Systems, methods, apparatuses, and devices for identifying and tracking unmanned aerial vehicles via a plurality of sensors
원문보기
IPC분류정보
국가/구분
United States(US) Patent
등록
국제특허분류(IPC7판)
G06K-009/00
G06T-007/223
G01S-011/06
G06K-009/32
G08G-005/00
H04R-029/00
출원번호
US-0728081
(2017-10-09)
등록번호
US-10025993
(2018-07-17)
발명자
/ 주소
Seeber, Rene
Seebach, Ingo
Meyer, Henning
Schoeler, Markus
Baumgart, Kai
Scheibe, Christian
Prantl, David
출원인 / 주소
Dedrone Holdings, Inc.
대리인 / 주소
Morris, Manning & Martin, LLP
인용정보
피인용 횟수 :
0인용 특허 :
4
초록▼
Systems, methods, and apparatus for identifying and tracking UAVs including a plurality of sensors operatively connected over a network to a configuration of software and/or hardware. Generally, the plurality of sensors monitors a particular environment and transmits the sensor data to the configura
Systems, methods, and apparatus for identifying and tracking UAVs including a plurality of sensors operatively connected over a network to a configuration of software and/or hardware. Generally, the plurality of sensors monitors a particular environment and transmits the sensor data to the configuration of software and/or hardware. The data from each individual sensor can be directed towards a process configured to best determine if a UAV is present or approaching the monitored environment. The system generally allows for a detected UAV to be tracked, which may allow for the system or a user of the system to predict how the UAV will continue to behave over time. The sensor information as well as the results generated from the systems and methods may be stored in one or more databases in order to improve the continued identifying and tracking of UAVs.
대표청구항▼
1. A method for identifying unmanned aerial vehicles (UAVs) in a particular air space, comprising the steps of: receiving video data from a particular video sensor proximate to the particular air space, the video data including at least one image of an object that may be a UAV flying within the part
1. A method for identifying unmanned aerial vehicles (UAVs) in a particular air space, comprising the steps of: receiving video data from a particular video sensor proximate to the particular air space, the video data including at least one image of an object that may be a UAV flying within the particular air space;analyzing the video data to determine a first confidence measure that the object in the at least one image comprises a UAV;receiving radio frequency (RF) signal data from a particular RF sensor proximate to the particular air space, the RF signal data including data indicating a possible presence of a UAV within the particular air space;analyzing the RF signal data to determine a second confidence measure that the RF signal data corresponds to a UAV;aggregating the first confidence measure and the second confidence measure into a combined confidence measure indicating a possible presence of a UAV in the particular air space; andupon determination that the combined confidence measure exceeds a predetermined threshold value, storing an indication in a database that a UAV was identified in the particular air space. 2. The method of claim 1, wherein the step of analyzing the RF signal data to determine the second confidence measure further comprises the steps of: filtering the RF signal data to remove one or more unwanted frequencies;decoding the filtered RF signal data to generate a pattern of one or more frequencies and one or more amplitudes representing the RF signal data;comparing the pattern of the one or more frequencies and the one or more amplitudes representing the RF signal data to known patterns of frequencies and amplitudes known to be associated with UAVs; andupon determination that the pattern of the one or more frequencies and the one or more amplitudes representing the RF signal data substantially matches at least one of the known patterns, determining the second confidence measure. 3. The method of claim 2, wherein the one or more unwanted frequencies comprise signal noise or sampling artifacts. 4. The method of claim 2, further comprising the step of prior to filtering the RF signal data, determining whether signal energy associated with the RF signal data exceeds a predetermined threshold indicative of UAVs. 5. The method of claim 4, wherein the predetermined energy threshold comprises a value of at least about −86 dBFS. 6. The method of claim 1, further comprising the step of prior to receiving the RF signal data, tuning the particular RF sensor to receive signals from a predetermined frequency range. 7. The method of claim 6, wherein the predetermined frequency range comprises between about 1 MHz to about 6 GHz. 8. The method of claim 1, wherein the step of analyzing the video data to determine a first confidence measure further comprises the steps of: identifying at least one region of interest (ROI) in at least one video frame in the video data, the at least one ROI comprising the image of the object that may be a UAV flying within the particular air space;performing an object classification process with respect to the at least one ROI to determine whether the object in the image is a UAV, the object classification process comprising the steps of: extracting image data from the image of the at least one ROI;comparing the extracted image data to prior image data of objects known to be UAVs to determine a probability that the object in the image is a UAV; andupon determination that the probability that the object in the image is a UAV exceeds a predetermined threshold, determining the first confidence measure. 9. The method of claim 1, further comprising the step of storing in the database the video data and RF signal data in association with the indication that the UAV was identified in the particular air space. 10. The method of claim 1, further comprising the step of initiating an alert to a system user that a UAV has been detected in the particular air space. 11. The method of claim 1, wherein the predetermined threshold value comprises a percentage. 12. The method of claim 1, wherein the particular video sensor and the particular RF sensor are enclosed in a unitary housing. 13. The method of claim 1, further comprising the steps of: receiving Wi-Fi signal data from a particular Wi-Fi sensor proximate to the particular air space, the Wi-Fi signal data including data indicating a possible presence of a UAV within the particular air space;analyzing the Wi-Fi signal data to determine a third confidence measure that the Wi-Fi signal data corresponds to a UAV; andaggregating the third confidence measure into the combined confidence measure. 14. The method of claim 13, wherein the step of analyzing the Wi-Fi signal data to determine the third confidence measure further comprises the steps of: extracting a media access control (MAC) address from the Wi-Fi signal data;comparing the extracted MAC address to one or more known MAC addresses known to be associated with UAVs; andupon determination that the extracted MAC address substantially matches at least one known MAC address, determining the third confidence measure. 15. The method of claim 13, wherein the step of analyzing the Wi-Fi signal data to determine the third confidence measure further comprises the steps of: extracting a service set identifier (SSID) from the Wi-Fi signal data;comparing the extracted SSID to one or more known SSIDs known to be associated with UAVs; andupon determination that the extracted SSID substantially matches at least one known SSID, determining the third confidence measure. 16. The method of claim 13, wherein the step of analyzing the Wi-Fi signal data to determine the third confidence measure further comprises the steps of: extracting a received signal strength indicator (RSSI) from the Wi-Fi signal data; andbased on the extracted RSSI, estimating a physical distance of the object emanating the Wi-Fi signal data from the particular Wi-Fi sensor,whereby the physical distance must be above a predetermined threshold distance value to indicate the presence of a UAV. 17. A system for identifying unmanned aerial vehicles (UAVs) in a particular air space, comprising: a video sensor proximate to the particular air space, wherein the video sensor is configured to collect and transmit video data, the video data including at least one image of an object that may be a UAV flying within the particular air space;a radio frequency (RF) sensor proximate to the particular air space, wherein the RF sensor is configured to collect RF signal data, the RF signal data including at least data indicating a possible presence of a UAV within the particular air space;a database; anda processor operatively coupled to the video sensor, the RF sensor, and the database, wherein the processor is operative to: analyze the video data to determine a first confidence measure that the object in the at least one image comprises a UAV;analyze the RF signal data to determine a second confidence measure that the RF signal data corresponds to a UAV;aggregate the first confidence measure and the second confidence measure into a combined confidence measure indicating a possible presence of a UAV in the particular air space; andupon determination that the combined confidence measure exceeds a predetermined threshold value, store an indication in the database that a UAV was identified in the particular air space. 18. The system of claim 17, wherein the processor is further operative to: filter the RF signal data to remove one or more unwanted frequencies;decode the filtered RF signal to generate a pattern of one or more frequencies and one or more amplitudes representing the RF signal data;compare the pattern of the one or more frequencies and the one or more amplitudes representing the RF signal data to known patterns of frequencies and amplitudes known to be associated with UAVs; andupon determination that the pattern of the one or more frequencies and the one or more amplitudes representing the RF signal data substantially matches at least one of the known patterns, determine the second confidence measure. 19. The system of claim 18, wherein the one or more unwanted frequencies comprise signal noise or sampling artifacts. 20. The system of claim 18, wherein the processor is further operative to, prior to filtering the RF signal data, determine whether signal energy associated with the RF signal data exceeds a predetermined threshold indicative of UAVs. 21. The system of claim 20, wherein the predetermined energy threshold comprises a value of at least about −86 dBFS. 22. The system of claim 17, wherein the processor is further operative to, prior to receiving the RF signal data, tune the particular RF sensor to receive signals from a predetermined frequency range. 23. The system of claim 22, wherein the predetermined frequency range comprises between about 1 MHz to about 6 GHz. 24. The system of claim 17, wherein the processor is further operative to: identify at least one region of interest (ROI) in at least one video frame in the video data, the at least one ROI comprising the image of the object that may be a UAV flying within the particular air space;perform an object classification process with respect to the at least one ROI to determine whether the object in the image is a UAV, the object classification process comprising the steps of: extracting image data from the image of the at least one ROI;comparing the extracted image data to prior image data of objects known to be UAVs to determine a probability that the object in the image is a UAV; andupon determination that the probability that the object in the image is a UAV exceeds a predetermined threshold, determining the first confidence measure. 25. The system of claim 17, wherein the processor is further operative to store in the database the video data and RF signal data in association with the indication that the UAV was identified in the particular air space. 26. The system of claim 17, wherein the processor is further operative to alert a system user that a UAV has been detected in the particular air space. 27. The system of claim 17, wherein the predetermined threshold value comprises a percentage. 28. The system of claim 17, wherein the video and RF sensor are enclosed in a unitary housing. 29. The system of claim 17, the system further comprising: a Wi-Fi sensor proximate to the particular air space, wherein the Wi-Fi sensor is configured to receive Wi-Fi signal data, the Wi-Fi signal data including data indicating a possible presence of a UAV within the particular air space; andthe processor further operatively coupled to the Wi-Fi sensor, the processor further operative to: analyze the Wi-Fi signal data to determine a third confidence measure that the Wi-Fi signal data corresponds to a UAV; andaggregate the third confidence measure into the combined confidence measure. 30. The system of claim 29, wherein in addition to being operative to analyze the Wi-Fi signal data to determine the third confidence measure, the processor is further operative to: extract a media access control (MAC) address from the Wi-Fi signal data;compare the extracted MAC address to one or more known MAC addresses known to be associated with UAVs; and;upon determination that the extracted MAC address substantially matches at least one known MAC address, determine the third confidence measure. 31. The system of claim 29, wherein in addition to being operative to analyze the Wi-Fi signal data to determine the third confidence measure, the processor is further operative to: extract a service set identifier (SSID) from the Wi-Fi signal data;compare the extracted SSID to one or more known SSIDs known to be associated with UAVs; andupon determination that the extracted SSID substantially matches at least one known SSID, determine the third confidence measure. 32. The system of claim 29, wherein in addition to being operative to analyze the Wi-Fi signal data to determine the third confidence measure, the processor is further operative to: extract a received signal strength indicator (RSSI) from the Wi-Fi signal data; andbased on the extracted RSSI, estimate a physical distance of the object emanating the Wi-Fi signal data from the particular Wi-Fi sensor;whereby the physical distance must be above a predetermined threshold distance value to indicate the presence of a UAV. 33. A method for identifying unmanned aerial vehicles (UAVs) in a particular air space, comprising the steps of: receiving radio frequency (RF) signal data from a particular RF sensor proximate to the particular air space, the RF signal data including data indicating a possible presence of a UAV within the particular air space;analyzing the RF signal data to determine a first confidence measure that the RF signal data corresponds to a UAV;receiving Wi-Fi signal data from a particular Wi-Fi sensor proximate to the particular air space, the Wi-Fi signal data including data indicating a possible presence of a UAV within the particular air space;analyzing the Wi-Fi signal data to determine a second confidence measure that the Wi-Fi signal data corresponds to a UAV;aggregating the first confidence measure and the second confidence measure into a combined confidence measure indicating a possible presence of a UAV in the particular air space; andupon determination that the combined confidence measure exceeds a predetermined threshold value, storing an indication in a database that a UAV was identified in the particular air space. 34. A system for identifying unmanned aerial vehicles (UAVs) in a particular air space, comprising: a radio frequency (RF) sensor proximate to the particular air space, wherein the RF sensor is configured to collect RF signal data, the RF signal data including at least data indicating a possible presence of a UAV within the particular air space;a Wi-Fi sensor proximate to the particular air space, wherein the Wi-Fi sensor is configured to receive Wi-Fi signal data, the Wi-Fi signal data including data indicating a possible presence of a UAV within the particular air space;a database; anda processor operatively coupled to the RF sensor, the Wi-Fi sensor, and the database, wherein the processor is operative to: analyze the RF signal data to determine a first confidence measure that the RF signal data corresponds to a UAV;analyze the Wi-Fi signal data to determine a second confidence measure that the Wi-Fi signal data corresponds to a UAV;aggregate the first confidence measure and the second confidence measure into a combined confidence measure indicating a possible presence of a UAV in the particular air space; andupon determination that the combined confidence measure exceeds a predetermined threshold value, store an indication in the database that a UAV was identified in the particular air space.
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이 특허에 인용된 특허 (4)
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