| Citation: | XIAO Lijun, SONG Yuqin. Distributed acoustic array-based substation UAV detection system[J]. Journal of Aerospace Power, 2026, 41（9）：20250350 doi: 10.13224/j.cnki.jasp.20250350
|
In substation environments, acoustic-signature-based unmanned aerial vehicle (UAV) detection systems have recently attracted significant attention because, relative to electro-optical or radio-frequency solutions, they can deliver full coverage of the surrounding airspace at substantially lower cost. In view of the complex electromagnetic noise environment and high requirements for spatial coverage in substations, a drone monitoring system based on a distributed acoustic array was proposed. The system employed dual tetrahedral microphone arrays to capture acoustic signals, and a 500 Hz high-pass filter combined with a log-Mel spectrogram extraction algorithm was designed to suppress current-induced noise. On this basis, a ResNet-18 detection network was constructed, achieving a drone detection accuracy exceeding 90% and a false alarm rate below 4% within a 200 m range. To address the instability of time delay estimation for distant acoustic signals, a time delay continuity judgment and outlier rejection strategy was introduced, along with a least-squares hyperbolic localization model, thereby improving the drone localization performance within 100m in practical scenarios. Experimental results verified the effectiveness of the proposed method.
| [1] |
SHI Xiufang, YANG Chaoqun, XIE Weige, et al. Anti-drone system with multiple surveillance technologies: architecture, implementation, and challenges[J]. IEEE Communications Magazine, 2018, 56(4): 68-74. doi: 10.1109/MCOM.2018.1700430
|
| [2] |
陈新颖, 盛敏, 李博, 等. 面向6G的无人机通信综述[J]. 电子与信息学报, 2022, 44(3): 781-789. CHEN Xinying, SHENG Min, LI Bo, et al. Survey on unmanned aerial vehicle communications for 6G[J]. Journal of Electronics & Information Technology, 2022, 44(3): 781-789. (in Chinese
CHEN Xinying, SHENG Min, LI Bo, et al. Survey on unmanned aerial vehicle communications for 6G[J]. Journal of Electronics & Information Technology, 2022, 44(3): 781-789. (in Chinese)
|
| [3] |
KAUFMANN E, BAUERSFELD L, LOQUERCIO A, et al. Champion-level drone racing using deep reinforcement learning[J]. Nature, 2023, 620(7976): 982-987. doi: 10.1038/s41586-023-06419-4
|
| [4] |
KUNERTOVA D. The war in Ukraine shows the game-changing effect of drones depends on the game[J]. Bulletin of the Atomic Scientists, 2023, 79(2): 95-102. doi: 10.1080/00963402.2023.2178180
|
| [5] |
国务院、中央军委. 无人驾驶航空器飞行管理暂行条例[EB/OL]. (2023-06-28)[2024-12-24]. https://www.gov.cn/zhengce/content/202306/content_6888799.htm The State Council of the People’s Repulic of China, The Central Military Commission of the Comunist Party of China. Interim regulations on the management of unmannedaicraft flights [EB/OL]. (2023-06-28)[2024-12-24]. https://www.gov.cn/zhengce/content/ 202306/content_6888799.htm. (in Chinese
The State Council of the People’s Repulic of China, The Central Military Commission of the Comunist Party of China. Interim regulations on the management of unmannedaicraft flights [EB/OL]. (2023-06-28)[2024-12-24]. https://www.gov.cn/zhengce/content/ 202306/content_6888799.htm. (in Chinese)
|
| [6] |
任俊宇, 俞宁宁, 周成伟, 等. DroneRFb-DIR: 用于非合作无人机个体识别的射频信号数据集[J]. 电子与信息学报, 2025, 47(3): 573-581. REN Junyu, YU Ningning, ZHOU Chengwei, et al. DroneRFb-DIR: an RF signal dataset for non-cooperative drone individual identification[J]. Journal of Electronics & Information Technology, 2025, 47(3): 573-581. (in Chinese
REN Junyu, YU Ningning, ZHOU Chengwei, et al. DroneRFb-DIR: an RF signal dataset for non-cooperative drone individual identification[J]. Journal of Electronics & Information Technology, 2025, 47(3): 573-581. (in Chinese)
|
| [7] |
管康萍, 冯正康, 马小艳, 等. 一种基于航迹特征的无人机与飞鸟目标雷达识别方法[J]. 上海航天, 2024, 41(1): 130-136. GUAN Kangping, FENG Zhengkang, MA Xiaoyan, et al. A radar recognition method for UAV and flying bird targets based on track characteristics[J]. Aerospace Shanghai, 2024, 41(1): 130-136. (in Chinese
GUAN Kangping, FENG Zhengkang, MA Xiaoyan, et al. A radar recognition method for UAV and flying bird targets based on track characteristics[J]. Aerospace Shanghai, 2024, 41(1): 130-136. (in Chinese)
|
| [8] |
马显龙, 郭晨鋆, 曹占国, 等. 基于视频联动的变电站无人机入侵监测技术[J]. 电子设计工程, 2024, 32(23): 89-93. MA Xianlong, GUO Chenyun, CAO Zhanguo, et al. Monitoring technology of the Unmanned Aerial Vehicle intruding substation based on video linkage[J]. Electronic Design Engineering, 2024, 32(23): 89-93. (in Chinese
MA Xianlong, GUO Chenyun, CAO Zhanguo, et al. Monitoring technology of the Unmanned Aerial Vehicle intruding substation based on video linkage[J]. Electronic Design Engineering, 2024, 32(23): 89-93. (in Chinese)
|
| [9] |
YU Ningning, WU Jiajun, ZHOU Chengwei, et al. SMNet: multi-drone detection and classification via monitoring flight control signals on spectrograms[J]. IEEE Transactions on Cognitive Communications and Networking, 2025, 11(5): 3245-3259. doi: 10.1109/TCCN.2025.3537100
|
| [10] |
常先宇. 基于声阵列的无人机检测及定位系统[D]. 杭州: 浙江大学, 2019. CHANG Xianyu. Drone detection and localization using acoustic arrays: algorithm design and implementation[D]. Hangzhou: Zhejiang University, 2019. (in Chinese
CHANG Xianyu. Drone detection and localization using acoustic arrays: algorithm design and implementation[D]. Hangzhou: Zhejiang University, 2019. (in Chinese)
|
| [11] |
陈鹏, 陈洋, 王威. 无人机声学定位技术综述[J]. 华南理工大学学报(自然科学版), 2022, 50(12): 109-123. CHEN Peng, CHEN Yang, WANG Wei. Review for UAV acoustic positioning[J]. Journal of South China University of Technology (Natural Science Edition), 2022, 50(12): 109-123. (in Chinese
CHEN Peng, CHEN Yang, WANG Wei. Review for UAV acoustic positioning[J]. Journal of South China University of Technology (Natural Science Edition), 2022, 50(12): 109-123. (in Chinese)
|
| [12] |
曹盛. 小型无人机声阵列探测系统设计与实现[D]. 重庆: 重庆理工大学, 2024. CAO Sheng. Design and realisation of acoustic array detection system for small UAVs[D]. Chongqing: Chongqing University of Technology, 2024. (in Chinese
CAO Sheng. Design and realisation of acoustic array detection system for small UAVs[D]. Chongqing: Chongqing University of Technology, 2024. (in Chinese)
|
| [13] |
DAVIS S, MERMELSTEIN P. Comparison of parametric representations for monosyllabic word recognition in continuously spoken sentences[J]. IEEE Transactions on Acoustics, Speech, and Signal Processing, 1980, 28(4): 357-366. doi: 10.1109/TASSP.1980.1163420
|
| [14] |
李广青. 无人机多维度智能识别关键技术研究[D]. 长春: 长春理工大学, 2021. LI Guangqing. Research on key technologies of UAV multidimensional intelligent recognition[D]. Changchun: Changchun University of Science and Technology, 2021. (in Chinese
LI Guangqing. Research on key technologies of UAV multidimensional intelligent recognition[D]. Changchun: Changchun University of Science and Technology, 2021. (in Chinese)
|
| [15] |
HE Kaiming, ZHANG Xiangyu, REN Shaoqing, et al. Deep residual learning for image recognition[C]//Proceedings IEEE Conference on Computer Vision and Pattern Recognition. Piscataway, US: IEEE, 2016: 770-778.
|
| [16] |
AL-EMADI S A, AL-ALI A K, MOHAMMED A. Audio-based drone detection and identification using deep learning techniques with dataset enhancement through generative adversarial networks[J]. Sensors, 2021, 21(15): 4953. doi: 10.3390/s21154953
|
| [17] |
吴桐. 基于分布式声阵列的无人机检测定位系统[D]. 杭州: 浙江大学, 2022. WU Tong. Drone detection and localization system using distributed acoustic arrays[D]. Hangzhou: Zhejiang University, 2022. (in Chinese
WU Tong. Drone detection and localization system using distributed acoustic arrays[D]. Hangzhou: Zhejiang University, 2022. (in Chinese)
|
| [18] |
夏伟, 罗明, 赵美霞. 无源时差定位系统最优布站方法研究[J]. 雷达科学与技术, 2020, 18(1): 34-38. XIA Wei, LUO Ming, ZHAO Meixia. Study on optimal station distribution and performance of passive time difference localization system[J]. Radar Science and Technology, 2020, 18(1): 34-38. (in Chinese
XIA Wei, LUO Ming, ZHAO Meixia. Study on optimal station distribution and performance of passive time difference localization system[J]. Radar Science and Technology, 2020, 18(1): 34-38. (in Chinese)
|
| [19] |
KNAPP C, CARTER G. The generalized correlation method for estimation of time delay[J]. IEEE Transactions on Acoustics, Speech, and Signal Processing, 1976, 24(4): 320-327. doi: 10.1109/TASSP.1976.1162830
|
| [20] |
SHI Zhiguo, CHANG Xianyu, YANG Chaoqun, et al. An acoustic-based surveillance system for amateur drones detection and localization[J]. IEEE Transactions on Vehicular Technology, 2020, 69(3): 2731-2739. doi: 10.1109/TVT.2020.2964110
|
| [21] |
蔡卫平, 黄印君, 陆泽橼. 基于分布式麦克风阵列的声源定位算法[J]. 计算机应用与软件, 2014, 31(5): 132-135. CAI Weiping, HUANG Yinjun, LU Zeyuan. Sound source localisation algorithm based on distributed microphone arrays[J]. Computer Applications and Software, 2014, 31(5): 132-135. (in Chinese
CAI Weiping, HUANG Yinjun, LU Zeyuan. Sound source localisation algorithm based on distributed microphone arrays[J]. Computer Applications and Software, 2014, 31(5): 132-135. (in Chinese)
|
| [22] |
卢艳美. 基于分布式麦克风阵列的声源定位方法研究[D]. 辽宁 大连: 大连理工大学, 2017. LU Yanmei. Research on sound source localization based on distributed microphone array[D]. Dalian Liaoning: Dalian University of Technology, 2017. (in Chinese
LU Yanmei. Research on sound source localization based on distributed microphone array[D]. Dalian Liaoning: Dalian University of Technology, 2017. (in Chinese)
|
| [23] |
王舒文. 分布式麦克风阵列定位方法研究[D]. 辽宁大连: 大连理工大学, 2013. WANG Shuwen. Study on distributed microphone array localization method[D]. Dalian Liaoning: Dalian University of Technology, 2013. (in Chinese
WANG Shuwen. Study on distributed microphone array localization method[D]. Dalian Liaoning: Dalian University of Technology, 2013. (in Chinese)
|
| [24] |
CHAN Y T, HO K C. A simple and efficient estimator for hyperbolic location[J]. IEEE Transactions on Signal Processing, 1994, 42(8): 1905-1915. doi: 10.1109/78.301830
|
| [25] |
王同庆. 基于小型麦克风阵列的旋翼式无人机检测与定位系统研究[D]. 南京: 南京理工大学, 2023. WANG Tongqing. Research on detection and localization system for rotor-type UAVs based on a small microphone array. Nanjing: Nanjing University of Science and Technology, 2023. (in Chinese
WANG Tongqing. Research on detection and localization system for rotor-type UAVs based on a small microphone array. Nanjing: Nanjing University of Science and Technology, 2023. (in Chinese)
|
| [26] |
SEDUNOV A, SALLOUM H, SUTIN A, et al. UAV passive acoustic detection[C]//Proceedings of IEEE International Symposium on Technologies for Homeland Security. Piscataway, US: IEEE, 2018: 1-6.
|
DownLoad:
