CN-122015577-A - Cooperative countering control method and system for clustered unmanned aerial vehicle

Abstract

The invention provides a cooperative countering control method and a system for a cluster unmanned aerial vehicle, which relate to the technical field of countering of unmanned aerial vehicles, and are characterized in that dynamic interaction information of the cluster unmanned aerial vehicle and a countering device cluster in a target area is firstly perceived in real time, a dynamic interaction perception result containing various information is generated, layered cooperative decision processing is executed based on the dynamic interaction perception result, a layered cooperative decision result is generated, adaptive scheduling is carried out on countering device cluster resources according to the layered cooperative decision result, a scheduling scheme is generated, a dynamic countering instruction set is generated according to the scheduling scheme, the instruction set is sent to the countering device cluster, and the instruction set is closed-loop adjusted by combining the real-time countering effect and the perception result, so that the countering device cluster continuously and cooperatively countering the clustered unmanned aerial vehicle. The invention improves the reverse control efficiency and the success rate.

Inventors

• LIAO ZHONGJIE
• Ye Feiya
• XUE FENG

Assignees

• 中国船舶集团有限公司第七二四研究所

Dates

Publication Date

20260512

Application Date

20260127

Claims (10)

1. 1. A cooperative countering control method for a clustered unmanned aerial vehicle, the method comprising: The method comprises the steps of performing real-time sensing on dynamic interaction information between a cluster unmanned aerial vehicle and a countering device cluster in a target area to generate a dynamic interaction sensing result, wherein the dynamic interaction sensing result comprises real-time motion related information and signal interaction information of each unit of the cluster unmanned aerial vehicle, and real-time resource state information and action range information of each device of the countering device cluster; based on the dynamic interaction sensing result, executing hierarchical collaborative decision processing to generate a hierarchical collaborative decision result, wherein the hierarchical collaborative decision result comprises countering strategy directions aiming at different level units of the cluster unmanned aerial vehicle and collaborative cooperation rules of different devices of the countering device cluster; Performing self-adaptive scheduling processing on the resources of the countering equipment cluster according to the layered collaborative decision result, and generating a self-adaptive resource scheduling scheme, wherein the self-adaptive resource scheduling scheme comprises a cluster unmanned aerial vehicle unit corresponding to each equipment of the countering equipment cluster and a resource allocation mode of each equipment; Generating a dynamic countering instruction set according to the self-adaptive resource scheduling scheme, wherein the dynamic countering instruction set comprises real-time operation parameters and execution time sequence scheduling of each device of a countering device cluster; And sending the dynamic countering instruction set to a countering equipment cluster, receiving real-time countering effect information fed back by the countering equipment cluster, and carrying out closed-loop adjustment on the dynamic countering instruction set by combining the real-time countering effect information and a dynamic interactive perception result, so that the countering equipment cluster continuously executes cooperative countering operation on the clustered unmanned aerial vehicle.
2. 2. The method for controlling cooperative countering of a clustered unmanned aerial vehicle according to claim 1, wherein the step of sensing the dynamic interaction information between the clustered unmanned aerial vehicle and the countering device cluster in the target area in real time to generate a dynamic interaction sensing result comprises the steps of: deploying a multi-source sensing device group to cover and monitor a target area, wherein the multi-source sensing device group comprises radar sensing devices, optical sensing devices, infrared sensing devices and signal sensing devices; Acquiring real-time position coordinates and movement speed information of each unit of the unmanned aerial vehicle through radar sensing equipment to form radar sensing data, acquiring real-time appearance characteristics and formation arrangement form information of each unit of the unmanned aerial vehicle through optical sensing equipment to form optical sensing data, acquiring real-time heat radiation characteristics and energy consumption related information of each unit of the unmanned aerial vehicle through infrared sensing equipment to form infrared sensing data; performing interactive association processing on radar sensing data, optical sensing data, infrared sensing data and signal sensing data, performing association binding on sensing data of the same cluster unmanned aerial vehicle unit under different sensing devices, and performing association binding on sensing data of the same countering device under different sensing devices; Extracting real-time relative position change rules and motion direction cooperative relations among all units from cluster unmanned aerial vehicle unit perception data after association binding to form real-time motion association information of all units of the cluster unmanned aerial vehicle; Extracting waveform characteristics of signals transmitted by each unit and signal interaction frequencies of signal transmission paths and other units from the cluster unmanned aerial vehicle unit sensing data after association binding to form signal interaction information of each unit of the cluster unmanned aerial vehicle; Extracting the current resource occupation proportion, the residual resource quantity and the resource consumption rate of each device from the countering device perceived data after being associated and bound to form real-time resource state information of each device of the countering device cluster; extracting effective coverage range, signal propagation attenuation rule and action distance limit of each device transmitting a reaction signal from the reaction device perceived data after being associated and bound to form action range information of each device of a reaction device cluster; And integrating the real-time motion related information and the signal interaction information of each unit of the cluster unmanned aerial vehicle with the real-time resource state information and the action range information of each device of the counter device cluster to generate a dynamic interaction sensing result.
3. 3. The collaborative countercheck control method for a clustered unmanned aerial vehicle according to claim 1, wherein the performing hierarchical collaborative decision-making processing based on the dynamic interaction perception result, generating a hierarchical collaborative decision-making result, comprises: Extracting real-time motion related information of each unit of the cluster unmanned aerial vehicle from a dynamic interaction perception result, analyzing a motion dominant relationship of each unit in formation, determining a hierarchical structure of the cluster unmanned aerial vehicle, and dividing a dominant hierarchical unit, a cooperative hierarchical unit and a subordinate hierarchical unit; Extracting signal interaction information of each unit of the cluster unmanned aerial vehicle from the dynamic interaction sensing result, analyzing signal transmission frequency and signal dependence degree among the units, verifying and correcting the divided hierarchical structure, and keeping the hierarchical division consistent with the signal interaction relationship; Aiming at a master level unit, analyzing the types and the quantity of the counterequipment capable of covering the master level unit by combining with the action range information of each device of the counterequipment cluster in the dynamic interaction sensing result, and determining a countering strategy direction aiming at the master level unit, wherein the countering strategy direction focuses on cutting off the signal interaction of the master level unit and other level units; aiming at the cooperative level unit, analyzing the distribution of the countering equipment with residual resources at present by combining the real-time resource state information of each device of the countering equipment cluster in the dynamic interaction sensing result, and determining the countering strategy direction aiming at the cooperative level unit, wherein the countering strategy direction focuses on the motion cooperative relation of the interference cooperative level unit; for the slave level units, analyzing the capability of the reaction equipment capable of continuously acting by combining the resource consumption rate of each equipment of the reaction equipment cluster in the dynamic interaction sensing result, and determining the reaction strategy direction for the slave level units, wherein the reaction strategy direction focuses on weakening the energy supply association of the slave level units; Extracting real-time resource state information and action range information of each device of the countering device cluster from the dynamic interaction sensing result, analyzing the resource complementarity and action range overlapping area of each device, and determining a cooperative coordination rule among the countering devices, wherein the cooperative coordination rule comprises a resource sharing rule, an action range connection rule and a signal interference avoidance rule; And integrating the countering strategy directions aiming at the different-level units of the cluster unmanned aerial vehicle with the cooperative coordination rules of different devices of the countering device cluster to generate a layered cooperative decision result.
4. 4. The collaborative countering control method for a clustered unmanned aerial vehicle according to claim 3, wherein the extracting real-time motion related information of each unit of the clustered unmanned aerial vehicle from the dynamic interaction sensing result, analyzing motion dominant relationship of each unit in formation, determining a hierarchical structure of the clustered unmanned aerial vehicle, and dividing a dominant hierarchical unit, a collaborative hierarchical unit and a subordinate hierarchical unit comprises: extracting the motion direction change frequency and the motion speed adjustment amplitude of each unit from the real-time motion associated information of each unit of the cluster unmanned aerial vehicle; Counting the times of each unit for inducing the change of the movement direction of other units in a continuous time period, and inducing the sum of the amplitude of the movement speed adjustment of other units; Marking the unit which causes the maximum change times of the movement directions of other units and causes the maximum sum of the movement speed adjustment amplitudes of other units as a candidate leading unit; analyzing the real-time relative position change rule of the candidate leading unit and other units, and calculating the time delay of the candidate leading unit in following the motion of the other units; Classifying other units with shortest time delay as candidate cooperative units, and classifying other units with time delay exceeding a preset following delay interval as candidate slave units; Repeating the steps, and verifying all candidate leading units to enable the number of candidate cooperative units and candidate subordinate units corresponding to each candidate leading unit to accord with formation motion logic; And dividing the finally determined candidate leading unit into leading hierarchy units, dividing the candidate cooperative unit into cooperative hierarchy units, and dividing the candidate subordinate unit into subordinate hierarchy units to form a hierarchy structure of the cluster unmanned aerial vehicle.
5. 5. The collaborative countering control method for a clustered unmanned aerial vehicle according to claim 1, wherein the performing adaptive scheduling processing on resources of a countering device cluster according to the hierarchical collaborative decision result to generate an adaptive resource scheduling scheme includes: extracting the countering strategy directions aiming at different level units of the cluster unmanned aerial vehicle from the layered collaborative decision result, and determining the resource type and the total amount of resources required by countering each level unit; extracting cooperative coordination rules of different devices of the countering device cluster from the layered cooperative decision result, and determining the type of resources and the maximum supply of resources which can be provided by each device; According to the type of resources and the total amount of resources required by the master hierarchy unit for countering, combining the type of resources and the maximum supply amount of resources which can be provided by each device, preferentially distributing resources for the countering devices capable of covering the master hierarchy unit, and determining the master hierarchy unit of the service corresponding to the countering devices; According to the resource types and the total amount of resources required by the cooperation level unit for countering, combining the resource types and the maximum supply amount of resources which can be provided by the remaining counterequipment, distributing resources for the counterequipment with the remaining resources, and determining the cooperation level unit corresponding to the service of the counterequipment; according to the resource types and the total amount of resources required by the slave level units for the reaction, combining the resource types and the maximum supply amount of the resources which can be provided by the residual reaction equipment, distributing the resources for the reaction equipment which can continuously act, and determining the slave level units which correspond to the services of the reaction equipment; Extracting resource sharing rules among countermeasures from the layered collaborative decision result, dynamically adjusting the resources allocated by each device, allocating resource supplementation from the devices with surplus resources when the resources of any one device are insufficient, and updating the cluster unmanned aerial vehicle units served by the corresponding devices; extracting the action range connection rule between the countermeasures from the layered collaborative decision result; And determining a resource allocation mode of each device, including a resource allocation proportion, a resource supplementing frequency and a resource adjustment triggering condition, integrating the cluster unmanned aerial vehicle unit corresponding to the service of each device of the counterequipment cluster with the resource allocation mode of each device, and generating an adaptive resource scheduling scheme.
6. 6. The method for controlling cooperative countering of a clustered unmanned aerial vehicle according to claim 5, wherein the determining the resource allocation manner of each device includes a resource allocation ratio, a resource replenishment frequency, and a resource adjustment triggering condition, and includes: Extracting the number of the unmanned aerial vehicle units served by each device and the resource amount required by the reaction of each unmanned aerial vehicle unit from the preliminary allocation result of the self-adaptive resource scheduling scheme; Calculating the total resource demand of each device, wherein the total resource demand is the sum of the resource demand of all cluster unmanned aerial vehicle units served by each device; determining a resource allocation proportion according to the total resource demand of each device and the maximum resource supply of each device, wherein the resource allocation proportion is the ratio of the total resource demand to the maximum resource supply; Extracting the resource consumption rate of each device of the countering device cluster from the dynamic interaction sensing result, and determining the current resource to be consumed of each device by combining the resource allocation proportion and the maximum resource supply in the resource allocation mode; Calculating the resource consumption period of each device according to the current resource amount to be consumed and the resource consumption rate of each device; setting half of the resource consumption period as a resource replenishment time interval, triggering resource replenishment when the residual quantity of the resources is reduced to half of the current quantity of the resources to be consumed, and maintaining the countering continuity; Setting a resource adjustment triggering condition, and triggering resource adjustment when the resource occupation proportion of equipment exceeds a preset normal occupation interval, or the cluster unmanned aerial vehicle unit served by the equipment moves beyond the action range of the equipment, or the feedback reaction effect of the equipment does not reach a preset effect interval; And integrating the determined resource allocation proportion, the resource supplementing time interval and the resource adjustment triggering condition to form a resource allocation mode of each device.
7. 7. The cooperative countering control method for the clustered unmanned aerial vehicle according to claim 1, wherein the generating a dynamic countering instruction set according to the adaptive resource scheduling scheme includes: Extracting cluster unmanned aerial vehicle units corresponding to services of equipment of the counter equipment cluster from the self-adaptive resource scheduling scheme, and resource allocation modes of the equipment; For each device, determining a corresponding operation parameter type according to the level type of the cluster unmanned aerial vehicle unit served by the device, and serving the device of the master level unit, wherein the operation parameter type comprises signal interference frequency, signal interference intensity and signal action duration; the device of the service subordinate hierarchy unit, the operation parameter type comprises energy weakening intensity, energy weakening frequency and duration of action; Extracting real-time motion related information and signal interaction information of cluster unmanned aerial vehicle units of equipment service from a dynamic interaction perception result, and determining a specific value of each operation parameter by combining a resource allocation proportion in a resource allocation mode to form real-time operation parameters of equipment; Extracting cooperative coordination rules of different devices of the countering device cluster from the layered cooperative decision result, and determining the execution starting moment of each device by combining the resource replenishment frequency of each device in the self-adaptive resource scheduling scheme; analyzing the execution starting time of each device and the duration or duration of action in the operation parameters, and determining the execution ending time of each device; Scheduling the execution time sequence of each device according to the execution starting time and the execution ending time of each device and the action range connection rule among the devices; And integrating the real-time operation parameters and the execution time sequence of each device to form a dynamic countering instruction set containing the real-time operation parameters and the execution time sequence scheduling of each device of the countering device cluster.
8. 8. The method according to claim 7, wherein for each device, determining a corresponding operation parameter type according to a hierarchy type of a cluster unmanned aerial vehicle unit served by the device, wherein the operation parameter type includes a signal interference frequency, a signal interference intensity and a signal action duration, wherein the operation parameter type includes a motion interference amplitude, a motion interference frequency and an interference coverage range, wherein the operation parameter type includes an energy attenuation intensity, an energy attenuation frequency and a duration, and wherein the method comprises: distinguishing whether a cluster unmanned aerial vehicle unit served by equipment belongs to a master hierarchy unit, a cooperative hierarchy unit or a slave hierarchy unit; If the equipment serves a master level unit, combining a countering strategy direction for the master level unit in a layering collaborative decision result, wherein the countering strategy direction focuses on cutting off signal interaction between the master level unit and other level units, so that the operation parameter type is determined to comprise signal interference frequency, signal interference intensity and signal action duration; If the equipment serves a cooperative level unit, combining a countering strategy direction for the cooperative level unit in a layered cooperative decision result, wherein the countering strategy direction focuses on a motion cooperative relation of an interference cooperative level unit, so that the operation parameter type is determined to comprise motion interference amplitude, motion interference frequency and interference coverage; if the device is served by a slave level unit, combining a countering strategy direction for the slave level unit in a layered collaborative decision result, wherein the countering strategy direction focuses on weakening energy supply association of the slave level unit, so that the operation parameter type is determined to comprise energy weakening intensity, energy weakening frequency and duration; And recording the operation parameter type corresponding to each device.
9. 9. The method for controlling cooperative countering of a clustered unmanned aerial vehicle according to claim 1, wherein the sending the dynamic countering instruction set to a countering device cluster, while receiving real-time countering effect information fed back by the countering device cluster, performing closed-loop adjustment on the dynamic countering instruction set by combining the real-time countering effect information and a dynamic interaction sensing result, so that the countering device cluster continuously performs cooperative countering operation on the clustered unmanned aerial vehicle, includes: establishing an exclusive communication link between the counter control center and each device of the counter device cluster, and respectively transmitting each device instruction in the dynamic counter instruction set to the corresponding device through the exclusive communication link; in the instruction sending process, receiving instruction receiving state information fed back by each device in real time, and stopping instruction resending operation when all the devices feed back the instruction receiving success state; After each device of the countering device cluster executes countering operation according to the instruction, collecting device operation data in the countering process and state change data of the clustered unmanned aerial vehicle in real time to form real-time countering effect information, and feeding back the real-time countering effect information to a countering control center through a dedicated communication link; The control center receives real-time countering effect information, and extracts countering effect data of each device from the real-time countering effect information, wherein the countering effect data comprises a signal interaction blocking degree of a master level unit, a movement cooperative interference degree of a cooperative level unit and an energy weakening degree of a slave level unit; extracting the latest real-time motion associated information and signal interaction information of each unit of the cluster unmanned aerial vehicle and the real-time resource state information and action range information of each device of the counter device cluster from the dynamic interaction sensing result; performing association analysis on the countering effect data and the latest information in the dynamic interaction sensing result, judging whether a current dynamic countering instruction set needs to be adjusted, and judging that the adjustment is needed if the signal interaction blocking degree of the master hierarchy unit does not reach the expectation, or the movement coordination of the coordination hierarchy units remains stable, or the energy of the slave hierarchy units is not continuously weakened, or the resource consumption of countering equipment exceeds a preset consumption interval, or the movement of the cluster unmanned aerial vehicle units exceeds the action range of the equipment; If the adjustment is determined to be needed, modifying real-time operation parameters and execution time sequences of the corresponding equipment according to the analysis result, wherein the modification content comprises the steps of improving the signal interference intensity, adjusting the motion interference frequency, prolonging the duration of energy attenuation and changing the execution starting time; Integrating the modified equipment instructions to form a new dynamic countercheck instruction set, and sending the new dynamic countercheck instruction set to corresponding equipment through a dedicated communication link to replace the original instructions; Repeating the processes of receiving feedback, association analysis, adjusting instructions and sending new instructions, so that the countering equipment cluster continuously executes cooperative countering operation on the clustered unmanned aerial vehicle.
10. 10. A cooperative countering control system for a clustered unmanned aerial vehicle, comprising: A processor; a machine-readable storage medium storing machine-executable instructions for the processor; Wherein the processor is configured to perform the cooperative countercheck control method for a clustered drone of any of claims 1 to 9 via execution of the machine-executable instructions.

Description

Cooperative countering control method and system for clustered unmanned aerial vehicle Technical Field The invention relates to the technical field of unmanned aerial vehicle countering, in particular to a cooperative countering control method and system for clustered unmanned aerial vehicles. Background With the rapid development of unmanned aerial vehicle technology, the clustered unmanned aerial vehicle has been widely used in a plurality of fields such as logistics distribution and environmental monitoring by virtue of the advantages of strong collaborative operation capability, high task execution efficiency and the like. However, the wide application of unmanned aerial vehicles also brings a series of potential safety hazards, such as illegal invasion, malicious interference and the like, and the safety and normal order of important areas are a serious threat. At present, the countermeasures against the unmanned aerial vehicle mainly have the following problems. On the one hand, most of existing countering methods are aimed at single unmanned aerial vehicle, lack of consideration of the overall cooperative characteristic of the unmanned aerial vehicle cluster, and are difficult to effectively cope with complex cooperative operation modes of the unmanned aerial vehicle cluster, and the countering effect is poor. On the other hand, when the countering equipment executes the countering task, a fixed resource allocation and operation strategy are often adopted, and flexible adjustment cannot be performed according to the real-time dynamic interaction condition between the cluster unmanned aerial vehicle and the countering equipment, so that the resource utilization rate is low, and the countering efficiency is low. In addition, the existing reaction system lacks a closed-loop feedback mechanism, can not adjust the reaction strategy in time according to the reaction effect, and can not realize continuous and effective cooperative reaction operation. Disclosure of Invention In view of the above-mentioned problems, in combination with the first aspect of the present invention, an embodiment of the present invention provides a cooperative countering control method for a clustered unmanned aerial vehicle, where the method includes: The method comprises the steps of performing real-time sensing on dynamic interaction information between a cluster unmanned aerial vehicle and a countering device cluster in a target area to generate a dynamic interaction sensing result, wherein the dynamic interaction sensing result comprises real-time motion related information and signal interaction information of each unit of the cluster unmanned aerial vehicle, and real-time resource state information and action range information of each device of the countering device cluster; based on the dynamic interaction sensing result, executing hierarchical collaborative decision processing to generate a hierarchical collaborative decision result, wherein the hierarchical collaborative decision result comprises countering strategy directions aiming at different level units of the cluster unmanned aerial vehicle and collaborative cooperation rules of different devices of the countering device cluster; Performing self-adaptive scheduling processing on the resources of the countering equipment cluster according to the layered collaborative decision result, and generating a self-adaptive resource scheduling scheme, wherein the self-adaptive resource scheduling scheme comprises a cluster unmanned aerial vehicle unit corresponding to each equipment of the countering equipment cluster and a resource allocation mode of each equipment; Generating a dynamic countering instruction set according to the self-adaptive resource scheduling scheme, wherein the dynamic countering instruction set comprises real-time operation parameters and execution time sequence scheduling of each device of a countering device cluster; And sending the dynamic countering instruction set to a countering equipment cluster, receiving real-time countering effect information fed back by the countering equipment cluster, and carrying out closed-loop adjustment on the dynamic countering instruction set by combining the real-time countering effect information and a dynamic interactive perception result, so that the countering equipment cluster continuously executes cooperative countering operation on the clustered unmanned aerial vehicle. In still another aspect, an embodiment of the present invention further provides a coordinated reaction control system for a clustered unmanned aerial vehicle, which is characterized by including: the system comprises a processor, a machine-readable storage medium for storing machine-executable instructions of the processor, wherein the processor is configured to execute the collaborative countercheck control method for the clustered unmanned aerial vehicle via execution of the machine-executable instructions. In yet another aspect, an embodim