Vehicle path based on coverage of nodes

• US 10,482,773 B1
• Filed: 06/14/2017
• Issued: 11/19/2019
• Est. Priority Date: 04/10/2015
• Status: Active Grant

• Current Assignee: Architectural technology Inc.
• Original Assignee: Architecture Technology Corporation
• Inventors: Trent, Barry A., Ramanujan, Ranga S., Pozzo, Fabio F.
• Primary Examiner(s): Antonucci, Anne M
• Application Number:
  US15/622,142
• Time in Patent Office: 888 Days
• CPC Class Codes: G01C 21/20 Instruments for performing navigational calculations G01C21/24, G01C21/26 take precedence
• CPC Class Codes: G05D 1/0022 characterised by the communication link data switching networks in general H04L12/00
• CPC Class Codes: G05D 1/104 involving a plurality of aircrafts, e.g. formation flying traffic control systems for aircraft G08G5/00
• CPC Class Codes: G06Q 10/047 Optimisation of routes or paths, e.g. travelling salesman problem
• CPC Class Codes: G08G 5/0013 with a ground station
• CPC Class Codes: G08G 5/0026 located on the ground
• CPC Class Codes: G08G 5/0034 Assembly of a flight plan
• CPC Class Codes: G08G 5/0039 Modification of a flight plan
• CPC Class Codes: G08G 5/0043 Traffic management of multiple aircrafts from the ground G08G5/003 takes precedence; data processing specially designed for resource management, e.g. scheduling or allocating time, human or machine resources G06Q10/06
• CPC Class Codes: G08G 5/0086 for monitoring terrain radar or analogous systems specially adapted for terrain avoidance G01S13/935

Abstract

A method of generating a path for a vehicle is disclosed. The method includes receiving information indicating a location of each of a plurality of communication nodes. The vehicle is configured to send wireless signals to and receive wireless signals from the plurality of communication nodes. A path of motion for the vehicle is determined based on coverage of the plurality of communication nodes along the path. Coverage corresponds to connectivity between the vehicle and the plurality of communication nodes.

Claims

1. A method of generating a path for a vehicle, the method comprising:

receiving information indicating a location of each of a plurality of communication nodes, the vehicle configured to send wireless signals to and receive wireless signals from the plurality of communication nodes; and

determining a path of motion for the vehicle based on coverage of the plurality of communication nodes along the path, wherein coverage corresponds to connectivity between the vehicle and the plurality of communication nodes, wherein the path of motion is a loop.

2. The method of claim 1, wherein determining a path of motion includes optimizing coverage of the plurality of communication nodes.

3. The method of claim 1, wherein determining a path of motion includes maximizing a function that factors in an overall coverage value for a candidate path, the overall coverage value corresponding to a combination of individual coverage values of the plurality of communication nodes on the candidate path.

4. The method of claim 3, wherein maximizing a function includes calculating the overall coverage value by multiplying each individual coverage value by a weight for the communication node corresponding to the individual coverage value and summing the multiplied values together, the weight corresponding to a priority level for the communication node relative to other communication nodes.

5. The method of claim 3, wherein the individual coverage for a communication node includes one or more of a length of time, a bandwidth, a latency, a loss, a signal strength, a gain, and a signal-to-noise ratio for the connectivity between the vehicle and the communication node during traversal of the path.

6. The method of claim 3, wherein maximizing a function includes maximizing the overall coverage value while minimizing deviation in coverage between communication nodes.

7. The method of claim 1, wherein determining a path of motion for the vehicle includes factoring in one or more minimum coverage elements for one or more of the plurality of communication nodes.

8. The method of claim 7, wherein the one or more minimum coverage elements include a minimum bandwidth, a minimum latency, a minimum loss, or a time-related coverage limitation for a respective communication node.

9. The method of claim 1, wherein determining a path of motion includes calculating a coverage value for a communication node based on the location and communication capabilities of the communication node.

10. The method of claim 1, wherein determining a path of motion includes calculating a coverage value for a communication node based on one or more of a radio of the vehicle, a radio of the communication node, an antenna of the vehicle, an antenna of the communication node, an attitude of the vehicle, terrain, and weather.

11. The method of claim 1, wherein the location of a communication node is a latitude, longitude, and altitude of the communication node.

12. The method of claim 1, wherein determining a path of motion includes determining a path that is repeated.

13. The method of claim 1, comprising:

while the vehicle is traversing the path, dynamically updating the path based on new information received.

14. The method of claim 13, wherein the new information includes an updated location of at least one of the plurality of communication nodes.

15. The method of claim 13, wherein the new information includes one of a location of at least one additional communication node, and information indicating that one or more of the plurality of communication nodes are no longer to be considered for coverage.

16. The method of claim 1, wherein determining the path includes coordinating the path with a path of one or more other vehicles configured to send wireless signals to and receive wireless signals from the plurality of communication nodes.

17. The method of claim 16, comprising:

handing-off communication for a communication node to one of the one or more other vehicles.

18. The method of claim 1, comprising:

receiving information indicating one or more areas to avoid,

wherein determining a path of motion for the vehicle, determines a path of motion in order to avoid the one or more areas.

19. The method of claim 1, wherein receiving information indicating a location of each of a plurality of communication nodes includes receiving the information from a mission planning system that plans a mission for the vehicle and other units,

wherein the method includes outputting travel waypoints to the mission planning system, the travel waypoints corresponding to the path of motion for the vehicle.

20. The method of claim 19, wherein the mission planning system is one of a joint mission planning system (JMPS) and a theater battle management care system (TBMCS).

21. A processor readable medium comprising:

instructions stored thereon, wherein the instructions, when executed by one or more processing devices, cause the one or more processing devices to;

receive information indicating a location of each of a plurality of communication nodes; and

determine a path of motion for a vehicle based on coverage of the plurality of communication nodes along the path, wherein the path of motion is a loop and the vehicle is configured to send wireless signals to and receive wireless signals from the plurality of communication nodes, wherein coverage corresponds to connectivity between the vehicle and the plurality of communication nodes.

22. The processor readable medium of claim 21, wherein determine a path of motion includes maximize a function that factors in an overall coverage value for a candidate path, the overall coverage value corresponding to a combination of individual coverage values of the plurality of communication nodes on the candidate path.

23. The processor readable medium of claim 22, wherein maximize a function includes calculate the overall coverage value by multiplying each individual coverage value by a weight for the communication node corresponding to the individual coverage value and summing the multiplied values together, the weight corresponding to a priority level for the communication node relative to other communication nodes.

24. The processor readable medium of claim 22, wherein maximize a function includes maximize the overall coverage value while minimizing deviation in coverage between communication nodes.

25. The processor readable medium of claim 21, wherein determine a path of motion for the vehicle includes factor in one or more minimum coverage elements for one or more of the plurality of communication nodes.

26. The processor readable medium of claim 21, wherein the instructions cause the one or more processing devices to, while the vehicle is traversing the path, dynamically update the path based on new information received.

27. The processor readable medium of claim 21, wherein receive information indicating a location of each of a plurality of communication nodes includes receive the information from a mission planning system that plans a mission for the vehicle and other units,

wherein the instructions cause the one or more processing devices to provide travel waypoints to the mission planning system, the travel waypoints corresponding to the path of motion for the vehicle.

28. The processor readable medium of claim 27, wherein the mission planning system is one of a joint mission planning system (JMPS) and a theater battle management care system (TBMCS).

29. A vehicle comprising:

a means of propulsion;

one or more processing devices configured to control the means of propulsion;

a data storage medium coupled to the one or more processing devices, the data storage medium having instructions stored thereon, wherein the instructions, when executed by the one or more processing devices, cause the one or more processing devices to;

receive information indicating a location of each of a plurality of communication nodes, the vehicle configured to send wireless signals to and receive wireless signals from the plurality of communication nodes;

determine a path of motion for the vehicle based on coverage of the plurality of communication nodes along the path, wherein coverage corresponds to connectivity between the vehicle and the plurality of communication nodes, wherein the path of motion is a loop; and

control the means of propulsion to propel the vehicle along the path.

30. The vehicle of claim 29, wherein the vehicle is an avionic vehicle.