KR20240095587A - Anti-drone countermeasure method and reverse anti-drone and anti-drone countermeasure system - Google Patents

Abstract

Examples include a main body portion; A thrust generating device installed in the main body to provide navigation power; A positioning unit installed in the main body to detect the location using Global Positioning System (GPS) information; a plurality of avoidance communication devices installed in the main body and communicating with a controller; and an application processor, wherein the application processor maintains communication with the controller among the plurality of evasive communication devices based on signal reception sensitivity between the plurality of evasive communication devices and the controller. It is possible to provide a reverse anti-drone corresponding to an anti-drone that sets up an auxiliary evasion communication device that stops communication with the controller and switches to standby mode.

Description

Anti-drone countermeasure method and reverse anti-drone and anti-drone countermeasure system}

The present invention relates to a method for counteracting antidrones and a reverse antidrone and antidrone response system therefor.

A jammer is a type of jammer that detects a threat when it is detected and then neutralizes it by oscillating a certain frequency in the direction of the target. Recently, with the development of drone technology, various types of drones have been developed and supplied to the public. In addition, international companies Amazon and Google are in the process of commercializing drones that can perform a variety of tasks, from delivering goods to providing high-speed internet. These drones can be seen as a type of unmanned aerial vehicle, which is smaller and lighter than military unmanned aerial vehicles, which means that detection is relatively difficult. With the spread of these drones, low-cost unmanned aerial vehicles (UAVs) are becoming a potential threat to commercial aviation facilities, essential infrastructure, confidential facilities, and even the military. In other words, depending on the combination of drones with photo or video recording equipment, there is always a possibility of misuse and therefore there is a possibility that it may pose a threat to various security facilities or social infrastructure. In fact, in Washington, there was a case in which a hobbyist drone crashed inside the White House and a security alert was issued, and in France, in preparation for an incident where drones appeared at a nuclear power plant, the police and air force could shoot down a bird-sized drone. There are also cases where a request was made to develop an existing weapon. Additionally, in Korea, the need for so-called anti-drone defense facilities that can prevent aircraft from intruding into no-fly zones is emerging following an incident in which a North Korean drone crashed while filming the Blue House and downtown Seoul. However, domestically and globally, the development of equipment that can effectively respond to intrusions by unmanned aerial vehicles such as drones that operate by receiving frequencies in the air is still quite minimal.

Meanwhile, wireless communication networks used in drones transmit radio waves into the air to enable exchange of information in various forms such as one-to-one, many-to-one, and one-to-many. These wireless communication networks are used to disrupt receivers that receive information. This is called wireless communication jamming. Since the conventional technology jammer operates in a fixed frequency band on the ground at a fixed location, there is a problem in that it cannot adapt to equipment that uses various manipulation or jamming frequencies, especially in the air such as small drones that approach from a distance. There are limits to its application to unmanned aerial vehicles that can infiltrate.

In addition, the drone is equipped with a communication module that communicates with a remote controller, so if the communication module is disabled due to radio wave interference that is output for the purpose of interfering with mission performance, communication failure or location information determination error for remote control of the drone may occur. As a result, the performance of missions is hindered, and the problem of drones being used for illegal purposes due to jamming is becoming a serious issue.

Korean Patent Publication No. 10-2034494 (2019.10.15) Korean Patent Publication No. 10-2034494 (2021.11.30) Korea Patent Publication No. 10-2022-0079392 (2022.06.13) Korean Patent Publication No. 10-2194734 (2020.12.17)

The present invention provides a method for responding to anti-drones that can actively and proactively respond to anti-drones that can infiltrate the air and pose a threat to major facilities, and a reverse anti-drone and anti-drone response system for the same.

In addition, the present invention provides a method for responding to anti-drones that is robust against various jamming waves and can block the jamming operation of anti-drones or anti-device devices by enabling performance of a given mission or landing at an emergency destination despite jamming waves, and a station for this. Provides anti-drone and anti-drone response systems.

Examples include the main body; A thrust generating device installed in the main body to provide navigation power; A positioning unit installed in the main body to detect the location using Global Positioning System (GPS) information; a plurality of avoidance communication devices installed in the main body and communicating with a controller; and an application processor, wherein the application processor maintains communication with the controller among the plurality of evasive communication devices based on signal reception sensitivity between the plurality of evasive communication devices and the controller. It is possible to provide a reverse anti-drone corresponding to an anti-drone that sets up an auxiliary evasion communication device that stops communication with the controller and switches to standby mode.

In another aspect, the application processor may provide a reverse anti-drone corresponding to an anti-drone that periodically sets the plurality of evasive communication devices as the main evasive communication device and the auxiliary evasive communication device.

In another aspect, each of the plurality of avoidance communication devices may provide a reverse anti-drone corresponding to an anti-drone that receives radio waves transmitted from different areas.

In another aspect, each of the plurality of avoidance communication devices includes a communication case mounted on the main body, an aperture installed on the communication case to close or open an open area of the communication case, a communication circuit installed inside the communication case, and the communication case. It is possible to provide a reverse anti-drone corresponding to an anti-drone including a communication antenna connected to a communication circuit.

In another aspect, the communication case and the aperture may provide a reverse anti-drone corresponding to an anti-drone made of a radio wave shielding material.

In another aspect, each of the plurality of evasive communication devices further includes an anti-elevating unit that changes the position of the communication antenna in the communication case so that the communication antenna is exposed to the outside of the communication case or inserted into the communication case. We can provide reverse anti-drone countermeasures against drones.

In another aspect, it is possible to provide a reverse anti-drone corresponding to an anti-drone further comprising a position variable device installed in the main body to change the position of each of the plurality of avoidance communication devices.

In another aspect, the application processor records location information at the start of flight and the main avoidance communication device responds to an anti-drone that controls the position variable device to receive a signal transmitted from the location at the start of flight. We can provide reverse anti-drone.

In another aspect, the application processor may provide a reverse anti-drone corresponding to an anti-drone that analyzes signals received from each of the plurality of evasive communication devices to determine whether a signal is received from an permitted controller.

In another aspect, the application processor switches an evasive communication device that has received a signal from an unauthorized controller among the plurality of evasive communication devices to standby mode, and the main evasive communication device and the auxiliary evasive communication device among the remaining evasive communication devices. It is possible to provide a reverse anti-drone corresponding to the anti-drone that sets the.

The embodiment can effectively respond by effectively blocking commercialized remote control frequencies and video transmission frequency bands to neutralize drones that infiltrate the ground or the air. Accordingly, it is possible to respond to threats of bombings against major national facilities such as nuclear power plants and airports, illegal filming of major national facilities, terrorist threats from VIPs, and terrorist threats in stadiums or densely populated areas, and blocks the entry of drugs and other substances. Of course, it is possible to deal with indiscriminate use in no-fly zones and has the effect of preventing collisions with people or facilities.

In addition, the embodiment enables control by the user as well as active operation of the aircraft and generation and transmission of frequencies, enabling response to various situations in the air and maximizing safety and efficiency compared to the conventional response method on the ground. There is a possible effect.

In addition, the embodiment uses a plurality of avoidance communication devices to set the avoidance communication device that maintains a communication connection with the controller according to the communication sensitivity and the avoidance communication device that requires switching to standby mode, thereby improving the possibility of maintaining the communication connection with the controller. It can increase the possibility of jamming waves flowing into the reverse anti-drone.

In addition, the embodiment may complete the mission or safely make an emergency landing in response to the transmission of jamming waves from an anti-drone flying on the lower side of the reverse anti-drone, an anti-drone installed on the ground, or an anti-drone flying on the upper side of the reverse anti-drone. Interference with mission performance can be neutralized or minimized.

In addition, the embodiment can continuously maintain the communication sensitivity of the inverse anti-drone and the controller at an appropriate level to neutralize interference in the inverse anti-drone's mission performance by external jamming waves and enable smooth control by the controller.

1A and 1B depict an antidrone interfering with the performance of a reverse antidrone.
Figure 2 is a block diagram of an inverse antidrone according to an embodiment of the present invention.
Figure 3 is a block diagram of the frequency control unit.
Figure 4 depicts neutralizing multiple antidrones.
Figure 5 is a block diagram of the frequency oscillator.
Figure 6 is a block diagram of the starting unit.
Figure 7 is a block diagram of an inverse antidrone according to another embodiment of the present invention.
Figure 8 schematically shows an inverse antidrone.
Figure 9 is a view from the lower side of the inverted anti-drone.
Figure 10 is a view of one side of the inverted anti-drone.
Figure 11 schematically shows the interior of the avoidance communication device.
Figure 12 shows another avoidance communication device according to various embodiments.
Figure 13 is to explain how a reverse anti-drone blocks mission interference by an anti-drone or other anti-device.
Figure 14 is a schematic diagram to explain how a reverse anti-drone performs its mission in a situation where communication is impossible due to interference from an anti-drone or an anti-device.

Since the present invention can be modified in various ways and can have various embodiments, specific embodiments will be illustrated in the drawings and described in detail in the detailed description. The effects and features of the present invention and methods for achieving them will become clear by referring to the embodiments described in detail below along with the drawings. However, the present invention is not limited to the embodiments disclosed below and may be implemented in various forms. In the following embodiments, terms such as first and second are used not in a limiting sense but for the purpose of distinguishing one component from another component. Additionally, singular expressions include plural expressions unless the context clearly dictates otherwise. Additionally, terms such as include or have mean that the features or components described in the specification exist, and do not preclude the possibility of adding one or more other features or components. Additionally, in the drawings, the sizes of components may be exaggerated or reduced for convenience of explanation. For example, the size and thickness of each component shown in the drawings are shown arbitrarily for convenience of explanation, so the present invention is not necessarily limited to what is shown.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. When describing with reference to the drawings, identical or corresponding components will be assigned the same reference numerals and redundant description thereof will be omitted. .

1A and 1B depict an antidrone interfering with the performance of a reverse antidrone.

Referring to FIGS. 1A and 1B, the anti-drone response system according to an embodiment of the present invention prevents drones from approaching a facility or location to which access is not permitted or from achieving the purpose of a drone performing a normal mission. Drones can be defined as anti-drones (ATD). The reverse anti-drone 10 according to the embodiment can operate in response to this and perform the function of detecting an appropriate frequency and transmitting a jamming signal, blocking interference from the anti-drone and safely flying to a designated destination.

In addition, the reverse anti-drone 10 can perform its mission under the control of the controller 30, and the anti-drone (ATD) can interfere with the mission of the reverse anti-drone 10.

Hereinafter, we will explain how the reverse anti-drone 10 blocks the anti-drone (ATD) from interfering with its mission and performs its mission normally.

Figure 2 is a block diagram of an inverse antidrone according to an embodiment of the present invention.

Referring to Figure 2, the reverse anti-drone 10 according to an embodiment of the present invention may include a main body 11 of a plurality of power units 12, and the power unit 12 may include a blade and a motor. You can. Various known elements can be applied to the combination of blades and motors. Additionally, the main body 11 may be equipped with fixed wings to improve navigation performance.

The antenna unit 13 provided in the main body 11 has a basic function of transmitting a disturbance frequency signal oscillated by the control unit 19, and can be configured as a directional antenna to have accurate directionality. However, it is not limited to this, and the antenna unit 13 may be an omni-directional antenna. In addition, the antenna unit 13 may include a broadband antenna. In particular, when it is necessary to defend against a cluster of multiple anti-drones (ATD), or to prevent damage to friendly drones, the beam width may need to be limited. For this purpose, the antenna unit 13 may be capable of beamforming.

A control unit 19 may be provided for transmission of disturbance frequency signals from the antenna unit 13 and flight control through the power unit 12.

The disturbance frequency signal generated by the control unit 19 is transmitted through the antenna unit 13, and the antenna unit 13, as an example, transmits a predetermined frequency signal for the purpose of disturbance to block reception of signals for microwave communication. It can perform the function of transmitting, and the frequency bands subject to disturbance, such as the drone's operating frequency, Global Positioning System (GPS) signal, or anti-jamming signal, can be set in various ways.

When transmitting a disturbance frequency signal that is the same or corresponding to the detected frequency to neutralize an anti-drone (ATD), for example, applying the frequency hopping method to neutralize the remote controller transmission/reception module or Spread to neutralize the remote controller transmission/reception Spectrum method can be applied. At this time, the frequency band that can be applied to neutralize the aerial ATD is optional, but as an example, GPS (L2: 1,150 MHz ~ 1,300 MHz, L1: 1,550 MHz ~ 1,650 MHz), 2.4 GHz control frequency Band (2,400 MHz ~ 2,484 MHz), drone control frequency band (5,030 MHz ~ 5,150 MHz), and 5.8 GHz control frequency band (5,150 MHz ~ 5,850 MHz) can be applied.

The antenna unit 13 is a broadband high-gain antenna and can be a dual-polarization antenna that simultaneously transmits vertical and horizontal polarization. Additionally, the antenna unit 13 may be a directional and/or non-directional antenna, and may be 7 dBi or more for directional and 2 dBi or more for non-directional.

The distance for radio interference can be designed to be about 100 to 1,000 m. In addition, because tracking is possible compared to the ground-fixed method, there is no need for a higher gain than in the ground case, and this can reduce the load on high-voltage equipment, providing advantages in terms of weight and cost. In some cases, the antenna unit 13 is composed of a first antenna capable of transmitting a disturbance frequency for GPS and the 2.4 GHz control frequency band and a second antenna capable of transmitting a disturbance frequency for the 5.8 GHz control frequency band. You can.

Meanwhile, the antenna unit 13 may include a GPS antenna, and in this case, it may have an anti-jamming GPS function to ensure navigation stability even during radio wave interference from anti-drone (ATD), etc. during flight. In the case of this anti-jamming GPS antenna, it can be operated in conjunction with the GPS module 14.

In various embodiments, a camera 15 may be installed in the main body 11 for generating and storing visible light or infrared video images.

In addition, a navigation control module 16 is provided to control the power unit 12 that receives control input from the remote controller 30, and the communication module 17 is used to control the controller 30 and the navigation control module 16. They can be connected to enable mutual communication.

Since this communication module 17 can be applied to known remote communication methods including various frequencies, detailed description will be omitted. Since the purpose is to transmit and neutralize disturbance frequencies aimed at disrupting the frequency of anti-drone (ATD), response to frequencies is necessary in the communication module 17. To this end, communication with the controller 30 may be performed using a frequency hopping method to receive signals while avoiding radio wave interference. In the case of the frequency hopping method, various known methods can be applied that allocate a random frequency range of a certain range at a certain time interval and synthesize and transmit data in the frequency band.

In addition, the frequency control unit 18 performs the function of generating a disturbance frequency signal so that the frequency signal oscillated through the antenna unit 13 can be transmitted as an anti-drone (ATD). For this purpose, the frequency control unit 18 generates a signal It may include a frequency oscillation unit for generating a disturbance frequency signal, such as a generator, an up-conversion unit, an amplification unit, and a filter unit. In addition, it can be equipped with a detection function that tracks the operating frequency of anti-drone (ATD) and a function to identify a peer.

It is possible to discover an anti-drone (ATD) and perform tracking, avoidance, return, or automatic landing operations, and for this purpose, a maneuvering unit (12a) is provided to enable autonomous navigation depending on the situation without the intervention of the controller (30). It may be possible.

For operation of the mobile unit 12a and proper control by the controller 30, a GPS module 14 capable of confirming the location may be further included, and when operating jamming or anti-jamming, the records are stored and managed in chronological order. A log module 19a may be further provided to enable this.

When the frequency control unit 18 identifies the anti-drone (ATD) or detects the operating frequency or GPS frequency, the frequency control unit 18 generates a disturbance frequency signal capable of jamming and targets the anti-drone (ATD). The antenna unit 13 is operated to neutralize the operation of the anti-drone (ATD) or the transmission of signals.

Figure 3 is a block diagram of the frequency control unit.

Referring to FIG. 3, the frequency control unit 18 includes a frequency oscillator 18a that generates a disturbance frequency signal, and a battery may be provided in the main body 11 to operate the frequency oscillator 18a.

The disturbance frequency signal oscillated from the frequency oscillator 18a is transmitted from the antenna unit 13, and a detection unit 18b may be provided to determine and generate this disturbance frequency signal. This detection unit (18b) functions as a frequency tracking means, and the frequency to be disturbed is tracked for the anti-drone (ATD) that is the target of detection and identification, and the frequency oscillator (18a) generates a corresponding disturbance frequency. can do. The detection unit 18b consists of a 360-degree array of phased array antennas ranging from 10 degrees to 120 degrees, detects radio frequencies emitted from unmanned aerial vehicles (drones, UVA) approaching from all directions and/or from above and below, and detects them in the detected direction. Active jamming can be performed. The detected frequency may be, for example, an anti-drone (ATD) control frequency, a frequency generated by the noise of the drone itself, an image frequency, a jamming frequency, etc.

In various embodiments, the detection unit 18b may include a passive radar, and tracks a signal corresponding to a predetermined reception level for a reception signal received as a target from a specific transmitter and tracks the signal corresponding to the frequency oscillator 18a. ), an appropriate corresponding disturbance frequency can be generated. The detection unit 18b may function as a radio wave detection receiver that collects electromagnetic waves such as communication signals generated from an anti-drone (ATD).

Additionally, the detection unit 18b of the frequency control unit 18 may perform a spectrum analysis function for received and detected radio waves.

Additionally, the frequency control unit 18 may include an identification unit 18c. The identification unit 18c can identify a friend, and the identification can be based on the frequency detected by the detection unit 18b. However, for efficient operation, a specific frequency such as the RFID signal of a friendly unmanned aerial vehicle can be recognized. Through this, when there are multiple drones in the air, enemies can be identified for each location or group and selectively neutralized by transmitting a disturbance frequency signal of appropriate direction and frequency from the antenna unit 13.

In addition, the frequency oscillator 18a can transmit a GPS guidance signal of an anti-drone (ATD), and through this GPS guidance signal, it can be guided to land at a designated point rather than being shot down.

Additionally, the antenna unit 13 may be made of a directional antenna and a beam forming method may be applied. In some cases, the characteristics of the vertical and/or horizontal beam width or beam tilt of the antenna physically provided in the antenna unit 13 may be varied. For example, a method of increasing or decreasing the overlap area between the dielectric and the antenna feed line may be applied. However, the method is not limited to this, and a known method for changing beam width or beam tilt characteristics may be applied. To control this beam width, a beam width control unit 18d is provided.

Figure 4 depicts neutralizing multiple antidrones.

Referring to FIG. 4, for example, when three anti-drones (ATD) are identified as neutralization targets, the beamwidth control unit 18d transmits a disturbance frequency signal with a beamwidth that has directivity with respect to the range to perform neutralization, Depending on the location, it has no effect on friendly drones located in different locations than the anti-drone (ATD).

As described above, the frequency control unit 18 may further include a response determination unit 18e to enable appropriate response depending on the situation during the process of detection, identification, frequency generation, and frequency oscillation. This means whether to shoot down the detected and identified anti-drone (ATD), neutralize the signal transmission, control navigation through guidance signals, pursue or evade maneuver, return, or self-destruct. Response can be judged immediately. This makes it possible to make active decisions and perform functions when conditions such as being out of the control range of the controller 30, the main body 11 being neutralized due to a jamming signal, or there is an excessive delay in receiving a command. There is an advantage.

Figure 5 is a block diagram of the frequency oscillator.

Referring to FIG. 5, the frequency oscillator 18a is connected to the antenna unit 13 and includes a signal generator 18a1, an upconverter 18a2, an amplifier 18a3, and a filter 18a4. It can be controlled by the controller 30 or the correspondence determination unit 18e. The flow of signals can be controlled by the management unit 18a5.

The signal generator 18a1 can generate a radio wave blocking signal and perform a function of sweeping two or more signals in the IF (Intermediate Frequency) band. The frequency band may be selected by the user and input through the controller 30, and may be a frequency band detected through the detector 18b.

At this time, when two or more signals are generated, one or more DDS (Direct Digital Synthesizer) and/or FPGA (Field Programmable Gate Array) may be selected and combined. The signal generator 18a1 can generate a jamming signal using white noise. It may be composed of individual signal generators to generate independent signals for each channel, and in some cases, individual signals corresponding to the number of channels. It may also consist of a creation part. The band applied here may be the GPS and/or ISM 2.4GHz band and/or the drone control frequency band and/or the ISM 5.8GHz band.

The upconversion unit 18a2 receives a predetermined DC power from the battery and upconverts the signal in the IF band generated by the signal generation unit 18a1 to the RF band, which is the guard frequency band. This upconversion unit 18a2 can upconvert the IF frequency generated in the signal generation unit 18a1 to a commercial frequency band.

The upconversion unit 18a2 converts the carrier signal of each channel generated by the signal generation unit 18a1 into a predetermined RF frequency band.

The amplification unit 18a3 receives a predetermined DC power source from the battery and amplifies the signal output from the upconversion unit 18a2. The power level of the signal output from the amplification unit 18a3 may have a higher power level than the power level of the signal in the band subject to disturbance.

The filter unit 18a4 suppresses unwanted wave signals in the unwanted band among the signals output from the amplification unit 18a3, selects only signals within the designated band, combines them as a jamming signal, and sends them to the transmitter 17a. Print out. This filter unit 18a4 can reduce the influence of interference on adjacent frequencies due to the output frequency of the amplification unit 18a3.

The power level of the signal output from the amplification unit 18a3 may have a higher power level than the power level of the signal used in the anti-drone (ATD). To determine the output level, the amplifying unit 18a3 may connect a plurality of amplifying modules in parallel so that the transmitting unit 17a has a predetermined output as a selected combination.

Figure 6 is a block diagram of the starting unit.

Referring to FIG. 6, the response determination unit 18e can perform an appropriate response depending on the situation through active judgment, and the judgment related to navigation may be tracking, avoidance, return, etc. Accordingly, the starting unit 12a can control the power units 12 according to an appropriate operation method through the navigation control module 16 based on the response method determined by the frequency control unit 18.

The tracking unit 12a1 can perform access and tracking to a set of detected and identified anti-drones (ATD) or individual anti-drones (ATD), which is basically within the operating distance of the antenna unit 13. It can be given direction.

In addition, the maneuvering unit 12a further includes an avoidance maneuvering unit 12a2, so that when a jamming signal that is a direct attack on the main body 11 is detected, it can escape based on the detected frequency, and a return control unit ( 12a3) can automatically return to a set location or a location input from the controller 30.

The operation of this actuator 12a performs the function of automatically transferring control from the controller 30 when conditions such as a predetermined emergency situation are met, and can be actively operated according to the determined response situation. To this end, the moving unit 12a receives the location from the GPS module 14 and performs location correction.

For the operation of the starting unit 12a, the main body 11 may additionally include an acceleration sensor, a geomagnetic sensor, and an atmospheric pressure sensor.

On the other hand, in situations where neutralization is impossible, time is difficult, or an anti-drone (ATD) approaches loaded with explosives, there are cases where it is difficult to defend only by controlling the frequency, and in this case, the response determination unit 18e determines self-destruction. This allows the self-destruct unit 12a3 to approach the anti-drone (ATD) and perform self-destruction. The operation of this self-destruct unit 12a3 may be performed in a manner such as collision with an anti-drone (ATD) and/or explosion of an explosive.

Figure 7 is a block diagram of an inverse antidrone according to another embodiment of the present invention.

Referring to FIG. 7, the inverted anti-drone 70 according to another embodiment of the present invention may include an application platform and a flight platform. The application platform can wirelessly link with other electronic devices, such as a remote control station or an external controller 30 equipped with a remote controller function, to process signals for driving the reverse anti-drone 70 and providing services. . The flight platform may control the overall flight of the inverse anti-drone 70 by including a flight control algorithm and/or a navigation algorithm.

One or more application processors (e.g., AP) 110, wireless communication module 120, memory 130, sensor module 140, thrust generator 150, camera module 160, and audio module 170. , may include an indicator 180, a power management module 190, and a battery 191.

For example, the application processor 110 is part of an application platform and can control a number of hardware or software components connected to the application processor 110 by running an operating system or application program and perform various data processing and calculations. You can. The application processor 110 may further include a graphic processing unit (GPU) and/or an image signal processor. The application processor 110 may include at least some of the components shown in FIG. 7 . The application processor 110 may load commands or data received from at least one of the other components into volatile memory, process them, and store the resulting data in non-volatile memory. The application processor 110 may control the thrust generator 150 and/or the camera module 160 according to a program stored in the wireless communication module 120 and/or memory 130.

The wireless communication module 120 may be located inside the housing or arranged to be connected to the housing. The wireless communication module 120 may include, for example, a cellular module 121, a WiFi module 122, a Bluetooth module 123, a Global Navigation Satellite System (GNSS) module 124, and an RF module 125. there is.

For example, the cellular module 121 may provide voice calls, video calls, text services, or Internet services through a communication network. According to various embodiments, the cellular module 121 may perform at least some of the functions that the application processor 110 can provide. According to various embodiments, cellular module 121 may include a communication processor. According to various embodiments, at least some (e.g., two or more) of the cellular module 121, WiFi module 122, Bluetooth module 123, or GNSS module 124 are one integrated chip (IC) or IC package. may be included within. For example, the RF module 125 may transmit and receive communication signals (eg, RF signals). The RF module 125 may include, for example, a transceiver, a power amp module (PAM), a frequency filter, a low noise amplifier (LNA), or an antenna. According to another embodiment, at least one of the cellular module 121, WiFi module 122, Bluetooth module 123, or GNSS module 124 may transmit and receive RF signals through a separate RF module.

The memory 130 may include, for example, an internal memory 131 or an external memory 132. The built-in memory 131 may include, for example, volatile memory (e.g., DRAM, SRAM, or SDRAM, etc.), non-volatile memory (e.g., one time programmable ROM (OTPROM), PROM, EPROM, EEPROM, mask ROM, flash ROM, etc. , the external memory 132 may include at least one of a flash memory, a hard drive, or a solid state drive (SSD), for example, a compact flash (CF) or a secure digital (SD) drive. ), Micro-SD, Mini-SD, xD (extreme digital), MMC (multi-media card), or memory stick, etc. The external memory 132 may be connected to the reverse anti-drone 70 through various interfaces. They can be functionally or physically connected.

The sensor module 140 can measure a physical quantity or detect the operating state of the inverse anti-drone 70 and convert the measured or sensed information into an electrical signal. Additionally, the sensor module 140 can measure the distance between the inverse anti-drone 70 and at least one object among the front, rear, bottom, and top, and estimate its own location information based on this. In various embodiments, physical quantities detected through the sensor module 140 may be used as information necessary for flight control of the inverse anti-drone 70. The sensor module 140 includes, for example, a geomagnetic sensor 141, a gyro sensor 142, a barometric pressure/altitude sensor 143, a compass sensor 144, an acceleration sensor 145, an ultrasonic sensor 146, and a temperature sensor. It may include at least one of the sensor 147, the humidity sensor 148, and the illuminance sensor 149. Here, the barometric pressure/altitude sensor 143 may be a radio altitude sensor, but is not limited thereto. Additionally or alternatively, the sensor module 24 may further include, for example, a control circuit for controlling at least one sensor included therein. In some embodiments, the inverse anti-drone 70 further includes a processor configured to control the sensor module 140, either as part of the application processor 110 or separately, so that the application processor 110 is in a sleep state. While there, the sensor module 140 can be controlled. In another embodiment, the sensor module 140 may measure a physical quantity or detect the operating state of the inverse anti-drone 70 and provide the measured or sensed information to the thrust generating device 150, and the thrust generating device ( 150) can control the flight of the reverse anti-drone 70 based on the provided information. For example, sensor module 140 and thrust generating device 150 may at least partially form part of a flight platform.

The surface scanning module 141a is based on the distance information between the object on the ground surface detected based on the captured image of the ground surface detected by the camera module 60 and the sensing information of the sensor module 140 and the inverse anti-drone 70. This can generate surface scanning data.

The thrust generating device 150 may include a plurality of microprocessor units (MPUs) 151, a plurality of driving circuits 152, and a plurality of motors 153.

The navigation unit 154 may generate a signal to control the motor 153 based on a control signal provided from the application processor 110 and various physical quantities provided through the sensor module 140. The microprocessor unit (MPU) 151 and the driving circuit 152 drive the motor 153 according to the control signal from the navigation circuit unit 154 to provide the thrust and/or lift required for flight of the inverted anti-drone 70. It can occur. Additionally, the navigation unit 154 may generate an autonomous navigation map for autonomous flight of the anti-drone 70.

The camera module 160 may include a camera 161, a camera position control module 162, and a motor 163 for camera position control. The camera module 160 is a device that can capture, for example, still images and moving images. In various embodiments, camera 161 may include one or more image sensors, lenses, an image signal processor (ISP), or a flash. In various embodiments, camera 161 may be a still camera (color and/or black and white) to obtain still images, a video camera to obtain color and/or black and white video, or an infrared still image or infrared video of portions of the bridge. It may include an infrared camera for The camera position control module 162 maintains a constant posture or orientation of the camera 161 and does not shake when the reverse anti-drone 70 is shaken due to the influence of vibration of the thrust generating device 150 or surrounding air currents. You can make it possible to shoot video. In some embodiments, the reverse anti-drone 70 may be installed on the camera position control module 162 installed in the main body, and the camera 161 may be installed on the camera position control module 162 in a detachable form.

In addition, the camera position control module 162 can control the position or shooting direction of the camera 161 using the power of the camera position control motor 163, and can control the camera 161 based on the control signal from the application processor 110. ) You can control the shooting direction.

The audio module 170 can bidirectionally convert sound and electrical signals. The audio module 170 may process sound information input or output through the speaker 171 and/or microphone 172.

The indicator 180 may display a specific state of the inverse anti-drone 70 or a part thereof, for example, a booting state or a charging state.

The power management module 190 may manage the power of the inverse anti-drone 70, for example. According to one embodiment, the power management module 190 may include a power management integrated circuit (PMIC), a charging IC, or a battery or fuel gauge. PMIC may have wired and/or wireless charging methods. The wireless charging method includes, for example, a magnetic resonance method, a magnetic induction method, or an electromagnetic wave method, and may further include an additional circuit for wireless charging, for example, a coil loop, a resonance circuit, or a rectifier. there is. The battery gauge may, for example, measure the remaining amount of the battery 191, voltage, current, or temperature during charging. Battery 191 may include, for example, a rechargeable cell and/or a solar cell. In various embodiments, inverse anti-drone 70 may be a tethered drone powered by a wire.

In some embodiments, inverted anti-drone 70 may include a storage device attached to a frame along with a set of tools mounted on the storage device. The tool set may be removable from the frame depending on the type of work being performed. In order to ensure that the center of gravity of the reverse anti-drone 70 is centered, the storage device may be centered on the center of the frame, but is not limited thereto.

A user may enter a task to be executed using an interactive interface displayed on the computing device, and the entered commands may be transmitted to one or more inverse anti-drones 70 via a wireless communications network.

The navigation unit 154 of the inverted anti-drone 70 according to an embodiment of the present invention may include an attitude control unit 154a, a safe unit 154b, and a positioning unit 154c.

The attitude control unit 154a can control the attitude of the inverted anti-drone 70 by detecting the rotation angle of the inverted anti-drone 70. For example, the rotation angle can be detected based on sensing information from the gyro sensor 142, the geomagnetic sensor 141, and the acceleration sensor 145.

Safe unit 154b may be for flight errors. For example, the safe unit 154b may determine whether there is a flight error based on sensing information such as the barometric pressure/altitude sensor 143, ultrasonic sensor 146, radar, voltmeter, and ammeter on the sensor module 140. .

The positioning unit 154c can detect the position of the reverse anti-drone 70. The positioning unit 154c may detect the location of the reverse anti-drone 70 using, for example, GPS information.

The barometric pressure/altitude sensor 143, which can function as a radio altitude sensor, operates on the principle of echoing an object, so it can maintain the altitude Z value for the object. If there is a limit to flight altitude, flights relying on wireless altitude sensors that measure altitude using the principle of wave reflection may ultimately violate flight altitude limits for safety regulations. Therefore, for safe autonomous flight of the inverted anti-drone 70, the absolute altitude Z value (i.e., flight altitude limit) must be maintained from the ground surface, and there must be correction to maintain the absolute altitude Z value relative to the ground. Object in the middle of the path. Avoidance routes must be provided for ground objects adjacent to absolute altitude (Z) values where vertical separation is difficult.

Assuming that there is a limit to calculating the altitude Z value when measuring altitude using GPS information, the error range must be reduced through surrounding infrastructure. However, because GPS altitude measurement is primarily affected by the geometrical arrangement of GPS satellites and secondarily affected by ground obstacles and terrain, the altitude Z value cannot be calculated or errors may occur at the same point.

According to one embodiment, in order to extract the altitude Z value on the route through actual flight, first, a point cloud of the object extracted through LiDAR scanning required to build a two-dimensional (2D) layer in three-dimensional space. can be extracted.

The initial layer, which connects the height values of specific points on the object through analysis of point clouds extracted from radio waves or light reflections, may not be able to exclude errors caused by electromagnetic interference or distortion caused by the material of the object, so the incident angle A safer autonomous flight path can be established by verifying and modifying the extracted values.

Figure 8 schematically shows the reverse anti-drone, Figure 9 is a view from the lower side of the reverse anti-drone, and Figure 10 is a view from one side of the reverse anti-drone. And, Figure 11 schematically shows the inside of the avoidance communication device, and Figure 12 shows another avoidance communication device according to various embodiments.

7 to 10, a positioning unit 154c may be installed on the upper surface of the main body 200 of the inverted anti-drone 70 according to another embodiment of the present invention. Additionally, the main body 200 is divided into a first main body 210 and a second main body 220, and the second main body 220 may be installed on the lower surface of the first main body 210. . The second main body 220 may have a smaller size than the first main body 210 and may be installed in the central area of the first main body 210 .

The reverse anti-drone 70 may further include an avoidance communication device 400.

The avoidance communication device 400 may be installed between the first and second main bodies 210 and 220 near the boundary line of the first main body 210 and the second main body 220.

The avoidance communication device 400 may be composed of first to fourth avoidance communication devices 410, 420, 430, and 440.

The first and third avoidance communication devices 410 and 430 may be located on the same line, and the second and fourth avoidance communication devices 420 and 440 may be located on the same line.

In various embodiments, when the second main body 220 has a square frame shape, the first avoidance communication device 410 is installed on the first side of the second main body 220, and the first avoidance communication device 410 is connected to the first side. A second avoidance communication device 420 is installed on the second side, a third avoidance communication device 430 is installed on the third side connected to the second side, and a fourth side connecting the third side and the first side is installed. A fourth avoidance communication device 440 may be installed.

Each of the first to fourth avoidance communication devices 410, 420, 430, and 440 can receive a control signal transmitted from the ground.

Referring to Figures 7 and 11, the avoidance communication device 400 may include a communication case 401, an aperture 402, an elevating part 403, a communication circuit 404, and a communication antenna 405.

A portion of the upper surface of the communication case 401 may be open, and an aperture 402 may be installed in the open area.

The communication case 401 and the aperture 402 may be made of a radio wave shielding material.

The application processor 110 may transmit an aperture control command signal to the aperture control unit 408, and the aperture control unit 408 may control the opening and closing operation of the aperture 402.

Depending on the opening and closing operation of the aperture 402, the open area of the communication case 401 may be closed or open.

When the aperture 402 is closed, the communication case 401 can entirely shield electromagnetic waves.

An elevating unit 403 may be installed inside the communication case 401. The application processor 110 may transmit a lifting control signal to the lifting control unit 409. The lifting control unit 409 may change the height of the lifting unit 403 by controlling the lifting unit 403 in response to receiving a lifting control signal.

A communication circuit 404 is installed in the lifting unit 403, and a communication antenna 405 may be connected to the communication circuit 404.

Depending on the height adjustment of the lifting unit 403, at least a portion of the area of the communication antenna 405 may be exposed to the outside of the communication case 401 or may be stored inside the communication case 401.

With the aperture 402 open, the lifting part 403 rises to expose the communication antenna 405 to the outside of the communication case 401, and the lifting part 403 descends so that the communication antenna 405 is exposed to the outside of the communication case 401. When completely stored inside the communication case 401, the aperture 402 may be closed to close the open area of the communication case 401, and radio waves from the outside may reach the communication antenna 405 inside the communication case 401. You can prevent it from happening.

Each of the first to fourth avoidance communication devices 410, 420, 430, and 440 may be designed to receive radio waves transmitted in the front area facing the open area of the communication case 401. Therefore, signal transmission is possible to the first avoidance communication device 410, but signal transmission is not possible to the second to fourth avoidance communication devices 420, 430, and 440, or a signal with a weak sensitivity below a preset standard value is transmitted. The avoidance communication device 400 can be designed to only allow transmission of . Therefore, jamming waves output from one direction can be transmitted to any one of the first to fourth avoidance communication devices (410, 420, 430, and 440), but signals cannot be transmitted normally to the remaining avoidance communication devices. It may be impossible.

Referring to FIG. 12, the avoidance communication device 400 may further include a position variable device 450. The communication case 401 is installed in the position variable device 450, and the position of the communication case 401 can be changed at various angles by the position variable device 450. The position variable device 450 may be configured to rotate the communication case 401 in a first direction and in a second direction perpendicular to the first direction within a predetermined angle range.

Figure 13 is to explain how a reverse anti-drone blocks mission interference by an anti-drone or other anti-device.

Referring to FIG. 13, the inverse anti-drone 70 according to the embodiment may detect current location information and fly to the destination point in response to a control command signal from the controller 30 based on the current location. The positioning unit 154c of the reverse anti-drone 70 detects the position of the reverse anti-drone 70 using GPS information and drives the thrust generating device 150 in response to the control command signal from the controller 30. You can gain momentum and fly to your destination.

Each of the first to fourth avoidance communication devices 410, 420, 430, and 440 mounted on the reverse anti-drone 70 can receive a control command signal from the controller 30.

When a preset time has elapsed after the start of flight of the reverse anti-drone 70, the communication circuit 404 of each of the first to fourth avoidance communication devices 410, 420, 430, and 440 receives a control command from the controller 30. A signal may be received, signal reception sensitivity may be measured, and the measured signal reception sensitivity information may be transmitted to the application processor 110. The application processor 110 may set the avoidance communication device with the highest reception sensitivity as the main avoidance communication device from the reception sensitivity information received from each of the first to fourth avoidance communication devices 410, 420, 430, and 440. Then, the set main evasion communication device communicates with the controller 30, and the remaining auxiliary evasion communication devices can enter standby mode.

The application processor 110 may periodically transmit a wake-up signal to the auxiliary evasion communication device in standby mode. The communication circuit 404 of the auxiliary evasion communication device in the standby mode may receive a control command signal transmitted by the controller 30 in response to reception of the wake-up signal. At this time, the main evasion communication device also receives the control command signal. And, as described above, the communication circuit 404 of each of the first to fourth avoidance communication devices 410, 420, 430, and 440, which are the main and auxiliary avoidance communication devices, measures the signal reception sensitivity and the measured signal reception sensitivity. Information may be transmitted to the application processor 110. The application processor 110 may set the evasion communication device with the highest signal reception sensitivity as the main evasion communication device and set the others as auxiliary evasion communication devices. In this case, the avoidance communication devices set as main and auxiliary may periodically vary depending on signal reception sensitivity.

Additionally, the application processor 110 transmits a control command signal to the lifting control unit 409 of the avoidance communication device set as the main. And, the lifting control unit 409 controls the lifting unit 403 so that the communication antenna 405 is exposed to the outside of the communication case 401. In addition, the application processor 110 may transmit a standby mode request signal to the auxiliary evasion communication device, and the auxiliary evasion communication device that receives the standby mode request signal may send a command signal to the lift control unit 409 to cause the lift unit 403 to descend. ), and a command signal for closing the aperture 402 can be transmitted to the aperture control unit 408.

In various embodiments, the application processor 110 may record location information at the start of flight and periodically set position relationship information between the current location and the location at the start of flight during the flight. In addition, the application processor 110 may control the position variable device 450 so that the open area of the communication case 401 in the avoidance communication device set as the main is directed to the position at the start of flight based on the position relationship information. In other words, the position variable device 450 can be controlled so that the communication antenna 405 of the avoidance communication device set as the main is directed to the position at the start of the flight. Accordingly, the position of the main evasion communication device can be changed to have directivity to the controller 30.

In the embodiment, among the first to fourth evasive communication devices (410, 420, 430, 440), the main evasive communication device with the best communication sensitivity with the controller 30 is set, and the communication between the main evasive communication device and the controller 30 is set. By enabling wireless communication, it is possible to reduce the possibility that jamming waves caused by the anti-drone (atd1) are transmitted to the avoidance communication device 400.

In addition, the embodiment periodically sets the main evasive communication device among the first to fourth evasive communication devices 410, 420, 430, and 440 and establishes a communication line between the main evasive communication device and the controller 30, so that the controller 30 ) Jamming waves from an anti-drone (atd1) or an anti-device (atd2) located in other areas than the area where ) flows into the avoidance communication device 400, thereby interfering with communication between the controller 30 and the avoidance communication device 400. This phenomenon can be prevented. Typically, interference from the anti-drone (atd1) or anti-device (atd2) in an area outside the pilot's field of vision or at a distance from the pilot, which is an area other than the area where the controller 30 is located, that is, the area where the pilot of the reverse anti-drone 70 is located. Since it is common for radio waves to be generated, among the first to fourth avoidance communication devices (410, 420, 430, and 440), the avoidance communication device facing the area where the controller 30 is located is set as the main, and the controller (30) and By allowing communication, it is possible to prevent interference with the mission performance of the reverse anti-drone 70 due to interference from the outside.

In addition, by changing the position of the main avoidance communication device and directing the communication antenna 405 to the area where the controller 30 is located, it is possible to minimize interference caused by jamming and maintain a smooth communication connection with the controller 30.

In various embodiments, upon receiving a control command signal from the controller 30, the communication circuit 404 may determine whether the signal received from the controller 30 is permitted based on analysis of the control command signal.

The application processor 110 may periodically transmit a wake-up signal to the auxiliary evasion communication device in standby mode. The communication circuit 404 of the auxiliary evasion communication device in the standby mode may receive a control command signal transmitted by the controller 30 in response to reception of the wake-up signal. At this time, the main evasion communication device also receives the control command signal. And, as described above, the communication circuit 404 of each of the first to fourth avoidance communication devices 410, 420, 430, and 440, which are the main and auxiliary avoidance communication devices, measures the signal reception sensitivity and the measured signal reception sensitivity. Information may be transmitted to the application processor 110. At this time, the application processor 110 may analyze the control command signal received from the controller 30 to determine whether it is a signal transmitted from an permitted controller. In addition, if the application processor 110 determines that the signal received from any one of the first to fourth avoidance communication devices 410, 420, 430, and 440 is not a signal received from an allowed controller, the corresponding A control command signal for discarding the signal received from the avoidance communication device and switching the corresponding avoidance communication device to standby mode can be transmitted to the aperture control unit 408 and the lift control unit 409. And, among the remaining evasive communication devices, the main evasive communication device and the auxiliary evasive communication device can be set based on the reception sensitivity of the signal.

In the embodiment, when a jamming wave flows into at least one of the first to fourth avoiding communication devices (410, 420, 430, and 440) due to a jamming wave, this is determined and the avoiding communication device is placed in standby mode. It is possible to maintain the mission performance of the reverse anti-drone 70 by switching to and communicating with the controller 30 using any one of the remaining avoidance communication devices.

In various embodiments, when the main avoidance communication device receives a control command signal from the controller 30, it may transmit a response message signal indicating normal reception of the control command signal to the controller 30.

In various embodiments, the application processor 110 receives a type of jamming wave rather than a signal transmitted from a controller in which signals received from all of the first to fourth avoidance communication devices 410, 420, 430, and 440 are allowed. If determined, all of the first to fourth avoidance communication devices 410, 420, 430, and 440 can be switched to standby mode to block interference waves from entering the avoidance communication device 400. Additionally, the application processor 110 may perform autonomous flight and/or autonomous flight through the sensor module 140 based on the autonomous navigation map through the navigation unit 154. In other words, it is possible to perform a mission through autonomous driving rather than through control by the controller 30, or to fly to a preset destination or to a set destination in an emergency situation.

In addition, when a jamming wave occurs in the lower direction of the reverse anti-drone 70, the operation of the positioning unit 154c can be maintained, so that a preset flight can be performed based on the current location information and autonomous navigation map according to GPS satellite navigation. You can.

Additionally, if the controller 30 does not receive a normally received response message signal from the station anti-drone 70 within a preset time, the controller 30 may determine that a jamming wave has occurred and output a message notifying this.

Figure 14 is a schematic diagram to explain how a reverse anti-drone performs its mission in a situation where communication is impossible due to interference from an anti-drone or an anti-device.

Referring to FIGS. 7 and 14 , in addition to the generation of jamming waves by the anti-device (atd2) on the ground, it may be possible to generate jamming waves by the anti-drone (atd1) located on the upper part of the inverse anti-drone (70). . Such jamming by the anti-drone (atd1) can lead to communication between the anti-drone (70) and the GPS satellite being disabled.

The application processor 110 may periodically determine an error between the location information provided by the GNSS module 124 and the current location estimate of the inverse anti-drone 70 provided by the sensor module 140. If the error is greater than the preset value, the application processor 110 may determine that the location detection operation using the GPS signal due to jamming is disabled and may switch the GNSS module 124 to a dormant state. In addition, the application processor 110 controls the thrust generating device 150 to perform an operation of flying to a preset emergency destination and landing while continuously tracking the current location based on the sensing information of the sensor module 140. You can. Accordingly, the embodiment detects when a jamming wave occurs not only from the lower area of the inverted anti-drone 70 or the ground, but also when a jamming radio wave occurs from the upper side of the inverted anti-drone 70, and safely performs a preset emergency flight operation. It can land on the ground and prevent abnormal flight by anti-drone (atd1) or anti-device (atd2).

The embodiments according to the present invention described above can be implemented in the form of program instructions that can be executed through various computer components and recorded on a computer-readable recording medium. The computer-readable recording medium may include program instructions, data files, data structures, etc., singly or in combination. Program instructions recorded on the computer-readable recording medium may be specially designed and configured for the present invention, or may be known and usable by those skilled in the computer software field. Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks, and magnetic tapes, optical recording media such as CD-ROMs and DVDs, and magneto-optical media such as floptical disks. medium), and hardware devices specifically configured to store and execute program instructions, such as ROM, RAM, flash memory, etc. Examples of program instructions include not only machine language code such as that created by a compiler, but also high-level language code that can be executed by a computer using an interpreter or the like. A hardware device can be converted into one or more software modules to perform processing according to the invention and vice versa.

The specific implementations described in the present invention are examples and do not limit the scope of the present invention in any way. For the sake of brevity of the specification, descriptions of conventional electronic components, control systems, software, and other functional aspects of the systems may be omitted. In addition, the connections or connection members of lines between components shown in the drawings exemplify functional connections and/or physical or circuit connections, and in actual devices, various functional connections or physical connections may be replaced or added. Can be represented as connections, or circuit connections. Additionally, if there is no specific mention such as “essential,” “important,” etc., it may not be a necessary component for the application of the present invention.

In addition, although the detailed description of the present invention has been described with reference to preferred embodiments of the present invention, those skilled in the art or those skilled in the art will understand the spirit of the present invention as described in the patent claims to be described later. It will be understood that the present invention can be modified and changed in various ways without departing from the technical scope. Therefore, the technical scope of the present invention should not be limited to what is described in the detailed description of the specification, but should be defined by the scope of the claims.

Claims (10)

main body;
A thrust generating device installed in the main body to provide navigation power;
A positioning unit installed in the main body to detect the location using Global Positioning System (GPS) information;
a plurality of avoidance communication devices installed in the main body and communicating with a controller; and
Including an application processor;
The application processor stops communication with the controller and the main evasive communication device that maintains communication with the controller among the plurality of evasive communication devices based on signal reception sensitivity between the plurality of evasive communication devices and the controller and waits. Setting up an auxiliary evasion communication device that switches to mode
Reverse anti-drone that responds to anti-drone. According to claim 1,
The application processor periodically sets the plurality of evasive communication devices as the main evasive communication device and the auxiliary evasive communication device.
Reverse anti-drone that responds to anti-drone. According to clause 2,
Each of the plurality of avoidance communication devices receives radio waves transmitted from different areas.
Reverse anti-drone that responds to anti-drone. According to clause 3,
Each of the plurality of avoidance communication devices
A communication case mounted on the main body, an aperture installed on the communication case to close or open an open area of the communication case, a communication circuit installed inside the communication case, and a communication antenna connected to the communication circuit.
Reverse anti-drone that responds to anti-drone. According to clause 4,
The communication case and the aperture are made of radio wave shielding material.
Reverse anti-drone that responds to anti-drone. According to clause 5,
Each of the plurality of avoidance communication devices further includes an elevating unit that changes the position of the communication antenna in the communication case so that the communication antenna is exposed to the outside of the communication case or inserted into the communication case.
Reverse anti-drone that responds to anti-drone. According to clause 6,
It further includes a position variable device installed in the main body to change the position of each of the plurality of avoidance communication devices.
Reverse anti-drone that responds to anti-drone. According to clause 7,
The application processor records the location information at the start of the flight, and the main avoidance communication device controls the position variable device to receive a signal transmitted from the location at the start of the flight.
Reverse anti-drone that responds to anti-drone. According to claim 1,
The application processor analyzes signals received from each of the plurality of avoidance communication devices to determine whether a signal is received from an permitted controller.
Reverse anti-drone that responds to anti-drone. According to clause 9,
The application processor switches an evasive communication device that has received a signal from an unauthorized controller among the plurality of evasive communication devices to standby mode and sets the main evasive communication device and the auxiliary evasive communication device among the remaining evasive communication devices.
Reverse anti-drone that responds to anti-drone.