Method and system for determining the position of objects in an area with variable terrain

Abstract

The invention relates to a method and a system (7) for determining the position of objects (1) in an area (2) with variable terrain, in particular in a war zone. A comparison is made between current topography information (Takt) and known topography information (Tbek), with the current topography information (Takt) being determined by means of at least one flying object (F1, F2, F3), preferably a drone, particularly preferably a quadrocopter, arranged at a certain flight altitude (Hakt), in a step a), and with the current topography information (Takt) being correlated with the known topography information (Tbek) for determining the position of the objects (1), in particular military targets (Z) and / or the flying objects (F1, F2, F3) themselves, in a step b). The determining of the flying objects' own positions is improved and the determining of the position of foreign objects (Z) in an area without GNSS reception is made possible by increasing the flight altitude (H) of the flying object (F1, F2, F3) until the current topography information (Takt) matches the known topography information (Tbek) with sufficient accuracy.

Description

[0001] Method and system for determining the position of objects in an area with variable terrain

[0002] The invention relates to a method for determining the position of objects in an area with variable terrain having the features of the preamble of patent claim 1 or 2, as well as to a system for determining the position of objects in an area with variable terrain having the features of the preamble of patent claim 14.

[0003] Such a method for determining the position of objects in an area with variable terrain, particularly in a war zone, is carried out by comparing current topographic information with known topographic information. The current topographic information is determined using at least one flying object, preferably a drone, positioned at a specific altitude in step a). The current topographic information is then correlated with the known topographic information to determine the position of the objects, particularly the flying objects themselves, in step b).

[0004] In particular for implementing such a method, there is a system for determining the position of objects in an area with variable terrain, in particular in a war zone, comprising at least one flying object having at least one recording device and an evaluation unit. The flying object is configured to determine current topographic information in a step a) using the recording device at a specific altitude of the flying object. The evaluation unit is configured to determine the position of the objects, namely in particular the flying objects themselves, in a step b) by correlating the current topographic information with known topographic information.

[0005] The determination of the positions of vehicles and flying objects in civil and military applications is generally carried out using global navigation satellite systems (GNSS). However, the availability of these GNSS systems is not always guaranteed, particularly in war zones. For example, signal transmission can be disrupted by the conflicting parties, or general accessibility of the systems can be limited by third parties. It is therefore necessary to provide alternative means of positioning in areas without GNSS availability. US20220057213 discloses a method for determining the position of an flying object. In this method, the position of the flying object is determined by comparing images taken with the flying object with known, historical satellite images.For this purpose, in a first step, various classes of characteristic landscape objects ("landmarks") and landscape areas ("landcover") are defined in satellite images. In a second step, the images taken by the flying object are correlated with the satellite images using a convolutional neural network ("Siamese CNN"). This method can be applied to various types of flying objects, such as drones, airplanes, helicopters, or rockets. To improve accuracy, it is proposed that images taken from different altitudes be compared with the satellite images.For alternative or additional use, other methods of positioning such as visual inertial odometry (VIO), radar topographic mapping or database comparisons with digital terrain models obtained by laser imaging, detection and ranging (LIDAR) are also proposed.

[0006] The state-of-the-art method only allows for the self-positioning of the recording aircraft and does not provide for the position determination of foreign objects. Due to the changing topography of terrain, the VIO method is also recommended in war zones as an alternative to static satellite image comparison. The VIO method uses an initially known position of the aircraft and extrapolates the current position based on sequentially acquired images. Therefore, at least the initial position of the aircraft must be known, and several images must be acquired during the aircraft's movement to determine the final position. This approach is therefore unsuitable for determining the position of a quasi-static aircraft with an unknown initial position.This approach also does not allow for the determination of the position of foreign objects without the use of additional devices such as laser rangefinders or radars.

[0007] The invention is based on the object of providing a method and a device by means of which the determination of one's own position is improved and the position determination of foreign objects in an area without GNSS reception is enabled. In particular, the invention is based on the object of enabling position determination in an area with variable topography, such as a war zone. This object underlying the invention is now initially achieved by a method for determining the position of objects in an area with variable terrain, having the features of patent claim 1.

[0008] One aspect of the invention is essentially that at least one match value between the current topography information and the known topography information is determined in a step c), wherein the match value is compared with a predetermined threshold value in a step d), wherein the flight altitude of the flying object is increased in a step e) if the match value is less than the threshold value, wherein in a step f) the steps a) to e) are repeated until in step d) the match value is greater than or equal to the threshold value.

[0009] Surprisingly, simulations have shown that, at sufficient altitude, even in significantly altered terrain / territories, such as a war zone, reliable positioning can be performed using landscape objects ("landmarks") and / or landscape areas ("landcover") in images and / or videos. Alternatively or additionally, digital terrain models recorded at different altitudes can be compared with known historical data in the same way. Furthermore, it has been shown that not only the aircraft's own position can be determined in this way, but that foreign objects such as military targets and / or vehicles can also be reliably located. In this case, the position of the foreign object is calculated using known parameters from the known historical topographic information.

[0010] In the method, an aircraft, preferably an unmanned drone, particularly preferably a remote-controlled quadcopter, takes a topographic image from a first altitude. From this topographic image, associated topographic information, in particular a corresponding data set, is obtained. By comparing this current topographic information with known topographic information, a neural network or an algorithm determines match values ​​in the 0% to 100% range. The match values ​​can be applied to the entire topographic information or only to a portion of the topographic information, such as certain landscape objects ("landmarks") and / or landscape areas ("landcover") contained in the topographic information.If the selected, determined match value does not exceed a corresponding, previously defined threshold, the aircraft is moved upwards to a higher altitude and another topography survey is taken, followed by a comparison. This process is repeated until the threshold for the determined match is reached or exceeded.

[0011] The increase in flight altitude and thus the expansion of the recording area / area is based on the assumption that while the terrain may have been significantly altered locally by warfare, more similarities to the original, known topography can be identified over a larger area. For example, a local artillery strike may obscure buildings and streets within a limited radius, but will not produce the same effect over a larger area.

[0012] Topographic information can be obtained, for example, from image recordings, video streams, and / or digital terrain models recorded via LIDAR or radar. Other photogrammetric recording methods for obtaining topographic information are known to those skilled in the art. Compared to "passive" image recordings, for example, using cameras, "active" recording methods such as radar have the significant disadvantage in war zones of increasing the detectability of the aircraft by the other party to the conflict. Position determination through pure (passive) image comparison is therefore preferable.

[0013] In the case of recordings of continuous video streams, the position determination can be carried out using known methods of object detection in such video image material.

[0014] Known / historical topographic information includes, for example, maps of any kind, satellite images, digital terrain models, videos / films, static images of the terrain, and / or semantic descriptions. Map material can include, for example, private and official topographic maps such as traditional maps, nautical charts, and / or schematic drawings, thematic maps, and physical maps.

[0015] Topographic information can be extracted from semantic descriptions (text descriptions) using appropriately trained neural networks. For example, if such a description reveals that a building with an unusual height of over 200 meters exists at a specific location, this topographic information can be used in isolation for comparison with current topographic information and / or combined with other known, historical topographic information. In principle, all available, known, historical topographic information can be combined into a single reference source, which is then compared with corresponding current topographic information.

[0016] The design of the flying object, e.g. as a drone, in particular as a quadrocopter, is only relevant insofar as topographic information must be able to be determined from different heights using the flying object.

[0017] The object underlying the invention is also achieved by a method for determining the position of objects in an area with changing terrain with the features of patent claim 2.

[0018] One aspect of the invention then essentially lies in the fact that the current topography information and the known topography information are presented to at least one human operator by means of a display device in a step c), wherein the operator compares the current topography information and the known topography information with one another in a step d), wherein the flight altitude of the flying object is increased in a step e), wherein in a step f) the steps a) to e) are repeated until in step d) the operator enters the information by means of an input device that the current topography information corresponds sufficiently accurately to the known topography information.

[0019] The advantage here is that the automated threshold analysis can be completely replaced by a human operator. It is assumed that, depending on the situation, the human operator's spatial perception can produce better results than fully automated machine interpretation. It is also conceivable to combine the evaluation by a human operator with the automated threshold analysis, e.g., with the help of a neural network. In other words, this simply means the operator can either adopt the automatically determined position determination or perform their own position determination during the ongoing process.

[0020] In a preferred embodiment of the method, the altitude of the flying object is increased in step e) incrementally, preferably in 9 m to 11 m increments. Depending on the available computing power, it may be advantageous to reduce the number of topographic correlations / topographic comparisons accordingly by proceeding incrementally / stepwise.

[0021] In an alternative embodiment of the method, the flight altitude of the flying object is continuously increased.

[0022] If very high, especially theoretically infinite, computing power is available, the topography comparison can also be performed continuously, or quasi-continuously, i.e., with very short time intervals between the individual topography comparisons. In this case, it would be advantageous if the agreement value also approached the predefined threshold in a similarly continuous manner. The step-by-step approach, on the other hand, generally leads to time delays in position determination, so that the threshold can easily be exceeded to a significant extent before a positive comparison result is obtained.

[0023] Advantageously, the flight altitude of the flying object is increased in a final step e) such that in the subsequent final step d) the match value exceeds the threshold value by a maximum of 5%.

[0024] If the flying object's flight position is higher, which may be unnecessarily high when using a step-by-step approach, it can be more easily detected by another party. The flying object could then be neutralized just as easily by the other party. However, even when using a step-by-step approach, it is conceivable that the match value exceeds the threshold by a maximum of 5%. For example, the upcoming increase in altitude could be calculated based on the existing comparisons between the match values ​​and the threshold values ​​from the current and past flight altitudes. If the difference between the match value and the threshold is large, the altitude will be increased significantly; if the difference between the match value and the threshold is small, the altitude will only be increased slightly.

[0025] In a further advantageous embodiment of the method, a horizontal position of the flying object is changed in step e).

[0026] This allows the aircraft to fly to an optimal position for positioning. The horizontal movement can be performed separately or simultaneously with the vertical movement. The horizontal position of the flying object is preferably changed linearly.

[0027] The flying object can change its position linearly / laterally in one of the cardinal directions (north, east, west, south) and take another image from the new position. This increases the probability of obtaining a positive comparison result at a specific, low altitude, thus reducing the risk of the flying object being detected and neutralized by unauthorized parties.

[0028] In an alternative, advantageous embodiment of the method, the horizontal position of the flying object is changed in a spiral shape.

[0029] The flying object performs circular movements. The spiral circling preferably occurs at a distance from the starting point. Advantageously compared to a simple increase in altitude, linear lateral and spiral movement profiles allow for a higher chance of a positive result at lower altitudes. Successful topography comparison at the shortest distance from the starting point or at the lowest altitude can be achieved with the spiral movement. However, the disadvantage of this approach is the potentially longer time required to achieve a positive result compared to a linear lateral movement or a simple increase in altitude.

[0030] Advantageously, the position of one of the objects is determined using a triangulation method.

[0031] In an extension of the described method, lateral and vertical movements of the flying object can be performed with corresponding topographic information for triangulation of foreign objects such as military targets. This allows the distance to a foreign object to be easily determined by the relationship between the foreign object and corresponding landscape objects ("landmarks") and / or landscape areas ("landcover") in different topographic information. This different topographic information is determined using the flying object at different positions.

[0032] According to a further embodiment of the method, the position of one of the military targets is determined by positioning the flying object above the target and within the range of a normal to the Earth's surface passing through the target, and by subsequently determining the position of the flying object itself. Determining the position of the flying object itself is also referred to as self-positioning. The military target then has the same horizontal position as the flying object, and the vertical position of the military target corresponds to the known vertical position of the Earth's surface.

[0033] Particularly preferably, two or more flying objects communicating with each other are provided for carrying out the method.

[0034] The process can thus be extended to a group of two or more aircraft. For example, three communicating drones can exchange a positive topography comparison with the other drones.

[0035] The security of the flying objects against being shot down by the enemy can be increased by repeating steps a) to e) in step f) for all of the two or more flying objects until in step d) the match value of only one of the two or more flying objects is greater than or equal to the threshold value.

[0036] More accurate and faster positioning of the objects is possible if the triangulation process is carried out using the current topography information of the two or more flying objects.

[0037] Therefore, no new position needs to be taken by a single flying object in order to perform the triangulation.

[0038] The object underlying the invention is also achieved by a system for determining the position of objects in an area with changing terrain with the features of patent claim 14.

[0039] One aspect of the invention then essentially lies in the fact that the evaluation unit is designed to determine at least one match value between the current topography information and the known topography information in a step c), wherein the evaluation unit is designed to compare the match value with a predetermined threshold value in a step d), wherein the flying object is designed to increase its flight altitude in a step e) if the match value is less than the threshold value, wherein the evaluation unit and the flying object are designed to repeat steps a) to e) in a step f) until the match value in step d) is greater than or equal to the threshold value.

[0040] The system further preferably comprises a display device for one or more human operators. The display device is coupled to the evaluation unit, so that the current topographic information and / or the known topographic information can be displayed using the display device. Furthermore, an input device is preferably coupled to the evaluation unit, so that the information that the current topographic information corresponds sufficiently accurately to the known topographic information can be input using the input device.

[0041] Preferably, a measuring range of the recording device is directed downwards from the flying object or the measuring range is directed sideways from the flying object.

[0042] The recording device can be configured to take exclusively top-down images, directed downwards, against the direction of flight. Alternatively or additionally, the recording device can be configured to take lateral 360° images of topography and / or objects. The recording angle and / or perspective can be freely selected, for example, to reduce the amount of data or achieve a larger coverage area. In this case, it is particularly advantageous that foreign objects such as military targets can be located even at long distances. Depending on the flight altitude and weather conditions, position determinations / localizations over several kilometers, e.g., 2km, 5km, 10km, 20km, or any distances intermediate to these, are possible.

[0043] According to an advantageous embodiment of the system, the recording device is designed as an (image / video) camera, as a laser range finder, as a LIDAR system and / or as a radar system.

[0044] The methods and the system for determining the position of objects in an area with changing terrain are used in particular in the area of ​​military vehicles, convoys and / or positions. In particular, the evaluation unit, the display device and / or the input device are then arranged within such a vehicle, convoy and / or within such a position. However, the evaluation unit, the display device and / or the input device can also be arranged in a control center which is far away, for example several hundred kilometers or several thousand kilometers, from the actual event, namely the flying objects. There are now a multitude of possibilities for advantageously configuring and developing the methods and the system according to the invention. In this regard, reference is initially made to the patent claims subordinate to patent claims 1, 2 and 14.A preferred embodiment of the method and system according to the invention will now be explained and described in more detail with reference to the drawing and the associated description. The drawing shows:

[0045] Fig.1 shows a flow chart of a first embodiment of the method for

[0046] Determining the position of objects in an area with changing terrain,

[0047] Fig.2 shows a flow chart of a second embodiment of the method for

[0048] Determining the position of objects in the area with changing terrain,

[0049] Fig.3 shows a schematic representation of a system for determining the position of objects in the area with changing terrain,

[0050] Fig.4a shows a schematic representation of a first movement pattern of a flying object of the system for determining the position of objects in the area with variable terrain, and

[0051] Fig.4b shows a schematic representation of a second movement pattern of the flying object of the system for determining the position of objects in the area with changing terrain.

[0052] The two methods for determining the position of objects 1 in an area 2 with changing terrain, in particular in a war zone, according to Fig.1 and 2 include a comparison of current topographic information Takt and known topographic information T be k. The current topography information Takt is provided by at least one at a certain altitude H a kt arranged flying object Fi, F2, F3, preferably a drone, particularly preferably a quadrocopter, is determined in step a). The current topography information Takt is compared with the known topography information T bek for determining the position of the objects 1, namely in particular military targets Z and / or the flying objects Fi, F2, F3 themselves, in a step b). Fig. 3 shows such an area 2 with variable terrain, in particular a war zone. On the right side, an image of the known topographic information Tbek is shown, and on the left side, an image of the current topographic information Takt is shown, wherein the current topographic information Takt differs from the known topographic information T be k can be distinguished by a partial destruction of a tower and a crater caused, for example, by a bomb, where the houses adjacent to the crater are also partially destroyed. By correlating the current topographic information Takt with the known topographic information T bek refers to a comparison in which the differences are determined. Such a comparison is preferably carried out at the digital level using data sets of the topography information Takt, T b ek. The comparison is performed, for example, using landscape objects ("landmarks") such as the tower shown in Fig. 3, the houses, and / or the mountain peak. The comparison is also performed, for example, using landscape areas ("landcover") such as the road shown in Fig. 3, the contour of the mountain, and / or the horizon.

[0053] According to the first embodiment of Fig.1, at least one match value W between the current topography information Takt and the known topography information T bek is determined in step c). The match value W is then compared with a predetermined threshold value S in step d). The flight altitude H of the flying object Fi, F2, F3 is increased in step e) if the match value W is less than the threshold value S. In step f), steps a) to e) are repeated until in step d) the match value W is greater than or equal to the threshold value S.

[0054] When determining the match value W, for example, the current topography information Takt and the known topography information T be k considered in its entirety. However, it is also conceivable that one or more landscape objects and / or landscape areas are used to determine the agreement value W, since these are then sufficient to determine the position of relevant objects 1 with sufficient accuracy.

[0055] Step d) involves the query as to whether W < S. If this query is answered with Yes (Y), step e), namely increasing the flight altitude H of the flying object Fi, F2, F3, is carried out, in order to then carry out step a) again. If this query W < S is answered with No (N), the method is terminated, since then a sufficiently accurate position determination of relevant objects 1 can be carried out with the then current topography information Takt and is also carried out. Step f) is made possible in particular with the aid of the aforementioned query. According to the second exemplary embodiment from Fig. 2, the current topography information Takt and the known topography information T be k is displayed by means of a display device 3 to at least one human operator 4 in a step c). The operator 4 then compares the current topography information Takt and the known topography information T bek in a step d). The flight altitude H of the flying object Fi, F2, F3 is increased in a step e). In a step f), steps a) to e) are repeated until in step d) the operator 4 inputs the information by means of an input device 5 that the current topographic information is in sync with the known topographic information T be k match sufficiently accurately.

[0056] The display device shows images of the current topography information Takt and the known topography information T be k from Fig.3 are preferably shown side by side and simultaneously. The display device 3 is designed, for example, as an electronic screen or as a projector. Step d) according to the second embodiment of Fig.2 further includes the query as to whether the operator 4 has the information that the current topographic information is in sync with the known topographic information T bek sufficiently accurately, or not. If this query is answered with No (N), step e), namely increasing the flight altitude H of the flying object Fi, F2, F3, is carried out, in order to then carry out step a) again. If this query is answered with Yes (J), the method is terminated, since then a sufficiently accurate position determination of relevant objects 1 can be carried out with the then current topography information Takt and is also carried out. Step f) is made possible in particular with the help of the aforementioned query.

[0057] The flight altitude H of the flying object Fi, F2, F3 is increased in step e), for example, step by step, preferably in 9 m to 11 m steps.

[0058] Fig.4a and 4b show a schematic representation of two different movement patterns of the flying object Fi, F2, F3. Each dotted line symbolizes a flight path of the flying object Fi, F2, F3. The flying object Fi, F2, F3 is shown at four different altitudes H, namely at a current altitude Hakt, at a height H a kt previous flight altitude H akt -i, as well as in two opposite the current flight altitude H a kt following altitudes H a kt+i , Hakt+2. These altitudes H akt -i, hook, H a kt+i and H a kt+2 could correspond to the steps mentioned, whereby at each flight altitude H akt -i, hook, H a kt+i and Hakt+2, the current topographic information Takt is determined using the flying object Fi, F2, F3. At each of the flight altitudes H a kt-i , Hakt, H a kt+iand H akt+2 holds the flying object Fi, F2, F3 preferably briefly for the duration of the determination of the current topography information T akt and the subsequent query.

[0059] According to Fig. 4a and 4b, the flight altitude H of the flying object F1, F2, F3 could also be increased continuously, particularly along the flight paths symbolized by the dotted lines. Then, continuously, i.e., also between the shown flight altitudes H a kt-i, Hakt, H a kt +i and H a kt + 2, the then current topography information T akt by means of the flying object Fi, F2, F3, and the corresponding queries are carried out. If the query according to Fig. 1 can be answered with "No" and according to Fig. 2 with "Yes," the procedure is terminated and the flying object Fi, F2, F3 reduces its altitude H again and flies back to a base station, for example.

[0060] The flight altitude H of the flying object Fi, F2, F3 is increased in a final step e) according to the first embodiment of the method from Fig.1 such that in the subsequent final step d) the match value W exceeds the threshold value S by a maximum of 5%.

[0061] The match value W could, for example, compare the threshold value S with the values ​​obtained at the flight altitude H ak t+2 determined, then current topography information T akt exceed.

[0062] According to Fig.4a and 4b, in step e) a horizontal position of the flying object Fi, F2, F3 is also changed.

[0063] The flying object Fi, F2, F3 also moves sideways.

[0064] The change in the horizontal position occurs simultaneously with the change in the vertical position. However, the change in the horizontal position could also occur at the same height H, so that at the same height H, two or more topographic information items T akt by means of the flying object Fi, F2, F3.

[0065] According to Fig.4a, the horizontal position of the flying object Fi, F2, F3 is changed linearly.

[0066] According to Fig. 4b, the horizontal position of the flying object F1, F2, F3 is changed in a spiral pattern. However, it would also be conceivable to develop other flight paths, for example, adapted to area 2 and in which landscape objects and / or landscape areas are preferably used as cover for the military targets Z.

[0067] The position of one of the objects 1 , Fi, F2, F3, Z is determined using a triangulation method.

[0068] Triangulation is a geometric method of measuring distances by measuring angles within triangles. The calculation is then performed using trigonometric functions. The position of one of the objects 1, F1, F2, F3, Z is thus determined relative to a known position in the known topographic information T. be k is determined.

[0069] The position of one of the military targets Z could alternatively or additionally be determined by arranging the flying object Fi, F2, F3 above the target Z and in the area of ​​a normal to the earth's surface 6 passing through the target Z and by subsequently determining the position of the flying object Fi, F2, F3 itself.

[0070] If the flying object Fi, F2, F3 is located above the target Z, which is arranged between a house and a mountain according to Fig.3, a current topography information Takt is preferably determined in order to identify the target.

[0071] It is conceivable that two or more communicating flying objects Fi, F2, F3 are intended to carry out the procedure.

[0072] Fig. 3 shows three flying objects Fi, F2, F3, namely a first flying object Fi, a second flying object F2, and a third flying object F3. Fig. 3 shows an image of the current topographic information determined by the first flying object Fi. In this image, the two other flying objects F2, F3 are shown with dashed lines due to their optional use in the process.

[0073] When using two or more flying objects Fi, F2, F3, in step f) steps a) to e) according to Fig. 1 are repeated for all of the two or more flying objects Fi, F2, F3 until in step d) the match value W of only one of the two or more flying objects Fi, F2, F3 is greater than or equal to the threshold value S. When using two or more flying objects Fi, F2, F3 and the method according to Fig. 2, the current topography information of these two or more flying objects Fi, F2, F3 is available to the operator 4 in order to make the decision whether the current topography information agrees with the known topography information T be k match sufficiently accurately.

[0074] When two or more flying objects Fi, F2, F3 are used, the triangulation procedure is carried out using the current topographic information of the two or more flying objects Fi, F2, F3.

[0075] A system 7 for determining the position of objects 1 in an area 2 with variable terrain, in particular in a war zone, is shown in Fig. 3. The system 7 serves, in particular, to carry out the method described above. The system 7 comprises at least one flying object Fi, F2, F3 having at least one recording device 8 and an evaluation unit 9. The flying object Fi, F2, F3 is designed to be positioned at a specific altitude H by means of the recording device 8. a kt of the flying object Fi, F2, F3current topography information Takt in a step a). The evaluation unit 9 is designed to use a correlation of the current topography information Takt with known topography information T be k to determine the position of the objects 1 , namely in particular of military targets Z and / or of the flying objects Fi, F2, F3 themselves, in a step b).

[0076] The recording device 8 is arranged on the underside of the flying object Fi, F2, F3 according to Fig. 3. Information such as the current topographic information, timing, and / or control commands for the flying objects Fi, F2, F3 can be wirelessly transmitted between the flying objects Fi, F2, F3 and the evaluation unit 9, which is symbolized by corresponding symbols adjacent to the flying objects Fi, F2, F3 and the evaluation unit 9. If the flying objects Fi, F2, F3 are unmanned drones, these drones can operate autonomously or be remotely controlled by the operator 4 using the input device 5 and the evaluation unit 9.

[0077] The evaluation unit 9 is further designed to determine at least one correspondence value W between the current topography information Takt and the known topography information T bek in a step c) and to compare the agreement value W with a predetermined threshold value S in a step d). The flying object Fi, F2, F3 is designed to increase its flight altitude H in a step e) if the agreement value W is less than the threshold value S. The evaluation unit 9 and the flying object Fi, F2, F3 are designed to repeat steps a) to e) in a step f) until the agreement value W is greater than or equal to the threshold value S in step d). A measuring range of the recording device 8 is directed downwards from the flying object Fi, F2, F3 or the measuring range is directed sideways from the flying object Fi, F2, F3.

[0078] If the position of one of the military targets Z is determined by arranging the flying object Fi, F2, F3 above the target Z, then preferably a determination of current topographic information is carried out using a recording device 8 directed downwards from the flying object Fi, F2, F3.

[0079] In particular, the measuring range in the azimuth direction is formed in a specific winding area.

[0080] In particular, the measurement area is focused on characteristic landscape objects, landscape areas, and / or the targets Z. It is also possible to focus successively on different characteristic landscape objects, landscape areas, and / or targets Z in different topographic information surveys.

[0081] The recording device 8 is designed as an image / video camera, as a laser range finder, as a LIDAR system and / or as a radar system.

[0082] List of reference symbols

[0083] 1 objects

[0084] 2 Area

[0085] 3 Display device

[0086] 4 operators

[0087] 5 Input device

[0088] 6 Earth's surface

[0089] 7 Systems

[0090] 8 Recording device

[0091] 9 Evaluation unit

[0092] Clock current topography information

[0093] Tbek known topographic information

[0094] Fi (first) flying object

[0095] F2 (second) flying object

[0096] F3 (third) flying object

[0097] Z military target

[0098] H Flight altitude

[0099] Hakt flight altitude

[0100] Hakt_-i Flight altitude

[0101] H a kt_+i altitude

[0102] H a kt_+2 altitude

[0103] W Match value

[0104] S threshold

Claims

Patent claims 1. Method for determining the position of objects (1) in an area (2) with changing terrain, in particular in a war zone, by means of a comparison of current topographic information (Takt) and known topographic information (T be k), wherein the current topographic information (Takt) is determined by means of at least one flying object (Fi, F2, F3) arranged at a certain flight altitude (Hakt), preferably a drone, particularly preferably a quadrocopter in a step a), wherein the current topographic information (Takt) is compared with the known topographic information (T be k) for determining the position of the objects (1 ), namely in particular of military targets (Z) and / or the flying objects (Fi, F2, F3) themselves, are correlated in a step b), characterized in that at least one correspondence value (W) between the current topographic information (Takt) and the known topographic information (Tbe k) is determined in a step c), wherein the match value (W) is compared with a predetermined threshold value (S) in a step d), wherein the flight altitude (H) of the flying object (Fi, F2, F3) is increased in a step e) if the match value (W) is less than the threshold value (S), wherein in a step f) steps a) to e) are repeated until in step d) the match value (W) is greater than or equal to the threshold value (S).

2. Method for determining the position of objects (1) in an area (2) with changing terrain, in particular in a war zone, by means of a comparison of current topographic information (Takt) and known topographic information (T bek), wherein the current topographic information (Takt) is determined by means of at least one flying object (Fi, F2, F3) arranged at a certain flight altitude (Hakt), preferably a drone, particularly preferably a quadrocopter in a step a), wherein the current topographic information (Takt) is compared with the known topographic information (T bek ) for determining the position of the objects (1 ), namely in particular of military targets (Z) and / or the flying objects themselves (Fi, F2, F3), are correlated in a step b), characterized in that the current topographic information (Takt) and the known topographic information (T bek ) by means of a display device (3) to at least one human operator (4) in a step c), wherein the operator (4) has the current topography information (Takt) and the known topography information (T bek) in a step d) are compared with each other, wherein the flight altitude (H) of the flying object (Fi, F2, F3) is increased in a step e), wherein in a step f) the steps a) to e) are repeated until in step d) the operator (4) by means of a Input device (5) enters the information that the current topography information (Takt) corresponds sufficiently accurately to the known topography information (Tbek).

3. Method according to claim 1 or 2, characterized in that the flight altitude (H) of the flying object (Fi, F2, F3) is increased in step e) in steps of 9 m to 11 m.

4. Method according to claim 1 or 2, characterized in that the flight altitude (H) of the flying object (Fi, F2, F3) is continuously increased.

5. Method according to one of the preceding claims, characterized in that the flight altitude (H) of the flying object (Fi, F2, F3) is increased in a last step e) such that in the subsequent last step d) the match value (W) exceeds the threshold value (S) by a maximum of 5%.

6. Method according to one of the preceding claims, characterized in that in step e) a horizontal position of the flying object (Fi, F2, F3) is changed.

7. Method according to claim 6, characterized in that the horizontal position of the flying object (Fi, F2, F3) is changed linearly.

8. Method according to claim 6, characterized in that the horizontal position of the flying object (Fi, F2, F3) is changed in a spiral manner.

9. Method according to one of the preceding claims, characterized in that the position of one of the objects (1, F1, F2, F3, Z) is determined by means of a triangulation method.

10. Method according to one of the preceding claims, characterized in that the position of one of the military targets (Z) is determined by arranging the flying object (Fi, F2, F3) above the target (Z) and in the region of a normal to the earth's surface (6) passing through the target (Z) and by subsequently determining the position of the flying object (Fi, F2, F3) itself.

11. Method according to one of the preceding claims, characterized in that two or more mutually communicating flying objects (Fi, F2, F3) are provided for carrying out the method.

12. The method according to claim 11, characterized in that in step f) steps a) to e) are repeated for all of the two or more flying objects (Fi, F2, F3) until in step d) the match value (W) of only one of the two or more flying objects (Fi, F2, F3) is greater than or equal to the threshold value (S).

13. Method according to claim 11 or 12, characterized in that the triangulation method is carried out with the current topography information (clock) of the two or more flying objects (Fi, F2, F3).

14. System (7) for determining the position of objects (1) in an area (2) with variable terrain, in particular in a war zone, in particular for carrying out the method according to one of the preceding claims, with at least one flying object (Fi, F2, F3) having at least one recording device (8) and with an evaluation unit (9), wherein the flying object (Fi, F2, F3) is designed to determine current topographic information (Takt) in a step a) by means of the recording device (8) at a specific flight altitude (Hakt) of the flying object (Fi, F2, F3), wherein the evaluation unit (9) is designed to determine the position of the objects (1), namely in particular of military targets (Z) and / or of the flying objects (Fi, F2, F3) themselves, in a step b) by means of a correlation of the current topographic information (Takt) with known topographic information (Tbek), characterized in that the evaluation unit (9) is designed,to determine at least one match value (W) between the current topographic information (Takt) and the known topographic information (Tbek) in a step c), wherein the evaluation unit (9) is designed to compare the match value (W) with a predetermined threshold value (S) in a step d), wherein the flying object (Fi, F2, F3) is designed to increase its flight altitude (H) in a step e) if the match value (W) is less than the threshold value (S), wherein the evaluation unit (9) and the flying object (Fi, F2, F3) are designed to repeat steps a) to e) in a step f) until the match value (W) is greater than or equal to the threshold value (S) in step d).

15. System (7) according to claim 14, characterized in that a measuring range of the recording device (8) is directed downwards from the flying object (Fi, F2, F3) or that the measuring range is directed sideways from the flying object (Fi, F2, F3).

16. System (7) according to claim 14 or 15, characterized in that the recording device (8) is designed as an (image / video) camera, as a laser range finder, as a LIDAR system and / or as a radar system.

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