Unmanned aerial vehicle and method for safely landing an unmanned aerial vehicle

• US 10,319,246 B2
• Filed: 09/29/2016
• Issued: 06/11/2019
• Est. Priority Date: 09/29/2015
• Status: Active Grant

• Current Assignee: Airbus Defence and Space GmbH (Airbus SE)
• Original Assignee: Airbus Defence and Space GmbH (Airbus SE)
• Inventors: Hiebl, Manfred
• Primary Examiner(s): Black, Thomas G
• Assistant Examiner(s): Smith-Stewart, Demetra R
• Application Number:
  US15/280,436
• Publication Number:
  US 20170092137A1
• Time in Patent Office: 985 Days
• Field of Search: None
• CPC Class Codes: B64U 2201/00 UAVs characterised by their flight controls
• CPC Class Codes: G05D 1/0022 characterised by the communication link data switching networks in general H04L12/00
• CPC Class Codes: G05D 1/0676 specially adapted for landing
• CPC Class Codes: G08G 5/0013 with a ground station
• CPC Class Codes: G08G 5/003 Flight plan management
• CPC Class Codes: G08G 5/0039 Modification of a flight plan
• CPC Class Codes: G08G 5/0056 in an emergency situation, e.g. hijacking
• 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 5/065 Navigation or guidance aids, e.g. for taxiing or rolling
• CPC Class Codes: H04B 7/155 Ground-based stations H04B7/204 takes precedence
• CPC Class Codes: H04L 67/12 specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks

Abstract

An unmanned aerial vehicle with lift and propulsion system and a flight control system and method. The flight control system has a flight control unit, a navigation system, a communication system and an actuator system. The flight control unit can calculate, based on data from the navigation system and/or data of a ground control station, control commands which can be fed to the actuator system for actuating the lift and propulsion system. The ground control station is configured to control and/or monitor the aerial vehicle. The aerial vehicle has a monitoring unit to monitor the communication system to determine whether all the communication links are interrupted. The monitoring unit can cause the flight control unit to land the aerial vehicle safely at a suitable landing site based on stored data relating to current flight conditions and nearby landing sites.

Claims

1. An unmanned aerial vehicle, comprising:

a lift and propulsion system; and

a flight control system with;

a flight control unit;

a navigation system;

a communication system; and

an actuator system;

wherein the flight control unit is configured for calculating, based on data from the navigation system and/or data of a ground control station configured to control and/or monitor the aerial vehicle, control commands and supplying the control commands to the actuator system for actuating the lift and propulsion system;

further comprising a monitoring unit configured to monitor the communication system to determine whether all communication links of a multiplicity of communication links between the aerial vehicle and the ground control station are interrupted; and

wherein the monitoring unit is configured to select, in response to determining an interruption on all communication links of the multiplicity of communication links, a suitable landing site based on stored data and in accordance with defined rules for landing site selection, wherein the stored data includes current flight conditions data and nearby landing sites data, and wherein the stored data and the defined rules for landing site selection are mirrored on the ground control station, and wherein the monitoring unit is configured to cause the flight control unit to land the aerial vehicle safely at the selected landing site, and

wherein the flight control unit is configured for determining a flight route to the selected landing site, wherein determination of the flight route is carried out according to defined rules for flight route determination, and wherein the defined rules for flight route determination are mirrored on the ground control station with the stored data and the defined rules for landing site selection and the ground control station is configured determine the same flight route and the same selected landing site as determined by the unmanned aerial vehicle in response to determining an interruption on all communication links of the multiplicity of communication links.

2. The unmanned aerial vehicle as claimed in claim 1,

wherein the navigation system has a memory in which at least the nearby landing sites data and current wind data and weather data relating to the immediate surroundings of the aerial vehicle and the nearby landing sites are stored.

3. The unmanned aerial vehicle as claimed in claim 2,

wherein the flight control unit is also configured for determining, for each nearby landing site of a plurality of nearby landing sites, an expected arrival time at the nearby landing site and weather data for the nearby landing site at the expected arrival time, and the flight control unit is configured for selecting a suitable landing site from the nearby landing sites based on the weather data determined for each expected arrival time at each nearby landing site.

4. The unmanned aerial vehicle as claimed in claim 3,

wherein the flight control unit is configured for determining a suitable landing threshold of the at least two possible landing thresholds of the selected landing site.

5. The unmanned aerial vehicle as claimed in claim 3,

wherein the flight control system also has a distance-measuring device configured to determine regularly a distance from a runway during landing approach, in order to correct the determined flight route in case of deviations.

6. The unmanned aerial vehicle as claimed in claim 3,

wherein the flight control unit is also provided for safely landing the aerial vehicle by taking regular cross bearings by GNSS measurements with respect to stored objects at the selected landing site.

7. The unmanned aerial vehicle as claimed in claim 3,

wherein the flight control unit is also provided for directing the aerial vehicle to a safe parking position after landing has taken place at the selected landing site, based on stored information about the local conditions.

8. The unmanned aerial vehicle as claimed in claim 1,

wherein the determination of the flight route is carried out by compound navigation.

9. The unmanned aerial vehicle as claimed in claim 8,

wherein the determined flight route can be corrected continuously by taking regular cross bearings with respect to stored local destinations.

10. The unmanned aerial vehicle as claimed in claim 8,

wherein changes in direction and/or course are carried out by defined standard curves at locations defined by an airfield traffic pattern at the selected landing site.

11. A method for safely landing an unmanned aerial vehicle, comprising:

determining that all communication links of a multiplicity of communication links between the aerial vehicle and a ground control station, configured for controlling and/or monitoring the aerial vehicle, are interrupted;

in response to determining that all communication links of the multiplicity of communication links are interrupted, selecting a suitable landing site based on stored data and in accordance with defined rules for landing site selection, wherein the stored data includes current flight conditions data and nearby landing sites data, and wherein the stored data and the defined rules for landing site selection are mirrored on the ground control station;

determining a flight route to the selected landing site, wherein determination of the flight route is carried out according to defined rules for flight route determination, and wherein the defined rules for flight route determination are mirrored on the ground control station with the stored data and the defined rules for landing site selection and the ground control station is configured determine the same flight route and the same selected landing site as determined by the unmanned aerial vehicle in response to determining an interruption on all communication links of the multiplicity of communication links; and

landing the aerial vehicle at the selected landing site.

12. The method as claimed in claim 11, further comprising:

determining by the ground control station whether all the communication links of the multiplicity of communication links between the aerial vehicle and the ground control station are interrupted, and transmitting information about interruption to an air traffic control center.

13. The method as claimed in claim 12,

wherein the air traffic control center also closes at least part of an available airspace and a suitable landing site for safe landing of the aerial vehicle;

wherein the aerial vehicle selects an identical suitable landing site for landing, in accordance with rules defined by an air traffic control center.

14. A ground control station for controlling and/or monitoring at least one unmanned aerial vehicle, comprising:

a communication system, configured for communicating with the unmanned aerial vehicle and for communicating with an air traffic control system, having a multiplicity of communication links; and

a monitoring device, configured for monitoring the multiplicity of communication links of the ground control station with the aerial vehicle and the air traffic control system;

wherein the monitoring device is configured to determine that all the communication links of the multiplicity of communication links between the ground control station and the aerial vehicle are interrupted, and in response to determining that all the communication links of the multiplicity of communication links between the ground control station and the aerial vehicle are interrupted, determine a predicted landing site for the aerial vehicle based on stored data and in accordance with defined rules for landing site selection and transmit the predicted landing site to the air traffic control system, wherein the stored data includes current flight conditions data and nearby landing sites data, and wherein the stored data and the defined rules for landing site selection are mirrored on the aerial vehicle; and

wherein the monitoring device is configured for determining a flight route to the selected landing site, wherein the determination of the flight route is carried out according to defined rules for flight route determination, and wherein the defined rules for flight route determination are mirrored on aerial vehicle with the stored data and the defined rules for landing site selection and the aerial vehicle is configured determine the same flight route and the same selected landing site as determined by the monitoring device in response to determining an interruption on all communication links of the multiplicity of communication links.