Intruder Drone Localization Based on 2D Image and Area Expansion Principle for Supporting Military Defence System

Improper usage of UAV or drone allows people to conduct strikes on vital properties, such as a military base. The critical capabilities of drone are its movement flexibility and its relatively small size. These abilities make standard radar systems hard to detect drone position. Thus, the counter-attack maneuver towards drone attacks becomes difficult. We propose a framework to establish a radar-like information system that can track the location of any intruder drone attacking a prohibited area. It works by using a UAV tracker equipped with a calibrated 2D camera and GPS sensor. This tracker uses a camera to detect the existence of an intruder, then follow the intruder while sending the intruder's coordinate to a specific server by estimating the intruders' location using both sensors. We describe the mathematical model to estimate the relative position of an intruder drone from our UAV tracker by using a 2D camera, then combine the obtained information with GPS sensor data to pinpoint the coordinate of any intruder. We adopt the Area Expansion Principle as the mathematical model. As a result, we reduce the cost of intruder drone detector system that is useful for defending an area.