DETECTION OF SMALL UNMANNED AERIAL SYSTEMS USING A 3D LIDAR SENSOR
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Authors
Paschalidis, Konstantinos
Subjects
counter-sUAS
3D 360 degrees LiDAR
motion detection
Principal Components Analysis
masking
3D 360 degrees LiDAR
motion detection
Principal Components Analysis
masking
Advisors
Cristi, Roberto
Yakimenko, Oleg A.
Date of Issue
2021-09
Date
Publisher
Monterey, CA; Naval Postgraduate School
Language
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 detection 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 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.
Type
Thesis
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Department
Electrical and Computer Engineering (ECE)
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Approved for public release. Distribution is unlimited.
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