用无人机自主包围并拦截敌方无人机，可在无信号环境下有效作战。
Autonomous 3D Moving Target Encirclement and Interception with Range measurement
- 通过两段实时距离测量实现非视距下的目标定位
- 可自适应切换包围保护或监视模式，突破阈值即执行自杀式拦截
- 已在真实无人机实验中验证，适合反制高威胁小型无人机
商用无人机正成为新兴安全威胁，因其可携带危险载荷或扰乱空域。为应对这一挑战，本文提出一种自主三维目标包围与拦截策略。不同于传统地面引导系统，该策略利用自主无人机追踪并打击非合作敌方无人机，在无视线、无GPS及雷达干扰等条件下仍有效，而传统地面引导方式在此类环境中失效。通过两个带有噪声的实时距离测量值，护卫无人机采用观测与速度补偿方法，基于反同步（AS）和X-Y环形运动结合垂直抖动，估算自身与目标的相对位置。提出一种包围控制机制，使无人机能自适应地在包围保护目标与包围监控敌方目标之间切换。一旦突破预警阈值，无人机甚至可执行自杀式攻击以消除敌方目标。通过真实无人机实验与MATLAB模拟分析验证了该策略在检测、包围和拦截敌方无人机方面的有效性。
原文摘要 · Abstract (English)
Commercial UAVs are an emerging security threat as they are capable of carrying hazardous payloads or disrupting air traffic. To counter UAVs, we introduce an autonomous 3D target encirclement and interception strategy. Unlike traditional ground-guided systems, this strategy employs autonomous drones to track and engage non-cooperative hostile UAVs, which is effective in non-line-of-sight conditions, GPS denial, and radar jamming, where conventional detection and neutralization from ground guidance fail. Using two noisy real-time distances measured by drones, guardian drones estimate the relative position from their own to the target using observation and velocity compensation methods, based on anti-synchronization (AS) and an X$-$Y circular motion combined with vertical jitter. An encirclement control mechanism is proposed to enable UAVs to adaptively transition from encircling and protecting a target to encircling and monitoring a hostile target. Upon breaching a warning threshold, the UAVs may even employ a suicide attack to neutralize the hostile target. We validate this strategy through real-world UAV experiments and simulated analysis in MATLAB, demonstrating its effectiveness in detecting, encircling, and intercepting hostile drones. More details: https://youtu.be/5eHW56lPVto.
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