Patent Application
20210304622
Embodiments of the present disclosure relate to systems and methods for operation of unmanned aerial systems, and more specifically, to the storage of onboard charts in an unmanned aerial system (UAS), update of the onboard charts over a network in real-time, and correlation of a unmanned aerial vehicle's (UAV's) position with the chart data to identify whether the UAV's flight is legal.
At present, a UAV does not obtain real-time information concerning whether its flight is legal from an airspace viewpoint, and may, therefore, operate in restricted airspace without permission. Because UAV pilots may not need to be licensed, they may not even know what restricted airspace is, or how to avoid it. Technical means to at least inform a pilot and/or avoid flight into restricted airspace may therefore be required.
Embodiments of the present disclosure may solve the above problems and/or other problems.
According to one or more embodiments, a method performed by an unmanned aerial system (UAS) is provided. The method includes: obtaining first digital information that indicates a position of an unmanned aerial vehicle (UAV) of the UAS; obtaining second digital information that identifies a zone of a flight map; determining whether an airspace violation has occurred by comparing the position of the UAV with the zone of the flight map, based on the first digital information and the second digital information; and controlling the UAS to warn a user of the UAS about the airspace violation occurring or potentially occurring, or controlling the UAV to auto return or land, based on the determining.
According to an embodiment, the second digital information includes parameters that indicate a horizontal boundary of the zone, a ceiling of the zone, and a floor of the zone.
According to an embodiment, the flight map is a UAV flight map.
According to an embodiment, at least a portion of the second digital information is in a JavaScript Object Notation (JSON) format.
According to an embodiment, the portion of the second digital information that is in the JSON format indicates the horizontal boundary of the zone by using a first key value, and indicates a horizontal boundary of another zone of the flight map by using a second key value.
According to an embodiment, at least a portion of the second digital information has a dictionary data type.
According to an embodiment, the obtaining the second digital information includes obtaining the second digital information from a server, via a wireless connection to a network that is external to the UAS.
According to an embodiment, the obtaining the second digital information from the server includes providing a Representational State Transfer (REST)-ful query to the server to obtain the second digital information.
According to an embodiment, the obtaining the second digital information includes obtaining, by the UAV, the second digital information via a first wireless connection to a network that is external to the UAS, and the determining whether the airspace violation has occurred is performed by at least one processor of the UAV.
According to an embodiment, the method further includes updating an aeronautical chart, that is stored in the UAS, with the second digital information that is obtained.
According to one or more embodiments, an unmanned aerial system (UAS) is provided. The UAS includes: an unmanned aerial vehicle (UAV); and a controller configured to wirelessly communicate with the UAV and control the UAV. At least one from among the UAV and the controller includes: at least one processor; and memory including computer code, the computer code configured to, when executed by the at least one processor, cause the at least one processor to: determine whether an airspace violation has occurred by comparing a position of the UAV with a zone of a flight map, based on first digital information and second digital information obtained by the at least one processor, and warn a user of the UAS about the airspace violation occurring or potentially occurring, or controlling the UAV to auto return or land, based on the determination. The first digital information indicates the position of the UAV, and the second digital information identifies the zone of the flight map.
According to an embodiment, the second digital information includes parameters that indicate a horizontal boundary of the zone, a ceiling of the zone, and a floor of the zone.
According to an embodiment, the flight map is a UAV flight map.
According to an embodiment, at least a portion of the second digital information is in a JavaScript Object Notation (JSON) format.
According to an embodiment, the portion of the second digital information that is in the JSON format indicates the horizontal boundary of the zone by using a first key value, and indicates a horizontal boundary of another zone of the flight map by using a second key value.
According to an embodiment, at least a portion of the second digital information has a dictionary data type.
According to an embodiment, the computer code is further configured to, when executed by the at least one processor, cause the at least one processor to obtain the second digital information from a server, via a wireless connection to a network that is external to the UAS.
According to an embodiment, the computer code is further configured to, when executed by the at least one processor, cause the at least one processor to provide a Representational State Transfer (REST)-ful query to the server to obtain the second digital information.
According to an embodiment, the UAV is configured to obtain the second digital information via a wireless connection to a network that is external to the UAS, and the UAV includes the memory and the at least one processor, and the UAV is configured to determine whether the airspace violation has occurred based on the first digital information and the second digital information.
According to one or more embodiments, a non-transitory computer-readable medium storing computer code is provided. The computer code is configured to, when executed by at least one processor of an unmanned aerial system (UAS), cause the at least one processor to: determine whether an airspace violation has occurred by comparing a position of an unmanned aerial vehicle (UAV) of the UAS with a zone of a flight map, based on first digital information and second digital information obtained by the at least one processor of the UAS; and warn a user of the UAS about the airspace violation occurring or potentially occurring, or control the UAV to auto return or land, based on the determination. The first digital information indicates the position of the UAV, and the second digital information identifies the zone of the flight map.
Further features, the nature, and various advantages of the disclosed subject matter will be more apparent from the following detailed description and the accompanying drawings in which:
Referring to
Advances in onboard electronic designs more recently allow the offload of certain tasks from the human operator to the UAV itself. Many UAVs, today, include sensor(s) (104) that indicate to an onboard controller (105) of the UAV (101) characteristics of the UAV (101) such as, for example, the attitude and the acceleration of the UAV (101). The onboard controller (105) can be a computer system with a scaled-down or non-existent user interface. The information obtained by the sensor(s) (104), in addition to the control inputs received from the data link (103) from the controller (102), may allow the UAV (101) to remain stable unless positive control input is obtained from the controller (102).
Even more recently, UAVs can include a receiver (106) configured to receive communication from one of the Global Navigation Satellite Systems (GNSS), such as the Global Positioning System (GPS) operated by the United States.
As another recent development, the UAV (101) may also include one or more cameras (109). In some cases, the UAV (101) may include a gimbal-mounted camera as one of the cameras (109) and can be used to record pictures and video of a quality sufficient for the UAV's users—today, often in High Definition TV resolution. In some cases, the UAV (101) may include other cameras (110), often covering some or all axes of movement, and the UAV (101) may be configured to perform onboard signal processing based on signals from the cameras (110) for collision avoidance with both fixed and moving objects.
In some cases, the UAV (101) may include a “main” camera as one of the cameras (109) and its camera signal can be communicated by a communication interface (e.g. communication circuit) of the UAV (101) via a data link (111) in real-time towards the human user, and displayed on a display device (112) included in, attached to, or separate from the controller (102). The data link (111) may be the same as or different from the data link (103). Accordingly, UAVs may be successfully flown out of line-of-sight of a human pilot, using a technique known as “First Person View” (FPV).
As a result of these and other technical developments, UAVs have become considerably easier to fly, which in turn has made them popular not only with professional UAV pilots and determined and affluent hobbyists, but also the general public. As a result, millions of UAVs are now sold every year compared to a few thousand—if that many—model helicopters some 15 years ago. At the same time, the knowledge, proficiency, and engagement of the user community, on average, has decreased.
All but perhaps the smallest UAVs can present a hazard to manned aviation, not only through mid-air collisions, but also due to pilot distraction, saturation of Air Traffic Control (ATC) resources, and so on. The combination of potentially thousands of UAVs flying simultaneously during certain days, and (on average and when compared to pilots of manned aircraft) the under skilled, undereducated, under informed, and occasionally reckless UAV pilots, has led to millions of dollars spent on aborted takeoffs, missed approaches, reroutes, grounded manned aircraft, property damage through, for example, wildfires that could not be fought by manned aerial resources, and so forth. There have been reports of lives claimed by the effects of in-air collisions between amateur-piloted UAVs and helicopters. For these and other reasons, regulatory authorities including the United Nations' International Civil Aviation Organization (ICAO) and the United States' Federal Aviation Administration (FAA) have started to regulate UAVs, including smaller UAVs weighing less than 55 pounds. Heavier UAVs have historically been regulated already.
In the US, one aspect of such regulation is the requirement for a pilot carrying a “Remote Pilot Certificate” when conducting substantially all commercial (for hire) UAV operations. The certificate is not primarily targeted towards the mechanical aspects of flying a UAV, but rather towards an understanding and the observance of regulations including, for example, airspace, flight restrictions, and so forth. While a commercial remote pilot may, through obtaining the certificate, be aware of his/her obligations with respect, among other things, observance of rules and regulations of UAV operations, including airspace, a hobbyist may not be sufficiently aware. UASs have become so cheap and easy to operate that the historical way of achieving competency through model aircraft clubs and similar organizations does not reliably work anymore either. For example, a substantial number of UAVs are operated away from the flying fields that model aircraft clubs maintain, by individuals who were never a member of such a club and likely have never studied pertaining regulations, let alone got a briefing regarding the current layout of the airspace.
Another aspect that is proposed for regulation includes the identification of UAVs and their flights to ATC, other UAVs, and so forth. In the US, a “proposed rule” (Document No. 2019-28100) has been published on Dec. 31, 2019, by the FAA, which is entitled “Remote Identification of Unmanned Aircraft Systems”. The proposed rule, when implemented by substantially all UASs, will give the ATC a certain insight into UAV activity at any given moment in time. The proposed rule further requires the UAS to be equipped to inform the pilot if the reporting mechanism between the UAS and the systems interfacing with the ATC, known as UAV Service Suppliers (USS), is inactive while the UAV is airborne. However, contrary to many operations of manned aircraft in controlled airspace that require the flight crew to be in (voice) contact with the ATC, squawk transponder codes, and so forth, no such requirement is envisioned in the proposed rule, nor would it likely be practical without a substantial increase in ATC resources. Insofar, while the FAA through USSs may be able to obtain a certain amount of real-time knowledge of active UAV operations, the “proposed rule” does not envision direct (through technical means) or indirect (through communication with the pilot) influence of the UAV's flight by an ATC. Instead, the proposed rule targets informing the ATC about UAV operations pertaining to the ATC's mission.
Referring to
Many physical wireless network technologies may be deployed in uses that enable connections (206) (e.g. wireless connections) and networks (207) (e.g. wireless networks) to connect systems such as the controller (202) or the UAV (201) of the UAS (200) to the Internet (205). For outdoor applications, mobile networks may be used such as, for example, 5th Generation or “5G” networks. Henceforth, the use of such a 5G network may be assumed but embodiments of the present disclosure are not limited thereto. Other physical network technologies can equally be employed, including for example, 3G, 3.5G, 4G, LTE mobile networks, wireless LAN in infrastructure or ad hoc mode, zig-bee, and so on. In embodiments of the present disclosure, a mobile network carrying the Internet can offer bi-directional communication, such as, for example, between the UAS (200) and the USS (204). The quality of service in each direction may differ however. According to embodiments of the present disclosure, the UAV (201), the controller (202), and/or the USS (204) may include communication interfaces (including for example, a transmitter and/or a receiver) and at least one processor with memory that implements one or more of the physical wireless network technologies, so as to be configured to communicate via one or more of the network types of the present disclosure.
With reference to
Air traffic control (ATC) authorities such as the FAA, or government or private authorities or entities tasked by the ATC authorities, have previously issued not only regulations but also various forms of graphic, textual, or verbal information regarding the layout of the airspace in which (manned and unmanned) aircraft operate. Historically, at various times available in the form of printed charts, weekly publications, and textual information (e.g. available through fax, over the telephone, or in person by a flight service specialist), relevant information is now, in most countries including the US, available over the Internet, albeit from various sources. As an example, such relevant information may include the following:
(A) Charts: many different types of aeronautical charts are available in different countries and for different purposes (e.g. low/high altitude, visual/instrument flight rules, planning, etc.). For the operation of small UAVs, of particular relevance are the US sectional charts, as well as the “Low Altitude Authorization and Notification Capability” (LAANC) information, which may be displayed in the form of a chart on a web browser. Charts may be updated on a comparatively long-term cycle (for example; VFR sectional charts: every six months). For manned aircraft, the use of an “in force” chart may be required. Referring to
Recognizing the requirements for manned aircraft operations were perhaps overly restrictive for recreational drones, the FAA has recently allowed flying recreational drones in certain parts of controlled airspace. With reference to
(B) Notice to Airmen (NOTAM): these textual notices may have an internationally recognized standardized format and may be written in plain English. The textual notices can be issued quickly—within minutes or hours—unlike charts that may have update cycles measured in weeks and months, but their valid time can be varying from hours to “indefinitely” or “until further notice”. One of many purposes of NOTAMs can be to update certain aspects of charts. For example, aeronautical charts can include information about navigation obstacles such as high towers. When a temporary crane gets erected that is higher than a certain threshold (which is determined, among other factors, by the closeness of the site to the approach path of existing airports), it may constitute a navigation hazard and, as such, its existence, location, height, and anticipated duration of existence may be made available in the form of NOTAMs. An example of a NOTAM that indicates the presence of a crane in the vicinity of an airport (San Carlos, KSQL) may look as follows:
(C) Temporary Flight Restrictions (TFRs): A TFR is a type of a NOTAM that can inform a pilot or crew of an airspace where special ATC permission may be required to enter. TFRs can be announced well in advance (for example, to cover areas above long-planned sports events), or issued in real time (for example, in case of wildfires). Shown below is an example of a TFR that could be related to a fire or similar hazard; the TFR may only be valid for a single hour:
In the US and in many other countries, all the above information can be obtained in digital format. In the US, such access can be free of charge. The data format of the above information may be standardized, published, and quite compact. All aforementioned US data pertaining to a given day may fit into 16 GB.
The FAA is transitioning the National Airspace System (NAS) to Performance Based Navigation (PBN), which primary uses satellite navigation in the form of the Global Navigation Satellite System (GNSS). GPS (Global Positioning System) is one the systems of GNSS, which is a system used for worldwide navigation and surveying. The GPS system may make use of the geographical latitude and longitude lines to provide coordinates for a person's location or a place of interest. Lines of latitude are horizontal lines that stretch from east to west across the globe. The longest and main line of latitude is called the Equator. The Equator is represented as 0° latitude. Lines of longitude are vertical lines that stretch from the North Pole to the South Pole. The main line of longitude is called the Prime Meridian. The Prime Meridian is represented as 0° longitude. Most locations on the Earth do not fall along the lines of latitude or longitude, but within the shapes created from the intersection of the horizontal and vertical lines.
In order to accurately pinpoint a human being on the Earth's surface, the lines of latitude and longitude are further divided and expressed in at least one of the three common formats: Degrees, minutes, and seconds (DMS). The common way to represent a GPS coordinate may be in the format of a pair of Latitude (N/S) and Longitude (E/W). N(orth)/S(outh) may be placed at the end of each DMS to represent if it is either on the North or South of the Equator. E(ast)/W(est) may be placed at the end of each DMS to represent if it is either on the left of the Prime Meridian or right of the Prime Meridian. The space between each line of latitude or longitude, representing 1°, is divided into 60 minutes, and each minute is divided into 60 seconds. An example of a GPS coordinate may look like the following: (25° 24′10.1″N, 20° 15′16.5″E).
As described above, interpreting airspace using traditional means designed for manned aircraft is difficult and requires a certain amount of training. While the FAA increasingly makes available simplified charts (like the chart 400), apps, and other tools designed for non-professionals, such tools continue to be difficult to operate, and perhaps more importantly, require the UAV pilot to actually consult them before flying his/her UAV. The many recent incidents related to UAVs in controlled airspace clearly indicate that not all UAV pilots do so.
Further, especially with relatively small UAVs, it can be hard for an untrained (or even trained) UAV pilot to gauge the altitude that his/her UAV is flying. For example, it previously has been difficult for a UAV pilot to know that his/her small UAV is 90 ft. in altitude (which may be legal in certain areas as indicated by a UAV chart) or 110 ft. (which may be illegal). Technical systems may be needed to be built into a UAV (e.g. UAV (201)) or a controller (e.g. controller (202)) to help solve such problems.
Referring to
The controller (502) may also include a computer system that includes at least one processor and memory storing computer code, wherein the computer code is configured to cause the controller (502) to perform its functions when executed by the at least one processor of the controller (502). The computer system of the controller (502) may be implemented by any number of the components of computer system (900) described later below with reference to
The memory storage (524) and/or the memory storage (534) may have at least a sufficient size to store information pertaining to the airspace(s) the UAV may operate in. Such information may include digital representations of charts, NOTAMs, TFRs and so forth. The digital information may be interpreted by the computer system (520) of the UAV (501) and/or the computer system of the controller (502), and may be compared (e.g. correlated) with the position of the UAV (501) in three dimensions (including lateral position and altitude). The computer system (520) of the UAV (501) and/or the computer system of the controller (502) may determine, as a result of the comparison (e.g. correlation) process, that the UAV (501) is “legal to fly” or “not legal to fly” in the airspace that the UAV (501) currently occupies. Alternatively or additionally, the computer system (520) of the UAV (501) and/or the computer system of the controller (502) may determine other results such as “legal to fly but approaching the legal airspace boundary”, “legal to fly but will be illegal within 10 seconds if course is not altered”, and so forth. The memory storage (524) and/or the memory storage (534) may be loaded with digital information pertaining to the airspace(s) the UAV (501) is anticipated to fly in.
The UAS (500) may obtain the digital information (or additional digital information that may update the digital information) pertaining to the airspace(s), during power-up, pre-flight, or flight, of the UAV (501), by one or more from among the wireless connection (541) and the wireless connection (542). For example, with reference to
For example, according to embodiments, the UAV (501) and/or the controller (502) may query the USS (408) (and/or the similar servers) for one or more of the following, which the UAV (401) and/or the controller (502) may then obtain and store in the memory storage (524) and/or the memory storage (534):
(A) Charts: In a case that the UAV (501) or the controller (502) determines that onboard charts in the memory storage (524) and/or the memory storage (534) for a relevant area(s) are not current (e.g. aeronautical charts may carry an expiration date); the UAS (500) may query for and obtain charts pertaining to a particular area that is identified by the UAS (500). For example, the particular area may be a geographical location (e.g. a location of the UAS (401)) that is obtained by the UAS (500) from the GPS antenna (523), or other geo-reference data, including a reasonable radius around the UAV's (501) current location wherein the reasonable radius may be calculated by the UAV (501) or the controller (502) based on the endurance (e.g. maximum flight time) of the UAV (501), a maximum speed of the UAV (501), and a safety factor to accommodate for wind and other environmental factors.
(B) NOTAMs: The UAS (500) may query for and obtain NOTAMs pertaining to a particular area that is identified by the UAS (500), wherein the particular area may be the same or similar as the particular areas described above.
(C) TFRs: The UAS (500) may query for and obtain TFRs pertaining to a particular area that is identified by the UAS (500), wherein the particular area may be the same or similar as the particular area described above.
(D) Other Information: The UAS (500) may query for and obtain other information relevant for the flight of the UAV (e.g. pertaining to the particular area that is identified by the UAS (500)). For example, the other information may include weather data, including, for example, wind data. According to embodiments, the weather data may be used by the UAS (500) to determine the safety factor for calculating the reasonable radius around the UAV's (501) current location.
Information received using the aforementioned mechanisms can be integrated with the onboard information in the memory storage (524) and/or the memory storage (534) and used as described further below.
Details of protocols used for the communication between the UAS (500) (e.g. the UAV (501) or the controller (502)) and the USS (504), or other servers, may depend on the services offered by the USS (504) or the other servers. Historically, NOTAMs (e.g. TFRs), as an example, were available in files covering geographic areas of air traffic control centers (several US states in size). According to embodiments of the present disclosure, the UAS (500) (e.g. the UAV (501) or the controller (502)) may (a) request the file corresponding to the state the UAV (501) is operating in (e.g. as identified by the UAS (500) based on GPS location and an onboard chart), (b) download the pertinent textual NOTAM file (which can be a few ten or perhaps 100 Kbyte in size) using protocols such as FTP, or HTTP, (c) parse the file for relevant information, and (e) integrate the relevant information identified with onboard chart information in the memory storage (524) and/or the memory storage (534). Such a process may occur at least once before the flight, but also several times during the flight, for example in 1-minute or 5-minute intervals. Such process may be practical due to the comparatively small file size. Other access mechanisms of the present disclosure, described below, may be even more efficient.
More recently, airspace authorities including the FAA have implemented modern query interfaces that allow automated download of information pertinent to a specific location with a granularity much finer than a state. These interfaces can be based on RESTful operations. Representational State Transfer (REST), is a technique in which a client can query a server identified by a base Unified Resource Indicator (URI) through standard HTTP methods (including, for example, GET, POST, PUT, PATCH, or DELETE) in a defined format. One such defined standardized format is known as Java Object Notation (JSON).
According to embodiments of the present disclosure, with reference to
Queries by the UAS (500) for NOTAMs (e.g. TFRs), and/or other real-time updated information can have similar formats.
Due to the comparatively small size of both query messages and replies (e.g. as shown in the example of
With reference to
According to embodiments, the UAS (500) may be configured to receive the digital information pertaining to the airspace(s). According to embodiments, the UAS (500) may be configured to communicate the digital information pertaining to the airspace(s) between the UAV (501) and the controller (502). According to embodiments, the UAV (501) and/or the controller (502) may be configured to make determinations (e.g. illegal flight) based on the digital information pertaining to the airspace(s). According to embodiments, the UAV (501) and/or the controller (502) may be configured to cause the UAV (501) and/or the controller (502) to warn the user (509) about the determinations, and/or cause the UAV (501) to perform actions (e.g. automatic return or land) based on the determinations. Examples of warning the user (509) of a determination is provided below.
Referring again to
According to embodiments, with reference to
Referring to
As mentioned above, RESTful operations for retrieving flight map data may be implemented. The returned data of the RESTful operations may be in a standardized format such as JSON.
Not all returned data (e.g. JSON data) may be important for a UAV (501) to obtain. The parameters listed in the table (700), illustrated in
With reference to
With reference to table (700), flight map information obtained by the UAS (500) may include properties such as, for example, “ceiling”, “floor”, and “ceiling and floor geometry rings”.
“Ceiling” may be information that describes a ceiling of a zone of a flight map, and may be set to be “Mandatory”. “Floor” may be information that describes a floor of a flight zone of a flight map, and may be set to be “Mandatory”. “Ceiling and floor geometry rings” may be geometry data for each ceiling and floor ring of zones of a flight map, and may be set to be “Mandatory”.
The properties “ceiling”, “floor”, and “ceiling and floor geometry rings” may each use a dictionary data type. All parameters which use the dictionary data type may take the key value for the same purpose. For example, for “ceiling”, if there is only one ceiling defined, the {key, value} pair data may be {“0”: ceiling}. Then, {“0”: floor} may represent the floor of a zone of the flight map that is associated with the key value of “0”. Similar relationships may also be provided for “ceiling and floor geometry rings” data.
Each key value may correspond to a respective zone of a flight map, and a size of a zone of a flight map may be rectangular. For example, the keys “0” and “1” shown in
The UAS (500) may obtain the above described aeronautical information from a server and perform an operation with the aeronautical information obtained.
The UAS (500) may obtain the aforementioned information (e.g. information indicated in table (700)) from a server (e.g. USS (504)) and use the information in at least one of the following ways:
(1) During startup, the UAS (500) may query (e.g. RESTful query) a server, for example a server co-operated with the USS (504), a LAANC server, or similar servers, to compare (e.g. correlate) with its own known position and whether it is legal to fly (and up to what altitude it is legal to fly in the anticipated visual range around its current location). The visual range may be determined by heuristics, involving, for example, the size of the UAV—a one-foot drone is hardly visible when more than a few hundred feet away. If it were illegal to fly at the current location, the UAS (500) may inform the pilot of such a situation. The UAS (500) may also inform the pilot about the maximum height that it is legal to fly (which may be particularly relevant in multi-ringed environments).
(2) In flight, the UAS (500) may correlate the position information obtained by an onboard GPS of the UAV (501). If the UAS (500) determines that the UAV (501) has entered illegal airspace, it may take corrective action, for example informing the pilot, auto-return, and/or auto-land.
UASs of the present disclosure may comprise at least one processor and memory storing computer code. The computer code, when executed by the at least one processor, may be configured to cause the at least one processor to perform the functions of the embodiments of the present disclosure.
For example, with reference to
The first obtaining code (802) may be configured to cause the at least one processor to obtain first digital information that indicates a position of the UAV (501) of the UAS (500). According to an embodiment, the first digital information may include a GPS coordinate of the UAV (501). According to an embodiment, the first digital information may be obtained via GPS.
The second obtaining code (804) may be configured to cause the at least one processor to obtain second digital information that identifies one or more flight maps, and one or more zones thereof. According to an embodiment, at least a portion of the second digital information may be in a JavaScript Object Notation (JSON) format. According to an embodiment, at least a portion of the second digital information may have a dictionary data type. According to an embodiment, the second digital information may be obtained via a wireless connection to a network that is external to the UAS (500). According to an embodiment, the UAS (500) may query (e.g. RESTful query) a server to obtain the second digital information. According to an embodiment, the second digital information may include the digital information described above with reference to table (700) that is illustrated in
The determining code (806) may be configured to cause the at least one processor to determine whether the UAV (501) has caused an airspace violation by comparing (e.g. correlating) the position of the UAV (501) with a zone of the flight map, based on the first digital information and the second digital information. In a case where one from among the UAV (501) and the controller (502) obtains the first and/or second digital information via a network outside the UAS (500), and the other from among the UAV (501) and the controller (502) is configured to perform the determination, the one from among the UAV (501) and the controller (502) may communicate the first and/or second digital information to the other via the wireless connection (510) from among the UAV (501) and the controller (502) so that the other from among the UAV (501) and the controller (502) may perform the determination.
The controlling code (808) may be configured to cause the at least one processor to control the UAS (500) to warn the user (509) of the UAS (500) about the airspace violation occurring or potentially occurring, or control the UAV (501) to auto return or land, based on the determination performed with the determining code (807). For example, according to an embodiment, the controller (502) may inform the user (509) of a result of the comparison (e.g. occurrence or potential occurrence of the airspace violation) through, for example, causing the controller (502) to vibrate by a haptic feedback device (e.g. a motor or actuator) of the controller (502), or visually signal via a warning light of the controller (502) or by displaying a message on a display (e.g. display (512)) of the controller (502). Alternatively or additionally, the UAV (501) can include onboard mechanisms that allow it to inform the user (509) of the result of the comparison (e.g. correlation) process. For example, at least one processor of the UAV (501) may control ground-visible warning lights of the UAV (501) to signal the result. As another example, the at least one processor of the UAV (501) may control the UAV (501) to “bob” (rapid oscillating vertical motion). According to embodiments, when one from among the UAV (501) and the controller (502) locally performs the comparison (e.g. correlation) process, the one from among the UAV (501) and the controller (502) may also signal the result (e.g. occurrence or possible occurrence of the airspace violation) of the comparison to the user (509). Alternatively or additionally, the one from among the UAV (501) and the controller (502) may communicate, via the wireless connection (510), a signal codifying the result of the comparison to the other from among the UAV (501) and the controller (502), and the at least one processor of the other from among the UAV (501) and the controller (502) may control the other from among the UAV (501) and the controller (502) to signal the result of the comparison to the user (509).
The embodiments of the present disclosure, described above, can be implemented in both a controller and a UAV as computer software using computer-readable instructions and physically stored in one or more computer-readable media. For example,
The computer software can be coded using any suitable machine code or computer language, that may be subject to assembly, compilation, linking, or like mechanisms to create code including instructions that can be executed directly, or through interpretation, micro-code execution, and the like, by computer central processing units (CPUs), Graphics Processing Units (GPUs), and the like.
The instructions can be executed on various types of computers or components thereof, including, for example, personal computers, tablet computers, servers, smartphones, gaming devices, internet of things devices, and the like.
The components shown in
Computer system (900) may include certain human interface input devices. Such a human interface input device may be responsive to input by one or more human users through, for example, tactile input (such as: keystrokes, swipes, data glove movements), audio input (such as: voice, clapping), visual input (such as: gestures), olfactory input (not depicted). The human interface devices can also be used to capture certain media not necessarily directly related to conscious input by a human, such as audio (such as: speech, music, ambient sound), images (such as: scanned images, photographic images obtain from a still image camera), video (such as two-dimensional video, three-dimensional video including stereoscopic video).
Input human interface devices may include one or more of (only one of each depicted): keyboard (901), mouse (902), trackpad (903), touch-screen (910), joystick (905), microphone (906), scanner (907), and camera (908).
Computer system (900) may also include certain human interface output devices. Such human interface output devices may be stimulating the senses of one or more human users through, for example, tactile output, sound, light, and smell/taste. Such human interface output devices may include tactile output devices (for example tactile feedback by the touch-screen (910), data-glove, or joystick (905), but there can also be tactile feedback devices that do not serve as input devices. For example, such devices may be audio output devices (such as: speakers (909), headphones (not depicted)), visual output devices (such as screens 910 to include CRT screens, LCD screens, plasma screens, OLED screens, each with or without touch-screen input capability, each with or without tactile feedback capability—some of which may be capable to output two dimensional visual output or more than three dimensional output through means such as stereographic output; virtual-reality glasses (not depicted), holographic displays and smoke tanks (not depicted)), and printers (not depicted).
Computer system (900) can also include human accessible storage devices and their associated media such as optical media including CD/DVD ROM/RW (920) with CD/DVD or the like media (921), thumb-drive (922), removable hard drive or solid state drive (923), legacy magnetic media such as tape and floppy disc (not depicted), specialized ROM/ASIC/PLD based devices such as security dongles (not depicted), and the like.
Those skilled in the art should also understand that term “computer readable media” as used in connection with the presently disclosed subject matter does not encompass transmission media, carrier waves, or other transitory signals.
Computer system (900) can also include interface to one or more communication networks. Networks can for example be wireless, wireline, optical. Networks can further be local, wide-area, metropolitan, vehicular and industrial, real-time, delay-tolerant, and so on. Examples of networks include local area networks such as Ethernet, wireless LANs, cellular networks to include GSM, 3G, 4G, 5G, LTE and the like, TV wireline or wireless wide area digital networks to include cable TV, satellite TV, and terrestrial broadcast TV, vehicular and industrial to include CANBus, and so forth. Certain networks commonly require external network interface adapters that attached to certain general purpose data ports or peripheral buses (949) (such as, for example USB ports of the computer system (900); others are commonly integrated into the core of the computer system (900) by attachment to a system bus as described below (for example Ethernet interface into a PC computer system or cellular network interface into a smartphone computer system). Using any of these networks, computer system (900) can communicate with other entities. Such communication can be uni-directional, receive only (for example, broadcast TV), uni-directional send-only (for example CANbus to certain CANbus devices), or bi-directional, for example to other computer systems using local or wide area digital networks. Such communication can include communication to a cloud computing environment (955). Certain protocols and protocol stacks can be used on each of those networks and network interfaces as described above.
Aforementioned human interface devices, human-accessible storage devices, and network interfaces (954) can be attached to a core (940) of the computer system (900).
The core (940) can include one or more Central Processing Units (CPU) (941), Graphics Processing Units (GPU) (942), specialized programmable processing units in the form of Field Programmable Gate Areas (FPGA) (943), hardware accelerators (944) for certain tasks, and so forth. These devices, along with Read-only memory (ROM) (945), Random-access memory (RAM) (946), internal mass storage such as internal non-user accessible hard drives, SSDs, and the like, may be connected through a system bus (948). In some computer systems, the system bus (948) can be accessible in the form of one or more physical plugs to enable extensions by additional CPUs, GPU, and the like. The peripheral devices can be attached either directly to the core's system bus (948), or through a peripheral bus (949). Architectures for a peripheral bus include PCI, USB, and the like. A graphics adapter (950) may be included in the core (940).
CPUs (941), GPUs (942), FPGAs (943), and accelerators (944) can execute certain instructions that, in combination, can make up the aforementioned computer code. That computer code can be stored in ROM (945) or RAM (946). Transitional data can be also be stored in RAM (946), whereas permanent data can be stored for example, in the mass storage (947) that is internal. Fast storage and retrieve to any of the memory devices can be enabled through the use of cache memory, that can be closely associated with one or more CPU (941), GPU (942), mass storage (947), ROM (945), RAM (946), and the like.
The computer readable media can have computer code thereon for performing various computer-implemented operations. The media and computer code can be those specially designed and constructed for the purposes of the present disclosure, or they can be of the kind well known and available to those having skill in the computer software arts.
As an example and not by way of limitation, the computer system (900) having architecture, and specifically the core (940) can provide functionality as a result of processor(s) (including CPUs, GPUs, FPGA, accelerators, and the like) executing software embodied in one or more tangible, computer-readable media. Such computer-readable media can be media associated with user-accessible mass storage as introduced above, as well as certain storage of the core (940) that are of non-transitory nature, such as core-internal mass storage (947) or ROM (945). The software implementing various embodiments of the present disclosure can be stored in such devices and executed by core (940). A computer-readable medium can include one or more memory devices or chips, according to particular needs. The software can cause the core (940) and specifically the processors therein (including CPU, GPU, FPGA, and the like) to execute particular processes or particular parts of particular processes described herein, including defining data structures stored in RAM (946) and modifying such data structures according to the processes defined by the software. In addition or as an alternative, the computer system can provide functionality as a result of logic hardwired or otherwise embodied in a circuit (for example: accelerator (944)), which can operate in place of or together with software to execute particular processes or particular parts of particular processes described herein. Reference to software can encompass logic, and vice versa, where appropriate. Reference to a computer-readable media can encompass a circuit (such as an integrated circuit (IC)) storing software for execution, a circuit embodying logic for execution, or both, where appropriate. The present disclosure encompasses any suitable combination of hardware and software.
While this disclosure has described several non-limiting example embodiments, there are alterations, permutations, and various substitute equivalents, which fall within the scope of the disclosure. It will thus be appreciated that those skilled in the art will be able to devise numerous systems and methods which, although not explicitly shown or described herein, embody the principles of the disclosure and are thus within the spirit and scope thereof.
This application claims priority from U.S. Provisional Application No. 62/994,573, filed on Mar. 25, 2020, the disclosure of which is incorporated herein by reference in its entirety.
| Number | Date | Country | |
|---|---|---|---|
| 62994573 | Mar 2020 | US |
