《无人机原理、应用与防控》为无人机监测、反制技术教程，主要阐述无人机基本发展概况、飞行技术、飞行特点、基

本结构、监测原理及技术应用、反制原理及技术应用。在此基础上，本书还详细介绍无人机构造、

飞行原理、无人机应用环境与线路规划，并通过实际案例分析无人机防控的必要性，列举无人机防

控相关的解决方案与产品。

《无人机原理、应用与防控》可作为无人机应用技术相关专业及从事无人机领域的相关技术人员、企业或培训机构的培

训教材或参考教材，也适用于具有一定技术基础的相关专业人员或行业爱好者自学。

前 言

随着科技的快速发展，无人机已经广泛应用于航空摄影、农林植保、遥感测绘、巡

线巡检、消防安防、环保检测、物流运输及城市管理等各领域。据相关数据统计，截至

2021年底，我国已实名注册无人机超83万架，其中无人机注册用户达78.1万，但我国

有效的无人机驾驶员执照仅12.08万本。这意味着绝大部分无人机在空中飞行时都是由

无证人员操作，不少无人机拥有者，尤其是消费级无人机驾驶者没有经过正规的培训及

法律法规的教育，这对空中及地面各种区域威胁极大，尤其是禁飞区、机场净空区、军

事管制区、政府敏感地区以及人员密集区。未来民用无人机市场潜力巨大，无人机市场

保有量还将继续增加，这对无人机监测、反制手段及技术提出了极高的要求。

本书由周斌主编，刘晶、冯波、杨德祥、李常青为副主编，高政和、李帅、王浩、杨艳萍、

刘杰坤、姚昌华、叶望胜参编。

不论是反制一线工作者，还是研发生产人员，都应该对无人机基本知识有所了解。

本书重点内容为各类型无人机结构及飞行特点、无人机管理办法及法规、无人机线路规划、

无人机监测及反制技术方法。第1～3章主要讲述无人机发展基本概况、无人机的基本

构造及原理、无人机飞行特点及线路规划；第4～6章主要介绍无人机防控应用、监测

以及反制技术。为了无人机行业能更好、更有秩序地发展，一线工作者应该责无旁贷地

承担起相关教材的开发和编写工作，以提升无人机反制工作者的基本知识与业务能力，

保证国家空中安全、地区安全与人员安全。

由于编者水平有限，相关资料匮乏，加之时间仓促，书中难免有不足和疏漏之处，

恳请各位专家、读者给予批评指正，以便在未来修订时加以完善，再次深表感谢！

 编　者

2022年8月



目 录

第1章 无人机概论 ·······································································1

1.1　无人机简介 ······················································································2

1.2 无人机发展简史 ················································································4

1.2.1　产生背景 ··································································································4

1.2.2　发展历程 ··································································································5

1.3　无人机分类 ·····················································································10

1.3.1　按飞行平台分类 ························································································10

1.3.2　按用途分类 ······························································································17

1.3.3　按运行风险大小分类 ··················································································17

1.3.4　按飞行高度分类 ························································································18

1.3.5　按活动半径分类 ························································································18

1.4　无人机的发展方向 ············································································18

1.4.1　高空长航时化 ···························································································18

1.4.2　无人机隐形化 ···························································································21

1.4.3　空中预警化 ······························································································23

1.4.4　空中格斗化 ······························································································24

1.4.5　集群智能化 ······························································································25

第2章 无人机的基本构造及原理 ···················································29

2.1　空气动力学与飞行原理 ······································································30

2.1.1　大气的基本知识 ························································································30

2.1.2　空气的特性 ······························································································32

2.1.3　标准大气 ·································································································34

2.1.4　气流特性 ·································································································35

2.1.5　连续性定理与伯努利方程 ············································································37



无人机原理、应用与防控

IV

2.1.6　机翼·······································································································40

2.1.7　升力与阻力 ······························································································42

2.1.8　影响升力与阻力的因素 ···············································································44

2.1.9　增升装置 ·································································································46

2.1.10　无人机的稳定性与操纵 ·············································································48

2.2　固定翼无人机 ··················································································50

2.2.1　固定翼无人机的组成及其功能 ······································································50

2.2.2　固定翼无人机的结构特点及分类 ···································································52

2.2.3　蒙皮的结构特点及分类 ···············································································60

2.2.4　尾翼的结构特点及分类 ···············································································61

2.2.5　起落架的结构特点及布局 ············································································66

2.2.6　气动布局 ·································································································70

2.3　无人直升机 ·····················································································71

2.3.1　单旋翼带尾桨无人直升机 ············································································71

2.3.2　共轴双旋翼无人直升机 ···············································································79

2.4　多旋翼无人机 ··················································································80

2.4.1　多旋翼无人机的出现及发展 ·········································································80

2.4.2　多旋翼无人机的结构 ··················································································81

2.4.3　多旋翼无人机的控制 ··················································································85

2.4.4　多旋翼无人机的特点 ··················································································86

2.5　垂直起降固定翼无人机 ······································································87

2.5.1　垂直起降固定翼无人机的发展及结构 ·····························································87

2.5.2　固定翼多旋翼复合型垂直起降无人机的结构与飞行原理 ··································88

2.5.3　倾转旋翼固定翼垂直起降无人机的结构与飞行原理 ········································89

2.5.4　尾座式垂直起降固定翼无人机的结构与飞行原理 ··············································91

2.6　发动机 ···························································································92

2.6.1　航空活塞发动机 ························································································92

2.6.2　涡轮轴发动机 ···························································································95

2.6.3　涡轮螺旋桨式发动机 ··················································································97

2.6.4　涡轮喷气式发动机 ·····················································································98

2.6.5　涡轮风扇式发动机 ···················································································102

2.7　电动系统 ······················································································103

2.7.1　电动无人机 ····························································································103

2.7.2　电机·····································································································104



目 录

V

2.7.3　电调·····································································································106

2.7.4　螺旋桨 ··································································································106

2.7.5　电池·····································································································107

第3章 无人机应用 ····································································111

3.1　无人机的应用领域 ··········································································112

3.1.1　军用级别的无人机 ···················································································112

3.1.2　民用级别的无人机 ···················································································116

3.2　无人机的应用环境 ··········································································121

3.2.1　无人机管理规范 ······················································································122

3.2.2　技术标准 ·······························································································123

3.2.3　无人机飞行要求 ······················································································124

3.3　无人机的线路规划 ··········································································126

3.3.1　航空定位定向系统 ···················································································127

3.3.2　线路规划 ·······························································································129

3.3.3　倾斜摄影 ·······························································································140

第4章 无人机防控应用 ·····························································141

4.1　无人机防控应用背景 ·······································································142

4.1.1　无人飞行器飞行条例及制度规定 ·································································143

4.1.2　无人飞行器飞行空域 ················································································145

4.1.3　无人机运行管理规定 ················································································147

4.1.4　无人机飞行存在的安全隐患 ·······································································150

4.1.5　无人机警用防控的必要性和重要性 ······························································151

4.2　无人机警用防控应用案例 ·································································152

4.3　无人机警用防控应用技术概述 ···························································153

4.4　无人机警用防控应用建设方案 ···························································155

4.4.1　设计原则及建设目标 ················································································155

4.4.2　系统配置方案概述 ···················································································156

4.4.3　方案一：TDOA+固定式反制+便携式反制 ···················································156

4.4.4　方案二：车载式察打一体+便携式反制 ························································160

4.4.5　系统组网方案 ·························································································161



无人机原理、应用与防控

4.4.6　设备配置方案 ·························································································163

4.5　无人机警用防控应用技术模块 ···························································164

第5章 无人机监测跟踪应用 ·······················································169

5.1　无人机监测跟踪应用的背景 ······························································170

5.2　无人机监测跟踪应用的技术概论 ························································172

5.2.1　雷达探测技术 ·························································································172

5.2.2　光电监测技术 ·························································································181

5.2.3　无线电频谱监测技术 ················································································182

5.2.4　多源融合监测技术 ···················································································185

5.3　无人机监测跟踪应用的产品及解决方案 ···············································185

5.3.1　典型的无人机监测跟踪产品—TDOA无人机监测定位系统 ··························185

5.3.2　典型的无人机监测跟踪解决方案—TDOA网格化城市级无人机监测管控

 解决方案 ·······························································································188

5.4　无人机监测跟踪应用实践案例 ···························································192

第6章 无人机防御反制应用 ·······················································195

6.1　无人机防御反制应用的背景 ······························································196

6.2　无人机防御反制应用的技术概论 ························································198

6.2.1　硬杀伤技术 ····························································································198

6.2.2　软杀伤技术 ····························································································199

6.3　无人机防御反制应用的产品及解决方案 ···············································201

6.3.1　典型的无人机防御反制产品—无线电干扰压制设备 ·······································201

6.3.2　典型的无人机防御反制解决方案—无线电频谱监测压制联动解决方案 ···········205

6.4　无人机防御反制应用实践案例 ···························································215



一本涵盖无人机原理、飞控、反制的专业书，既有原理讲解，也有应用实例，非常适合读者系统地学习无人机的相关知识。