WWAN Radio Link Quality Navigation for a Drone

• US 20180017973A1
• Filed: 12/19/2016
• Published: 01/18/2018
• Est. Priority Date: 07/15/2016
• Status: Active Grant

• Current Assignee: Qualcomm, Inc.
• Original Assignee: Qualcomm, Inc.
• Inventors: Teague, Edward Harrison
• Granted Patent: US 10,234,862 B2
• Time in Patent Office: Days
• CPC Class Codes: B64U 10/14 with four distinct rotor axes, e.g. quadcopters
• 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: B64U 50/30 Supply or distribution of electrical power
• CPC Class Codes: B64U 60/00 Undercarriages
• CPC Class Codes: G05D 1/0005 with arrangements to save energy
• CPC Class Codes: G05D 1/0022 characterised by the communication link data switching networks in general H04L12/00
• 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: G08G 5/0069 specially adapted for an unmanned aircraft
• CPC Class Codes: H04W 24/08 Testing, supervising or monitoring using real traffic
• CPC Class Codes: H04W 4/029 Location-based management or tracking services
• CPC Class Codes: H04W 4/44 for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]

Abstract

Various embodiments include methods of navigating a drone that may include determining whether a radio link quality trigger event associated with communications with the drone has occurred while the drone travels along a set route to a destination. The radio link quality trigger event may correspond to predetermined characteristics of radio link quality. The drone may be steered to follow a search maneuver for improving radio link quality in response to determining the radio link quality trigger event has occurred. The search maneuver may follow a preconfigured deviation pattern that is configured before determining whether the radio link quality trigger event has occurred and departs from the set route.

Claims

1. A method of navigating a drone, comprising:

determining, by a processor of the drone, whether a radio link quality trigger event associated with communications with the drone has occurred while the drone travels along a set route to a destination, wherein the radio link quality trigger event corresponds to predetermined characteristics of radio link quality; and

steering the drone to follow a search maneuver for improving radio link quality in response to determining the radio link quality trigger event has occurred, wherein the search maneuver follows a preconfigured deviation pattern that is configured before determining whether the radio link quality trigger event has occurred and departs from the set route.

2. The method of claim 1, wherein the search maneuver is determined independent of radio link quality information.

3. The method of claim 1, wherein the search maneuver is not configured to direct the drone to a known location.

4. The method of claim 1, further comprising:

determining, by the processor, whether any search maneuver is assigned for immediate use by the drone; and

determining, by the processor, a set of movements for use as the search maneuver in response to determining that no search maneuver is assigned for immediate use,

wherein steering the drone to follow the search maneuver uses the determined set of movements.

5. The method of claim 1, further comprising determining, by the processor, whether a set of movements are assigned for immediate use by the drone as the search maneuver,

wherein steering the drone to follow the search maneuver using the assigned set of movements is performed in response to determining that the set of movements are assigned for immediate use by the drone.

6. The method of claim 1, wherein the preconfigured deviation pattern includes at least one movement characteristic selected from patterns that include at least one of a spiral, a geometric shape, a change in elevation, maintaining a fixed elevation, movement at least partially in a direction of the set route, and a combination thereof.

7. The method of claim 1, wherein the preconfigured deviation pattern constrains the drone to a region in which WWAN communications are expected to meet a minimum standard of radio link quality.

8. The method of claim 1, wherein the search maneuver comprises a modified version of the preconfigured deviation pattern that takes into account at least one of a size of an initial cycle of the preconfigured deviation pattern, a change in the size of the initial cycle for one or more subsequent cycles of the preconfigured deviation pattern, a change in a movement characteristic of the preconfigured deviation pattern, avoidance of an object or obstacle, navigational restrictions, or an available power level of the drone.

9. The method of claim 1, wherein the search maneuver comprises a modified version of the preconfigured deviation pattern that takes into account a detected radio link obstruction interfering with a radio link quality of communications with the drone, wherein the modified version of the preconfigured deviation pattern is directed away from the detected radio link obstruction.

10. The method of claim 1, wherein the radio link quality trigger event comprises a measure of radio link quality of communications with the drone dropping below a radio link quality threshold.

11. The method of claim 10, wherein the radio link quality trigger event further comprises the measure of radio link quality remaining below the radio link quality threshold longer than a low quality timeout threshold.

12. The method of claim 1, wherein the radio link quality trigger event comprises a measure of radio link quality of communications with the drone indicating a radio link failure longer than a radio link failure timeout threshold.

13. The method of claim 1, wherein the radio link quality trigger event comprises a radio link quality deterioration rate exceeding a deterioration rate threshold.

14. The method of claim 1, further comprising:

determining whether a detected pilot signal can be demodulated in response to steering the drone to follow the determined search maneuver.

15. The method of claim 1, further comprising:

determining whether a predetermined data transfer rate is available for a detected pilot signal in response to steering the drone to follow the determined search maneuver.

16. The method of claim 1, further comprising:

obtaining radio link quality data corresponding to a region in which wide area network (WWAN) communications are available;

determining the set route to the destination using the obtained radio link quality data that will result in the drone passing through the region in which WWAN communications can be maintained; and

steering the drone to follow the determined set route toward the destination.

17. The method of claim 16, wherein determining the set route uses the obtained radio link quality data to ensure the set route provides a defined minimum likelihood that WWAN communications will be maintained while traversing the set route.

18. The method of claim 16, wherein obtaining radio link quality data comprises obtaining the radio link quality data from at least one other drone that previously occupied the region.

19. The method of claim 1, further comprising:

receive a measure of a radio link quality taken at a location of the drone; and

transmitting a radio link quality report including the measured of the radio link quality to a remote computing device.

20. The method of claim 19, further comprising repeating operations of receiving the radio link quality and the transmitting of the radio link quality report periodically enroute to the destination.

21. The method of claim 19, wherein transmitting the radio link quality report is performed in response to determining that the radio link quality measured at the location of the drone exceeds a minimum radio link quality threshold value.

22. The method of claim 1, further comprising:

determining whether a pilot signal is received for communications with the drone in response to steering the drone to follow the determined search maneuver;

determining an update to the set route for reaching the destination from a current location of the drone in response to determining that the pilot signal is received; and

steering the drone to follow the updated set route toward the destination.

23. The method of claim 22, wherein the update to the set route for reaching the destination directs the drone to pass through a region in which WWAN communications are expected to be available.

24. A drone comprising:

a wireless transceiver configured to send and receive wireless communication signals; and

a processor coupled to the wireless transceiver and configured with processor-executable instructions to;

determine whether a radio link quality trigger event associated with communications with the drone has occurred while the drone travels along a set route to a destination, wherein the radio link quality trigger event corresponds to predetermined characteristics of radio link quality; and

steer the drone to follow a search maneuver for improving radio link quality in response to determining the radio link quality trigger event has occurred, wherein the search maneuver follows a preconfigured deviation pattern that is configured before determining whether the radio link quality trigger event has occurred and departs from the set route.

25. The drone of claim 24, wherein the processor is further configured with processor-executable instructions to:

determine whether any search maneuver is assigned for immediate use by the drone; and

determine a set of movements for use as the search maneuver in response to determining no search maneuver is assigned for immediate use,

wherein the processor is further configured with processor-executable instructions to steer the drone to follow the search maneuver using the determined set of movements.

26. The drone of claim 24, wherein the processor is further configured with processor-executable instructions to determine whether a set of movements are assigned for immediate use by the drone as the search maneuver,

wherein the processor is further configured with processor-executable instructions to steer the drone to follow the search maneuver using the assigned set of movements in response to determining that the set of movements are assigned for immediate use by the drone.

27. The drone of claim 24, wherein the processor is further configured with the processor-executable instructions such that the preconfigured deviation pattern includes at least one movement characteristic selected from patterns that include at least one of a spiral, a geometric shape, a change in elevation, maintaining a fixed elevation, movement at least partially in a direction of the set route, and a combination thereof.

28. The drone of claim 24, wherein the processor is further configured with the processor-executable instructions such that the search maneuver comprises a modified version of the preconfigured deviation pattern that takes into account at least one of a size of an initial cycle of the preconfigured deviation pattern, a change in the size of the initial cycle for one or more subsequent cycles of the preconfigured deviation pattern, a change in a movement characteristic of the preconfigured deviation pattern, avoidance of an object or obstacle, navigational restrictions, or an available power level of the drone.

29. A drone, comprising:

means for determining whether a radio link quality trigger event associated with communications with the drone has occurred while the drone travels along a set route to a destination, wherein the radio link quality trigger event corresponds to predetermined characteristics of radio link quality; and

means for steering the drone to follow a search maneuver for improving radio link quality in response to determining the radio link quality trigger event has occurred, wherein the search maneuver follows a preconfigured deviation pattern that is configured before determining whether the radio link quality trigger event has occurred and departs from the set route.

30. A non-transitory processor-readable storage medium having stored thereon processor-executable instructions configured to cause a processor of a drone to perform operations comprising:

determining whether a radio link quality trigger event associated with communications with the drone has occurred while the drone travels along a set route to a destination, wherein the radio link quality trigger event corresponds to predetermined characteristics of radio link quality; and

steering the drone to follow a search maneuver for improving radio link quality in response to determining the radio link quality trigger event has occurred, wherein the search maneuver follows a preconfigured deviation pattern that is configured before determining whether the radio link quality trigger event has occurred and departs from the set route.