Method and apparatus for remotely piloting an aircraft

• US 5,904,724 A
• Filed: 01/19/1996
• Issued: 05/18/1999
• Est. Priority Date: 01/19/1996
• Status: Expired due to Fees

• Current Assignee: Garmin International, Inc. (Garmin Limited)
• Original Assignee: Jed Margolin
• Inventors: Margolin, Jed
• Primary Examiner(s): NGUYEN, TAN QUANG
• Application Number:
  US08/587,731
• Time in Patent Office: 1,215 Days
• Field of Search: 364/423.099, 364/424.012, 364/424.013, 364/424.021, 364/424.022, 364/449.2, 364/449.7, 364/460, 364/439, 364/424.028, 340/825.69, 340/825.72, 340/967, 340/989, 340/991, 340/992, 340/993, 244/189, 244/190, 244/181, 244/17.13, 244/3.11, 244/3.15, 348/42, 348/51, 348/113, 348/114, 348/117, 348/123, 348/143, 382/154, 395/118, 395/119, 395/125
• US Class Current: 701/120
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• CPC Class Codes: G05D 1/0038 by providing the operator with simple or augmented images from one or more cameras located onboard the vehicle, e.g. tele-operation images analyzed by a computer and used for automatic navigation G05D1/0246

Abstract

A method and apparatus that allows a remote aircraft to be controlled by a remotely located pilot who is presented with a synthesized three-dimensional projected view representing the environment around the remote aircraft. According to one aspect of the invention, a remote aircraft transmits its three-dimensional position and orientation to a remote pilot station. The remote pilot station applies this information to a digital database containing a three dimensional description of the environment around the remote aircraft to present the remote pilot with a three dimensional projected view of this environment. The remote pilot reacts to this view and interacts with the pilot controls, whose signals are transmitted back to the remote aircraft. In addition, the system compensates for the communications delay between the remote aircraft and the remote pilot station by controlling the sensitivity of the pilot controls.

Claims

1. A system comprising:

a remotely piloted aircraft including,

a position determining system to locate said remotely piloted aircraft'"'"'s position in three dimensions; and

an orientation determining system for determining said remotely piloted aircraft'"'"'s orientation in three dimensional space;

a communications system for communicating flight data between a computer and said remotely piloted aircraft, said flight data including said remotely piloted aircraft'"'"'s position and orientation, said flight data also including flight control information for controlling said remotely piloted aircraft;

a digital database comprising terrain data;

said computer to access said terrain data according to said remotely piloted aircraft'"'"'s position and to transform said terrain data to provide three dimensional projected image data according to said remotely piloted aircraft'"'"'s orientation;

a display for displaying said three dimensional projected image data; and

a set of one or more remote flight controls coupled to said computer for inputting said flight control information, wherein said computer is also for determining a delay time for communicating said flight data between said computer and said remotely piloted aircraft, and wherein said computer adjusts the sensitivity of said set of one or more remote flight controls based on said delay time.

2. The system of claim 1, wherein:

said remotely piloted aircraft includes a device for capturing image data; and

said system operates in at least a first mode in which said image data is not transmitted from said remotely piloted aircraft to said computer at a sufficient data rate to allow for real time piloting of the remotely piloted aircraft.

3. The system of claim 1, wherein the flight data communicated between said remotely piloted aircraft and said computer is secured.

4. The system of claim 1, wherein said remotely piloted aircraft further comprises a set of one or more video cameras.

5. The system of claim 4, wherein said communications system is also for communicating video data representing images captured by said set of one or more video cameras, said video data for displaying said images.

6. The system of claim 5, wherein said video data is transmitted on a different communication link than said flight data.

7. The system of claim 4, wherein at least one camera in said set of one or more video cameras is an infrared camera.

8. The system of claim 1, wherein said display is a head mounted display.

9. The system of claim 1, wherein said set of one or more remote flight controls is responsive to manual manipulations.

10. The system of claim 1, wherein said set of one or more remote flight controls allows for inputting absolute pitch and roll angles instead of pitch and roll rates.

11. The system of claim 1, wherein said computer is also used for correcting adverse yaw without requiring input from said set of one or more remote flight controls.

12. The system of claim 1, wherein:

said remotely piloted aircraft includes a device for capturing image data; and

said system operates in at least a first mode in which said image data is not transmitted from said remotely piloted craft to said computer but stored in said remotely piloted aircraft.

13. A station for flying a remotely piloted aircraft that is real or simulated comprising:

a database comprising terrain data;

a set of remote flight controls for inputting flight control information;

a computer having a communications unit configured to receive status information identifying said remotely piloted aircraft'"'"'s position and orientation in three dimensional space, said computer configured to access said terrain data according to said status information and configured to transform said terrain data to provide three dimensional projected image data representing said remotely piloted aircraft'"'"'s environment, said computer coupled to said set of remote flight controls and said communications unit for transmitting said flight control information to control said remotely piloted aircraft, said computer also to determine a delay time for communicating said flight control information between said computer and said remotely piloted aircraft, and said computer to adjust the sensitivity of said set of remote flight controls based on said delay time; and

a display configured to display said three dimensional projected image data.

14. The station of claim 13, wherein said communications unit is also configured to receive video data representing images captured by a set of video cameras on said remotely piloted aircraft, said video data for displaying said images.

15. The station of claim 14, wherein said video data is transmitted on a different communication link that said flight control information and said status information.

16. The station of claim 13, wherein said display is a head mounted display.

17. The station of claim 13, wherein said set of remote flight controls is responsive to manual manipulations.

18. The station of claim 13, wherein said set of remote flight controls are configured to allow inputting absolute pitch and roll angles instead of pitch and roll rates.

19. The station of claim 13, wherein said computer is also configured to correct adverse yaw without requiring input from said set of remote flight controls.

20. The station of claim 13, wherein said communications unit includes at least one of a communications transceiver and a simulation port.