite relative to the black unmanned aerial vehicle; screening out initial center satellites corresponding to the initial centers of the satellite clusters in the signal direction coordinate system according to the angular distribution density among the visible satellites and the outlier condition of the visible satellites; Predicting a future expected position based on a preset decoy track of the black flying unmanned aerial vehicle, and acquiring the comprehensive membership of each visible satellite to each initial center satellite according to the angle change condition of each visible satellite relative to each initial center satellite at the future expected position and the angle distance of the signal under a coordinate system; Based on the position of the final central satellite, a decoy emission coordinate is obtained, and the navigation of the black unmanned aerial vehicle is decoy.
2. The method for unmanned black-flying unmanned aerial vehicle navigation decoy according to claim 1, wherein the method for acquiring the signal to the coordinate system is as follows: For any moment, taking the position of the black flying unmanned aerial vehicle at the moment as an origin, and establishing a northeast-north day coordinate system taking the northeast direction, the northeast direction and the heaven direction as axes; Calculating the pitch angle and the azimuth angle of each visible satellite in the northeast day coordinate system at the moment; And constructing a two-dimensional coordinate system by taking the pitch angle as a horizontal axis and the azimuth angle as a vertical axis, mapping the values obtained by respectively normalizing the pitch angle and the azimuth angle of each visible satellite in the two-dimensional coordinate system, and obtaining signals to the coordinate system.
3. The black-flying unmanned aerial vehicle navigation decoy method for unmanned aerial vehicle reaction according to claim 1, wherein the initial center satellite acquisition method is as follows: For any visible satellite, according to the signals, the difference of the pitch angle and the azimuth angle between the visible satellite and each other visible satellite in the coordinate system is obtained, and the degree of the signal directional deviation between the visible satellite and each other visible satellite is obtained; the minimum signal is used as a reference signal of the visible satellite to the degree of deviation; based on the reference signals of all visible satellites, obtaining a deviation segmentation threshold value through a maximum inter-class variance method; Based on the deviation segmentation threshold value and the signal orientation deviation degree, obtaining the neighborhood density and the neighborhood orientation consistency degree of the visible satellite; Acquiring an outlier weight of each visible satellite based on the neighborhood density and the deviation segmentation threshold of each visible satellite; obtaining the comprehensive score of each visible satellite through a Topsis algorithm according to the neighborhood density and the neighborhood of each visible satellite; Taking the product of the outlier weight and the comprehensive score of each visible satellite as the center selection degree of each visible satellite; Arranging the central selection degrees in a sequence from big to small to obtain a selection degree sequence; and taking the visible satellites corresponding to the central selection degree of the preset number in the selection degree sequence as initial central satellites, wherein the preset number is the number of the decoy unmanned aerial vehicles.
4. A black-flying unmanned aerial vehicle navigation spoofing method for unmanned aerial vehicle reaction according to claim 3, wherein the signal steering bias degree has a calculation formula: ; ; In the formula (I), in the formula (II), A degree of bias is directed for signals between the a-th visible satellite and the b-th visible satellite; Pitch angle for the a-th and b-th satellites A difference value; Azimuth angles for the a-th and b-th satellites A difference value; Pitch angle for the a-th visible satellite Normalized values; pitch angle for the b-th visible satellite Normalized values; as a function of absolute value; Azimuth for the a-th visible satellite Normalized values; Azimuth for the b-th visible satellite Normalized value, min is the minimum function.
5. A black-flying unmanned aerial vehicle navigation spoofing method for unmanned aerial vehicle reaction according to claim 3, wherein the neighborhood density and neighborhood direction consistency obtaining method is as follows: Determining a deviation reference neighborhood of the visible satellite by taking the visible satellite as a center and taking a deviation segmentation threshold value as a radius; taking the number of the neighborhood satellites as the neighborhood density of the visible satellites; When the neighborhood density is equal to 0, taking a first preset constant as the neighborhood of the visible satellite to achieve consistent degree; when the neighborhood density is not equal to 0, carrying out negative correlation on the signals of the visible satellite and the neighborhood satellite to obtain a mean value of the deviation degree, and taking the result as a consistent analysis value of the visible satellite; and adding the first preset constant and the alignment analysis value as the neighborhood of the visible satellite to align the alignment degree.
6. The method for unmanned aerial vehicle navigation spoofing for unmanned aerial vehicle reaction of claim 5, wherein the method for obtaining the outlier weight is: The average value of the neighborhood density of all the visible satellites is rounded upwards to be used as a reference neighborhood density demarcation value; For any visible satellite, when the neighborhood density of the visible satellite is greater than or equal to the reference neighborhood density demarcation value, taking a second preset constant as the outlier weight of the visible satellite; When the neighborhood density of the visible satellite is smaller than the reference neighborhood density demarcation value, judging whether the neighborhood density of the visible satellite is 0; if the neighborhood density of the visible satellite is 0, the reference signal of the visible satellite is used as a deviation analysis value corresponding to the visible satellite to the deviation degree; If the neighborhood density of the visible satellite is not 0, taking the average value of the signal orientation deviation degree between the visible satellite and each neighborhood satellite as the deviation analysis value corresponding to the visible satellite; the ratio of the deviation analysis value to the deviation segmentation threshold value is used as an outlier analysis value corresponding to the visible satellite, wherein the deviation segmentation threshold value is larger than 0; and taking the addition result of the second preset constant and the outlier analysis value as the outlier weight of the visible satellite.
7. The black-flying unmanned aerial vehicle navigation spoofing method for unmanned aerial vehicle reaction according to claim 1, wherein the future expected position acquisition method is: Taking the center of a preset unmanned aerial vehicle capturing area as a target deception position, and acquiring a preset deception track of the black unmanned aerial vehicle according to the position of the black unmanned aerial vehicle at the current time, the target deception position and the estimated target position and based on an unmanned aerial vehicle continuous induction technology of an arc track; and acquiring the position of the black unmanned aerial vehicle at the moment when each preset time period is finished on a preset decoy track through the flying speed of the black unmanned aerial vehicle at the current moment and the preset time period, and taking the position as the future expected position of the black unmanned aerial vehicle.
8. The method for unmanned aerial vehicle navigation decoy for black-flying unmanned aerial vehicle reaction according to claim 4, wherein the method for obtaining the comprehensive membership is as follows: For any future expected position, constructing a signal corresponding to the future expected position by taking the future expected position as an origin, and taking the signal as a reference coordinate system of the future expected position; For any visible satellite and any initial central satellite, acquiring the signal forward deviation degree between the visible satellite and the initial central satellite in the reference coordinate system of each future expected position, and taking the signal forward deviation degree as a reference deviation analysis value of the visible satellite and the initial central satellite; Taking the average value of all the reference deviation analysis values as a first decoy offset degree of the visible satellite relative to the initial center satellite; The signal at the current moment is used for indicating the signal directional deviation degree between the visible satellite and the initial center satellite in the coordinate system, and the signal directional deviation degree is used as a second decoy offset degree of the visible satellite relative to the initial center satellite; Taking the product of the first preset weight and the first decoy offset degree as a first analysis value, taking the product of the second preset weight and the second decoy offset degree as a second analysis value, and taking the addition result of the first analysis value and the second analysis value as the integral offset degree of the visible satellite relative to the initial center satellite; The overall offset degree of the visible satellite relative to any initial center satellite is used as the comparison offset degree; And taking the reciprocal of the accumulated result of the power of the ratio of the overall offset degree to each comparison offset degree as the comprehensive membership of the visible satellite to the initial central satellite.
9. A black-flying unmanned aerial vehicle navigation decoy method for unmanned aerial vehicle reaction according to claim 3, wherein the method for acquiring the decoy emission coordinates is as follows: acquiring a signal of each final central satellite at the current time to normalize a pitch angle and a normalized azimuth angle in a coordinate system; And performing inverse normalization processing on the normalized pitch angle and the normalized azimuth angle corresponding to each final central satellite to obtain the actual pitch angle and the actual azimuth angle of each final central satellite, and converting the actual pitch angle and the actual azimuth angle of each final central satellite into coordinate positions in a three-dimensional space by combining a preset decoy safety distance to serve as decoy emission coordinates of the decoy unmanned aerial vehicle.
10. A black-flying unmanned aerial vehicle navigation decoy system for unmanned aerial vehicle reaction, comprising a memory, a processor and a computer program stored in the memory and running on the processor, characterized in that the processor, when executing the computer program, implements the steps of the black-flying unmanned aerial vehicle navigation decoy method for unmanned aerial vehicle reaction as claimed in any one of the preceding claims 1-9.

Description

Navigation and spoofing method and system for unmanned aerial vehicle with black flight for unmanned aerial vehicle countering Technical Field The invention relates to the technical field of navigation decoy, in particular to a black-flying unmanned aerial vehicle navigation decoy method and system for unmanned aerial vehicle countering. Background With the rapid development and popularization of unmanned aerial vehicle technology, the low-altitude safety problem is increasingly prominent, and the black flying unmanned aerial vehicle invades a sensitive area, interferes with aviation order and even threatens public safety event frequently, so that a serious challenge is provided for the existing low-altitude security system. Countermeasures against black flying drones mainly include physical destruction (e.g., laser weapons, interception net), suppression of interference (e.g., communication band blocking), and navigation spoofing (decoy). The navigation spoofing technology is used for solving the false position or speed information by injecting false signals which are synchronous with real satellite signals and are logically self-consistent to a navigation system of the black unmanned aerial vehicle, so that the false signals deviate from a route, approach landing or controlled navigation, and compared with physical destruction and suppression interference, the navigation spoofing technology has the remarkable advantages of small collateral damage, strong concealment, high controllability and the like, and becomes a research hotspot in the current unmanned aerial vehicle defense field. It is known that black-flying drones are commonly equipped with array antennas, with beamforming and null filtering capabilities, able to distinguish between real and decoy signals by detecting the incoming distribution characteristics of the received signals. The existing unmanned aerial vehicle navigation decoy technology uses an aerial unmanned aerial vehicle as a decoy node, but lacks a dynamic cooperative algorithm for a black unmanned aerial vehicle, namely, the visual angle of the black unmanned aerial vehicle relative to a satellite continuously changes in the moving process, if the decoy unmanned aerial vehicle cannot adjust the station position in real time or select the optimal signal simulation angle, the decoy signal cannot realize continuous hidden decoy in the whole process, is easily identified by an array antenna, and cannot carry out navigation decoy on the black unmanned aerial vehicle. Disclosure of Invention In order to solve the technical problem that the existing unmanned aerial vehicle navigation decoy technology cannot accurately navigate and decoy a black-flying unmanned aerial vehicle, the invention aims to provide a black-flying unmanned aerial vehicle navigation decoy method and system for unmanned aerial vehicle countering, and the adopted technical scheme is as follows: In a first aspect, an embodiment of the present invention provides a black-flying unmanned aerial vehicle navigation spoofing method for unmanned aerial vehicle countering, the method comprising the steps of: The method comprises the steps of obtaining the position of a black unmanned aerial vehicle and the position of each visible satellite in an airspace, and constructing a signal with the black unmanned aerial vehicle as an origin to a coordinate system, wherein the signal to the coordinate system consists of a pitch angle and an azimuth angle of the visible satellite relative to the black unmanned aerial vehicle; screening out initial center satellites corresponding to the initial centers of the satellite clusters in the signal direction coordinate system according to the angular distribution density among the visible satellites and the outlier condition of the visible satellites; Predicting a future expected position based on a preset decoy track of the black flying unmanned aerial vehicle, and acquiring the comprehensive membership of each visible satellite to each initial center satellite according to the angle change condition of each visible satellite relative to each initial center satellite at the future expected position and the angle distance of the signal under a coordinate system; Based on the position of the final central satellite, a decoy emission coordinate is obtained, and the navigation of the black unmanned aerial vehicle is decoy. Further, the method for acquiring the signal to the coordinate system comprises the following steps: For any moment, taking the position of the black flying unmanned aerial vehicle at the moment as an origin, and establishing a northeast-north day coordinate system taking the northeast direction, the northeast direction and the heaven direction as axes; Calculating the pitch angle and the azimuth angle of each visible satellite in the northeast day coordinate system at the moment; And constructing a two-dimensional coordinate system by taking the pitch angle as a horizontal axis