Recently, the use of civilian drone, such as drones for toys and aerial photographs, has increased dramatically. The indiscriminate increase in drones has been caused many problems, including security facilities shot, privacy violation, and threats to people in non-flying areas. In addition, terrorist groups such as ISIS, Hamas and Hezbollah have drones or have core technologies, so the risk of terrorism using drones has become an issue that can not be overlooked anymore. In this paper, we design a system for tracking drones to prevent illegal operation. It is assumed that the aerial target used in this research has highly maneuverable characteristics through a control input that the tracker does not know. In order to track a highly maneuverable target, it is necessary to predict the future position through the current estimated target flight state. We proposed the algorithm that can track highly maneuverable target by applying the existing guidance law of impact angle control using prediction information. We applied the weighting function using the variance information estimated by Bayesian method. The performance of the developed tracking system was verified by 6 DOF flight simulation. Finally, we implemented it through flight experiment and compared with simulation results.
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