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原文摘要

This paper presents a GPS-triggered geofencing and enforcement scheme that integrates real-time satellite positioning with Software-Defined Radio (SDR) based RF jamming to detect and neutralize unauthorized unmanned aerial vehicle (UAV) boundary violations. Conventional geofencing depends on onboard GPS and cooperative flight firmware. The proposed approach instead moves enforcement to a ground base station, so the response does not depend on the UAV. An ESP32- WROOM-32 microcontroller paired with a u-blox NEO-6M GPS receiver streams telemetry over Wi-Fi to a Python/GNU Radio base station. There, a lightweight Haversine boundary-violation algorithm computes the great-circle distance between the UAV and the geofence. This distance drives a piecewise-linear adaptive speed and altitude control law. The law progressively decelerates and descends the UAV inside a 1 km warning zone and brings it to a complete halt at the boundary. If the boundary is breached, a HackRF One SDR escalates to band-limited noise jamming of the 2.4 GHz control link. The hardware stack was integrated on a GoolRC S116 quadrotor with an end-to-end enforcement latency of about 1 s. Field trials achieved 95% disconnection accuracy within a 50 m radius, and u-center NMEA analysis confirmed sub-2-meter GPS positioning precision. Simulation over an 8-sector, 50 km geofence model confirms speed and altitude-invariant boundary enforcement for cruising speeds of 5 to 50 m/s and cruising altitudes up to 100 ft. A comparison against a PID baseline shows that the proposed law guarantees overshoot-free shutdown at the boundary without gain tuning. It also runs in constant time, which makes it well suited to low-cost, resource-constrained embedded platforms.