Research On Navigation Spoofing Mechanism And Expelling Strategy Of Rotor UAV

With the development of unmanned aerial vehicle(UAV)technology and navigation technology,rotor unmanned aerial vehicle(RUAV)has been widely used in military and civil fields,among which quad-rotor unmanned aerial vehicle(QUAV)is particularly favored.However,with the surge in the number of UAVs and the lack of UAV pilots with formal training,the incidents of UAV black flying into the no-fly zone occur frequently,which poses a serious threat to the low-altitude safety of government agencies,major assembly sites and other important places.The UAV prevention and control of defense in important places has become an urgent problem to be concerned about and solved.As a new anti-UAV technology,navigation spoofing jamming technology has the advantages of low cost,little impact on the surrounding environment and can realize allweather active defense.It is especially suitable for anti-UAV defense in important places.Taking the defense of important places as the research background,taking the consumer RUAV as the research object,and taking the navigation spoofing technology as the countermeasures,this paper focuses on the action mechanism of spoofing signal on UAV and the strategy of driving away RUAV by using the spoofing signal.The main research contents and results are as follows:1.The structure of UAV flight control system is analyzed.Starting from the three functional modules of navigation,guidance and control of UAV flight control system,and taking DJI series and other typical consumer RUAV as the object,the working principle and characteristics of each module are discussed,and the mathematical model of the control system of QUAVs is established and analyzed,which lays a model foundation for the analysis of UAV navigation spoofing mechanism.2.The flight control system model of UAV under spoofing condition is established,and the action mechanism of spoofing signal on RUAV is analyzed.Based on generative navigation spoofing technology,a covert spoofing signal generation method is proposed,which can provide guidance for the generation of highly realistic navigation spoofing signals.The flight control system model of UAV under the condition of spoofing is established,the action mechanism of deception signal on RUAV and its influence on the three modules of navigation,guidance and control are analyzed,and the navigation spoofing simulation environment is built based on MATLAB / Simulink.3.Two RUAV directional expelling strategies are proposed.This paper analyzes the technical mechanism of directional expulsion of RUAV by using navigation spoofing technology,and puts forward two directional expelling strategies: constant-bias-pull strategy and asymptotic-bias-pull strategy,which can drive the target black flying RUAV in any specified direction;Using the built simulation environment,directional expelling simulation experiments in different scenarios are carried out to verify the feasibility of the proposed directional expelling strategy.4.An experimental environment of UAV directional expulsion with the navigation spoofing signal generation and transmission system as the core is constructed,and carried out ground static test and aerial directional expelling verification experiment with DJI Spirit 4 Pro UAV as the target aircraft.The experimental results are basically consistent with the theoretical analysis and simulation results,which shows that the directional expelling strategy proposed in this paper is reasonable and effective.The RUAV directional expelling strategy proposed in this paper and the successful implementation of RUAV directional drive away experiment have important guiding significance for solving the UAV prevention and control problems of defense in important places and the accurate spoofing control of UAV.