Pursuing Drones With Drones Using Millimeter Wave Radar

Drones are being used more and more often for various human and industry friendly applications. However, users with evil intentions also have access to drones and do not hesitate to use them for harmful purposes, eventually hurting humans and the economy. In this work, we present an active drone detection system that uses a millimeter wave radar mounted on a drone with the objective of detecting, tracking and pursuing target drones. The pursuer drone utilizes a 2D radar, and therefore a method to estimate 3D position of the target drone using 2D measurements is also presented in this article. The method was validated and its effectiveness was tested on the field using two drones of different sizes and a commercial off-the-shelf radar.