Method and system for detecting a flying device in airspace

Abstract

A method for detecting a flying device (3) in airspace (EA) by means of a detection system (S), the detection system (S) comprising at least one ground station (1) and at least one tracking drone (2), the method comprising steps of detecting a position of at least one flying device (3) in airspace (EA), hereinafter referred to as the "target position" (PosC), transmitting the target position (PosC) to the tracking drone (2), automatically moving the tracking drone (2) to the target position (PosC), detecting, by the tracking drone (2), a position of at least one flying device (3) in the vicinity of the tracking drone (2), hereinafter referred to as the "local position" (PosL), transmitting the local position (PosL) to the ground station (1), and determining, by the ground station (1), a refined position from the local position (PosL). Abstract figure: Figure 8

Description

Title of the invention: Method and system for detecting a flying device in airspace technical field

[0001] The present invention relates to the field of air defence, more specifically a system for detecting and intercepting a flying device.

[0002] In the context of defending a site, it is necessary to identify potential long-range threats, for example, flying devices (drones, etc.) which are generally used for reconnaissance missions or to transport explosive charges. Detecting potential threats at long range is essential to ensuring the protection of the infrastructure and personnel at the site.

[0003] It is known in the prior art to use a ground-based detection system comprising a sky-directed radar to monitor the airspace around the site to be protected. Such a detection system makes it possible to detect flying devices in the airspace at long range, but does not offer sufficient accuracy to identify and intercept the detected flying device. For example, such a detection system does not make it possible to identify at long range whether the detected flying device is friendly or hostile.

[0004] Furthermore, to intercept a long-range aircraft, it is known to use a long-range jammer to disorient the aircraft. Unfortunately, this type of jammer disrupts all electronic devices over a wide area and can cause collateral damage to friendly or civilian equipment. One solution to eliminate this drawback would be to use a laser or similar device to intercept the aircraft. However, such a solution cannot be implemented at long range since the detected position does not have sufficient accuracy.

[0005] The invention thus aims to eliminate at least some of these drawbacks, by proposing a new system for detecting and intercepting a flying device allowing for more precise detection. PRESENTATION OF THE INVENTION

[0006] The invention relates to a method for detecting a flying device in airspace by means of a detection system, the detection system comprising at least one ground station and at least one tracking drone, the method comprising steps consisting of: To detect, via the ground station, the position of at least one flying device in the airspace, hereinafter referred to as the "target position", • Transmit the target position to the tracking drone via the ground station. • Automatically move the tracking drone to the target position, • Detect, using the tracking drone, the position of at least one flying device in the vicinity of the tracking drone, hereinafter referred to as "local position", • Transmit, via the tracking drone, the local position to the ground station, and • Determine, using the ground station, a refined position from the position local.

[0007] Thanks to the invention, a local position can be obtained using the tracking drone, which enhances accuracy. The use of a tracking drone ensures precise monitoring of a flying aircraft in order to locate, identify, or intercept it if necessary. Any aerial threat is thus optimally contained.

[0008] Preferably, the method includes a step of commanding an interception device to target the aircraft at the refined position. The use of a highly precise refined position advantageously allows for targeted interception without risk of collateral damage.

[0009] According to one aspect, the refined position is displayed on a display screen at the ground station. This allows an operator to accurately visualize the trajectory of the flying device and to know its precise position at any time.

[0010] According to one aspect, the position of the tracking drone is continuously determined by the tracking drone and sent to the ground station. This allows the operator to quickly view the aerial situation on a display device to ensure that the flying device is under control.

[0011] In one aspect, the refined position corresponds to the local position. Such a refined position is used when the tracking drone performs high-quality detection, in particular, by means of a lidar.

[0012] According to one aspect, the refined position is determined from the target position and the local position, preferably from the target position, the local position, and the position of the tracking drone. The use of several position measurements advantageously reduces inaccuracies.

[0013] According to one aspect, the target position is detected and continuously transmitted to the tracking drone. This allows the tracking drone to dynamically adapt its trajectory when rendezvousing with the flying device.

[0014] According to one aspect, the method includes a step of comparing a separation distance, determined between the local position and the target position, to a neighborhood threshold, the tracking drone transmitting the local position only if the separation distance is less than the neighborhood threshold.

[0015] This allows the tracking drone to discard any intruder not corresponding to the flying device detected by the ground station when the flying device is being joined.

[0016] According to one aspect, the method includes a pursuit step consisting of automatically moving the tracking drone according to the local position and a detection vector defined between the tracking drone and the flying device, preferably without regard to the target position.

[0017] The use of a detection vector, preferably obtained by a lidar, makes it possible to detect the speed and / or acceleration of the flying device, which makes it possible to estimate its trajectory and, preferably, to facilitate its rendezvous even when the latter is in motion.

[0018] The invention also relates to a system for detecting a flying device in airspace, the detection system comprising at least one ground station and at least one tracking drone, • the ground station being configured for: • detect the position of at least one flying device in the airspace, hereinafter referred to as the “target position”, • transmit the target position to the tracking drone, • the tracking drone being configured to automatically move to the target position, • the tracking drone being configured to: • detect the position of at least one flying device in the vicinity of the tracking drone, hereinafter referred to as "local position", • transmit the local position to the ground station • the ground station being configured for: • determine a refined position from the local position.

[0019] According to one aspect, the ground station includes a monitoring device for detecting the target position, in particular, a long-range radar.

[0020] According to one aspect, the tracking drone includes a detection device, preferably a lidar.

[0021] A lidar allows for reliable detection both at night and on a black target. Its three-dimensional operation makes it possible to determine a precise distance as well as speeds and accelerations, which facilitates the tracking of the flying device by the drone.

[0022] According to one aspect, the lidar has a horizontal opening angle greater than 70 degrees and a vertical opening angle greater than 70 degrees.

[0023] According to one aspect, the tracking drone includes a navigation module configured for • Compare a separation distance, determined between the local position and the target position, to a neighborhood threshold, • Transmit the local position only if the spacing distance is within less than the neighborhood threshold.

[0024] According to one aspect, the tracking drone includes an image capture device configured to continuously transmit the captured images to the ground station. This allows the flying device to be visually identified.

[0025] According to one aspect, the system includes an interception device for intercepting the flying device at its precise position. Preferably, the interception device is mounted on the tracking drone. This allows for local, reactive interception.

[0026] Preferably, the interception device is a short-range jammer.

[0027] The invention also relates to an aerial drone comprising a short-range jammer. According to one aspect, the frequency or frequencies jammed by the short-range jammer are configurable by an operator. According to another aspect, the jamming power is configurable by an operator. PRESENTATION OF THE FIGURES

[0028] The invention will be better understood upon reading the following description, given by way of example, and referring to the following figures, given by way of non-limiting examples, in which identical references are given to similar objects.

[0029] Fig. 1 is a schematic representation of a detection system according to the invention.

[0030] Fig. 2 is a schematic representation of a detection system according to the invention seen from above, showing a plurality of tracking drones.

[0031] Fig. 3 is a schematic representation of a tracking drone.

[0032] Figure 4 is a schematic representation of the entry of a flying device into the airspace of the site to be protected.

[0033] Fig. 5 is a schematic representation of a stage of rendezvous of the flying device by the follow drone.

[0034] Fig. 6 is a schematic representation of a detection step during the rallying of the flying device.

[0035] Fig. 7 is a schematic representation of a tracking drone detecting a bird during the rallying of the flying device.

[0036] Fig. 8 is a schematic representation of a tracking drone detecting the flying device and transmitting the position of the flying device to the ground station.

[0037] Fig. 9 is a schematic representation of the stage of the pursuit of the flying device by the tracking drone.

[0038] Fig. 10 is a schematic representation of a tracking drone receiving an interception order and activating a short-range jammer to intercept the flying device.

[0039] It should be noted that the figures set out the invention in detail to implement the invention, said figures being of course able to serve to better define the invention where appropriate. DETAILED DESCRIPTION OF THE INVENTION

[0040] The invention will be presented in a military context for ensuring the defense of a site to be protected (SAP) as illustrated in Figures 1 and 2. The site to be protected (SAP) can take various forms, for example, a military camp, an official building, a recreational area, etc. It is important to ensure the safety of property and people at said site to be protected (SAP).

[0041] In this example, the site to be protected SAP is equipped with a detection system S which is configured to detect an aircraft in an airspace EA defined around the site to be protected SAP. The detection system S is also configured to intercept the aircraft as will be shown later.

[0042] With reference to [Fig.2], the detection system S comprises a ground station 1 and several tracking drones 2. In this example, for the sake of clarity and conciseness, only a single tracking drone 2 will be presented.

[0043] With reference to [Fig.1], a ground station 1 is schematically represented according to one embodiment of the invention.

[0044] The ground station 1 includes a command center comprising at least one computer 10, in particular a server or computer, equipped with a display device on which at least one operator can observe potential threats.

[0045] The ground station 1 includes a monitoring device 11 configured to detect the position of at least one intruder, for example, an aircraft, in airspace EA, hereinafter referred to as the "target position PosC". Preferably, the monitoring device 11 is in the form of a long-range radar capable of determining the target position PosC up to 2000 meters. It is understood that the monitoring device 11 could be in another form, for example, an association of direction finder systems for determining the target's position by triangulation, or any other ground-based sensor capable of determining the target's position. The target position PosC is determined at long range and transmitted to the computer 10 in order to proactively warn an operator that an intruder is present.

[0046] With further reference to [Fig. 1], the ground station 1 includes a video acquisition device 12, connected to the computer 10, to allow the operator to view the intruder and classify it, i.e., determine whether the intruder is, for example, a flying machine or an animal. In practice, long-range classification is simple when the intruder is large. In this example, the video acquisition device 12 is a video acquisition camera, in particular, a Infrared camera. It goes without saying that a camera capturing in the visible spectrum could also be used. Furthermore, it is possible to implement a live image processing method on the acquired video stream to determine the target's position and other information useful to the operator, supplementing the surveillance device 11.

[0047] With further reference to [Fig. 1], the ground station 1 also includes a ground interception device 13 to intercept the intruder when it is considered a threat. The ground interception device 13 is connected to the computer 10 so that it can be controlled reactively. In this example, the ground interception device 13 may include a high-power laser, a long-range jammer, or a projectile launcher.

[0048] In this example, the ground station 1 further includes a communication device 14 for communicating with the tracking drone 2, for example, via a radio communication link, preferably encrypted.

[0049] Preferably, the communication device 14 implements encrypted communications in order to ensure that the data is not compromised.

[0050] A tracking drone 2 is schematically represented in [Fig. 3]. The tracking drone 2 comprises a chassis 20 on which one or more propulsion elements 29 are mounted, for example, electric motors equipped with propellers. It is understood that the tracking drone 2 could include any type of propulsion element 29.

[0051] In this embodiment, again with reference to [Fig.3], the tracking drone 2 comprises a navigation module 21, a detection device 22, an interception device 23, an image capture device, not shown, and a communication module, not shown, for communicating with the ground station 1. The tracking drone 2 further comprises an electric battery, to power the various equipment of the tracking drone (the propulsion elements 29, the navigation module 21, the detection device 22, the interception device 23, the image capture device, the communication module, etc.).

[0052] Preferably, communications between the ground station 1 and the tracking drone 2 are made by radio waves in 2.4 GHz.

[0053] The tracking drone 2 includes a navigation module 21 configured to control the propulsion components 29 in order to steer the tracking drone 2. In this example, the navigation module 21 is in the form of an electronic circuit board. The navigation module 21 is also configured to determine the position of the tracking drone 2 in real time, hereinafter referred to as the "drone position PosD". By way of example, the navigation module 21 includes an inertial measurement unit.

[0054] The navigation module 21 is configured to automatically direct the tracking drone 2 to a given position, in particular, to a corresponding target position PosC of that of an intruder or to the storage position of tracking drone 2. This advantageously allows for an immediate response as soon as an intruder is detected by ground station 1.

[0055] With reference to [Fig. 3], the tracking drone 2 comprises a detection device 22, preferably a lidar. A lidar advantageously enables the detection of an intruder at a distance of several tens of meters and with very high angular detection accuracy. Furthermore, a lidar allows for dense scanning of its field of view and has a reduced mass compared to other types of detection devices 22, such as radars. Preferably, the lidar has a horizontal beamwidth greater than 70 degrees. Preferably, the lidar has a vertical beamwidth greater than 70 degrees. In this example, the lidar has a horizontal beamwidth of approximately 70 degrees and a vertical beamwidth of approximately 77 degrees.

[0056] Preferably, the lidar is configured to determine a reflectivity index of the intruder to facilitate its identification. The use of lidar allows, in particular, a three-dimensional view of the detection field, offering greater precision and measurements of distance, velocity, and acceleration along three axes, hereinafter referred to as the "detection vector Vd." In other words, the lidar makes it possible to determine and estimate the trajectory of the intruder in order to track it optimally, as will be described later. Preferably, the lidar is mounted in a stabilizing pod to maintain high operational accuracy.

[0057] With reference to Figures 7 and 8, the detection device 22 is configured to detect the position of at least one intruder, hereinafter referred to as the "local position PosL," for example, a flying device or a bird, in the vicinity of the tracking drone 2. Preferably, the local position PosL is determined from the position of the tracking drone PosD and the detection vector Vd measured by the detection device 22, in particular, by the lidar. Thanks to the detection vector Vd, in particular its length, the tracking drone 2 can adapt its course to reactively follow the intruder while maintaining a predetermined safety distance. Thus, the tracking drone 2 can supplement or replace the ground station 1 in determining the intruder's position.

[0058] The navigation module 21 is configured to determine a separation distance EC between the local position PosL and the target position PosC, and to compare it to a neighborhood threshold Sv. This advantageously allows for the automatic determination of whether the intruder detected by the detection device 22 of the tracking drone 2 corresponds to the intruder detected by the monitoring device 11 of the ground station 1. If there is a match, the tracking drone 2 begins tracking the intruder; otherwise, it continues its movement towards the target position PosC, in particular, avoiding the intruder it has previously detected. previously detected.

[0059] With reference to [Fig. 3], the tracking drone 2 includes an image capture device, in particular a video camera, configured to continuously transmit the captured images to the ground station 1, specifically to the computer 10 equipped with its display device. This camera, mounted on board the tracking drone 2, advantageously allows for obtaining high-resolution images of the intruder due to the proximity of the tracking drone 2 to the intruder. This advantageously enables an operator at the ground station 1 to identify the flying device, determine its model, and ascertain whether it is an enemy aircraft. Furthermore, image processing algorithms can advantageously be used on the captured images received by the ground station 1 to deduce additional data useful to the operator.

[0060] With reference to [Fig. 3], the tracking drone 2 includes an interception device 23 mounted on the chassis 20 for intercepting the flying aircraft. In other words, the interception device 23 is onboard. Preferably, the interception device 23 is a laser, a short-range jammer, or a kinetic effector such as a net or a projectile. This advantageously allows the tracking drone 2 to intercept the flying aircraft locally without collateral damage, as will be shown later.

[0061] The interception device 23 is configured to receive an interception order transmitted by the ground station 1, and to intercept the flying device only upon receipt of the interception order OI. When the intruder is identified as an enemy, the operator can thus decide to send the interception order to the ground interception device 13 of the ground station 1 or to the interception device 23 of the tracking drone 2.

[0062] With reference to figures 4 to 10, an example of the implementation of a detection method according to the invention is shown.

[0063] In this example of implementation, with reference to [Fig.4], the tracking drone 2 is in ground storage position and ready to intervene.

[0064] With reference to [Fig. 4], the method includes a step of detecting, by ground station 1, the position of an intruder in airspace EA, hereinafter referred to as "target position PosC". This detection is performed at long range by the monitoring device 11 of ground station 1. In this example, the intruder is a flying device 3 which is visually identified by the video acquisition device 12. In this example, this detection step does not allow for determining whether the flying device 3 is friendly or hostile.

[0065] Still referring to [Fig. 4], the method includes a step of transmitting E2, via the ground station 1, the target position PosC to the tracking drone 2 via their communication modules. Preferably, the target position PosC is detected and transmitted to the tracking drone 2 continuously.

[0066] With reference to Figures 5 and 6, the method includes a step of automatically moving E3 the tracking drone 2 to the target position PosC. In other words, the tracking drone 2 enables the aircraft 3 to rendezvous. Preferably, during rendezvous, the detection device 22 of the tracking drone 2 remains activated and continuously detects any intruder entering a detection zone 5 determined by the detection device 22 (lidar) as illustrated in [Fig. 8].

[0067] During the rendezvous, the method includes a step in which the tracking drone 2 detects E4 the local position PosL of any intruder within the detection zone 5 of the tracking drone 2. In this example, the local position PosL is determined from the position of the tracking drone PosD (provided by the navigation module 21) and the detection vector Vd measured by the lidar (detection device 22). In this example, the detection vector Vd includes the velocities and / or accelerations of the intruder along the different axes.

[0068] Preferably, during the rendezvous, the method includes a step E5 consisting of comparing the separation distance EC, determined between the local position PosL and the target position PosC, to the neighborhood threshold Sv so as to determine if the detected intruder corresponds to the flying device 3. By way of example, with reference to [Fig.7], the intruder is a bird which is ignored by the tracking drone 2.

[0069] With reference to [Fig.8], the intruder corresponds to the flying device 3 and the local position PosL corresponds to that of the flying device 3.

[0070] The method includes a step of transmitting E6, by the tracking drone 2, the local position PosL to the ground station 1 and determining E7, by the ground station 1, a refined position PosA from the target position PosC and the local position PosL, as shown in [Fig.8].

[0071] Advantageously, the ground station 1 allows for the determination of a highly accurate refined position PosA by merging the target position PosC and the local position PosL. Preferably, the refined position PosA is determined from the target position PosC, the local position PosL, and the drone position PosD. In one aspect, the refined position PosA corresponds to the local position PosL.

[0072] Obtaining such a refined position PosA offers numerous advantages. It can be used with great confidence to display the position of the flying device 3 on the computer display 10, in particular, associated with the position of the drone PosD. This allows for reactive and continuous monitoring by the operator.

[0073] This also makes it possible to provide a refined position PosA to the ground interception device 13 to carry out a targeted interception.

[0074] In this example, the method includes a tracking step E8 consisting of automatically moving the tracking drone 2 according to the local position PosL, preferably without regard to the target position PosC. During this step, the tracking drone 2 pursues the flying device 3, from the local position PosL and the detection vector Vd while maintaining a safe distance from the flying device 3. This advantageously allows the tracking drone 2 to pursue the flying device 3, even in the event of a malfunction of the monitoring device 11 of the ground station 1.

[0075] Preferably, the method includes a step of commanding E9 the interceptor device 23 of the tracking drone 2 so that it targets the flying device 3 at the local position PosL. In this example, with reference to [Fig. 10], the tracking drone 2 performs an interception with a short-range jammer that prevents any remote control of the flying device 3. The flying device 3 is in a safe position and remains suspended, unable to approach the site to be protected SAP. The short-range jammer can also hack the flying device 3 to force it to land. Such a short-range jammer prevents any collateral damage.

[0076] The tracking drone 2 can also perform a targeted destructive interception, for example, using a laser. A targeted interception at close range is more reliable. Once the interception is complete, the tracking drone 2 can return to its storage area automatically.

Claims

Claims

1. Method for detecting a flying apparatus (3) in an airspace (EA) by a detection system (S), the detection system (S) comprising at least one ground station (1) and at least one tracking drone (2), the method comprising steps consisting of: • Detecting (El), by the ground station (1), a position of at least one flying apparatus (3) in the airspace (EA), hereinafter "target position" (PosC), • Transmitting (E2), by the ground station (1), the target position (PosC) to the tracking drone (2), • Automatically moving (E3) the tracking drone (2) to the target position (PosC), • Detecting (E4), by the tracking drone (2), a position of at least one flying apparatus (3) in a vicinity of the tracking drone (2), hereinafter "local position" (PosL), • Transmitting (E6), by the tracking drone (2), the local position (PosL) at ground station (1), and • Determine (E7), by ground station (1),a refined position (PosA) from the local position (PosL).,

2. A method according to claim 1, comprising a step of controlling (E9) an interception device (13, 23) so that it targets the flying apparatus (3) at the refined position (PosA).

3. Method according to one of claims 1 to 2, in which the refined position (PosA) is displayed on a display screen of the ground station (1).

4. Method according to one of claims 1 to 3, wherein a position (PosD) of the tracking drone (2) is continuously determined by the tracking drone (2), and sent to the ground station (1).

5. Method according to one of claims 1 to 4, in which the refined position (PosA) is determined from the target position (PosC) and the local position (PosL).

6. Method according to one of claims 1 to 5, wherein the target position (PosC) is detected and transmitted to the tracking drone (2) continuously.

7. Method according to one of claims 1 to 6, comprising a step (E5) consisting of comparing a separation distance (EC), determined between the local position (PosL) and the target position (PosC), to a neighborhood threshold (Sv), the tracking drone (2) transmitting (E6) the local position (PosL) only if the separation distance (EC) is less than the neighborhood threshold (Sv).

8. Method according to one of claims 1 to 7, comprising a tracking step (E8) consisting of automatically moving the tracking drone (2) as a function of the local position (PosL) and a detection vector (Vd) defined between the tracking drone (2) and the flying apparatus (3), preferably without taking into account the target position (PosC).

9. Detection system (S) of a flying apparatus (3) in an airspace (EA), the detection system (S) comprising at least one ground station (1) and at least one tracking drone (2), • the ground station (1) being configured to: • detect a position of at least one flying apparatus (3) in the airspace (EA), hereinafter “target position” (PosC), • transmit the target position (PosC) to the tracking drone (2), • the tracking drone (2) being configured to move automatically to the target position (PosC), • the tracking drone (2) being configured to: • detect a position of at least one flying apparatus (3) in a vicinity (5) of the tracking drone (2), hereinafter “local position” (PosL), • transmit the local position (PosL) to the ground station (1), • the ground station (1) being configured to: • determine a refined position (PosA) from the local position (PosL).

10. System according to claim 9, wherein the ground station (1) comprises a monitoring device (11) for detecting the target position (PosC), in particular, a long-range radar.

11. System according to one of claims 9 to 10, in which the tracking drone (2) comprises a detection device (22), preferably a lidar.

12. The system of claim 11, wherein, the tracking drone (2) comprising a lidar, the lidar (22) has a horizontal opening angle greater than 70 degrees and a vertical opening angle greater than 70 degrees.

13. System according to one of claims 9 to 12, wherein the tracking drone (2) comprises an image capture device configured to continuously transmit the captured images (Im) to the ground station (1).

14. System according to one of claims 9 to 13, comprising an interception device (23), in order to intercept the flying apparatus (3) at the refined position (PosA).

15. The system of claim 14, wherein the interception device (23) is mounted on the tracking drone (2).

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