WO2011144497A1

WO2011144497A1 - Remotely operated air reconnaissance device

Info

Publication number: WO2011144497A1
Application number: PCT/EP2011/057503
Authority: WO
Inventors: Luis Felipe Tejada Esteban; Ladislas Ghislain Freire Bouillon; Pascual Campoy Cervera; Iván F. MONDRAGÓN BERNAL
Original assignee: Aries Ingeniería Y Sistemas S.A.
Priority date: 2010-05-17
Filing date: 2011-05-10
Publication date: 2011-11-24

Abstract

The present invention makes reference to a remotely operated air reconnaissance device, designed in stages, which comprises means of guidance during its stages both in ascent (injection) and descent (gliding), together with means for the acquisition of images of the surrounding terrain. Likewise, the device comprises means of stabilisation and correction of the images received from the ground. The invention provides precise and stable information from the area flown over, having applications in different types of operations, both in civil and military fields.

Description

REMOTELY OPERATED AIR RECONNAISSANCE DEVICE FIELD OF THE INVENTION The present invention makes reference to a reconnaissance and observation device remotely operated from the ground, integrated in a self- propelled projectile designed in stages.

BACKGROUND OF THE INVENTION

Currently, the applications for observation systems remotely operated from the ground from medium and low altitudes are of great use in a number of situations both in civil and military fields, often essential when there is a need to obtain information in real time about an area in which action is going to be taken. Some significant examples from the fields of application of the cited observation systems remotely operated from the ground are the following:

- Civil applications: extinguishing fires, action in disaster zones, sea and mountain search and rescue, action in contaminated areas, observation of areas hidden behind obstacles, control of restricted areas, crowd control.

- Military applications: ambushes, boardings, localisation of snipers, observation of minefields, preparation for attacks, convoy and vehicle breakdowns.

Before the growing demand in the market for trustworthy observation devices which are suitable for the aforementioned ends, and which are in addition easy to manufacture without incurring high costs, the state of the art comprises a number of solutions, conceived in the majority as image systems integrated into small and medium calibre projectiles. Some examples of this type of system are the patent applications US 2008/0276821 A1 , US 2004/0196367 A1 and US 5467681 A, based on reconnaissance devices installed in the interior of a projectile shot by means of a portable projectile launcher or a mortar, where said projectile deploys, at a determined point in its trajectory, a parachute or similar apparatus which allows to slow down the time of the fall until the ground is touched, during which the reconnaissance device installed in the projectile can capture images of the observed area and transmit them to a remote receiver on the ground.

Together with the systems previously mentioned, the state of the art also comprises other types of similar devices, to which the present invention pertains, based on multiple stage self-propelled rockets, whose modules are progressively separated from the main body of the device during its trajectory, together with a parachute or parafoil, similar to the projectiles previously described. Patent US 7467762 B1 is an example of this class of device integrated into rockets designed in stages.

In spite of the fact that the previous devices from the state of the art provide a solution to some of the problems which are faced by remote aerial observation of an area in real time, employing the use of a image receiver installed in a projectile, there are still problems which persist, and which, by means of the present invention, it is possible to solve.

On the one hand, the diversion from the theoretical trajectory path which the projectile has to fly over the desired area, as a consequence of wind, the imprecision of the launching systems, or a mistaken choice of target due to human error or the lack of information about the localisation of said target, can mean that the images obtained do not correspond to the desired area to be observed, or that the correct observation zone can be visualised only during a part of the trajectory, making said observation unstable or imprecise. This can cause, as a minimum, a considerable delay, which requires the launching of a new projectile, which in some cases can be critical for the success or failure of the operation.

On the other hand, after the parachute has been deployed, on account of the strength of the wind, on numerous occasions, the stage of the projectile responsible for descent using the parachute (which will be referred to, throughout the text, as descent cell), suffers oscillation, pitching and rotation movements, which affects the transmission of the image received on the ground, with a consequent decrease in the quality of the information received, often being insufficient for the ends pursued.

The present invention is aimed at solving the cited problems present in the state of the art, using a device designed in stages which comprises means of guidance during its stages both in ascent (injection) and descent (gliding), together with means of stabilisation and correction of the image received on the ground, incorporated in the ground equipment. DESCRIPTION OF THE INVENTION

An o bj ect of th e p rese n t i n ve n t i o n i s a remotely operated air reconnaissance device which comprises:

- an air segment driven by an injection subsystem, able to ascend to a determined altitude where, on reaching said altitude, a descent cell is deployed which descends to the ground and which comprises a sensors subsystem for the acquisition of information about the surroundings in which the descent cell is found, an on board communications subsystem able to receive the information acquired by the sensors subsystem and transmit it to the communications subsystem on the ground, a propulsion subsystem to drive the descent cell and a flight guidance and control subsystem able to adjust the trajectory of the air segment during its ascent and descent phases;

- a ground segment with, at least, one communications subsystem on the ground able to receive and transmit data to the on board communications subsystem, and a control and display subsystem able to control the flight guidance and control subsystem, during the ascent and descent phases, which comprises means of processing and/or displaying the data received from the air segment.

With the cited device, it is possible to obtain a precise and stable reconnaissance tool, allowing a high degree of control and directionality, both in the ascent stage (injection) and during the descent stage (gliding), which allows its trajectory to be changed, when needed, at any point throughout its time in the air.

An obj ect of th e invention is, l i kewise , a remotely operated a i r reconnaissance device where the flight guidance and control subsystem to be operated using the control and display subsystem can, additionally, be operated from the air segment, in a pre-programmed mode.

Another object of the invention is a device where the flight guidance and control subsystem comprises aerodynamic control surfaces, to adjust the in flight trajectory of the air segment during its ascent phase.

Another object of the invention is a device where the flight guidance and control subsystem comprises means for guidance through the adjustment of the centre of gravity of the descent cell.

Another object of the invention is a device where the descent of the descent cell to the ground is performed using a gliding subsystem which comprises, preferably, a parachute, a parafoil, an inflatable wing, a flexible wing profile, one or more foldable wings or a foldable delta wing. Achieved by this is the prolonged descent time of the device, which allows a greater amount of information to be obtained by the sensors subsystem.

Another object of the invention is a device where the a ir seg ment comprises, additionally, of a deployment subsystem with means of uncoupling between the injection subsystem and the descent cell, as well as means of deploying the gl iding subsystem of said descent cell . Ach ieved with this, through a single operation, is the deployment of the gliding subsystem of the device detaching itself, in turn, from the injection subsystem, in the moment in which it ceases to be necessary, simplifying the structure of the descent cell and facilitating its stabilisation in the air. Equally, a reduction in weight is achieved, maximising the operational endurance of the device.

Another object of the invention is a device where the injection subsystem is selected, preferably, from a solid fuel rocket, a liquid fuel rocket and a compressed gas system, or a combination of these. A device is obtained in this way which is able to reach long distances, whose means of propulsion and/or control of trajectory, through the use of appropriate actuators, allows the ascent trajectory of the device to be adjusted by programming or remote control in real time.

Another object of the invention is a device where the sensors subsystem comprises means for the acquisition of images in real time of the surface of the terrain which is under the descent cell . The device obtained in this way is versatile, in application and immediate consumption, suitable for a wide range of civil and military operations.

In a preferred embodiment of the invention, the means for the processing and the displaying of the data from the control and display subsystem comprises the treatment and the correction of the images acquired by the sensors subsystem, through the interaction of hardware and software for the stabilisation of said images, and/or to eliminate the distortion produced due to the effect of the forces which act upon the descent cell, such as internal vibrations in the device, air friction or the force of the wind, as well as effects due to oscillation and rotation movements of the descent cell. Furthermore, it allows the recording and display of images even after having disappeared from the field of vision. In another embodiment of the device of the invention, the interaction of hardware and software present in the control and display subsystem comprises the following processes:

- reception: the data received from the images transmitted from the air segment;

- image stabilisation: in the event that the images received contain noise, they are optionally processed, with the aim of improving their quality regarding the degree of glare or the reduction of the effect of ghosting, and stabilise the video obtained so it can be analysed by the user in real time;

- enhancing: the obtained images are analysed and enhanced in order to obtain characteristic points for the process of pairing consecutive images;

- monitoring : the pairing of consecutive images is carried out and the detection of the characteristics which allow their composition, both during the process of image stabilisation, and the mosaic generation process;

- mosaic generation: a mosaic is generated by superimposing consecutive images;

- cleansing: points considered spurious are detected, in order to eliminate them from the treatment of the images;

- final image: the image finally obtained is shown to the user on the ground in real time.

In another embodiment of the invention, the ground segment of the device comprises, additionally, a launching subsystem which includes means for the housing of the air segment, before its launch, through ignition. As such a stable platform is obtained for the proper entry of the device into the atmosphere.

In another embodiment of the invention, the launching subsystem is portable and/or transportable by one person.

In another embodiment of the invention, the launching subsystem is installed in a land, naval or air vehicle.

In another embodiment of the invention, the air segment comprises, additionally, a power subsystem with means for the electricity supply of said air segment during the phases of drive and gl id ing , said means consisting , preferably, of chemical batteries or fuel cells.

In another embodiment of the invention, the descent cell comprises, additionally, a propulsion subsystem which includes, at least, one electric or thermal propulsion engine assembly in order to increase the length of time the descent cell is in the air.

In another embodiment of the invention, the sensors subsystem comprises of, at least, one of the following elements: daytime CCD camera ("charge- coupled device"), daytime CMOS camera ("complementary metal-oxide- semiconductor"), infrared CMOS camera, IR (infrared) camera, biological sensor, chemical sensor, radioactive and nuclear sensor, meteorological sensor, communications relay system, radio-frequency beacon, acoustic emitter, acoustic receiver sensor, gas generator or leaflet launcher, in addition to a combination of these.

In another embodiment of the invention, the air segment of the device comprises, additionally, a self-destruction subsystem either programmed or remotely activated or event driven.

In an additional embodiment of the invention, the remotely operated air reconnaissance device comprises of a lifting and hovering subsystem which comprises a number of extendable arms, said number of arms preferably composed of between three and eight arms and, more preferably, of four arms, where each one of the extendable arms comprises a motor and a propeller configured to keep the descent cell in the air.

Other characteristics and advantages of the present invention will be laid out with the description of the invention which follows, as well as the illustrative embodiment of the figures which accompany it.

DESCRIPTION OF THE DRAWINGS Figure 1 represents, schematically, the ground and air segments of the reconnaissance device according to the present invention, in different moments in the operating time of said device.

Figure 2 represents a flow diagram of the image treatment and analysis processes which are implemented in the control and display subsystem of the ground segment.

Figure 3 represents, schematically, the different subsystems which are integrated into the air segment of the invention, in a preferred embodiment of the same.

Figure 4 represents the descent cell of the device according to the present invention, where the gliding subsystem has been deployed. DETAILED DESCRIPTION OF THE INVENTION

As shown in Figure 1 , the remotely operated air reconnaissance device according to the present invention comprises two different segments: a ground segment (1 ) which includes all the subsystems which stay on the ground during the entire life of the device, and an air segment (2) which comprises those elements which are in the air at some time during the operating life of the device, integrated into a self propelled projectile, preferably a rocket. DETAILED DESCRIPTION OF THE GROUND SEGMENT (1 ): The ground segment (1 ) is composed of, at least, three subsystems:

- Launching subsystem (3): allows the housing of the air segment (2) before its launch, in such a way that guarantees both the correct angle of entry into the atmosphere the safety of the people who handle or are near to the deployment area and the correct positioning above the operational area by way of a guide, ramp, or tube which aids the launch. Houses the electronic and safety equipment necessary for ignition and launching of the air segment used to monitor the terrain. The system can be portable and transportable by one person, or installed in a land, naval or air vehicle.

- Communications subsystem (4): disposes of the data receiver equipment of the air segment (2) on-board and/or by telemetry, in addition to a data emitter, including aerials and a tracking device allowing the user on the ground to maintain communication with the air segment (2) in real time. It disposes of both a transmission capacity (Up-Link), to send the telecommand data to the air segment (2), and a receiver capacity (Down-Link) which will allow the telemetry data and the data obtained by way of the sensors subsystem to be received on the ground.

- Control and display subsystem (5): allows the user on the ground to display the data obtained from the air segment (2), showing the images acquired and the telemetry data received, as well as transmitting appropriate commands and processing the information received and transmitted by said air segment (2). The control and display subsystem (5) comprises the use of both hardware and software, said software comprising programmable elements necessary for the correct operation of the device within the hardware and software tools employed, the present invention includes an operational feature designed specifically for the stabilisation of the image in real time, given that in the event of using a camera as a sensor, there is the possibility that instability is present in the images received during the descent (rocking, rotation, vibration and/or translation), as well as during mosaic generation (composition of successive images). Said operational feature implemented by hardware/software is able to correct the image and to present it to the observer on the ground in an optimal format for observation. The images, once acquired from the air segment (2), are sent to the ground segment (1 ), where they are processed. In this way, the need is reduced to equip the air segment (2) with elements which provide computing power, hence reducing its weight. The processing of the images is carried out with sufficient speed, in order to allow the performance of the operator on the ground in real time, and comprises, according to the diagram which is shown in Figure 2, the following processes:

(A) Reception: The data transmitted from the air segment (2) is received. (B) Stabilisation of the image: The descent of the device generates noise through movement which results in blurred images and changes in perspective, which make it impossible for the operator to correctly visualize or/and analyze a specific point of interest. As such, in the event that the images received contain noise ("x" in Figure 2), they are processed with the aim of improving their quality regarding the degree of glare or the reduction of the effect of ghosting, and stabilise the video obtained so it can be analysed efficiently on the ground by the user in real time. With the stabilisation (B) of the image a single reference and display frame is maintained of a series of images, taken with the device while in movement, with the aim of presenting the user a single image where sudden changes of position, rotation or significant changes to the scene are not seen. Generally, this is a process which involves obtaining, for each one of the images, points of interest which can be associated to the other images and hence carry out a process of aligning the images, using different models that are well known in projective geometry (such as Euclidean projection, affine projection or employing homography techniques), through which different perspective projections are related, by way of an image plane.

(C) Enhancing: This process is carried out through the analysis of the histograms of the images obtained (said histograms understood as the graphic representation of the distribution of tones of colour, by number of pixels for each colour obtained in each image), to obtain adequate characteristic points for the process of pairing consecutive images.

(D) Tracking: The pairing of consecutive images is carried out and the detection of the characteristics which allow their composition, both during the process of image stabilisation, and the mosaic generation process. For this purpose well known algorithms are used within the technique related to the analysis of images, such as the following:

i) "Good features to track". Using this algorithm the most representative points of an image are extracted.

ii) Optical flow", based on the Lukas-Kanade algorithm. Measures the movement of a point in consecutive images and predicts the following state.

This algorithm is based on the premise that the brightness of neighbouring pixels are constant and that the displacement of the pixel between one image and the next is not higher than five pixels.

iii) SIFT ("Scale Invariant Features Transform") or SURF ("Speeded Up Robust Features") Systems for the generation and pairing of characteristic points with a similar methodology as in the case of Lukas-Kanade but using characteristic points composed of a descriptor (vector) with relevant information around the point, which is made invariant (and as a result more robust) to changes in scale, rotation and lighting.

(E) Mosaic generation : The device, when fal l ing , has a translation movement which is util ised to generate a mosaic created by way of the appropriate superimposition of consecutive images, which provide a wider field of view of the observation area. With mosaic generation, multiple sequential images are used from different viewpoints, which are aligned with the aim of obtaining a widened image with a single projection point. The alignment is adjusted taking into account the reduction in the field of vision of the images due to the effect of the fall (each image collaborates with the mosaic to a lesser degree than the last given that the device is closer to the element observed), in such a way that the resulting image is widened in that there are areas with different levels of definition as a consequence of the displacement and the fall of the device, with definition that will be higher the closer to the element observed it is when the images are taken.

(F) Cleansing: Finally, given that the pairing of the characteristic points obtained from the different processes is not perfect, in each series of paired images a series of badly corresponding points, or spurious points, are always produced. These spurious points significantly influence the capturing process of the projection model, by increasing the errors in the resulting model. As a result methods are employed which allow the discovery of points which are considered spurious ("outliers"), in order not to use them in the computing process. Preferably, the RANSAC method is used, known in techniques of computer image analysis, given its versatil ity to be applied to any data adjustment model.

(G) Final image: The image finally obtained is shown to the user on the ground in real time.

DETAILED DESCRIPTION OF THE AIR SEGMENT (2): As shown in Figure 3, the air segment (2) is integrated into a self-propelled projectile, preferably a sol id fuel rocket, a l iqu id fuel rocket, or a compressed gas projectile, being composed of, at least, the following subsystems:

- Injection subsystem (6): Contains the adequate engine or engines able to drive the air segment (2) to a determined height.

- Structural subsystem: Is the subsystem responsible for housing the other subsystems corresponding to the air segment (2) of the device, allowing all of these subsystems to remain together in the phases prior to and after the flight of the device (except those subsystems or components which can be deployed during a phase of the flight) in addition to maintaining the stability of the flight trajectory during the ascent phase (injection).

- Deployment subsystem (7): Mechanism which uncouples the injection subsystem (6) from the rest of the air segment (2) and deploys the gliding subsystem (8).

- Gliding subsystem (8): is the device which powers the gliding or braking capacity in the air. The gliding subsystem can comprise a parachute, a parafoil, an inflatable wing, a flexible wing airfoil, one or more foldable wings or a foldable delta wing.

- Sensors subsystem (9): comprises those elements which allow the device to acquire and provide data to/from the area the air segment (2) flies over. It can involve: daytime CCD or CMOS cameras, IR cameras or any other type of optical observation payload in any spectrum, CBRN (Chemical, Biological, Radiological and Nuclear), communication relays (reception and/or transmission), communication receiver sensors and electronic receiver sensors, jamming devices, meteorological sensors (temperature, humidity, etc.), locating beacons, laser target designators, telemeters, acoustic emitters/receivers, etc.

- Power subsystem (10): Allows all the subsystems consuming electric energy to be powered during al l the fl ight phases, includ ing the ascent (injection) and descent (gliding) phase. It is composed of chemical batteries or fuel cells.

- On board communications subsystem (1 1 ): The subsystem which is responsible for the control, the emission and/or reception of the data acquired by the sensor subsystem (9). The on board communications subsystem (1 1 ) allows communications to be maintained in real time with the ground segment (1 ), and with the end user of the device. Disposes of a receiver capacity, for the reception of telecommand data transmitted from the ground, and an emission capacity which allows the data obtained from the sensors subsystem (9) to be transmitted to the ground, for later treatment and display by both the hardware and/or software tools comprised in the ground segment (1 ).

- Flight guidance and control subsystem (12): Allows the air segment (2) to dispose of the capacity for flight guidance and control at all times, both to ensure correct stabil ity, and to supply it with directional ity and more fl ight endurance. Nominally, guidance during the descent is carried out, preferably, through variations in the centre of gravity of the device, produced by the actuators fitted for such a purpose. The flight guidance and control subsystem is composed of the following parts:

i) Hardware: This subsystem includes the components for processing signals, data, etc. in addition to possible sensors which allow necessary data to be obtained to carry out correct flight control. Furthermore, it includes the necessary elements (actuators) to steer the air segment (2), such as control surfaces.

Software: This subsystem comprises all the necessary application and algorithms for the correct operation, control and guidance of the device.

- Propulsion subsystem (13): the subsystem which comprises of, at least, one (electric or thermal) propulsion engine assembly designed to drive the air segment during its gliding phase, which gives the device a greater directional control and guidance capacity during the descent, as well as a greater degree of flight endurance, with the consequent increase in useful time for collecting and disseminating information on the part of the sensors subsystem (9). Preferably, the propulsion is carried out with a propeller which pushes the air (by way of traction or propulsion), driven by an electric, thermal or other type of engine. Upon being driven, the device steers the flight until the energy system is exhausted. The right-left steering is done by moving the centre of gravity of the air segment during gliding, and the ascent/descent with the power of the engine.

- Self-destruction subsystem: this subsystem is presented as an optional tool used within the remotely operated air reconnaissance device, installed in the air segment (2), for applications in which it is not possible to recover said device safely, contemplating the possibility of including a pyrotechnical system to provoke its self-destruction. The aforementioned pyrotechnical device can be, either programmed to be activated at the moment that the air segment (2) touches the ground, operated by remote control from the ground segment (1 ) or activated by a timer pre-programmed in the system.

The previously mentioned structu ral , sensors (9), power (10), communications (1 1 ), flight guidance and control (12) and propulsion (13) subsystems conform the un it which is called the "descent cell" (14), and comprises, as shown in Figure 4, the mass which is suspended by the gliding subsystem (8) during its descent, once the injection subsystem (6) has detached.

It is also possible, in an alternative embodiment of the invention, to replace the gl iding subsystem (8) of the descent cell (14) with a hovering subsystem which comprises a set of extendable arms, said number of arms preferably composed of between three and eight arms and, more preferably, of four arms, where each one of the extendable arms comprises a motor and a propeller configured to keep the descent cell in the air (14). In this way, upon the arms unfolding, preferably at the highest point in the trajectory of the device, all the motors make the propellers turn, keeping the device in the air in a similar way to the lift produced by a rotary wing aircraft.

EXAMPLE OF OPERATION OF A PREFERRED EMBODIMENT OF THE INVENTION (FIGURE 1 ):

The launching subsystem (3) of the ground segment (1 ) located in position A, is responsible for starting and launching the air segment (2) during the first moments. When the push of the injection subsystem (6) stops (or when it is ordered from the ground station or programmed), the automatic uncoupling is produced of the same with respect to the descent cell (14) in point B, by way of a mixed electronic-mechanical process of the deployment subsystem (7). Said subsystem deploys the gliding subsystem (8), which slows the rest of the descent cell (14) during its descent.

The guidance and control subsystem (12) steers the descent cell to the appropriate coordinates. The propulsion subsystem (13) increases the time to remain in the air, equipping the device with greater endurance, while the on board communications subsystem (1 1 ) maintains communication with the communications subsystem on the ground (4).

The control and display subsystem (5) receives the data collected by the sensors subsystem (9) of the aerial unit during the gliding time over the terrain overflown (S), at the same time it maintains a data uplink with the descent cell (14).

Once the present invention has been disclosed, it is worth mentioning that the preferred embodiments of the same must not be considered restrictive faced with variations in its design or of the elements employed for its manufacture, whenever said variations do not alter the essential nature of the invention, as well as the object of the same.

Claims

1 . Remotely operated air reconnaissance device which comprises:

an air segment (2) driven by an injection subsystem (6), able to ascend to a determined altitude where, on reaching said altitude, deploys a descent cell (14) able to descend to the ground and which comprises a sensors subsystem (9) for the acquisition of information on the surroundings of where said descent cell (14) is found, an on board communications subsystem (1 1 ) to receive the information acqu ired by the sensors subsystem (9) and transmit i t to a communications subsystem on the ground (4), a propulsion subsystem (13) to drive the descent cell (14) and a flight guidance and control subsystem (12) able to adjust the trajectory of the air segment (2) during its ascent and descent phases;

a ground segment (1 ) with, at least, one communications subsystem on th e g ro u n d (4 ) a bl e to rece ive a nd tra n s m it d ata to th e o n boa rd communications subsystem (1 1 ); and a control and display subsystem (5) able to control the flight guidance and control subsystem (12), during the ascent and descent phases, which comprises means of processing and/or displaying the data received from the air segment (2).

2. Device according to claim 1 , wherein the flight guidance and control subsystem (12) to be operated using the control and display subsystem (5) can, additionally, be operated from the air segment (2) in a pre-programmed way.

3. Device according to any of the claims 1 -2, wherein the flight guidance and control subsystem (12) comprises aerodynamic control surfaces to adjust the in flight trajectory of the air segment (2) during its ascent phase.

4. Device according to any of the claims 1 -3, wherein the flight guidance and control subsystem (1 2) comprises means for gu idance through the adjustment of the centre of gravity of the descent cell (14).

5. Device according to any of the claims 1 -4, wherein the descent of the descent cell (14) to the ground is performed through a gliding subsystem (8) which comprises a parachute, a parafoil, an inflatable wing, a flexible wing airfoil, one or more foldable wings or a foldable delta wing.

6. Device according to claim 5, wherein the air segment (2) comprises, additionally, a deployment subsystem (7) with means of uncoupling between the injection subsystem (6) and the descent cell (14), as well as means of deploying the gliding subsystem (8) of said descent cell (14).

7. Device accord ing to any of the cl ai ms 1 -6, wherein the injection subsystem (6) is selected from a solid fuel rocket, a liquid fuel rocket and a compressed gas projectile, or a combination thereof.

8. Device accord ing to any of the cl a ims 1 -7, wherein the sensors subsystem (9) comprises means for the acquisition of images from the surface of the terrain which is found in the surroundings or under the descent cell (14).

9. Device according to claim 8, wherein the means for the processing and the displaying of the data from the control and display subsystem (5) comprises the treatment and the correction of the images acquired by the sensors subsystem (9), through the interaction of hardware and software able to stabilise and combine said images, and/or to eliminate the distortion produced due to the effect of the forces which act upon the descent cell (14), such as internal vibrations in the device, aerodynamic forces or atmospheric turbulence, as well as effects due to oscillation, translation and rotation movements of the descent cell (14).

10. Device according to claim 9, wherein the interaction of hardware and software present in the control and display subsystem (5) comprises the following processes:

- reception (A): the data transmitted from the air segment (2) is received; stabil isation of the image (B): in the event that the images received contain noise (x), they are treated with the aim of improving their quality regarding the degree of glare or the reduction of the effect of ghosting, and stabilise the video obtained so it can be analysed by the user in real time; enhancing (C): the obtained images are analysed, and enhanced in order to obtain characteristic points in the process of pairing consecutive images; monitoring (D): the pairing of consecutive images is carried out and the detection of the characteristics which allow their composition, both during the process of image stabilisation, and the mosaic generation process;

mosa ic generation (E) : a mosa ic is generated by the adeq uate superimposing of consecutive images.

cleansing (F): points considered spurious are detected, in order to eliminate them from the treatment of the images;

- final image (G): the image finally obtained is shown to the user on the ground in real time.

1 1 . Device according to any of the claims 1 -10, wherein the ground segment (1 ) comprises, additionally, a launching subsystem (3) which includes means for the housing of the air segment (2) before its launch.

12. Device according to claim 1 1 , wherein the launching subsystem (3) is portable and/or transportable by one person.

13. Device according to claim 1 1 , wherein the launching subsystem (3) is installed in a land, naval or air vehicle.

14. Device according to any of the claims 1 -13, wherein the air segment (2) comprises, additionally, a power subsystem (10) with means for the electricity supply of said air segment (2) during the phases of injection and gliding, said means consisting, preferably, of chemical batteries or fuel cells.

15. Device according to any of the claims 1 -14, wherein the descent cell (14) comprises, additionally, a propulsion subsystem (13) which includes, at least, one electric or thermal propulsion engine assembly able to increase the length of time said descent cell (14) is in the air.

16. Device accord ing to any of the cla ims 1 -1 5, wherein the sensors subsystem (9) of the air segment comprises, at least, one of the following elements: daytime CCD camera, daytime CMOS camera, infrared CMOS camera, IR camera, biological sensor, CBRN sensors, communication receiver sensors and electron ic receiver sensor, jamming devices, meteorological sensor, communications relay system, rad io-frequency beacon, acoustic emitter, acoustic receiver sensor, gas generator or leaflet launcher.

17. Device according to any of the claims 1 -16, wherein the air segment (2) comprises, additionally, a self destruction subsystem programmed or remotely activated.

18. Device according to any of the claims 1 -4, which comprises a hovering subsystem which comprises a number of extendable arms, equipped with a motor and a propeller, configured to keep the descent cell (14) in the air.

19. Device according to claim 18, wherein the number of arms is comprised of between three and eight.

20. Device according to claim 19, wherein the number of arms is four.