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The rapid development of unmanned aerial vehicles (UAVs) has led to many security problems. In order to prevent UAVs from invading restricted areas or famous buildings, an anti-UAV defense system (AUDS) has been developed and become a research topic of interest. Topics under research in relation to this include electromagnetic interference guns for UAVs, high-energy laser guns, US military net warheads, and AUDSs with net guns. However, these AUDSs use either manual aiming or expensive radar to trace drones. This research proposes a dual-axis mechanism with UAVs automatic tracing. The tracing platform uses visual image processing technology to trace and lock the dynamic displacement of a drone. When a target UAV is locked, the system uses a nine-axis attitude meter and laser rangers to measure its flight altitude and calculates its longitude and latitude coordinates through sphere coordinates to provide drone monitoring for further defense or attack missions. Tracing tests of UAV flights in the air were carried out using a DJI MAVIC UAV at a height of 30 m to 100 m. It was set up for drone image capture and visual identification for tracing under various weather conditions by a thermal imaging camera and a full-color camera, respectively. When there was no cloud during the daytime, the images acquired by the thermal imaging camera and full-color camera provide a high-quality image identification result. However, under dark weather, black clouds will emit radiant energy and seriously affect the capture of images by a thermal imaging camera. When there is no cloud at night, the thermal imaging camera performs well in drone image capture. When the drone is traced and locked, the system can effectively obtain the flight altitude and longitude and latitude coordinate values.

Development of UAV Tracing and Coordinate Detection Method Using a Dual-Axis Rotary Platform for an Anti-UAV System