低空小型旋翼无人机近距拦截捕获方法

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中图分类号：TJ765.2 文献标志码：A DOI：10.12305/j.issn.1001-506X.2026.03.25

Abstract：To adress the limitations ofcurrent counter-drone technologies suchas interference jamming andattack destruction，aclose-range interceptionandcapture methodisproposedasacooperationandsupplementationofcounte-drone countermeasures.Firstly，the targetcharacteristicsofsmallrotor-winged dones areanalyzed，ndanoverallshemeof the close-range interceptionandcapturesystem is designed，includingaflightplatform，atrackingandaiming device，anda captureunit.Secondly，ascale-adaptivetrackingmethod is proposed basedonkemelizedcorrelation filter，utilizingthe lineof-sightangleofa gimbal cameratotrack andaim targets，andusing proportional guidance for trackingand guidance. Furthermore，thedynamicsmodelof therotational deploymentofaflexiblenetisderived，andthedynamicscharacteristicsof thecapture process areanalyzed.Finally，a close range interception and capture systemis developed and multiple interception and capture tests are successfully completed， demonstrating the effectiveness of the proposed method.

Keywords： rotor-winged drone；object recognition； tracking and aiming；aerial interception; flexible net

0 引言

人们带来便利的同时，不可避免地因监管疏漏，常以“不速之客"的身份闯人机场、政府部门和军事要地等区域[6-8]，给公共安全带来诸多风险和威胁。（剩余11956字）