RU126846U1 - DEVELOPMENT DETECTOR AND DEFINITION OF COORDINATES OF UNMANNED AIRCRAFT - Google Patents

Abstract

A device for direction finding and coordinates determination of unmanned aerial vehicles, consisting of several circular cameras operating in the optical range of electromagnetic waves day and night, a unit for determining the direction of the UAV, a control unit for the movable head, consisting of a radiator and a radiation receiver, while the control unit performs pointing the emitter of the moving head to the UAV to measure the distance to it, characterized in that the appearance of the UAV is recorded automatically as a hindrance that occurs on the frame in ideological sequences relative to the previous one, and using the reference coordinates of the direction-finding device (X, Y, Z), the horizontal angle α and the vertical angle α (measured on a space-oriented monitor), using an ultra-sensitive electric motor direct the moving head, which uses laser radiation, measures the distance to UAV D, determining the exact location of the UAV in space (X, Y, Z) and calculated on a computer using the formulas: X = X + ΔX (ΔX = Dcos (α)); Y = Y + ΔY (ΔY = Dsin (α)); Z = Z + ΔZ (ΔZ = Dsin (α)), while the automated information processing system determines the direction of UAV movement and displays it on a computer monitor.

Description

The utility model relates to the field of optics, namely, devices for direction finding, orientation and navigation of moving objects, designed to control the trajectory of unmanned aerial vehicles (UAVs) moving in space and determine their exact coordinates.

An analysis of the direction finding process and determining the coordinates of unmanned aerial vehicles (UAVs) under special conditions shows that the use of a satellite navigation system is not always possible, therefore, it is necessary to use ground-based means for determining spatial coordinates [1, 2].

The use of the direction finding device and determining the UAV coordinates allows you to search for and detect it, control changes in their behavior to make decisions for further actions.

This device involves a method for automatically determining the coordinates of unmanned aerial vehicles. The prototype of this utility model is the patents SU 1172374A1 (MKI G01S 3/78) dated 03/26/84 and No. 2349864 dated 03/20/09 [3, 4].

This device is implemented in a way to automatically determine the coordinates of unmanned aerial vehicles

Currently, the determination of coordinates using angle measuring devices is associated with the difficult work of the operator to accurately aim at the UAV and determine its position in space with the subsequent calculation of its coordinates in the “manual”. The operator takes a lot of time for this process and, before making a decision, the UAV disappears from line of sight, which makes it impossible to obtain information about the coordinates of the UAV (Fig. 1).

The purpose of the utility model is to automatically determine the spatial coordinates of UAVs according to the data of circular cameras and reflected laser radiation, based on the determination of range, vertical and horizontal angles using a computer.

The utility model allows: 1) to automatically determine the coordinates of the UAV for control and transmission of intelligence information; 2) to reduce the time for detecting UAVs and determining coordinates; 3) reduce the average error in determining the coordinates, which will be reduced to the instrumental error of the measuring instruments; 4) to exclude measures for the visual determination of the polar coordinates of the UAV; 5) to ensure the independence of the time for detecting UAVs, determining coordinates and processing information, which allows automated support for direct and reverse communication with UAVs.

This goal is achieved by the use of all-round cameras and a laser range finder to illuminate UAVs (in the tail of the UAV you can install a triple - a prism for a sharper reflected signal).

The development of the modern element base, including small-sized receivers (cameras) and small-sized powerful radiation sources, allows them to be placed as promising reconnaissance systems for detecting and recognizing UAVs and determining their spatial coordinates [7, 8].

The operation of the direction finding device and the determination of the coordinates of unmanned aerial vehicles is as follows (figure 1). To detect UAVs in the operator’s area of responsibility, it is carried out using circular cameras 1 (with a matrix resolution of 10 to 80 megapixels) placed symmetrically and directed in different directions, so that they would be able to observe 360 °. The cameras operate in sectors in the optical range of electromagnetic waves, day and night. The appearance of a UAV is automatically detected as a jammer 2 that occurs on the frame of the video sequence relative to the previous one. The data obtained are processed on a computer 10, where, using the software, the vertical and horizontal angles of the UAV are determined on a space-oriented monitor.

Orientation of the monitor in space is carried out on a horizontal plane with reference coordinates, and tuning is done automatically.

Data on the vertical and horizontal tilt angles enters the control unit of the movable head, which includes a vertical angle measuring device 3, vertical mounting brackets of the angle measuring device 4, horizontal angle measuring mechanism 5 and a movable head 6, which are placed horizontally on the platform of the angle measuring device 9. Accurate guidance of the movable head with the emitter and radiation receiver is achieved through the use of supersensitive electric motors providing e direction of radiation at a distance of 20 km or more.

Thus, the control unit of the moving head works as follows: the signal from the computer goes directly to angle measuring devices 3 and 5, which rotate the moving head towards the UAV at the same time, after which the laser (ready to work at the time of pointing) placed in its body emits a directional laser radiation. Three laser waveguides of various wavelengths are located in the housing, which can be used for various weather conditions. The reflected signal goes to the receiver (where the counting device has calculated the distance to the UAV) and to the all-round cameras (working both day and night), then the information goes to the device for processing and displaying information about the coordinates of the UAV (computer) 10 (Fig. 1 ) The software allows you to determine the spatial coordinates of the UAV (X, Y, Z) and display them on the monitor. At the same time, the program allows you to compare the initial UAV coordinate data on the monitor with the newly illuminated laser radiation. Using the correcting signals of angle measuring devices, a more accurate determination of the coordinates occurs. On the device for processing and displaying information about the coordinates of the UAV and objects, the calculated spatial coordinates X, Y, Z are displayed (Fig. 2).

Description with coordinate formulas

Given point 1 with coordinates (X ₁ , Y ₁ , Z ₁ ), the distance between points 1 and 2 is D, the horizontal angle α ₁ and the vertical angle α ₂ from point 1 to point 2 (Fig. 2).

It is necessary to determine the coordinates of point 2 (X ₂ , Y ₂ , Z ₂ ).

The projections of D on the coordinate axis will correspond to ΔX, ΔY and ΔZ.

Then: X ₂ = X ₁ + ΔX;

Y ₂ = Y ₁ + ΔY;

Z ₂ = Z ₁ + ΔZ.

The quantities ΔX, ΔY and ΔZ are called increments of coordinates. Their values are defined as follows

ΔX = Dcos (α ₁ );

ΔY = Dsin (α ₁ );

ΔZ = Dsin (α ₂ ).

Based on the constant adjustment of the UAV’s location, the direction of its movement emerges on the monitor, which allows the use of previously patented software products, methods and means of control [7, 8 and 9].

Used Books:

1. Dmitrienko A.G., Ivy A.A., Blinov A.V., Parkhomenko A.V. Aerial reconnaissance in the interests of artillery; under the general. ed. A.V.Parkhomenko. - Penza: PAII, 2010 .-- 255 pp., Ill.

2. Rostopchin VV The elementary basis for evaluating the effectiveness of unmanned aerial systems for aerial reconnaissance. http://dpla.ru/otklikrostopchin.htm.

3. Auth. Certificate SU 1172374A1 dated 03.26.84. Optical guidance system of a moving object. MKI G01S 3/78.

4. Parkhomenko A.V., Shishkov S.V. etc. Helmet reconnaissance system of passive long-range detection of objects. - FIPS. Patent No. 2349864 dated 03.20.09.

5. Parkhomenko A.V., Shishkov S.V. etc. A nozzle for optoelectronic devices for sighting objects at large elevation angles. - FIPS. Utility Model Patent No. 83603, 06/10/09.

6. Parkhomenko A.V., Shishkov S.V. and others. Small-sized device for measuring tilt angles and azimuths. - FIPS. Utility Model Patent No. 68672, 11/27/07.

7. Parkhomenko A.V., Shishkov S.V. and others. The calculation of evaluating the effectiveness of devices to combat small-sized remotely piloted aircraft (MPLA). - FIPS. Certificate of state registration of computer programs No. 20088610849, 02.19.08.

8. Parkhomenko A.V., Shishkov S.V. and others. The device to combat remotely piloted (unmanned) aircraft. - FIPS. Utility Model Patent No. 72754, 04/27/08.

9. Parkhomenko A.V., Shishkov S.V. et al. Network trap device for combating remotely piloted (unmanned) aircraft. - FIPS. Utility Model Patent No. 72753, 04/27/08.

Claims (1)

A device for direction finding and coordinates determination of unmanned aerial vehicles, consisting of several circular cameras operating in the optical range of electromagnetic waves day and night, a unit for determining the direction of the UAV, a control unit for the movable head, consisting of a radiator and a radiation receiver, while the control unit performs pointing the emitter of the moving head to the UAV to measure the distance to it, characterized in that the appearance of the UAV is recorded automatically as a hindrance that occurs on the frame in ideological sequences relative to the previous one, and using the reference coordinates of the direction finding device (X ₁ , Y ₁ , Z ₁ ), the horizontal angle α ₁ and the vertical angle α ₂ (measured on a space-oriented monitor), using a super-sensitive electric motor directs the moving head, which, using laser radiation, measures the distance to the UAV D, determining the exact location of the UAV in space (X ₂ , Y ₂ , Z ₂ ) and is calculated on a computer using the formulas: X ₂ = X ₁ + ΔX (ΔX = Dcos (α ₁ )); Y ₂ = Y ₁ + ΔY (ΔY = Dsin (α ₁ )); Z ₂ = Z ₁ + ΔZ (ΔZ = Dsin (α ₂ )), while the automated information processing system determines the direction of UAV movement and displays it on a computer monitor.

Images