基于差异信息的反无人机目标检测技术研究进展

doi:10.7527/S1000-6893.2026.33268

Abstract

Abstract:

With the rapid proliferation of low-altitude Unmanned Aerial Vehicles （UAVs）， unauthorized and disorderly flights have posed persistent threats to public safety， critical infrastructure， and low-altitude airspace management. Stable and reliable detection of small UAVs in complex environments has therefore become a key requirement for anti-UAV systems. Existing reviews are commonly organized according to sensor types or algorithmic architectures， making it difficult to reveal the intrinsic relationships among different sensing modalities. To address this issue， this paper establishes a unified classification framework oriented toward detection criteria from the perspectives of the physical sources and sensing mechanisms of the differential information between UAVs and their backgrounds. Accordingly， anti-UAV target detection is categorized into three types： static appearance differences， dynamic temporal differences， and intrinsic radio-frequency differences. Within this framework， the fundamental principles， representative methods， development trends， advantages， and limitations of single-modal detection technologies， including visible-light imaging， infrared imaging， radar， acoustics， and radio-frequency detection， are systematically reviewed. Multi-modal detection methods are further analyzed in terms of multi-source collaborative modeling， cross-modal alignment and fusion strategies， together with the engineering applications of representative anti-UAV detection systems. In addition， publicly available datasets are summarized according to sensing modality， and commonly used evaluation metrics for different modalities， including detection accuracy， localization accuracy， real-time performance， detection range， and environmental robustness， are reviewed. Finally， future research directions are discussed in light of current technical bottlenecks， including multi-modal collaborative sensing， cross-scenario generalization， robust feature learning， and lightweight deployment.

Key words: anti-UAV target detection, anti-UAV datasets, visible light, infrared, radio frequency, radar, acoustics

Qintan LI, Xueling KANG, Weiwen CHEN, Xiangtao ZHENG, Xiaoqiang LU. A review of anti-UAV target detection technology based on differential information[J]. Acta Aeronautica et Astronautica Sinica, 2026, 47(19): 333268.

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探测手段	优势	劣势	典型适用场景
可见光	外观结构与纹理差异明显材质反射与轮廓易区分与静态背景有明显差别	小型远距目标易与噪声/鸟类混淆复杂背景导致淹没光照变化削弱外观差异	局部空域目标可视检测场景
红外	热辐射与背景形成温差夜间优势明显背景温场变化慢，目标更突出	高温背景降低对比度小无人机热源弱天气影响显著	全天时低照度目标检测场景
雷达	旋翼微多普勒与鸟类区分明显距离/速度等动态差异强不受光照与天气影响	小无人机雷达散射截面小鸟群、建筑反射产生杂波设备成本高	大范围空域目标检测场景
声学	旋翼周期声纹稳定频谱结构与自然声差异大遮挡/夜间仍可工作	环境噪声掩盖声衰减快多路径与混响影响识别	近距离低空目标检测场景
射频	调制规律与协议结构显著背景无线信号结构性弱复杂天气不影响	无通信链路无法探测民用通信干扰跳频/加密提高难度	通信信号目标检测场景

系统/平台	检测技术	主要功能	典型特点
LX-SPEC1020^［98］	射频	侦测-识别	被动频谱侦测；通信信号特征识别
LX-RS01^［99］	雷达	预警-定位-区分	微多普勒特征提取；鸟/机区分能力
Scanner-DB^［100］	射频	侦测-识别-定位	无源被动侦测；多目标告警
LX-WS01^［101］	光电+红外	识别-定位	可视化识别确认；红外夜间补充
西安知语云反无人机系统^［102］	雷达+光电+激光	预警-联动确认	雷达告警引导；多源协同降误警
XD-1018便携系统^［103］	射频+雷达+光电	预警-协同探测	便携式一体化；应急快速布控
AUDS^［104］	雷达+光电+红外	探测-跟踪-干扰	雷达引导光电跟踪；支持反制扩展
DedroneTracker^［105］	射频+光电	探测-分类-跟踪	多源信息融合；目标分类轨迹跟踪
Anduril栅格系统与哨兵塔^［106］	分布式雷达+光电	探测-跟踪-决策	分布式多点部署；持续态势监视
Silent Archer^［106］	雷达+射频	探测-识别-干扰	射频侦测与雷达协同；通信干扰
安则平台^［107］	射频+雷达	探测-跟踪-干扰	模块化集成；快速机动部署
“无人机卫士”^［108］	多型雷达+光电	探测-识别-干扰	近/中/远分层探测；光电联动确认
“猎鹰盾牌”^［108］	射频+三维雷达+光电	探测-拦截	射频早期发现；三维定位跟踪
VAR300^［109］	光电+红外	探测-识别-跟踪	可见光/红外协同；固定式全天候
RG-LY-VRT3000-008^［110］	光电+红外	探测-识别	可见光/红外协同；远距离探测

数据集名称	数据类型	下载地址
Drone Detection	可见光图像	https：∥github.com/creiser/drone-detection
UAVSwarm	可见光图像	https：∥github.com/UAVSwarm/UAVSwarm-dataset
Anti-UAV	可见光视频序列	https：∥github.com/ucas-vg/Anti-UAV
DUT anti-UAV	可见光视频序列	https：∥github.com/wangdongdut/DUT-Anti-UAV tab=readme-ov-file
Det-fly	可见光视频序列	https：∥github.com/Jake-WU/Det-Fly
Anti-UAV410	红外视频序列	https：∥www.kaggle.com/datasets/farhanzzzzz/anti-uav410
MMAUD	可见光图像+声学+RF	https：∥github.com/ntu-aris/MMAUD
TIBNet	红外+可见光	https：∥universe.roboflow.com/extrauav-detection/tib-net-uav
Drone Vs. Bird	可见光图像+视频	https：∥www.kaggle.com/datasets/muhammadsaoodsarwar/drone-vs-bird
MIDGARD	可见光+雷达+声学	https：∥mrs.felk.cvut.cz/midgard
Drone-detection-dataset	红外+可见光+声学	https：∥github.com/DroneDetectionThesis/Drone-detection-dataset

A review of anti-UAV target detection technology based on differential information

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