Collision and conflict avoidance system for autonomous unmanned air vehicles (UAVs)

• US 7,737,878 B2
• Filed: 07/08/2008
• Issued: 06/15/2010
• Est. Priority Date: 07/09/2007
• Status: Active Grant

• Current Assignee: Airbus Defence and Space GmbH (Airbus SE)
• Original Assignee: EADS Deutschland GmbH (Airbus SE)
• Inventors: Beck, Johannes, van Tooren, Joost, Heni, Martin, Knoll, Alexander
• Primary Examiner(s): Gregory; Bernarr E
• Application Number:
  US12/169,205
• Publication Number:
  US 20090027253A1
• Time in Patent Office: 707 Days
• Field of Search: 244 31- 33, 89/11.1, 701/1, 701 3- 28, 701/200, 701207-223, 701/300, 701/301, 701/224, 342 27- 51, 342/175, 342/195, 342 61- 65, 382/100, 382/103, 340/945, 340/961
• US Class Current: 342/29
• CPC Class Codes: G01S 13/933 of aircraft or spacecraft
• CPC Class Codes: G08G 5/006 in accordance with predefined flight zones, e.g. to avoid prohibited zones
• CPC Class Codes: G08G 5/0069 specially adapted for an unmanned aircraft
• CPC Class Codes: G08G 5/0078 for monitoring traffic from the aircraft radar or analogous systems specially adapted for traffic control G01S13/91
• CPC Class Codes: G08G 5/045 Navigation or guidance aids, e.g. determination of anti-collision manoeuvers radar or analogous systems specially adapted for anti-collision between aircraft G01S13/933

Abstract

A collision and conflict avoidance system for autonomous unmanned air vehicles (UAVs) uses accessible on-board sensors to generate an image of the surrounding airspace. The situation thus established is analyzed for imminent conflicts (collisions, TCAS violations, airspace violations), and, if a probable conflict or collision is detected, a search for avoidance options is started, wherein the avoidance routes as far as possible comply with statutory air traffic regulations. By virtue of the on-board algorithm the system functions independently of a data link. By taking into account the TCAS zones, the remaining air traffic is not disturbed unnecessarily. The system makes it possible both to cover aspects critical for safety and to use more highly developed algorithms in order to take complicated boundary conditions into account when determining the avoidance course.

Claims

1. A collision and conflict avoidance system for an autonomous unmanned air vehicles, comprising:

on-board radar, TCAS, IR, and optical sensors used by the system to generate an image of the surrounding airspace; and

an analysis unit that analyzes a situation thus established for imminent conflicts comprising at least one of collisions, TCAS violations, and airspace violations, and, if a conflict is detected, that initiates a search for avoidance options, which provide avoidance routes that maximize compliance with applicable air traffic regulations.

2. The collision and conflict avoidance system according to claim 1, wherein either i) a short-term reactive algorithm by means of direct FCS commands, or ii) a medium-term path planning algorithm, which determines a flight plan optimized under aeronautical and economical boundary conditions, is implemented depending on time available for an avoidance maneuver.

3. The collision and conflict avoidance system according to claim 2, wherein after the conflict has been resolved, the UAV is returned to its original route.

4. The collision and conflict avoidance system according to claim 1, wherein, after the conflict has been resolved, the UAV is returned to its original route.

5. A method for collision and conflict avoidance for an unmanned aircraft, said method comprising:

sensors accessible on board said aircraft detecting objects in airspace surrounding said aircraft;

a path prediction module extrapolating flight paths for said objects detected by said sensor;

for each such object, determining the probability of a conflict or collision based on predetermined zones surrounding said aircraft;

if a conflict or collision is determined to be probable, initiating an avoidance maneuver to avoid such conflict or collision;

wherein,

if it is determined that the object will enter a first, relatively larger, predetermined zone, a planned avoidance maneuver is implemented, based on a path planning algorithm which determines a flight plan that is optimized under aeronautical boundary conditions; and

if it is determined that the object will enter a second, relatively smaller predetermined zone, a reactive avoidance maneuver is implemented autonomously.

6. The method according to claim 5, wherein, after the determined probability of a conflict or collision has been eliminated, the aircraft is returned to its original flight path.

7. The method according to claim 5, further comprising:

prioritizing potential conflict or collision risks according to the most intrusive possible zone incursions; and

determining avoidance maneuvers based on such prioritization.