KR101877224B1 - Method And Apparatus for Neutralizing Unmanned Aerial Vehicle - Google Patents

Abstract

A method for neutralizing a UAV and an apparatus thereof are disclosed. According to the present embodiment, the method for neutralizing a UAV can not only detect a UAV directed to a protection facility and transmit a disturbance signal to the UAV to prevent the UAV from flying, but also calculate the damage information of the protection facility in the event of a UAV crash to minimize the damage of the protection facility. The apparatus includes a laser pulse transmission/reception part, a detecting part, an image capturing part, a UAV discriminating part, an information receiving part, a UAV neutralizing part, and a disturbance signal transmitting part.

Description

Technical Field [0001] The present invention relates to a method and an apparatus for neutralizing a UAV,

This embodiment relates to a method and apparatus for disabling a UAV to protect a protection facility.

The contents described below merely provide background information related to the present embodiment and do not constitute the prior art.

A communication method for remotely controlling an unmanned aerial vehicle (UAV) includes a visible distance communication and an invisible distance communication method. Invisible distance communication is a communication method that improves UAV cruising distance by several hundred km using satellite relay communication, ground relay communication, GPS automatic navigation method and so on.

Radio frequency remote control applied to visible and invisible distance communication is controlled by satellite relay and ground relay. When using low frequency, UAV cruising distance becomes long.

The GPS navigation control is a method of operating the UAV by recognizing the information of the operating area coordinates (longitude, latitude, altitude) in advance and by comparing the stored coordinates with the UAV coordinates by using the GPS receiver. If you know the coordinates of the target area, there is no restriction on the area of operation.

In case of small UAV, it is difficult to detect by radar device because the value of RCS (Radar Cross Section) of aircraft is very small, and when it is painted similar to the surrounding environment, there is a problem that it can not be discriminated by optical image and naked eye.

A typical jammer device emits noise signals to all frequency bands identified through threat analysis to induce UAV inability and crash. However, there is a problem in that a general UAV steerability and crash inducing method does not reflect the damage caused by the inability to operate or fall down.

The present embodiment not only detects a UAV directed to a protection facility, transmits a disturbance signal to the UAV to prevent the UAV from flying, but also calculates the damage information of the protection facility when the UAV falls, And to provide a method and apparatus for disabling a UAV for minimizing a UAV.

According to an aspect of the embodiment, there is provided a laser processing apparatus including: a laser pulse transmitting / receiving unit that emits a radar pulse to the periphery and receives a reflected pulse signal reflected from the periphery; A detection unit for detecting a UAV based on the reflection pulse signal; An image capturing unit for generating a UAV image capturing the UAV; A UAV discrimination unit for analyzing the UAV image and analyzing a wake pattern and speed for the UAV, and generating UAV identification information based on the wake pattern and the speed; An information receiving unit for receiving the protection facility information from the external server; A UAV disabling unit for generating disabling information based on the protection facility information and the UAV identification information; And a disturbance signal transmitter for emitting a radio wave disturbance laser corresponding to the disarmed information to the UAV.

According to another aspect of the present invention, there is provided a method of driving a light emitting device, comprising: emitting radar pulses to the surroundings and receiving reflection pulse signals reflected from the surroundings; Detecting a UAV based on the reflected pulse signal; Capturing the UAV as a UAV image; Analyzing the UAV image, analyzing a wake pattern and velocity of the UAV, and generating UAV identification information based on the wake pattern and the velocity; Receiving the protection facility information from the external server; Generating disabling information based on the protection facility information and the UAV identification information; And a step of emitting a radio wave disturbance laser corresponding to the disabling information to the UAV.

As described above, according to the present embodiment, in addition to detecting a UAV directed to a protection facility and transmitting a disturbance signal to the UAV, it is possible to prevent the UAV from flying, and also, when the UAV falls, It is effective to minimize the damage of the protection facilities.

1 is a block diagram schematically showing a UAV neutralization system according to the present embodiment.
2 is a block diagram schematically showing a UAV breaking apparatus according to the present embodiment.
3 is a flowchart illustrating a method for nullifying a UAV according to the present embodiment.
4 is a flowchart for explaining a method of identifying a UAV according to the present embodiment.
5 is a flowchart for explaining a damage information calculation method according to the present embodiment.

Hereinafter, the present embodiment will be described in detail with reference to the accompanying drawings.

1 is a block diagram schematically showing a UAV neutralization system according to the present embodiment.

The UAV neutralization system according to the present embodiment includes a controller 110, a UAV 120, a UAV neutralization apparatus 130, and a protection facility 140. The components included in the UAV neutralization system are not necessarily limited thereto.

The controller 110 means an electronic device that controls the flight of the UAV 120 by a user's input. The controller 110 transmits to the UAV 120 a control signal for controlling the flight direction or altitude of the UAV 120 by the user's input. The controller 110 transmits a control signal to the UAV 120 in a wireless communication manner using a wireless communication module provided therein.

The UAV (Unmanned Aerial Vehicle) 120 means an unmanned aerial vehicle. The UAV 120 establishes a flight direction or an altitude based on a control signal received from the controller 110 remotely while the pilot is not on board, and then flows.

The UAV nullification apparatus 130 according to the present embodiment emits radar pulses to the surroundings and receives reflection pulse signals reflected from the surroundings. The UAV nullification device 130 detects the UAV 120 based on the reflected pulse signal, and photographs the UAV 120 to generate a UAV image.

The UAV decrypter 130 analyzes the UAV image, analyzes the wake pattern and speed of the UAV 120, and generates UAV identification information based on the wake pattern and the speed. The UAV disabling apparatus 130 receives the protection facility information from the external server, and generates the disabling information based on the protection facility information and the UAV identification information.

The UAV deconfiguration apparatus 130 emits a radio wave disturbance laser corresponding to the disarmed information to the UAV 120 to deprive the UAV 120 of the control or intercept the signal of the UAV 120 and to drop the signal. The UAV nullification device 130 calculates damage information based on a fall locus, a fall position, UAV weight information, acceleration, and the like when the UAV 120 falls.

The protection facility 140 refers to a facility including a nuclear power plant, a thermal power plant, a military base, a military facility, and a military protection facility.

2 is a block diagram schematically showing a UAV breaking apparatus according to the present embodiment.

The UAV deconfiguration apparatus 130 according to the present embodiment includes a laser pulse transmission / reception unit 210, a detection unit 220, an image capturing unit 230, a UAV discrimination unit 240, an information receiving unit 250, a UAV disabling unit 260 and a disturbance signal transmitter 270. The components included in the UAV dampening device 130 are not limited thereto.

Each component included in the UAV disabling apparatus 130 may be connected to a communication path connecting a software module or a hardware module in the apparatus so as to operate organically with each other. These components communicate using one or more communication buses or signal lines.

Each element of the UAV disabling apparatus 130 shown in FIG. 2 means a unit for processing at least one function or operation, and may be implemented as a software module, a hardware module, or a combination of software and hardware.

The laser pulse transmitting / receiving unit 210 emits a radar pulse to the surroundings and receives a reflected pulse signal reflected from the surroundings. When the destination of the UAV 120 is facing the protection facility, the laser pulse transmitting / receiving unit 210 re-fires the radar pulse to the UAV 120 and receives the reflected pulse signal reflected from the UAV 120 again.

The detection unit 220 detects the UAV 120 based on the reflected pulse signal. The image capturing unit 230 refers to a camera module including an image capturing device capable of capturing an image. The image capturing unit 230 generates a UAV image of the UAV 120.

The UAV discrimination unit 240 analyzes the UAV image, analyzes the wake pattern and speed of the UAV 120, and generates UAV identification information based on the wake pattern and the speed. The UAV determination unit 240 analyzes the UAV image and recognizes the UAV shape. The UAV determination unit 240 compares the UAV shape with the layout information of each reference model. The UAV determination unit 240 extracts the similar reference model information that coincides with the UAV shape beyond a predetermined similarity degree.

The UAV determination unit 240 determines the UAV size information for the UAV based on the similar reference model information or the size information among the specification information included in the similar reference model information to determine the UAV size information for the UAV 120 .

The UAV determination unit 240 extracts weight information from the specification information included in the model information and determines the UAV weight information for the UAV 120 or the UAV weight information for the UAV 120 based on the UAV size information . The UAV determination unit 240 generates UAV identification information based on the UAV shape, the UAV size information, and the UAV weight information. The UAV determination unit 240 generates UAV identification information using a machine learning algorithm.

The UAV determination unit 240 recognizes the foreground and background from the UAV image, and then removes the background. The UAV discrimination unit 240 recognizes the object in the foreground and extracts only the feature points of the object to recognize the UAV shape.

When the destination of the UAV 120 is facing the protection facility, the UAV determination unit 240 calculates the position coordinates of the UAV 120 based on the reflected pulse signal, the mapped position coordinates on the map, and the position coordinates of the reference point. The UAV determination unit 240 calculates the distance between the UAV 120 and the radar pulse emitted to the UAV 120 based on the position of the UAV 120. The UAV determination unit 240 calculates the altitude information of the UAV 120 using the firing position coordinates (reference point) and the reflection pulse signal of the radar pulse emitted to the UAV 120.

The information receiving unit 250 receives the protection facility information from the external server. The information receiving unit 250 receives the wind direction information and the wind speed information from the separately provided sensor unit.

The UAV disabling unit 260 generates disabling information based on the protection facility information and the UAV identification information.

The UAV disabling unit 260 determines whether the destination of the UAV 120 is heading to the protection facility based on the speed and the wake pattern. The UAV neutralizing unit 260 calculates the acceleration of the UAV 120 when the destination of the UAV 120 is heading toward the protection facility.

The UAV nullification unit 260 calculates the distance between the UAV 120 and the ground based on the altitude information. The UAV nullification unit 260 calculates the fall time and the fall position based on the distance between the UAV 120 and the ground, the UAV weight information, the acceleration, and the wake pattern. As another example, the UAV nullification unit 260 can hack the UAV 120 to receive GPS information from the GPS server, and to calculate altitude information for the UAV 120 based on the GPS information.

When the UAV 120 falls, the UAV disable unit 260 detects UAV weight information in the distance between the UAV 120 and the ground in the direction of the spark pattern based on the position coordinates of the UAV 120, To be displayed on the map.

The UAV neutralizing unit 260 calculates the fall time and the fall position based on the distance between the UAV 120 and the ground, the UAV weight information, the acceleration, and the wake pattern. The UAV neutralization unit 260 receives the current direction information and the wind speed information from the sensor provided separately, and corrects the fall time and the fall position by reflecting the current wind direction information and the wind speed information to the fall time and the fall position.

The UAV disable unit 260 may receive current wind direction information and wind velocity information from an external server. In other words, the UAV nullification device 130 may receive the wind direction information and the wind speed information from the external server, but it may include the wind speed and wind speed measurement sensor to measure the wind direction information and the wind speed information.

Since the UAV 120 has to reflect the wind direction and the wind speed with respect to the UAV 120 existing in the sky above, the accurate position can be calculated. When the UAV 120 falls, the destructive force varies depending on the wind direction and wind speed. The wind direction and wind speed should be reflected to minimize damage.

The UAV nullification unit 260 receives the current direction information and the wind speed information from the sensor provided separately, and then calculates the falling locus by reflecting the wind direction information and the wind speed information when the UAV 120 falls. The UAV nullification unit 260 determines the fall position by reflecting the fall trajectory, and calculates the damage information according to the UAV weight information and the acceleration on the fall position.

The UAV disabling unit 260 recognizes the UAV shape and generates disarming information for depriving the UAV 120 of control when it is determined that the UAV 120 is equipped with a weapon. The UAV nullification unit 260 may periodically update the layout information in which the UAV size and shape are changed, or determine the UAV shape by machine learning based on the existing layout information.

The UAV disabling unit 260 recognizes the UAV shape and generates disarming information for blocking the signal according to the facility class received from the external server and determining that the weapon is not equipped.

The disturbance signal transmitter 270 fires a radio disturbance laser (control right deprivation or signal interception) corresponding to the disarmed information to the UAV 120.

When the UAV disabling unit 260 determines that the UAV shape is equipped with a weapon, the interference signal transmitting unit 270 launches disabling information to the UAV 120 to disable control of the UAV 120. [

When the UAV disabling unit 260 determines that the UAV shape is not equipped with a weapon, the interference signal transmitting unit 270 fires the disarmed information for blocking the signal for the UAV 120 to fall down to the UAV 120 do.

3 is a flowchart illustrating a method for nullifying a UAV according to the present embodiment.

The UAV nullification device 130 fires the radar pulse around and receives the reflection pulse signal reflected from the periphery (S310). The UAV nullifying apparatus 130 detects the UAV 120 based on the reflected pulse signal (S320).

The UAV nullification device 130 generates a UAV image of the UAV 120 (S330). The UAV disabling apparatus 130 analyzes the UAV image, analyzes the wake pattern and the speed of the UAV 120, and generates UAV identification information based on the wake pattern and the speed (S340). The UAV disabling apparatus 130 receives the protection facility information from the external server (S350).

The UAV deconfiguration device 130 generates the disabling information based on the protection facility information and the UAV identification information (S360). In step S360, the UAV deconvolution device 130 recognizes the UAV shape and generates disarming information for depriving the UAV 120 of control when it determines that the UAV 120 is equipped with a weapon.

The UAV deconfiguration device 130 recognizes the UAV shape and generates disarmed information for blocking the signal according to the facility class received from the external server and determining that the weapon is not equipped.

The UAV deconfiguration device 130 launches a radio disturbance laser (control deprivation or signal interception) corresponding to the disarmed information to the UAV 120 (S370). In step S370, when the UAV nullification unit 260 determines that the UAV shape is equipped with a weapon, the UAV nullification unit 130 fires nullification information to the UAV 120 to deprive the UAV 120 of the control .

When the UAV disabling unit 260 determines that the UAV shape is not equipped with the weapon, the UAV disabling unit 130 launches the disabling information for blocking the signal for the UAV 120 to fall down to the UAV 120 .

Although it is described in FIG. 3 that steps S310 to S370 are sequentially executed, the present invention is not limited thereto. In other words, FIG. 3 is not limited to the time series order, as it would be applicable to changing and executing the steps described in FIG. 3 or performing one or more steps in parallel.

As described above, the UAV disabling method according to the present embodiment described in FIG. 3 can be implemented by a program and recorded on a computer-readable recording medium. A program for implementing the UAV disabling method according to the present embodiment is recorded and a computer-readable recording medium includes all kinds of recording devices for storing data that can be read by a computer system.

4 is a flowchart for explaining a method of identifying a UAV according to the present embodiment.

The UAV disabling device 130 analyzes the UAV image captured by the UAV 120 and recognizes the UAV shape (S410). In step S410, the UAV nullification device 130 recognizes the foreground and background from the UAV image, and then removes the background. The UAV nullification device 130 recognizes an object in the foreground and extracts only the feature points of the object to recognize the UAV shape.

The UAV nullification device 130 compares the UAV shape with the layout information for each reference model (S420). The UAV nullification device 130 extracts similar reference model information matching the UAV shape at a predetermined similarity or more (S430).

The UAV disabling apparatus 130 determines the UAV size information for the UAV 120 based on the similar reference model information or extracts the size information among the specification information included in the similar reference model information, (S440).

The UAV nullification device 130 extracts the weight information from the specification information included in the model information and determines the UAV weight information for the UAV 120 or the UAV weight information for the UAV 120 based on the UAV size information (S450).

The UAV decrypter 130 generates UAV identification information based on the UAV shape, the UAV size information, and the UAV weight information (S460). In step S460, the UAV decrypter 130 generates UAV identification information using a machine learning algorithm.

Although it is described in Fig. 4 that steps S410 to S460 are sequentially executed, the present invention is not limited thereto. In other words, Fig. 4 is not limited to the time-series order, since it would be applicable to changing or executing the steps described in Fig. 4 or executing one or more steps in parallel.

As described above, the method for identifying a UAV according to the present embodiment described in FIG. 4 can be implemented by a program and recorded on a computer-readable recording medium. A program for implementing a method for identifying a UAV according to the present embodiment is recorded, and a computer-readable recording medium includes all kinds of recording devices for storing data that can be read by a computer system.

5 is a flowchart for explaining a damage information calculation method according to the present embodiment.

The UAV disabling device 130 recognizes the UAV shape and generates disarming information for disabling the control of the UAV 120 when the UAV 120 determines that the UAV 120 is equipped with a weapon (S510).

In step S510, the UAV nullification device 130 periodically updates the layout information in which the structure of the UAV size and shape is changed, or can determine the UAV shape by machine learning learning based on the existing layout information.

In step S510, the UAV deconvolution device 130 fires disabling information to the UAV 120 to disable the control on the UAV 120 when determining that the UAV shape is equipped with a weapon.

If the UAV disabling device 130 recognizes the UAV shape and determines that the weapon is not equipped, the disarming device 130 generates disarmed information for blocking the signal according to the facility class received from the external server (S520).

In step S520, the UAV deconfiguration device 130 fires disabling information for blocking the signal to the UAV 120 and causing the UAV 120 to collapse if it determines that the UAV shape has no weapon.

The UAV nullification unit 130 calculates damage information based on the fall trajectory, the fall position, the UAV weight information, and the acceleration when the UAV 120 falls (S530).

In step S530, the UAV nullification device 130 calculates the position coordinates of the UAV 120 based on the reflected pulse signal, the mapped position coordinates on the map, and the position coordinates of the reference point. The UAV deconfiguration device 130 calculates the distance to the UAV 120 based on the position of the UAV 120 and the radar pulse emitted to the UAV 120. The UAV nullification device 130 calculates the altitude information of the UAV 120 using the launch position coordinates (reference point) and the reflection pulse signal of the radar pulse emitted to the UAV 120.

The UAV nullification device 130 calculates the distance between the UAV 120 and the ground based on the altitude information. The UAV nullification device 130 calculates the fall time and the fall position based on the distance between the UAV 120 and the ground, the UAV weight information, the acceleration, and the wake pattern.

When the UAV 120 falls, the UAV nullification device 130 detects UAV weight information in the distance between the UAV 120 and the ground in the direction of the spiral pattern based on the position coordinates of the UAV 120, To be displayed on the map.

The UAV nullification device 130 calculates the fall time and the fall position based on the distance between the UAV 120 and the ground, the UAV weight information, the acceleration, and the wake pattern. The UAV neutralization apparatus 130 receives the current direction information and the wind speed information from the separately provided sensor, and corrects the fall time and the fall position by reflecting the current wind direction information and the wind speed information at the fall time and the fall position.

The UAV neutralization apparatus 130 receives the current direction information and the wind speed information from the sensor provided separately, and then calculates the fall locus by reflecting the wind direction information and the wind speed information when the UAV 120 falls. The UAV nullification device 130 determines the fall position by reflecting the fall trajectory, and calculates the damage information according to the UAV weight information and the acceleration on the fall position.

Although it is described in Fig. 5 that steps S510 to S530 are sequentially executed, the present invention is not limited thereto. In other words, Fig. 5 is not limited to a time series order, since it would be applicable to changing and executing the steps described in Fig. 5 or executing one or more steps in parallel.

As described above, the damage information calculation method according to the present embodiment described in FIG. 5 can be implemented by a program and recorded in a computer-readable recording medium. A program for implementing the damage information calculating method according to the present embodiment is recorded, and a computer-readable recording medium includes all kinds of recording devices for storing data that can be read by a computer system.

The foregoing description is merely illustrative of the technical idea of the present embodiment, and various modifications and changes may be made to those skilled in the art without departing from the essential characteristics of the embodiments. Therefore, the present embodiments are to be construed as illustrative rather than restrictive, and the scope of the technical idea of the present embodiment is not limited by these embodiments. The scope of protection of the present embodiment should be construed according to the following claims, and all technical ideas within the scope of equivalents thereof should be construed as being included in the scope of the present invention.

110: controller 120: UAV
130: UAV disabling device 140: Protection facility
210: laser pulse transmitting / receiving unit 220:
230: image capturing section 240: UAV discriminating section
250: Government reception unit 260: UAV neutralization unit
270: Disturbance signal transmitter

Claims (10)

A laser pulse transmitting / receiving unit emitting radar pulses to the periphery and receiving reflection pulse signals reflected from the periphery;
A detection unit for detecting a UAV based on the reflection pulse signal;
An image capturing unit for generating a UAV image capturing the UAV;
Extracting model information corresponding to the UAV shape, determining UAV size information for the UAV based on the model information, analyzing the UAV size corresponding to the UAV size information by analyzing the UAV image, And generates identification information of the UAV on the basis of the UAV shape, the UAV size information, and the UAV weight information, and uses the firing position coordinates of the radar pulse emitted to the UAV and the reflection pulse signal A UAV discrimination unit for calculating flight altitude information about the UAV;
An information receiving unit for receiving the protection facility information from the external server;
Learning is performed based on periodically updated UAV size, periodically updated layout information, and pre-stored layout information to confirm whether or not a UAV corresponding to the UAV shape is equipped with a weapon, and the UAV is equipped with a weapon If it is judged that the UAV corresponding to the UAV shape has not been equipped with weapons, generates disablement information for depriving the control authority of the UAV if it is determined that the UAV has no weapon, The UAV is configured to generate the disabling information for blocking the signal and calculating damage information on the case that the UAV falls, and the destination of the UAV is notified to the protection facility information based on the traffic pattern and speed for the UAV. If the UAV is found to be facing a protected facility, Calculating a distance between the UAV and the ground on the basis of the flight altitude information, calculating a distance between the UAV and the ground, calculating a distance between the UAV and the ground, calculating an acceleration corresponding to the UAV weight information, A UAV nullification unit for calculating weight information, the acceleration, the fall time and the fall position based on the acceleration pattern, and reflecting the fall time and the fall position on the damage information; And
And a UAV that emits a radio wave disturbance laser corresponding to the neutralization information for allowing the UAV corresponding to the UAV shape to have a control of the UAV when the UAV has an inorganic weapon, A disturbance signal transmitting unit for emitting a radio wave disturbance laser corresponding to the disarmed information to the UAV,
The UAV neutralizing device comprising: The method according to claim 1,
The UAV determination unit may determine,
Analyzing the UAV image to recognize the UAV shape, comparing the UAV shape with layout information per predetermined reference model, extracting similar reference model information that matches the UAV shape with a predetermined similarity or more, Extracts size information from the specification information included in the information, determines the UAV size information as the UAV size information for the UAV, extracts weight information from the specification information included in the model information to determine UAV weight information for the UAV, The UAV size information, and the UAV weight information to generate identification information of the UAV. 3. The method of claim 2,
The UAV determination unit may determine,
And recognizes the UAV shape by extracting only the feature points of the object and recognizing the object in the foreground after recognizing the foreground and background from the UAV image, removing the background, and recognizing the UAV shape. delete The method according to claim 1,
The UAV neutralization unit includes:
Wherein the UAV weight information and the falling position reflecting the acceleration are displayed on a map in a distance between the UAV and the ground in the direction of the navigation pattern based on the position coordinates of the UAV when the UAV falls. . The method according to claim 1,
The UAV neutralization unit includes:
Calculates the fall time and the fall position based on the distance between the UAV and the ground, the UAV weight information, the acceleration, the wake pattern,
Wherein the current time information and the wind speed information are reflected to the falling time and the falling position after receiving the current direction information and the wind speed information from the separately provided sensor to correct the falling time and the falling position, Device. The method according to claim 1,
The UAV neutralization unit includes:
The method comprising: receiving a current wind direction information and wind speed information from a sensor provided separately, calculating a fall locus by reflecting wind direction information and wind speed information when the UAV falls, determining a fall position by reflecting the fall locus, And calculates damage information on the basis of the UAV weight information and the acceleration on the position of the UAV. delete delete Emitting a radar pulse to the surroundings and receiving a reflection pulse signal reflected from the surroundings;
Detecting a UAV based on the reflected pulse signal;
Generating a UAV image of the UAV;
Analyzing the UAV image to recognize the UAV shape, and extracting model information matching the UAV shape;
Determining UAV size information for the UAV based on the model information, and calculating UAV weight information corresponding to the UAV size information;
Generating identification information of the UAV based on the UAV shape, the UAV size information, and the UAV weight information;
Calculating flight altitude information for the UAV using the firing position coordinates for the radar pulse fired by the UAV and the reflected pulse signal;
Receiving the protection facility information from the external server;
Learning a learning based on periodically updated UAV size, periodically updated layout information, and pre-stored layout information to check whether a UAV corresponding to the UAV shape is equipped with a weapon;
Generating a disabling information for disabling control of the UAV when it is determined that the UAV corresponding to the UAV shape is equipped with the weapon;
Generating the disabling information for blocking the signal for the UAV according to the facility class included in the protection facility information when the UAV corresponding to the UAV shape is determined to have no weapon;
Calculating damage information on a case where the UAV corresponding to the UAV shape falls;
If it is determined that the destination of the UAV is heading to the protection facility included in the protection facility information based on the navigation pattern and speed for the UAV, an acceleration corresponding to the UAV weight information when the UAV falls is calculated , Reflecting the acceleration to the damage information;
Calculating a distance between the UAV and the ground based on the flight altitude information, calculating a fall time and a fall position based on the distance between the UAV and the ground, the UAV weight information, the acceleration, The process of reflecting on
And a UAV that emits a radio wave disturbance laser corresponding to the neutralization information for allowing the UAV corresponding to the UAV shape to have a control of the UAV when the UAV has an inorganic weapon, A step of emitting a radio wave disturbance laser corresponding to the disablement information to the UAV by blocking the signal to the UAV
Wherein the UAV is a UAV.

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