Targeting detection system, distributed across a group of individuals

Abstract

An attack detection system for equipping a group (G) of individuals (I), each carrying at least one weapon, comprising: individual equipment (100), assigned to each individual (I) in the group (G), including at least one accelerometer sensor (1) mounted on the weapon to detect a shot, a geolocation device (6) to determine the position of the individual (I) in a predetermined reference frame, and an electronic processing unit (2) connected to a wireless data transmitter (4) and configured to collect attack data including an attack position corresponding to a position in which the accelerometer sensor (1) emitted at least one signal representative of a shot; and an electronic data fusion unit (200) configured to estimate a geographic origin of the attack from the attack data from the individual equipment (100). (Figure from the summary: Fig. 5)

Description

Title of the invention: System for detecting aggression, distributed across a group of individuals

[0001] The present invention relates to the field of automatic threat detection in an area of ​​armed confrontation.

[0002] BACKGROUND OF THE INVENTION

[0003] More specifically, automatic methods for detecting an engagement are known. By engagement, we mean the firing of at least one shot towards at least one person.

[0004] The known methods are implemented using acoustic shot detection devices and optronic shot detection devices (muzzle flash). There are also optronic devices for detecting pointed optics that allow the detection, by reflection, of optics, presumably for pointing a weapon, that are directed towards said devices.

[0005] The detection of a shot being fired triggers the issuance of an alert which may only concern the person or persons targeted or be escalated to a higher command level, for example to provide said level with a representation or an update of the tactical situation.

[0006] However, these devices are heavy and bulky, which is a disadvantage for infantrymen, or require special arrangements such as having a view of the shooter for optronic devices.

[0007] SUBJECT OF THE INVENTION

[0008] The invention is notably intended to automatically detect an attack. Summary of the invention

[0009] To this end, the invention provides a system for detecting when someone is being attacked, to equip a group of individuals each carrying at least one weapon, comprising: - individual equipment, assigned to each individual in the group, comprising at least one accelerometer sensor mounted on the weapon to detect a shot, a geolocation device to determine the individual's position in a predetermined reference frame, and an electronic processing unit connected to a wireless data transmitter and configured to collect aggression data including an aggression position corresponding to a position in which the accelerometer sensor emitted at least one signal representative of a shot, - an electronic data fusion unit arranged to estimate a geographic origin of the aggression from aggression data from individual equipment.

[0010] Thus, it is the detection of shots fired by individuals within the group that will allow for the estimation of the geographical origin of the aggression. This detection is carried out using accelerometric sensors, and the geographical origin of the aggression is estimated from the positions of the individuals who fired, by merging the information provided by each of these individuals, based on the assumption that an individual is more likely to fire the closer they are to the origin of the aggression. This does not require heavy and / or bulky equipment.

[0011] According to optional features, used individually or in whole or in combination: - the electronic processing unit is arranged to insert into the aggression data a number of shots and a spacing between shots, and the electronic data fusion unit is arranged to estimate an intensity of the aggression from the number of shots and the rate of fire; - the electronic data fusion unit comprises several data fusion subunits, each contained within one of the individual pieces of equipment; - the electronic data fusion unit is centralized for the group of individuals and receives the aggression data sent by each electronic processing unit of the individual equipment; - the electronic data fusion unit is arranged to exploit the weapon's range in estimating the geographical origin of the aggression; - the individual equipment includes a weapon orientation sensor, the electronic processing unit is arranged to exploit signals from the weapon orientation sensor to transmit a weapon orientation in the aggression data, and the electronic data fusion unit is arranged to exploit the weapon orientation in estimating the geographic origin of the aggression; - the electronic data fusion unit has access to a digital terrain model and uses the digital terrain model to estimate the geographic origin of the aggression; - the individual equipment includes an acceleration sensor worn by the individual, and the electronic processing unit is automatically activated when the acceleration is greater than an acceleration threshold, and is followed by immobilization for a duration greater than a duration threshold; - the individual equipment includes a physiological sensor and the electronic processing unit is arranged to exploit signals from the physiological sensor in the detection of the position of aggression; - the individual equipment also includes at least one optronic device and the electronic processing unit is arranged to exploit signals from the optronic device in the detection of the position of aggression.

[0012] Other features and advantages of the invention will become apparent from the following description of a particular, non-limiting embodiment of the invention. Brief description of the drawings

[0013] Reference will be made to the attached drawings, among which:

[0014] [Fig-1] is a schematic view of an individual from the group, equipped with his equipment individual ;

[0015] [Fig.2] is a schematic view of a first embodiment of a unit data fusion electronics for the implementation of the invention;

[0016] [Fig.3] is a schematic view of a second embodiment of a unit data fusion electronics for the implementation of the invention;

[0017] [Fig.4] is a schematic view of a tactical engagement situation;

[0018] [Fig.5] is a flowchart illustrating a basic implementation method of the invention;

[0019] [Fig.6] is a schematic view of the tactical situation of [Fig.4], after a first phase of modelling for estimating the geographical origin of the aggression;

[0020] [Fig.7] is a schematic view of the tactical situation of [Fig.4], after a second phase of modelling for estimating the geographical origin of the aggression;

[0021] [Fig.8] is a flowchart illustrating a more advanced implementation method of the invention;

[0022] [Fig.9] is a flowchart illustrating a highly advanced implementation method of the invention;

[0023] [Fig. 10] is a schematic view of a tactical engagement situation, with probability zones identified for estimating the geographical origin of the aggression;

[0024] [Fig. 11] is a schematic view of the tactical situation of [Fig. 10], after application of the digital terrain model. DETAILED DESCRIPTION OF THE INVENTION

[0025] With reference to Figures 1 to 4, the invention is described herein as applied to a group G of individuals I, here infantrymen, each wearing a combat uniform, ballistic protection equipment (including a helmet and plate carrier), a backpack, and a weapon. In the described embodiment, the weapons are assault rifles. The term "group" is used herein in its common meaning and can vary in size from a few individuals to several dozen individuals and can correspond to different military units (squad, patrol, section, platoon, squadron, or company, etc.) or civilian units, particularly police units (intervention group, patrol, section, company, etc.).

[0026] The system for detecting aggressor activity according to the invention comprises individual equipment generally designated as 100, one of which is shown in [Fig.1].

[0027] Each individual equipment 100, carried by each of the individuals I of group G, here comprises the following main components: a three-axis sensitive accelerometer 1 mounted on the weapon to detect a shot and incidentally the movements (accelerations) of the individual I (assuming that the individual I never leaves his weapon), an electronic processing unit 2, a wireless communication transmitter / receiver 3, a power source 4 and a geolocation device 6 here in the form of a satellite positioning signal receiver from a constellation of satellites belonging to a satellite geolocation and navigation system or GNSS (for example GPS, GALILEO, GLONASS, BEIDU...).

[0028] The electronic processing unit 2 is, for example, a computer terminal comprising at least one processor, memory containing at least one computer program executable by the processor, and a touchscreen forming a human-machine interface. The terminal can be attached to the infantryman's body or to his weapon, for example, in the form of a fire control computer. The electronic processing unit 2 is configured, here programmatically, to collect attack data including an attack position corresponding to a position (in which the accelerometer sensor 1 has emitted at least one signal representative of a shot). More precisely, the electronic processing unit 2 detects the shot and automatically enters an alert state in which it records timestamp data of the moment of the shot and the position provided by the geolocation device 6 at the moment of the shot: this position is the attack position.The electronic processing unit 2 is also programmed either to send its position with each shot, or to determine a number of shots and a spacing between shots (rate of fire and interval between bursts). The attack position, the timestamp of the moment of firing, possibly the number of shots and the spacing between shots, are attack data that the electronic unit... processing unit 2 transmits via transmitter / receiver 3 to an electronic data fusion unit 200 arranged to estimate a geographical origin of the aggression and a volume of the aggression from the aggression data from individual equipment 100.

[0029] According to the first embodiment of [Fig.2], the electronic data fusion unit 200 is centralized, for the group G of individuals I, either in an electronic processing unit 2 of one of the individual devices 100 or in a remote command terminal, and receives the aggression data sent by the electronic processing unit 2 of each of the individual devices 100.

[0030] According to the second embodiment of [Fig.3], the electronic data fusion unit 200 comprises several data fusion subunits 200' (a program portion) each contained in the electronic processing unit 2 of each of the individual equipment 100.

[0031] More specifically, the electronic data fusion unit 200 comprises at least one processor, a memory containing at least one computer program executable by the processor, and a radio communication transmitter / receiver. The program, for example, implements a fusion algorithm using a notion of a weighted geometric center of gravity, or a statistical one, or one based on the learning of a neural network (from the set of received data).

[0032] The electronic data fusion unit 200 is thus programmed to process the aggression data sent by the processing units 2 of the individual devices 100 in such a way as to: - list the position of all individuals I on a geographical representation (position of aggression for those who have sent aggression data, last known position for the others); - model the spatial behavior (position of shots, range of weapons used) and the dynamic behavior of shots (quantity, bursts, etc.) of individuals I in order to estimate a position or a geographical area in which the aggressor(s) A at the origin of the aggression are located; - to escalate an alert to a higher command level.

[0033] The modeling of spatial behavior, and more specifically the estimation of the geographical origin of the aggression, is obtained by exploiting: - a digital terrain model; - a theoretical range of the weapon of individuals I who have fired at least one shot.

[0034] The digital terrain model to which the electronic data fusion unit 200 groups: - geographical data, in the form of a cartographic exclusion mask Ml, such as relief, communication routes, waterways and other natural obstacles, buildings and more generally all geographical elements of tactical / strategic interest; - tactical / strategic data, in the form of an M2 tactical exclusion mask, such as areas controlled by friendly troops, areas controlled by enemy troops, known locations of enemy troops stationed, reserves of equipment and supplies, etc.

[0035] The method for estimating the geographical origin of the aggression will now be described in more detail in relation to Figures 4 to 7.

[0036] In the situation of [Fig.4], the electronic data fusion unit 200 receives attack data from several electronic processing units 2: - the aggression data of individual II, representative of a high intensity of shots (high number of shots and rate of fire: for example continuous automatic firing, at least five bullets, or burst of one to three bullets repeated at a rate of one burst per second); - the aggression data of individual 12, representative of an average intensity of shots (average number of shots and rate of fire: for example, a burst of one to three bullets repeated at a rate of one burst every two seconds); - the aggression data of individual 13, representative of an intensity of supporting fire (moderate number of shots and rate of fire: for example, a burst of one to three bullets repeated at a rate of one burst every three seconds); - the aggression data of individual 14, representative of a low intensity of shots (low number of shots and rate of fire, or even a single shot).

[0037] The electronic data fusion unit 200 will thus detect and characterize the shots (step 1000 of [Fig.5]) according to their intensity, then consider that the greater the intensity, the closer the origin of the aggression is to the direct effect range of the individual's weapon: the electronic data fusion unit 200 then assigns to the position of aggression a probability (p+ to p++++) of proximity to the geographical origin of aggression which is all the greater as the intensity of the shot is greater.

[0038] The individuals 15 in group G did not fire, and their electronic processing units 2 therefore did not send any aggression data. It is assumed that the individuals 15 are not under attack. Preferably, it is provided that the electronic processing units 2 of all individuals I, whether under attack or not, periodically send their positions in order to also determine the areas of calm.

[0039] Knowing the position of individuals I in group G and the theoretical range of the weapon of each individual II to 14, it is possible for the electronic data fusion unit 200 to perform correlations (step 2000 of [Fig. 5]) to determine, around the corresponding position of aggression of said individuals, a circular or annular zone Cl to C4 (see on [Fig.6] where only zones Cl, C2, C4 are represented).

[0040] The electronic data fusion unit 200 thus determines a zone potentially covered by the shots fired by individuals II to 14, in which the aggressor(s) A, who initiated the aggression, are located. Assuming that, given the proximity of the positions of aggression, the shots must converge towards the origin of the aggression, and since it is unlikely that the aggressors A are located between individuals II to 14 and that individuals II to 14 are firing towards each other, the electronic data fusion unit 200 deduces two possible origins of the aggression, 01 and 02, located symmetrically on either side of a longitudinal direction of the covered zone.

[0041] By exploiting the terrain model data and the cartographic exclusion masks M1 and the tactical situation exclusion masks M2, the electronic data fusion unit 200 performs a correction (step 3000 on [Fig.5]) and eliminates the possible origin 02 which is in the area controlled by friendly troops (see [Fig.7]).

[0042] The electronic data fusion unit 200 will then update the tactical situation mask of the terrain model (step 4000) and generate an alert (step 5000) for the higher command level and the individuals 15 of group G not yet involved in the engagement.

[0043] To perform the correlations, the electronic data fusion unit assigns, for example, a value from 1 (low intensity) to 4 (high intensity) to each area covered by the weapon of each individual I who fired (depending on the intensity) and a value of -1 to each area covered by the weapon of each individual who did not fire. The values ​​will be added together in the overlapping parts of the areas, and the electronic data fusion unit 200 will thus be able to determine areas of greater or lesser proximity to the origin of the aggression (see an illustration of these areas in [Fig. 10] before application of the digital terrain model and in [Fig. 11] after application of the digital terrain model).

[0044] It is also possible to perform the correlations from a temporal accumulation map for example of the heatmap type (in this type of map, the data take the form of colors determined according to a number of occurrences over time).

[0045] According to a particularly interesting embodiment (illustrated in [Fig.1] and [Fig.8]), each individual piece of equipment 100 also includes the following auxiliary components: - accelerometric sensors worn by the individual (incorporated into devices or accessories worn by the individual, or attached to their uniform) to detect the individual's movements, - at least one optronic sensor 7 mounted on the individual's helmet, glasses, or weapon to provide a view of what the individual has in front of them, - a weapon orientation sensor 8 that determines the direction in which the weapon is pointed, - at least one physiological sensor 9 worn by the individual (this sensor may include a heart rate sensor and / or a respiratory rate sensor); - a radio transmitter / receiver 20 (with its power source).

[0046] The electronic processing units 2 are arranged to send to the electronic data fusion unit 200 possible aggression data including the position of the individual when the acceleration measured by the accelerometer sensors 5 and the physiological response measured by the physiological sensor 9 have certain characteristics possibly representative of an attack situation (step 1500 on the [Fig.8]).

[0047] More specifically, this situation of being targeted is considered to exist when: - the acceleration is greater than an acceleration threshold corresponding to a fall or a run of the individual which may correspond to the individual taking cover or shelter, and is followed by an immobilization of a duration greater than a duration threshold (for example five seconds); - the individual's heart and / or respiratory rate is above a threshold representative of sudden exertion and / or a stressful situation.

[0048] Indeed, when these conditions are met (the first one might be sufficient, however), it is considered likely that the individual has been attacked and has taken cover and / or shelter, and is preparing to retaliate.

[0049] The absence of movement can also be verified by using the position provided by the geolocation device 6 and / or by the images provided by the optronic sensor 7.

[0050] The electronic data fusion unit 200 will use the information of the existence of a possible aggression as an index reinforcing the credibility of the existence of a real aggression during the correlation step 2000. In the case where a temporal accumulation map (for example type heatmap) is used, the value of the area concerned in said map will increase via a predetermined multiplier factor.

[0051] Alternatively, the electronic data fusion unit 200 uses the acceleration measured by the accelerometer sensors 5 and the physiological response measured by the physiological sensor 9 to put the electronic processing unit 2 into a pre-alert state in which the electronic processing unit 2 is ready to gather aggression data and therefore monitors the signals from all the sensors. The advantage of providing a pre-alert mode is to reduce energy consumption. Outside of the pre-alert and alert periods (during which the electronic processing unit monitors the outputs of all the sensors), the processing unit can be put into a standby state in which it only monitors the outputs of the sensors triggering the activation of the pre-alert state and therefore consumes less energy than in the pre-alert and alert states.

[0052] More specifically, the pre-alert state is automatically activated when: - the acceleration is greater than an acceleration threshold corresponding to a fall or a run of the individual which may correspond to the individual taking cover or shelter, and is followed by an immobilization of a duration greater than a duration threshold (for example five seconds); - the individual's heart and / or respiratory rate is above a threshold representative of sudden exertion and / or a stressful situation.

[0053] As previously stated, when these conditions are met (the first one might be sufficient, however), it is considered likely that the individual has been attacked and has taken cover and / or shelter, and is preparing to retaliate.

[0054] The absence of movement can also be verified by using the position provided by the geolocation device 6 and / or by the images provided by the optronic sensor 7.

[0055] In addition, the fact that the alert state is preceded by a pre-alert state strengthens the reliability of the alert.

[0056] Preferably, the electronic processing units 2, and therefore the electronic data fusion unit 200, make more complete use of the signals from the sensors they receive.

[0057] Such an operation has been represented in [Fig.9].

[0058] In this, at the level of each individual equipment 100: - the output of the accelerometer sensor 1 is monitored (block Bl) to characterize a number and frequency of shots (block B2); - satellite signals are used to determine a geographical position (block B3); - the output of physiological sensor 9 is monitored to detect a change in heart rate (block B4); - the outputs of the accelerometer sensors 5 are monitored to identify a change in the position of the individual's body (block B5); - the output of the orientation sensor of weapon 8 is used (block B6) to characterize a direction of orientation of the weapon (block B7); - the output of the optronic sensor 7 is used (block B8) to characterize a distance to the target aimed at by the individual (for example if the optronic sensor incorporates a rangefinder or by an image processing algorithm) and / or a type of target from the images provided (block B9); - the output of a possible acoustic sensor worn by the individual is used (block B10) to estimate an origin of the shots that targeted individual I (block B11).

[0059] The outputs of blocks B2, B3, B4, B5, B7, B9, B11 are used by a local fusion algorithm (block B13) within the electronic processing unit 2 of each electronic processing unit 2, with recorded user data (weapon type, range, unit type... block B12), to model the temporal behavior of the shots and of individual I (block B14) and the spatial behavior of the shots and of individual I (block B15) and generate a local alert (Block B16), containing the aggression data, sent to the electronic data fusion unit 200.

[0060] The electronic data fusion unit 200 implements a global fusion algorithm (block B17) which fuses aggression data from all electronic processing units 2 to estimate the geographic origin of the aggression (block B18) and generate a global alert (block B19) sent to the higher command level and to the electronic processing units 2 of the individuals I of group G.

[0061] The global fusion algorithm (block B17) uses the estimation of the geographical origin of the aggression with the digital terrain model (block B20), tactical situation data (block B21), images from the optronic sensor 7 and voice data from the communication transmitter / receiver 20 to perform a tactical analysis of the situation (number of individuals involved, ammunition consumed, possible shelters...: block B22) and a dynamic analysis of the situation (dispersion of individuals, regrouping of individuals, movement in such a direction...: block B23) in order to classify the type of response already made and propose a type of response to be made.

[0062] Of course, the invention is not limited to the embodiment described but encompasses any variant falling within the scope of the invention as defined by the claims.

[0063] In particular, the system and / or method for detecting aggression may be different from those described.

[0064] The individual equipment 100 may differ from that described and, for example, include more or fewer sensors. The infantryman may also be equipped with more or fewer individual items than described in the embodiment above.

[0065] The accelerometric sensor on the weapon can be arranged to have one, two or three sensitive axes, of which at least one sensitive axis is in the direction of the barrel.

[0066] The geolocation organ 5 can be purely inertial, stellar, or other.

[0067] Radio communication transmitters / receivers can be arranged to encrypt / decrypt communications.

[0068] The electronic data fusion unit 200 can be unique and carried by one of the individuals in the group of individuals or be mounted in a vehicle, for example a command vehicle, away from the group of individuals.

[0069] The data processing operations can all be carried out in the electronic fusion unit 200 or distributed between the electronic fusion unit 200 and the electronic processing units 2.

[0070] The representation of the tactical situation developed by the electronic data fusion unit 200 can be transmitted to all or part of the terminals of the individuals in the group, for example to all individuals, only to the group leader or to the group leader and his deputies.

[0071] The representation of the tactical situation developed by the electronic data fusion unit 200 can also be displayed on a dismounted command terminal, a vehicle-mounted command terminal, or a fixed command terminal located behind the front line, but also in a remote headquarters or operations center in the civilian domain.

[0072] It is conceivable that individuals may be equipped with different weapons from one another (for example assault rifle, machine gun, sniper rifle, anti-materiel rifle, handgun, support weapon, light artillery such as mortar).

[0073] The terminal can also be fixed elsewhere on the infantryman and for example on the helmet.

[0074] Other information besides that mentioned may be used to determine the seriousness of the situation. For example, if individual I, commanding group G, also opened fire, the situation is likely more serious than if he had not needed to open fire.

[0075] Although the use of weapon orientation is interesting since the point of convergence of the shots allows an estimation of the origin of the aggression to be given, this is optional.

[0076] The same applies to the digital terrain model or the exploitation of the weapon's range.

[0077] The invention is applicable to vehicles, for example a group formed from a squadron of armored vehicles, each forming an individual of the group.

Claims

Demands

1. An attack detection system for equipping a group (G) of individuals (I) each carrying at least one weapon, comprising: - individual equipment (100), assigned to each individual (I) in the group (G), including at least one accelerometer sensor (1) mounted on the weapon to detect a shot, a geolocation device (6) to determine a position of the individual (I) in a predetermined reference frame, and an electronic processing unit (2) connected to a wireless data transmitter (4) and arranged to collect attack data including an attack position corresponding to a position in which the accelerometer sensor (1) emitted at least one signal representative of a shot, - an electronic data fusion unit (200) arranged to estimate a geographic origin of the attack from the attack data from the individual equipment (100).

2. System according to claim 1, wherein the electronic processing unit (2) is arranged to insert into the aggression data a number of shots and a spacing between shots, and the electronic data fusion unit (200) is arranged to estimate an intensity of aggression from the number of shots and the rate of fire.

3. System according to claim 1 or 2, wherein the electronic data fusion unit (200) comprises several data fusion subunits (200') each contained in one of the individual pieces of equipment (100).

4. System according to claim 1 or 2, wherein the electronic data fusion unit (200) is centralized for the group (G) of individuals (I) and receives the aggression data sent by each electronic processing unit (2) of the individual equipment (100).

5. A system according to any one of the preceding claims, wherein the electronic data fusion unit (200) is arranged to exploit a range of the weapon in estimating the geographic origin of the aggression.

6. A system according to any one of the preceding claims, wherein the individual equipment (100) comprises a weapon orientation sensor, the electronic processing unit is arranged to exploit signals from the weapon orientation sensor (8) to transmit a weapon orientation in the aggression data, and the electronic data fusion unit (200) is arranged to exploit the weapon orientation in estimating the geographic origin of the aggression.

7. System according to any one of the preceding claims, wherein the electronic data fusion unit (200) has access to a digital terrain model and uses the digital terrain model (B20) to estimate the geographic origin of the aggression.

8. A system according to any one of the preceding claims, wherein the individual equipment (100) comprises an acceleration sensor (5) worn by the individual (I), and the electronic processing unit (2) is automatically activated when the acceleration is greater than an acceleration threshold, and is followed by immobilization for a duration greater than a duration threshold.

9. System according to any one of the preceding claims, wherein the individual equipment (100) comprises a physiological sensor (9) and the electronic processing unit (2) is arranged to exploit signals from the physiological sensor (9) in the detection of the aggression position.

10. System according to any one of the preceding claims, wherein the individual equipment also comprises at least one optronic device (7) and the electronic processing unit (2) is arranged to exploit signals from the optronic device (7) in the detection of the aggression position.

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