Unmanned aircraft countermeasures system, central device, and unmanned aircraft countermeasures method

Abstract

To present the most appropriate measures according to the situation from among a plurality of options.SOLUTION: According to an embodiment, an unmanned aircraft countermeasure system includes a plurality of countermeasures capable of dealing with an unmanned aircraft, a plurality of sensors for acquiring sensing data related to a target unmanned aircraft, and a central device. The central device includes an estimation unit, a priority setting unit, a calculation unit, and a presentation unit. The estimation unit estimates the purpose of the target based on the acquired sensing data. The priority setting unit sets the priority of the countermeasures based on the relationship between the estimated purpose and a result desired by the user. The calculation unit calculates the time required for each countermeasure to be effective based on the acquired sensing data. The presentation unit presents options for a plurality of countermeasures in order of recommendation based on the priority and the required time.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] SUMMARY OF THE DISCLOSURE The present invention relates to an unmanned aerial vehicle countermeasure system, a central unit, and a method for countering unmanned aerial vehicles. [Background technology]

[0002] An unmanned aerial vehicle (UAV) is an object that can move through the air by radio control or autonomously, and so-called drones also fall into this category.

[0003] In recent years, drone technology has developed remarkably and is now being used in a wide range of fields, such as understanding the situation after a disaster and inspecting infrastructure. On the other hand, there have also been cases of drones being used for malicious purposes, such as intrusions into airports that resulted in runways being closed for long periods of time, intrusions into power plants causing disruption of operations, and terrorist acts targeting important people.

[0004] Known technologies for dealing with harmful drones (counter-drone technologies) include jamming approaching drones by emitting powerful electromagnetic waves, physically destroying them, and capturing them using a cast net. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Patent No. 7101799 [Patent Document 2] JP 2022-141240 A Summary of the Invention [Problem to be solved by the invention]

[0006] Existing technology does not have enough variation in countermeasures to be considered options, and the information that can be presented to the system operator (user) to encourage a decision is limited. For example, if a shot-down drone is loaded with radioactive material, the system will suffer damage instead. In this case, a better countermeasure would be to capture the drone or to "drive it away" by some other means. There is no known technology that can intelligently present countermeasures according to the purpose of the drone's arrival and the situation at the time.

[0007] Therefore, an object is to provide an unmanned aircraft response system, a central device, and an unmanned aircraft response method that can present appropriate response measures from a plurality of options depending on the situation. [Means for solving the problem]

[0008] According to an embodiment, an unmanned aerial vehicle countermeasure system includes a plurality of countermeasures capable of countering an unmanned aerial vehicle, a plurality of sensors for acquiring sensing data related to a target unmanned aerial vehicle, and a central device. The central device includes an estimation unit, a priority setting unit, a calculation unit, and a presentation unit. The estimation unit estimates the purpose of the target based on the acquired sensing data. The priority setting unit sets the priority of the countermeasures based on the relationship between the estimated purpose and a result desired by the user. The calculation unit calculates the time required for each countermeasure to be effective based on the acquired sensing data. The presentation unit presents options for a plurality of countermeasures in order of recommendation based on the priority and the required time. [Brief description of the drawings]

[0009] [Figure 1] FIG. 1 is a diagram showing an application example of an unmanned aerial vehicle response system according to an embodiment. [Diagram 2] FIG. 2 is a block diagram showing an example of an unmanned aerial vehicle handling system according to an embodiment. [Diagram 3] FIG. 3 is a functional block diagram showing an example of the central server 2 shown in FIG. [Figure 4] FIG. 4 is a diagram showing an example of the format of a monitoring screen (window) displayed on the display device 27. As shown in FIG. [Diagram 5] FIG. 5 is a flowchart showing an example of a processing procedure of the central server 2 shown in FIG. [Figure 6] FIG. 6 is a flowchart illustrating an example of a process for selecting a countermeasure. [Figure 7] FIG. 7 is a flowchart illustrating an example of a process for determining a priority order. [Figure 8] FIG. 8 is a diagram showing an example of the priority order table 22c. [Figure 9] FIG. 9 is a flowchart illustrating an example of a process procedure related to a comparison based on the time until a response is taken. [Figure 10] FIG. 10 is a flowchart illustrating an example of a process procedure related to a comparison based on the time until a response is taken. [Figure 11] FIG. 11 is a flowchart illustrating an example of a process for instructing a countermeasure. [Figure 12] FIG. 12 is a diagram showing an example of the content displayed on the monitoring screen. [Figure 13] FIG. 13 is a flowchart illustrating an example of a processing procedure related to the cancellation of a command. [Figure 14] FIG. 14 is a flowchart illustrating an example of a process for effect determination. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Fig. 1 is a diagram showing an application example of an unmanned aerial vehicle countermeasure system according to an embodiment. In the embodiment, a so-called drone is assumed as the unmanned aerial vehicle, and countermeasures against a target drone arriving in a monitoring target area are described. The basic configuration, action, and effect are the same for targets such as manned aircraft and ships.

[0011] The system shown in Fig. 1 includes a command post 1 deployed in a monitored area, a group of sensors (radar 11, etc.) that each acquire sensing data, and a group of assets (jammer 3, capture drone 4, firing device 5, etc.) as means for dealing with unmanned aerial vehicles. The group of sensors and the group of assets are communicatively connected to the command post 1 via a network 10 as a data link. The lines of the network 10 may be either wired or wireless.

[0012] The jammer 3, capture drone 4, and firing device 5 each have the characteristics described below and are positioned as different types of assets. <Jammer> The jammer 3 has the function of emitting jamming radio waves of a specific frequency, and disrupts the target drone 30 with radio waves. For example, the jamming radio wave capability is set to an entire circumference with a radius of 500 m from the antenna, and the target drone 30 is chased back or forced to make a soft landing by so-called jamming. If the target drone 30 uses radio waves in the 2.4 GHz and 5 GHz bands, the jammer 3 also emits radio waves in the 2.4 GHz and 5 GHz bands accordingly. Incidentally, many commercially available drones use radio waves in these bands.

[0013] <Capture drone> The capture drone 4 is equipped with a capture net 41 and the like, and captures the target drone 30 and transports it to our side. The capture drone 4 flies autonomously toward the approaching target drone 30 and captures the target drone 30 at the encounter point (rendezvous point) or when it enters a certain area. If the target drone 30 flies at an average speed of 60 km / h, the capture drone 4 preferably has a flight speed of about 90 km / h.

[0014] <Firing device (rifle)> The shooting device 5 fires bullets, projectiles, etc. at the target drone 30 to physically destroy it. If the device is capable of rapid firing, it can attack multiple times within the range. It is desirable to ensure a range of about 1 km. In the following explanation, to simplify the discussion, the flight time of the bullet until it arrives is not taken into consideration.

[0015] Fig. 2 is a block diagram showing an example of an unmanned aerial vehicle countermeasure system according to an embodiment. A central server 2 installed in the command post 1 shown in the application example of Fig. 1 constitutes the core of the unmanned aerial vehicle countermeasure system. That is, the central server 2 is communicably connected to a group of sensors (radar 11, radio wave sensor 12, image sensor 13, ..., other types of sensors 1n) and a group of assets (jammer 3, capture drone 4, shooting device 5) via a network 10.

[0016] The radar 11, the radio wave sensor 12, and the image sensor 13 each have the following characteristics and are positioned as different types of sensors. <Radar> The radar, for example, is an active radar that emits radar pulses into space and receives the reflected echoes from the target. The acquired sensing data is received and analyzed to obtain target information such as the direction of arrival, speed, and position information of the target.

[0017] <Radio wave sensor> The radio wave sensor is, for example, a passive radar that captures radio waves emitted from a target. The acquired sensing data is received and analyzed to obtain target information such as the target's arrival direction. The arrival directions acquired by multiple radio wave sensors can also be integrated to determine the target position.

[0018] <Image sensor> The image sensor is, for example, an image sensor that acquires image data as sensing data. The image data is received and analyzed to obtain target information such as target behavior, movement trends, model name, and type identification results.

[0019] An example of the other type of sensor shown in Fig. 2 is an acoustic sensor. The acoustic sensor captures sounds (such as propeller sounds) emitted from a target using a microphone or the like, and obtains target information such as the target's arrival direction, model, and type identification results using techniques such as spectrum analysis.

[0020] Fig. 3 is a functional block diagram showing an example of the central server 2 shown in Fig. 2. The central server 2 is a computer including a processor 21, a memory 20, and a storage 22. That is, the functions of the central server 2 are realized by the processor 21 executing a program 22a (process 20a) loaded from the storage 22 to the memory 20.

[0021] The central server 2 further includes a communication unit 23, a media reading unit 25 that reads the optical media 24, an interface (I / F) unit 26, a display device 27, and an operation unit 28. These are connected to an internal bus 29 together with the processor 21, the memory 20, and the storage 22.

[0022] The communication unit 23 is communicatively connected to the sensor group (radar 11, radio wave sensor 12, image sensor 13, ..., other types of sensor 1n) and the asset group (jammer 3, capture drone 4, shooting device 5) via the network 10. The interface unit 26 is connected to the display device 27 and the operation unit 28. Here, the operation unit 28 includes a mouse, a keyboard, etc., and accepts operations by the operator.

[0023] The storage 22 is a non-volatile storage device such as a hard disk drive (HDD) or a solid state drive (SSD), and stores a program 22a, sensing data 22b from the sensor group, and a priority order table 22c. Here, the program 22a is recorded on, for example, an optical medium 24 and distributed, and can be installed in the central server 2 via a media reader 25.

[0024] 3, the processor 21 includes an estimation unit 21a, a priority setting unit 21b, a calculation unit 21c, a presentation unit 21d, an instruction receiving unit 21e, and a command unit 21f as new functions according to the embodiment. These functions are realized by the processor 21 executing a program 22a (process 20a) loaded in the memory 20.

[0025] The estimation unit 21a estimates the purpose of the target drone 30 (FIG. 1) based on each of the sensing data acquired by the sensor group (radar 11, radio wave sensor 12, image sensor 13, ..., other types of sensors 1n). In order to estimate the purpose, for example, the technology disclosed in Patent Document 2 can be applied. For example, if the image data of the target drone 30 is analyzed and it is found that the drone is loaded with explosives, it is highly likely that the drone is aiming to "destroy" some object in the monitored area. Alternatively, if the trajectory data calculated from the sensing data is irregular and shows a behavior approaching a building, it is highly likely that the drone is aiming to "invade". In this way, the technology for estimating the purpose of the drone has matured, and existing technology can be applied according to the system requirements.

[0026] The priority setting unit 21b sets priorities for each countermeasure measure of the asset group (jammer 3, capture drone 4, shooting device 5, etc.) based on the relationship between the target's purpose estimated by the estimation unit 21a and the predetermined desired result on our side.

[0027] The calculation unit 21c calculates, for each countermeasure of the asset group, the time required for that countermeasure to become effective, based on the sensing data acquired by the sensor group.

[0028] The presentation unit 21d presents options for measures for the asset group in order of recommendation based on the priority order corresponding to the purpose estimated by the estimation unit 21a and the required time calculated by the calculation unit 21c. The presentation unit 21d presents options for measures for the asset group in order of recommendation, for example, by listing each asset in order of recommendation and displaying it on the display device 27, thereby presenting the options to the manager in an easy-to-understand manner.

[0029] The instruction receiving unit 21e receives the designation of a countermeasure by the operator and a decision as to whether to execute or cancel the countermeasure against the target. For example, the instruction receiving unit 21e can receive the user's instruction by displaying clickable buttons such as [OK] or [Abort] on the GUI (Graphical User Interface) of the display device 27.

[0030] FIG. 4 is a diagram showing an example of the format of a monitoring screen (window) displayed on the display device 27. An identification number (target ID1, target ID2, ...) is given to each target, and the calculation result of the time until action is taken is displayed for each asset (action measures 1 to 4). The action measure can be specified by clicking a radio button, and the user's intention can be conveyed to the system by clicking the [OK] or [Abort] button. In addition, the area of ​​interest can be limited by the fold / unfold button (up or down symbol).

[0031] Returning to FIG. 3, when it is decided to deal with the target, the command unit 21f generates a command message instructing the designated asset to carry out the action, and transmits the command message to the asset via the network 10.

[0032] Next, the operation of the above configuration will be described. Fig. 5 is a flowchart showing an example of a processing procedure of the central server 2 shown in Fig. 2. In Fig. 5, the central server 2 acquires sensing data from the radar 11, the radio wave sensor 12, the image sensor 13, and the other type sensor 1n, and stores the data in the storage 22 (step S10). Next, the central server 2 uses the acquired sensing data to estimate the purpose of the arrival of the target drone (step S11).

[0033] Next, the central server 2 selects a countermeasure based on the acquired sensing data (step S12), and then waits for an instruction on the countermeasure method from the operator (step S13). Furthermore, the central server 2 judges the effectiveness of the countermeasure by the selected countermeasure (step S14), or immediately stops the countermeasure against the target if an instruction to stop the command is received (step S15).

[0034] 6 is a flowchart showing an example of a process for selecting a countermeasure. In selecting a countermeasure, the central server 2 determines the priority of the countermeasures (step S121), calculates the time required for each countermeasure, and compares the priority with the time required (step S122).

[0035] FIG. 7 is a flowchart showing an example of a processing procedure related to the determination of priority. In FIG. 7, the central server 2 acquires the results expected by the operator when dealing with a drone, which are stored in a database (not shown) (step S121a), and acquires the previously calculated purpose of the target drone (step S121b). The central server 2, having acquired this information, creates a priority order table that reflects the estimated purpose of the suspicious target drone and the results expected by the operator (step S121c). The created priority order becomes a selection criterion for determining which of the countermeasures that are tied in terms of required time should be selected. The created priority order is then stored in the storage unit (step S121d).

[0036] FIG. 8 is a diagram showing an example of the priority order table 22c. As shown in FIG. 4, the priority order (1, 2, 3) of each countermeasure of the asset group is associated with each purpose of the target drone and registered in the priority order table 22c. Here, the priority order is set for each countermeasure based on the relationship between the purpose of the arriving (other) drone and the desired outcome (expected result) of the side. For example, since it is desirable to deal with a drone arriving for the purpose of destruction as early as possible, the priority order of the jammer that can obtain the effect in the shortest time is set to 1 (highest). The priority order is set next to the firing device (2), and then the capture drone (3).

[0037] 9 and 10 are flowcharts showing an example of a process procedure related to a comparison based on the time until a response is taken. 9, the central server 2 acquires sensing data on the target (step S21) and calculates the time required for each of the jammer, capture drone, and shooting device to take effect (expected response time). The required time is calculated using a different calculation method for each asset.

[0038] For jammers, in the loop starting from step S23, the required time for each of the multiple jammers is calculated individually. First, the capability range of the target jammer is set (step S26), and it is determined whether the current position of the target is within the capability range (step S27). If Yes (within capability range), the jammer can immediately exert its effect (step S29), so the required time until action is taken is 0 seconds. If No (outside capability range) in step S27, the central server 2 calculates the time until the target enters the capability range from the sensing data (step S28). The processing of steps S26 to S29 is repeated until completion for all jammers.

[0039] For the capture drones, the required time for each of the multiple capture drones is calculated individually in the loop starting from step S24. The central server 2 calculates the rendezvous point from the sensing data (the target's current direction, speed, etc.) and the flight direction and speed of the capture drone, and calculates the flight time to the rendezvous point (step S30). Note that capture drones whose rendezvous points are outside the range of capability are excluded from the selection candidates. The process of step S30 is repeated for all capture drones.

[0040] For the shooting devices, in the loop starting from step S25, the required time for each of the multiple shooting devices is calculated individually. First, it is determined whether or not the current position of the target is within the capability range (firing range) of the shooting device (step S31). If Yes (within capability range), it is deemed possible to take effect immediately (step S33), and the required time until action is taken is set to 0 seconds. If No (outside capability range) in step S31, the central server 2 calculates the time until the target enters the capability range from the sensing data (step S32). The processing of steps S31 to S33 is repeated until completion for the shooting devices. When the above processing is completed, the processing procedure moves to the flowchart of FIG. 10.

[0041] 10, the central server 2 compares the time required for each asset to take action in seconds (step S34), and checks whether there are any assets with the same required time. If the answer is No, the central server 2 displays on the display device 27 a list of options for measures to take against the target in order of the shortest time (required time) until the effect is produced (step S36). On the other hand, if there are assets with the same required time in step S34 (Yes), the central server 2 refers to the priority order table (step S35), rearranges the optional assets based on the result, and displays them as a list on the display device 27.

[0042] Furthermore, the central server 2 records the countermeasure selected by the operator from the list in the countermeasure command list (step S37). If there are other targets (Yes in step S38), the processing procedure returns to step S21 in Fig. 9. If there are no more targets, the processing ends and returns to the caller.

[0043] Fig. 11 is a flow chart showing an example of a processing procedure related to instruction of a countermeasure. When a countermeasure is selected, the central server 2 creates and transmits a countermeasure command corresponding to the selected countermeasure. When a jammer is selected in step S40 of Fig. 11, the central server 2 acquires the frequency to be used, the time to be activated, the real-time or designated time, the duration, and the latest location information of the target (step S41).

[0044] In addition, when a capture drone is selected in step S40, the central server 2 acquires the latest position information of the target (step S42). In addition, when a shooting device is selected in step S40, the central server 2 acquires the time to perform, the immediate or designated time, and the latest position information of the target (step S43).

[0045] Based on this information, the central server 2 creates a countermeasure command (step S44) and displays the countermeasure command on the monitoring screen (countermeasure tab) of the display device 27 (step S45). When the [OK] button (FIG. 4) is clicked (selected) on the monitoring screen (countermeasure tab), the central server 2 records the generated countermeasure command in a countermeasure command list table (step S46) and transmits the countermeasure command to the destination countermeasure means (step S47). At this time, for example, a pair line (layer) is drawn between the target and the countermeasure means on the monitoring screen of the display device 27.

[0046] In the loop of steps S48a and S48b, if there is a target on the action list, the central server 2 periodically updates the position information of the target and repeatedly transmits an action command (step S49).

[0047] Fig. 12 is a diagram showing an example of the contents displayed on the monitoring screen of the display device 27. Fig. 12 shows that a target with target ID1 [DRONE001] can be dealt with by capture drone A, capture drone B, jammer A, and rifle A. For each of these assets, the expected deal time calculated in the processing procedures of Figs. 9 and 10 is displayed. The operator selects the countermeasure with a radio button and clicks the [Decide] button. In response, the central server 2 starts creating a countermeasure command.

[0048] 13 is a flow chart showing an example of a processing procedure for canceling an instruction. After sending a countermeasure instruction to the countermeasure means (step S51), when [Cancel] is selected on the monitoring screen (countermeasure tab) and an instruction to cancel the instruction is given, the central server 2 records the cancellation in the countermeasure instruction list (step S52). After that, the central server 2 sends a countermeasure instruction (cancel) to the destination countermeasure means (step S53) and ends the process.

[0049] 14 is a flowchart showing an example of a process procedure related to the effectiveness determination. The effectiveness determination process is repeated in a loop of steps S61a to S61b until there is no drone information left in the countermeasure list.

[0050] In Fig. 14, the central server 2 acquires drone information of the target from the sensing data (step S62) and judges whether the countermeasure has been effective. Following step S62, the central server 2 judges whether the drone information of the same ID has been updated within the past 10 seconds, for example (step S63). If the answer is No, there has been an update, so it is determined to be alive (Survive judgment), and the target on the countermeasure list is considered to be alive (step S65). Here, the countermeasure list is not updated.

[0051] If the answer is Yes in step S63, the central server 2 judges whether or not there is a report of the drone information of the same ID being destroyed (step S66), and if it is Yes, the drone information in the deal list is set to "dealt with" as the drone is destroyed (Kill judgment) (step S68), and the result is recorded in the dealt with list (step S69). On the other hand, if the answer is No in step S66, there is no basis for judgment, so it is unknown, and the drone information in the deal list is set to "unknown" (step S67). In this case, survival / destruction is determined by manual operation of the operator.

[0052] As described above, in the embodiment, a plurality of different countermeasures (assets) are provided for an approaching target drone, and countermeasures are selected by comparing them based on a unified standard (time required for countermeasures), and options are provided to the operator. This enables the operator to make a quick decision on countermeasures and supports the resolution of the situation. In other words, the purpose of the suspicious drone is inferred from the sensing data acquired from the sensor group every moment, and the priority order for selecting countermeasures is determined from the results expected by the operator, and the options are listed based on the time required to counter the suspicious drone.

[0053] As a result, according to the embodiments, it is possible to provide an unmanned aircraft response system, a central device, and an unmanned aircraft response method that can present appropriate response measures from a plurality of options depending on the situation of both the hostile and unmanned aircraft.

[0054] It should be noted that the present invention is not limited to the above embodiment. For example, the priority order shown in Fig. 8 is just one example, and may be freely changed according to system requirements, operator circumstances, etc.

[0055] Although an embodiment has been described, this embodiment is presented as an example and is not intended to limit the scope of the invention. This novel embodiment can be implemented in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. This embodiment and its modifications are included in the scope and spirit of the invention, and are included in the scope of the invention and its equivalents described in the claims. [Explanation of symbols]

[0056] 1...command post, 1n...other types of sensors, 2...central server, 3...jammer, 4...capture drone, 5...firing device, 10...network, 11...radar, 12...radio wave sensor, 13...image sensor, 20...memory, 21...processor, 21a...estimation section, 21b...priority setting section, 21c...calculation section, 21d...presentation section, 21e...instruction reception section, 21f...command section, 22...storage, 22a...program, 22b...sensing data, 22c...priority table, 23...communication section, 24...optical media, 25...media reading section, 26...interface section, 27...display device, 28...operation section, 29...internal bus, 30...target drone, 41...capture net.

Claims

1. A number of countermeasures capable of dealing with unmanned aerial vehicles, a plurality of sensors for acquiring sensing data regarding a target unmanned aerial vehicle; A central device, The central device An estimation unit that estimates the purpose of the target based on the acquired sensing data; a priority setting unit that sets priorities of the countermeasures based on a relationship between the estimated purpose and a result desired by the user; A calculation unit that calculates a time required for each of the countermeasures to be effective based on the acquired sensing data; An unmanned aerial vehicle response system comprising: a presentation unit that presents the plurality of response measures options in order of recommendation based on the priority and the required time.

2. The central unit further comprises a display device; The unmanned aerial vehicle handling system according to claim 1 , wherein the presentation unit lists the options in the order of recommendation and displays the options on the display device.

3. The unmanned aerial vehicle countermeasure system according to claim 1 or 2, wherein the central device further comprises an instruction receiving unit that receives a user's designation of a countermeasure measure and an instruction to decide or abort the countermeasure against the target.

4. The unmanned aerial vehicle countermeasure system according to claim 3 , further comprising a command section configured to generate a command message instructing the execution of the countermeasure when the countermeasure is determined, and to transmit the command message to the designated countermeasure means.

5. The plurality of countermeasures include: Jamming equipment that emits jamming signals, a capture drone for capturing the target; and The unmanned aerial vehicle countermeasure system according to claim 1 , further comprising at least any two of the firing devices for physically destroying the target.

6. A central device connectable via a network to a plurality of countermeasure means each capable of dealing with an unmanned aerial vehicle and a plurality of sensors for acquiring sensing data relating to a target unmanned aerial vehicle, an estimation unit that estimates the purpose of the target based on the acquired sensing data; a priority order setting unit that sets priorities of the countermeasures based on a relationship between the estimated purpose and a result desired by the user; A calculation unit that calculates a time required for each of the countermeasures to be effective based on the acquired sensing data; a presentation unit that presents the plurality of options for the countermeasures in order of recommendation based on the priority order and the required time.

7. A method for dealing with unmanned aerial vehicles using a computer that can be connected to a plurality of countermeasures means each capable of dealing with an unmanned aerial vehicle and a plurality of sensors that obtain sensing data related to a target unmanned aerial vehicle via a network, comprising: The computer infers a purpose of the target based on the acquired sensing data; said computer prioritizing said countermeasures based on a relationship between said inferred objectives and a desired outcome; a step of calculating, by the computer, a time required for each of the countermeasures to become effective based on the acquired sensing data; The unmanned aerial vehicle response method further comprises a process in which the computer presents the multiple response measures options in order of recommendation based on the priority and the required time.

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