CN115201812B - Unmanned aerial vehicle detecting system based on existing building facilities as carrier - Google Patents

Unmanned aerial vehicle detecting system based on existing building facilities as carrier Download PDF

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CN115201812B
CN115201812B CN202210566789.1A CN202210566789A CN115201812B CN 115201812 B CN115201812 B CN 115201812B CN 202210566789 A CN202210566789 A CN 202210566789A CN 115201812 B CN115201812 B CN 115201812B
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detected
sub
area
detection
preset
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CN115201812A (en
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刘雄建
徐一凡
宋进平
葛冉
孙海涛
彭庆祥
李钰鑫
王小勇
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Beijing Ruishi Equipment Technology Co ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41H—ARMOUR; ARMOURED TURRETS; ARMOURED OR ARMED VEHICLES; MEANS OF ATTACK OR DEFENCE, e.g. CAMOUFLAGE, IN GENERAL
    • F41H11/00—Defence installations; Defence devices
    • F41H11/02—Anti-aircraft or anti-guided missile or anti-torpedo defence installations or systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/886—Radar or analogous systems specially adapted for specific applications for alarm systems
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/4183—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by data acquisition, e.g. workpiece identification

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • General Engineering & Computer Science (AREA)
  • Quality & Reliability (AREA)
  • Automation & Control Theory (AREA)
  • Manufacturing & Machinery (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The invention provides an unmanned aerial vehicle detection system based on the existing building facilities as a carrier, which comprises a centralized control system and a plurality of detection subsystems, wherein the centralized control system is used for dividing a region to be detected into a plurality of sub-regions to be detected, and the detection subsystems are arranged on buildings in the sub-regions to be detected; the detection subsystem comprises an unmanned aerial vehicle detection unit, an unmanned aerial vehicle control unit and an unmanned aerial vehicle service unit; the unmanned aerial vehicle detection unit comprises an active radar detection module and is used for actively detecting the unmanned aerial vehicle to be detected in the sub-area to be detected; and the unmanned aerial vehicle auxiliary detection module is used for detecting the unmanned aerial vehicle to be detected in the detection blind area entering the active radar detection module. Through arranging unmanned aerial vehicle detection system in city building crowd, according to the high scattered arrangement and the joint operation of detecting subsystem of building, detect unmanned aerial vehicle through initiative and unmanned aerial vehicle supplementary detection's mode and detect, can be effectively under the complicated environment of city, detect unmanned aerial vehicle does not have the dead angle.

Description

Unmanned aerial vehicle detecting system based on existing building facilities as carrier
Technical Field
The invention relates to the technical field of unmanned aerial vehicle detection, in particular to an unmanned aerial vehicle detection system based on the existing building facilities as carriers.
Background
In recent years, with the rapid development of unmanned aerial vehicle technology, the manufacturing cost and the use cost of unmanned aerial vehicles are continuously reduced, so that the unmanned aerial vehicles for civil use are gradually popularized. The popularization of civil unmanned aerial vehicles brings a series of troubles to people, such as: privacy information in the area is peeped and stolen at will through the unmanned aerial vehicle, and dangerous goods and other important hidden hazards are put in through the unmanned aerial vehicle.
Currently, the unmanned aerial vehicle is mainly detected by adopting modes such as active radar detection, passive radar detection (radiation source positioning) and the like, and the active radar detection and video processing detection modes can only detect an unobscured open area, so that blind areas and dead angles are necessarily generated, and alarm leakage is caused; passive radar detection makes it difficult to distinguish between an intrusive signal and a normal civilian signal in a complex electromagnetic environment in the civilian frequency range.
In urban environment, how to detect unmanned aerial vehicle under the complex environment of high-rise forest to accurate position of detecting unmanned aerial vehicle, and unmanned aerial vehicle guard in all weather can be carried out when realizing unmanned aerial vehicle and detection becomes the current urgent problem that needs to be solved.
Disclosure of Invention
In view of this, the invention provides an unmanned aerial vehicle detection system based on the existing building facilities as carriers, how to arrange the unmanned aerial vehicle detection system by taking the existing building as a carrier, thereby realizing accurate detection and positioning of the black flying unmanned aerial vehicle in the urban environment under the urban complex environment, and further enabling the unmanned aerial vehicle detection system to perform all-weather unmanned on duty.
In one aspect, the invention provides an unmanned aerial vehicle detection system based on the existing building facilities as a carrier, which comprises a centralized control system and a plurality of detection subsystems, wherein the centralized control system is used for dividing a to-be-detected area into a plurality of to-be-detected subareas according to the building height in the to-be-detected area, the plurality of detection subsystems are respectively arranged on buildings in the plurality of to-be-detected subareas, and the plurality of detection subsystems are respectively in communication connection with the centralized control system; the detection subsystem includes:
the unmanned aerial vehicle detection unit is used for detecting unmanned aerial vehicles in the to-be-detected subarea;
The unmanned aerial vehicle control unit is used for carrying out early warning, countering, driving away and flywheel positioning on the detected unmanned aerial vehicle;
The unmanned aerial vehicle service unit is used for providing communication, power supply and fault detection services for the unmanned aerial vehicle detection unit and the unmanned aerial vehicle management and control unit; wherein,
The unmanned aerial vehicle detecting unit includes:
The active radar detection module is used for actively detecting unmanned aerial vehicles to be detected in the to-be-detected sub-area and feeding back when the unmanned aerial vehicles to be detected enter a detection blind area of the active radar detection module;
The unmanned aerial vehicle auxiliary detection module is used for detecting unmanned aerial vehicles to be detected in a detection blind area entering the active radar detection module;
the processing module is used for acquiring detection information of the active radar detection module in real time, drawing the flight track of the unmanned aerial vehicle to be detected in real time, predicting whether the unmanned aerial vehicle to be detected can enter a detection blind area of the active radar detection module according to the flight track, and enabling the unmanned aerial vehicle auxiliary detection module to fly to the detection blind area of the active radar detection module when predicting that the unmanned aerial vehicle to be detected can enter the detection blind area of the active radar detection module, so that the unmanned aerial vehicle auxiliary detection module detects the unmanned aerial vehicle to be detected.
Further, the centralized control system includes:
building height determining module, which is used to establish building height set H0 according to building height in the area to be detected after determining the area to be detected, and set H0[ H1, H2, H3, ], wherein H1-Hn are building heights in the area to be detected;
the area dividing module is used for dividing the building in the area to be detected into a low-rise building, a middle-rise building and a high-rise building according to the building height set H0 and then dividing the area to be detected into a plurality of sub-areas to be detected.
Further, the area dividing module is further configured to, when dividing the buildings in the area to be detected into a low-rise building, a middle-rise building and a high-rise building according to the building height set H0, preset a first standard height Ha1, a second standard height Ha2 and a third standard height Ha3, where Ha1 < Ha2 < Ha3, and divide the buildings in the area to be detected into a low-rise building, a middle-rise building and a high-rise building according to the relation between the heights Hi of the respective buildings in the building height set H0 and the first standard height Ha1, the second standard height Ha2 and the third standard height Ha3, i=1, 2, 3.
When Ha1 is less than or equal to Hi and less than Ha2, dividing the building in the height section into low-rise buildings;
when Ha2 is less than or equal to Hi and less than Ha3, dividing the building in the height interval into middle-layer buildings;
When Ha3 is less than or equal to Hi, the buildings in the height section are divided into high-rise buildings.
Further, the area dividing module is further configured to, after dividing the building in the area to be detected into a low-rise building, a middle-rise building and a high-rise building, divide the area to be detected into a plurality of sub-areas to be detected, specifically:
determining a central point of the area to be detected, and judging whether a low-rise building, a middle-rise building or a high-rise building exists in a preset range of the central point:
When the low-rise building, the middle-rise building or the high-rise building exists, a central sub-area to be detected is arranged on the building at the central point, the detection diameter R0 of the central sub-area to be detected is set according to the classification of the building at the central point, and other sub-areas to be detected are arranged according to the detection diameter R0 of the central sub-area to be detected;
When the low-rise building, the middle-rise building or the high-rise building does not exist, determining the highest building in the high-rise building in the area to be detected, setting an initial sub-area to be detected on the highest building, setting the detection diameter Rc1 of the initial sub-area to be detected, and setting other sub-areas to be detected according to the detection diameter Rc1 of the initial sub-area to be detected.
Further, the area dividing module is further configured to, when setting the detection diameter R0 of the sub-area to be detected in the center according to the classification of the building at the center point, preset a first preset detection diameter R01, a second preset detection diameter R02, and a third preset detection diameter R03, where R01 < R02 < R03, and set the detection diameter R0 of the sub-area to be detected in the center according to the classification of the building at the center point:
when the building at the central point is a low-rise building, setting the detection diameter R0 of the sub-area to be detected at the center as the first preset detection diameter R01;
when the building at the central point is a middle-layer building, setting the detection diameter R0 of the central sub-area to be detected as the second preset detection diameter R02;
when the building at the center point is a high-rise building, the detection diameter R0 of the sub-area to be detected at the center is set to the third preset detection diameter R03.
Further, the area dividing module is further configured to set a correction coefficient matrix X and a preset building height matrix set W, and set X (X1, X2, X3, X4) for the correction coefficient matrix X, where X1 is a first preset correction coefficient, X2 is a second preset correction coefficient, X3 is a third preset correction coefficient, X4 is a fourth preset correction coefficient, and 1 < X2 < X3 < X4 < 1.2;
Setting W (W1, W2 and W3) for the preset building height matrix group W, wherein W1 is a preset low-rise building height matrix, W2 is a preset middle-rise building height matrix and W3 is a preset high-rise building height matrix;
setting W1 (W11, W12, W13 and W14) for the preset low-rise building height matrix W1, wherein W11 is a first preset low-rise building height, W12 is a second preset low-rise building height, W13 is a third preset low-rise building height, W14 is a fourth preset low-rise building height, and Ha1 is less than or equal to W11 and less than W12 and W13 and W14 is less than Ha2;
Setting W2 (W21, W22, W23, W24) for the preset middle layer building height matrix W2, wherein W21 is a first preset middle layer building height, W22 is a second preset middle layer building height, W23 is a third preset middle layer building height, W24 is a fourth preset middle layer building height, and Ha2 is less than or equal to W21 < W22 < W23 < W24 < Ha3;
Setting W3 (W31, W32, W33 and W34) for the preset high-rise building height matrix W3, wherein W31 is a first preset high-rise building height, W32 is a second preset high-rise building height, W33 is a third preset high-rise building height, W34 is a fourth preset high-rise building height, and Ha3 is less than or equal to W31 and less than W32 and less than W33 and less than W34;
the area dividing module is further configured to, after setting the detection diameter R0 of the central sub-area to be detected to an i-th preset detection diameter R0i according to the classification of the building at the center point, correct the set detection diameter of the sub-area to be detected according to the relation between the building height Hn at the center point and each preset building height:
when the building at the center point is a low-rise building, setting the detection diameter R0 of the central sub-area to be detected as the first preset detection diameter R01:
If Ha1 is less than or equal to Hn and less than W11, selecting the first preset correction coefficient X1 to correct the first preset detection diameter R01, wherein the corrected detection diameter R0 of the central sub-area to be detected is R01X 1;
If W11 is less than or equal to Hn and less than W12, selecting the second preset correction coefficient X2 to correct the first preset detection diameter R01, and setting the detection diameter R0 of the corrected central sub-area to be detected as R01X 2;
If W12 is less than or equal to Hn and less than W13, selecting the third preset correction coefficient X3 to correct the first preset detection diameter R01, and setting the detection diameter R0 of the corrected central sub-area to be detected as R01X 3;
if W13 is less than or equal to Hn and less than W14, selecting the fourth preset correction coefficient X4 to correct the first preset detection diameter R01, and setting the detection diameter R0 of the corrected central sub-area to be detected as R01X 4;
when the building at the center point is a middle building and the detection diameter R0 of the sub-area to be detected at the center is set to the second preset detection diameter R02:
If Ha2 is less than or equal to Hn and less than W21, selecting the first preset correction coefficient X1 to correct the second preset detection diameter R02, and setting the detection diameter R0 of the corrected central sub-region to be detected as R02X 1;
If W21 is less than or equal to Hn and less than W22, selecting the second preset correction coefficient X2 to correct the second preset detection diameter R02, and setting the detection diameter R0 of the corrected central sub-area to be detected as R02X 2;
if W22 is less than or equal to Hn and less than W23, selecting the third preset correction coefficient X3 to correct the second preset detection diameter R02, and setting the detection diameter R0 of the corrected central sub-area to be detected as R02X 3;
If W23 is less than or equal to Hn and less than W24, selecting the fourth preset correction coefficient X4 to correct the second preset detection diameter R02, and setting the detection diameter R0 of the corrected central sub-area to be detected as R02X 4;
when the building at the center point is a high-rise building, setting the detection diameter R0 of the central sub-area to be detected as the third preset detection diameter R03:
if Ha3 is less than or equal to Hn and less than W31, selecting the first preset correction coefficient X1 to correct the third preset detection diameter R03, and setting the detection diameter R0 of the corrected central sub-region to be detected as R03X 1;
If W31 is less than or equal to Hn and less than W32, selecting the second preset correction coefficient X2 to correct the third preset detection diameter R03, and setting the detection diameter R0 of the corrected central sub-region to be detected as R03X 2;
If W32 is less than or equal to Hn and less than W33, selecting the third preset correction coefficient X3 to correct the third preset detection diameter R03, and setting the detection diameter R0 of the corrected central sub-region to be detected as R03X 3;
If W33 is less than or equal to Hn and less than W34, the fourth preset correction coefficient X4 is selected to correct the third preset detection diameter R03, and the corrected detection diameter R0 of the central sub-area to be detected is R03X 4.
Further, the area dividing module is further configured to determine whether the low-rise building, the middle-rise building or the high-rise building exists on a boundary line of the central sub-area to be detected when other sub-areas to be detected are set according to the detection diameter R0 of the central sub-area to be detected:
If the detection area exists, setting other sub-areas to be detected on a low-rise building, a middle-rise building or a high-rise building on the boundary line of the central sub-area to be detected, setting the sub-areas to be detected on the periphery of the other sub-areas to be detected after the other sub-areas to be detected are set on the periphery of the central sub-area to be detected, and setting the sub-areas to be detected on the periphery of the other sub-areas to be detected until the area to be detected is completely covered by the central sub-areas to be detected, the other sub-areas to be detected and the sub-areas to be detected, wherein the interval between the central points of the adjacent sub-areas to be detected is less than or equal to 1/2R0;
If the central sub-area to be detected does not exist, other sub-areas to be detected are arranged on a low-rise building, a middle-rise building or a high-rise building within the range of the central sub-area to be detected, and the sub-areas to be detected are arranged on the periphery of the other sub-areas to be detected until the areas to be detected are completely covered by the central sub-area to be detected, the other sub-areas to be detected and the sub-areas to be detected, and the distance between the central points of the adjacent sub-areas to be detected is less than or equal to 1/2R0.
Further, the area dividing module is further configured to set an initial sub-area to be detected on the highest building, determine a height G0 of the highest building when a detection diameter Rc1 of the initial sub-area to be detected is set, and set a first preset building height G1, a second preset building height G2, a third preset building height G3 and a fourth preset building height G4, where Ha3 is greater than G1 and less than G2 is greater than G3 and less than G4; setting a first preset diameter Rg1, a second preset diameter Rg2, a third preset diameter Rg3 and a fourth preset diameter Rg4, wherein Rg1 is more than Rg2 and Rg3 is more than Rg4; setting the detection diameter Rc1 of the initial sub-area to be detected according to the relation between the height G0 of the highest building and each preset building height:
when G1 is less than or equal to G0 and less than G2, setting the detection diameter Rc1 of the initial sub-region to be detected as a first preset diameter Rg1;
When G2 is less than or equal to G0 and less than G3, setting the detection diameter Rc1 of the initial sub-region to be detected as a second preset diameter Rg2;
when G3 is less than or equal to G0 and less than G4, setting the detection diameter Rc1 of the initial sub-region to be detected as a third preset diameter Rg3;
when G4 is less than or equal to G0, setting the detection diameter Rc1 of the initial sub-region to be detected to be a fourth preset diameter Rg4;
the region dividing module is further configured to set, when the detection diameter Rc1 of the initial sub-region to be detected is set to the i-th preset diameter Rgi, i=1, 2,3,4, and set other sub-regions to be detected according to the detection diameter Rgi of the initial sub-region to be detected, specifically:
Determining whether the low-rise building, the middle-rise building or the high-rise building exists on the boundary line of the initial sub-area to be detected:
If the detection area exists, setting other sub-areas to be detected on a low-rise building, a middle-rise building or a high-rise building on the boundary line of the initial sub-area to be detected, setting the sub-areas to be detected on the periphery of the other sub-areas to be detected after the other sub-areas to be detected are set on the periphery of the initial sub-area to be detected, until the area to be detected is completely covered by the initial sub-area to be detected, the other sub-areas to be detected and the sub-areas to be detected, and the interval between the central points of the adjacent sub-areas to be detected is less than or equal to 1/2Rgi;
If the detection area is not present, setting other sub-areas to be detected on a low-rise building, a middle-rise building or a high-rise building within the range of the initial sub-area to be detected, and setting the sub-areas to be detected on the periphery of the other sub-areas to be detected until the area to be detected is completely covered by the initial sub-area to be detected, the other sub-areas to be detected and the sub-areas to be detected, wherein the distance between the central points of the adjacent sub-areas to be detected is less than or equal to 1/2Rgi.
Further, the area dividing module further determines the number of the detection subsystems in the initial sub-area to be detected, the central sub-area to be detected or other sub-areas to be detected according to the building density D0 in the initial sub-area to be detected, the central sub-area to be detected or other sub-areas to be detected after determining the initial sub-area to be detected and other sub-areas to be detected or determining the initial sub-area to be detected and other sub-areas to be detected, and the detection subsystems are arranged on a low-rise building, a middle-rise building or a high-rise building.
Further, the area dividing module is further configured to preset a first preset building density D1, a second preset building density D2, a third preset building density D3 and a fourth preset building density D4 when the number of the detection subsystems in the initial sub-area to be detected, the central sub-area to be detected or other sub-areas to be detected is determined according to the building density D0 in the initial sub-area to be detected, the central sub-area to be detected or other sub-areas to be detected, and D1 is more than D2 is less than D3 and less than D4; presetting a first preset detection subsystem setting number P1, a second preset detection subsystem setting number P2, a third preset detection subsystem setting number P3 and a fourth preset detection subsystem setting number P4, wherein P1 is more than P2 and less than P3 and less than P4;
setting the setting number of the detection subsystems in the initial sub-area to be detected, the central sub-area to be detected or other sub-areas to be detected according to the relation between the building density D0 and each preset building density:
when D0 is less than D1, setting the setting number of the detection subsystems in the initial sub-area to be detected, the central sub-area to be detected or other sub-areas to be detected as the first preset detection subsystem setting number P1;
when D1 is less than or equal to D0 and less than D2, setting the setting number of the detection subsystems in the initial sub-area to be detected, the central sub-area to be detected or other sub-areas to be detected as the second preset detection subsystem setting number P2;
When D2 is less than or equal to D0 and less than D3, setting the setting number of the detection subsystems in the initial sub-area to be detected, the central sub-area to be detected or other sub-areas to be detected as the third preset detection subsystem setting number P3;
When D3 is less than or equal to D0 and less than D4, setting the setting number of the detection subsystems in the initial sub-area to be detected, the central sub-area to be detected or other sub-areas to be detected as the fourth preset detection subsystem setting number P4;
When the i-th preset detecting subsystem setting number Pi is selected as the setting number of the detecting subsystems in the initial sub-area to be detected, the central sub-area to be detected or other sub-areas to be detected, i=1, 2,3,4, one detecting subsystem is respectively arranged on a low-rise building, a middle-rise building or a high-rise building in the initial sub-area to be detected, the central sub-area to be detected or other sub-areas to be detected.
Compared with the prior art, the unmanned aerial vehicle detection system has the beneficial effects that the unmanned aerial vehicle detection system is arranged in the urban building group, the distributed arrangement of the detection subsystems and the combined operation are carried out according to the existing building height, and meanwhile, the unmanned aerial vehicle detection is carried out in the mode of active detection and unmanned aerial vehicle auxiliary detection, so that the unmanned aerial vehicle can be effectively detected without dead angles in the urban complex environment. Meanwhile, the detection system integrates detection, control and unmanned aerial vehicle service of the unmanned aerial vehicle, and can ensure that the unmanned aerial vehicle detection system performs all-weather unmanned on duty.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to designate like parts throughout the figures. In the drawings:
Fig. 1 is a functional block diagram of an unmanned aerial vehicle detection system based on an existing building facility as a carrier according to an embodiment of the present invention;
FIG. 2 is a functional block diagram of a centralized control system according to an embodiment of the present invention;
FIG. 3 is a functional block diagram of a detection subsystem according to an embodiment of the present invention;
fig. 4 is a functional block diagram of a detection unit of a unmanned aerial vehicle according to an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art. It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other. The invention will be described in detail below with reference to the drawings in connection with embodiments.
Referring to fig. 1, the embodiment provides an unmanned aerial vehicle detection system based on the existing building facilities as carriers, which comprises a centralized control system and a plurality of detection subsystems, wherein the centralized control system is used for dividing a to-be-detected area into a plurality of to-be-detected sub-areas according to building heights in the to-be-detected area, the plurality of detection subsystems are respectively arranged on buildings in the plurality of to-be-detected sub-areas, and the plurality of detection subsystems are respectively in communication connection with the centralized control system.
Specifically, the centralized control system is in communication connection with a plurality of detection subsystems, and the plurality of detection subsystems transmit collected data to the centralized control system for data processing.
As shown in connection with fig. 2, the centralized control system includes:
building height determining module, which is used to establish building height set H0 according to building height in the area to be detected after determining the area to be detected, and set H0[ H1, H2, H3, ], wherein H1-Hn are building heights in the area to be detected;
the area dividing module is used for dividing the building in the area to be detected into a low-rise building, a middle-rise building and a high-rise building according to the building height set H0 and then dividing the area to be detected into a plurality of sub-areas to be detected.
Specifically, firstly, a region A0 to be detected is determined, a set of building heights H0, HO [ H1, H2, H3, ], hn ] in the region A0 is determined, the buildings in the region A0 are classified according to the heights according to the building height values in the determined H0, and the region A0 is divided according to the results of the classification of the building heights.
Specifically, when the height Hi (i=1, 2,3,..n) of a certain building is within a preset height range, dividing the building into one type of building, selecting a certain building as the center according to the corresponding type of building, dividing a circular subarea by taking the position of the building as the center of a circle, determining the diameter L of the subarea after determining the subarea, continuously determining the next circular subarea in a range with a distance from the center of An of less than 0.5L, and completing the division of the area A0 to be detected after all areas in the area A0 are covered by the subareas.
Specifically, in the determined divided sub-areas to be detected, the setting positions of the detection subsystems are selected according to the building height in An, and the detection subsystems are installed.
Specifically, the detection system comprises a plurality of detection subsystems, the detection subsystems are arranged at the determined installation positions in each sub-area to be detected, unmanned aerial vehicle detection is carried out on the sub-areas to be detected through the detection subsystems, and when unmanned aerial vehicle detection is carried out on the detection subsystems, the detection subsystems are enabled to communicate in real time and work in a combined mode, so that unmanned aerial vehicle detection can be carried out without dead angles.
Referring to fig. 3, the detection subsystem includes:
the unmanned aerial vehicle detection unit is used for detecting unmanned aerial vehicles in the to-be-detected subarea;
The unmanned aerial vehicle control unit is used for carrying out early warning, countering, driving away and flywheel positioning on the detected unmanned aerial vehicle;
and the unmanned aerial vehicle service unit is used for providing communication, power supply and fault detection services for the unmanned aerial vehicle detection unit and the unmanned aerial vehicle management and control unit.
Specifically, through setting up unmanned aerial vehicle and detecting the unit and waiting to detect the detection of unmanned aerial vehicle in the subregion, unmanned aerial vehicle management and control unit can be used to be surveyed unmanned aerial vehicle and carry out early warning, reaction, drive away and fly hand location etc. unmanned aerial vehicle service unit is used for carrying out services such as power supply, communication and fault detection for whole subsystem to can realize detecting the unmanned on duty of all weather of subsystem.
Referring to fig. 4, the unmanned aerial vehicle detecting unit includes:
The active radar detection module is used for actively detecting unmanned aerial vehicles to be detected in the to-be-detected sub-area and feeding back when the unmanned aerial vehicles to be detected enter a detection blind area of the active radar detection module;
The unmanned aerial vehicle auxiliary detection module is used for detecting unmanned aerial vehicles to be detected in a detection blind area entering the active radar detection module;
the processing module is used for acquiring detection information of the active radar detection module in real time, drawing the flight track of the unmanned aerial vehicle to be detected in real time, predicting whether the unmanned aerial vehicle to be detected can enter a detection blind area of the active radar detection module according to the flight track, and enabling the unmanned aerial vehicle auxiliary detection module to fly to the detection blind area of the active radar detection module when predicting that the unmanned aerial vehicle to be detected can enter the detection blind area of the active radar detection module, so that the unmanned aerial vehicle auxiliary detection module detects the unmanned aerial vehicle to be detected.
Specifically, the active radar detection module is preferably an active detection radar, can realize the active detection of unmanned aerial vehicle in the region, the unmanned aerial vehicle auxiliary detection module is preferably an unmanned aerial vehicle, and a radar detection device and an image acquisition device are arranged on the unmanned aerial vehicle, so that detection can be carried out on other unmanned aerial vehicles.
Specifically, the processing module is also used for setting the flight track of the unmanned aerial vehicle auxiliary detection module. When the flight track of the unmanned aerial vehicle auxiliary detection module is set, building height and building density information in an area are determined in advance, meanwhile, detection dead angle information of the active radar detection module in the area is also acquired, the building height and building density information in the area and the detection dead angle information of the active radar detection module are combined, a plurality of flight lines leading to the detection dead angle of the active radar detection module are set, when the unmanned aerial vehicle auxiliary detection module is required to work, the dead angle position where the unmanned aerial vehicle auxiliary detection module is located can be according to the detected unmanned aerial vehicle, and the unmanned aerial vehicle auxiliary detection module can select the optimal route to fly to the dead angle position to carry out detection operation of the detected unmanned aerial vehicle.
Specifically, when a detection subsystem detects the unmanned aerial vehicle to be detected, the processing module draws the flight track in real time and displays the flight track in real time in an electronic map in the centralized control system. The processing module is further used for predicting the flight track of the unmanned aerial vehicle to be detected, acquiring the predicted building height information on the follow-up track, detecting the unmanned aerial vehicle auxiliary detection module which is close to the blind area when judging that the predicted track enters the blind area of the active detection equipment, after determining the optimal flight route of the unmanned aerial vehicle auxiliary detection module, enabling the unmanned aerial vehicle auxiliary detection module to fly to the blind area position to detect the unmanned aerial vehicle to be detected through the unmanned aerial vehicle auxiliary detection module, transmitting the position, the height and other information of the unmanned aerial vehicle to be detected, acquired after detection, to the processing module, correcting and completing the predicted track according to the acquired information, thereby acquiring the complete flight track of the unmanned aerial vehicle to be detected, and enabling the unmanned aerial vehicle auxiliary detection module to return after the active detection equipment detects the unmanned aerial vehicle to be detected again.
Specifically, when the unmanned aerial vehicle is detected by the unmanned aerial vehicle auxiliary detection module, the unmanned aerial vehicle auxiliary detection module positioned in the upper, middle and lower three ranges of the height can be started to jointly detect the unmanned aerial vehicle to be detected according to the flying height of the unmanned aerial vehicle to be detected, detection data are simultaneously sent to the processing module, and the acquired data of the unmanned aerial vehicle auxiliary detection modules are fused through the processing module, so that the accurate position information of the unmanned aerial vehicle to be detected is acquired.
Specifically, when the unmanned aerial vehicle to be detected enters a blind area of one detection subsystem, and at the moment, the other adjacent detection subsystem can actively detect the unmanned aerial vehicle to be detected, the unmanned aerial vehicle to be detected is detected through an active radar detection module of the other detection subsystem, and information of a plurality of detection subsystems is fused through a centralized control system, so that the complete flight track of the unmanned aerial vehicle to be detected is obtained.
When the method is implemented, the setting number of the detection subsystems is determined according to the building density in each sub-area An to be detected. The higher the building density, the higher the number of detection subsystems installed within a single detection zone and vice versa.
Meanwhile, when a plurality of detection subsystems exist in a single area, the setting heights of the detection subsystems are set differently, so that the three-dimensional detection capability of the detection subsystems can be improved.
Specifically, after a detected unmanned aerial vehicle is shielded by a building in a certain area, namely, when a detection signal of an active radar detection device in a detection subsystem is blocked by the building, an unmanned aerial vehicle auxiliary detection module is started, the detected unmanned aerial vehicle is detected by bypassing the shielding building by utilizing the maneuverability of the unmanned aerial vehicle auxiliary detection module, an image and position information of the detected unmanned aerial vehicle are acquired through an image and radar equipment on the unmanned aerial vehicle auxiliary detection module and are sent to a processing module, and data processing is carried out through the processing module, so that the position information of the detected unmanned aerial vehicle acquired by the unmanned aerial vehicle auxiliary detection module and the position information of the detected unmanned aerial vehicle acquired by the active radar detection module are fused, and the flight track of the detected unmanned aerial vehicle is acquired.
Specifically, the processing module further acquires data such as the flight attitude, the position and the flight track of the unmanned aerial vehicle auxiliary detection module in real time, and fills the track which is blocked by the building in the flight track of the detected unmanned aerial vehicle acquired by the active radar detection module through background data processing after the unmanned aerial vehicle auxiliary detection module acquires the position and the image data of the detected unmanned aerial vehicle, so that the complete flight track of the detected unmanned aerial vehicle is acquired.
Specifically, when the flight track of the detected unmanned aerial vehicle is about to leave the current area, determining a next area into which the detected unmanned aerial vehicle is about to drive according to the track, sending information about the detected unmanned aerial vehicle about to drive into the next area, starting a detection subsystem in the next area, and detecting the detected unmanned aerial vehicle.
Specifically, when the detection subsystems are arranged between the adjacent sub-areas to be detected, the overlapping detection areas exist between the adjacent detection subsystems, namely, the overlapping detection areas exist at the boundary between the sub-areas to be detected, so that the adjacent detection subsystems can be in seamless detection connection with the unmanned aerial vehicle to be detected.
Specifically, when determining the overlapping region, the range of the overlapping region may be determined according to the size of the detection range of each detection sub-region and the distance between adjacent detection sub-systems.
Specifically, the image data collection can be used for determining information such as the type of the detected unmanned aerial vehicle, and the identity information of the detected unmanned aerial vehicle can be determined in an assisted manner.
In a preferred implementation manner based on the foregoing embodiment, the area dividing module is further configured to, when dividing the building in the area to be detected into a low-rise building, a middle-rise building and a high-rise building according to the building height set H0, preset a first standard height Ha1, a second standard height Ha2 and a third standard height Ha3, where Ha1 < Ha2 < Ha3, and divide the building in the area to be detected into a low-rise building, a middle-rise building and a high-rise building according to a relation between the height Hi of each building in the building height set H0 and the first standard height Ha1, the second standard height Ha2 and the third standard height Ha3, i=1, 2, 3.
When Ha1 is less than or equal to Hi and less than Ha2, dividing the building in the height section into low-rise buildings;
when Ha2 is less than or equal to Hi and less than Ha3, dividing the building in the height interval into middle-layer buildings;
When Ha3 is less than or equal to Hi, the buildings in the height section are divided into high-rise buildings.
Specifically, the area dividing module is further configured to, after dividing the building in the area to be detected into a low-rise building, a middle-rise building and a high-rise building, divide the area to be detected into a plurality of sub-areas to be detected, specifically:
determining a central point of the area to be detected, and judging whether a low-rise building, a middle-rise building or a high-rise building exists in a preset range of the central point:
When the low-rise building, the middle-rise building or the high-rise building exists, a central sub-area to be detected is arranged on the building at the central point, the detection diameter R0 of the central sub-area to be detected is set according to the classification of the building at the central point, and other sub-areas to be detected are arranged according to the detection diameter R0 of the central sub-area to be detected;
When the low-rise building, the middle-rise building or the high-rise building does not exist, determining the highest building in the high-rise building in the area to be detected, setting an initial sub-area to be detected on the highest building, setting the detection diameter Rc1 of the initial sub-area to be detected, and setting other sub-areas to be detected according to the detection diameter Rc1 of the initial sub-area to be detected.
Specifically, the area dividing module is further configured to, when setting the detection diameter R0 of the sub-area to be detected in the center according to the classification of the building at the center point, preset a first preset detection diameter R01, a second preset detection diameter R02, and a third preset detection diameter R03, where R01 < R02 < R03, and set the detection diameter R0 of the sub-area to be detected in the center according to the classification of the building at the center point:
when the building at the central point is a low-rise building, setting the detection diameter R0 of the sub-area to be detected at the center as the first preset detection diameter R01;
when the building at the central point is a middle-layer building, setting the detection diameter R0 of the central sub-area to be detected as the second preset detection diameter R02;
when the building at the center point is a high-rise building, the detection diameter R0 of the sub-area to be detected at the center is set to the third preset detection diameter R03.
Specifically, the area dividing module is further configured to set a correction coefficient matrix X and a preset building height matrix set W, and set X (X1, X2, X3, X4) for the correction coefficient matrix X, where X1 is a first preset correction coefficient, X2 is a second preset correction coefficient, X3 is a third preset correction coefficient, X4 is a fourth preset correction coefficient, and 1 < X2 < X3 < X4 < 1.2;
Setting W (W1, W2 and W3) for the preset building height matrix group W, wherein W1 is a preset low-rise building height matrix, W2 is a preset middle-rise building height matrix and W3 is a preset high-rise building height matrix;
setting W1 (W11, W12, W13 and W14) for the preset low-rise building height matrix W1, wherein W11 is a first preset low-rise building height, W12 is a second preset low-rise building height, W13 is a third preset low-rise building height, W14 is a fourth preset low-rise building height, and Ha1 is less than or equal to W11 and less than W12 and W13 and W14 is less than Ha2;
Setting W2 (W21, W22, W23, W24) for the preset middle layer building height matrix W2, wherein W21 is a first preset middle layer building height, W22 is a second preset middle layer building height, W23 is a third preset middle layer building height, W24 is a fourth preset middle layer building height, and Ha2 is less than or equal to W21 < W22 < W23 < W24 < Ha3;
Setting W3 (W31, W32, W33 and W34) for the preset high-rise building height matrix W3, wherein W31 is a first preset high-rise building height, W32 is a second preset high-rise building height, W33 is a third preset high-rise building height, W34 is a fourth preset high-rise building height, and Ha3 is less than or equal to W31 and less than W32 and less than W33 and less than W34;
the area dividing module is further configured to, after setting the detection diameter R0 of the central sub-area to be detected to an i-th preset detection diameter R0i according to the classification of the building at the center point, correct the set detection diameter of the sub-area to be detected according to the relation between the building height Hn at the center point and each preset building height:
when the building at the center point is a low-rise building, setting the detection diameter R0 of the central sub-area to be detected as the first preset detection diameter R01:
If Ha1 is less than or equal to Hn and less than W11, selecting the first preset correction coefficient X1 to correct the first preset detection diameter R01, wherein the corrected detection diameter R0 of the central sub-area to be detected is R01X 1;
If W11 is less than or equal to Hn and less than W12, selecting the second preset correction coefficient X2 to correct the first preset detection diameter R01, and setting the detection diameter R0 of the corrected central sub-area to be detected as R01X 2;
If W12 is less than or equal to Hn and less than W13, selecting the third preset correction coefficient X3 to correct the first preset detection diameter R01, and setting the detection diameter R0 of the corrected central sub-area to be detected as R01X 3;
if W13 is less than or equal to Hn and less than W14, selecting the fourth preset correction coefficient X4 to correct the first preset detection diameter R01, and setting the detection diameter R0 of the corrected central sub-area to be detected as R01X 4;
when the building at the center point is a middle building and the detection diameter R0 of the sub-area to be detected at the center is set to the second preset detection diameter R02:
If Ha2 is less than or equal to Hn and less than W21, selecting the first preset correction coefficient X1 to correct the second preset detection diameter R02, and setting the detection diameter R0 of the corrected central sub-region to be detected as R02X 1;
If W21 is less than or equal to Hn and less than W22, selecting the second preset correction coefficient X2 to correct the second preset detection diameter R02, and setting the detection diameter R0 of the corrected central sub-area to be detected as R02X 2;
if W22 is less than or equal to Hn and less than W23, selecting the third preset correction coefficient X3 to correct the second preset detection diameter R02, and setting the detection diameter R0 of the corrected central sub-area to be detected as R02X 3;
If W23 is less than or equal to Hn and less than W24, selecting the fourth preset correction coefficient X4 to correct the second preset detection diameter R02, and setting the detection diameter R0 of the corrected central sub-area to be detected as R02X 4;
when the building at the center point is a high-rise building, setting the detection diameter R0 of the central sub-area to be detected as the third preset detection diameter R03:
if Ha3 is less than or equal to Hn and less than W31, selecting the first preset correction coefficient X1 to correct the third preset detection diameter R03, and setting the detection diameter R0 of the corrected central sub-region to be detected as R03X 1;
If W31 is less than or equal to Hn and less than W32, selecting the second preset correction coefficient X2 to correct the third preset detection diameter R03, and setting the detection diameter R0 of the corrected central sub-region to be detected as R03X 2;
If W32 is less than or equal to Hn and less than W33, selecting the third preset correction coefficient X3 to correct the third preset detection diameter R03, and setting the detection diameter R0 of the corrected central sub-region to be detected as R03X 3;
If W33 is less than or equal to Hn and less than W34, the fourth preset correction coefficient X4 is selected to correct the third preset detection diameter R03, and the corrected detection diameter R0 of the central sub-area to be detected is R03X 4.
Specifically, the area dividing module is further configured to determine whether the low-rise building, the middle-rise building or the high-rise building exists on a boundary line of the center sub-area to be detected when other sub-areas to be detected are set according to the detection diameter R0 of the center sub-area to be detected:
If the detection area exists, setting other sub-areas to be detected on a low-rise building, a middle-rise building or a high-rise building on the boundary line of the central sub-area to be detected, setting the sub-areas to be detected on the periphery of the other sub-areas to be detected after the other sub-areas to be detected are set on the periphery of the central sub-area to be detected, and setting the sub-areas to be detected on the periphery of the other sub-areas to be detected until the area to be detected is completely covered by the central sub-areas to be detected, the other sub-areas to be detected and the sub-areas to be detected, wherein the interval between the central points of the adjacent sub-areas to be detected is less than or equal to 1/2R0;
If the central sub-area to be detected does not exist, other sub-areas to be detected are arranged on a low-rise building, a middle-rise building or a high-rise building within the range of the central sub-area to be detected, and the sub-areas to be detected are arranged on the periphery of the other sub-areas to be detected until the areas to be detected are completely covered by the central sub-area to be detected, the other sub-areas to be detected and the sub-areas to be detected, and the distance between the central points of the adjacent sub-areas to be detected is less than or equal to 1/2R0.
Specifically, the area dividing module is further configured to set an initial sub-area to be detected on the highest building, determine a height G0 of the highest building when a detection diameter Rc1 of the initial sub-area to be detected is set, and set a first preset building height G1, a second preset building height G2, a third preset building height G3, and a fourth preset building height G4, where Ha3 is greater than G1 and less than G2 and greater than G3 is greater than G4; setting a first preset diameter Rg1, a second preset diameter Rg2, a third preset diameter Rg3 and a fourth preset diameter Rg4, wherein Rg1 is more than Rg2 and Rg3 is more than Rg4; setting the detection diameter Rc1 of the initial sub-area to be detected according to the relation between the height G0 of the highest building and each preset building height:
when G1 is less than or equal to G0 and less than G2, setting the detection diameter Rc1 of the initial sub-region to be detected as a first preset diameter Rg1;
When G2 is less than or equal to G0 and less than G3, setting the detection diameter Rc1 of the initial sub-region to be detected as a second preset diameter Rg2;
when G3 is less than or equal to G0 and less than G4, setting the detection diameter Rc1 of the initial sub-region to be detected as a third preset diameter Rg3;
when G4 is less than or equal to G0, setting the detection diameter Rc1 of the initial sub-region to be detected to be a fourth preset diameter Rg4;
the region dividing module is further configured to set, when the detection diameter Rc1 of the initial sub-region to be detected is set to the i-th preset diameter Rgi, i=1, 2,3,4, and set other sub-regions to be detected according to the detection diameter Rgi of the initial sub-region to be detected, specifically:
Determining whether the low-rise building, the middle-rise building or the high-rise building exists on the boundary line of the initial sub-area to be detected:
If the detection area exists, setting other sub-areas to be detected on a low-rise building, a middle-rise building or a high-rise building on the boundary line of the initial sub-area to be detected, setting the sub-areas to be detected on the periphery of the other sub-areas to be detected after the other sub-areas to be detected are set on the periphery of the initial sub-area to be detected, until the area to be detected is completely covered by the initial sub-area to be detected, the other sub-areas to be detected and the sub-areas to be detected, and the interval between the central points of the adjacent sub-areas to be detected is less than or equal to 1/2Rgi;
If the detection area is not present, setting other sub-areas to be detected on a low-rise building, a middle-rise building or a high-rise building within the range of the initial sub-area to be detected, and setting the sub-areas to be detected on the periphery of the other sub-areas to be detected until the area to be detected is completely covered by the initial sub-area to be detected, the other sub-areas to be detected and the sub-areas to be detected, wherein the distance between the central points of the adjacent sub-areas to be detected is less than or equal to 1/2Rgi.
Specifically, the area dividing module further determines the number of the detection subsystems in the initial sub-area to be detected, the central sub-area to be detected or other sub-areas to be detected according to the building density D0 in the initial sub-area to be detected, the central sub-area to be detected or other sub-areas to be detected after determining the initial sub-area to be detected and other sub-areas to be detected or determining the initial sub-area to be detected and other sub-areas to be detected, and the detection subsystems are arranged on a low-rise building, a middle-rise building or a high-rise building.
Specifically, the area dividing module is further configured to preset a first preset building density D1, a second preset building density D2, a third preset building density D3 and a fourth preset building density D4 when the number of the detection subsystems in the initial sub-area to be detected, the central sub-area to be detected or other sub-areas to be detected is determined according to the building density D0 in the initial sub-area to be detected, the central sub-area to be detected or other sub-areas to be detected, where D1 is more than D2 is less than D3 and less than D4; presetting a first preset detection subsystem setting number P1, a second preset detection subsystem setting number P2, a third preset detection subsystem setting number P3 and a fourth preset detection subsystem setting number P4, wherein P1 is more than P2 and less than P3 and less than P4;
setting the setting number of the detection subsystems in the initial sub-area to be detected, the central sub-area to be detected or other sub-areas to be detected according to the relation between the building density D0 and each preset building density:
when D0 is less than D1, setting the setting number of the detection subsystems in the initial sub-area to be detected, the central sub-area to be detected or other sub-areas to be detected as the first preset detection subsystem setting number P1;
when D1 is less than or equal to D0 and less than D2, setting the setting number of the detection subsystems in the initial sub-area to be detected, the central sub-area to be detected or other sub-areas to be detected as the second preset detection subsystem setting number P2;
When D2 is less than or equal to D0 and less than D3, setting the setting number of the detection subsystems in the initial sub-area to be detected, the central sub-area to be detected or other sub-areas to be detected as the third preset detection subsystem setting number P3;
When D3 is less than or equal to D0 and less than D4, setting the setting number of the detection subsystems in the initial sub-area to be detected, the central sub-area to be detected or other sub-areas to be detected as the fourth preset detection subsystem setting number P4;
When the i-th preset detecting subsystem setting number Pi is selected as the setting number of the detecting subsystems in the initial sub-area to be detected, the central sub-area to be detected or other sub-areas to be detected, i=1, 2,3,4, one detecting subsystem is respectively arranged on a low-rise building, a middle-rise building or a high-rise building in the initial sub-area to be detected, the central sub-area to be detected or other sub-areas to be detected.
Specifically, by setting the number of the detection subsystems in the initial sub-area to be detected, the central sub-area to be detected or other sub-areas to be detected according to the relation between the building density D0 and each preset building density, a sufficient number of detection subsystems can be accurately set in each sub-area, so that unmanned aerial vehicle detection without dead angles can be ensured in each sub-area.
It can be seen that, in the above embodiments, by arranging the unmanned aerial vehicle detection system in the urban building group, the distributed arrangement of the detection subsystems is performed according to the existing building height, and the combined operation is performed, and meanwhile, the unmanned aerial vehicle detection is performed in an active detection and unmanned aerial vehicle auxiliary detection manner, so that the unmanned aerial vehicle can be effectively ensured to be detected without dead angles in the urban complex environment. Meanwhile, the detection system integrates detection, control and unmanned aerial vehicle service of the unmanned aerial vehicle, and can ensure that the unmanned aerial vehicle detection system performs all-weather unmanned on duty.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Finally, it should be noted that: the above embodiments are only for illustrating the technical aspects of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the above embodiments, it should be understood by those of ordinary skill in the art that: modifications and equivalents may be made to the specific embodiments of the invention without departing from the spirit and scope of the invention, which is intended to be covered by the claims.

Claims (6)

1. The unmanned aerial vehicle detection system is characterized by comprising a centralized control system and a plurality of detection subsystems, wherein the centralized control system is used for dividing a region to be detected into a plurality of sub-regions to be detected according to the building height in the region to be detected, the plurality of detection subsystems are respectively arranged on buildings in the plurality of sub-regions to be detected, and the plurality of detection subsystems are respectively in communication connection with the centralized control system; the detection subsystem includes:
the unmanned aerial vehicle detection unit is used for detecting unmanned aerial vehicles in the to-be-detected subarea;
The unmanned aerial vehicle control unit is used for carrying out early warning, countering, driving away and flywheel positioning on the detected unmanned aerial vehicle;
The unmanned aerial vehicle service unit is used for providing communication, power supply and fault detection services for the unmanned aerial vehicle detection unit and the unmanned aerial vehicle management and control unit; wherein,
The unmanned aerial vehicle detecting unit includes:
The active radar detection module is used for actively detecting unmanned aerial vehicles to be detected in the to-be-detected sub-area and feeding back when the unmanned aerial vehicles to be detected enter a detection blind area of the active radar detection module;
The unmanned aerial vehicle auxiliary detection module is used for detecting unmanned aerial vehicles to be detected in a detection blind area entering the active radar detection module;
The processing module is used for acquiring detection information of the active radar detection module in real time, drawing a flight track of the unmanned aerial vehicle to be detected in real time, predicting whether the unmanned aerial vehicle to be detected can enter a detection blind area of the active radar detection module according to the flight track, and enabling the unmanned aerial vehicle auxiliary detection module to fly to the detection blind area of the active radar detection module when predicting that the unmanned aerial vehicle to be detected can enter the detection blind area of the active radar detection module, so that the unmanned aerial vehicle auxiliary detection module detects the unmanned aerial vehicle to be detected;
the centralized control system includes:
building height determining module, which is used to establish building height set H0 according to building height in the area to be detected after determining the area to be detected, and set H0[ H1, H2, H3, ], wherein H1-Hn are building heights in the area to be detected;
The area dividing module is used for dividing the building in the area to be detected into a low-rise building, a middle-rise building and a high-rise building according to the building height set H0 and dividing the area to be detected into a plurality of sub-areas to be detected;
The area dividing module is further configured to, when dividing the building in the area to be detected into a low-rise building, a middle-rise building and a high-rise building according to the building height set H0, preset a first standard height Ha1, a second standard height Ha2 and a third standard height Ha3, where Ha1 is less than Ha2 and less than Ha3, and divide the building in the area to be detected into a low-rise building, a middle-rise building and a high-rise building according to a relation between the height Hi of each building in the building height set H0 and the first standard height Ha1, the second standard height Ha2 and the third standard height Ha3, where i=1, 2, 3.
When Ha1 is less than or equal to Hi and less than Ha2, dividing the building in the height section into low-rise buildings;
when Ha2 is less than or equal to Hi and less than Ha3, dividing the building in the height interval into middle-layer buildings;
When Ha3 is less than or equal to Hi, dividing the building in the height section into high-rise buildings;
The area dividing module is further configured to, after dividing the building in the area to be detected into a low-rise building, a middle-rise building and a high-rise building, divide the area to be detected into a plurality of sub-areas to be detected, specifically:
determining a central point of the area to be detected, and judging whether a low-rise building, a middle-rise building or a high-rise building exists in a preset range of the central point:
When the low-rise building, the middle-rise building or the high-rise building exists, a central sub-area to be detected is arranged on the building at the central point, the detection diameter R0 of the central sub-area to be detected is set according to the classification of the building at the central point, and other sub-areas to be detected are arranged according to the detection diameter R0 of the central sub-area to be detected;
when the low-rise building, the middle-rise building or the high-rise building does not exist, determining the highest building in the buildings in the area to be detected, setting an initial sub-area to be detected on the highest building, setting the detection diameter Rc1 of the initial sub-area to be detected, and setting other sub-areas to be detected according to the detection diameter Rc1 of the initial sub-area to be detected;
The region dividing module is further configured to, when setting the detection diameter R0 of the central sub-region to be detected according to the classification of the building at the center point, preset a first preset detection diameter R01, a second preset detection diameter R02 and a third preset detection diameter R03, where R01 < R02 < R03, and set the detection diameter R0 of the central sub-region to be detected according to the classification of the building at the center point:
when the building at the central point is a low-rise building, setting the detection diameter R0 of the sub-area to be detected at the center as the first preset detection diameter R01;
when the building at the central point is a middle-layer building, setting the detection diameter R0 of the central sub-area to be detected as the second preset detection diameter R02;
when the building at the center point is a high-rise building, the detection diameter R0 of the sub-area to be detected at the center is set to the third preset detection diameter R03.
2. The unmanned aerial vehicle detection system based on the existing building facilities as the carrier according to claim 1, wherein the area dividing module is further configured to set a correction coefficient matrix X and a preset building height matrix set W, and to set X (X1, X2, X3, X4) for the correction coefficient matrix X, wherein X1 is a first preset correction coefficient, X2 is a second preset correction coefficient, X3 is a third preset correction coefficient, X4 is a fourth preset correction coefficient, and 1 < X2 < X3 < X4 < 1.2;
Setting W (W1, W2 and W3) for the preset building height matrix group W, wherein W1 is a preset low-rise building height matrix, W2 is a preset middle-rise building height matrix and W3 is a preset high-rise building height matrix;
setting W1 (W11, W12, W13 and W14) for the preset low-rise building height matrix W1, wherein W11 is a first preset low-rise building height, W12 is a second preset low-rise building height, W13 is a third preset low-rise building height, W14 is a fourth preset low-rise building height, and Ha1 is less than or equal to W11 and less than W12 and W13 and W14 is less than Ha2;
Setting W2 (W21, W22, W23, W24) for the preset middle layer building height matrix W2, wherein W21 is a first preset middle layer building height, W22 is a second preset middle layer building height, W23 is a third preset middle layer building height, W24 is a fourth preset middle layer building height, and Ha2 is less than or equal to W21 < W22 < W23 < W24 < Ha3;
Setting W3 (W31, W32, W33 and W34) for the preset high-rise building height matrix W3, wherein W31 is a first preset high-rise building height, W32 is a second preset high-rise building height, W33 is a third preset high-rise building height, W34 is a fourth preset high-rise building height, and Ha3 is less than or equal to W31 and less than W32 and less than W33 and less than W34;
the area dividing module is further configured to, after setting the detection diameter R0 of the central sub-area to be detected to an i-th preset detection diameter R0i according to the classification of the building at the center point, correct the set detection diameter of the sub-area to be detected according to the relation between the building height Hn at the center point and each preset building height:
when the building at the center point is a low-rise building, setting the detection diameter R0 of the central sub-area to be detected as the first preset detection diameter R01:
If Ha1 is less than or equal to Hn and less than W11, selecting the first preset correction coefficient X1 to correct the first preset detection diameter R01, wherein the corrected detection diameter R0 of the central sub-area to be detected is R01X 1;
If W11 is less than or equal to Hn and less than W12, selecting the second preset correction coefficient X2 to correct the first preset detection diameter R01, and setting the detection diameter R0 of the corrected central sub-area to be detected as R01X 2;
If W12 is less than or equal to Hn and less than W13, selecting the third preset correction coefficient X3 to correct the first preset detection diameter R01, and setting the detection diameter R0 of the corrected central sub-area to be detected as R01X 3;
if W13 is less than or equal to Hn and less than W14, selecting the fourth preset correction coefficient X4 to correct the first preset detection diameter R01, and setting the detection diameter R0 of the corrected central sub-area to be detected as R01X 4;
when the building at the center point is a middle building and the detection diameter R0 of the sub-area to be detected at the center is set to the second preset detection diameter R02:
If Ha2 is less than or equal to Hn and less than W21, selecting the first preset correction coefficient X1 to correct the second preset detection diameter R02, and setting the detection diameter R0 of the corrected central sub-region to be detected as R02X 1;
If W21 is less than or equal to Hn and less than W22, selecting the second preset correction coefficient X2 to correct the second preset detection diameter R02, and setting the detection diameter R0 of the corrected central sub-area to be detected as R02X 2;
if W22 is less than or equal to Hn and less than W23, selecting the third preset correction coefficient X3 to correct the second preset detection diameter R02, and setting the detection diameter R0 of the corrected central sub-area to be detected as R02X 3;
If W23 is less than or equal to Hn and less than W24, selecting the fourth preset correction coefficient X4 to correct the second preset detection diameter R02, and setting the detection diameter R0 of the corrected central sub-area to be detected as R02X 4;
when the building at the center point is a high-rise building, setting the detection diameter R0 of the central sub-area to be detected as the third preset detection diameter R03:
if Ha3 is less than or equal to Hn and less than W31, selecting the first preset correction coefficient X1 to correct the third preset detection diameter R03, and setting the detection diameter R0 of the corrected central sub-region to be detected as R03X 1;
If W31 is less than or equal to Hn and less than W32, selecting the second preset correction coefficient X2 to correct the third preset detection diameter R03, and setting the detection diameter R0 of the corrected central sub-region to be detected as R03X 2;
If W32 is less than or equal to Hn and less than W33, selecting the third preset correction coefficient X3 to correct the third preset detection diameter R03, and setting the detection diameter R0 of the corrected central sub-region to be detected as R03X 3;
If W33 is less than or equal to Hn and less than W34, the fourth preset correction coefficient X4 is selected to correct the third preset detection diameter R03, and the corrected detection diameter R0 of the central sub-area to be detected is R03X 4.
3. The unmanned aerial vehicle detection system based on the existing building facilities as the carrier according to claim 2, wherein the area dividing module is further configured to determine whether the low-rise building, the middle-rise building or the high-rise building exists on the boundary line of the center sub-area to be detected when other sub-areas to be detected are set according to the detection diameter R0 of the center sub-area to be detected:
If the detection area exists, setting other sub-areas to be detected on a low-rise building, a middle-rise building or a high-rise building on the boundary line of the central sub-area to be detected, setting the sub-areas to be detected on the periphery of the other sub-areas to be detected after the other sub-areas to be detected are set on the periphery of the central sub-area to be detected, and setting the sub-areas to be detected on the periphery of the other sub-areas to be detected until the area to be detected is completely covered by the central sub-areas to be detected, the other sub-areas to be detected and the sub-areas to be detected, wherein the interval between the central points of the adjacent sub-areas to be detected is less than or equal to 1/2R0;
If the central sub-area to be detected does not exist, other sub-areas to be detected are arranged on a low-rise building, a middle-rise building or a high-rise building within the range of the central sub-area to be detected, and the sub-areas to be detected are arranged on the periphery of the other sub-areas to be detected until the areas to be detected are completely covered by the central sub-area to be detected, the other sub-areas to be detected and the sub-areas to be detected, and the distance between the central points of the adjacent sub-areas to be detected is less than or equal to 1/2R0.
4. The unmanned aerial vehicle detection system based on the existing building facilities as the carrier according to claim 1, wherein the area dividing module is further configured to set an initial sub-area to be detected on the highest building, determine the height G0 of the highest building when the detection diameter Rc1 of the initial sub-area to be detected is set, and set a first preset building height G1, a second preset building height G2, a third preset building height G3 and a fourth preset building height G4, and Ha3 < G1 < G2 < G3 < G4; setting a first preset diameter Rg1, a second preset diameter Rg2, a third preset diameter Rg3 and a fourth preset diameter Rg4, wherein Rg1 is more than Rg2 and Rg3 is more than Rg4; setting the detection diameter Rc1 of the initial sub-area to be detected according to the relation between the height G0 of the highest building and each preset building height:
when G1 is less than or equal to G0 and less than G2, setting the detection diameter Rc1 of the initial sub-region to be detected as a first preset diameter Rg1;
When G2 is less than or equal to G0 and less than G3, setting the detection diameter Rc1 of the initial sub-region to be detected as a second preset diameter Rg2;
when G3 is less than or equal to G0 and less than G4, setting the detection diameter Rc1 of the initial sub-region to be detected as a third preset diameter Rg3;
when G4 is less than or equal to G0, setting the detection diameter Rc1 of the initial sub-region to be detected to be a fourth preset diameter Rg4;
The region dividing module is further configured to set, when the detection diameter Rc1 of the initial sub-region to be detected is set to an i-th preset diameter Rgi, i=1, 2,3,4, and set other sub-regions to be detected according to the detection diameter Rgi of the initial sub-region to be detected, specifically:
Determining whether the low-rise building, the middle-rise building or the high-rise building exists on the boundary line of the initial sub-area to be detected:
If the detection area exists, setting other sub-areas to be detected on a low-rise building, a middle-rise building or a high-rise building on the boundary line of the initial sub-area to be detected, setting the sub-areas to be detected on the periphery of the other sub-areas to be detected after the other sub-areas to be detected are set on the periphery of the initial sub-area to be detected, until the area to be detected is completely covered by the initial sub-area to be detected, the other sub-areas to be detected and the sub-areas to be detected, and the interval between the central points of the adjacent sub-areas to be detected is less than or equal to 1/2Rgi;
If the detection area is not present, setting other sub-areas to be detected on a low-rise building, a middle-rise building or a high-rise building within the range of the initial sub-area to be detected, and setting the sub-areas to be detected on the periphery of the other sub-areas to be detected until the area to be detected is completely covered by the initial sub-area to be detected, the other sub-areas to be detected and the sub-areas to be detected, wherein the distance between the central points of the adjacent sub-areas to be detected is less than or equal to 1/2Rgi.
5. The unmanned aerial vehicle detection system based on the existing building facilities as the carrier according to claim 1, wherein the area dividing module further determines the setting number of the detection subsystems in the initial sub-area to be detected, the central sub-area to be detected or the other sub-areas to be detected according to the building density D0 in the initial sub-area to be detected, the central sub-area to be detected or the other sub-areas to be detected after determining the central sub-area to be detected and the other sub-areas to be detected or determining the initial sub-area to be detected and the other sub-areas to be detected, and the detection subsystems are arranged on a low-rise building, a middle-rise building or a high-rise building.
6. The unmanned aerial vehicle detection system based on the existing building facilities as the carrier according to claim 5, wherein the area dividing module is further configured to preset a first preset building density D1, a second preset building density D2, a third preset building density D3 and a fourth preset building density D4 when the set number of detection subsystems in the initial sub-area to be detected, the central sub-area to be detected or other sub-areas to be detected is determined according to the building density D0 in the initial sub-area to be detected, the central sub-area to be detected or other sub-areas to be detected, and D1 < D2 < D3 < D4; presetting a first preset detection subsystem setting number P1, a second preset detection subsystem setting number P2, a third preset detection subsystem setting number P3 and a fourth preset detection subsystem setting number P4, wherein P1 is more than P2 and less than P3 and less than P4;
setting the setting number of the detection subsystems in the initial sub-area to be detected, the central sub-area to be detected or other sub-areas to be detected according to the relation between the building density D0 and each preset building density:
when D0 is less than D1, setting the setting number of the detection subsystems in the initial sub-area to be detected, the central sub-area to be detected or other sub-areas to be detected as the first preset detection subsystem setting number P1;
when D1 is less than or equal to D0 and less than D2, setting the setting number of the detection subsystems in the initial sub-area to be detected, the central sub-area to be detected or other sub-areas to be detected as the second preset detection subsystem setting number P2;
When D2 is less than or equal to D0 and less than D3, setting the setting number of the detection subsystems in the initial sub-area to be detected, the central sub-area to be detected or other sub-areas to be detected as the third preset detection subsystem setting number P3;
When D3 is less than or equal to D0 and less than D4, setting the setting number of the detection subsystems in the initial sub-area to be detected, the central sub-area to be detected or other sub-areas to be detected as the fourth preset detection subsystem setting number P4;
when the i-th preset detection subsystem setting number Pi is selected as the setting number of the detection subsystems in the initial sub-area to be detected, the central sub-area to be detected or other sub-areas to be detected, i=1, 2,3,4, one detection subsystem is respectively arranged on a low-rise building, a middle-rise building or a high-rise building in the initial sub-area to be detected, the central sub-area to be detected or other sub-areas to be detected.
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