Geo-fencing systems and methods for aerial vehicles

• US 10,132,932 B1
• Filed: 10/30/2015
• Issued: 11/20/2018
• Est. Priority Date: 06/25/2015
• Status: Expired due to Fees

• Current Assignee: Horizon Hobby, Llc
• Original Assignee: Horizon Hobby, Llc
• Inventors: McConville, Michael, Huhn, Chris
• Primary Examiner(s): Jos, Basil T.
• Application Number:
  US14/927,913
• Time in Patent Office: 1,117 Days
• CPC Class Codes: G01C 21/1654 with electromagnetic compass
• CPC Class Codes: G01S 19/14 specially adapted for specific applications
• CPC Class Codes: G01S 19/51 Relative positioning
• CPC Class Codes: G05D 1/101 specially adapted for aircraft
• CPC Class Codes: G08G 5/0013 with a ground station
• CPC Class Codes: G08G 5/0021 located in the aircraft
• CPC Class Codes: G08G 5/006 in accordance with predefined flight zones, e.g. to avoid prohibited zones
• CPC Class Codes: G08G 5/0069 specially adapted for an unmanned aircraft
• CPC Class Codes: G08G 5/0091 for monitoring atmospheric conditions radar or analogous systems specially adapted for meteorological use G01S13/95; meteorology G01W
• CPC Class Codes: G08G 5/025 Navigation or guidance aids radar or analogous systems specially adapted for landing purposes G01S13/913
• CPC Class Codes: G08G 5/045 Navigation or guidance aids, e.g. determination of anti-collision manoeuvers radar or analogous systems specially adapted for anti-collision between aircraft G01S13/933
• CPC Class Codes: H04W 4/021 Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences

Abstract

Example embodiments include an aerial vehicle configured to establish a geo-fence. In particular, an aerial vehicle may include an inertial measurement unit, a GPS sensor, and vehicle controller circuitry that works together to establish a geo-fence based on an initial location. In an example embodiment, the aerial vehicle may establish a rectangular geo-fence and a wind direction based on received angular data, acceleration data, and location data. The rectangular geo-fence may include a minimum fence height, a maximum fence height, a fence length, and a fence width.

Claims

1. An aerial vehicle comprising:

an inertial measurement unit (IMU) comprising;

at least one gyroscope sensor configured to output angular data; and

at least one accelerometer sensor configured to output acceleration data;

a global positioning system (GPS) sensor configured to output location data; and

vehicle controller circuitry electrically connected to the IMU and the GPS sensor and configured to;

determine a wind direction based on (i) the location data from the GPS sensor and (ii) either the angular data or the acceleration data from the IMU; and

determine an initial location based on the location data from the GPS sensor and establish a geo-fence based on the initial location.

2. The aerial vehicle of claim 1, wherein the geo-fence is a rectangular geo-fence and the vehicle controller circuitry is further configured to establish at least a geo-fence width and a geo-fence length.

3. The aerial vehicle of claim 2, wherein the geo-fence length comprises a left length and a right length, wherein the left length and right length are measured relative to the initial location and are adjustable.

4. The aerial vehicle of claim 1, wherein the vehicle controller circuitry is further configured to:

determine whether the aerial vehicle is located within the geo-fence based on one or more of the angular data, acceleration data, and location data; and

in response to determining the aerial vehicle is located outside the geo-fence, send a control signal to control at least one control surface of the aerial vehicle.

5. The aerial vehicle of claim 1, wherein the vehicle controller circuitry is further configured to:

determine a current location of the aerial vehicle within the geo-fence based on one or more of the angular data, acceleration data, and location data;

set a threshold safety distance geo-fence within the geo-fence;

compare the current location to the threshold safety distance geo-fence; and

when the current location is outside the threshold safety distance geo-fence, control the aerial vehicle to stay within the geo-fence.

6. A method of establishing a geo-fence for an aerial vehicle comprising:

determining a first location of the aerial vehicle based on location data from a global positioning system (GPS) sensor of the aerial vehicle;

determining angular data and acceleration data from an inertial measurement unit (IMU);

establishing an initial location based on the first location;

establishing the geo-fence comprising at least a fence width and a fence length;

determining a wind direction based on (i) the location data from the GPS sensor, and (ii) one or both of the angular data or the acceleration data from the IMU.

7. The method of claim 6, wherein the fence length further comprises a left length and a right length and wherein the left length and the right length are measured from the initial location and are adjustable.

8. The method of claim 6, further comprising:

determining whether the aerial vehicle is located within the geo-fence based on one or more of the angular data, acceleration data, and location data; and

in response to determining the aerial vehicle is located outside the geo-fence, sending a control signal to at least one control surface of the aerial vehicle.

9. The method of claim 6, further comprising:

determining a current location of the aerial vehicle within the geo-fence based on one or more of the angular data, acceleration data, and location data;

establishing a threshold safety distance geo-fence within the geo-fence;

comparing the current location to the threshold safety distance geo-fence; and

when the current location is outside the threshold safety distance geo-fence, controlling the aerial vehicle to stay within the geo-fence.

10. An aerial vehicle comprising:

an inertial measurement unit (IMU) comprising;

at least one gyroscope sensor configured to output angular data; and

at least one accelerometer sensor configured to output acceleration data;

a global positioning system (GPS) sensor configured to output location data;

vehicle controller circuitry electrically connected to the IMU and the GPS sensor and configured to;

receive the angular data, the acceleration data, and the location data;

receive a throttle command from a controller;

determine an initial location based on received location data;

establish a geo-fence based on the initial location; and

determine a wind direction based on the received throttle command.

11. The aerial vehicle of claim 10, wherein the geo-fence is a rectangular geo-fence and the vehicle controller circuitry is further configured to establish a minimum fence height, a maximum fence height, a fence width, and a fence length.

12. The aerial vehicle of claim 11, wherein the fence length comprises a left length and a right length, wherein the left length and right length are measured from the initial location and are adjustable.

13. The aerial vehicle of claim 10, wherein the vehicle controller circuitry is further configured to:

determine whether the aerial vehicle is located within the geo-fence based on one or more of the received angular data, acceleration data, and location data; and

in response to determining the aerial vehicle is located outside the geo-fence, controlling the aerial vehicle to return to a location within the geo-fence.

14. The aerial vehicle of claim 10, wherein the vehicle controller circuitry is further configured to:

determine whether the aerial vehicle is located within the geo-fence based on one or more of the received angular data, acceleration data, and location data; and

in response to determining the aerial vehicle is located outside the geo-fence, control the aerial vehicle to perform an out-of-fence procedure.

15. The aerial vehicle of claim 14, wherein the out-of-fence procedure is an auto-land procedure.

16. The aerial vehicle of claim 14, wherein the out-of-fence procedure is a return home procedure.

17. The aerial vehicle of claim 14, where in the out-of-fence procedure is a loiter procedure.

18. The aerial vehicle of claim 10, wherein the vehicle controller circuitry is further configured to:

determine a current location of the aerial vehicle within the geo-fence based on one or more of the received angular data, acceleration data, and location data;

set a threshold safety distance geo-fence within the geo-fence;

compare the current location to the threshold safety distance geo-fence; and

when the current location is outside the threshold safety distance geo-fence, control the aerial vehicle to stay within the geo-fence.

19. The aerial vehicle of claim 10, wherein the vehicle controller circuitry is further configured to:

determine whether the aerial vehicle is located within the geo-fence based on one or more of the received angular data, received data, and location data; and

in response to determining the aerial vehicle is located outside the geo-fence, activate an alarm.