Active Project · Horus University ECE · Team Leader

SENTINEL Advanced System for Drone Detection, Tracking, and Neutralization

Real-time counter-drone platform on Raspberry Pi 5 — YOLOv8 AI vision pipeline, RF spectrum monitoring, PTZ motor tracking, and live dashboard under 40ms latency.

42
FPS Idle
28
FPS Detect
<40
ms Latency
88.8%
mAP50 AI
1.2km
Detection Range
View Source Code ↗ Run Live Simulation
TEAM — 6 MEMBERS
Islam Emad Ismail — Leader Abdelaziz Eltohami Mohamed Rafeek Marzouk El-Fauomy Rawan Mohammed Elbialy Sagy Shawky Abo El-Naga Islam Hesham Hamed
SUPERVISORS
Prof. Dr. Amr Hussein Assoc. Prof. Dr. Mervat Elseddek Dr. Rania Al-Abd
Interactive System Simulation

Live Visual Simulation

Real drone imagery rendered through the SENTINEL detection pipeline. Select a scenario to see how the system responds in real time.

HIKVISION DS-2DE4225IW — LIVE FEED
NOMINAL
SENTINEL SYS v1.0
ZOOM: 1.0×
BEARING: 000°
TARGETS: 0
MODE: IDLE
FPS: —
SYSTEM DIAGNOSTICS // RPi5 —
FPS
—
frames/sec
Latency
—
ms e2e
CPU
—
% avg
RAM
—
MB used
RADAR SWEEP — DETECTION ZONE
Scanning...
PROCESSING PIPELINE
◈ Awaiting Simulation
Select a scenario and press Run.
System Architecture

Hardware & Software Stack

Hardware Platform
SBCRaspberry Pi 5 — ARM64 · 8GB LPDDR4X
CameraHikvision DS-2DE4225IW-DE(T5) PTZ
RF ScannerHTOOL-SA 6G Spectrum Analyzer — 2.4GHz / 5.8GHz
MotorStepper Motor via GPIO (28BYJ-48)
TripodKINGJOY VT-2100L
OSRaspberry Pi OS 64-bit (Bookworm)
AI Detection Pipeline

Motion trigger via MOG2 background subtraction → YOLOv8-nano inference every 3rd frame (skip=2) → CSRT tracker + Kalman filter for trajectory prediction → PTZ motor slew to bearing angle.

YOLOv8-nanoOpenCV CSRTKalman Filter MOG2PyTorchUltralytics MJPEG StreamGPIO Motor
Web Dashboard & Alerting
Flask + Flask-SocketIO live dashboard with real-time MJPEG video stream, detection overlays, system telemetry, and Telegram Bot API alerting with photo snapshots.
FlaskSocketIOMJPEG Telegram Bot APIHTML/CSS/JS
RF Spectrum Monitoring
Parallel RTL-SDR thread continuously scans 2.4GHz and 5.8GHz drone control frequencies. Energy threshold detection triggers alert alongside visual detection for multi-modal confirmation.
HTOOL-SA 6G Spectrum AnalyzerGNU Radio2.4GHz 5.8GHzEnergy Threshold
Next Generation

Phase II — SENTINEL Mk-II

A complete sensor-fusion upgrade. Phase II transforms SENTINEL from a single-modal visual tracker into a multi-spectrum threat identification system — combining RF spectrum analysis, angle-of-arrival triangulation, directional neutralization, and AI quantization for real-time edge performance.

2 COMPONENTS ACQUIRED
4 IN DEVELOPMENT
1 REGULATORY CLEARANCE
HARDWARE ACQUIRED ✓

HTOOL-SA 6G
Spectrum Analyzer

Wideband RF spectrum analysis from 35MHz to 6.2GHz — replaces the RTL-SDR entirely. Simultaneous monitoring of all known drone control frequencies: 433MHz, 868MHz, 915MHz, 2.4GHz, 5.8GHz. Real-time energy waterfall display with RSSI-to-range estimation and anomaly flagging.

6.2GHz
MAX FREQUENCY
35MHz
MIN FREQUENCY
USB
INTERFACE
LIVE SPECTRUM PREVIEW
FREQ →
35MHz
6.2GHz
433M
2.4G
5.8G
IN DEVELOPMENT

ULA Array
Angle-of-Arrival

4-element Uniform Linear Array feeding the MUSIC algorithm — generates a 60° spatial spectrum. Provides precise bearing angle to target drone, enabling directional slew without camera confirmation.

P_MUSIC(θ) = 1 / (a(θ)ᴴ E_n E_nᴴ a(θ))
MUSIC spatial spectrum — peak = target bearing
60°
AoA RESOLUTION
4
ANTENNA ELEMENTS
λ/2
ELEMENT SPACING
PENDING CLEARANCE · NTRA Law 10/2003

GaN Directional
Neutralization

High-power Gallium Nitride directional jammer — targets drone control links (2.4GHz / 5.8GHz) with narrow-beam RF emission. Slaved to AoA bearing from ULA array for pinpoint neutralization. Regulatory clearance under review.

GaN
TRANSISTOR TECH
2.4/5.8
TARGET GHz
~15°
BEAM WIDTH
IN DEVELOPMENT

ONNX/INT8
AI Quantization

Converts YOLOv8-nano to ONNX INT8 format — eliminating PyTorch overhead. Expected 2× inference speedup on RPi5 ARM64, targeting 38+ FPS in multi-target scenarios without GPU acceleration.

Current: PyTorch FP3214ms/frame
Target: ONNX INT8~7ms/frame
PLANNED

360° Servo Platform

Replaces stepper motor — continuous rotation servo eliminates the 180° mechanical limit. Faster slew rate, quieter operation, lower power draw.

ACQUIRED ✓

4S LiPo Field Power

Field-deployable 4S LiPo pack with 5V/12V regulation. Untethered operation — no mains power required for field deployment.

SYSTEM EVOLUTION — MK-I → MK-II
SENTINEL MK-I (Phase I)
✓ YOLOv8-nano Vision
✓ CSRT + Kalman Tracking
✓ RTL-SDR RF Monitor
✓ PTZ Stepper Motor
✓ Flask Dashboard
→
UPGRADE
SENTINEL MK-II (Phase II)
+ HTOOL-SA 6G Spectrum
+ ULA AoA (MUSIC)
+ GaN Directional Jammer
+ ONNX/INT8 (2× speed)
+ 360° Servo + 4S LiPo
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