Saldir bana ve işaretlen: quadrotora yapilan saldiriyi tespit edebilen bir modül eklentisi için konsept, analitik ve simülasyon modeli

Mini and Micro Unmanned Aerial Vehicle (mUAV) platforms are gaining popularity in low-altitude strike/defense systems due to their low cost, low visibility, and capability to operate as swarms. These platforms, often touted for their low cost and visibility, have come a long way in terms of capabilities, are regularly used to provide eye-in-the-sky support for ground troops, and are on their way towards being deployed as swarms for dangerous missions where the survival rate is low. Despite the hype, these platforms are vulnerable to attacks from the ground and can be brought down easily by snipers. In this thesis, we propose a ``strike me and get marked`` (SMAGM) module for quadrotor UAVs that can localize the position of a sniper after being shot. The module is inspired by the defensive behavior of honeybees, where killing a bee releases chemicals that mark the killer as a target. Equipped with such a defense coordination mechanism, bees can deter their enemies since the more bees one kills, the larger the target it becomes, by drawing the wrath of the swarm on itself. The module, envisioned as a stand-alone unit affixed on the UAV platform, can broadcast the position of the sniper to other forces on the ground or air. Such a competence would deter potential attackers from shooting UAVs since such an action would mark their position as targets. Upon being shot by a bullet, the module takes readings from its Inertial Measurement Unit (IMU) sensor to compute the instantaneous force vector at the time of the impact and uses this information to localize the position of the sniper. Towards this end, this thesis proposed a method to estimate the force vector generated by the impact of the bullet using disturbance estimation methods and then uses the force vector and the altitude of the UAV to localize the position of the sniper. The methods are verified and systematically evaluated on a Quadrotor model simulated in the Gazebo simulator.