DE102024101577A1 - Method, system and defense drone for defending against and/or destroying unmanned aerial targets - Google Patents

Abstract

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

Description

The invention relates to a method for defending against and/or destroying unmanned aerial targets, in particular small and medium-sized unmanned aircraft, using at least one defense drone. Furthermore, the invention relates to a corresponding defense drone and a corresponding system.

The use of unmanned aircraft – unmanned air systems (UAS) – has increased in various areas of society in recent years. Technological advances have made this type of aircraft accessible to an increasing number of people. Small unmanned air systems (sUAS), in particular, are easy to operate, versatile, and compact, making them usable by anyone almost anywhere. Due to the rapid proliferation of such systems on the commercial market, facilities and events requiring special protection are at increased risk of unauthorized overflights with unclear intentions at any time.

In this context, sUAS can be remotely controlled by a pilot or complete a mission autonomously. The method described here was developed with the aim of intercepting autonomously operating sUAS without an active communication link to a pilot.

A holistic procedure and system that enables the detection, assessment of the threat potential and reliable combat of autonomously operating sUAS with affordable means have not yet been described.

For example, in the KR102001181B1 and DE 10 2015 008 256 A1 The described method of disrupting the control signal of an sUAS is not possible with an autonomously operating sUAS. To effectively disable an autonomous sUAS, its inherent systems, which it requires to maintain flight, must be disrupted or disabled.

From RO132093A2 and DE 10 2016 211 371 A1 A defense drone is known that attempts to immobilize sUAS in mid-air using a net, thus causing them to crash. The disadvantage of this system is the high weight of the interceptor drone, which puts it at a disadvantage when engaging agile targets. Another disadvantage is the fact that it only has a single attempt to engage the target. If the drone misses the target on the first interception attempt, a second attempt is impossible because the net has already been fired. Since this system does not specify a method for precisely tracking the target's position, missing the target cannot be ruled out.

Analogously, the EP 3 139 125 B1 A system is known that relies on target detection by a sensor system and disables a target with the help of a capture system attached to the interceptor drone. Here, too, the capture mechanism is an essential part of the overall system and suffers from the same disadvantages as described above.

From the DE 10 2015 008 255 A1 A system is known that combats sUAS by dropping small (sub-)effectors that detonate near the target, releasing threads that become entangled in the target. This type of effector technology has the disadvantage that the carrier missile must be guided to a target with such precision that it can effectively deliver its effectors without rendering itself incapable of flight. Furthermore, carrying ammunition increases the weight of the carrier drone so much that engaging agile targets will be impossible.

From the DE 10 2015 008 296 A1 A system is known that uses a high-energy electromagnetic pulse (HPEM) to damage the electrical components of a sUAS through the induced current, causing it to crash. The disadvantage of this type of sUAS countermeasure is that the HPEM generator must generate a very high radiated power to even negatively affect electrical circuits at a certain distance. This makes the interceptor drone very heavy and, in turn, unusable against agile targets. Another disadvantage is that the interceptor drone destroys itself, leaving only one attempt to destroy its target.

From the DE 10 2017 109 874 A1 An interceptor drone is known that uses foam or water to disable a target drone. This system, however, has the disadvantage that the active mass (water/foam) must be carried on the interceptor drone, which leads to the disadvantages already described when engaging agile targets. It is also unclear how the position and movement of the target in space are supposed to be determined to enable a targeted interception.

From the EP 3 722 736 A1 A system is known that positions several drones around a target and eliminates the simultaneous detonation of explosives placed on the interceptor drones. The disadvantage in this case arises from the position Positioning the interceptor drone around the target. This process takes so much time that fast and moving targets leave the operational area during this time and cannot be engaged. Furthermore, the procedure poses significant risks due to the simultaneous detonation of multiple explosive charges in the airspace.

The invention is based on the object of providing a method that overcomes at least some of the disadvantages described above, particularly with regard to flight control and the weight of the defense drone. Furthermore, the present invention is an object of providing a corresponding defense drone and a corresponding system for implementing the method.

According to the invention, the object is achieved with regard to the method by the subject matter of claim 1. Expedient embodiments of the method arise from subclaims 2 to 9. With regard to the drone, the object is achieved by the subject matter of claim 10. Expedient embodiments of the defense drone arise from subclaims 11 to 14. With regard to the system, the object is achieved by the subject matter of claim 15.

• - Empfangen von initialen Zielinformationen, die mindestens eines von einer Position im Raum, einer Geschwindigkeit und einer Bewegungsrichtung des Luftziels enthalten;
• - Erzeugen von Anflugparameterinformationen unter Verwendung der initialen Zielinformationen, wobei die Anflugparameterinformationen einen Abfangkurs der Abwehrdrohne bezüglich des Luftziels angeben;
• - Automatische Flugführung der Abwehrdrohne anhand der initialen Zielinformationen und der Anflugparameterinformationen;
• - Bestimmen, ob ein relativer Abstand und/oder Bewegungszustand zwischen dem Luftziel und der Abwehrdrohne eine Übergabebedingung erfüllt;
• - Durchführen einer Flugführung mittels bordeigener Sensorinformationen, um das Luftziel mit einem kinetischen Direkttreffer zu beschädigen und/oder zu zerstören, wenn die Übergabebedingung erfüllt ist, und Fortsetzen der automatischen Flugführung mittels externer Sensorinformationen, solange die Übergabebedingung nicht erfüllt ist.

Specifically, the problem is solved by a method for defending against and/or destroying unmanned aerial targets, in particular small and medium-sized unmanned aircraft, using at least one defense drone. The method is characterized by comprising the following steps:

• - Receiving initial target information including at least one of a position in space, a speed and a direction of movement of the air target;
• - generating approach parameter information using the initial target information, the approach parameter information specifying an interception course of the defense drone with respect to the aerial target;
• - Automatic flight guidance of the defense drone based on the initial target information and the approach parameter information;
• - Determine whether a relative distance and/or movement state between the aerial target and the defense drone satisfies a handover condition;
• - Performing flight guidance using on-board sensor information to damage and/or destroy the air target with a kinetic direct hit when the handover condition is met, and continuing automatic flight guidance using external sensor information as long as the handover condition is not met.

Continuing automatic flight guidance using external sensor information may, in particular, comprise re-receiving target information acquired by external sensors (for example, sensors of a ground unit communicatively connected to the defense drone).

One idea of the method according to the invention is therefore to let the defense drone fly directly into the aerial target in order to cause kinetic destruction of the aerial target or components thereof.

According to the described method, reliable engagement is achieved by the defense drone, after receiving target information, particularly from an external sensor network, being able to target the targets in the final guidance phase using on-board sensors (i.e., sensors located on the defense drone) and disabling them with a direct kinetic hit. This has the advantage that no additional payload in the form of an effector is required, and the defense drone has a low deadweight, thus achieving high speed and agility for rapid engagement of the targets.

The autonomous approach of the defense drone also allows threats to be engaged at greater distances. Because the method relies on damage caused by a direct kinetic hit rather than additional means (interceptor nets, effectors, water, foam), it can be carried out by an interceptor drone that has a low deadweight and is therefore highly agile.

For the purposes of the present invention, the term "defensive drone" refers to an unmanned aerial vehicle that independently combats threats in the air based on transmitted data. In particular, the defensive drone can be a multicopter, e.g., a quadrocopter.

The term “small and medium-sized drone” in the sense of the present invention can be understood in particular as a drone with a weight of at least 0.1 kg and a maximum of 25 kg, which can navigate in particular either remotely or independently using stored positions, such as GPS coordinates.

The terms “defense” and “fight” in the sense of the present invention can be understood as The aim is to prevent declared airborne threats from reaching their target by disabling them through damage to relevant components, such as the rotors.

An “on-board” system, sensor, etc. can be understood as a corresponding component of the defense drone, whereas the term “external” refers to a component outside the defense drone, for example a ground- or air-based detection system.

Embodiments of the method are specified in the corresponding subclaims.

The method is particularly suitable for implementation in a system that preferably comprises multiple defense drones, an external sensor network, a transmitter unit, and at least one command and weapon deployment system (CMS). Targets can be initially detected by the external sensor network and classified by the CMS, and target information can then be transmitted to the respective defense drones via a transmitter unit.

The defense drones can be positioned in a (passive) standby mode around a protected area, initially on their own launch platforms from which they can take off independently. On these platforms, the respective drones can be protected from the environment and continuously supplied with charging power, ensuring they are ready for use for at least several days without maintenance. The defense drones can be kept in a passive operational readiness status by continuously checking their avionics and maintaining contact with the command and control system, enabling early engagement.

The external sensor network can include at least one detection system, e.g., a radar, with an interface to a command and control center. After a successful detection, target information can be transferred to the command and control center for subsequent target declaration. This can be done by a human operator or autonomously. This offers the advantage that multiple targets can be detected and classified simultaneously at greater distances, allowing for rapid engagement.

The method is therefore particularly suitable for protecting objects and/or zones, such as airport runways. The drones can initially be positioned in a standby mode, for example, at the edge of a protection zone, so that the nearest defense drone has sufficient time to reach potential threats after successful detection by the external sensor network. For example, just two drones can protect a runway 2,000 meters long and 500 meters wide. Preferably, multiple defense drones can be assigned to a target to increase the probability of hitting the target.

The object is further achieved by a defense drone for defending against and/or destroying unmanned aerial targets, in particular small and medium-sized unmanned aircraft. The defense drone is designed to carry out the method described above.

Embodiments of the defense drone result from the respective subclaims.

In particular, the defense drone can have a monolithic lightweight frame, e.g. made of carbon, which offers a compromise between maneuverability and sufficient installation space or payload for sensors.

The defense drone may have a lift element that has at least two rotors, preferably four rotors, whose motor is controlled by an Electronic Speed Controller (ESC).

The defense drone can have a flight control unit, implemented, for example, with a Pixhawk 4 Mini, which uses MAVLink protocols to communicate between the defense drone and an external transmitter station. The external transmitter station only transmits target information, such as the target's position, speed, and orientation, to the defense drone. This data can then be processed on-board by a processing unit to independently calculate and initiate an optimal approach trajectory. The target guidance information can be outsourced to an additional microcontroller.

This has the advantage that brief signal interruptions from the transmitter station do not lead to flight instability, as additional commands can be sent to the flight controller. The defense drones can be configured to transmit system status information to the external transmitter station, allowing the flight attitude and position of the defense drone to be monitored.

In addition, the defense drone can have one or more magnetometers that can perform (mutual) validation of its orientation data. Preferably, one of the magnetometers is mounted on top of the drone together with a GPS module. attached to the defense drone to minimize the magnetic influence on the power electronics and ensure optimal reception performance of the GPS antenna.

The defense drone can also be equipped with at least one electro-optical sensor, e.g., in the visible light and/or IR range, and/or another detection system. The sensors can be attached to the front of the drone via a gimbal with at least two axes. The electro-optical sensors are preferably aligned parallel or at an acute angle to the propeller axes and can be pivoted via the corresponding joints so that the camera is pointed upwards toward the sky, keeping the target drone in an optimal image section against the background during the approach, ensuring maximum detection probability.

Preferably, the defense drone has multiple electro-optical sensors and/or additional detection units, e.g., a lidar, to improve the detection probability and false alarm rate through sensor data fusion. The sensors can, in particular, be used for final-phase guidance of the drone to initiate a collision course.

The defense drone can be designed to initiate the final phase guidance as soon as predefined handover conditions are met, which reflect both the detection range of the electro-optical units and the relative orientation of the defense drone to the aerial target.

In particular, the handover conditions can specify an alignment criterion to ensure the most parallel superposition possible of the velocity vectors of the aerial target and the defense drone, so that the aerial target is kept in the field of view. The detection range can be determined using threshold adjustments that can take into account both the visibility conditions and the background clutter level. In the event of a successful detection, the on-board sensors can transfer the azimuth and inclination angles to the flight control system to initiate a collision course. In the event of an unsuccessful detection, the defense drone can be configured to use the last calculated flight parameter information and receive external target information again when a specified threshold is reached.

• - eine oder mehrere Abwehrdrohnen wie vorstehend beschrieben;
• - einen externen Sensorverbund;
• - eine Sendeeinheit; und
• - mindestens ein Führungs- und Waffeneinsatzsystem.

The object is further achieved by a system for defending against and/or destroying unmanned aerial targets, in particular according to the method described above. The system comprises the following:

• - one or more defence drones as described above;
• - an external sensor network;
• - a transmitting unit; and
• - at least one command and weapon deployment system.

The external sensor network is designed to detect an aerial target. The command and weapon deployment system is designed to classify the aerial target and transmit target information to a respective defense drone via the transmitter unit.

In particular, the command and control unit can be designed to select a suitable defense drone from among several defense drones according to one or more criteria (e.g. distance to the aerial target, charge status, and/or other characteristics) and to send the corresponding command to the selected defense drone.

At this point, it should be noted that the features and the advantages achievable thereby, which were described with reference to the method according to the invention, are applicable or transferable to the drone and system according to the invention, and vice versa. Specifically, in the context of the present description of the invention, the components of the devices are designed to perform the method steps according to the invention. Likewise, the functions of the above-described components of the devices according to the invention can be applied as method steps of the method according to the invention.

The invention is explained in more detail below using exemplary embodiments with reference to the attached schematic figures.

• 1 einen Ablauf des erfindungsgemäßen Verfahrens anhand eines Ausführungsbeispiels;
• 2 einen Informationsfluss in dem erfindungsgemäßen Verfahren gemäß einem Ausführungsbeispiel; und
• 3 eine erfindungsgemäße Drohne gemäß einem Ausführungsbeispiel.

Show

• 1 a sequence of the method according to the invention using an exemplary embodiment;
• 2 an information flow in the method according to the invention according to an embodiment; and
• 3 a drone according to the invention according to an embodiment.

In the figures, the same reference symbols are used for the same or similarly functioning parts.

Based on 1 the sequence of the method according to the invention for defending against and/or destroying the air target 2 by means of the defense drone 5 can be explained.

First, the current position, speed, and direction of movement of the aerial target 2 are detected using a sensor network including the detection unit 1. Based on the initial target information, the aerial target 2 is declared as a target to be defended by the command and weapon deployment system 3. The initial target information is transmitted to the defense drone 5 via the transmitter unit 4.

Subsequently, the defense drone 5 independently calculates approach parameter information using the initial target information. The approach parameter information specifies at least one intercept course 6a, 6b. In particular, several possible intercept courses 6a, 6b can be calculated, and an optimal intercept course can be selected, for example, with regard to distance to the aerial target 2, hit probability, etc. According to the illustrated embodiment, the intercept course 6a represents the optimal intercept course.

Subsequently, the defense drone 5 executes automatic flight guidance according to the intercept course 6a in order to approach the aerial target 2 completely autonomously. In doing so, it is continuously determined whether the relative distance between the defense drone 5 and the aerial target 2, the relative orientation of the defense drone 5 and the aerial target 2, and possibly other parameters such as the detection range of the defense drone 5, meet specified handover conditions. According to the illustrated embodiment, the handover conditions are met when the defense drone 5 reaches position 7.

As soon as the handover conditions are met, a final phase control takes place (see area 8 in 1 ). Defense drone 5 performs automatic flight guidance using on-board sensors to bring defense drone 5 onto a collision course with aerial target 2.

If the handover conditions are not met, the defense drone continues automatic flight guidance using target information provided by the sensor network 1. For this purpose, target information can be transmitted to the defense drone 5 via the transmission unit 4, in particular continuously or at regular intervals.

In 2 The information flow according to the method according to the invention is (partially) shown in a further embodiment. The target information is processed by the external detection unit 1 and the command and weapon deployment system 3 and transmitted to the defense drone via a transmission unit 4 (step S1). The processing unit 14 of the defense drone calculates optimal approach parameters based on the target information and transmits this information (step S2) to the flight control unit 15, which continuously transmits position information to the external transmission station and to the processing unit (steps S3, S4). The on-board sensors, which have at least one imaging sensor 16, and/or additional detection systems, transmit target information in the final guidance phase, which indicates an optimal collision course by means of sensor data fusion in the processing unit 14.

3 shows a defense drone according to the invention according to one exemplary embodiment. The defense drone is designed as an effector itself and has a monolithic frame 11, preferably of low weight, with a frame 13 and a lift unit 12 with four rotors.

The defense drone further comprises a receiving and transmitting unit 17 for receiving external target information and a processing unit 14 for calculating approach parameter information based on the target information.

In addition, the defense drone has a flight control unit 15 which is designed to control the motors of the lift unit 12 via an electrical speed control.

Furthermore, the defense drone has at least one position sensor 18, which is mounted above the defense drone and is designed to determine position information of the defense drone and transmit it to an external transmitting station via the receiving and transmitting unit 17. In addition, the defense drone has an on-board electro-optical sensor 16, which is preferably aligned parallel or at an acute angle to the propeller axes and can be pivoted via corresponding joints so that the camera of the electro-optical sensor 16 is directed upwards.

Preferably, the defense drone has a plurality of electro-optical sensors 16, or further detection units in addition to the electro-optical sensors 16, for example a lidar, in order to improve the detection probability and false alarm rate by means of sensor data fusion.

At this point it should be noted that all parts described above are individually - even without additional The features described, even if they have not been explicitly identified as optional features in the respective context, e.g. by using: in particular, preferably, for example, e.g., if necessary, round brackets, etc. - and in combination or any sub-combination are to be regarded as independent embodiments or further developments of the invention, as defined in particular in the introduction to the description and the claims. Deviations from this are possible. Specifically, it should be noted that the word in particular or round brackets do not identify features that are mandatory in the respective context.

List of reference symbols

1

(external) detection unit

2

Air target

3

Command and weapon deployment system

4

Transmitter unit

5

Defense drone

6a, 6b

Intercept course

7

position

8

End-phase steering area

11

Frame

12

buoyancy unit

13

Housing

14

processing unit

15

Flight control unit

16

electro-optical sensor

17

Receiving and transmitting unit

18

Position sensor

S1

Transmitting target information

S2

Transmitting approach parameters

S3

Transmitting location information to processing unit

S4

Transmitting location information to external transmitting station

QUOTES CONTAINED IN THE DESCRIPTION

This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• KR 102001181B1 [0005]
• DE 10 2015 008 256 A1 [0005]
• DE 10 2016 211 371 A1 [0006]
• EP 3 139 125 B1 [0007]
• DE 10 2015 008 255 A1 [0008]
• DE 10 2015 008 296 A1 [0009]
• DE 10 2017 109 874 A1 [0010]
• EP 3 722 736 A1 [0011]

Claims (15)

Method for defending against and/or destroying unmanned aerial targets (2), in particular small and medium-sized unmanned aircraft, by at least one defensive drone (5), characterized in that the method comprises the following steps: - receiving initial target information containing at least one of a position in space, a speed and a direction of movement of the aerial target (2); - generating approach parameter information using the initial target information, wherein the approach parameter information indicates an interception course of the defensive drone (5) with respect to the aerial target (2); - automatically guiding the flight of the defensive drone (5) based on the initial target information and the approach parameter information; - determining whether a relative distance and/or state of movement between the aerial target (2) and the defensive drone satisfies a handover condition; - Carrying out flight guidance using on-board sensor information to damage and/or destroy the aerial target (2) with a kinetic direct hit when the handover condition is met, and continuing automatic flight guidance using external sensor information as long as the handover condition is not met. Procedure according to Claim 1 , wherein the initial target information is provided by an external sensor network comprising at least one ground-based and/or airborne detection system (1). Method according to one of the preceding claims, in particular Claim 2 , wherein the detection system (1) has at least one interface to a command and weapon deployment system (3). Method according to one of the preceding claims, in particular Claim 3 , wherein the command and weapon deployment system (3) has at least one interface to at least one detection system (1) and at least one defense drone (5), wherein the defense drone (5) is in a passive standby mode. Method according to one of the preceding claims, in particular Claim 4 , wherein the command and weapon deployment system (3) uses target information from the detection system (1) to declare an aircraft as an aerial target (2), transmits this information to at least one defense drone (5) by means of a transmitting unit (4), wherein an on-board flight guidance system automatically controls the defense drone (5) so that it approaches the aerial target (2) via a flight path (6a, 6b) which was calculated on the basis of the externally provided target information. Method according to one of the preceding claims, in particular Claim 5 , wherein the method further comprises the following step: - Automatic determination by the defense drone (5) as to whether a relative distance and a relative state of movement between the aerial target (2) and the defense drone (5) is less than or equal to predefined threshold values, on the basis of the target information of the command and weapon deployment system (3) and position and attitude information acquired by the on-board flight guidance system, wherein the threshold value of the relative distance results in particular from an optimal detection range of an on-board electro-optical (16) device, and the relative state of movement of the defense drone (5) relative to the aerial target (2) is determined in particular by the orientation of the defense drone in space. Method according to one of the preceding claims, in particular Claim 6 , wherein, if the relative distance and/or the relative state of movement of the defense drone (5) relative to the aerial target (2) exceeds the respective threshold value, the flight guidance of the defense drone (5) is continued by means of the external sensor information, in particular so that the defense drone (5) continues to approach and align with the aerial target (2) in accordance with the target information and flight parameter information, and wherein, if the respective threshold values are no longer exceeded, the flight guidance is carried out using on-board flight guidance means on the basis of measurement results from the on-board sensors. Method according to one of the preceding claims, in particular Claim 7 , wherein the on-board sensors include at least one electro-optical sensor which, upon successful target detection, transmits the azimuth and angle of inclination relative to the aerial target (2) to the flight guidance means of the defense drone (5) in order to put it on a collision course. Method according to one of the preceding claims, in particular Claim 8 , wherein in the event of unsuccessful detection, the defense drone (5) carries out flight control using the most recently calculated flight parameter information up to a predetermined threshold value and, when the threshold value is reached, the flight control of the defense drone (5) takes place using the external sensor information. Defense drone (5) for defending against and/or destroying unmanned aerial targets (2), in particular small and medium-sized unmanned aircraft, wherein the defense drone (5) is designed to carry out the method according to one of the preceding claims. Defense drone (5) to Claim 10 , further comprising a monolithic frame (11) with a housing (13) and a buoyancy unit (12) attached to the frame, wherein the frame (11) preferably has a size of less than 7 inches, in particular less than 5 inches, wherein the buoyancy unit (12) preferably has at least two, in particular four rotors. Defense drone (5) after one of the Claims 10 until 11 which further comprises at least one electro-optical sensor (16) which is designed in particular to detect a collision course (6a, 6b) in a final phase steering. Defense drone (5) after one of the Claims 10 until 12 which has at least two electro-optical sensors (16) which are fastened to a front side of the defense drone (5) via a gimbal with at least two axes, said sensors preferably being aligned parallel or at an acute angle to propeller axes of the defense drone (5) and being pivotable via corresponding joints. Defense drone (5) after one of the Claims 10 until 13 , which further comprises a sensor unit (18) for detecting position information, wherein the sensor unit (18) comprises at least one magnetometer and/or a GPS module and is preferably arranged at an elevated position above an upper side of the defense drone (5). System for the defense and/or destruction of unmanned aerial targets, in particular according to the method according to one of the Claims 1 until 9 , the system comprising: - one or more defense drones (5) according to one of the Claims 10 until 14 ; - an external sensor network; - a transmitting unit; and - at least one command and weapon deployment system, wherein the external sensor network is designed to detect an aerial target (2), the command and weapon deployment system is designed to classify the aerial target (2) and to transmit target information to a respective defense drone (5) via the transmitting unit.