Detection of Small Unmanned Aerial Systems Using a 3D Lidar Sensor
Abstract
Small unmanned aerial systems (sUAS) are a rapidly developing technology with countless applications in many areas of human activity, ranging from commercial to military use. In the latter case, counter-UAS operations have become an urgent issue. The problem is that the small size of a sUAS makes its dee ction quite a challenging task. Many of traditional approaches and technologies may not be applicable at all. This thesis describes a feasibility study for using a stationary 3D 360 Light Detection and Ranging (LiDAR) sensor to detect a fast-moving sUAS. Specifically, a low-end Velodyne Puck Hi-Res LiDAR was used to collect data during a series of flight tests involving different size sUASs at two rural locations. The thesis presents an analysis of the LiDAR output and the developed algorithms to detect a moving sUAS despite several challenges associated with a rich, nonstationary background return. These challenges were overcome by using Principal Components Analysis (PCA) as well as masking. The developed algorithm demonstrated that using a low-end LiDAR with a detection range of about 100 m, it is possible to detect a sUAS of about a 0.3 m cross-section, isolate it from other moving objects, and track it while as it maneuvers within a 25 m Obviously, using the same algorithm with a higher resolution LiDAR would allow detection at the higher ranges, thus making LiDAR-based counter-UAS technology a viable candidate for protecting against a UAS threat. range. Obviously, using the same algorithm with a higher resolution LiDAR would allow detection at the higher ranges, thus making LiDAR-based counter-UAS technology a viable candidate for protecting against a UAS threat.
Document Details
- Document Type
- Technical Report
- Publication Date
- Sep 01, 2021
- Accession Number
- AD1164458
Entities
People
- Konstantinos Paschalidis
Organizations
- Naval Postgraduate School