WO2021028408A1

WO2021028408A1 - Method and system for locating flying objects

Info

Publication number: WO2021028408A1
Application number: PCT/EP2020/072437
Authority: WO
Inventors: Gerd Scholl; Ralf Heynicke; Houssam WATTAR
Original assignee: Helmut-Schmidt-Universität / Universität Der Bundeswehr Hamburg
Priority date: 2019-08-13
Filing date: 2020-08-10
Publication date: 2021-02-18
Also published as: DE102019121830A1

Abstract

The invention relates to a method (100) for locating objects (15), in particular flying objects (15a), wherein there are at least two human observers (10a, 10b, 10c) in a monitoring area (11), wherein each observer (10a, 10b, 10c) is assigned a portable direction-finding device (12a, 12b, 12c) worn by said observer, wherein each direction-finding device (12a, 12b, 12c) comprises position sensors (13) for determining position information and direction sensors (14) for determining direction information, said method comprising the following steps: a) visually detecting an object (15) via at least one of the observers (10a, 10b, 10c); b) the respective observers (10a, 10b, 10c) at least approximately aligning at least two assigned direction-finding devices (12a, 12b, 12c) along a notional connection line (19a, 19b, 19c) from the respective observer (10a, 10b, 10c) to the detected object (15); c) determining position information relating to the positions of the aligned direction-finding devices (12a, 12b, 12c) using the position sensors (13); d) determining direction information relating to the alignment of the aligned direction-finding devices (12a, 12b, 12c) using the direction sensors (14); e) transmitting the position information and the direction information from at least two aligned direction-finding devices (12a, 12b, 12c) to a computer unit (18); and f) determining a location of the object (15) from the transmitted position information and direction information using the computer unit (18).

Description

Method and system for the localization of flying objects

The present invention relates to a method and a system for localizing objects. The present invention also relates to a direction finding device for a method and for a system for localizing objects and a set for retrofitting a portable device into a direction finding device.

Technological background

Modern small and micro UAVs (Unmanned Aerial Vehicle) are technically very sophisticated and are used for a wide variety of purposes in the professional or private sector. If used improperly, whether allowed or not, consciously or unconsciously, UAVs can cause significant restrictions or threats to public life. It can be observed more and more that micro-UAVs hinder air traffic much more frequently than before. The threat scenarios for public life are diverse and affect, for example, infrastructure and industrial plants, extensive ones

Energy supply systems, private properties and major events.

One problem with small and very small UAVs is that they are very maneuverable and travel at relatively high speeds and can therefore cover relatively long distances in a short time. Due to their small size and performance, they are relatively heavy with conventional sensor technology and can often only be detected at a relatively late point in time. The high-resolution sensor technology required for detection causes correspondingly high costs. In addition, this technology must also be available on site. To make matters worse, a fixed or partially mobile detection unit can often only cover a large area or area of several square kilometers with relative difficulty, especially when if the terrain height changes in the area to be monitored or there are buildings that restrict the unobstructed view.

A method for determining the position data of a target object in a reference system is known from DE 10 2014 000 436 A1. In the method, a three-dimensional reference model of the environment of the target object is made available. Position data are determined from at least a first and a second observation position. To determine the position data, a first image of the surroundings of the target object is acquired from a first observation position and the first acquired image is compared with the reference model and position data of the first observation position are determined relative to the reference model. Furthermore, a second image of the surroundings of the target object is captured from the second observation position and the second captured image is compared with the first image or with the reference model and position data of the second observation position relative to the first image or relative to the reference model are generated. Points on the target object are then marked in the first and second images and the three-dimensional coordinates of the point on the target object are determined as its position data relative to the reference model.

WO 2010/080189 A2 discloses a semi-active laser aiming system. A laser pulse is emitted by a user and reflected off a target object. The reflected laser beam is detected so that the position of the target object can be determined.

Various systems are currently being researched for the detection of small and very small UAVS. Among other things, active and passive radar systems, opto-electronic systems for the visible and infrared range, laser scanners, acoustic detection systems, systems that resolve the UAV communication signals and EMC detection systems are used. What these detection systems have in common is that they are permanently installed or at least so large that a larger one Transport device is required to bring these systems into position appropriately.

Presentation of the invention: task, solution, advantages

The present invention is based on the object of providing a method and a system for localizing objects, which can be implemented with moderate technical effort and with which a temporary, mobile and large-area use, such as for example at large events, is spontaneously possible. A further object of the invention is to provide a direction finding device for a method and for a system for localizing objects, as well as a set for retrofitting a portable device and a computer program product with which the aforementioned advantages are obtained.

To solve the problem on which the invention is based, a method for localizing objects is proposed, with at least two human observers in a surveillance area, each observer being assigned a portable direction finding device carried by him, with each direction finding device being position sensors for determining position information and direction sensors Determination of directional information comprises the following steps: a) Visual recognition of an object by at least one of the observers, b) At least approximate alignment of at least two assigned bearing devices by the respective observer along an imaginary connecting line from the respective observer to the recognized object, c) Determination position information about the positions of the aligned bearing devices through the position sensors, d) Determination of directional information on the alignment of the aligned bearing devices by the direction sensors, e) Transmission of the position information and the directional information from at least two aligned bearing devices to a computing unit, and f) Determination of a location of the object from the transmitted

Position information and direction information by the computing unit.

The object can be any object that moves in an environment with few or no prominent points. The object can be a person at sea or in the desert, for example. The object is preferably a flying object.

The flying objects that can be localized with the method can be any type of manned or unmanned flying objects. However, the flying objects are preferably so-called UAVs (Unmanned Aerial Vehicles), more preferably small and very small UAVs, in particular small and very small drones.

In a first step according to the method, an object is visually recognized by at least one of the human observers. In other words, at least one of the observers perceives the object with his eyes and recognizes that it is an object whose position is to be localized according to the method.

In a further step, at least two assigned direction finding devices are approximately aligned by the respective observer along an imaginary connecting line from the respective observer to the recognized object. The alignment is carried out by the observer wearing the bearing device. The imaginary connecting line can be the direct line of sight from the respective observer to the recognized object. However it is too possible that the direct line of sight is interrupted by facilities such as buildings, trees, etc. In this case, it can be provided that the respective observer aligns his assigned bearing device along a connecting line from him to a location of the object that he suspects.

An approximate alignment is preferably present when the angular distance between the aligned bearing device and the connecting line is less than ± 10 °, more preferably less than ± 5 °, particularly preferably less than ± 2 °.

Position information and direction information determined by the position sensors and direction sensors are transmitted to a computing unit which, preferably using a corresponding algorithm, determines, in particular calculates, the most likely location of the object from the position information and direction information.

The invention makes use of the fact that the complex signal processing that has to be implemented by a technical system in order to determine whether an object is an object to be localized, such as a UAV, a drone or a micro-threat, or to a bird or some other natural object is usually not a problem for humans. For a person, however, it is often a problem to describe where the object perceived with the eyes is, especially when it is only slightly different from the background and there are no prominent buildings or objects in the field of vision. Such situations can arise, for example, at sea or when the object is positioned at a large angle of elevation in the air. In such a case, a typical statement from a human observer could be "up there on the right" combined with a finger pointing in the appropriate direction. This information would enable another person in the immediate vicinity to also recognize the object for a technical system these However, this type of information transfer is unsuitable when it comes to locating an object exactly in three-dimensional space or making its exact position or location available to a control system over time.

The invention thus provides a suitable human-machine interface which makes it possible to incorporate the relatively sophisticated human sensors and actuators into a higher-level technical localization method and localization system. In particular, the ability of humans to visually recognize and identify an object quickly and accurately is used.

The method according to the invention can be carried out either as a stand-alone method or in combination with known localization methods. The invention therefore also makes it possible to further improve the localization probability or the precision of the location determination and the tracking of objects in conjunction with stationary or partially mobile methods and systems. Another advantage of the present invention is that there is no need for complex training of the human observers employed, but that they can carry out the method according to the invention relatively easily after a brief instruction.

The use of at least two bearing devices is advantageous in the context of the method, the at least two bearing devices having position sensors for determining position information and direction sensors for determining direction information. The direction finding devices translate the typically human location information, such as pointing with a finger, into a data format that can be read and understood by a computing unit. The information determined by means of the direction finding devices, i.e. the position information regarding the position of the respective direction finding device and the direction information regarding the orientation of the respective direction finding device, in particular regarding the direction of the imaginary connecting line from the respective observer to the object, are then used by the computing unit to determine the most likely location of the object.

For example, the computing unit can use the position information and the direction information to calculate the course of the imaginary connecting lines between the respective observer and the object. The location of the object can then be determined by determining the minimum distance between the connecting lines determined in this way. Other methods, in particular optimization methods, can also be used to determine the location of the object from the directional and position information.

The more direction finding devices are also used in the context of the method, the more precisely the location of the object can be determined.

The advantage of using a, preferably central, computing unit is that the human observers do not have to see each other within the surveillance area in order to carry out the method. This is particularly advantageous if the surveillance area is an area with a major event, such as a football stadium or a festival area.

The computing unit is preferably an independent computing unit. However, it is in principle also possible for the computing unit to be integrated into one or more of the direction finding devices. The transmission of information, in particular of position and direction information, can take place unidirectionally and / or bidirectionally between the bearing devices and / or between the bearing devices and the computing unit. The information can be transmitted wirelessly, for example via a radio network, a WLAN network, a cellular network or via a short-range radio transmission such as Bluetooth.

It is preferably provided that after determining the location of the object, in particular the flying object, according to step f), an action, preferably starting an intercepting drone and / or capturing and / or shooting the object and / or starting an image recording, is carried out becomes. Another possible action is to start image recognition software, which determines further information about the object from the image recording of the object. The action can also consist in the further movement of the object, in particular the further flight path of the flight object, being monitored or tracked.

The method can preferably be used in the context of a management information system. In the military environment, a command information system is assigned the following acronyms, depending on its capabilities, in order to obtain an accurate picture of the situation:

C2 Command & Control

C3 Command, Control & Communication

C4 Command, Control, Communication & Computers

C4ISR Command, Control, Communication, Computers, Intelligence, Surveillance and Reconnaissance The method according to the invention is a possibility, with the help of humans, of feeding information about the time-dependent position of an object into a control system that has C4 capabilities in a relatively simple manner.

It can advantageously be provided that each of the assigned direction finding devices is connected to a head and / or an arm, in particular a hand, of the respective observer, and / or is carried in the hand by the respective observer.

This measure significantly simplifies the approximate alignment of the assigned bearing device by the respective observer along the imaginary connecting line from the respective observer to the recognized object. The approximate alignment of the bearing device can consist in the fact that the at least one observer turns or aligns his head in the direction of the object or that he extends his arm or hand in this direction.

With this procedure for the at least approximate alignment of the assigned bearing devices, the relatively sophisticated human sensors and actuators are used to determine a location of the object.

The direction finding devices are preferred as a pointer, and / or as a baton, and / or as a flashlight, and / or as a mobile phone, in particular as a smartphone, and / or as a smartwatch, and / or as data glasses, and / or as binoculars, and / or designed as a telescope and / or as a telescopic sight.

In principle, the direction finding device can be designed in any form which is portable and which can be quickly and easily aligned at least approximately to an object by an observer. For example, a direction finding device configured as a telescopic sight can be part of a firearm, in particular a rifle. If the direction finding device is designed as data glasses, so-called smart glasses can also be involved.

With a further advantage it can be provided that the approximate alignment of the assigned bearing device is carried out by pointing the respective observer in the direction of the object with the bearing device.

Pointing at an object is a natural human gesture for the transmission of directional information, which can be carried out quickly and with high accuracy. The approximate alignment of the bearing device can therefore take place particularly quickly and precisely after the visual recognition of the object.

With a further advantage it can be provided that the observers maximize their mutual distances from one another and / or an angle between the imaginary connecting lines from the respective observer to the recognized object.

A high localization accuracy can be obtained in particular if the angle between the imaginary connecting lines from the respective observer to the recognized object corresponds to approximately 90 °.

The greater the mutual distances between the human observers, the more precisely the computing unit can determine the location of the object from the position and direction information transmitted to it. There are preferably at least three, more particularly preferably at least ten, very particularly preferably at least twenty, human observers in the surveillance area.

If several human observers are located in the surveillance area, it is advantageous if the greatest possible number of human observers align their bearing device along the imaginary connecting line from the respective observer to the recognized object and transmit the position information and the directional information from the aligned bearing devices to the processing unit become.

Preferably, at least one observer transmits an activation signal to the arithmetic unit and / or the other observers after the object has been visually recognized, more preferably by means of the direction finding device assigned to him, the arithmetic unit starting the method upon receipt of the activation signal.

In other words, the at least one observer uses the activation signal to notify the arithmetic unit that an unknown object has been sighted, so that the arithmetic unit can be switched to a standby mode in order to receive the direction information and position information from the direction finding devices and to determine the location of the object. If the activation signal is transmitted to the other observers, then this is the sign for them to look for the object visually recognized by the first observer and also to direct their bearing devices towards the object. For the transmission of the activation signal, a corresponding input device, such as a button or the like, can be provided on the direction finding device, which the observer actuates as soon as he has visually recognized the object. The activation signal is preferably an electronic signal. The observer can also generate the activation signal by means of a voice input. If the direction finding device has a camera and a display, in particular a display with a touch function, as known in particular from smartphones or tablets, the observer who has visually recognized the object can, by touching the display, in particular by touching the position of the object on the Display, trigger a corresponding activation signal.

With a further advantage, the computing unit transmits a notification signal to the observers, preferably after receiving the activation signal, in order to inform the observers about a visually recognized object.

The communication between the direction finding devices and the computing unit is therefore preferably designed to be bidirectional. If an activation signal has been received by the arithmetic unit, it sends a notification signal to the bearing devices of the other observers. The notification signal can be an acoustic, optical or tactile signal, which stimulates the other observers to also visually search for the object visually recognized by the first observer and then to align the bearing device assigned to them along the respective imaginary connecting line to the object. By providing a notification signal, the greatest possible number of observers is informed of the presence of an object in a short time, so that these observers can align their bearing devices in the direction of the object within a short period of time after the first visual recognition of the object. This enables the object to be located quickly and relatively precisely.

With a further advantage it can be provided that at least one observer, after the at least approximate alignment of the bearing device assigned to him, sends a confirmation signal, preferably by means of the bearing device assigned to him transmitted by the computing unit in order to confirm the alignment, the computing unit further preferably from the position information transmitted after receipt of the and / or the confirmation signals and

Directional information determines the location of the object.

By transmitting a confirmation signal, which can be done by pressing a button or button, by voice input or by touching a display with a touch function, the computing unit is informed that the corresponding bearing device is at least approximately aligned with the object. This makes it possible for the arithmetic unit to evaluate only direction and position information of those bearing devices for determining the location of the object which are aligned with the object with sufficient accuracy.

In this case, the computing unit preferably only uses the position information and direction information from those bearing devices from which a confirmation signal was transmitted.

With a further advantage it can be provided that the at least two observers align the direction finding devices assigned to them essentially continuously along the respective imaginary connection line from the respective observer to the recognized object, at least approximately, so that the location of the object is determined essentially continuously.

The information thus continuously ascertained about the location and possibly about the direction of movement of the object can advantageously be used for further tracking of the object. With a further advantage, it can be provided that each direction finding device comprises a timer, the direction information and / or position information being continuously determined, in particular sampled, the determined, in particular sampled, position information and / or the determined, in particular sampled, direction information with a time stamp be provided.

The position and direction information can thus be determined discretely or continuously over time. Due to the often high speeds of the objects to be localized, especially the flying objects, the accuracy of the determination of the location of the object can be increased if the directional information and position information of the various assigned bearing devices are determined at the same point in time, especially in the millisecond range. The further the direction and position information are apart in time, the greater the uncertainty in determining the location of the object. If the direction and position information differ significantly with regard to the point in time, an interpolation of the information obtained and evaluated by the computing unit is necessary. In particular, by providing the position information and direction information with a time stamp, continuous tracking or continuous tracking of the object is possible.

In step e) of the method, time information, in particular position information and / or direction information provided with a time stamp, is preferably transmitted from at least two aligned bearing devices to the processing unit.

It is provided with a further advantage that the timers of the direction finding devices are synchronized with one another and / or with a timepiece of the computing unit and / or be coupled to a high-precision clock, e.g. GPS or a terrestrial time signal transmitter such as DCF77.

It is preferably provided that the position information is geographic coordinates and / or relative coordinates to one or more reference points and / or that the direction information includes an azimuth angle and / or an elevation angle.

The use of relative coordinates for the position information is particularly advantageous when one of the observers is located inside a building, for example inside an airport tower. In such cases, it is often not easily possible to determine geographic coordinates, for example by using GPS signals, to determine the position of the bearing device assigned to the observer. One possibility of circumventing this problem is for the person to enter his or her own position directly via a corresponding input interface, for example via a tablet computer which can be connected to the direction finding device via a Bluetooth interface. This position information can then be offset against the direction information of the bearing device in the arithmetic unit.

For example, the corresponding observer can enter in which building or in which room of a building he is located. Voice input can also be used to input position information. Furthermore, so-called augmented reality methods can be used to input the position information.

Augmented reality methods can also be used for further aspects of the method for localizing objects, in particular if the direction finding device is a tablet computer or a smartphone or data glasses is trained. For example, the approximate alignment can be improved by means of augmented reality methods. If, for example, two bearing devices are already approximately aligned, the computing unit can determine a location for the object to be localized. This determined location can then be shown on the display of the direction finding devices designed as tablet computers or smartphones or data glasses of those observers who have not yet aligned the direction finding device in a recording of the surroundings, in particular of the surveillance area. This enables quick visual recognition and subsequent alignment of the bearing devices by these observers. An augmented reality method can also be used to transmit the advisory signal that is preferably provided.

It is preferably provided that the position sensors comprise a GPS sensor and / or a WLAN module and / or a cellular module and / or an inertial measuring unit, and / or that the direction sensors comprise an inclination sensor or position sensor and preferably a magnetic and / or an optoelectronic Include compass.

Therefore, GPS signals and / or WLAN signals and / or radio cell signals can preferably be used to determine the position information.

Augmented reality methods can also be used to determine the position information and / or the direction information.

If there are observers inside buildings, it is advantageous if the position sensors also include an inertial navigation unit or another indoor localization system. In principle, it is also conceivable that the position and direction information contain a distance between the direction finding device and the object. For example, the direction finding device can have a range finder, such as a radar device or a lidar device.

It is preferably provided that the arithmetic unit determines a plausibility from the position information and direction information, in particular provided with a time stamp, that the bearing device is aligned along the imaginary connecting line from the respective observer to the detected object.

Thus, the computing unit can exclude position information and direction information from the determination of the location of the object if there is only a low plausibility that the respective direction finding device is aligned with the object. For example, it is possible that an observer briefly did not align the bearing device assigned to him along the imaginary connecting line between him and the object, for example because the observer briefly lowered his arm and the bearing device connected to the arm. It is also possible that the observer is prevented from aligning the bearing device by external influences. Indicators of low plausibility can be, for example, brief and / or rapid, abrupt changes in the position and / or direction information.

It is preferably provided that the associated direction finding device is aligned by the respective observer to a presumed location if the object is not visible to the observer.

For example, the object can be behind a building or a tree, in particular for a short time, or not for other reasons for the observer being visible. However, the observer can, at least over a shorter period of time, align the bearing device to a presumed location, that is to say at least approximately along a connecting line between him and the presumed location of the object. The direction information determined in this way can be used by the computing unit to determine the location of the object. In particular, the ability of human observers to intuitively predict the further path of an object, in particular the further flight path of a flight object, is used for this purpose. Furthermore, the ability to use additional information for the prediction of the path, in particular the flight path, is used. For example, if the facility responsible for obscuring the line of sight, such as the building or the tree, is only slightly extended spatially, the orientation of the bearing device on this facility does not significantly impair the determination of the location. As soon as the object moves out from behind the tree or the building again, the respective observer can immediately see it again directly and he can align the direction finding device assigned to him without abrupt jumps to the object that is then again visually recognizable.

Furthermore, it can be provided that an observer changes his location and thus the position of the direction finding device assigned to him if the object is not visible to the observer.

For example, an observer can leave his position so that his view of the object is no longer obscured by an obstacle such as a tree or a building.

For a machine observation unit, even if it is mobile, this represents a great challenge. Changes to an observer's location, in particular while he is tracking an object, are preferably recorded dynamically by the computing unit, so that the position information can be continuously adapted.

It can further preferably be provided that the locations of several objects are determined simultaneously.

A further solution to the object on which the invention is based is a system for localizing objects, comprising at least two portable direction finding devices and a computing unit, the system being designed to carry out a method described above, each of the direction finding devices being position sensors for determining position information and direction sensors for determining of direction information, and wherein the arithmetic unit is designed to determine the location of an object from position information and direction information determined by the direction finding devices.

All of the technical features and the advantages of the above-described method achieved with them can be transferred to the system in an analogous manner.

The computing unit can be a central computing unit or control center computing unit, but it can also be integrated in at least one of the direction finding devices.

The system preferably comprises a communication interface for communication, in particular for information or data transmission, between the direction finding devices and / or the computing unit. It is preferably provided that the communication interface is designed for bidirectional communication.

It is further preferably provided that the communication interface is a wireless interface, in particular a WLAN interface and / or a cellular network.

Yet another solution to the object consists in providing a bearing device for a method described above or for a system described above, the bearing device having position sensors for determining position information and direction sensors for determining direction information.

The direction finding device is preferred as a pointer and / or as a baton and / or as a flashlight and / or as a mobile phone, in particular as a smartphone, and / or as a smartwatch, and / or as data glasses, and / or as binoculars, and / or as a telescope, and / or designed as a telescopic sight.

In principle, all technical embodiments for the direction finding device are conceivable, provided that it is portable for a human observer and can easily be aligned with an object. In any case, the bearing device comprises position sensors and direction sensors.

In addition, it is advantageous if the direction finding device has a directional component. This can be achieved in that the bearing device has an elongated configuration.

In order to avoid additional equipment as far as possible, the direction finding device can be designed as a classic baton or as a flashlight, in particular a high-performance flashlight, and can be electronically upgraded. If necessary, the baton or the high-performance flashlight can be designed by attaching an additional module to a direction finding device according to the invention.

It is also possible that the direction finding device is designed as a telescopic sight or as a firearm with a telescopic sight. So-called smart telescopic sights with integrated laser distance sensors and inclination sensors are known in the prior art. Useful information is shown to the observer in the target optics. If such a telescopic sight is additionally supplemented with position sensors for determining the position of the telescopic sight or the firearm, with sensors for determining an azimuth angle and preferably with a particularly high-precision and / or synchronized timepiece and a communication interface, this becomes a suitable one for the invention Bearing device received. Accordingly, binoculars with a range finder and / or ballistic calculator can also be designed as a bearing device. The advantage of designing the direction finding device on the basis of binoculars or telescopes is that the detection range of the human eye can be increased significantly.

The smallest additional technical effort for the implementation of a direction finding device consists in using a mobile radio telephone, in particular a smartphone, as the direction finding device. Position sensors, magnetic field sensors and GPS sensors are typically already integrated in smartphones. A suitable communication interface is also very likely already available on a smartphone. The easiest way to use the smartphone as a direction finding device would be, for example, to aim at the object with the smartphone in hand and arm outstretched. Another possibility is for the observer to follow the object with the camera usually found in smartphones. The sensor data, in particular the position information and / or the direction information, can be provided with a time stamp. The position information and / or the direction information can be transmitted to the, preferably central, computing unit via a communication interface. Furthermore, a feedback channel can be provided, for example for the transmission of a notification signal from the computing unit to the direction finding device.

Software is preferably provided which is executed on a data processing unit of the direction finding device. If the direction finding device is a smartphone, the software can be designed as a so-called application or app.

If the direction finding device is designed as a smartphone, there is a further advantage that several objects, for example a swarm of drones, can be tracked. This can be implemented, for example, by mirroring a camera image of the smartphone on the display of the smartphone or on a display of the processing unit or of another tablet computer. The visually recognized object of the swarm of drones is then marked on this by the user and / or by a control center. The direction finding device therefore preferably comprises a camera and / or a screen and / or a touchscreen.

Furthermore, the direction finding device can have a laser pointer. A laser pointer is particularly advantageous when the observer is to be given visual feedback as to whether he has aligned the bearing device with a sufficiently approximate accuracy along the imaginary connecting line between him and the object. If the object is, in particular, a larger object, the observer can directly recognize from the reflection of the laser beam on the object that he has an adequate alignment of the bearing device has achieved. Then, as already explained in connection with the method described above, the observer can send a confirmation signal to the computing unit.

Yet another solution to the problem on which the invention is based is to provide a set for retrofitting a portable device to a direction finding device, in particular the above-described direction finding device, for a previously described system or for a previously described method. The retrofit set advantageously comprises position sensors for determining position information and direction sensors for determining direction information and also a transmitting and receiving device for a communication interface. The set can preferably comprise an, in particular, highly precise and / or synchronized or synchronizable timepiece.

The set preferably has the option of synchronizing the timer with further timers of other sets and / or a, in particular central, computing unit.

For example, the set can be used to retrofit a baton or a flashlight to a bearing device according to the invention.

Yet another solution to the problem on which the invention is based is to provide a computer program product, comprising instructions which, when the program is executed by a computer, cause the computer to execute the method.

The computer can be the processing unit and / or the data processing unit of at least one of the direction finding devices. Brief description of the figures

The invention is explained in more detail below with reference to the figures.

Show it:

Fig. 1 A system for the localization of objects used in a method for the localization of flight objects,

2 shows a direction finding device designed as a smartphone,

3 shows a flashlight retrofitted to form a direction finding device by means of a set, and FIG

4 shows a flow chart of a method for localizing objects.

Detailed description of the figures

A method 100 for localizing objects 15 using a system 200 for localizing objects 15 is described with reference to FIG. 1. In the example, the object 15 is designed as a flight object 15a. According to the method, at least two human observers 10a, 10b, 10c are located in a surveillance area 11. Each observer 10a, 10b, 10c is assigned a portable direction finding device 12a, 12b, 12c carried by him. Each of the

Bearing devices 12a, 12b, 12c comprises position sensors 13 as well

Direction sensors 14. If a flight object 15a approaches the surveillance area 11, this is visually recognized by at least one of the observers 10a, 10b, 10c, for example by the observer 10a. After the observer 10a has visually recognized the flying object 15a, it sends a

Communication interface 16, which is designed as a wireless communication interface 16a, sends an activation signal 17 to a central processing unit 18 of system 200. Immediately after the transmission of the activation signal 17, the observer 10a sets up at least approximately the direction finding device 12a assigned to him along an imaginary connecting line 19a from the observer 10a to the detected flying object 15a. After receiving the activation signal 17, the computing unit 18 transmits a notification signal 20 to the other human observers 10b, 10c via the communication interface 16 via the direction finding devices 12b, 12c assigned to these observers, in order to inform the observers 10b, 10c about the visually recognized flying object 15a. The warning signal 20 is displayed by the direction finding devices 12b, 12c, for example as a visual, acoustic or tactile signal. The other observers 10b, 10c then look out for the flying object 15a recognized by the first observer 10a and, after they have also visually recognized the flying object 15a, direct their assigned bearing devices 12b, 12c along the imaginary connecting lines 19b, 19c from the respective observer 10b, 10c to the recognized flying object 15a. As soon as the human observers 10a, 10b, 10c have aligned their associated bearing devices 12a, 12b, 12c with sufficient accuracy approximately along the respective imaginary connecting line 19a, 19b, 19c, the observers 10a, 10b, 10c send a confirmation signal 21 via the communication point 16 to the computing unit 18. The direction finding devices 12a, 12b, 12c transmit via the communication interface 16 position information about the position of the respective direction finding device 12a, 12b, 12c within the monitoring area 11 as well as direction information, advantageously with a time stamp, via the imaginary connecting line 19a, 19b, 10c between the respective observer 10a, 10b, 10c and the flying object 15a. The position information can be determined, for example, by means of GPS sensors 22 (outdoor) and / or inertial sensors (indoor) integrated in the direction finding devices 12a, 12b, 12c and can contain geographic coordinates. The directional information includes an azimuth angle and an elevation angle and is entered, for example, by means of the bearing devices 12a, 12b, 12c integrated inclination or position sensors 23 are determined. Furthermore, each of the direction finding devices 12a, 12b, 12c comprises a timer 24, the timers 24 being synchronized with one another and with a timer 24a of the computing unit 18. The directional information and the position information are provided with a time stamp by the bearing devices 12a, 12b, 12c and transmitted to the computing unit 18. The computing unit 18 determines the most likely location of the flight object 15a from the transmitted position information and direction information. If the flying object 15a moves through the surveillance area 11, the observers 10a, 10b, 10c direct the assigned to them

Bearing devices 12a, 12b, 12c essentially continuously along the imaginary connecting line 19a, 19b, 19c from the respective observer 10a, 10b, 10c to the detected flying object 15a, at least approximately, so that the location of the flying object 15a is determined essentially continuously. After the computing unit 18 has determined the location of the flying object 15a, further actions can be initiated. For example, an intercepting drone can be launched in order to capture the flying object 15a. In the case of continuous monitoring of an object in flight 15a or several objects in flight 15a, it is also possible to draw conclusions about the flight behavior or the technical possibilities of the objects in flight 15a using methods of artificial intelligence.

Fig. 2 shows a first embodiment of a bearing device 12a, 12b, 12c. The direction finding device 12a, 12b, 12c is designed as a smartphone 25 and comprises a GPS sensor 22, position sensors 23, a timer 24 and a touch-sensitive screen 26. When using the smartphone 25 as a direction finding device 12a, 12b, 12c in the method 100 or respectively System 200, the respective observer 10a, 10b, 10c carries the smartphone 25 in his hand. After one of the observers 10a, 10b, 10c has visually recognized the object 15, in particular the flying object 15a, the observer 10a, 10b, 10c can transmit an activation signal 17 to the computing unit 18. For this purpose it can be provided that the observer 10a, 10b, 10c generates the activation signal 17 by touching the screen 26. With the activation signal 17, the computing unit 18 is informed that an object 15, in particular a flight object 15a, has been visually recognized. In principle, it is also possible to trigger the activation signal 17 via voice input or using augmented reality functions of the smartphone 25.

Fig. 3 shows a further embodiment of the bearing device 12a, 12b, 12c. The direction finding device 12a, 12b, 12c according to FIG. 3 is designed as a flashlight 27. The flashlight 27 has been retrofitted with a set 28 to form a direction finding device 12a, 12b, 12c. The set 28 includes position sensors 13 and direction sensors 14, as well as a transmitting and receiving device 29 for communication via the communication interface 16 (FIG. 1) and for the synchronization of the timer 24. For the generation of an activation signal 17 or a confirmation signal 21, the set 28 of Bearing device 12a, 12b, 12c a button 30 on. A lamp 31 is used to display a notification signal 20 from the computing unit 18.

A flowchart of a method 100 for localizing objects 15 is shown in FIG. 4, in which there are at least two human observers 10a, 10b, 10c in a surveillance area 11, with each observer 10a, 10b, 10c having a portable direction finding device 12a carried by him , 12b, 12c, each direction finding device 12a, 12b, 12c comprising position sensors 13 for determining position information and direction sensors 14 for determining direction information (FIG. 1). In a first method step a), an object 15 is visually recognized by at least one of the observers 10a, 10b, 10c. After the visual recognition, at least two assigned bearing devices 12a, 12b, 12c by the respective observers 10a, 10b, 10c along an imaginary connecting line 19a, 19b, 19c from the respective observer 10a, 10b, 10c to the recognized object 15 aligned at least approximately in a second method step b). In method steps c) and d), which can also take place at the same time, position information about the position of the aligned bearing device 12a, 12b, 12c is recorded with the position sensors 13 of the bearing devices 12a, 12b, 12c, and with the direction sensors 14 directional information regarding the alignment of the aligned Bearing devices 12a, 12b, 12c determined. The determined position information and direction information are transmitted in method step e) from at least two aligned bearing devices 12a, 12b, 12c to the computing unit 18, which in method step f) determines a location of the object 15 from this information.

List of reference symbols

100 procedures

10a human observer

10b human observer

10c human observer

11 surveillance area

12a bearing device

12b bearing device

12c bearing device

13 position sensor

14 direction sensor

15 object

15a flying object

16 Communication interface

16a wireless communication interface

17 Activation signal

18 arithmetic unit

19a connecting line

19b connecting line

19c connecting line

20 Warning signal

21 Confirmation signal

22 GPS sensor

23 position sensor

24 timepieces

24a timepiece

25 smartphone

26 screen Flashlight set transmitter and receiver device button lamp system

Claims

1. A method (100) for localizing objects (15), in particular flying objects (15a), at least two human observers (10a, 10b, 10c) being in a surveillance area (11), each observer (10a, 10b, 10c) a portable direction finding device (12a, 12b, 12c) carried by him is assigned, each direction finding device (12a, 12b, 12c) comprising position sensors (13) for determining position information and direction sensors (14) for determining direction information, with the steps : a) Visual recognition of an object (15) by at least one of the observers (10a, 10b, 10c), b) At least approximate alignment of at least two assigned bearing devices (12a, 12b, 12c) by the respective observers (10a, 10b, 10c) ) along an imaginary connecting line (19a, 19b, 19c) from the respective observer (10a, 10b, 10c) to the recognized object (15), c) determining position information about the positions of the aligned bearing ungsvorrichtungen (12a, 12b, 12c) by the position sensors (13), d) determination of direction information about the alignment of the aligned bearing devices (12a, 12b, 12c) by the

Direction sensors (14), e) transmission of the position information and direction information from at least two aligned bearing devices (12a, 12b, 12c) to a computing unit (18), and f) determination of a location of the object (15) from the transmitted position information and direction information the computing unit (18).

2. The method (100) according to claim 1, wherein after determining the location of the object (15) an action, preferably starting an intercepting drone and / or capturing and / or shooting the object (15) and / or starting an image recording of the object (15), is carried out.

3. The method (100) according to claim 1 or 2, wherein each associated direction finding device (12a, 12b, 12c) is connected to a head and / or an arm, in particular a hand, of the respective observer (10a, 10b, 10c), and / or is carried in the hand by the respective observer (10a, 10b, 10c).

4. The method (100) according to any one of the preceding claims, wherein the direction finding devices (12a, 12b, 12c) as a pointer, and / or as a baton, and / or as a flashlight (27), and / or as a mobile phone, in particular as a smartphone ( 25), and / or as a smartwatch, and / or as data glasses, and / or as binoculars, and / or as a telescope, and / or as a telescopic sight.

5. The method (100) according to any one of the preceding claims, wherein the at least approximate alignment of the associated bearing device (12a, 12b, 12c) by pointing the respective observer (10a, 10b, 10c) in the direction of the object (15) with the bearing device ( 12a, 12b, 12c) takes place, and / or the observers (10a, 10b, 10c) their mutual distances from each other and / or an angle between the imaginary connecting lines (19a, 19b, 19c) from the respective observer (10a, 10b, 10c ) to maximize the recognized object (15).

6. The method (100) according to any one of the preceding claims, wherein at least one observer (10a, 10b, 10c) after the visual recognition of the object (15) of the computing unit (18) and / or the further observers (10a, 10b, 10c) an activation signal (17), preferably by means of the direction finding device (12a, 12b, 12c) assigned to it, transmitted, the computing unit (18) at Receipt of the activation signal (17) starts the method, and / or wherein the computing unit (18), preferably after receiving the activation signal (17), the observers (10a, 10b, 10c) a notification signal (20), more preferably via the respectively assigned Bearing device (12a, 12b, 12c), transmitted to inform the observer (10a, 10b, 10c) about a visually recognized object (15), and / or wherein at least one observer (10a, 10b, 10c) after the at least approximate Alignment of the bearing device (12a, 12b, 12c) assigned to it, a confirmation signal (21), preferably by means of the bearing device (12a, 12b, 12c) assigned to it, is transmitted to the computing unit (18) in order to confirm the alignment, the computing unit ( 18) further preferably determines the location of the object (15) from the position information and direction information transmitted after the receipt of the and / or the confirmation signals (21).

7. The method (100) according to any one of the preceding claims, wherein the at least two observers (10a, 10b, 10c) the associated bearing devices (12a, 12b, 12c) essentially continuously along the imaginary connecting line (19a, 19b, 19c) from align the respective observer (10a, 10b, 10c) to the detected object (15) at least approximately so that the location of the object (15) is determined essentially continuously.

8. The method (100) according to any one of the preceding claims, wherein each direction finding device (12a, 12b, 12c) comprises a timer (24), and wherein the direction information and / or position information is continuously determined, in particular sampled, the determined, in particular scanned, position information and / or the determined, in particular scanned, directional information is provided with a time stamp, the timers (24) of the bearing devices (12a, 12b, 12c) preferably with one another and / or with a timer (24a) of the computing unit (18) be synchronized.

9. The method (100) according to any one of the preceding claims, wherein the

Position information includes geographic coordinates and / or relative coordinates to one or more reference points, and / or where the direction information includes an azimuth angle and / or an elevation angle, and / or where the position sensors are a GPS sensor (22) and / or a WLAN module and / or comprise a mobile radio module and / or an inertial measuring unit, and / or wherein the direction sensors (14) have a

Inclination sensor or position sensor (23) and preferably comprise a magnetic and / or an optoelectronic compass.

10. The method (100) according to any one of the preceding claims, wherein the

Computing unit (18) from the, in particular provided with a time stamp,

Position information and direction information determine plausibility that the bearing devices (12a, 12b, 12c) are aligned along the imaginary connecting line (19a, 19b, 19c) from the respective observer (10a, 10b, 10c) to the recognized object (15), and / or wherein the assigned direction finding device (12a, 12b, 12c) is aligned by the respective observer (10a, 10b, 10c) to a presumed location if the object (15) is not visible to the observer (10a, 10b, 10c).

11. System (200) for localizing objects (15), in particular flying objects (15a), comprising at least two portable direction finding devices (12a, 12b, 12c) and a computing unit (18) designed to carry out a method (100) according to a of the preceding claims, wherein each of the bearing devices (12a, 12b, 12c) comprises position sensors (13) for determining position information and direction sensors (14) for determining direction information, and wherein the computing unit (18) is designed is determined from by the bearing devices (12a, 12b, 12c)

Position information and direction information to determine the location of an object (15).

12. System (200) for localizing objects (15) according to claim 11, comprising a communication interface (16) for communication, in particular for information or data transmission, between the direction finding devices (12a, 12b, 12c) and / or the computing unit (18 ), where the

Communication interface (16) is preferably designed for bidirectional communication, and / or wherein the communication interface (16) is a wireless communication interface (16a), in particular a WLAN interface and / or a cellular network.

13. Bearing device (12a, 12b, 12c) for a method (100) according to one of claims 1 to 10 or for a system (200) according to claim 11 or 12, comprising position sensors (13) for determining position information and direction sensors (14) to determine directional information, the direction finding device (12a, 12b, 12c) preferably as a pointer, and / or as a baton and / or as a flashlight (27), and / or as a mobile phone, in particular as a smartphone (25), and / or as a Smartwatch, and / or as data glasses and / or as binoculars and / or as a telescope and / or as a telescopic sight.

14. Set (28) for retrofitting a portable device to a direction finding device

(12a, 12b, 12c) according to claim 13, wherein the set of position sensors (13) for determining position information and direction sensors (14) for determining direction information, and preferably a transmission and

Receiving device (29) for a communication interface (16), and more preferably one, in particular highly precise and / or synchronized or has synchronizable, timepiece.

15. Computer program product, comprising instructions which, when the program is executed by a computer, cause the latter to execute the method (100) according to any one of claims 1 to 10.