The rapidly increasing availability of low-cost commercial UAVs poses significant security challenges for critical infrastructure and law enforcement agencies. This paper presents an integrated LiDAR-based detection and vision-based verification system for an autonomous drone-on-drone aerial interception system. To eliminate the threat of possible dangerous target drones, the interception UAVs presented in this paper use a net to capture them safely in the air. The system addresses the critical limitation of ground-based sensors, which provide insufficient precision for reliable net-based capture operations. Moving beyond simulation-only approaches, the core novelty of this work lies in the successful real-world integration of these sensors on a strictly constrained aerial platform in size, weight and power to achieve sub-meter terminal guidance precision. The developed system uses real-time point cloud processing, DBSCAN clustering, and Moving Horizon Estimation tracking for the detection and tracking of the target. Vision-based verification uses a custom-trained YOLO neural network and achieves over 90% detection rates. The evaluation demonstrates a detection accuracy of less than 0.4 m at ranges exceeding 40 m during dynamic interception scenarios using RTK-GNSS ground truth. The dual-sensor approach successfully completed multiple autonomous interception missions with target detection ranges of up to 60 m, validating the capability of the system for safe, autonomous civilian UAV interception.
Rothe et al. (Thu,) studied this question.
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