Method, system and defense drone for defending against and / or destroying unmanned aerial targets

Abstract

The invention relates to a method for defending against and / or destroying unmanned aerial targets (2), in particular small and medium-sized unmanned aircraft, by at least one defense drone (5). Furthermore, the invention relates to a corresponding system and a corresponding defense drone. The procedure includes the following steps: - receiving initial target information containing at least one of the position in space, the speed and the direction of movement of the air target (2); - generating approach parameter information using the initial target information, wherein the approach parameter information indicates an interception course of the defense drone (5) with respect to the aerial target (2); - Automatic flight guidance of the defence drone (5) based on the target information and the approach parameter information; - determining whether a relative distance and movement state between the aerial target (2) and the defense drone satisfies a handover condition; and - continuing the automatic flight guidance using external sensor information as long as the handover condition is not met, and performing the flight guidance using on-board sensor information to damage and / or destroy the air target (2) with a kinetic direct hit when the handover condition is met.

Description

The invention relates to a method for repelling and / or destroying unmanned air targets, in particular smaller and middle unmanned aircraft, by at least one repulsion drone. The invention further relates to a corresponding defense drone and a corresponding system.The use of unmanned aircraft-unmanned air systems (UAS)-has increased in various areas of society in recent years. Through technological advances, this type of flight gear has become more and more accessible to humans. Unmanned very small flying devices-small unmanned air systems (sASS)-can be used almost everywhere for anyone because of their simple operability, diverse usability, small construction dimensions and weight. Due to the high speed of spread of such systems on the commercial market, there is an increased risk of unauthorized over-flights with unclear intentions at all times for facilities and events with particular protection requirements.In this context, sASS may be remotely controlled by a pilot or may autonomously fulfil a mission. The method described here has been developed with the background of being able to intercept the autonomously acting sASS without an active communication link to a pilot.An integral method and system that enable detection, assessment of the threat potential and reliable control of autonomously acting sASS with affordable means are not yet described.The possibility, described for example in KR102001181B1 and DE 10 2015 008 256 A1, of disturbing the control signal of an s is not possible with an autonomously acting sU. In order to make an autonomous sAS effectively incapable of flight, its native systems that it requires to maintain flight must be disturbed or disabled.From RO132093A2 and DE 10 2016 211 371 A1 a defense drone is known which wants to immobilize sASS in the air with the aid of a network and thus causes it to crash. The drawback of this system is the heavy weight of the catching drone, which the catching drone introduces drawbacks in combat with agile targets. Another disadvantage is that it has only a single attempt to combat the target. If the drone fails the target in the first attempt to intercept, a second control is impossible because the network has already been crossed. Because this system does not specify a method by which the accurate tracking of the target position can be accomplished, the failure of the target is not excluded.Analogously, EP 3 139 125 B1 discloses a system which is based on the target detection by a sensor system and which puts a target out of combat with the aid of a capture system fastened to the capture drone. Here too, the trapping mechanism is essential part of the overall system and has the same disadvantages as described above.From DE 10 2015 008 255 A1 a system is known which combats sASS by ejecting small (sub)transmissions which detone in the vicinity of the target by explosive charge and thereby release threads which become caught in the target. The type of effector system has the disadvantage that the carrier missile must be brought so precisely to a target that it can effectively move its effectors without rendering itself unable to fly. In addition, the transport of ammunition increases the weight of the carrier drone to such an extent that it will not be possible to combat agile targets.DE 10 2015 008 296 A1 discloses a system which, with the aid of a high-energy electromagnetic pulse (HPEM), damages the electrical components of a sAS by the current thus induced and thus causes it to crash. The disadvantage of this type of sASS control is that the HPEM generator must generate a very high radiation power in order to have a negative influence on circuits at a certain distance. This makes the catching drone very difficult and in turn unusable against agile targets. Furthermore, there is the disadvantage that the interception drone itself is destroyed in the process and therefore only a single attempt remains to destroy its target.DE 10 2017 109 874 A1 discloses a trapping drone which makes a target drone unable to fly with the aid of foam or water. Again, this system has the disadvantage that the active compound (water / foam) has to be carried along on the catching drone, which leads to the disadvantages already described in the control of agile targets. It is likewise not apparent how the position and movement of the target in space is to be determined in order to enable targeted interception.From EP 3 722 736 A1 a system is known that positions several drones around a target and eliminates the simultaneous ignition of explosives placed on the catching drones. The disadvantage in this case arises from the positioning of the interception drone around the target. This process takes so much time that fast and moving targets leave the operating room at that time and cannot be controlled. Furthermore, the method entails considerable risks due to the simultaneous ignition of a plurality of explosive charges in the air space.The invention is based on the object of specifying a method which overcomes at least some of the disadvantages described above, in particular with regard to the flight guidance and the weight of the defense drone. It is a further object of the present invention to specify a corresponding defense drone and a corresponding system for carrying out the method.According to the invention, the object with respect to the method is achieved by the subject matter of claim 1. Practical embodiments of the method are evident from dependent claims 2 to 9. Practical embodiments of the repulsion drone are evident from the dependent claims 11 to 14.Specifically, the object is achieved by a method for repelling and / or destroying unmanned air targets, in particular smaller and middle unmanned aircraft, by at least one repulsion drone. The method is characterized in that it comprises the following steps:receiving initial target information including at least one of a position in space, a speed, and a moving direction of the air target;generating approach parameter information using the initial target information, wherein the approach parameter information indicates a interception course of the defense drone with respect to the aerial target;automatically guiding the firefly on the basis of the initial destination information and the approach parameter information;determining whether a relative distance and / or movement state between the air target and the repulsion drone satisfies a handover condition;performing flight guidance using on-board sensor information to damage and / or destroy the air target with a kinetic immediate when the handover condition is satisfied, and continuing automatic flight guidance using external sensor information as long as the handover condition is not satisfied.Continuing automatic flight guidance using external sensor information may include, in particular, re-receiving destination information captured by external sensors (e.g., sensors of a ground unit communicatively connected to the defense drone).A concept of the method according to the invention is thus to let the repulsion drone fly directly into the air target in order to thus cause kinetic destruction of the air target or components thereof.Safe control results according to the described method in that the defense drone, after receiving the target information, in particular from an external sensor group, can sight the targets in the final phase guidance with on-board sensors (i.e. sensors located on the defense drone) and can make them flight-unable by a kinetic direct hit. This has the advantage, especially, that no additional payload in the form of an effector arises and the defense drone has a low own weight and thus achieves a high speed and agility in order to be able to combat the targets quickly.By autonomously approaching the defense drone, threats at longer distances can also be combated. By relying on damage from a kinetic immediate, rather than by other means (scavenging network, effectors, water, foam), the method can be carried out by a scavenging drone that has a low own weight and is thus very agile.The term "defense drone" can be understood in the sense of the present invention as an unmanned aircraft which independently fights threats in the air on the basis of transmitted data. In particular, the repulsion drone can be a multicopter, for example a quadrocopter.The term "small and middle drone" can be understood in the sense of the present invention to mean, in particular, a drone having a weight of at least 0.1 kg and a maximum of 25 kg, which can navigate, in particular, either remotely or independently on the basis of stored positions, such as GPS coordinates.The term "defense" and "control" can be understood in the sense of the present invention to mean that declared threats in the air are prevented from reaching their target by making them incapable of flight by damage to relevant components, such as the rotors.An "on-board" system, sensor, etc. can be understood to mean a corresponding component of the defense drone, whereas the term "external" refers to a component outside the defense drone, for example to a ground- or air-supported detection system.Embodiments of the method are given in the corresponding dependent claims.In particular, the method is suitable for execution in a system which preferably has a plurality of defense drones, an external sensor group, a transmitting unit and at least one guidance and weapon deployment system (FüWes). Targets can be initially detected by the external sensor group and classified via the vehicle in order to subsequently transmit target information via a transmitting unit to the respective defense drones.In this case, the repulsion drones can be arranged around a protection area in a (passive) standby mode, wherein the repulsion drones are located first of all on their own starting platforms, from which they can start independently. On these platforms, the respective copter can be protected from the environment and can be supplied with charging current throughout, so that the latter is ready for service for at least a few days. The defense drones can be constantly maintained in a passive state of ready-to-use by continuously checking their avionics and maintaining the connection to the FWEs, so that early control can be achieved.The external sensor assembly can have at least one detection system, e.g. a radar, with an interface to a window. After successful detection, destination information can be transferred to the FÜWES in order to subsequently declar destinations there. This can be done by a human operator or autonomously. This has the advantage that a plurality of targets can be detected and classified simultaneously at greater distances in order to initiate rapid control.The method is therefore particularly suitable for protecting objects and / or zones, such as runways at airports. The drones may be arranged in a ready-to-start mode, for example at the edge area of a protection zone, so that the next positioned defense drone, after a successful detection by the external sensor group, has sufficient time to reach possible threats. For example, even two drones may protect a runway with a length of 2000 and a width of 500 meters. Preferably, multiple defense threats may be assigned to a target to increase the hit probabilities.The object is furthermore achieved by a repulsion drone for repelling and / or destroying unmanned air targets, in particular smaller and medium unmanned aircraft. The repulsion drone is configured to carry out the method described above.Embodiments of the repulsion drone are evident from the respective dependent claims.In particular, the repulsion drone can have a monolithic light frame, e.g. made of carbon, which offers a compromise between wendiness and sufficient installation space or payload for sensor systems.The repulsion drone can have a buoyancy element which has at least two rotors, preferably four rotors, the motor of which is actuated by an electronic speed controller (ESC).The defense drone can have a flight control unit, which is realized, for example, with a Pixhawk 4 mini, which realizes a communication between the defense drone and an external transmitting station by means of MAVLink protocols, wherein the external transmitting station only transmits destination information, such as position, speed and orientation of the destination, to the defense drones. These data can then be processed on-board by means of a processing unit in order to independently calculate and initiate an optimum approach trajectory. The routing information may be swapped out by an additional microcontroller.This has the advantage that short signal dropouts of the transmitting station do not lead to flight instability, since further commands can be transmitted to the flight controller. The defense drones may be designed to send system status information to the external transmitting station, so that the attitude and position of the defense drone may be monitored.In addition, the repulsion drone can have one or more magnetometers which can perform (mutual) validation of their orientation data. Preferably, one of the magnetometers is attached to the top side of the defense drone together with a GPS module in order to act on a low magnetic influence of the power electronics and to ensure an optimum reception power of the GPS antenna.The defense drone can furthermore have at least one electro-optical sensor, for example in visible light and / or in the IR range, and / or a further detection system. In this case, the sensors can be fastened to the front side of the drone via a gimbal with at least two axles. The electro-optical sensors are preferably oriented parallel or at an acute angle to the propeller axes and pivotable via the corresponding joints, so that the camera is directed upward toward the sky in order to keep the target drone in an optimal image section with respect to the background during the approach, in order to ensure a maximum recognition probability.The defense drone preferably has a plurality of electro-optical sensors and / or additional detection units, e.g. a lidar, in order to improve the detection probability and false alarm rate by means of a sensor data fusion. The sensors can serve in particular for the final phase guidance of the drone in order to initiate a collision course.The repulsion drone can be configured to initiate the final phase steering as soon as predefined transfer conditions are fulfilled, which both map the detection range of the electro-optical units and also the relative orientation of the repulsion drone to the air target.In particular, the transfer conditions can specify an alignment criterion in order to guarantee the most parallel possible superimposition of the velocity vectors of the aerial target and of the defense drone, such that the aerial target is held in the field of view. The detection range can be determined on the basis of threshold value alignments, which can also take into account both the visibility conditions and the clutter level of the background. In this case, the on-board sensors can transmit azimuth and inclination angles to the flight guidance in the event of successful detection in order to initiate a collision course. In the case of unsuccessful detection, the defense drone can be designed to trigger the last calculated flight parameter information and to receive external destination information again when a predefined threshold value is reached.The object is furthermore achieved by a system for repelling and / or destroying unmanned air targets, in particular according to the method as described above. The system has the following:one or more defense drones as described above;an external sensor composite;a transmitting unit; andat least one guidance and weapon deployment system.The external sensor assembly is configured to detect an air target. The guidance and weapon deployment system is designed to classify the aerial target and to transmit target information via the transmitting unit to a respective defense drone.In particular, the vehicle may be configured to select a suitable defense drone from among a plurality of defense drones according to one or more criteria (e.g. distance to the air target, charge state, and / or further properties) and to send the corresponding command to the selected defense drone.At this point, it should be pointed out that the features and the advantages which can be achieved in each case therewith and which have been described with reference to the method according to the invention can be applied or transferred to the drone according to the invention and the system, and vice versa. Specifically, the components of the devices in the context of the present description of the invention are designed to carry out the method steps according to the invention. The functions of the above-described components of the apparatuses according to the invention can likewise be used as method steps of the method according to the invention.The invention is explained in more detail below on the basis of exemplary embodiments with reference to the appended schematic figures.Figure shows FIG. 1 shows a sequence of the method according to the invention on the basis of an exemplary embodiment; FIG. 2 shows an information flow in the method according to the invention according to an exemplary embodiment; and FIG. 3 shows a drone according to the invention according to an exemplary embodiment.In the figures, the same reference numerals are used for the same or identically acting parts.The sequence of the method according to the invention for repelling and / or destroying the air target 2 by means of the repulsion drone 5 can be explained with reference to FIG. 1.First, by means of a sensor group that includes the detection unit 1, the current position, speed and direction of movement of the air target 2 are detected. On the basis of the initial target information, the aerial target 2 is declared as a target to be rejected by means of the guidance and weapon deployment system 3. The initial destination information is transmitted to the defense drone 5 via the transmission unit 4.In the following, the defense drone 5 calculates approach parameter information independently using the initial target information. The approach parameter information indicates at least one interception course 6a, 6b. In particular, a plurality of possible interception rates 6 a, 6 bmay be calculated and an optimum interception rate may be selected, for example with respect to the distance to the aerial target 2, probability of hit, etc. According to the illustrated embodiment, the interception course 6a represents the optimum interception course.Subsequently, the defense drone 5 performs automatic flight guidance according to the interception course 6 ato thus approach the air target 2 fully autonomously. In this case, it is continuously determined whether the relative distance between the repulsion drone 5 and the air target 2, the relative orientation of the repulsion drone 5 and the air target 2, and possibly further parameters such as a detection range of the repulsion drone 5 meet predefined transfer conditions. According to the exemplary embodiment shown, the transfer conditions are fulfilled when the repulsion drone 5 reaches the position 7.As soon as the transfer conditions are fulfilled, a final phase guidance takes place (cf. area 8 in FIG. 1 ). Here, the defense drone 5 carries out automatic flight guidance using on-board sensors in order to bring the defense drone 5 to a collision course with the aerial target 2.In the event that the transfer conditions are not fulfilled, the defense drone continues the automatic flight guidance by means of destination information provided by the sensor group 1. For this purpose, in particular, destination information can be transmitted continuously or at regular time intervals to the defense drone 5 via the transmission unit 4.FIG. 2 shows the information flow according to the method according to the invention in a further embodiment (partially). The target information is respectively processed by the external detection unit 1 and the guidance and weapon deployment system 3 and transmitted to the defense drone via a transmission unit 4 (step S 1). The processing unit 14 of the defense drone calculates optimum approach parameters based on the target information and transmits (step S 2) this information to the flight control unit 15, which transmits continuous position information to the external transmitting station and to the processing unit (steps S 3, S 4). The on-board sensors, which have at least one imaging sensor 16, and / or additional detection systems, transmit target information in the final phase steering, which information indicates an optimum collision course by means of sensor data fusion in the processing unit 14.FIG. 3 shows a repulsion drone according to the invention according to an exemplary embodiment. The defense drone is designed as an effector itself and has a monolithic frame 11, preferably with a low weight, with a frame 13 and with a buoyancy unit 12 with four rotors.The defense drone further comprises a receiving and transmitting unit 17 for receiving external target information and a processing unit 14 for calculating approach parameter information based on the target information.In addition, the repulsion drone has a flight control unit 15 which is designed to actuate the motors of the lift unit 12 via an electrical speed control.Furthermore, the repulsion drone has at least one position sensor 18 which is mounted above the repulsion drone and is designed to determine position information of the repulsion drone and to transmit it to an external transmitting station via the receiving and transmitting unit 17. In addition, the repulsion drone has an on-board electro-optical sensor 16 which is preferably oriented parallel or at an acute angle to the propeller axes and can be pivoted via corresponding joints, so that the camera of the electro-optical sensor 16 is directed upwards.The defense drone preferably has a plurality of electro-optical sensors 16, or further detection units in addition to the electro-optical sensors 16, for example a lidar, in order to improve the detection probability and false alarm rate by means of a sensor data fusion.It should be pointed out at this point that all the parts described above are to be regarded as independent embodiments or refinements of the invention, in each case-even without features additionally described in the respective context-even if these have not been explicitly identified individually as optional features in the respective context, for example by using: in particular, preferably, for example, for example, optionally, round brackets, etc.-and in combination or any sub-combination, as defined in particular in the introduction to the description and in the claims. Deviations from this are possible. It should be pointed out in concrete terms that the word, in particular or round brackets, does not identify any obligatory features in the respective context.List of reference characters1 (external) detection unit 2 aerial target 3 guidance and weapon deployment system 4 transmitting unit 5 defense drone 6 a, 6 bacception course 7 position 8 region of the final phase guidance 11 frame 12 buoyancy unit 13 housing 14 processing unit 15 flight control unit 16 electro-optical sensor 17 receiving and transmitting unit 18 position sensor S 1 transmitting target information S 2 transmitting approach parameters S 3 transmitting position information to processing unit S 4 transmitting position information to external transmitting stationReferences included in the specificationThis list of documents cited by the applicant has been produced in an automated manner and is only included for the better information of the reader. The list is not part of the German patent application or utility model application. The DPMA does not take any adhesion for any faults or omissions.Patent Literature citedKR 102001181B1

[0005] DE 10 2015 008 256 A1

[0005] DE 10 2016 211 371 A1

[0006] EP 3 139 125 B1

[0007] DE 10 2015 008 255 A1

[0008] DE 10 2015 008 296 A1

[0009] DE 10 2017 109 874 A1

[0010] EP 3 722 736 A1

[0011]

Claims

Method for repelling and / or destroying unmanned aerial targets (2), in particular smaller and middle unmanned aerial vehicles, by at least one repulsion drone (5), characterized in that the method comprises the following steps: - receiving initial target information which contains at least one of a position in space, a speed and a direction of movement of the aerial target (2); - generating approach parameter information using the initial target information, wherein the approach parameter information indicates a interception course of the repulsion drone (5) with respect to the aerial target (2); - automatic flight guidance of the repulsion drone (5) on the basis of the initial target information and the approach parameter information; determining whether a relative distance and / or movement state between the air target (2) and the defense drone satisfies a handover condition; performing flight guidance using on-board sensor information to damage and / or destroy the air target (2) with a kinetic impact if the handover condition is satisfied, and continuing automatic flight guidance using external sensor information as long as the handover condition is not satisfied.Method according to claim 1, wherein the initial target information is provided by an external sensor group comprising at least one ground-based and / or airborne detection system (1).Method according to one of the preceding claims, in particular according to claim 2, wherein the detection system (1) has at least one interface to a guidance and weapon deployment system (3).Method according to one of the preceding claims, in particular according to claim 3, wherein the guidance and weapon deployment system (3) has at least one interface to at least one detection system (1) and at least one repulsion drone (5), wherein the repulsion drone (5) is in a passive standby mode.Method according to one of the preceding claims, in particular according to claim 4, wherein the guidance and weapon deployment system (3) uses target information of the detection system (1) in order to declare an aircraft as an aerial target (2), transmits this information to at least one defense drone (5) by means of a transmission unit (4), wherein an on-board flight guidance system automatically controls the defense drone (5) in such a way that it approaches the aerial target (2) via a flight path (6a, 6b) which was calculated on the basis of the externally provided target information.Method according to one of the preceding claims, in particular according to claim 5, wherein the method further comprises the following step: - automatic determination by the repulsion drone (5) whether a relative distance and a relative movement state between the aerial target (2) and the repulsion drone (5) are each less than or equal to predefined threshold values, on the basis of the target information of the guidance and weapon deployment system (3) and position and position information which has been detected with the on-board flight guidance system, wherein the threshold value of the relative distance results in particular from an optimum detection range of an on-board electro-optical (16) device, and the relative movement state of the repulsion drone (5) relative to the aerial target (2) is determined in particular by the orientation of the repulsion drone in space.Method according to one of the preceding claims, in particular according to claim 6, wherein, if the relative distance and / or the relative movement state of the repulsion drone (5) relative to the aerial target (2) exceeds the respective threshold value, the flight guidance of the repulsion drone (5) is continued by means of the external sensor information, in particular such that the repulsion drone (5) further approaches and aligns the aerial target (2) according to the target information and flight parameter information, and wherein, if the respective threshold values are no longer exceeded, the flight guidance is carried out using on-board flight guidance means on the basis of measurement results of the on-board sensors.Method according to any one of the preceding claims, in particular according to claim 7, wherein the on-board sensors comprise at least one electro-optical sensor which, in the case of successful target detection, transfers azimuth and angle of inclination relative to the aerial target (2) to the flight guidance means of the defense drone (5) in order to bring them to the collision course.Method according to one of the preceding claims, in particular according to claim 8, wherein in the case of unsuccessful detection the defense drone (5) carries out the flight control by means of flight parameter information calculated last up to a predetermined threshold value and, when the threshold value is reached, the flight control of the defense drone (5) takes place by means of the external sensor information.A repulsion drone (5) for repelling and / or destroying unmanned air targets (2), in particular smaller and middle unmanned aircraft, wherein the repulsion drone (5) is configured to carry out the method according to one of the preceding claims.The repulsion drone (5) according to claim 10, further comprising a monolithic frame (11) having a housing (13) and a buoyancy unit (12) attached to the frame, wherein the frame (11) preferably has a size of less than 7 inches, in particular of less than 5 inches, wherein the buoyancy unit (12) preferably comprises at least two, in particular four rotors.The defense drone (5) according to any one of claims 10 to 11, further comprising at least one electro-optical sensor (16), which is in particular configured to detect a collision course (6a, 6b) in an end phase steering.The repulsion drone (5) according to any one of claims 10 to 12, comprising at least two electro-optical sensors (16), which are fastened to a front side of the repulsion drone (5) via a gimbal with at least two axes, wherein these are preferably aligned parallel or at an acute angle to propeller axes of the repulsion drone (5) and are pivotable via corresponding joints.The repulsion drone (5) according to any one of claims 10 to 13, further comprising a sensor unit (18) for detecting position information, wherein the sensor unit (18) comprises at least one magnetometer and / or a GPS module and is preferably arranged at an elevated position above an upper side of the repulsion drone (5).System for repelling and / or destroying unmanned air targets, in particular according to the method according to one of Claims 1 to 9, wherein the system has the following: - one or more repulsion drones (5) according to one of Claims 10 to 14; - an external sensor group; - a transmitting unit; and - at least one guidance and weapon deployment system, wherein the external sensor group is designed to detect an air target (2), the guidance and weapon deployment system is designed to classify the air target (2) and to transmit target information via the transmitting unit to a respective repulsion drone (5).

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