Modular flight management system incorporating an autopilot

• US 10,025,307 B2
• Filed: 01/07/2016
• Issued: 07/17/2018
• Est. Priority Date: 08/16/2011
• Status: Active Grant

• Current Assignee: Skydio, Inc.
• Original Assignee: Unmanned Innovation Inc (Delair SAS)
• Inventors: Downey, Jonathan B., Michini, Bernard J.
• Primary Examiner(s): Black, Thomas G
• Assistant Examiner(s): Kong, Sze-Hon
• Application Number:
  US14/990,408
• Publication Number:
  US 20160187882A1
• Time in Patent Office: 922 Days
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• CPC Class Codes: B64U 2101/30 for imaging, photography or videography
• CPC Class Codes: B64U 2201/10 autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
• CPC Class Codes: B64U 2201/104 using satellite radio beacon positioning systems, e.g. GPS
• CPC Class Codes: G05D 1/0055 with safety arrangements
• CPC Class Codes: G05D 1/0077 using redundant signals or controls
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G05D 1/0094 involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
• CPC Class Codes: G05D 1/08 Control of attitude, i.e. control of roll, pitch, or yaw
• CPC Class Codes: G06F 21/44 Program or device authentication
• CPC Class Codes: H05K 3/32 electrically connecting electric components or wires to printed circuits
• CPC Class Codes: Y10T 29/4913 Assembling to base an electrical component, e.g., capacitor, etc.

Abstract

A modular vehicle management system is described, comprising a controller module configured to control different types of carrier modules. The controller module includes a computer system and optionally one or more sensors. The computer system is configured to perform operations comprising detecting whether a carrier module is connected to the controller module. If the carrier module is connected to the controller module, the carrier module is authenticated. If the authentication fails, operation of the vehicle is inhibited. The control module is configured to determine carrier module capabilities including information regarding a navigation processing device, and/or a radio modem. The controller adapts to the capabilities of the controller module. Using information from the sensors and the navigation processing device, the vehicle management system navigates the vehicle.

Claims

1. A modular flight management system for an unmanned vehicle, comprising:

a controller board configured to control a plurality of different types of carrier boards of different configurations, the controller board including at least, on the same controller board;

computer readable media,

a pressure sensor coupled to the controller board,

a gyroscope coupled to the controller board,

an accelerometer coupled to the controller board, and

a first computer system configured to execute a first operating system, wherein the first computer system is configured to perform the operations comprising;

storing in the computer readable media a carrier board configuration, the carrier board configuration comprising configuration information associated with at least one of a radio modem, satellite navigation system, auxiliary host computer, or redundant system,

receiving signals from the pressure sensor, gyroscope and accelerometer,

based at least in part on the received signals, navigating the unmanned vehicle in accordance with a desired location or route, and

adapting one or more of inputs or outputs associated with signal lines of the controller board based on the carrier board configuration, wherein the inputs or outputs are configured to be digital or analog based on the carrier module configuration; and

a controller board enclosure;

a connector configured to receive a carrier board for the unmanned vehicle, wherein signals lines associated with the connector are adapted based on the carrier board configuration; and

an operating system board configured for operation with the controller board, the operating system board comprising;

a second computer system configured to execute a second operating system,

wherein the second computer system has more computational power than the first computer system, and

wherein the second computer system is configured to perform operations separate from the first computer system.

2. The modular flight management system as defined in claim 1, wherein the first computer system is further configured to perform the operations comprising:

detecting whether the carrier board is connected to the connector;

at least partly in response to detecting that the carrier board is connected to the connector, authenticating the detected carrier board to determine whether the detected carrier board is authorized to be connected to the controller board, and

wherein if the detected carrier board fails authentication by the controller board, flight of the unmanned vehicle is inhibited by the modular flight management system.

3. The modular flight management system as defined in claim 2, wherein authenticating the detected carrier board to determine whether the detected carrier board is authorized to be connected to the controller board further comprises transmitting a random or pseudo-random challenge word to the detected carrier board and receiving an encrypted challenge response from the detected carrier board, the challenge response including information indicating capabilities of the detected carrier board.

4. The modular flight management system as defined in claim 1, wherein the first computer system is further configured to perform the operations comprising:

determining whether a failure condition exists, and

inhibiting flight of the unmanned vehicle if a failure condition is determined.

5. The modular flight management system as defined in claim 1, wherein the first computer system is further configured to perform the operations comprising:

estimating a current state of the unmanned vehicle, the estimated state comprising position, attitude, heading, altitude, airspeed and velocity.

6. The modular flight management system as defined in claim 1, wherein the modular flight management system is further configured to perform the operations comprising:

maintaining or altering a course of the unmanned vehicle; and

controlling actuators to control movement of the unmanned vehicle.

7. The modular flight management system as defined in claim 1, wherein the modular flight management system is further configured to perform the operations comprising:

pointing and focusing a camera, and

instructing the camera to capture images.

8. The modular flight management system as defined in claim 1, wherein the different types of carrier boards comprise a carrier board having one or more temperature sensors configured to measure air temperature of an interior of the controller board enclosure.

9. The modular flight management system as defined in claim 1, wherein the modular flight management system is further configured to perform the operations comprising:

interrogating a carrier board included in the different types of carrier boards, and based at least in part on results of the carrier board interrogation, selecting an initialization routine to run for the interrogated carrier board.

10. The modular flight management system as defined in claim 1, wherein the different types of carrier boards comprise a carrier board that comprises a radio modem and a navigation satellite system signal processing device.

11. The modular flight management system as defined in claim 1, wherein the different types of carrier boards comprise a carrier board, comprising a radio modem, a navigation satellite system signal processing device, a power supply configured to power one or more actuator servos, and a servo interface configured to control the one or more actuator servos to control a flight control surface or propulsion system of the unmanned vehicle.

12. The modular flight management system as defined in claim 1, wherein the first computer system is further configured to perform the operations comprising:

determining information regarding payload interfaces on the carrier board.

13. The modular flight management system as defined in claim 1, wherein the first computer system is further configured to perform the operations comprising:

obtaining information regarding signal conditioning on the carrier board.

14. The modular flight management system as defined in claim 1, further comprising:

a plurality of controller modules, corresponding to an odd number of redundant controller modules; and

a voting circuit configured to receive outputs from the odd number of redundant controller modules, wherein the voting circuit is configured to determine if a first of the odd number of redundant controller modules is providing an output that fails to correspond to outputs provided by at least two other redundant controller modules, and at least partly in response to determining that the first of the odd number of redundant controller modules is providing an output that fails to correspond to outputs provided by that at least two other redundant controller modules, inhibiting operation of the first of the odd number of redundant controller modules.

15. The modular flight management system as defined in claim 1, further comprising:

a plurality of sensors; and

a Kalman filter configured to detect failure of a sensor of the plurality of sensors, wherein the modular flight management system is configured to inhibit the use of data from a detected failed sensor for control of flight of the unmanned vehicle.

16. The modular flight management system as defined in claim 1, further comprising:

a plurality of controller modules; and

a voting circuit configured to detect a failed controller module using median sensor values, or median controller outputs, or median sensor values and median controller outputs, from three or more controller modules.

17. A modular flight management system for navigating an unmanned vehicle, the system comprising:

a controller board configured to control a plurality of different types of carrier modules of different configurations, the controller board including at least, on the same controller board;

computer readable media,

a pressure sensor coupled to the controller board,

a gyroscope coupled to the controller board,

an accelerometer coupled to the controller board, and

a first computer system configured to execute a first operating system, wherein the first computer system is configured to perform the operations comprising;

detecting whether one or more carrier modules are coupled to the controller board,

storing in the computer readable media a carrier module configuration based on the detected carrier modules, a carrier board configuration comprising configuration information associated with at least one of a radio modem, satellite navigation system, auxiliary host computer, or redundant system,

interrogating the one or more carrier modules,

based on the interrogation, selecting an initialization routine to run for the one or more carrier modules,

adapting one or more of inputs or outputs associated with signal lines of the controller board based on the carrier module configuration, wherein the inputs or outputs are configured to be digital or analog based on the carrier module configuration,

receiving signals from the pressure sensor, gyroscope and accelerometer, and

based at least in part on the received signals, navigating the unmanned vehicle in accordance with a desired location or route.

18. The modular flight management system as defined in claim 17, wherein the first computer system is further configured to perform the operations comprising:

at least partly in response to detecting that a first carrier module is connected to the controller board, authenticating the first carrier module to determine whether the first carrier module is authorized to be connected to the controller board; and

wherein if the first carrier module fails authentication by the controller board, flight of the unmanned vehicle is inhibited by the modular flight management system.

19. The modular flight management system as defined in claim 17, wherein the first computer system is further configured to perform the operations comprising:

determining whether a failure condition exists, and inhibiting flight of the unmanned vehicle if a failure condition is determined.

20. A method of operating an unmanned vehicle, the method comprising:

detecting, by a flight management system comprising a computer system, whether a carrier module is connected to a controller board;

storing in a computer readable media a carrier module configuration based on the detected connected carrier module, carrier module configuration comprising configuration information associated with at least one of a radio modem, satellite navigation system, auxiliary host computer, or redundant system;

interrogating, by the flight management system, the carrier module;

based on the interrogation, selecting, by the flight management system, an initialization routine to run for the carrier module;

adapting one or more of inputs or outputs associated with signal lines of the controller board based on the carrier module configuration, wherein the inputs or outputs are configured to be digital or analog based on the carrier module configuration; and

automatically piloting the unmanned vehicle in accordance with a desired location or route.

21. The method of claim 20, further comprising:

at least partly in response to detecting that a second carrier module is connected to the controller board, authenticating the second carrier module to determine whether the second carrier module is authorized to be connected to the controller board; and

wherein if the second carrier module fails authentication by the controller board, flight of the unmanned vehicle is inhibited by the flight management system.

22. The method of claim 20, further comprising:

determining whether a failure condition exists, and

inhibiting flight of the unmanned vehicle if a failure condition is determined.

23. The method of claim 20, further comprising:

estimating a current state of the unmanned vehicle, the estimated state comprising position, attitude, heading, altitude, airspeed and velocity.

24. The method of claim 20, further comprising:

maintaining or altering a course of the unmanned vehicle; and

controlling actuators to control movement of the unmanned vehicle.

25. The method of claim 20, further comprising:

pointing and focusing a camera, and

instructing the camera to capture images.

26. The method of claim 20, further comprising:

determining information regarding payload interfaces on the carrier module.

27. The method of claim 20, further comprising:

obtaining information regarding signal conditioning on the carrier module.

28. A modular flight management system for operating an unmanned vehicle, the system comprising:

a controller board configured to control a plurality of different types of carrier modules, the controller board comprising;

computer readable media,

a pressure sensor coupled to the controller board,

a gyroscope coupled to the controller board,

an accelerometer coupled to the controller board, and

a first computer system configured to execute a first operating system, wherein the first computer system is configured to perform the operations comprising;

storing in the computer readable media a carrier module configuration of coupled carrier modules, the stored carrier module configuration comprising configuration information associated with at least one of a radio modem, satellite navigation system, auxiliary host computer, or redundant system,

adapting one or more of inputs or outputs associated with signal lines of the controller board based on the stored carrier module configuration, wherein the inputs or outputs are configured to be digital or analog based on the carrier module configuration and

determining whether a failure condition exists,

inhibiting flight of the unmanned vehicle if a failure condition is determined;

and

a connector configured to receive a carrier module for the unmanned vehicle; and

an operating system board configured for operation with the controller board, the operating system board comprising;

a second computer system configured to execute a second operating system,

wherein the second computer system has more computational power than the first computer system and has dedicated graphics processing circuitry, and

wherein the second computer system is configured to perform operations separate from the first computer system.