Patent Description:
Unmanned air vehicles (UAVs) have been used in a wide variety of capacities to provide surveillance and perform other tasks. Some tasks include destroying, disabling or otherwise damaging a target on the ground. Accordingly, a need has arisen for systems to counter such UAVs so as to avoid damage to military and/or civilian installations. The present disclosure is directed to such systems.

In "Results of the Gust Resistant MAV Programme" by Galinski et al. there is described results of an investigation on unmanned, supermaneouvral, fixed wing, Micro Aerial Vehicle (MAV). In particular results of multidisciplinary optimization are discussed. They were validated both numerically and experimentally with application of the wind tunnel. Both steps of validation are presented. At the end, final flight test campaign and its results are described.

In <CIT> there is described an arieal torpedo or bomb having glider wings and an empennage applied thereto, whereby it can be released from a carrier airplane beyond the defensive anti-aircraft fire range and thereafter glide into contact with the target while the carrier airplane remains outside or above the effective range of defensive fire.

<CIT>, in accordance with its abstract, states a small, reusable interceptor unmanned air vehicle (UAV), an avionics control system for the UAV, a design method for the UAV and a method for controlling the UAV, for interdiction of small scale air, water and ground threats. The UAV includes a high performance airframe with integrated weapon and avionics platforms. Design of the UAV first involves the selection of a suitable weapon, then the design of the interceptor airframe to achieve weapon aiming via airframe maneuvering. The UAV utilizes an avionics control system that is vehicle-centric and, as such, provides for a high degree of autonomous control of the UAV. A situational awareness processor has access to a suite of disparate sensors that provide data for intelligently (autonomously) carrying out various mission scenarios. A flight control processor operationally integrated with the situational awareness processor includes a pilot controller and an autopilot controller for flying and maneuvering the UAV.

In <CIT> there is described an aircraft in general and heavier-than-air flying machines such as airplanes.

<CIT>, in accordance with its abstract, states an interceptor projectile includes a deployable net that deploys during flight and wraps around an incoming projectile, such as a rocket propelled grenade (RPG). The net is initially in a tubular body of the interceptor projectile. A propellant is used to deploy the net from the body. Even after deployment the net remains attached to the body by an elastic tether. The engagement of the net with the incoming projectile disables the incoming projectile, with the momentum imparted by the interceptor projectile sending the incoming projectile off course. This successfully defends a target against the incoming projectile. Through the tether, substantially all of the parts of the interceptor projectile may be mechanically linked together even after deployment of the net. This mechanical linking provides more momentum for impacting the interceptor projectile, which may facilitate diverting the incoming projectile.

<CIT>, in accordance with its abstract, states a system and method are provided for using a first aircraft to retrieve a second aircraft. The first aircraft is typically larger than the second aircraft. A minimum airspeed of the first aircraft is typically greater than a maximum airspeed of the second aircraft. The first aircraft flies in a substantially circular pattern and extends a tow line, such that the tow line forms a substantially helical shape behind and below the first aircraft. Due to the helical shape, there is at least one point along the extended tow line at which the speed of the tow line is substantially equal to the speed of the second aircraft. The second aircraft can readily latch onto the tow line at that point, thereby minimizing potential damage otherwise caused by differential airspeeds.

<CIT>, in accordance with its abstract, states a protection apparatus adapted to protect a moving platform against an incoming threat is provided. The protection apparatus is deployed from the moving platform in a first direction toward the threat, with the threat moving in a second direction toward the moving platform at a threat velocity. The protection apparatus comprises a projectile housing. A first deployable device is operably engaged with the projectile housing, and is adapted to capture the threat upon deployment such that the protection apparatus mass is combined with the threat mass via the first deployable device. A second deployable device is operably engaged with the projectile housing, and is configured to be deployed upon the first deployable device capturing the threat. The second deployable device is further configured to decrease the velocity of the combined protection apparatus and threat masses in the second direction. Associated systems and methods are also provided.

<CIT>, in accordance with its abstract, states a problem to be solved is to provide a capture device capable of prevention of collision or crash, removal or the like of a capturing object unmanned aircraft by capturing aerially the capturing object unmanned aircraft such as an unmanned aircraft falling into an uncontrollable state or a maliciously used unmanned aircraft. A capture device for capturing aerially a capturing object unmanned aircraft of a wireless control type, includes: an unmanned aircraft of the wireless control type; a storage part mounted on the unmanned aircraft; capture means to be stored in the storage part in the state where a part is connected to the storage part; and discharge means for discharging the capture means from the storage part toward the capturing object unmanned aircraft.

<CIT>, in accordance with its abstract, states a system for deploying a first object for capturing, immobilising or disabling a second object is provided. The system comprises the first object, a projectile for carrying the first object therein, and a launcher for launching the projectile towards the second object, wherein the projectile is configured for deploying the first object in the vicinity of the second object for capturing, immobilising or disabling the second object.

There is described herein an interceptor UAV for disabling a target UAV, the interceptor UAV comprising: a flight vehicle having: a cylindrical fuselage elongated along a fuselage axis; four fins carried by the fuselage and arranged in a cruciform, each fin having a fin slot extending from the fuselage in an outboard direction transverse to the fuselage axis; a propulsion system that includes: a first propeller carried by the fuselage and rotatable about the fuselage axis in a first direction to sequentially pass in and out of successive fin slots; a second propeller carried by the fuselage and rotatable about the fuselage axis in a second direction opposite the first direction to sequentially pass in and out of the successive fin slots; a power source carried by the fuselage, the power source including a first electric motor coupled to the first propeller to rotate the first propeller in the first direction, and a second electric motor coupled to the second propeller to rotate the second propeller in the second direction; and a stored electrical energy source coupled to the first and second electric motors; at least one control surface carried by at least one of the fins; a guidance system coupled to the at least one control surface; and a deployable net carried by the flight vehicle and having a first, inactive mode and a second, active mode, wherein in the second mode, the deployable net is deployed from the flight vehicle to disable the target UAV. The net may be configured to detach from the interceptor UAV after deploying. The net may be configured to remain attached to the interceptor UAV after deploying. The stored energy source may include a single source for both the first and second motors. The stored energy source may include a first source for the first motor and a second source for the second motor. Each of these characteristics will enhance operation of the UAV.

There is described herein an interceptor UAV for disabling a target UAV, the interceptor UAV may include a flight vehicle having: a generally cylindrical fuselage; a fin carried by the fuselage; a propulsion system that includes: a first propeller; a second propeller; and a power source coupled to the first and second propellers to rotate the first propeller in a first direction and rotate the second propeller in a second direction opposite the first direction; at least one control surface; a guidance system carried by the flight vehicle and coupled to the at least one control surface; and a disabling system carried by the flight vehicle and having a first, inactive mode and a second, active mode, wherein in the second mode, the disabling system is positioned to disable the target UAV. The guidance system may be configured to direct the vehicle along a controlled flight path to ground. The guidance system may be configured to direct the vehicle along a controlled flight path to ground upon receiving at least one of the following indications: (a) an indication to not engage with the target UAV; or (b) an indication that the interceptor UAV did not sufficiently disable the target UAV. This will improve operation. The fin may be one of four fins arranged in a cruciform shape, or the fin may be one of three fins to enhance performance.

There is described herein an interceptor UAV system for disabling a target UAV, the system may include an interceptor UAV; a target acquisition system directable to an airspace to detect, track, or detect and track an incoming target UAV; a launch control system coupleable to the target acquisition system, the launch control system including instructions that, when executed, automatically direct the interceptor UAV to launch; and an engagement system carried by the interceptor UAV and in communication with the target acquisition system, the engagement system being programmed with instructions that, when executed, (a) direct the interceptor UAV to the target UAV; and (b) direct the interceptor UAV to land if the interceptor UAV does not successfully disable the target UAV. The interceptor UAV system may also include a disablement system carried by the interceptor UAV and being activatable to disable the target UAV. The disablement system may include a deployable net. The interceptor UAV may include a generally cylindrical fuselage; a fin carried by the fuselage; and a propulsion system that includes: a first propeller; a second propeller; and a power source coupled to the first and second propellers to rotate the first propeller in a first direction and rotate the second propeller in a second direction opposite the first.

There is described herein an interceptor UAV system for disabling a target UAV, the system may include an interceptor UAV; a radar scanner directable to an airspace to detect an incoming target UAV; a ground-based targeting radar system coupleable to the scanner to (a) receive a location and track of the target UAV; and (b) determine an interception track for the interceptor UAV; a launch control system coupled to the targeting radar system, the launch control system including instructions that, when executed, automatically direct the interceptor UAV to launch; a ground-based optics system coupleable to the ground-based targeting radar system to acquire a first image of the target UAV; an interceptor optics system carried by the interceptor UAV and positionable to acquire a second image of the target UAV; an engagement system carried by the interceptor UAV and programmed to direct at least one of: an engagement flight path; or a non-engagement flight path, wherein the non-engagement path includes a return controlled flight path to ground; and a disabling system carried by the interceptor and deployable to disable the target UAV. The engagement system may be programmed to automatically direct the engagement flight path or the non-engagement flight path based on a comparison of the first and second optical images. The interceptor UAV may be a first interceptor UAV and wherein the launch control system includes instructions that, when executed, automatically direct a second interceptor UAV to launch before the first interceptor UAV disables the target UAV.

There is described herein a UAV system for use with an interceptor UAV that may include an engagement system programmed with instructions that, when executed: (a) direct the interceptor UAV to a target UAV; and (b) direct the interceptor UAV to land if the interceptor UAV does not successfully disable the target UAV. The engagement system may be programmed with instructions that, when executed, direct the interceptor UAV to disable the target UAV. The engagement system may be programmed with instructions that, when executed, direct the interceptor UAV to disable the target UAV by striking the UAV. The engagement system may be programmed with instructions that, when executed, direct the interceptor UAV to land if the target UAV has already been disabled by another interceptor UAV. The UAV engagement system may be programmed with instructions that, when executed, direct the interceptor UAV to land after the target UAV has been disabled by the interceptor UAV.

There is described herein a method for disabling a target UAV that includes directing an interceptor UAV toward the target UAV.

The method may also include disabling the target UAV by deploying a disabling element from the interceptor UAV to contact the target UAV. The disabling element may include a net. The method may also include detaching the net from the interceptor UAV; and directing the interceptor UAV to land. This will enhance operation.

The method may also include directing the interceptor UAV back to ground along a controlled flight path. Directing the interceptor UAV back to ground may be performed in response to an instruction not to engage with the target UAV. Directing the interceptor UAV back to ground may be performed in response to an unsuccessful attempt by the interceptor UAV to engage with the target UAV. Directing the interceptor UAV back to ground may be performed in response to successfully deploying a disabling element to disable the target UAV which will improve performance.

There is described herein a method for disabling a target UAV that may include detecting an incoming target UAV; directing an interceptor UAV to launch vertically and fly toward the target UAV; in response to a decision not to engage with the target UAV, directing the interceptor UAV along a controlled flight path to the ground; and in response to a decision to engage with the target UAV: (a) continue tracking the target UAV from the interceptor UAV; and (b) when the target UAV is within a target range of the interceptor UAV, deploying a net from the interceptor UAV to contact the target UAV. The method may also include comparing a ground-based first image of the target UAV with an interceptor UAV-based second image of the target UAV; and based at least on a comparison of the first and second images, determine whether or not to engage with the target UAV. Deploying a net may include directing weights at an outer region of the net to move in an outward direction. The method may also include maintaining a connection between the net and the interceptor UAV after the net has entangled the target UAV. The method may also include identifying that deploying the net has not disabled the target UAV; and directing the interceptor UAV along a controlled flight path to the ground.

The present disclosure is directed generally to counter-UAV systems and associated methods. A representative counter-UAV system in accordance with a particular embodiment includes an interceptor UAV that is launched toward a detected target UAV. The target UAV is detected, for example, by a ground-based detector, which triggers a launch sequence for the interceptor UAV. The interceptor UAV then flies autonomously to intercept the target UAV. For at least one phase of operation, the interceptor UAV may receive signals from the ground to assist in directing it toward the target. During another phase of operation, the interceptor UAV can operate without such assistance, e.g., as it engages with the target UAV. The interceptor UAV can disable the target UAV, for example, by deploying a net that interferes with the flight of the target UAV and causes the target UAV to strike the ground. In particular embodiments, the interceptor UAV can also return to the ground, but in a controlled manner (so as to be used again), e.g., if it does not successfully engage with and/or disable the target UAV. Further embodiments and specific details of representative systems and methods in accordance with the present technology are described below with reference to <FIG>.

Many embodiments of the present disclosure described below may take the form of computer- or controller-executable instructions, including routines executed by a programmable computer, controller and/or associated system. Those skilled in the relevant art will appreciate that the disclosure can be practiced on computer systems other than those shown and described below. The technology can be embodied in a special purpose computer or data processor that is specifically programmed, configured or constructed to perform one or more of the computer-executable instructions described below. Accordingly, the terms "computer" and "controller" as generally used herein refer to any suitable data processor and can include Internet appliances and handheld devices, including palmtop computers, wearable computers, cellular or mobile phones, multi-processor systems, processor-based or programmable consumer electronics, network computers, mini-computers and the like. Information handled by these computers and/or controllers can be presented to a user, observer, or other participant via any suitable display medium, such as an LCD screen.

In particular embodiments, aspects of the present technology can be practiced in distributed environments, where tasks or modules are performed by remote processing devices that are linked through a communications network. In distributed computing environments, program modules or subroutines may be located in local and remote memory storage devices. Aspects of the technology described below may be stored or distributed on computer-readable media, including magnetically or optically readable or removable computer disks, as well as distributed electronically over networks. Data structures and transmissions of data particular to aspects of the present technology are also encompassed within the scope of particular embodiments of the present technology.

<FIG> illustrates an overall system <NUM> that includes an interceptor UAV <NUM> configured to disable or destroy a target UAV <NUM>. The interceptor UAV <NUM> can include a propulsion system <NUM>, a guidance system <NUM> (e.g., computer-based or controlled), a communication system <NUM> (e.g., computer-based or controlled), and an engagement system <NUM> (e.g., computer-based or controlled). The engagement system <NUM> is used to engage with and disable the target UAV <NUM>. The overall system <NUM> can further include a target acquisition system <NUM> (e.g., computer-based or controlled), which operates in (and/or can otherwise monitor) the airspace in which the target UAV <NUM> may appear to acquire the target UAV <NUM>, as indicated by arrow E. The target acquisition system <NUM> further includes one or more first components 101a that are not carried by the interceptor UAV <NUM>, and one or more second components 101b that are carried by the interceptor UAV <NUM>. These components can communicate with each other, as indicated by arrow A. A launch control system <NUM> communicates with the target acquisition system <NUM> (as indicated by arrow B) and, based on the information it receives, transmits a signal to a launcher <NUM> (e.g., computer-based or controlled) (as indicated by arrow C). The launcher <NUM> launches the interceptor UAV <NUM>, which then flies toward the target UAV <NUM> and then intercepts and engages with the target UAV <NUM>. The interceptor UAV <NUM> communicates with a ground station or other controller <NUM> that provides command and control signals and/or receives data, as indicated by arrow D.

Further details of representative embodiments of the interceptor UAV <NUM> are described below with reference to <FIG>. Further details of a representative sequence of events for intercepting a target UAV are then described below with reference to <FIG>, and <FIG> provide additional details of selected features of the system <NUM>.

<FIG> is a partially schematic, partially transparent plan view of a representative interceptor UAV <NUM> described above with reference to <FIG>. In a particular aspect of this embodiment, the interceptor UAV <NUM> includes a flight vehicle <NUM> which in turn includes a fuselage <NUM> elongated along a fuselage axis <NUM>. The interceptor UAV <NUM> includes a propulsion system <NUM> that can in turn include one or more propellers <NUM> that provide thrust for the interceptor UAV <NUM>. In a particular embodiment, the propulsion system <NUM> includes a first propeller 121a and a second propeller 121b. The propellers 121a, 121b can operate in a counter-rotating manner so as to reduce or eliminate twist or torque, which might otherwise be imparted to the interceptor UAV <NUM> as the propulsion system <NUM> generates thrust.

In a particular aspect of an embodiment shown in <FIG>, the propellers <NUM> can be integrated with the fuselage <NUM> at some distance along the length of the fuselage <NUM>, rather than at the forward or aft tip of the fuselage <NUM>. For example, as shown in <FIG>, the first and second propellers 121a, 121b can be positioned along the fuselage axis <NUM>, e.g., about one-third of the distance between the aft end and the forward end of the fuselage <NUM>. In a particular embodiment, the propellers 121a, 121b can also be integrated with one or more other elements of the interceptor UAV <NUM>. For example, the interceptor UAV <NUM> can include one or more fins <NUM> (e.g., four) that provide stability for the interceptor UAV <NUM>. Each fin <NUM> can include a slot <NUM> that receives the first and second propellers 121a, 121b as the propellers rotate. Accordingly, as the propellers 121a, 121b rotate, they pass sequentially from the slot <NUM> in one fin <NUM> to and through the slot <NUM> in the adjacent fin <NUM> so as to avoid interfering with the fins <NUM>, while at the same time generating thrust for the interceptor UAV <NUM>.

The propulsion system <NUM> can further include a power source <NUM> that provides power to the propellers 121a, 121b. In a particular embodiment, the power source <NUM> includes an electrical energy storage device, for example, one or more batteries <NUM>. In still a further particular embodiment, the power source <NUM> includes two batteries: a first battery 124a and a second battery 124b. Each battery 124a, 124b directs electrical current to a corresponding motor <NUM> (shown as a first motor 122a and a second motor 122b), which rotate the first and second propellers 121a, 121b, respectively. The separate propellers, motors and batteries can provide a measure of redundancy for the interceptor UAV <NUM>. In other embodiments, the propulsion system <NUM> can include other arrangements, for example, propellers driven by a single motor and/or a single battery, propellers powered by an internal combustion engine, and/or a rocket or other non-propeller system.

The interceptor UAV <NUM> can also include a vehicle management system (VMS) <NUM> that oversees, conducts, directs, and/or executes processes, at least some of which are carried out by a variety of systems, subsystems and/or other elements. Representative systems include a guidance system <NUM> that operates to control and guide the interceptor UAV <NUM> toward its target. For example, the guidance system <NUM> can be coupled to one or more control surfaces <NUM> to steer and maneuver the interceptor UAV <NUM>. The control surfaces <NUM> can be carried by the fins <NUM> (as shown in <FIG>), and/or by the fuselage <NUM>, and/or by other elements/structures of the interceptor UAV <NUM>. In a particular embodiment, the control surfaces <NUM> are positioned in the prop wash from the propellers 121a, 121b to improve control authority at low airspeeds, e.g., during vertical take-off. The guidance system <NUM> can also include a navigation system <NUM> (e.g., an on-board GPS system) that provides information regarding the location of the interceptor UAV <NUM>. The VMS <NUM> coordinates the operation of the navigation system <NUM> and the control surfaces <NUM> to provide for proper guidance of the interceptor UAV <NUM>. The communication system <NUM> provides for communication with a ground station or other controller, and/or other elements of the overall system <NUM>.

The interceptor UAV <NUM> can also include an engagement system <NUM> that is used to engage with the target UAV <NUM> described above with reference to <FIG>. In particular, the engagement system <NUM> can include the airborne component(s) 101b of the target acquisition system described above with reference to <FIG>. In addition, the engagement system <NUM> can include a disabling system <NUM> that disables the target UAV <NUM> when the interceptor UAV <NUM> is within a suitable range of the target UAV <NUM>. In a particular embodiment, the disabling system <NUM> can include a disabling element, e.g., a net that is deployed to entangle the target UAV <NUM>, as will be described further below with reference to <FIG> and <FIG>. The engagement system <NUM> can include, control, and/or communicate with other aircraft systems (e.g., the guidance system <NUM>) that contribute to providing instructions for guiding the interceptor UAV <NUM> and/or directing the interceptor UAV <NUM>.

<FIG> illustrate further views of a representative embodiment of the interceptor UAV <NUM>. For example, these Figures illustrate a nose <NUM> of the flight vehicle <NUM> that can house the airborne components 101b of the target acquisition system (see <FIG>). <FIG> also illustrate a tail cone <NUM> that can house the communication system <NUM>, described above with reference to <FIG>.

<FIG> illustrates a timeline <NUM> having representative points in time (e.g., T0, T1, T2, etc.) that correspond to representative tasks performed by the system <NUM>, as the interceptor UAV <NUM> engages the target UAV <NUM>. Below the timeline, <FIG> illustrates expected, representative elapsed times in accordance with a particular embodiment, along with representative down-range locations for the incoming target UAV <NUM>. The times and ranges assume the target UAV <NUM> has a speed of about <NUM> knots. The characteristics of the interceptor UAV <NUM> are generally as described above with reference to <FIG>, and as described in further detail later with reference to <FIG>.

<FIG> also schematically identifies representative locations of the interceptor UAV <NUM> and the target UAV <NUM>, with corresponding points in time (boxed) at which these vehicles arrive at the illustrated locations. In a particular embodiment shown in <FIG>, the overall system <NUM> deploys up to two interceptor UAVs <NUM> to disable the incoming target UAV <NUM>. Accordingly, points in time associated with the second interceptor UAV are indicated with a parenthetical "<NUM>," e.g., "T7(<NUM>). " In other embodiments, the system can be configured to deploy a single interceptor UAV <NUM> and in still further embodiments, more than two interceptor UAVs <NUM>.

The representative process shown in <FIG> begins at time T0 when the target UAV <NUM> is first detected by the system <NUM>. In a particular embodiment, the target UAV <NUM> can be detected by a first detector, e.g., a first radar 104a. In a further aspect of this embodiment, the first radar 104a can be carried by an airborne platform <NUM>. For example, the airborne platform <NUM> can include an RQ-21A aircraft manufactured by Insitu Inc. , a subsidiary of The Boeing Company. In other embodiments, the airborne platform <NUM> can include other aircraft, and in still further embodiments, the first radar 104a can be carried by platforms other than airborne platforms.

At time T1, a second detector, e.g., a second radar 104b, assumes responsibility for tracking the target UAV <NUM>. In a particular embodiment, the second radar 104b can include a ground-based radar and in other embodiments, the second radar 104b can have other locations. In any of these embodiments, information received from the second radar 104b is used to perform tracking tasks. For example, at time T2, the azimuth, elevation, and range of the target UAV <NUM> are calculated using information from the second radar 104b, and the track of the target UAV <NUM> is established. At time T3, the system <NUM> calculates an intercept track for the interceptor UAV <NUM>. This information is then used to direct a launcher <NUM> to launch a first interceptor UAV <NUM> at time T4. In a particular embodiment, the launch is vertical, e.g., from a canister or other suitable launch device. In addition, at time T3, an additional tracking system, e.g., a ground-based optics system <NUM>, begins identifying and tracking the target UAV <NUM>. The ground-based optics system <NUM> remains actively engaged with the target UAV <NUM> throughout the rest of the process.

At time T5, the interceptor UAV <NUM> continues its upward and down-range trajectory. At time T6, the interceptor UAV <NUM> transitions to an intercept vector. In a particular embodiment, the interceptor UAV <NUM> achieves a speed of <NUM> KTAS, and transitions to a target acquisition mode.

At time T7, a second interceptor UAV <NUM> is launched (e.g., for systems <NUM> that include the capability for deploying multiple interceptor UAVs <NUM> toward a single target), typically before the first UAV <NUM> has disabled (or attempted to disable) the target UAV <NUM>. The instructions given to the second interceptor UAV <NUM> and the actions taken by the second interceptor UAV <NUM> parallel those discussed above and further below with reference to the initial interceptor UAV <NUM>. In <FIG>, selected times associated with the second interceptor UAV <NUM> are indicated with a parenthetical "<NUM>. " Accordingly, "T7(<NUM>)" indicates the launch of the second interceptor UAV <NUM>.

At time T8, the initial interceptor UAV <NUM> acquires the target UAV <NUM> using the second target acquisition system 101b carried by the interceptor UAV <NUM>. For example, the second target acquisition system 101b can include an airborne optics system. The second target acquisition system 101b can remain active for the rest of the mission of the initial interceptor UAV <NUM>.

Once the second target acquisition system 101b has acquired the target, the process can include comparing the image(s) obtained from the second target acquisition system 101b with the image(s) obtained from the ground-based optics system <NUM> and/or other elements of the first target acquisition system 101a. This process can be performed to confirm that the target acquired by the interceptor UAV <NUM> matches the target identified by the ground-based or other target acquisition systems. The comparison process can be carried out by a human operator in particular embodiments, and can be automated in other embodiments.

At time T9, an engagement decision is made. In some embodiments, human operators or other suitable personnel make the decision, and in other embodiments, the decision can be automated. In any of these embodiments, the decision can be made based on the comparison process described above, and/or other information received from the second target acquisition system 101b (carried by the first interceptor UAV <NUM>) and/or other information received from the first target acquisition system 101a and/or other assets or subsystems. Once the decision is made, the first interceptor UAV <NUM> receives instructions to either continue with the intercept track, or abort the intercept track and return to ground. If the decision is made to abort the intercept track, the first interceptor UAV <NUM> returns to its base (or another suitable landing site) and lands, for example, with a controlled descent into an airbag, or via another suitable procedure.

If the decision is made to continue with the intercept track, then at time T10, the first interceptor UAV <NUM> executes a terminal maneuver. In a particular embodiment, the interceptor UAV achieves a velocity of <NUM> KTAS for this portion of the mission. In cases for which the interceptor UAV <NUM> includes an outward-deploying net, the track toward the target UAV <NUM> can be head-on to increase the likelihood for a successful engagement. The terminal maneuver can include deploying the disabling system <NUM> (e.g., deploying a net <NUM> and associated weights <NUM>) that make contact with, tangle with, and/or otherwise disable the target UAV <NUM>. In one aspect of this embodiment, the net <NUM> deploys generally outwardly to entangle the oncoming target UAV <NUM>. In a further aspect of this embodiment, the net's outward deployment direction (rather than a forward deployment direction) reduces the likelihood that the net <NUM> will interfere with the nose-mounted second target acquisition system 101b. In other embodiments, the second target acquisition system 101b can be expended during the disabling process. In such cases, the interceptor UAV <NUM> can use other systems to perform a controlled landing, or can itself be expended.

During the disabling process, the net <NUM> can tangle with or otherwise become caught in the propeller(s), fuselage, lifting surfaces and/or other elements of the target UAV <NUM>, so as to interfere with and disable the controlled flight of the target UAV <NUM>. The net <NUM> can remain attached to the interceptor UAV <NUM> after it is deployed, so that both the first interceptor UAV <NUM> and the entangled target UAV <NUM> fall to the ground. In other embodiments, the net <NUM> can be released by the first interceptor UAV <NUM>, in which case, the target UAV <NUM> can fall to the ground, and the first interceptor UAV <NUM> can return to ground in accordance with a controlled process (e.g., a normal landing), similar to or identical to the process described above in which the interceptor UAV <NUM> lands if a decision is made to abort the intercept mission.

If the first interceptor UAV <NUM> is successful, then at time T11, the intercept process is complete, and at time T12, the system <NUM> confirms the success of the intercept, e.g., from the ground-based optics system <NUM> and/or another sensor. The second interceptor UAV <NUM> then lands in a controlled manner.

If the terminal maneuver and intercept processes carried out by the first interceptor UAV <NUM> are not successful (e.g., if the first interceptor UAV <NUM> did not or did not sufficiently disable the target UAV <NUM>), and if the first interceptor UAV <NUM> is still flyable, then the first interceptor UAV <NUM> returns to its base. For example, if the interceptor UAV releases the net <NUM> as part of the disabling process, and does not strike the target UAV <NUM> as part of the engagement maneuver, then the interceptor UAV <NUM> can redirect its flight path to land. If the net <NUM> remains attached to the interceptor UAV <NUM> during a normal disabling process, and the disabling process is not successful, the interceptor UAV <NUM> can jettison the net <NUM> before landing. In one aspect of such an embodiment, the net <NUM> can be deployed from the tail of the interceptor UAV <NUM> rather than the nose, to avoid interfering with the propellers of the interceptor UAV <NUM>.

If the first interceptor UAV <NUM> is unsuccessful, then the second interceptor UAV <NUM> continues to carry out the mission. For example, at time T12, the second interceptor UAV <NUM> can acquire the target UAV <NUM>. At time T13, the second interceptor UAV <NUM> can be directed to either complete the engagement process or return to base, and at time T14, the second interceptor UAV <NUM> can execute the terminal engagement process. At time T15, the second interceptor UAV <NUM> intercepts the target UAV <NUM>, and at time T16, the system <NUM> confirms a successful intercept by the second interceptor UAV <NUM>.

<FIG> is a table illustrating representative specifications for an interceptor UAV <NUM> configured in accordance with a particular embodiment of the present technology. <FIG> includes representative values for gross take-off weight (GTOW), payload, fuel (e.g., battery size and type), mission radius, endurance, speeds, ceiling, engine specification, wingspan, and recovery footprint (e.g., the size of an airbag used to recover the interceptor UAV <NUM>). It is expected that an interceptor UAV <NUM> with the characteristics identified in <FIG> can successfully intercept and disable a wide range of incoming target UAVs <NUM>, e.g., ranging in size from micro-UAVs and quad-copters up to Tier II tactical UAS vehicles. Such UAVs are expected to be successfully intercepted and disabled at altitudes ranging from <NUM>-<NUM> feet AGL.

<FIG> illustrates a representative disabling system <NUM> configured in accordance with a particular embodiment of the disclosed technology. The system <NUM> can include a net gun <NUM>, such as are commercially available for capturing wild animals. The net gun <NUM> can include a propellant <NUM> (e.g., a conventional CO<NUM> cartridge) which directs a net <NUM> in a laterally outward direction. The weights <NUM> spread the net <NUM> out as it deploys. The disabling system <NUM> can have multiple modes, e.g., an inactive mode, an armed mode and a deployed mode. In other embodiments, the disabling system <NUM> can include other elements. For example, the disabling system <NUM> can include projectile, explosive, and/or energy-based components (e.g., lasers and/or high-powered RF generators).

<FIG> is a partially schematic illustration of particular components of the overall system <NUM> and containers in which the components can be transported. For example, <FIG> illustrates a representative land-based optics system <NUM>, a pair of antenna interface terminals <NUM> (for communication with the interceptor UAVs), and a ground-based radar and support system 104b. <FIG> also illustrates a representative command, control and data system <NUM>, for example, an ICOMC2 system available from Insitu Inc. The system <NUM> can include two operator work stations, one for each of the interceptor UAVs <NUM> that can be deployed against a single target UAV <NUM>. The foregoing elements can be transported in first containers 107a (e.g., six such containers) and second containers 107b can be used to carry miscellaneous components and other components not specifically shown in <FIG>, including the vehicle itself, launch systems, recovery systems, and storage and health systems. These containers are specifically designed to be readily transported and handled manually or with automated equipment.

One feature of several of the embodiments described above is that the system <NUM> can include the capability for the interceptor UAV <NUM> to be recovered and reused, for example, if it has not successfully engaged with an incoming target. This feature can be advantageous because it reduces the cost of operating the system <NUM> in the event that a particular interceptor UAV <NUM> is unable to successfully engage with the target. This feature can also reduce or eliminate the likelihood for collateral damage.

Another feature of at least some of the foregoing embodiments is that the overall system <NUM> can deploy multiple interceptor UAVs <NUM> against a single incoming target UAV <NUM>. This ability to provide redundant and/or multiple countermeasures against the target UAV <NUM>, thus improving the likelihood for disabling the target UAV <NUM>. For example, this arrangement can provide a "second chance" in the event that an initial interceptor UAV is unsuccessful in its attempt to disable the incoming target UAV <NUM>. The overall result of the foregoing features is that the system <NUM> can be robust and low cost, compared with other conventional systems.

Still another feature of at least some of the embodiments described above is that the interceptor UAV <NUM> can include counter-rotating propellers located along the length of the UAV and/or integrated with the fin structure of the UAV. An advantage of this configuration is that it can provide a compact, efficient, propeller-based interceptor function, suitable for intercepting vehicles having relatively low airspeeds, without the complexity, expense, and/or handling complications presented by more complex rocket-based or gas turbine-based systems. In addition, this configuration is expected to be highly maneuverable, which can in turn increase the likelihood of a successful engagement. For example, the highly maneuverable configuration can allow the interceptor UAV <NUM> to account for evasive maneuvers performed by the target UAV <NUM>, and/or can allow the interceptor UAV <NUM> to re-engage with the target UAV <NUM> if its initial engagement is unsuccessful.

From the foregoing, it will be appreciated that specific embodiments of the disclosed technology have been described herein for purposes of illustration, but that various modifications may be made without deviating from the technology. For example, while certain embodiments of the system were described above in the context of an interceptor UAV that deploys a net to engage and disable a target UAV, in other examples not falling within the scope of the appended claims, the interceptor UAV can include other disabling systems. Such disabling systems can include the nose or other portion of the interceptor UAV <NUM> in an embodiment for which the interceptor UAV strikes the target UAV <NUM> in order to disable it. The first and second detectors described above in the context of radars 104a, 104b can have other configurations (e.g., IR or optical detectors) in other embodiments. Representative embodiments of the interceptor UAV <NUM> are shown as having a missile-type silhouette, with a generally round, cylindrical shape. In other embodiments, the interceptor UAV fuselage can have other shapes, and/or the flight vehicle <NUM> can have other suitable overall configurations. The flight vehicle <NUM> can have four fins arranged in a cruciform shape in some embodiments, and can have other arrangements and/or numbers of fins (e.g., three) in other embodiments. The flight vehicle <NUM> can launch vertically and land horizontally onto an airbag in some embodiments, and can launch and/or land in other manners in other embodiments. "Disabling" the target UAV can include causing the target UAV to deviate from its flight path sufficiently to reduce or eliminate the threat provided by the target UAV. This can include causing the target UAV to crash, arresting the target UAV, disrupting the target UAV and/or diverting the target UAV from its intended target or other target of value. The engagement system and/or the disabling system can be designed into the flight vehicle prior to manufacture, and/or can be configured to retrofit an existing flight vehicle.

While certain embodiments were described above in the context of a system that deploys multiple interceptor UAVs toward a single target UAV, other systems may be configured to deploy only a single interceptor UAV against any single incoming target UAV.

Claim 1:
A counter-UAV system comprising:
a guidance system (<NUM>);
a communication system (<NUM>); and
an interceptor UAV (<NUM>) for disabling a target UAV (<NUM>), the interceptor UAV comprising:
a flight vehicle having:
a cylindrical fuselage (<NUM>) elongated along a fuselage axis (<NUM>);
four fins (<NUM>) carried by the fuselage and arranged in a cruciform, each fin having a fin slot (<NUM>) extending from the fuselage in an outboard direction transverse to the fuselage axis;
a propulsion system (<NUM>) that includes:
a first propeller (121a) carried by the cylindrical fuselage and rotatable about the fuselage axis in a first direction to sequentially pass in and out of successive fin slots;
a second propeller (121b) carried by the fuselage and rotatable about the fuselage axis in a second direction opposite the first direction to sequentially pass in and out of the successive fin slots;
a power source (<NUM>) carried by the fuselage, the power source including a first electric motor (122a) coupled to the first propeller to rotate the first propeller in the first direction, and a second electric motor (122b) coupled to the second propeller to rotate the second propeller in the second direction; and
a stored electrical energy source (<NUM>) coupled to the first and second electric motors;
at least one control surface carried by at least one of the fins; and
a deployable net (<NUM>) carried by the flight vehicle and having a first, inactive mode and a second, active mode, wherein in the second mode, the deployable net is deployed from the flight vehicle to disable the target UAV,
wherein the guidance system (<NUM>) is coupled to the at least one control surface to steer and maneuver the interceptor UAV,
wherein the guidance system (<NUM>) operates to control and guide the interceptor UAV (<NUM>) toward the target UAV (<NUM>).