CN111216890B - 用于反击无人机的系统和方法 - Google Patents

用于反击无人机的系统和方法 Download PDF

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CN111216890B
CN111216890B CN202010079446.3A CN202010079446A CN111216890B CN 111216890 B CN111216890 B CN 111216890B CN 202010079446 A CN202010079446 A CN 202010079446A CN 111216890 B CN111216890 B CN 111216890B
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CN111216890A (zh
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W·古德里奇
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Insitu Inc
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C11/00—Propellers, e.g. of ducted type; Features common to propellers and rotors for rotorcraft
    • B64C11/46—Arrangements of, or constructional features peculiar to, multiple propellers
    • B64C11/48—Units of two or more coaxial propellers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/13—Propulsion using external fans or propellers
    • B64U50/14—Propulsion using external fans or propellers ducted or shrouded
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/19—Propulsion using electrically powered motors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41H—ARMOUR; ARMOURED TURRETS; ARMOURED OR ARMED VEHICLES; MEANS OF ATTACK OR DEFENCE, e.g. CAMOUFLAGE, IN GENERAL
    • F41H11/00—Defence installations; Defence devices
    • F41H11/02—Anti-aircraft or anti-guided missile or anti-torpedo defence installations or systems
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41H—ARMOUR; ARMOURED TURRETS; ARMOURED OR ARMED VEHICLES; MEANS OF ATTACK OR DEFENCE, e.g. CAMOUFLAGE, IN GENERAL
    • F41H13/00—Means of attack or defence not otherwise provided for
    • F41H13/0006—Ballistically deployed systems for restraining persons or animals, e.g. ballistically deployed nets
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    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/12—Target-seeking control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C5/00—Stabilising surfaces
    • B64C5/06—Fins
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/15—UAVs specially adapted for particular uses or applications for conventional or electronic warfare
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]

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Abstract

公开了用于反击无人机的系统和方法。典型方法包含将拦截机UAV朝着目标UAV导向，并且将拦截机UAV沿着受控飞行路径导向回到地面，例如以响应于不与目标UAV交战的指令和/或响应于不成功的交战。另一典型方法包含通过部署来自拦截机UAV的禁用元件(如，网)以接触目标UAV来禁用目标UAV。典型系统包含目标获取系统、发射控制系统以及由拦截机UAV携带的交战系统。在特定实施例中，拦截机UAV可以具有基本圆柱形机身、由机身携带的一个或多个安定面、由机身携带的反向旋转推进器以及被配置为禁用目标UAV的禁用系统。

Description

用于反击无人机的系统和方法
本申请是申请日为2015年7月27日、名称为“用于反击无人机的系统和方法”的中国专利申请2015104460668的分案申请。
相关申请的交叉引用
本申请要求2014年7月28日提交的处于审理中的美国临时申请No.62/030024的优先权并且通过参考并入本文。
技术领域
本公开总体涉及用于反击无人机(UAV)的系统和方法。在特定的实施例中，典型的系统和方法包含将拦截机UAV引导向目标UAV以禁用目标UAV。
背景技术
无人机(UAV)已经被用在各种能力中以提供监视和进行其他任务。一些任务包含破坏、禁用或另外地损坏地面上的目标。因此，需要一种系统来反击这种UAV以避免损坏军事和/或民用设施。本公开涉及这种系统。
发明内容
本发明可以包含用于禁用/摧毁目标UAV的拦截机UAV，拦截机UAV可以包含飞行器，该飞行器具有：基本圆柱形机身；机身携带的安定面(fin)；推进系统，该推进系统包含：第一推进器；第二推进器；以及耦合到第一和第二推进器以使第一推进器在第一方向上旋转并且使第二推进器在与第一方向相反的第二方向上旋转的电源；至少一个控制表面；由飞行器携带并且被耦合到至少一个控制表面的引导系统；以及由飞行器携带并且具有第一被动模式和第二主动模式的禁用系统，其中在第二模式中，禁用系统被定位以禁用目标UAV。引导系统可以被配置为将飞行器沿着受控飞行路径导向地面。引导系统可以被配置为当接收到至少一个如下指示时将飞行器沿着受控飞行路径导向到地面，所述指示为：(a)不与目标UAV交战的指示；或者(b)拦截机UAV没有充分地禁用目标UAV的指示。这将会改进操作。安定面可以是布置成十字形形状的四个安定面中的一个，或者安定面可以是增强性能的三个安定面中的一个。
本发明可以包含用于禁用目标UAV的拦截机UAV，拦截机UAV可以包含飞行器，飞行器具有沿着机身轴线延长的圆柱形机身；由机身携带并且被布置成十字形的四个安定面，每个安定面具有沿横断于所述机身轴线的外侧方向从所述机身延伸的的安定面槽；推进系统，其包含：第一推进器，其由机身携带并且可围绕机身轴线在第一方向上旋转以便顺序进入和离开连续的安定面槽；第二推进器，其由机身携带并且可围绕机身轴线在与第一方向相反的第二方向上旋转以便顺序进入和离开连续的安定面槽；由机身携带的电源，电源包含被耦合到第一推进器以使第一推进器在第一方向上旋转的第一电动马达，和被耦合到第二推进器以使第二推进器在第二方向上旋转的第二电动马达；以及被耦合到第一和第二电动马达的存储的电能源；由至少一个安定面携带的至少一个控制表面；被耦合到至少一个控制表面的引导系统；以及由飞行器携带并且具有第一被动模式和第二主动模式的可部署网，其中在第二模式中，可部署网被从飞行器部署以禁用目标UAV。所述网可以被配置为在部署之后与拦截机UAV脱离。所述网可以被配置为在部署之后仍然附连到拦截机UAV。存储的能量源可以包含用于第一和第二马达的单个源。存储的能量源可以包含用于第一马达的第一源和用于第二马达的第二源。这些特性中的每个将增强UAV的操作。
本发明可以包含用于禁用目标UAV的拦截机UAV系统，该系统可以包含拦截机UAV；可导向到空域以检测、追踪或检测和追踪即将来临的目标UAV的目标获取系统；可耦合到目标获取系统的发射控制系统，发射控制系统包含指令，当被执行时，这些指令自动导向拦截机UAV以发射；以及由拦截机UAV携带且与目标获取系统通信的交战系统，交战系统被以指令编程，当被执行时，该指令(a)将拦截机UAV朝着目标UAV导向；以及(b)如果拦截机UAV未成功禁用目标UAV，则引导拦截机UAV着陆。拦截机UAV系统也可以包含由拦截机UAV携带并且可激活以禁用目标UAV的禁用系统。禁用系统可以包含可部署网。拦截机UAV可以包含基本圆柱形机身；由机身携带的安定面；以及推进系统，推进系统包含：第一推进器；第二推进器以及耦合到第一和第二推进器以使第一推进器在第一方向上旋转并且使第二推进器在与第一方向相反的第二反向上旋转的电源。
本发明可以包含用于禁用目标UAV的拦截机UAV系统，该系统可以包含拦截机UAV；可导向到空域以检测即将来临的目标UAV的雷达扫描仪；陆基目标雷达系统，其可耦合到扫描仪以(a)接收目标UAV的位置和航迹；以及(b)确定拦截机UAV的拦截航迹；发射控制系统，其耦合到目标雷达系统，该发射控制系统包含指令，当被执行时，该指令自动导向拦截机UAV以发射；陆基光学系统，其可耦合到陆基目标雷达系统以获取目标UAV的第一图像；由拦截机UAV携带并且可定位以获取目标UAV的第二图像的拦截机光学系统；交战系统，其由拦截机UAV携带并且被编程以导向以下至少一个：交战飞行路径；或非交战飞行路径，其中非交战路径包含返回到地面的受控飞行路径；以及由拦截机携带并且可部署以禁用目标UAV的禁用系统。交战系统可以被编程以便根据第一和第二光学图像的比较而自动导向交战飞行路径或非交战飞行路径。拦截机UAV可以是第一拦截机UAV并且其中发射控制系统包含指令，当被执行时，该指令在第一拦截机UAV禁用目标UAV之前自动导向第二拦截机UAV以发射。
本发明可以包含与拦截机UAV一起使用的UAV系统，拦截机UAV可以包含以指令编程的交战系统，当被执行时，该指令(a)将拦截机UAV朝着目标UAV导向；以及(b)如果拦截机UAV未成功地禁用目标UAV，则引导拦截机UAV着陆。交战系统可以被以指令编程，当被执行时，该指令导向拦截机UAV以禁用目标UAV。交战系统可以被以指令编程，当被执行时，该指令导向拦截机UAV以通过攻击目标UAV而禁用该目标UAV。交战系统可以被以指令编程，当被执行时，该指令在目标UAV已经被另一个拦截机UAV禁用的情况下，引导拦截机UAV着陆。UAV交战系统可以被以指令编程，当被执行时，该指令在目标UAV已经被拦截机UAV禁用之后引导拦截机UAV着陆。
本发明可以包含用于禁用目标UAV的方法，该方法可以包含将拦截机UAV朝着目标UAV导向；以及通过部署来自拦截机UAV的禁用元件接触目标UAV来禁用目标UAV。禁用元件可以包含网。该方法也可以包含将网与拦截机UAV分离；以及引导拦截机UAV着陆。这将增强操作。
本发明可以包含用于禁用目标UAV的方法，该方法可以包含将拦截机UAV朝着目标UAV导向；以及沿着受控飞行路径将拦截机UAV导向回到地面。将拦截机UAV导向回到地面可以响应于不与目标UAV交战的指令而执行。将拦截机UAV导向回到地面可以响应于使拦截机UAV与目标UAV交战的失败的尝试而执行。将拦截机UAV导向回到地面可以响应于成功部署禁用元件以禁用目标UAV而执行，所述操作将改进性能。
本发明可以包含用于禁用目标UAV的方法，该方法可以包含检测即将来临的目标UAV；导向拦截机UAV以垂直发射并且飞向目标UAV；响应于不与目标UAV交战的决定，沿着受控飞行路径将拦截机UAV导向到地面；以及响应于与目标UAV交战的决定：(a)自拦截机UAV连续追踪目标UAV；以及(b)当目标UAV在拦截机UAV的目标范围内时，部署来自拦截机UAV的网以接触目标UAV。该方法还可以包含将目标UAV的陆基第一图像与目标UAV的基于拦截机UAV的第二图像比较；并且至少根据第一和第二图像的比较而确定是否与目标UAV交战。部署网可以包含导向网的外部区域的重量以便在向外的方向上移动。该方法还可以包含在网已经缠住目标UAV后维持网和拦截机UAV之间的连接。该方法还可以包含识别部署的网没有禁用目标UAV；以及沿着受控飞行路径引导拦截机UAV着陆。
附图说明
图1是反击UAV系统和相关方法的总体示意图。
图2是根据本公开的实施例进行配置的典型拦截机UAV的侧视图。
图3A-3C分别是图2中所示的典型拦截机UAV的主等距视图、俯视图以及主视图。
图4是根据本技术的特定实施例的用于目标UAV和相关拦截机UAV的典型轨道的部分示意时间线和图示。
图5是说明了根据本技术的特定实施例进行配置的拦截机UAV的预期规格的表格。
图6说明了根据本技术的实施例进行配置的典型禁用系统。
图7根据本技术的特定实施例说明了典型子系统和运输特征。
具体实施方式
本公开总体涉及反击UAV系统和相关方法。根据特定实施例的典型的反击UAV系统包含拦截机UAV，其被朝着检测到的目标UAV发射。例如，目标UAV被陆基检测器检测到，这将触发拦截机UAV的发射序列。然后，拦截机UAV自主飞行以拦截目标UAV。在操作的至少一个阶段，拦截机UAV可以从地面接收信号以帮助将拦截机UAV朝着目标导向。在操作的另一阶段期间，拦截机UAV可以在没有这种帮助的情况下操作，例如，当其与目标UAV交战时。拦截机UAV可以禁用目标UAV，例如，通过部署干扰目标UAV飞行并且导致目标UAV撞击地面的网的方式。在特定的实施例中，拦截机UAV也可以返回到地面，但是是以受控的方式(以便再次使用)，例如，在拦截机UAV没有成功地与目标UAV交战和/或禁用目标UAV的情况下。根据本技术的典型系统和方法的更多的实施例和具体细节将在以下参考图1-7被描述。
下文所述本公开的许多实施例可以采取计算机或控制器可执行指令的形式，包含可由可编程计算机、控制器和/或相关系统执行的程序。相关领域内的技术人员将会意识到，除了下文所述和所示的那些实施例外，本公开可以在计算机系统上实践。本技术可以被嵌入在专用计算机或数据处理器内，所述专用计算机或数据处理器被具体地编程、配置或构造以便执行下文所述的一个或多个计算机可执行指令。因此，本文通常使用的术语“计算机”和“控制器”指的是任何合适的数据处理器并且可以包含互联网应用工具和手持设备，包含掌上计算机、可佩带式计算机、手机或移动电话、多处理器系统、基于处理器或可编程消费电子器件、网络计算机、微型计算机等。由这些计算机和/或控制器处理的信息可以经由任何合适的显示媒介，例如LCD屏，被呈现给用户、观察者或其他参与者。
在特定的实施例中，本技术的多个方面可以在分布式环境内实践，在该分布式环境内，通过通信网络链接的远程处理设备进行任务或模块。在分布式计算环境内，程序模块或子程序可以位于本地和远程存储器存储设备内。下文所述的技术的多个方面可以被存储或分布在计算机可读介质上，包含磁性或光学可读或可移动的计算机磁盘，以及被电子地分布在网络内。特别对于本技术的各方面的数据结构和数据传输也被包含在本技术的特定实施例的范围内。
图1说明了总体系统100，其包含被配置以禁用或破坏目标UAV 199的拦截机UAV110。拦截机UAV 110可以包含推进系统120、引导系统130(如，基于计算机的或受控的)、通信系统160(如，基于计算机的或受控的)以及交战系统140(如，基于计算机的或受控的)。交战系统140被用于与目标UAV199交战且禁用目标UAV 199。总体系统100可以进一步包含目标获取系统101(如，基于计算机的或受控的)，目标获取系统101运行在(和/或可以另外地监测)目标UAV 199可能出现的空域内，以便获取目标UAV 199，正如箭头E所指示的。目标获取系统101进一步包含不是由拦截机UAV 110携带的一个或多个第一组件101a以及由拦截机UAV 110携带的一个或多个第二组件101b。这些组件可以互相通信，如箭头A所指示的。发射控制系统102与目标获取系统101通信(如箭头B所指示的)，并且根据其接收到的信息，传递信号给发射器103(如，基于计算机的或受控的)(如由箭头C所指示的)。发射器103发射拦截机UAV 110，然后拦截机UAV 110飞向目标UAV 199并且然后拦截并且与目标UAV 199交战。拦截机UAV 110与地面站或提供命令和控制信号和/或接收数据的其他控制器106进行通信，如箭头D所指示的。
以下参考图2-3C描述拦截机UAV 110的典型实施例的更多细节。然后参考图4，在下文描述了用于拦截目标UAV的事件的典型序列的更多细节，以及图5-7提供了系统100的选择的特征的另外的细节。
图2是如上关于图1所述的典型拦截机UAV 110的部分示意性、部分透明的平面图。在该实施例的特定方面中，拦截机UAV 110包含飞行器111，其进而包含沿机身轴线113延长的机身112。拦截机UAV 110包含推进系统120，该推进系统120可以进而包含为拦截机UAV110提供推力的一个或多个推进器121。在特定实施例中，推进系统120包含第一推进器121a和第二推进器121b。推进器121a、121b可以以反向旋转的方式操作，从而减小或消除扭曲或扭矩，否则，当推进系统120生成推力时，所述扭曲或扭矩可能会施加到拦截机UAV 110。
在图2所示实施例的特定方面中，推进器121可以在沿着机身112的长度的一定距离处与机身112一体形成，而不是在机身112的前端或后端。例如，如图2所示，第一和第二推进器121a、121b可以沿着机身轴线113被定位在，如机身112的后端和前端间距离的大约1/3处。在特定实施例中，推进器121a、121b也可以与拦截机UAV 110的一个或多个其他元件一体形成。例如，拦截机UAV 110可以包含一个或多个安定面114(如，四个)，其为拦截机UAV110提供稳定性。每个安定面114可以包含槽115，当推进器旋转时槽115接收第一和第二推进器121a、121b。因此，当推进器121a、121b旋转时，它们从一个安定面114内的槽115顺序行进到并且经过相邻安定面114内的槽115，从而避免干扰安定面114，同时为拦截机UAV 110生成推力。
推进系统120可以进一步包含电源123，其给推进器121a、121b提供动力。在特定实施例中，电源123包含电能存储设备，例如，一个或多个电池124。在又一个特定实施例中，电源123包含两个电池：第一电池124a和第二电池124b。每个电池124a、124b将电流导向到相应的马达122(显示为第一马达122a和第二马达122b)，该相应的马达122分别旋转第一和第二推进器121a、121b。分开的推进器、马达和电池可以为拦截机UAV 110的多余度(redundancy)提供测量。在其他实施例中，推进系统120可以包含其他的布置，例如，由单个马达和/或单个电池驱动的推进器，由内燃机提供动力的推进器，和/或火箭或其他非推进器系统。
拦截机UAV 110也可以包含车辆管理系统(VMS)165，其监督、指导、导向和/或执行处理，至少一些处理由各种系统、子系统和/或其他元件执行。典型的系统包含引导系统130，其操作以控制拦截机UAV 110并且将其引导向它的目标。例如，引导系统130可以被耦合到一个或多个控制表面131，从而驾驶和操纵拦截机UAV 110。控制表面131可以由安定面114(如图2所示)，和/或机身112，和/或拦截机UAV 110的其他元件/结构携带。在特定实施例中，控制表面131被定位在来自推进器121a、121b的螺旋桨涡流内，以便改进低空速下(如在垂直起飞期间)的控制权力。引导系统130也可以包含导航系统132(如，机载GPS系统)，其提供了关于拦截机UAV 110的位置的信息。VMS 165协调导航系统132和控制表面131的操作，从而为拦截机UAV 110提供恰当的引导。通信系统160提供与地面站或其他控制器和/或总体系统100的其他元件的通信。
拦截机UAV 110还可以包含交战系统140，其被用于与如上关于图1所述的目标UAV199进行交战。特别地，交战系统140可以包含如上关于图1所述的目标获取系统中的一个或多个机载组件101b。此外，交战系统140可以包含禁用系统150，当拦截机UAV 110在目标UAV199的适用范围内时，禁用系统150禁用目标UAV 199。在特定实施例中，禁用系统150可以包含禁用元件，例如，可被部署以缠住目标UAV 199的网，如以下参考图4和图6被进一步描述的。交战系统140可以包含、控制其他飞行器系统(如，引导系统130)和/或与其通信，所述其他飞行器系统用于提供指令以便引导拦截机UAV 110和/或导向拦截机UAV 110。
图3A-3C说明了拦截机UAV 110的典型实施例的进一步的视图。例如，这些附图说明了飞行器111的机头117，其可以容纳目标获取系统(见图2)的机载组件101b。图3A-3B还说明了尾椎116，其可以容纳通信系统160，如以上关于图2所述。
图4说明了具有典型时间点(如，T1、T1、T2等)的时间线190，所述时间点对应于当拦截机UAV 110与目标UAV 199交战时由系统100进行的典型任务。在时间线下面，图4根据特定实施例说明了期望的典型消逝时间以及即将来临的目标UAV 199的典型的下段射程(down-range)位置。时间和射程假设目标UAV 199具有的速度约为90节。拦截机UAV 110的特性通常如以上关于图2-3C所述和如以下关于图5更详细地所述。
图4也示意性地标识了拦截机UAV 110和目标UAV 199在相应的时间点处(方框)的典型位置，在所述时间点，这些飞行器到达所说明的位置。在图4所示的特定实施例中，总体系统100部署了两架拦截机UAV 110以禁用即将来临的目标UAV 199。因此，与第二拦截机UAV相关的时间点被用带括号的“2”指示，如，“T7(2)”。在其他的实施例中，该系统可以被配置为部署单个拦截机UAV 110，并且在另一些实施例中，可以部署多于两架的拦截机UAV110。
图4中所示的典型的处理在时间T0处开始，此时系统100第一次检测到目标UAV199。在特定的实施例中，目标UAV 199可以被第一检测器检测到，例如，第一雷达104a。在该实施例的又一方面中，第一雷达104a可以由机载平台170携带。例如，机载平台170可以包含由波音公司的子公司英西图股份有限公司(Insitu Inc.)制造的RQ-21A飞行器。在其他的实施例中，机载平台170可以包含其他的飞行器，并且在更进一步的实施例中，第一雷达104a可以由除了机载平台之外的平台携带。
在时间T1，第二检测器，如第二雷达104b，承担追踪目标UAV 199的责任。在特定的实施例中，第二雷达104b可以包含陆基雷达，且在其他的实施例中，第二雷达104可以具有其他的位置。在任一这些实施例中，从第二雷达104b接收的信息被用于进行追踪任务。例如，在时间T2，通过使用来自第二雷达104b的信息计算出目标UAV 199的方位、高度以及射程，并且建立对目标UAV 199的追踪。在时间T3，系统100为拦截机UAV 110计算拦截航迹。然后，该信息被用于导向发射器103以便在时间T4发射第一拦截机UAV 110。在特定实施例中，发射是垂直的，例如从筒或其他合适的发射设备中发射。此外，在时间T3，额外的追踪系统(如，陆基光学系统105)开始识别并且追踪目标UAV 199。陆基光学系统105可贯穿该过程中的剩余阶段与目标UAV199保持主动交战。
在时间T5，拦截机UAV 110继续其上段射程和下段射程轨道。在时间T6，拦截机UAV110过渡到拦截航向。在特定实施例中，拦截机UAV 110的速度达到100KTAS并且过渡到目标获取模式。
在时间T7，一般在第一UAV 110已经禁用(或尝试禁用)目标UAV 199之前，发射第二拦截机UAV 110(例如，对于包含向单个目标部署多架拦截机UAV 110的能力的系统100)。给予第二拦截机UAV 110的指令和第二拦截机UAV 110所采取的动作并行于关于初始拦截机UAV 110如上所述以及以下所述的指令和动作。在图4中，与第二拦截机UAV 110相关的所选时间被用带括号的“2”指示。因此，“T7(2)”指示发射第二拦截机UAV 110。
在时间T8，初始拦截机UAV 110使用由拦截机UAV 110携带的第二目标获取系统101b获取目标UAV 199。例如，第二目标获取系统101b可以包含机载光学系统。第二目标获取系统101b可以在初始拦截机UAV 110的任务的剩余阶段保持主动。
一旦第二目标获取系统101b已经获取到目标，则处理可以包含将从第二目标获取系统101b获得的一幅或多幅图像与从第一目标获取系统101a的陆基光学系统105和/或其他元件中获得的一幅或多幅图像进行比较。可以进行该处理以确认拦截机UAV 110所获取的目标匹配由陆基或其他目标获取系统识别的目标。在特定的实施例中，比较处理可以由人工操作者完成，并且在其他的实施例中可以自动完成。
在时间T9，做出交战决定。在一些实施例中，人工操作者或其他合适的人员做出决定，并且在其他的实施例中，可以自动做出该决定。在任一这些实施例中，可以根据上述比较处理和/或从第二目标获取系统101b(由第一拦截机UAV 110携带)接收的其他信息和/或从第一目标获取系统101a和/或其他设施或子系统接收的其他信息做出决定。一旦做出决定，第一拦截机UAV110接收指令以继续拦截追踪，或中断拦截追踪并且返回地面。如果做出决定以中断拦截追踪，则第一拦截机UAV 110返回其基地(或另一合适的着陆位置)并且着陆，例如，通过受控地下降到气囊中，或者通过其他合适的步骤。
如果做出决定以继续拦截追踪，那么在时间T10，第一拦截机UAV 110执行末端机动。在特定实施例中，拦截机UAV为这部分任务实现了150KTAS的速度。在拦截机UAV 110包含向外部署网的情况下，朝向目标UAV 199的追踪可以是正面的以增加成功交战的可能性。末端机动可以包含部署禁用系统150(如，部署网151和相关重物152)，所述禁用系统150接触、缠住和/或另外地禁用目标UAV 199。在本实施例的一个方面中，网151大致向外展开以便缠住即将来临的目标UAV 199。在本实施例的另一方面，网的向外部署的方向(不是向前部署方向)减小了网151将干扰安装在机头的第二目标获取系统101b的可能性。在其他的实施例中，第二目标获取系统101b可以在禁用过程期间被耗尽。在这种情况下，拦截机UAV110可以使用其他的系统以进行受控的着陆，或者其本身可以被耗尽。
在禁用过程期间，网151可以缠住或另外地捕捉到一个或多个推进器、机身、升力表面和/或目标UAV 199的其他元件，从而干扰且禁用目标UAV 199的受控飞行。在被部署后，网151可以保持与拦截机UAV 110附连，从而第一拦截机UAV 110和被缠住的目标UAV199一起落到地面。在其他的实施例中，网151可以由第一拦截机UAV 110释放，在这种情况下，目标UAV 199可以落到地面，并且第一拦截机UAV 110可以根据受控的过程(如，正常着陆)返回到地面，该过程与在做出中断拦截任务的决定的情况下拦截机UAV110着陆的上述过程相似或相同。
如果第一拦截机UAV 110获得成功，那么在时间T11，拦截过程完成，并且在时间T12，系统100从例如陆基光学系统105和/或另一传感器确认拦截的成功。然后，第二拦截机UAV 110以受控的方式着陆。
如果第一拦截机UAV 110完成的末端机动和拦截过程没有成功(如，如果第一拦截机UAV 110没有或没有充分地禁用目标UAV 199)，且如果第一拦截机UAV 110仍然可以飞行，那么第一拦截机UAV 110返回到其基地。例如，如果拦截机UAV释放了作为禁用过程的一部分的网151，且没有攻击作为交战机动中的一部分的目标UAV 199，那么拦截机UAV 110可以重新导向其飞行路径以着陆。如果网151在正常禁用过程期间保持与拦截机UAV 110的附连，并且禁用过程不成功，则拦截机UAV 110可以在着陆之前丢弃网151。在该实施例的一个方面中，网151可以从拦截机UAV 110的尾部被部署而不是从机头被部署，以避免干扰拦截机UAV 110的推进器。
如果第一拦截机UAV 110不成功，那么第二拦截机UAV 110继续执行任务。例如，在时间T12，第二拦截机UAV 110可以捕获目标UAV 199。在时间T13，第二拦截机UAV 110可以被导向以完成交战过程或返回到基地，并且在时间T14，第二拦截机UAV 110可以执行末端交战过程。在时间T15，第二拦截机UAV 110拦截目标UAV 199，并且在时间T16，系统100确认由第二拦截机UAV 110执行的成功拦截。
图5是说明了根据本技术的特定实施例配置的拦截机UAV 110的典型规格的表格。图5包含的典型数值有总起飞重量(GTOW)、净负载、燃料(如，电池大小和类型)、任务半径、续航能力、速度、最大飞行高度、发动机规格、翼展以及回收着陆点(如，用于回收拦截机UAV110的气囊的大小)。可以预料到，具有图5中标识的特性的拦截机UAV 110能够成功地拦截并且禁用各种即将来临的目标UAV 199，如，尺寸范围从微型UAV和四旋翼飞行器增大到Tier II战术UAS车辆。这种UAV被预期可在范围从地平面之上0-5000英尺的高度内成功地进行拦截和禁用。
图6说明了根据所公开技术的特定实施例配置的典型禁用系统150。该系统150可以包含网枪153，例如可在市场上购买用于捕捉野生动物的网枪。网枪153能够包含推进剂154(如，常规的CO2弹药筒)，其在横向向外的方向上导向网151。当其部署时，重物152使网151扩展。禁用系统150可以具有多种模式，例如，被动模式、武装模式以及部署模式。在其他实施例中，禁用系统150可以包含其他元件。例如，禁用系统150可以包含抛射、爆炸和/或基于能量的组件(如，激光和/或大功率RF发生器)。
图7是总体系统100和容器的特定组件的部分示意图，组件可以在所述容器内运输。例如，图7说明了典型的陆基光学系统105、一对天线接口终端108(用于与拦截机UAV通信)以及陆基雷达和支持系统104b。图7也说明了典型的命令、控制和数据系统106，例如，可从英西图股份有限公司得到的ICOMC2系统。系统106可以包含两个操作者工作站，其中的每个用于可以被部署以对抗单个目标UAV 199的每个拦截机UAV 110。前述元件可以在第一容器107a(如，六个这种容器)中运输，并且第二容器107b可以被用于承载各种各样(MISC)的组件和图7中未具体显示的其他组件，包含车辆本身、发射系统、回收系统以及存储和健康系统。这些容器被专门设计以便容易地用人工或自动设备运输和操控。
上述几个实施例的一个特征是系统100可以包含回收和重复使用拦截机UAV 110的能力，例如，在拦截机UAV没有成功地与即将来临的目标进行交战的情况下。该特征可以是有利的，因为如果特定拦截机UAV 110不能成功与目标交战，则所述特征可以减少操作系统100的成本。该特征也可以减小或消除附带损伤的可能性。
至少一些前述实施例中的另一特征是总体系统100可以部署多个拦截机UAV 110对抗单个即将来临的目标UAV 199。这项能力给对抗目标UAV 199提供了冗余和/或多个反击措施，因此提高了禁用目标UAV 199的可能性。例如，如果初始拦截机UAV没有成功地尝试禁用即将来临的目标UAV 199，则这种布置可以提供“二次机会”。前述特征的总体结果是与其他常规的系统相比，系统100可以稳健且低成本。
至少一些上述实施例中的另一特征是拦截机UAV 110可以包含沿着UAV的长度被定位和/或与UAV的安定面结构一体形成的反向旋转推进器。这种配置的优点是其可以提供紧凑、有效、基于推进器的拦截机功能，适合于拦截具有相对低空速的车辆，而没有更为复杂的基于火箭或基于气体涡轮系统所表现出的复杂、昂贵和/或操控并发症。此外，这种配置被预期具有高度机动性，这可以增加成功交战的可能性。例如，高度机动性配置可以允许拦截机UAV 110负责目标UAV 199进行的逃避机动，和/或如果其最初交战没有成功，则可以允许拦截机UAV 110与目标UAV 199再次交战。
从前述内容中，将会意识到的是，所公开技术的具体实施例已经为了说明的目的而被描述，但是在不离开本技术的前提下可以做出各种修改。例如，虽然系统的某些实施例在上文被描述在拦截机UAV的背景下，该拦截机UAV部署网以接合且禁用目标UAV，但是在其他的实施例中，拦截机UAV可以包含其他的禁用系统。这种禁用系统可以包含在实施例中的拦截机UAV 110的机头或其他部分，拦截机UAV通过该机头或其他部分攻击目标UAV 199以便禁用它。在雷达104a、104b的背景下上文所述的第一和第二检测器可以在其他的实施例中具有其他的配置(如，IR或光学检测器)。拦截机UAV 110的典型实施例被显示为具有导弹类的轮廓，具有大致圆的、柱形形状。在其他的实施例中，拦截机UAV机身可以具有其他的形状，和/或飞行器111可以具有其他合适的总体配置。飞行器111可以在一些实施例中具有被布置成十字形形状的四个安定面，并且在其他的实施例中可以具有其他的布置方式和/或数量(如，三个)的安定面。在一些实施例中，飞行器111可以垂直发射并且水平着陆在气囊上，并且在其他实施例中，飞行器111可以用其他的方式发射和/或着陆。“禁用”目标UAV可以包含导致目标UAV充分偏离其飞行路径以减少或消除目标UAV提供的威胁。这可以包含导致目标UAV坠毁、制止目标UAV、扰乱目标UAV和/或使目标UAV从其预定目标或其他目标值转移。交战系统和/或禁用系统可以在制造之前被设计成飞行器，和/或能够被配置以改装现有的飞行器。
在特定实施例的背景中所述技术的某些方面可以在其他的实施例中被组合或消除。例如，虽然某些实施例在上文中被描述在向单个目标UAV部署多个拦截机UAV的系统的背景下，但是其他的系统可以被配置以仅部署单个拦截机UAV对抗任何单个即将来临的目标UAV。根据特定的实施例，可以组合和/或隔离总体系统的某些方面。例如，发射控制系统可以与目标获取系统的一个或多个部分集成。多个雷达(或其他检测器)可以被组合成单个检测器。而且，虽然在所述实施例的背景下已经描述了与所公开技术的某些实施例相关的优点，但是其他的实施例也可以表现出这种优点，并且不是所有的实施例均必须表现出这种优点才落入本发明的范围内。因此，本公开和相关技术可以包含本文没有明确地显示或描述的其他实施例。

Claims (6)

1.一种用于禁用目标UAV的拦截机UAV系统，所述系统包括：
拦截机UAV，所述拦截机UAV包括具有推进器的推进系统，所述推进系统被配置成为所述拦截机UAV提供推力；
雷达扫描仪，其可导向到空域以检测即将来临的目标UAV；
陆基目标雷达系统，其可耦合到所述扫描仪以
(a)接收所述目标UAV的位置和轨迹；和
(b)确定用于所述拦截机UAV的拦截轨迹；
与所述目标雷达系统耦合的发射控制系统，所述发射控制系统包括指令，所述指令在被执行时自动引导所述拦截机UAV发射；
陆基光学系统，其可耦合至所述陆基目标雷达系统以获取所述目标UAV的第一图像；
拦截机光学系统，其由所述拦截机UAV携带并可定位成获取所述目标UAV的第二图像；
交战系统，其由所述拦截机UAV携带，并被编程以导向以下至少一项：
交战飞行路径；或者
非交战飞行路径，其中所述非交战飞行路径包括返回地面的受控飞行路径；和
由所述拦截机UAV携带并可部署以禁用所述目标UAV的禁用系统。
2.根据权利要求1所述的拦截机UAV系统，其中，所述交战系统被编程为基于所述第一图像和所述第二图像的比较而自动地导向所述交战飞行路径或所述非交战飞行路径。
3.根据权利要求1所述的拦截机UAV系统，其中，所述拦截机UAV是第一拦截机UAV，并且其中所述发射控制系统包括指令，所述指令在被执行时在所述第一拦截机UAV禁用所述目标UAV之前自动引导第二拦截机UAV发射。
4.一种使用用于禁用目标UAV的拦截机UAV系统的方法，包括：
经由目标获取系统检测目标UAV；
经由陆基目标雷达系统，接收所述目标UAV的位置和轨迹并且确定用于所述拦截机UAV的拦截轨迹；
响应于检测到所述目标UAV，通过执行与所述目标获取系统通信的发射控制系统的指令，引导所述拦截机UAV发射，所述拦截机UAV包括具有推进器的推进系统，所述推进系统被配置成为所述拦截机UAV提供推力；
使用陆基光学系统获取所述目标UAV的第一图像并且使用由所述拦截机UAV携带的拦截机光学系统获取所述目标UAV的第二图像；
和
响应于不与所述目标UAV交战的指令，沿着受控飞行路径将所述拦截机UAV导向回地面。
5.根据权利要求4所述的方法，其中，响应于所述拦截机UAV与所述目标UAV交战的不成功尝试，执行将所述拦截机UAV导向回地面。
6.根据权利要求4所述的方法，其中，响应于成功地部署禁用元件以禁用所述目标UAV而执行将所述拦截机UAV导向回地面。
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