U.S. patent application number 16/906405 was filed with the patent office on 2020-10-22 for interceptor unmanned aerial system.
The applicant listed for this patent is Dynetics, Inc.. Invention is credited to Bill Martin, Stephen R. Norris, John Roy, Aaron Wypyszynski.
Application Number | 20200331605 16/906405 |
Document ID | / |
Family ID | 1000004928866 |
Filed Date | 2020-10-22 |
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United States Patent
Application |
20200331605 |
Kind Code |
A1 |
Wypyszynski; Aaron ; et
al. |
October 22, 2020 |
Interceptor Unmanned Aerial System
Abstract
The present disclosure primarily relates to interceptor unmanned
aerial systems and methods for countering Unmanned Aerial Systems
(UAS), although the inventions disclosed herein are useful for
capture of any aerial object. The system utilizes a rigid effector
frame, an effector attached directly to the frame, and at least two
propulsion elements connected to the effector frame, and is
configured to intercept and disable threat UAS. The disclosed
systems can be oriented to any virtually any angle to maximize the
chances of intercept.
Inventors: |
Wypyszynski; Aaron;
(Meridianville, AL) ; Martin; Bill; (Madison,
AL) ; Roy; John; (Madison, AL) ; Norris;
Stephen R.; (Madison, AL) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Dynetics, Inc. |
Huntsville |
AL |
US |
|
|
Family ID: |
1000004928866 |
Appl. No.: |
16/906405 |
Filed: |
June 19, 2020 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
|
|
15656295 |
Jul 21, 2017 |
10689109 |
|
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16906405 |
|
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62407641 |
Oct 13, 2016 |
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Current U.S.
Class: |
1/1 |
Current CPC
Class: |
F41H 11/04 20130101;
B64C 2201/141 20130101; B64C 2201/027 20130101; B64C 39/024
20130101; B64C 2201/108 20130101; B64C 2201/165 20130101; B64C
2201/12 20130101 |
International
Class: |
B64C 39/02 20060101
B64C039/02; F41H 11/04 20060101 F41H011/04 |
Claims
1. An interceptor unmanned aerial system comprising: a rigid
effector frame forming an outer perimeter of the interceptor
unmanned aerial system; an effector attached directly to the frame
such that the effector spans between at least two sides of the
frame; and at least four propulsion elements connected to the
effector frame and positioned at or proximate to said outer
perimeter, wherein the at least four propulsion elements are
comprised of a propulsion element housing and a propeller, and
wherein the propulsion element housing is rotatable relative to the
effector frame.
Description
CROSS-REFERENCE TO RELATED APPLICATIONS
[0001] This application is a continuation of, and claims priority
to, and the benefit of, U.S. application Ser. No. 15/656,295 titled
"Interceptor Unmanned Aerial System" filed Jul. 21, 2017 (now U.S.
Pat. No. 10,689,109) which claims priority to, and the benefit of,
U.S. Application Ser. No. 62/407,641 titled "Interceptor Unmanned
Aerial System," filed Oct. 13, 2016, the entire contents of which
are herein incorporated by reference.
FIELD OF THE INVENTION
[0002] The present disclosure and invention generally relates to
countering the emerging threat of unmanned aerial vehicles (UAVs),
also known as Unmanned Aerial Systems (UAS). The present disclosure
allows for disabling and capturing threat UAVs using an Interceptor
UAS. Various embodiments are disclosed, including Interceptor UAS
that provide an autonomously guided fixed effector which is capable
of intercepting, engaging, re-engaging, disabling, and capturing a
threat UAV. The disclosed invention may also be used for capture of
any aerial object and is not solely limited to capturing UAVs.
Additional objects may include, but are not limited to, items such
as birds, flying wildlife, and air dropped or ground launched
packages. For example, packages to be delivered by a UAS could be
launched into the air, and the present invention could be used to
capture the package midair and then delivered.
BACKGROUND
[0003] The rapid growth of small Unmanned Aerial Systems (sUAS) has
created a rapidly accelerating threat to both commercial and
military interests. Increased capabilities in low cost, commercial
autopilots have also greatly increased the capabilities of sUAS.
Today's sUAS are not only capable of carrying cameras for fun and
pictures, but also are able to carry nefarious payloads such as
explosives and/or other dangerous materials. They can operate
autonomously with little or no input from an operator, even while
performing long distance, one-way missions. The threat of sUAS is
further intensified by their ability to operate in dense urban
environments and over sensitive areas such as large open air
gatherings of people in locations such as concerts and sports
venues.
[0004] Many current counter sUAS systems rely on either jamming or
disabling the target vehicle. Jamming techniques are already
becoming ineffective as many of today's autopilots are capable of
fully autonomous flight with no Radio Frequency (RF) input. Some
can function without navigation provided by Global Positioning
Systems (GPS). By operating without dependence on RF signals,
modern sUAS can counter many current jamming systems.
[0005] Some capabilities already exist to disable sUAS vehicle by
means of kinetic systems such as projectiles, lasers, and nets.
These systems are effective against RF-independent sUAS. However,
these kinetic defense systems pose an additional threat to people
and/or property in the area of the intercept. For example,
projectiles and lasers can injure innocent bystanders. Net systems
help to reduce the risk of collateral damage, but the sUAS still
impacts in the vicinity of bystanders who could be exposed to a
harmful payload carried by the sUAS.
[0006] Additional systems have been proposed using deployable nets
mounted on inflatable frames and carried on UAS. These systems
require deployment mechanisms for the net systems in order to allow
normal operation of the UAS (including landing and take off) when
the net system is not deployed. Also, when used on any fixed wing
aircraft or UAS, such deployable nets are necessarily dragged along
the trajectory of the aircraft or UAS, and not particularly
maneuverable.
[0007] Thus, an improved interceptor system for countering UASs is
needed.
SUMMARY
[0008] In view of the foregoing disadvantages inherent in the
conventional counter UAS systems now present in the art, the
present disclosure provides an interceptor system for countering
UAS systems. The present disclosure also provides a system that can
be used for capture of other aerial objects.
[0009] Unlike many of the prior art systems which propose use of a
deployable net or capture system from a traditional aircraft or UAS
system, some embodiments of the present invention take the
fundamentally different approach by effectively using a flying
"net". In other words, in some embodiments, the invention uses a
pre-deployed, fixed entrapment effector, and essentially attaches
propulsion elements to the effector, and integrates command and
control for intercept. This approach can eliminate the need for
some deployment mechanisms of a net from a fixed wing aircraft or
UAS.
[0010] Many of the disclosed embodiments also provide advantages
over the prior art through the use of multiple propulsion elements,
which can be used to orient the effector any virtually any angle to
maximize the chances of intercept, and which can be achieved
independently of the direction of movement of the effector and
angle of the propulsion elements.
[0011] In some embodiments, the interceptor unmanned aerial system
comprises a rigid, fixed effector frame forming an outer perimeter
of the interceptor unmanned aerial system, an effector attached
directly to the frame, and at least two propulsion elements
connected to the effector frame and positioned at or proximate to
said outer perimeter. Other numbers of propulsion elements can be
used, including 4, 6, 8, etc., just as examples. The propulsion
elements may be located inside the frame perimeter, or outside the
frame perimeter. In some embodiments, the propulsion elements are
rotatable relative to the effector frame. The system may also
utilize energy storage devices positioned on the effector
frame.
[0012] In some embodiments, the effector frame is rectangular in
shape, having a first end frame arm, second end frame arm, first
side frame arm, and second side frame arm, forming four corners,
and having a propulsion element in each of the four corners. In
other embodiments, the propulsion elements may be positioned at
just two opposing corners, or at two places along the length of
opposing frame arms. Some embodiments also including landing legs
(or landing gear). In some embodiments, there are two landing legs
each connected to the frame at a corner and connected to the frame
along the side fame arms.
[0013] In some embodiments, the effector is releasable from the
effector frame. Additionally, some embodiments may utilize tethers
connected to the effector frame and the effector, wherein said
tethers are configured to carry an entangled UAS as a slung load
beneath the interceptor unmanned aerial system. Some embodiments
may also use a parachute connected to the effector and configured
to deploy when the effector is released from the effector frame.
Some embodiments may also have use replacement effectors positioned
in a replacement effector storage compartment connected to the
effector frame, wherein said replacement effector is configured to
deploy upon release of the effector.
[0014] Some embodiments of the interceptor unmanned aerial system
can position the effector frame between 45 and 60 degrees relative
to horizontal when said propulsion elements are positioned
vertically. Some embodiments may also have one or more object
sensing devices.
[0015] In some embodiments, the interceptor unmanned aerial system
comprises a rigid, fixed effector frame forming an outer perimeter
of the interceptor unmanned aerial system, wherein the effector
frame is rectangular in shape, said effector frame having a first
end frame arm, second end frame arm, first side frame arm, and
second side frame arm, said effector frame having four corners, an
effector attached directly to the frame; and at least two
propulsion elements rotatable relative to the effector frame and
connected to the effector frame and positioned at or proximate to
said outer perimeter.
[0016] In some embodiments, the interceptor unmanned aerial system
comprises a rigid effector frame forming an outer perimeter of the
interceptor unmanned aerial system, an effector attached directly
to the frame; and at least four propulsion elements rotatable
relative to the effector frame and connected to the effector frame
and positioned at or proximate to said outer perimeter. In some
embodiments that frame is collapsible between a deployed state and
a stored state.
BRIEF DESCRIPTION OF THE DRAWINGS
[0017] It should be noted that identical features in different
drawings are generally shown with the same reference numeral.
Various other objects, features and attendant advantages of the
present invention will become fully appreciated as the same becomes
better understood when considered in conjunction with the
accompanying drawings.
[0018] FIG. 1(a) shows one embodiment using an effector fixed to an
UAS airframe.
[0019] FIG. 1(b) shows another embodiment using an effector fixed
to an UAS airframe.
[0020] FIG. 2 shows another embodiment of the invention.
[0021] FIG. 3 shows another embodiment of the invention.
[0022] FIG. 4(a) is a top view of one embodiment of an effector
frame and effector.
[0023] FIG. 4(b) is a top view of one embodiment of an effector
frame and effector.
[0024] FIG. 4(c) is a top view of one embodiment of an effector
frame and effector.
[0025] FIG. 4(d) is a top view of one embodiment of an effector
frame and effector.
[0026] FIG. 4(e) is a side view of one embodiment of an effector
frame and loose material.
[0027] FIG. 4(f) is a side view of one embodiment of an effector
frame and hooks.
[0028] FIG. 4(g) is a side view of one embodiment of an effector
frame and loose materials and hooks.
[0029] FIG. 4(h) is a top view of one embodiment of an effector
frame and hooks.
[0030] FIG. 4(i) is a top view of one embodiment of an effector
frame and effector.
[0031] FIG. 5(a) shows one embodiment with a captured threat
UAV.
[0032] FIG. 5(b) shows one embodiment with a captured threat
UAV.
[0033] FIG. 6 shows another embodiment of the invention with a
disabled threat UAV.
[0034] FIG. 7 shows another embodiment in a semi-folded, partially
deployed configuration.
[0035] FIG. 8 shows another embodiment using onboard sensors for
intercept guidance.
[0036] FIG. 9 shows one embodiment of an engagement sequence.
[0037] FIG. 10(a) shows a simplified system block diagram of one
embodiment.
[0038] FIG. 10(b) shows an alternative simplified system block
diagram of one embodiment.
[0039] FIG. 11(a) shows one embodiment of an effector frame and
replaceable effector.
[0040] FIG. 11(b) shows another embodiment of an effector frame and
replacement effector.
DETAILED DESCRIPTION
[0041] FIGS. 1 through 11(b) illustrate various views and
embodiments of the present invention, and supporting graphs and
data. Various embodiments may have one or more of the components
outlined below. Component reference numbers used in the figures are
also provided.
TABLE-US-00001 Interceptor 100 Effector 101 UAS 102 Effector frame
103 Propellers 105 Frame center support 108 Support Arms 110
Propulsion element 202 Energy storage device 203 Landing legs 204
First end frame arm 205 Second end frame arm 206 First side frame
arm 207 Second side frame arm 208 Frame corner 210 Angle 220
Propulsion element supports 305 Frame arms 401 Distal end of arms
402 Loose material 405 Hooks 406 Attachment points 410 Tethers 502
Parachute 602 Motor location 701 Frame mid span 702 Pivot point 703
Deployment container 704 Radar 801 LIDAR sensor 802 Onboard
guidance pods 805 Outer warning zone 901 Inner defended zone 902
Target 903 Escort position 906 Capture position 909 Recovery
location 910 Intercept processor 950 Ground based sensor(s) 955
Onboard sensor 960 Tracks 1101 Replacement effector storage
compartment 1103 Engagement Area 1104
[0042] Many of today's counter UAS technologies involve
interruption of aircraft command and control, jamming of navigation
signals, or the use of kinetic weapons to destroy the UAS.
Increasingly, threat UAS are being operated in areas where
collateral damage due to disabling a threat UAS is not an option.
Additionally, UAS are becoming more advanced such that certain
vulnerabilities are now being eliminated or hardened, thus
rendering some existing defeat mechanisms obsolete. Threat UAS are
also increasingly being equipped with nefarious devices that cannot
be allowed to fall into the surrounding area. For example,
explosives or other nefarious payloads could cause damages to
persons and property.
[0043] Current methods of disabling UAS include the use of
deploying, shooting, or dragging an effector (often in the form of
a net) from a separate UAS. However, when using a deploying
effector, the orientation and timing for deployment of the effector
must be highly accurate. When dragging an effector, the
maneuverability of the interceptor is dramatically reduced as
flight path must be limited to ensure the effector does not disable
the interceptor by accident.
[0044] As a result of the limitations that exist in the prior art,
improved counter systems are needed by which threat UAS can be
effectively intercepted, disabled, captured, and preferably,
returned to a safe location.
[0045] FIG. 1 shows one embodiment of such an improved counter UAS
system, herein referred to as the interceptor 100. In this
embodiment, the interceptor 100 comprises a fixed effector 101 and
an effector frame 103, rigidly attached to a multirotor UAS 102.
The effector frame 103 may use a frame center support 108 to
provide additional support and/or interface for the various frame
members. The effector frame 103 is preferably rigid, and may be
made of graphite, aluminum, composite, or other suitable
lightweight material. This effector 101 is designed to disable,
entrap (or capture), and retrieve the threat UAS. The interceptor
100 flies near the threat UAS, hereby referred to as the threat
UAS, and uses the effector(s) 101 to capture and disable the threat
UAS. The effector 101 may be attached to various locations on the
effector frame 103 (as shown in FIG. 1(a)), and/or attached to
various locations on the UAS 102, or be an integral part of the
structure of the UAS 102. The combination of a multi-rotor UAS 102
and a fixed effector 101 allows rapid maneuvering of the
interceptor 100, minimizes aerodynamic drag, maintains the
maneuverability of the interceptor 100, increases the likelihood of
interception, allows rapid change of direction, and facilitates
re-engagement of the threat in the event of a missed interception
attempt.
[0046] In the preferred embodiments, the effector frame 103 and
effector 101 are in fixed configuration, e.g., is pre-deployed and
ready to use. Such a configuration eliminates the need for separate
deployment mechanisms which may lead to increased weight of the
interceptor 100, increased costs, increased opportunities for
failure, or which may interfere with operation of the interceptor
100.
[0047] The general configuration shown utilizes motorized
propellers 105 for propulsion of the UAS. However, alternate
propulsion methods may be used in place of, or together with, the
propellers as dictated by mission needs. These include but are not
limited to ducted fans, jet engines, rockets, or other thrust
producing devices. Any number of propulsion units (also referred to
as propulsion devices or propulsion elements) may be used. In
addition, small thrusters may be incorporated into the design, with
or without propellers, to aid in maneuverability and increase
control effectiveness.
[0048] Different configurations of effectors 101 and effector
frames 103 can be used in different embodiments. FIG. 1(a), as one
exemplary embodiment, depicts the effector 101 attached to the
bottom of UAS 102, a typical quadcopter aircraft, a common type of
UAS. In this embodiment, an effector frame 103 connects the
effector 101 to the UAS 102. As discussed above, the effector frame
103 can be separate from the UAS 102 and connectable to the UAS
102, or the effector frame 103 may be integral to the structure of
the UAS 102. Similarly, the effector 101 can be separate from the
effector frame 103 and connectable to the effector frame 103, or
the effector 101 can be integral to the structure of the effector
frame 103. In other embodiments, the UAS 102, effector 101, and
effector frame 103 are all integral and configured as a single
assembly. The effector 101 is discussed further below.
[0049] As shown in FIGS. 1(a) and 1(b), in some embodiments support
arms 110 can be used to facilitate stability of the effector frame
103 and the connection of the effector frame 103 to the UAS 102.
Alternatively, the support arms 110 can also be utilized to secure
the effector 101 to the UAS 102, essentially acting as the effector
frame 103. As described above, in some embodiments, the support
arms 110 can be secured to the UAS 102 and the effector frame 103
secured to the support arms 110. In other embodiments, the support
arms 110 are integral to the UAS 102 (for example, also used as
landing gear for the UAS 102), and the effector frame 103 simply
secured to the support arms 110. Support arms 110 may provide
additional spacing such that the effector frame 103 and/or effector
101 are positioned away from the propellers 105 or other propulsion
elements. Support arms 110 may be positioned on the top and bottom
of the UAS 102 (as shown in FIG. 1(b)), on the bottom of the UAS
(as shown in FIG. 1(a)), or to the sides of the UAS 102 (not
shown).
[0050] With continuing reference to FIG. 1(a), the effector frame
103 and effector 101 in this embodiment are located beneath the UAS
102 in its normal orientation. This location allows the effector
101 (e.g., a type of web-like screen in this embodiment) to remain
clear of the propulsion system, shown as propellers 105 in this
embodiment. In some configurations, the effector 101 and/or the
effector 101 and effector frame 103 can be released from the UAS
102. Thus, as shown in FIG. 1(a), this configuration allows the
effector 101 and/or the effector 101 and effector frame 103, to be
released during an interception without entangling the
interceptor's propulsion system.
[0051] FIG. 1(b) shows an alternative embodiment where the effector
101 is attached above the UAS 102. This configuration allows the
effector 101 to help protect the UAS 102 from direct impact with
the threat UAS during an attempted interception. However, this
arrangement makes it more likely that the effector 101 will become
entangled in the interceptor's propulsion system and disable the
interceptor as well.
[0052] FIG. 2 depicts an alternate embodiment of the inceptor 100.
In this embodiment, rather than utilizing a separate UAS 102 as
shown in FIGS. 1(a) and 1(b), the interceptor 100 of this
embodiment utilizes separate propulsion elements 202 to propel and
control the interceptor 100. In this embodiment, the interceptor
100 can also utilize an effector frame 103 and effector 101 that
largely make up the primary structure of the interceptor 100. The
propulsion elements 202 shown in FIG. 2 are multiple rotors, and
are an example of redundant propulsion systems that may be included
to maintain control in the event one becomes disabled during the
encounter. Although four (4) rotors are shown, any number of rotors
could be used, for example, two (2), six (6), eight (8), etc. For
example, if only two (2) propulsion elements 202 were used for the
configurations shown in FIG. 2 or 3 (as examples), the propulsion
elements 202 could be positioned at opposing corners (top left hand
corner and bottom right hand corner) or positioned along the length
(preferably the midpoint) along any of the opposing effector frame
103 arms, for example, in the locations shown for the energy
storage devices 203. Preferably, the rotors are evenly spaced at,
or near, the perimeter of the effector 101 and/or effector frame
103. This configuration operates in a manner similar to
conventional multirotor aircraft (or UAS 102), and can be
controlled similarly to a UAS 102 known to those of skill in the
art. However, in this embodiment, the effector 101 and effector
frame 103 serve as the main structural component and can be placed
or positioned at an angle from horizontal to vertical to maximize
the cross sectional area along the relative velocity vector during
intercept. Typically the net is placed at an angle 220 between 45
and 60 degrees relative to horizontal, although other angles are
possible. This angle and orientation can be achieved by the
configuration of fixed propulsion elements 202 and effector frame
103, or using rotatable propulsion elements 202 described further
below. For example, as shown in FIG. 2, the propulsion elements 202
are oriented and positioned vertically (i.e., having a vertical
axis running through the propulsion element 202 housing), and their
attachment to the effector frame 103 provide for this basic
orientation when landed, or in operation (assuming equal
lift/propulsion by the propulsion elements 202). By maximizing the
cross sectional area, the likelihood of intercepting the threat UAS
and disabling it is greatly increased. The configuration also
allows for current low cost multirotor autopilots known to those of
skill in the art to be used with little or no modification. In this
configuration shown in FIG. 2, the batteries or other energy
storage devices 203 are placed on the edges of the effector frame
103 to provide power for the propulsion elements 202. Additionally,
optional landing legs 204 can be used. As shown in FIG. 2, the
landing legs 204 are connected to the effector 101 and/or effector
frame 103 to allow it to take off and land like a conventional
multicopter. The self-propelled interceptor 100 shown in FIG. 2
also has the advantage of locating structure (e.g., the propulsion
elements 202 and energy storage devices 203) behind the side of the
effector 101 designed to intercept the target. As a result, the
risk of damage or entanglement during the engagement is reduced. In
addition, the configuration allows for the effector 101 to be
released from the effector frame 103 (or release of the effector
frame 103 and effector 101) and thus aid in recovery as discussed
in further detail below.
[0053] In some embodiments, propulsion elements 202 may be
connected to the frame in a manner that allows them to be vectored
(or moved/rotated) relative to the effector 101 and/or effector
frame 103. As shown in FIG. 3, in some embodiments, propulsion
elements 202 can be pivoted about 1 or more axes to enable the
interceptor 100 to be positioned at the optimal orientation for the
intercept. They can also change orientation throughout the
intercept sequence while maintaining a desired direction of flight.
This allows the interceptor 100 to be oriented in an optimal
position with respect to the relative velocity vector, maximizing
the cross sectional area of the effector 101 and thus the
likelihood of interception. The optimal position and angle can be
the same as described with respect to FIG. 2 above, and can be
achieved through the pivoting of the propulsion elements 202 or
differential power applied to the individual propulsion elements.
Although a propeller blade of some propulsion elements 202 may spin
in order to provide lift, when the propulsion elements 202 are
described as able to be vectored or rotatable, it will be
understood by those of skill in the art that the propulsion element
202 itself may be vector or rotatable relative to the effector
frame and/or effector through various degrees of freedom, and
"rotatable" does not refer to the circular motion of a propeller
blade.
[0054] The propulsion elements 202 (e.g. motors with propellers in
this embodiment) may be located at the edges of the effector frame
103 as shown in FIG. 3 or internally to the effector frame 103. As
shown in FIG. 3, propulsion element supports 305 may be used to
support the propulsion elements 202, and provide some spacing
between the propulsion elements 202 and the effector frame 103
(which allows more room for rotation). In this embodiment, the
propulsion element supports 305 extend outwardly from the effector
frame 103, but can also be internal to the effector frame 103. In
this embodiment, two or more motors may be used to provide both
propulsion, lift, and directional control. These motors may pivot
about one or more axes so the direction of the entire interceptor
100 can be controlled while independently controlling the
orientation of the effector 101. Alternatively, the thrust may be
vectored in place of vectoring the entire motor. The motors may be
independently actuated or all motors may be actuated as a single
unit. In the latter embodiment, 4 motors may be mounted to a common
structure. This common structure is then pivoted relative to the
effector. Additionally, while landing gear can be used in all the
embodiments, landing gear may be removed (or excluded) or reduced
in size as the interceptor 100 can be placed parallel to the
landing surface during launch and recovery. Batteries or other
energy storage devices 203 can be placed throughout the effector
frame 103. Various locations for the energy storage devices 203 may
be used, for example in separate storage pods shown in FIGS. 2 and
3 as the energy storage devices 203, in the effector frame 103 of
the effector 101, and/or in the housing of the propulsion element
202. Batteries or other energy storage devices 203 can likewise be
positioned or similarly configured in the other disclosed
embodiments.
[0055] As shown in FIGS. 2 and 3 (among others), some embodiments
utilize a rigid, fixed effector frame 103 that forms an outer
perimeter of the interceptor 100, with the effector connected
directly to the frame 103, and with propulsion elements 202
connected to the effector frame 103 and positioned at or proximate
to the outer perimeter. Connection of the effector directly to the
main flight frame allows for higher maneuverability and minimizes,
if not eliminates, the risk of entangling itself. In other words,
in many embodiments, the effector frame 103 is an integral part of
the interceptor structure, allowing for significantly decreased
weight, ability to reposition the effector relative to direction of
motion and propulsion allowing optimal impact, and increasing the
hit zone. As described herein, the propulsion elements 202 can be
located outside of the perimeter (as shown in FIGS. 2 and 3) or
inside of the perimeter.
[0056] In some embodiments (an example of which is shown in FIG.
2), the effector frame 103 is rectangular in shape, having a first
end frame arm 205, second end frame arm 206, first side frame arm
207, and second side frame arm 208, said effector frame having four
corners 210, and wherein a propulsion element 202 is positioned at
each of said four corners 210. In some embodiments, an example of
which is shown in FIG. 2, the landing legs 204 can be connected to
the frame at the corners 210 and connected to the frame along the
side frame arms 207, 208. Other configurations for the landing legs
are known to those of skill in the art.
[0057] The effectors 101 may be fabricated from various components
such as rigid rod(s), wire, string, rope, straps, or similar
material, and composed of a variety of materials including but not
limited to Kevlar, natural fibers, synthetic fibers, plastics,
metals, and composites. In some embodiments, the effector 101
materials are flexible. In other embodiments, the effector 101
material is rigid. In yet other embodiments, the effector 101
includes both rigid and flexible materials. These materials can be
attached to the interceptor 100 in a variety of configurations.
[0058] Various embodiments of effector frame 103 and effector 101
designs are shown in FIGS. 4(a)-4(i). In one embodiment shown in
FIG. 4(a), frame arms 401 are extended in an "X" or cross
configuration to make the effector frame 103 of the effector 101.
The effector 101 material may then be strung between the frame arms
401 similar to a mesh screen ("mesh configuration"). The effector
101 material may be attached where it intersects the frame arms
401, only at the distal end 402 of the arms 401, or selectively at
locations along the frame arms 401. The arms 401 may have openings,
ridges, channels, or other structures that receive and/or fasten
the effector 101 material. This type of frame could utilize the
individual propulsion elements 202 shown in FIG. 2 and FIG. 3 (as
examples), having the propulsion elements positioned at or
proximate to the distal end 402 of the arms 401. In an alternate
embodiment shown in FIG. 4(b), the effector 101 material may be
placed from one arm 401 to the adjacent arm 401 forming a shape
similar to a web ("web configuration").
[0059] Alternatively, as shown in FIGS. 4(c) and 4(d), an effector
frame 103 may make up the outermost structure of the effector frame
103/effector 101 combination, with effector 101 materials placed
inside the effector frame 103. FIG. 4(c) shows the effector 101
materials running substantially vertically and horizontally (with
respect to the individual frame arms), whereas FIG. 4(d) shows the
effector 101 materials intersecting the frame at approximately a 45
degree angle. While the spacing of the effector 101 materials is
generally shown as uniform, the effector 101 can be configured to
have different spacing throughout.
[0060] The spacing and orientation of these materials can be varied
and optimized to allow of entrapment of the threat UAS. The
effector 101 materials are preferably placed such that components
of the threat UAS are allowed to initially pass through the
effector 101 but then become captured. A spacing of 1/3.sup.rd the
cross section of the threat UAS has been shown as effective.
Typical small UAS are 18 inches across and 9-12 inches tall. A
spacing of 6 inches between the individual effector 101 materials
works well for this size UAS as it allows for a propeller, motor
arm, or landing gear to pass through and then become entangled in
the material. Thus, in some embodiments the spacing between the
effector 101 materials is between 1 and 24 inches. More preferably,
the spacing between the effector 101 materials is between 3 and 12
inches. The spacing may obviously be greater or smaller depending
on the threat UAS. This allows components of the threat UAS such as
propellers, motor arms (or propulsion element supports), and
landing gear to initially pass through the spaces in the effector
101. The momentum of the threat UAS then pulls it away from the
effector 101, causing components of the threat UAS to slide along
the materials and become entangled or entrapped by the effector
101.
[0061] Additional embodiments are shown in FIGS. 4(e)-4(i). In one
embodiment shown in FIG. 4(e) (side view of the effector frame
103), loose material 405 can be dangled from the effector frame 103
to act as an entangling device. In similar embodiments (not shown),
the loose material 405 can be dangled from the effector 101
material. The loose material 405 could be made of materials similar
to that used for the effector 101 materials. In an additional
embodiment shown in FIG. 4(f) (side view of the effector frame
103), hooks 406 can be dangled from the effector frame 103 to act
as an entangling device. In similar embodiments (not shown), the
hooks 406 can be dangled from the effector 101 material. Similarly,
in addition to loose material 405 and/or hooks 406, the entangling
device extending from the effector frame 103 and/or effector 101
material could also be lines, magnets, adhesive pads, or other
methods of physical attachment. Any of these entangling devices can
catch on the body and components of the threat UAS, thereby
attaching it to the interceptor 100.
[0062] In an alternate embodiment shown in FIG. 4(g), a combination
of loose material 405 and hooks 406 can be used, and can extend
from the effector frame 103 and/or the effector 101 material.
[0063] FIG. 4(h) shows a top view of one embodiment having just the
effector frame 103 and hooks 406 (connected to the effector frame
103). Thus, in some embodiments, a separate effector 101 may not be
utilized. FIG. 4(i) shows another alternative embodiment utilizing
an effector frame 103, effector 101, and showing attachment points
410 for loose material 405, hooks 406, other entangling devices, or
any combination thereof. The entangling devices may also be
attached to the effector frame 103.
[0064] Upon intercept of the threat UAS, the effector 101 material
may remain attached to the effector frame 103 as it was before
engagement. In some embodiments, some portions of the effector 101
material may be dislodged or pulled away from the effector frame
103, while other portions of the effector 101 material remains
attached to the effector frame 103. In other embodiments, the
effector 101 material is completely disengaged from the effector
frame 103. In other embodiments, the effector 101 material and
effector frame 103 are disengaged from the UAS.
[0065] After the threat UAS has been captured by the effector 101,
several configurations exist to recover the interceptor 100 and
threat UAS aircraft. In the simplest form, the threat UAS and
interceptor 100 become connected and spiral to the ground in either
a controlled or uncontrolled manner. Two additional options of
recovering the threat UAS aircraft to a predefined recovery site
are depicted in FIGS. 5(a) and (b). In one embodiment shown in FIG.
5(a), the threat UAS becomes entangled in flexible effector 101
material strung between the effector frame 103. The force of impact
separates the effector 101 from the effector frame 103. One or more
tethers 502 connected to the effector 101 and effector frame 103
allow the effector 101 and threat UAS to hang below the interceptor
100. The tethers 502 can be made of materials similar to that of
the effector 101 material. In this embodiment, the configuration of
the connection between the effector 101 material and the effector
frame 103 are designed such that the force created by interception
of the threat UAS allows the effector 101 material to disengage (or
break away) from the effector frame 103, but the connection between
the tethers 502 and effector frame 103 (or the strength of the
materials from which the tethers 502 are made) is sufficiently
strong to keep the tethers 502 engaged with the effector frame
103.
[0066] An alternative embodiment is shown in FIG. 5(b) showing
hooks 406 attached to the effector frame 103 and effector 101
material, with one hook 406 entangled with a threat UAS connected
by a tether 502 which is connected to the effector 101 material. In
this embodiment, upon engagement, the effector material 101 and
effector frame 103 are designed such that the force created by
interception of the threat UAS allows the hook 406 to disengage (or
break away) from the effector frame 103 and/or effector 101
material, but the connection between the tether 502 and effector
frame 103 and/or effector 101 material is sufficiently strong to
keep the tethers engaged with the effector frame 103 and/or
effector 101 material.
[0067] Similar disengagement (or break away) of the effector 101
material can be utilized with the alternative configurations, for
example, the configurations shown in FIGS. 1(a), 1(b), 2, 3, FIGS.
4(a)-(i), etc. Additionally, in other embodiments, rather than the
effector disengaging from the effector frame 103, the effector
frame 103 and effector 101 material can disengage or break away
from the UAS 102 (for example, as shown in FIGS. 1(a) and (b)), and
the tethers 502 can be configured to remain between the UAS 102 and
the effector frame 103 and/or effector 101.
[0068] As shown in FIGS. 5(a) and (b), by hanging below the
interceptor 100, the threat UAS acts as a slung load and is easier
to control and carry back to the predetermined recovery location.
In some embodiments, the tethers 502 are interconnected. Thus, in
the event that the threat UAS catches further to one side of the
effector 101 than the other, having tethers 502 interconnected
within the effector frame 103 helps to ensure the load is balanced
and does not overpower the controls of the interceptor 100. As the
tethers 502 deploy, the weight of the threat UAS pulls on each
tether 502 until the forces among the tethers 502 are balanced.
This ensures that the threat UAS is slung centered below the
interceptor 100. In addition to transitioning the captured threat
UAS to a slung load, the use of tethers 502 also helps to reduce
the force of the sudden impact by lengthening the duration of the
capture dynamics. The deployment of the tethers 502 also allows
effector 101 materials to further wrap around the threat UAS and
secure it. In place of the tethers 502, or in combination with the
tethers 502, elastic material may also be used to help dampen the
shock created by the interception, and to facilitate sling loading
the threat UAS.
[0069] Another embodiment is shown in FIG. 6. This configuration
may optionally be used if the interceptor 100 is unable (or it is
not desired) to carry the threat UAS after intercept. In this
configuration, instead of the effector 101 being connected to the
effector frame 103 via tethers 502, it is instead connected to one
or more parachutes 602. As the threat UAS impacts the effector 101,
the effector 101 is torn away, disengaged, or released from the
interceptor effector frame 103. As the effector 101 separates, it
deploys one or more parachutes 602. The parachutes 602 may either
be integral to the effector 101 or stored in the effector frame 103
and pulled out by the force of impact and separation of the
effector 101 from the interceptor 100, similar to the discussion
above regarding FIG. 5.
[0070] A large effector 101 coverage area increases the likelihood
of interception. As a result, the deployed size of the interceptor
100 can be large and thus takes up extensive storage space prior to
launch. In addition to the different interceptor frame
configurations, additional embodiments allow for the large
interceptor 100 and associated effector 101 systems to be decreased
in size for storage and deployment. In some embodiments, the
effector frame 103 used to suspend the effector 101, and/or provide
the attachment for loose material 405, hooks 406, other entangling
devices, or any combination thereof, is foldable, collapsible,
and/or modifiable in length or orientation between a deployed state
(e.g., operational, and ready for intercept) and a stored state.
For example, various frame arms 401 may have hinges or pivot points
703 that allow an arm 401 (or other portion of the effector frame
103) to be folded, effectively cutting the length of a particular
arm 401 (or other portion of the effector frame 103) in half.
Multiple hinges or pivot points 703 can be used to shorten the
stored length even further. In other embodiments, the frame may
utilize telescoping members (or frame arms 401) that can be
collapsed within each other for storage. Preferably, standard
locking mechanisms known to those of the art can be used to lock
the frame members in the extended configuration when in use. The
effector frame 103 and various components can be modular, and
provide connections at intersections between frame members so that
various sizes and configurations can be provided.
[0071] In one embodiment, shown in FIG. 7 (in partial deployment
form), the effector frame 103 pivots and rotates along the motor
(or propulsion elements 202) locations 701 and folds frame mid span
702 along the outer effector frame 103 along the frame arms 401. As
shown in FIG. 7, the interceptor 100 system is in a semi-collapsed
state. Springs are optionally located in the effector frame 103 or
at the pivot points 703 and used to torque the effector frame 103
into the proper orientation upon deployment (like that shown in
FIGS. 2 and 3, as examples). In some embodiments, in addition to
the springs, or as the sole means of deployment, the motors (or
propulsion elements 202) are powered and the thrust they produce
forces the effector frame 103 into the locked position upon
deployment. The interceptor 100 system can be deployed in a variety
of ways, including deployment by tossing it into the air (in
collapsed or un-collapsed state), dropping it out of a container
704, or launching it from a container 704, etc. For a container 704
launch, the interceptor 100 system can be collapsed inside a tube.
A compressed gas, spring, or explosive can be used to force the
interceptor 100 out of the tube, at which point a separate
deployment mechanism is enabled (to move the interceptor 100 system
to an operational un-collapsed state), or the system is configured
such that the force of ejection from the container 704 (or the
configuration of the arms 401, hinges/pivot points 703, springs,
etc.) automatically moves the interceptor 100 system to the
operational un-collapsed state. By using a tube launched storage
method, numerous interceptors 100 can be packed into a very small
volume.
[0072] Guidance of the interceptor may be conducted either manually
(as is well known to those of skill in the art) or autonomously.
One embodiment of the interceptor 100 system is fully automated and
autonomous, and discussed further below. The interceptor 100 system
may separately interact with other sensors, tracking systems, and
communication systems as described herein. The sensors, tracking
systems, and communication systems may be discrete systems
configured to interact and communicate, or they may form one
integral system, and are well known to those of skill in the art.
For convenience, apart from the interceptor 100 and its various
components, this system will be referred to as the guidance system.
The guidance system may be housed on and part of the interceptor
100, or it may be ground based, with wireless communication to the
interceptor 100 using standard communication technology and
components such as RF, cell phone, or other forms of wireless or
wired data transmission.
[0073] In one exemplary embodiment shown in FIG. 9, two zones are
identified in the guidance system, an outer warning zone 901 and an
inner defended zone 902 (a sub-region within the warning zone 901).
The size and configuration of the outer warning zone 901 and inner
defended zone 902 can be selected by a user (for example, a 10 mile
circumference and a 5 mile circumference, respectively, around a
particular location/asset), or prepopulated with default or
selectable options. A sensor detects, tracks, and identifies the
target 903, normally a threat UAS. Sensors for detecting, tracking,
and classifying targets 903 are well known to those of skill in the
art, and not repeated here. Once the target 903 is identified and
within the outer warning zone 901, the guidance system and
interceptor may begin an automated engagement sequence. At this
point, an operator may be given the opportunity to hold or abort
the automated process. While the threat UAS is in the warning zone
901, the interceptor 100 takes up an escort position 906. In this
mode, onboard sensors on the interceptor 100 may provide final
confirmation of the target 903. Once the threat UAS enters the
defended zone 902, the interceptor 100 may automatically begin the
intercept procedure. In the event that the interceptor 100 misses
on the first pass, the system automatically re-engages and
commences a second pass. This repeats until capture of the threat
UAS is confirmed, designated as the capture position 909. Once
captured, the system automatically returns the threat UAS to a
predefined recovery location 910. The interceptor propulsion system
may then replenished, the engagement mechanism is reset, and the
interceptor 100 may be placed back into or onto the launch
apparatus, or otherwise readied for deployment.
[0074] In some embodiments, autonomous intercept guidance is
achieved by the use of ground-based sensors, onboard sensors, or a
combination of the two. In the ground-based configuration, guidance
is provided by one or more sensors providing the position of the
interceptor 100 and threat UAS aircraft. The sensors act in a
manner similar to current air defense systems. In one embodiment,
the system uses one or more ground based sensors for detection and
tracking for threat UAS. The location of the interceptor 100 may be
provided by GPS or in the event of GPS denied environment, position
information is provided by ground-based or other sensors. A ground
based sensor provides measurements of the threat UAS, allowing
guidance commands to be calculated. When executed, these guidance
commands position the interceptor 100 in the vicinity of the threat
UAS. A combination of measurements from more precise ground-based
sensors can be used to augment terminal guidance for the intercept
at an azimuth and elevation resolution finer than available from
the ground-based sensor.
[0075] In an alternate embodiment, airborne sensors are used for
intercept guidance. Initial detection and tracking may be provided
by either a ground based sensor or onboard sensors. Once the target
is acquired by the onboard sensors, the onboard sensors are used to
measure the relative position of the threat UAS. These measurements
enable the calculation of guidance commands that position the
interceptor in the vicinity of the threat UAS. A wide combination
of sensors may be used, one exemplary embodiment of which is shown
in FIG. 8. In this embodiment, a radar 801 is located on the bottom
of the effector frame 103 to provide long range guidance in poor
visibility. A LIDAR sensor 802 is located on the top of the
effector frame 103 to enable short-range guidance as well as
obstacle avoidance. The onboard guidance system/pods 805 on each
side of the effector frame 103 may contain distance sensor(s)
and/or camera, or other guidance systems to assist in intercept.
Additional distance sensors and cameras may be placed on the top
and bottom of the effector frame 103 with the radar 801 and LIDAR
sensor 802 to enable target tracking and obstacle avoidance. By
placing the cameras on all four sides, the rate of change of the
line of site to the threat UAS can be calculated with high
accuracy. This measurement may also be accomplished with the radar
801 and LIDAR sensors 802. The onboard guidance system/pods 805 can
be housed with the energy storage devices 203. The radar 801, LIDAR
sensors 802, cameras, distance sensors, and acoustic or ultrasonic
sensors used for guidance, target tracking, and/or obstacle
guidance may be collectively referred to herein as "object sensing
devices."
[0076] Terminal guidance uses a combination of dog fighting tactics
and missile pursuit guidance. Initial staging/positioning and
re-engagement is handled by an outer control loop. This control
loop is responsible for placing the interceptor UAS in an optimal
position to defend against a threat UAS. In one embodiment, once
the attack decision has been made, the guidance system switches to
a Proportional Navigation (commonly referred to as "ProNav")
guidance algorithm to intercept the threat UAS. During the
intercept process, the outer loop continuously monitors the closure
rate between the interceptor and threat UAS. If the outer loop
determines that the interceptor is no longer closing on the threat
UAS or that the interceptor has missed as indicated by a negative
rate of closure, the outer loop will regain control and reposition
for subsequent attempts at intercepting the threat.
[0077] The combination of pursuit missile guidance with a smart
outer loop control and re-engagement tactics applied to an unmanned
aircraft system is unique. This combination allows for the long
history and knowledge of missile guidance theory to be applied to a
new vehicle type and method of employment. When combined with the
ability to position the effector at any angle relative to the
flight path, for example, by using the interceptor depicted in FIG.
3, the system achieves engagement orientations never before
possible. Additionally, the effector rapidly re-orients if
additional interception attempts are required.
[0078] The autonomous intercept system is also capable of
commanding a "many on one" or a "many on many" intercept. In the
"many on one" configuration, multiple interceptors are launched to
defend against one threat UAS. In some embodiments, two methods are
used during the intercept in this configuration. The "simple swarm
intercept" sequences individual members of a swarm of interceptors
to minimize the time between intercept passes. Using this method,
by the time the first interceptor misses, a second interceptor has
already initiated an attack from an alternate angle. Alternatively,
an "advanced swarm intercept" uses techniques used in nature by
animal predators, such as dolphins. Using this technique, several
interceptors are used to drive the threat UAS aircraft toward an
identified interceptor. This method proves efficient against threat
UASs with their own obstacle detection and avoidance systems. By
driving the threat UAS into the identified interceptor, blind spots
on the threat UAS aircraft are exploited. Advanced versions
recognize avoidance patterns and thus place an interceptor in the
identified avoidance path or in known blindspots for the avoidance
algorithm.
[0079] For "many on many" intercepts, the same techniques are used
in order to defeat simultaneous attacks by multiple threat UAS.
However, algorithms for sorting and ordering priorities are added
on top of the many-on-one logic.
[0080] Various exemplary embodiments of different interceptor 100
and ground based sensors configurations are shown in FIGS. 10(a)
and (b). Several methods exist for controlling the interceptor UAS.
At the simplest level, as shown in FIG. 10(a), a "Intercept
Processor" 950 located on the ground uses ground based sensor(s)
955 to collect ground based sensor data and sends X-Y-Z velocity
commands to the interceptor 100. This method allows for easy
integration with ground sensors 955 and allows for a wide range of
interceptors 100 to be used with little or no modifications, as
none of the intercept software is located on the interceptor 100
aircraft. The intercept processor 950 hosts the intercept software
and algorithms, and receives information from the ground based
sensor(s) 955 and the interceptor 100. It then uses guidance and
control algorithms to calculate the velocity or acceleration
commands required to intercept the threat or target UAS 903, and
sends those commands to the interceptor 100. Additionally, the
ground based systems allows for simple integration of many aircraft
for swarm operations.
[0081] An additional embodiment for controlling the interceptor 100
aircraft, shown in FIG. 10(b), uses the intercept processor 950
hosting the intercept software onboard the interceptor 100 UAS. In
this configuration, data is passed from a ground based sensor 955
or onboard sensor 960 to the intercept processor 950. This
configuration has the benefit of low latency and easier integration
with an onboard sensor 960 for terminal guidance. It can also
operate in a jamming environment as all sensing and command are
performed onboard the interceptor 100.
[0082] When swarms of interceptor 100 aircraft are used alternative
embodiments are possible, via air-to-air communication implemented
via point-to-point and/or mesh radio networks. In this embodiment,
command and control is distributed throughout the swarm of multiple
interceptor 100 aircraft. Each aircraft coordinates with the other
members of the swarm, and communicates measurements and status
information between them. Using this configuration, the aircraft
are able to coordinate their operations with little or possibly no
input from a ground station. Additionally, because the processing
is distributed throughout the swarm, if one aircraft is disabled,
the functions are shared with the remaining aircraft allowing the
swarm to continue with defense against attacks from threat UAS.
[0083] For effectors that entirely separate from the frame,
replacement effectors can be used. Two example configurations are
discrete replacement and roll replacement. In discrete replacement,
an exemplary embodiment of which is shown in FIG. 11(a), tracks
1101 on the effector frame 103 of the interceptor 100 support the
effector 101 material. When the effector 101 becomes entangled and
separates from or is released from the effector frame 103, another
effector 101 is deployed. This redeployment can be triggered by any
number of means known to those of skill in the art, including but
not limited to by an electrical-mechanical system that physically
pulls or pushes the replacement effector into place or via a spring
mechanism that once the first effector is torn free, a replacement
is automatically installed. Several additional effectors can be
preinstalled on the interceptor 100, and housed in a replacement
effector storage compartment 1103 (for example, similar to a paper
towel roll), before flight allowing for multiple engagements in a
single flight.
[0084] An alternate embodiment shown in FIG. 11(b) uses a series of
continuous tear away effectors housed in a replacement effector
storage compartment 1103 and integrated around the engagement area
1104. In one embodiment, the effector 101 consists of an elastic or
compressible type material with an opening (or hole) in the middle
so that replacement effectors can be stored in the replacement
effector storage compartment 1103. The effector 101 is configured
such that when the first effector 101 is deployed, it is secured
around its perimeter to the replacement effector storage
compartment 1103, and the replacement effector storage compartment
secured to the frame 103. In alternative embodiments, a separate
frame 103 is not required, and the replacement effector storage
compartment 1103 can also effectively act as the frame 103, and the
propulsion elements 202 could be attached to the replacement
effector storage compartment 1103. In some embodiments, the
effector 101 material is elastic and/or compressible that stretches
when loaded into the replacement effector storage compartment 1103,
and when deployed, returns to its natural, relaxed configuration as
shown in the deployed effector in FIG. 11(b). The series of
effectors can be configured or connected in a manner such that when
the deployed effector 101 is torn away or released from the
replacement effector storage compartment 1103, it pulls the next
effector into position (similar to how pulling one tissue from a
box deploys the next tissue).
* * * * *