U.S. patent application number 17/159351 was filed with the patent office on 2021-08-12 for virtual radar system for unmanned aerial vehicles.
The applicant listed for this patent is Steven LU, Eyal STEIN. Invention is credited to Steven LU, Eyal STEIN.
Application Number | 20210250084 17/159351 |
Document ID | / |
Family ID | 1000005541268 |
Filed Date | 2021-08-12 |
United States Patent
Application |
20210250084 |
Kind Code |
A1 |
STEIN; Eyal ; et
al. |
August 12, 2021 |
VIRTUAL RADAR SYSTEM FOR UNMANNED AERIAL VEHICLES
Abstract
In various embodiments, a safety system for an unmanned aerial
vehicles (UAV) enable the safe operation of the UAV within an
airspace by or exampe initiating various actions based on the
position of the UAV relative to one or more flight zones and/or
relative to other aircraft in the airspace.
Inventors: |
STEIN; Eyal; (Sharon,
MA) ; LU; Steven; (Burlington, MA) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
STEIN; Eyal
LU; Steven |
Sharon
Burlington |
MA
MA |
US
US |
|
|
Family ID: |
1000005541268 |
Appl. No.: |
17/159351 |
Filed: |
January 27, 2021 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
|
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15285084 |
Oct 4, 2016 |
10937326 |
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17159351 |
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62237120 |
Oct 5, 2015 |
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Current U.S.
Class: |
1/1 |
Current CPC
Class: |
G05D 1/0011 20130101;
H04B 7/18506 20130101; G08G 5/0013 20130101; H04W 4/06 20130101;
H04L 65/4076 20130101; B64D 47/08 20130101; H04W 4/027 20130101;
H04W 84/18 20130101; G08G 5/045 20130101; G05D 1/005 20130101; G05D
1/0055 20130101; B64C 39/024 20130101; H04W 84/20 20130101; B64D
17/80 20130101; H04W 4/30 20180201; B64C 2201/141 20130101; G08G
5/0008 20130101; G08G 5/0069 20130101; G08G 5/04 20130101; G08G
5/02 20130101; G08G 5/006 20130101; G08G 5/0082 20130101; B64C
2201/127 20130101 |
International
Class: |
H04B 7/185 20060101
H04B007/185; H04L 29/06 20060101 H04L029/06; G08G 5/04 20060101
G08G005/04; G05D 1/00 20060101 G05D001/00; G08G 5/00 20060101
G08G005/00; B64C 39/02 20060101 B64C039/02; H04W 4/30 20060101
H04W004/30; B64D 17/80 20060101 B64D017/80; G08G 5/02 20060101
G08G005/02; B64D 47/08 20060101 B64D047/08; H04W 4/02 20060101
H04W004/02; H04W 4/06 20060101 H04W004/06 |
Claims
1.-13. (canceled)
14. A safety system for an unmanned aerial vehicle (UAV) operable
within an airspace, the system comprising: a computer processor; a
memory; one or more sensors for sensing at least one of a position
of the UAV, a velocity of the UAV, or a heading of the UAV; a
hybrid surveillance module for monitoring radio transmissions from
aircraft in proximity to the UAV; a plurality of radio transceivers
each operating on a different frequency; and a failsafe trigger
module for operating a disabling mechanism configured to disable
the UAV during operation thereof, wherein the computer processor is
configured to, when the UAV is in motion within the airspace, (i)
form a wireless ad hoc network with one or more other UAVs that are
in motion within the airspace, and (ii) only when the UAV is
designated as a master node in the wireless ad hoc network,
broadcast collision alerts to other aircraft (a) within the
airspace and (b) not within the wireless ad hoc network.
15. The system of claim 14, wherein the computer processor is
configured to designate the UAV as the master node or a slave node
in the wireless ad hoc network based on, at least in part,
proximity to an aircraft within the airspace.
16. The system of claim 15, wherein the computer processor is
configured to designate the UAV as the master node when the UAV is
the closest UAV to the other aircraft.
17. The system of claim 14, wherein the computer processor is
configured to designate the UAV as the master node or a slave node
in the wireless ad hoc network based on, at least in part, a size
of the UAV relative to sizes of the one or more other UAVs.
18. The system of claim 14, wherein the computer processor is
configured to designate the UAV as the master node or a slave node
in the wireless ad hoc network based on, at least in part, a
transmission power of at least one of the radio transceivers of the
UAV relative to transmission powers of radio transceivers, if
present, of the one or more other UAVs.
19. The system of claim 14, wherein the computer processor is
configured to designate the UAV as the master node or a slave node
in the wireless ad hoc network based on, at least in part, a
remaining power supply of the UAV relative to remaining power
supplies of the one or more other UAVs.
20. The system of claim 14, wherein the computer processor is
configured to designate the UAV as the master node in the wireless
ad hoc network when at least one of the one or more other UAVs lack
capability to broadcast collision alerts to the other aircraft.
21. The system of claim 14, wherein at least one of the one or more
other UAVs lacks capability to broadcast collision alerts to the
other aircraft.
22. The system of claim 14, wherein the computer processor is
configured to determine whether the other aircraft are UAVs or
manned aircraft.
23. The system of claim 14, wherein the computer processor is
configured to broadcast collision alerts to other aircraft only
when the other aircraft are within a predetermined distance from
the UAV or from at least one said other UAV.
24. The system of claim 14, wherein the computer processor is
configured to, when the collision alert is broadcast from the UAV,
decrease a transmission power of the collision alert so that the
collision alert is receivable only within a predetermined distance
from the UAV.
25. The system of claim 14, wherein the computer processor is
configured to designate the UAV as a slave node in the wireless ad
hoc network when the hybrid surveillance module and/or at least one
radio transceiver is damaged or inoperable.
26. The system of claim 14, wherein the UAV is configured to be
operated by a first operator.
27. The system of claim 26, wherein the computer processor is
configured to form the wireless ad hoc network with the one or more
other UAVs only when the one or more other UAVs are operated by the
first operator.
28. The system of claim 26, wherein the computer processor is
configured to form the wireless ad hoc network with the one or more
other UAVs when at least one of the one or more other UAVs are
operated by a second operator different from the first
operator.
29. The system of claim 14, wherein the one or more sensors
comprise at least one of a global positioning system unit, a
camera, or an inertial measurement unit.
30. The system of claim 14, wherein the hybrid surveillance module
comprises at least one of: an automatic dependent
surveillance-broadcast (ADS-B) transceiver operating at a frequency
of 1090 MHz; or a traffic collision avoidance system (TCAS)
transceiver.
31. The system of claim 14, wherein the plurality of radio
transceivers comprises at least one of: a cellular radio
transceiver; a VHF radio transceiver; a UHF radio transceiver; or a
data link for communicating with other UAVs.
32. The system of claim 31, wherein the data link operates at a
frequency of approximately 2.4 GHz.
33. The system of claim 14, wherein the disabling mechanism
comprises at least one of a kill switch or a parachute.
Description
RELATED APPLICATIONS
[0001] This application claims the benefit of and priority to U.S.
Provisional Patent Application No. 62/237,120, filed Oct. 5, 2015,
the entire disclosure of which is hereby incorporated herein by
reference.
TECHNICAL FIELD
[0002] In various embodiments, the present invention relates to the
operation of unmanned aerial vehicles.
BACKGROUND
[0003] An unmanned aerial vehicle (UAV), commonly known as a drone
or unmanned aerial system (UAS) and also referred to as a remotely
piloted aircraft, is a flight vehicle without a human pilot aboard.
Its path is controlled either autonomously by onboard computers or
by the remote control of a pilot on the ground or in another
vehicle. Drones have proliferated in number as recognition of their
widespread and diverse commercial potential has increased. Numerous
industries are embracing drones to improve or streamline day-to-day
operations. In addition, a rapidly growing hobbyist community has
been inspired by the marvel of owning technology previously
accessible only to governments, national agencies, and film
producers with creative special effects departments.
[0004] With the growing number of active drones, and new
applications being imagined every day, legitimate concerns are
being raised about risk to civil aviation as well as to lives and
property should a drone inadvertently leave its pilot's control.
Such a drone can continue flying until it runs out of power or
strikes an obstacle, while being completely undetectable and
invisible to manned aircraft and ground-based air-traffic control
management systems. Currently available drones are not designed to
communicate with other fixed or airborne civil aviation safety
systems to avoid midair collisions. Thus, there is a need for
improved systems and techniques for the safe operation of drones
operated in airspace shared with other aircraft.
SUMMARY
[0005] Various embodiments of the present invention provide a
platform that functions as a "drone virtual radar system" (DVRS)
that may be integrated with existing drone designs and make these
drones visible to civil aviation in the event of a drone
flight-control malfunction, or when the drone poses a potential
hazard to manned aircraft. At the same time, the DVRS offers drone
operators additional layers of safety assurance through real-time
traffic monitoring and automatic triggering of drone failsafe
mechanisms. (The terms "UAV," "UAS," and "drone" are utilized
interchangeably herein.)
[0006] In various embodiments, the DVRS and/or one or more
components and/or functionalities thereof is integrated into a
drone, for example, when the drone is assembled. In various
embodiments, at least a portion of the DVRS is disposed within a
stand-alone component that may be electrically and mechanically
connected to a drone after the drone has been fabricated.
[0007] In various embodiments, the DVRS monitors, in real time, the
state and velocity of the drone that it is installed on. In
addition, in various embodiments the DVRS advantageously avoids
civil-aviation safety-system frequency congestion by ensuring that
any broadcasts by the drone occur only when appropriate--i.e., when
the drone presents a potential safety hazard to civil aviation.
Thus, if the drone is equipped with safety oriented failsafe
mechanisms, the DVRS may trigger one or more thereof if the drone
leaves a predetermined flight zone (e.g., the hounds established by
the drone operator and/or by government regulations).
[0008] If the drone is not equipped with any safety-oriented
failsafe mechanisms, or these mechanisms have failed to return the
drone to its approved flight area (or disable the drone), the DVRS
may, in various embodiments, initiate a collision alert (e.g., a
radio broadcast such as an automatic dependent surveillance
broadcast and an active interrogation and monitoring of traffic
collision avoidance system (TCAS) frequencies) to continuously
alert civil aviation aircraft and/or ground-based air traffic
controllers to the drone state and velocity. In this manner,
embodiments of the invention assure that the drone does not pose a
safety hazard to civil aviation is by ensuring that the drone is
fully visible to all civil aviation aircraft and ground-based air
traffic control stations to allow civil aviation aircraft to
maneuver away from the drone.
[0009] In various embodiments, the DVRS monitors in real time the
state and velocity of the drone that it is installed on while
simultaneously monitoring in real time all civil aviation aircraft
in close proximity to the drone. In some cases, such as drone
operator error, or special permissions given to the drone operator
to operate the drone in close proximity to low flying civil
aircraft, the DVRS may broadcast a collision alert when a civil
aviation aircraft strays too close to the drone. In this manner,
the DVRS alerts civil aviation aircraft and ground-based air
traffic controllers to the drone state and velocity until the civil
aviation aircraft has maneuvered away from the drone so that the
drone no longer poses a safety hazard to the civil aircraft.
[0010] In additional embodiments, the DVRS enables multiple drones
in proximity to each other to interconnect in a wireless ad hoc
network. One of the drones in the network may be designated as the
master node (or "master drone"), and in the event that a civil
aircraft strays too close to the networked drones, the master drone
may initiate a collision alert on behalf of the entire network,
thereby assuring that civil aviation radio frequencies (e.g., the
ADS-B and TCAS frequencies) are not saturated with multiple
broadcasts from multiple drones in a tight formation.
[0011] In an aspect, embodiments of the invention feature a method
of safely operating an unmanned aerial vehicle (UAV) within an
airspace. A designated flight zone having an outer boundary is
defined for the UAV within the airspace. A regulation-established
flight zone having an outer boundary is defined for the UAV within
the airspace. At least a portion of the outer boundary of the
regulation-established flight zone extends beyond at least a
portion of the outer boundary of the designated flight zone. A
position of the UAV relative to the designated flight zone and
relative to the regulation-established flight zone and a position
of the UAV relative to other aircraft in at least a portion of the
airspace are monitored (e.g., simultaneously monitored). At least
one of (a) broadcasting a warning signal to the operator of the
UAV, (b) initiating a failsafe protocol that removes the UAV from
the airspace, or (c) broadcasting a collision alert from the UAV to
at least one aircraft in the airspace is performed based on at
least one of (i) the position of the UAV relative to the designated
flight zone, (ii) the position of the UAV relative to the
regulation-established flight zone, or (iii) the position of the
UAV relative to aircraft in the airspace.
[0012] Embodiments of the invention may include one or more of the
following in any of a variety of combinations. The failsafe
protocol may include, consist essentially of, or consist of one or
more of automatically routing the UAV back to an operator of the
UAV or to another location, directing the UAV to descend and land,
or activating a disabling mechanism for disabling the UAV. The
disabling mechanism may include, consist essentially of, or consist
of a kill switch and/or a parachute. The collision alert may be
broadcast. The collision alert may include, consist essentially of,
or consist of an automatic dependent surveillance--broadcast
(ADS-B) transmission and/or a traffic collision avoidance system
(TCAS) transmission. A range of the collision alert may be
controlled to be sufficient to be received only by aircraft within
a predetermined distance from the UAV. Controlling the range of the
collision alert may include, consist essentially of, or consist of
limiting a power of the ADS-B transmission and/or a power of the
TCAS transmission. The regulation-established flight zone may be
defined based at least in part on one or more rules. The one or
more rules may include, consist essentially of, or consist of one
or more of a received sectional aeronautical chart, a received
temporary flight restriction, or a government (e.g., Federal
Aviation Administration) regulation. At least one of the rules may
be received by the UAV when the UAV is powered up and/or via a
cellular network. The outer boundary of the designated flight zone
may be updated at least once during operation of the UAV based at
least in part on a revised flight restriction.
[0013] The failsafe protocol may be initiated when an aircraft
enters the designated flight zone irrespective of the position of
the UAV within the airspace. The failsafe protocol may be initiated
when an aircraft enters the regulation-established flight zone
irrespective of the position of the UAV within the airspace. When
an aircraft enters the regulation-established flight zone, the
collision alert may be broadcast from the UAV at least to the
aircraft irrespective of the position of the UAV within the
airspace. When an aircraft enters the designated flight zone, the
collision alert may be broadcast from the UAV at least to the
aircraft irrespective of the position of the UAV within the
airspace. The failsafe protocol may be initiated when the UAV
leaves the designated flight zone irrespective of the position of
any other aircraft within the airspace. The failsafe protocol may
be initiated when the UAV leaves the regulation-established flight
zone irrespective of the position of any other aircraft within the
airspace. A disabling mechanism for disabling the UAV may be
activated when the UAV leaves the designated flight zone
irrespective of the position of any other aircraft within the
airspace. A disabling mechanism for disabling the UAV may be
activated when the UAV leaves the regulation-established flight
zone irrespective of the position of any other aircraft within the
airspace. The disabling mechanism may include, consist essentially
of, or consist of a kill switch and/or a parachute.
[0014] When a distance between the UAV and an aircraft within the
airspace decreases below a first threshold distance, the collision
alert may be broadcast from the UAV at least to the aircraft
irrespective of the position of the UAV within the airspace. When
the distance between the UAV and the aircraft decreases below a
second threshold distance smaller than the first threshold
distance, the failsafe protocol may be initiated irrespective of
the position of the UAV within the airspace. The collision alert
may be broadcast from the UAV only if (i) a distance between the
UAV and an aircraft within the airspace decreases below a first
threshold distance, or (ii) an aircraft enters the
regulation-established flight zone, or (iii) the UAV leaves the
designated flight zone. The collision alert may be broadcast from
the UAV only if (i) a distance between the UAV and an aircraft
within the airspace decreases below a first threshold distance, or
(ii) an aircraft enters the regulation-established flight zone.
[0015] In another aspect, embodiments of the invention feature a
method of establishing communication between a plurality of
unmanned aerial vehicles (UAVs) operating within an airspace and an
aircraft within the airspace. A wireless ad hoc network is
established among the plurality of UAVs. A first UAV is selected as
a master node in the network. A collision alert is broadcast from
only the first UAV when a distance between the aircraft and any one
of the UAVs decreases below a first threshold distance.
[0016] Embodiments of the invention may include one or more of the
following in any of a variety of combinations. The collision alert
may be broadcast from the first UAV when the distance between the
aircraft and the first UAV decreases below the first threshold
distance. The collision alert may be broadcast from the first UAV
when the distance between the aircraft and a second UAV different
from the first UAV decreases below the first threshold distance.
UAVs other than the first UAV may be designated as slave nodes in
the network. The collision alert may include, consist essentially
of, or consist of an automatic dependent surveillance--broadcast
(ADS-B) transmission and/or a traffic collision avoidance system
(TCAS) transmission. A range of the collision alert may be
controlled to be sufficient to be received only by the aircraft.
Controlling the range of the collision alert may include, consist
essentially of, or consist of limiting a power of the ADS-B
transmission and/or a power of the TCAS transmission. The first UAV
may be selected as the master node in the network based at least in
part upon proximity of the first UAV to the aircraft (e.g., the
first UAV may be the closest of the UAVs to the aircraft). The
first UAV may be selected as the master node in the network based
at least in part upon the size of the first UAV, the transmitter
power of the first UAV, and/or the power reserve level of the first
UAV. For example, the first UAV may be the largest UAV in the
network, the UAV in the network having the most transmitter power,
and/or the UAV having the largest power reserve level in the
network. At least one UAV in the network other than the first UAV
may lack capability to broadcast the collision alert. For example,
the transmitter or transceiver utilized to broadcast the collision
alert may be absent, damaged, or otherwise nonfunctional. A second
UAV different from the first UAV may be selected as the master node
in the network, and the first UAV may be designated as a slave node
in the network. The selection of the second UAV may be based at
least in part on a change in distance between the aircraft and at
least one UAV in the network (e.g., the first UAV or the second
UAV). For example, the second UAV may become closer to the aircraft
than the first UAV based upon movement of the first UAV, the second
UAV, and/or the aircraft. The collision alert may be broadcast to
the aircraft only with the second UAV after the second UAV is
selected as the master node in the network. Two or more, or even
all, of the UAVs in the network may be under control of a common
operator. At least two of the UAVs in the network may be controlled
by different operators. Establishing the wireless ad hoc network
among the plurality of UAVs may include, consist essentially of, or
consist of detection, by at least one UAV, of one or more UAVs
proximate the at least one UAV, and initiation of a bi-directional
wireless communication link between the at least one UAV and at
least one of the one or more UAVs.
[0017] In yet another aspect, embodiments of the invention feature
a method of safely operating an unmanned aerial vehicle (UAV)
within an airspace. A designated flight zone having an outer
boundary is defined for the UAV within the airspace. A
regulation-established flight zone having an outer boundary is
defined for the UAV within the airspace. At least portion of the
outer boundary of the regulation-established flight zone extends
beyond at least a portion of the outer boundary of the designated
flight zone. The outer boundary of the regulation-established
flight zone is updated at least once during operation of the
UAV.
[0018] Embodiments of the invention may include one or more of the
following in any of a variety of combinations. The
regulation-established flight zone may be defined based at least in
part on a received aeronautical chart (e.g., a received sectional
aeronautical chart) and/or a received flight restriction (e.g., a
received temporary flight restriction). The aeronautical chart
and/or the flight restriction may be received by the UAV when the
UAV is powered up and/or via a cellular network. The outer boundary
of the regulation-established flight zone may be updated based on a
revised flight restriction. The outer boundary of the designated
flight zone may be updated based at least in part on the updated
outer boundary of the regulation-established flight zone.
[0019] After updating the outer boundary of the
regulation-established flight zone and/or after updating the outer
boundary of the regulation-established flight zone, one or more of
broadcasting a warning signal to the operator of the UAV,
initiating a failsafe protocol that removes the UAV from the
airspace, or broadcasting a collision alert from the UAV may be
performed based on (i) the position of the UAV relative to the
designated flight zone, and/or (ii) the position of the UAV
relative to the regulation-established flight zone. The failsafe
protocol may include, consist essentially of, or consist of one or
more of automatically routing the UAV back to an operator of the
UAV or to another location, directing the UAV to descend and land,
or activating a disabling mechanism for disabling the UAV. The
disabling mechanism may include, consist essentially of, or consist
of a kill switch and/or a parachute. The collision alert may be
broadcast. The collision alert may include, consist essentially of,
or consist of an automatic dependent surveillance--broadcast
(ADS-B) transmission and/or a traffic collision avoidance system
(TCAS) transmission. A range of the collision alert may be
controlled to be sufficient to be received only by aircraft within
a predetermined distance from the UAV. Controlling the range of the
collision alert may include, consist essentially of, or consist of
limiting a power of the ADS-B transmission and/or a power of the
TCAS transmission.
[0020] In another aspect, embodiments of the invention feature a
safety system for an unmanned aerial vehicle (UAV) operable within
an airspace The system may include, consist essentially of or
consist of a computer processor, a memory, one or more sensors for
sensing a position of the UAV, a velocity of the UAV, and/or a
heading of the UAV, a hybrid surveillance module for monitoring
radio transmissions from aircraft in proximity to the UAV, a
plurality of radio transceivers each operating on a different
frequency, and a failsafe trigger module for operating a disabling
mechanism configured to disable the UAV during operation
thereof.
[0021] Embodiments of the invention may include one or more of the
following in any of a variety of combinations. The one or more
sensors may include, consist essentially of, or consist of a global
positioning system unit, a camera (and/or other optical sensor such
as a CCD array or photodiode), and/or an inertial measurement unit
(which may include, consist essentially of, or consist of, e.g.,
one or more accelerometers, one or more gyroscopes, and/or one or
more magnetometers). The plurality of radio transceivers may
include an automatic dependent surveillance--broadcast (ADS-B)
transceiver (which may operate at a frequency of, e.g.,
approximately 1090 MHz), a second ADS-B transceiver (which may
operate at a frequency of, e.g., approximately 978 MHz), and/or a
traffic collision avoidance system (TCAS) transceiver (which may
operate at a frequency of e.g., approximately 1030 MHz). The
plurality of radio transceivers may include a cellular radio
transceiver, a VHF radio transceiver (which may operate at, e.g.,
one or more frequencies between approximately 30 MHz and
approximately 300 MHz), a UHF radio transceiver (which may operate
at, e.g., one or more frequencies between approximately 300 MHz and
approximately 3000 MHz), and/or a data link for communicating with
other UAVs. The data link may operate at a frequency of
approximately 2.4 GHz and/or at one or more other
cellular-communications frequencies. The disabling mechanism may
include, consist essentially of, or consist of a kill switch and/or
a parachute. The disabling mechanism may be a component of the UAV,
and the system may merely interface with and operate the disabling
mechanism. The disabling system may be a component of the safety
system.
[0022] The computer processor may be configured to store, within
the memory, (i) an outer boundary of a designated flight zone, and
(ii) an outer boundary of a regulation-established flight zone. At
least a portion of the outer boundary of the regulation-established
flight zone may extend farther from the UAV than at least a portion
of the outer boundary of the designated flight zone. The computer
processor may be configured to determine, based at least in part on
signals received from the one or more sensors and/or the hybrid
surveillance module, (i) a position of the UAV relative to the
designated flight zone and to the regulation-established flight
zone, and/or (ii) a position of the UAV relative to other aircraft
in at least a portion of the airspace. The computer processor may
be configured to, based on (i) the position of the UAV relative to
the designated flight zone, (ii) the position of the UAV relative
to the regulation-established flight zone, and/or (iii) the
position of the UAV relative to aircraft in the airspace, at least
one of: (a) broadcast a warning signal to the operator of the UAV,
(b) initiate a failsafe protocol that removes the UAV from the
airspace, or (c) broadcast a collision alert from the UAV to at
least one aircraft in the airspace. The computer processor may be
configured to update the outer boundary of the designated flight
zone and/or the outer boundary of the regulation-established flight
zone before, after, and/or during operation of the UAV. The
computer processor may be configured to (i) update the outer
boundary of the regulation-established flight zone, and (ii) based
at least in part on the updated outer boundary of the
regulation-established flight zone, update the outer boundary of
the designated flight zone. The computer processor may be
configured to update the outer boundary of the designated flight
zone and/or the outer boundary of the regulation-established flight
zone during operation of the UAV based on (i) a received
aeronautical chart and/or (ii) a received flight restriction. The
computer processor may be configured to (i) form a wireless ad hoc
network with one or more other UAVs, and (ii) only broadcast
collision alerts to other aircraft within the airspace if the UAV
is designated as the master node in the wireless ad hoc network. If
the UAV is designated as a slave node in the wireless ad hoc
network (or otherwise not designated as the master node in the
wireless ad hoc network), the computer processor may be configured
to not broadcast collision alerts from the UAV, at least while the
UAV is in the wireless ad hoc network, irrespective of the position
of the UAV within the airspace and/or the position of another
aircraft within the airspace.
[0023] These and other objects, along with advantages and features
of the present invention herein disclosed, will become more
apparent through reference to the following description, the
accompanying drawings, and the claims, Furthermore, it is to be
understood that the features of the various embodiments described
herein are not mutually exclusive and may exist in various
combinations and permutations. As used herein, the terms
"approximately" and "substantially" mean.+-.10%, and in some
embodiments, .+-.5%. The term "consists essentially of" means
excluding other materials that contribute to function, unless
otherwise defined herein.
BRIEF DESCRIPTION OF THE DRAWINGS
[0024] In the drawings, like reference characters generally refer
to the same parts throughout the different views. Also, the
drawings are not necessarily to scale, emphasis instead generally
being placed upon illustrating the principles of the invention. In
the following description, various embodiments of the present
invention are described with reference to the following drawings,
in which:
[0025] FIG. 1 is a schematic diagram of an airspace for drone
operation in which multiple flight zones have been defined in
accordance with various embodiments of the present invention;
[0026] FIG. 2 is a schematic diagram of a drone initiating a
failsafe protocol after crossing the outer boundary of a designated
flight zone in accordance with various embodiments of the present
invention;
[0027] FIG. 3 is a schematic diagram of a drone initiating a
collision alert after crossing the outer boundary of a
regulation-established flight zone in accordance with various
embodiments of the present invention;
[0028] FIG. 4 is a schematic diagram of a drone initiating a
collision alert based on the distance between the drone and another
aircraft in accordance with various embodiments of the present
invention;
[0029] FIG. 5 is a schematic diagram of multiple drones forming a
wireless ad hoc network and initiating a collision alert from a
master drone based on the distance between one or more of the
drones and another aircraft in accordance with various embodiments
of the present invention; and
[0030] FIG. 6 is a block diagram of a drone virtual radar system in
accordance with various embodiments of the present invention.
DETAILED DESCRIPTION
[0031] In various embodiments, the DVRS enables the safe operation
of the drone on which it is installed by monitoring the position of
the drone relative to one or more flight zones defined within the
surrounding airspace and triggering various actions based at least
on the drone's position. The DVRS may also monitor the position of
other aircraft and/or drones within such boundaries and trigger
actions based thereon. FIG. 1 depicts an exemplary embodiment of
the invention in which a drone operator (or simply "operator") 100
is operating a drone 105 within an airspace 110. As shown, multiple
different flight zones are defined within the airspace in
accordance with embodiments of the present invention. In various
embodiments, these flight zones include a regulation-established
flight zone 115 and a designated flight zone 120. The
regulation-established flight zone 115 and designated flight zone
120 may have outer boundaries, as shown, and in typical embodiments
the designated flight zone 120 will be disposed within the
regulation-established flight zone 115; that is, the outer boundary
of the designated flight zone 120 will be disposed entirely within
(or, in some embodiments and/or portions of the boundary,
substantially coextensive with) the regulation-established flight
zone 115. In other embodiments, the outer boundaries of the
regulation-established flight zone 115 and designated flight zone
120 may overlap at one or more points, but at least a portion of
the outer boundary of the designated flight zone 120 is disposed
within the regulation-established flight zone 115. The outer
boundaries of the regulation-established flight zone 115 and
designated flight zone 120 may have any shape and may change or be
updated over time. In the embodiment depicted in FIG. 1, the
regulation-established flight zone 115 and designated flight zone
120 are substantially cylindrical and are therefore defined by
radial distances 125, 130 and heights (e.g., above ground level)
135, 140.
[0032] The regulation-established flight zone 115 may correspond to
the portion of the airspace 110 in which the drone 105 is legally
permitted to function. Thus, in various embodiments, the
regulation-established flight zone 115 is defined based at least in
part on, for example, one or more regulations (e.g., government
regulations) for the operation of drone 105 and which may depend at
least in part on one or more characteristics of the drone 105
itself (e.g., size, capabilities, etc.). The regulations, may also
depend upon the particular location of the airspace 110 and, e.g.,
buildings or other structures within or near the airspace 110. For
example, the regulation-established flight zone 115 may be defined,
at least in part, based on one or more regulations issued by the
Federal Aviation Administration (see, e.g.,
https://www.faa.gov/regulations_policies/faa_regulations/). In
various embodiments, the regulation-established flight zone 115 may
be defined, at least in part, based on one or more other rules,
such as sectional aeronautical charts of the airspace and/or one or
more temporary flight restrictions issued for the airspace, in
addition to or instead of the one or more regulations. The rules
defining the regulation-established flight zone 115 may be received
by the drone 105 and/or operator 100 before and/or during the
flight of the drone 105; thus, the outer boundary of the
regulation-established flight zone 115 may be dynamically altered
during the flight of the drone 105. For example, one or more of the
rules may be received by the drone 105 over a local cellular
communications network during or after the drone 105 is powered up
prior to flight.
[0033] The designated flight zone 120 may correspond to one or more
portions of the airspace 110 designated for operation of the drone
105 by the operator 100. For example, portions or the entirety of
the outer boundary of the designated flight zone 120 may correspond
to the bounds of the line of sight of the operator 100, the
distance beyond which the operator 100 determines may not allow
safe operation of the drone 105, or one or more other factors. The
outer boundaries of the designated flight zone 120 and the
regulation-established flight zone 115 may be defined in terms of
absolute position (e.g., latitudes and longitudes) and/or in terms
of distance and height from the operator 100 or another point of
reference. The outer boundary of the designated flight zone 120 may
be altered before and/or during the flight of the drone 105 by the
operator 100. For example, the operator 100 and/or the drone 105
may receive an updated or temporary flight restriction, and the
outer boundary of the designated flight zone 120 may be altered to
exclude one or more portions of the airspace forbidden thereby. In
embodiments in which the outer boundary of the
regulation-established flight zone 115 is updated during flight of
the drone 105 based on a received rule (e.g., a received sectional
aeronautical chart and/or a received temporary flight restriction),
the outer boundary of the designated flight zone 120 may be updated
based at least in part on the updated outer boundary of the
regulation-established flight zone 115. For example, the outer
boundary (or a portion thereof) of the designated flight zone 120
may be expanded or contracted to remain within the revised outer
boundary of the regulation-established flight zone 115.
[0034] In accordance with embodiments of the invention, the
position of the drone 105 relative to the designated flight zone
120 and the regulation-established flight zone 115 (e.g., relative
to the outer boundaries thereof) is monitored, and one or more
actions may be taken in the event that the drone 105 strays from
its intended portion of the airspace 110. For example, if the drone
105 crosses the outer boundary of the designated flight zone 120,
one or more actions may be taken, e.g., prior to the drone 105
reaching the outer boundary of the regulation-established flight
zone 115. For example, the control system of the drone 105 may
broadcast a warning signal to the operator 100 (and/or another
recipient) and/or initiate one or more failsafe protocols. In
various embodiments, failsafe protocols may include, consist
essentially of, or consist of automatically routing the drone 105
back to the operator 100, directing the drone 105 to descend to
ground level and land, or activating one or more disabling
mechanisms for disabling the drone 105 and thus removing it from
the airspace 110. For example, as shown in FIG. 2, the disabling
mechanism may include, consist essentially of, or consist of a kill
switch that stops the propulsion system (e.g., one or more
propellers and/or engines) of the drone 105 and/or a parachute that
slows the descent of the disabled drone 105 and hopefully limits
any damage thereto resulting from such a forced landing.
[0035] In various embodiments of the invention, the drone 105 may
not have such failsafe protocols and/or disabling mechanisms, or
the failsafe protocol and/or disabling mechanism fails to operate
and/or fails to return the drone 105 to the designated flight zone
120 or remove the drone 105 from the airspace 110. In such
embodiments, the drone 105 may broadcast a collision alert so that
other aircraft 110 and/or ground-based air traffic controllers are
aware of the position, velocity, and/or heading of the drone 105
and thereby avoid approaching or colliding with drone 105. For
example, the collision alert may include, consist essentially of,
or consist of an automatic dependent surveillance-broadcast (ADS-B)
transmission and/or a traffic collision avoidance system (TCAS)
transmission. As shown in FIG. 3, the collision alert may alert
aircraft 300 within airspace 110 to the presence of drone 105 and
enable the aircraft 300 to avoid approaching or colliding
therewith.
[0036] As known to those of skill in the art, TCAS is an aircraft
collision avoidance system designed to reduce the incidence of
collisions between aircraft. TCAS monitors the airspace around an
aircraft for other aircraft equipped with a corresponding active
transponder, independent of air traffic control, and warns pilots
or operators of the presence of other transponder-equipped aircraft
that may present a threat of mid-air collision. For example, see
"Introduction to TCAS II Version 7.1," published by the Federal
Aviation Administration on Feb. 28, 2011, the entire disclosure of
which is incorporated by reference herein. TCAS transponders and
transceivers are conventional and may be procured or assembled
without undue experimentation.
[0037] Similarly, ADS-B is a surveillance technology in which an
aircraft determines its position via satellite navigation and
periodically broadcasts it, thereby enabling tracking of the
aircraft. The ADS-B information may be received by air traffic
control ground stations and/or by other aircraft. For example, see
"Automatic Dependent Surveillance-Broadcast (ADS-B) Out Performance
Broadcast Requirements to Support Air Traffic Control (ATC)
Service," 14 CFR Part 91, Federal Aviation Administration, May 28,
2010, the entire disclosure of which is incorporated by reference
herein. ABS-B transceivers and other equipment are conventional and
may be procured or assembled without undue experimentation.
[0038] Various embodiments of the present invention thus avoid
broadcasting collision alerts from drone 105 unless and until the
drone 105 has broached the outer boundary of a flight zone and/or
one or more failsafe protocols are absent or have failed to
initiate. This advantageously avoids the flooding of various
aviation frequencies with constant transmissions from drone 105
even when drone 105 is not a potential safety hazard. In addition,
the transmission range of the collision alert may be controlled to
be sufficient to be received only by aircraft and/or ground-based
air traffic controllers within a predetermined distance from the
drone 105. For example, the power of the collision alert
transmission may be limited such that the alert is only receivable
within the predetermined distance. In this manner, aviation
frequencies at distances farther from drone 105, e.g., where drone
105 is unlikely to pose a safety hazard, are not flooded with
collision alerts from drone 105.
[0039] In various embodiments of the invention, the drone 105
monitors the positions of aircraft within the airspace 110 and
initiates one or more of various actions based on the position of
an aircraft and/or the distance between an aircraft and the drone
105 even if, for example, the drone 105 is being otherwise safely
operated within its designated flight zone 120. For example, the
drone 105 may monitor aviation frequencies for, e.g., ADS-B and/or
TCAS broadcasts from or about other aircraft to determine their
positions within the airspace 110. Upon detection of another
aircraft, or when the aircraft approaches the drone 105, one or
more actions may be initiated. For example, a warning signal may be
broadcast to the operator 100 (and/or to another recipient), a
failsafe protocol on drone 105 (e.g., a disabling mechanism) may be
initiated, and/or the drone 105 may broadcast a collision alert. In
various embodiments, as shown in FIG. 4, the drone 105 initiates a
collision broadcast when an aircraft 400 enters the
regulation-established flight zone 115 irrespective of the position
of the drone 105 within the airspace 110. In addition, in various
embodiments, the drone 105 may initiate a failsafe: protocol when
the aircraft 400 enters the designated flight zone 120 irrespective
of the position of the drone 105 within the airspace 110.
[0040] In various embodiments, one or more actions are initiated by
the drone 105 based on the relative positions of the drone 105 and
the aircraft 400 instead of or in addition to actions initiated
based on the position of the aircraft 400. For example, the drone
105 may broadcast a collision alert when the distance between the
drone 105 and the aircraft 400 decreases below a first threshold
distance, even if the aircraft 400 has not yet entered the
designated flight zone 120 or the regulation-established flight
zone 115. In addition or instead, the drone 105 may initiate a
failsafe protocol (e.g., a disabling mechanism) when the distance
between the drone 105 and, the aircraft 400 decreases below a
second threshold distance (which may be smaller than the first
threshold distance), irrespective of the position of aircraft 400
relative to the outer boundaries of the designated flight zone 120
or the regulation-established flight zone 115.
[0041] In various embodiments of the invention, the drone 105 may
monitor the position of one or more other drones within airspace
110 (e.g., within regulation-established flight zone and/or
designated flight zone 120) and initiate one or more actions based
on the positions of such drones and/or the relative distance
between drone 105 and one or more other drones. Such actions may be
the same as those described above for drone 105 relative to
aircraft 300, 400, or one or more of the actions may be different.
For example, the drone 105 may communicate with one or more other
drones (e.g., on a non-civilian aviation frequency) to determine
the positions thereof, and the drone 105 may change course to avoid
approaching or colliding with such drones prior to or instead of
initiating a failsafe protocol (e.g., a disabling mechanism or a
directive to land).
[0042] Various embodiments of the present invention enable the safe
operation of a group of drones within airspace 110, one or more of
the drones equipped with DVRS, in the event of an approach of
another aircraft without each of the drones broadcasting its own
collision alert, as multiple such collision alerts may cause
confusion or flood the broadcast frequency. As shown in FIG. 5,
drone 105 may be operating within airspace 110 in proximity to one
or more other drones 500 that are each also wider control of
operator 100 or under the control of another operator. In the event
of an aircraft 510 entering a portion of the airspace 110 (e.g.,
the regulation-established flight zone 115 or the designated flight
zone 120), communication may be established between only one of the
drones (e.g., drone 105) and the aircraft 510 in order to alert the
aircraft 510 regarding the presence of all of the drones 105, 500.
For example, in various embodiments a wireless ad hoc network may
be established among the drones 105, 500 (i.e., before or after the
approach of aircraft 510), and one of the drones (e.g., drone 105)
may be selected as the master node in the network, (While in the
exemplary embodiments provided herein, drone 105 is designated as
the master node, one of the drones 500 may be the master node,
and/or the drone designated as the master node may change one or
more times.) Drone 105, and only drone 105, may then broadcast a
collision alert based on, e.g., the position of the aircraft 510
within the airspace 110 (e.g., relative to the
regulation-established flight zone 115 or the designated flight
zone 120) and/or the relative position between the aircraft 510 and
one or more of the drones 105, 500. For example, each of the drones
105, 500 may support a simple database for containing positional
information about the other drones, and in various embodiments,
this database is actually used and updated only by the master
drone. Positional information for each of the other (slave) drones
may be expressed and stored in terms of a drone's distance from
aircraft within the airspace 110 and/or distance from the mater
drone. The master drone 105 may broadcast a collision alert if the
distance between the aircraft 510 and any of the drones 105, 500
decreases below a threshold distance. In this manner, all of the
drones 105, 500 may be operated safely even if one or more of the
drones itself lacks the capability to broadcast the collision
alert. In addition, broadcasting collision alerts from only one
drone in the network assures that aviation (e.g., ADS-B and/or
TCAS) frequencies are not saturated with multiple broadcasts from
multiple drones in a tight formation.
[0043] In various embodiments, the wireless ad hoc network is
established among the drones via detection, by at least one of the
drones, of one or more other drones in the proximity. For example,
one or more drones may be equipped with cameras or other sensors
capable of detecting the presence of nearby drones, or the drones
may broadcast short-range messages that, when received and
responded to by another drone, indicate the proximity of the other
drone. Once the other drone is detected, a bi-directional wireless
communication link may be initiated between the drones to network
the drones together. In various embodiments, drones communicate
with each other on non-aviation radio frequencies in order to avoid
congestion of the radio frequencies utilized by civil aviation
(e.g., 1090 MHz, 978 MHz, and/or 1030 MHz). For example, each drone
may send messages (or "pings") to other drones within range at
periodic intervals (e.g., each second or fraction of a second) on a
frequency not typically utilized by civil aviation or having a
range shorter than typical civil aviation frequencies. For example,
the drone may communicate on a 2.4 GHz frequency and/or another
cellular communications frequency, which typically has a range
limited to under two miles, in order to avoid congestion of other
radio frequencies. In this manner, communications from the drones
over typical civil aviation frequencies (e.g., 1090 MHz, 978 MHz,
and/or 1030 MHz) that have much longer ranges (e.g., over 100
miles) may be limited only to collision alerts if one or more of
the drones approaches or is approached by another aircraft.
[0044] Once the network is established, the drones may
intercommunicate (e.g., wirelessly) as nodes of the network. If all
drones are within range of each other, they may send messages
(which may be in the form of data packets) over a fixed frequency
using a wireless local area network or other suitable network
arrangement in which each drone "multi casts" messages to all other
drones in accordance with a communication protocol that allocates
network time among the drones. An advanced routing protocol may be
used to permit messages to reach all drones even though some are
out of radio range of the message-originating drone; each drone may
determine, for example by receiving position data from one or more
drones, which drones are within its range and propagate received
messages to neighboring drones in accordance with the protocol.
Numerous schemes for routing messages across, for example, mesh
networks are known and may be employed herein; these include AODV,
BATMAN, Babel, DNVR, DSDV, DSR, HWMP, TORA and the 802.11x
standards. More generally, the network may be a wired or wireless
local area network (LAN), a wide area network (WAN), an intranet,
the Internet, the public telephone infrastructure, or some
combination. It should be stressed that any of numerous modes of
network communication can be utilized, e.g., direct peer-to-peer
protocols, client-server architectures utilizing periodic polling
of each subsystem rather than explicit message transmission, or
token-passing schemes.
[0045] Within the network of drones, the master drone (i.e., the
master node of the network) may be selected based on any of various
criteria. For example, a drone (e.g., drone 105) may be selected as
the master drone if it is the closest drone to the aircraft 510. In
other embodiments, the master drone may be selected based on, for
example, the size of the drone (e.g., the largest drone may be
selected), the transmitter power of the drone (e.g., the drone
having the strongest radio transmitter may be selected), and/or the
power supply (e.g., remaining fuel and/or battery power) of the
drone (e.g., the drone having the largest remaining power supply
may be selected). In other embodiments, the master drone is
selected substantially randomly or is one of the first drones to
establish the network. As mentioned above, one or more of the
drones in the network may lack the capability to broadcast the
collision alert, and such drones would typically not be selected as
the master drone.
[0046] In various embodiments, the drone designated as the master
drone changes based on any of a variety of different factors. For
example, if the distance between the master drone and aircraft 510
changes such that another drone in the network is closer to the
aircraft 510, then the new closer drone may be designated as the
master drone and broadcast any necessary collision alerts, and the
former master drone may be redesignated as a slave node in the
network. Similarly, if the power reserves of the master drone are
depleted to a threshold level, or if one or more systems (e.g., a
radio transmitter) of the master drone fail, another drone within
the network may be designated as the master drone.
[0047] FIG. 6 is a block diagram illustrating basic components of a
DVRS 600 in accordance with embodiments of the present invention.
As shown, the DVRS 600 may include, consist essentially of, or
consist of a system core 605 and a transceiver bank 610. In various
embodiments, the system core 605 may communicate with the
transceiver bank 610 via one or more hardware components such as
field-programmable gate arrays (FPGAs). The transceiver bank 610
may include, consist essentially of, or consist of one or more
wideband agile transceivers that are configured to monitor multiple
civil aviation navigational aids and civil air traffic collision
avoidance systems simultaneously. For example, as shown in FIG. 6,
the transceiver bank 610 may feature one or more of transceivers
615, 620, 625 for monitoring of and communication on ADS-B and TCAS
frequencies, as well as one or more of a transceiver 630 for
monitoring of and communication on cellular radio frequencies, a
transceiver 635 for monitoring of and communication on VHF radio
frequencies, a transceiver 640 for monitoring of and communication
on UHF radio frequencies, and a transceiver 645 for monitoring of
and communication on one or more frequencies utilized by the DVRS
600 to communicate with other drones equipped with a DVRS and to
form data links therewith. For example, the transceiver 645 may
utilize one or more frequencies (e.g., 2.4 GHz or another cellular
communications frequency) as described above to facilitate
drone-to-drone communication and the establishment of wireless ad
hoc networks between drones.
[0048] Transceiver 630 may monitor and utilize any of a variety of
cellular communications frequencies, which in various embodiments
are based on the geographic location in which the DVRS 600 is
operating. For example, in the United States (and other locations
in North America), such frequencies may range between approximately
800 MHz and approximately 2.4 GHz (e.g., approximately 800 MHz,
approximately 1.9 GHz, or approximately 2.4 GHz); in Japan, such
frequencies may range between approximately 800 MHz and
approximately 1.5 GHz (e, g., approximately 800 MHz, approximately
1.5 GHz, approximately 1.8 GHz, approximately 2.1 GHz, or
approximately 2.5 GHz); in Europe, such frequencies may range
between approximately 380 MHz and 1.9 GHz (e.g., approximately 380
MHz, approximately 410 MHz, approximately 450 MHz, approximately
480 MHz, approximately 710 MHz, approximately 750 MHz,
approximately 810 MHz, approximately 900 MHz, or approximately 1.9
GHz); in the Middle East, such frequencies may range between
approximately 2.3 GHz and approximately 2.6 GHz (e.g.,
approximately 2.3 GHz or approximately 2.6 GHz); and in Australia,
such frequencies may range between approximately 700 MHz and
approximately 2.4 GHz (e.g., approximately 700 MHz, approximately
800 MHz, approximately 1.9 GHz, or approximately 2.4 GHz). These
frequencies are merely exemplary, and embodiments of the invention
may utilize other frequencies.
[0049] The system core 605 typically features a computer processor
(or simply "processor") 650 and various other components
operatively coupled to the processor 650. These components may
include, consist essentially of, or consist of, for example, a
hybrid surveillance module 655, an inertial measurement unit (IMU)
660, a camera 665, a memory 670, a failsafe trigger module 675,
and/or a flight data recorder 680 (which may communicate with or
have a dedicated memory 685). The hybrid surveillance module 655
may control one or more of the transceivers within the transceiver
bank 610, e.g., initiate monitoring of and/or transmission (of,
e.g., collision alerts) on specific frequencies therewith. The IMU
660 is utilized for inertial navigation, to determine the drone
orientation, acceleration, velocity, and/or position. For example,
the WU 660 may include, consist essentially of, or consist of, for
example, one or more conventional inertial navigation instruments
such as accelerometers and/or gyroscopes.
[0050] The system core 605 and/or the processor 650 may also
interface with one or more components that may be present on the
drone independent of the DVRS 600. For example, as shown in FIG. 6,
the system core 605 may communicate with and/or control one or more
global positioning system (GPS) sensors 690 and/or one or more
disabling mechanisms 695, e.g., a kill switch and/or a parachute. A
kill switch disables the drone's propulsion system so that it falls
back to earth. Typically, in order to avoid damage to the drone,
the disabling mechanism 695 includes a parachute that is deployed
when propulsion is disabled.
[0051] In other embodiments, such components are portions of the
DVRS 600, as indicated by the dashed line in FIG. 6. The failsafe
trigger module 675 may control the disabling mechanism 695 based
on, for example, the position of the drone relative to one or more
flight zones, the position of one or more other aircraft or drones
relative to one or more flight zones, and/or the position or one or
more other aircraft or drones relative to the drone.
[0052] In various embodiments, the processor 650 receives and
analyzes inputs from multiple sensors, e.g., hybrid surveillance
module 655, GPS sensor 690, IMAU 660, and/or camera 665, to
determine if the drone has strayed out of one or more flight zones
in the surrounding airspace (as detailed, above) and therefore
poses a threat to civil aviation aircraft, and/or if a civil
aviation aircraft is getting too close to the drone while the drone
is still within its designated flight zone. Details (e.g., outer
boundaries) of one or more flight zones may be stored within the
memory 670 and updated based on information received via the
transceiver bank 610, and the processor 650 may compare position
information received from one or more sensors to such details to
determine the position of the drone relative to the flight zone(s).
The processor 650 may also compare flight zone information with
position information of other drones and/or other aircraft in the
airspace in order to initiate various actions, as detailed
above.
[0053] In various embodiments, the processor 650 may execute
algorithms disclosed (or similar to those disclosed) in
"GPS/INS/Optic Flow Data Fusion for Position and Velocity
estimation," International Conference on Unmanned Aircraft Systems
(2013), the entire disclosure of which is incorporated by reference
herein, to accurately determine the state and velocity of the drone
using multiple sensors (e.g., GPS information, optical flow
information acquired using the camera, and inertial navigation
information acquired using the IMU). This information may be used
to execute a decision algorithm; see, e.g., "UAS Safety: Unmanned
Aerial Collision Avoidance System," IEEE Systems and Information
Engineering Design Symposium (2006), the entire disclosure of which
is incorporated by reference herein, to trigger failsafe protocols
such as a return to home autopilot override, parachute, or kill
switch to disable the drone based on the drone position relative to
one or more flight zones, and/or to switch from passive (i.e., only
monitoring) to active (i.e., monitoring and transmitting, e.g,
collision alerts) hybrid surveillance. In various embodiments, in
the event that a civil aircraft is detected in close proximity to
the drone, the processor 650 may execute a combination of the
algorithms described in "Moving Obstacle Avoidance for Unmanned
Aerial Vehicles," 69th American Helicopter Society Forum (2013) and
"Sense and Avoid for Unmanned Aerial Vehicles Using ADS-B," IEEE
International Conference on Robotics and Automation (2015), or
Markov decision processes (see, e.g., "Unmanned Aircraft Collision
Avoidance Using Partially Observable Markov Decision Processes,"
Lincoln Laboratory Project Report ATC-356 (2009)) to track the
civil aircraft and predict if it is on a flight path that could
potentially cause a conflict with the drone. The entire disclosures
of the references cited in this paragraph are hereby incorporated
by reference in their entireties.
[0054] In various embodiments, the processor 650 determines if the
drone has strayed out of one or more flight zones, or if a
civil-aviation aircraft is getting too close to the drone while the
drone is still within one or more flight zones based on one or more
sensors (e.g., GPS 690, hybrid surveillance module 655, camera 665,
and/or IMU 660). The GPS 690 detects Global Positioning System
satellite signals to determine the position of the drone, while the
agile transceivers of the transceiver block 610 may be used to lock
onto civil aviation navigational aids such as radio beacons, e.g.,
VHF omnidirectional range (VOR) and/or distance measuring equipment
(DME). The transceivers may also be utilized to communicate with
the cellular network to triangulate the drone's position. In
various embodiments, this allows the DVRS 600 to be more resistant
to GPS spoofing or drone position hijacking, and also enables the
DVRS 600 to determine drone position in environments where receipt
of GPS signals is intermittent or impossible. The hybrid
surveillance module 655 passively monitors civil aviation activity
in proximity to the drone (e.g., over ADS-B and/or TCAS
frequencies). If needed, the processor 650 utilizes the inputs from
any one or more of these sensors to switch from passive to active
surveillance by configuring one or more of the agile transceivers
to begin broadcasting a collision alert. For example, the collision
alert may include, consist essentially of, or consist of the drone
state (e.g., position) and velocity to be seen by civil aviation
aircraft and/or ground-based air-traffic controllers.
[0055] As detailed above, in the event that a civil aircraft strays
too close to a formation of drones (at least one of which is
equipped with DVRS), the DVRS data link 645 may be used to
coordinate with other DVRS (or similar) systems to designate a
master drone that may initiate collision alert and actively
interrogate and monitor civil aviation (e.g., TCAS) frequencies to
avoid civil-aviation system frequency overload.
[0056] The DVRS 600 may internally store a database representative
of sectional aeronautical information such as civil aviation
navigational aid specifications, and any flight restriction
information in the region of operation in memory 670. This database
may automatically update using cellular radio frequency upon system
power up, or in real time during operation.
[0057] In various embodiments, the DVRS internally records all the
data regarding the state and velocity of the drone that it is
installed on in the manner of a "black box" via the flight data
recorder 680. The DVRS 600 may also record all civil aviation
traffic and/or all other DVRS-equipped drone traffic in proximity
to the drone. This information may thus be available to aviation
safety and accident investigators in the event of an incident
involving the drone.
[0058] The terms "component," "system," "platform," "module," and
the like refer broadly to a computer-related entity or an entity
related, to an operational machine with one or more specific
functionalities. Such entities can be hardware, a combination of
hardware and software, software, or software in execution. For
example, a component may be, but is not limited to being, a process
running on a processor, a processor, an object, an executable, a
thread of execution, a program, and/or a computer. One or more
components may reside within a process and/or thread of execution
and a component may be localized on one computer and/or distributed
between two or more computers. Also, these components can execute
from various computer readable media having various data structures
stored thereon. The components may communicate via local and/or
remote processes such as in accordance with a signal having one or
more data packets (e.g., data from one component interacting with
another component in a local system, distributed system, and/or
across a network such as the Internet with other systems via the
signal).
[0059] The processor 650 that executes commands and instructions
may be a general purpose computer, but may utilize any of a wide
variety of other technologies including a programmed
microprocessor, micro-controller, peripheral integrated circuit
element, a CSIC (customer-specific integrated circuit), ASIC
(application-specific integrated circuit), a logic circuit, a
digital signal processor, a programmable logic device, such as an
FPGA (field-programmable gate array), PLD (programmable logic
device), PLA (programmable logic array), smart chip, or any other
device or arrangement of devices that is capable of implementing
the functionality described herein.
[0060] Various implementations of the systems and techniques
described here can be realized in digital electronic circuitry,
integrated circuitry, specially designed ASICs (application
specific integrated circuits), computer hardware, firmware,
software, and/or combinations thereof. These various
implementations can include implementation in one or more computer
programs that are executable and/or interpretable on a programmable
system including at least one programmable processor, which may be
special or general purpose, coupled to receive data and
instructions from, and to transmit data and instructions to, a
storage system, at least one input device, and at least one output
device.
[0061] These computer programs (also known as programs, software,
software applications or code) include machine instructions for a
programmable processor, and can be implemented in a high-level
procedural and/or object-oriented programming language, and/or in
assembly/machine language. As used herein, the terms
"machine-readable medium" "computer-readable medium" refers to any
computer program product, apparatus and/or device (e.g., magnetic
discs, optical disks, memory, etc.) used to provide machine
instructions and/or data to a programmable processor, including a
machine-readable medium that receives machine instructions as a
machine-readable signal. The term "machine-readable signal" refers
to any signal used to provide machine instructions and/or data to a
programmable processor.
[0062] The memory components described above may include computer
storage media in the form of volatile and/or nonvolatile memory
such as read only memory (ROM) and random access memory (RAM). A
basic input/output system (BIOS), containing the basic routines
that help to transfer information between elements, such as during
start-up, is typically stored in ROM. RAM typically contains data
and/or program modules that are immediately accessible to and/or
presently being operated on by processing unit. The data or program
modules may include an operating system, application programs,
other program modules, and program data. The operating system may
be or include a variety of operating systems such as Microsoft
WINDOWS operating system, the UNIX operating system, the LINUX
operating system, the Xenix operating system, the IBM AIX operating
system, the Hewlett Packard UX operating system, the Novell NETWARE
operating system, the Sun Microsystems SOLARIS operating system,
the OS/2 operating system, the BeOS operating system, the MACINTOSH
operating system, the APACHE operating system, an OPENSTEP
operating system or another operating system of platform.
[0063] Any suitable programming language may be used to implement
without undue experimentation the functionality described above.
Illustratively, the programming language used may include assembly
language, Ada, APL, Basic, C, C++, C*, COBOL, dBase, Forth,
FORTRAN, Java, Modula-2, Pascal, Prolog, Python, REXX, and/or
JavaScript for example. Further, it is not necessary that a single
type of instruction or programming language be utilized in
conjunction with the operation of the system and method of the
invention. Rather, any number of different programming languages
may be utilized as is necessary or desirable.
[0064] The terms and expressions employed herein are used as terms
and expressions of description and not of limitation, and there is
no intention, in the use of such terms and expressions, of
excluding any equivalents of the features shown and described or
portions thereof. In addition, having described certain embodiments
of the invention, it will be apparent to those of ordinary skill in
the art that other embodiments incorporating the concepts disclosed
herein may be used without departing from the spirit and scope of
the invention Accordingly, the described embodiments are to be
considered in all respects as only illustrative and not
restrictive.
* * * * *
References