Autonomous vehicle control system

• US 10,234,874 B2
• Filed: 11/28/2016
• Issued: 03/19/2019
• Est. Priority Date: 11/30/2015
• Status: Active Grant

• Current Assignee: Elbit Systems Land and C4I - Tadiran Limited (Elbit Systems Limited)
• Original Assignee: Elbit Systems Land and C4I - Tadiran Limited (Elbit Systems Limited)
• Inventors: Kahn, Yair
• Primary Examiner(s): Jos, Basil T.
• Application Number:
  US15/751,097
• Publication Number:
  US 20180239367A1
• Time in Patent Office: 841 Days
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• CPC Class Codes: B64U 10/13 Flying platforms
• CPC Class Codes: B64U 2201/00 UAVs characterised by their flight controls
• CPC Class Codes: B64U 2201/104 using satellite radio beacon positioning systems, e.g. GPS
• CPC Class Codes: G01S 13/06 Systems determining position data of a target
• CPC Class Codes: G01S 15/06 Systems determining the position data of a target
• CPC Class Codes: G01S 19/03 Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
• CPC Class Codes: G01S 19/11 wherein the cooperating elements are pseudolites or satellite radio beacon positioning system signal repeaters
• CPC Class Codes: G01S 19/49 whereby the further system is an inertial position system, e.g. loosely-coupled
• CPC Class Codes: G01S 5/0054 of actual mobile position, i.e. position calculation on base station
• CPC Class Codes: G05D 1/101 specially adapted for aircraft
• CPC Class Codes: G08G 5/0069 specially adapted for an unmanned aircraft

Abstract

A drone control system for controlling a drone which includes an onboard-flight-system previously configured to receive navigational-data in a format compliant with a standard navigational data transmission protocol. The system includes a remote-sensor and an interface. The remote sensor is located remotely from the drone and determines the position of the drone relative to the remote-sensor. The interface, coupled with the remote-sensor, produces a pseudo GPS signal indicating the position of the drone and to provide the pseudo GPS signal to an onboard-flight-system of the drone. The format of the pseudo GPS signal is fully compliant with the standard navigational data transmission protocol employed by the onboard-flight-system. The onboard-flight-system is receives inertial tracking data from an onboard inertial-measuring-unit and the pseudo GPS signal, and tracks the position of the drone by merging the inertial tracking data and the pseudo GPS signal and navigates the drone accordingly.

Claims

1. A drone control system for controlling a drone, said drone including an onboard flight system, said onboard flight system being previously configured to receive navigational data in a format compliant with a standard navigational data transmission protocol, said system comprising:

a remote sensor located remotely from the drone and configured to determine position data of said drone relative to said remote sensor and to provide said position data to said drone; and

an interface coupled with said remote sensor, said interface replacing a conventional onboard GPS sensor, said interface being configured to receive said position data from said remote sensor, said interface further being configured to produce a pseudo GPS signal from said position data, said pseudo GPS signal replacing a GPS signal which would have been produced by a conventional onboard GPS sensor, said pseudo GPS signal indicating the position of the drone, and said interface further being configured to provide said pseudo GPS signal to an onboard flight system of the drone, the format of said pseudo GPS signal being fully compliant with said standard navigational data transmission protocol employed by said onboard flight system,

wherein said onboard flight system is configured to receive inertial tracking data and said pseudo GPS signal, said onboard flight system being further configured to track the position of the drone by merging said inertial tracking data and said pseudo GPS signal and to navigate said drone accordingly, said onboard flight system receives the inertial tracking data from an onboard inertial measuring unit of said drone.

2. The drone control system according to claim 1, wherein said onboard flight system is the native onboard flight system of said drone.

3. The drone control system according to claim 1, wherein the accuracy of the position determined by said remote sensor exceeds the accuracy of the position determined by a drone onboard GPS sensor.

4. The drone control system according to claim 1, wherein said interface is further configured to determine an absolute position of said drone according to relative position data determined by said remote sensor and according to an absolute position of said remote sensor.

5. The drone control system according to claim 1, wherein said interface is further configured to provide a desired set point to said drone onboard flight system.

6. The drone control system according to claim 1, wherein said remote sensor is mounted on a vehicle.

7. The drone control system of claim 6, wherein the absolute position of said remote sensor is determined by an absolute position sensor mounted on said vehicle.

8. A drone control method for controlling a drone, comprising the following procedures:

determining a position of said drone by a remote sensor;

producing pseudo-GPS signal according to said position of said drone detected by said remote sensor; and

providing said pseudo-GPS signal to said drone onboard flight system via an interface.

9. The drone control method according claim 8, wherein the accuracy of the position determined by said remote sensor exceeds the accuracy of the position determined by a drone onboard GPS sensor.

10. The drone control method according claim 8, further comprising determining an absolute position of said drone according to relative position data determined by said remote sensor and according to an absolute position of said remote sensor;

and

wherein the procedure of producing said pseudo-GPS signal is performed according to said absolute position of the drone.

11. The drone control method according claim 8, further comprising determining a desired setpoint, and providing the desired setpoint to said onboard flight system via the interface.