Method and system for autonomous tracking of a mobile target by an unmanned aerial vehicle

• US 7,970,507 B2
• Filed: 01/23/2008
• Issued: 06/28/2011
• Est. Priority Date: 01/23/2008
• Status: Active Grant

• Current Assignee: Honeywell International Inc.
• Original Assignee: Honeywell International Inc.
• Inventors: Fregene, Kingsley O C, Lommel, Peter
• Primary Examiner(s): ARTHUR JEANGLAUDE, GERTRUDE
• Application Number:
  US12/018,669
• Publication Number:
  US 20090187299A1
• Time in Patent Office: 1,252 Days
• Field of Search: 701/14, 701/16, 701/23, 701/29, 701/35, 701/117, 701/120, 701/301, 701/206, 340/961, 340/945, 340/948, 342/29, 342/33, 342/34, 342/35, 342/36
• US Class Current: 701/23
• CPC Class Codes: G05D 1/0094 involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target

Abstract

This invention provides a system and method for autonomously tracking a moving target from unmanned aerial vehicles (UAVs) with a variety of airframe and sensor payload capabilities so that the target remains within the vehicle'"'"'s sensor field of view regardless of the specific target motion patterns. The invention uses information about target location, UAV platform type and states, sensor payload capability, and ratio of target-to-UAV speeds to select from a suite of sub-algorithms, each of which generates desired platform positions (in form of waypoints) and/or sensor orientation commands to keep the target in view.

Claims

1. A method comprising:

identifying at least one coordinate of a footprint of a sensor tracking a target, wherein the sensor is equipped on an unmanned aerial vehicle;

determining if the target will leave a field of view of the sensor; and

employing a track mode selected from a plurality of track modes based on a first speed of the target and a second speed of the unmanned aerial vehicle;

causing the unmanned aerial vehicle to fly in the employed track mode to keep the target in the field of view of the sensor.

2. The method of claim 1, wherein the track mode comprises a straight following of the target.

3. The method of claim 1, wherein the track mode comprises flying in the shape of a sinusoid.

4. The method of claim 1, wherein the track mode comprises flying orbits around the target.

5. The method of claim 4, wherein the orbits are adjustable.

6. The method of claim 1, wherein the track mode comprises flying to at least one waypoint.

7. The method of claim 5, wherein the orbits are adjusted if the first speed of the target increases.

8. The method of claim 1, wherein employing the track mode selected from the plurality of track modes is further based on at least one limitation of the unmanned aerial vehicle.

9. A system comprising:

a communication interface;

a processing unit;

data storage; and

program logic stored in the data storage and executable by the processing unit to (i) identify at least one coordinate of a footprint of a sensor tracking a target, wherein the sensor is equipped on an unmanned aerial vehicle;

(ii) determine if the target will leave a field of view of the sensor;

iii) employ a track mode selected from a plurality of track modes based on a first speed of the target and a second speed of the unmanned aerial vehicle; and

(iv) cause the unmanned aerial vehicle to fly in the employed track mode to maintain the target in the field of view of the sensor.

10. The system of claim 9, wherein the track mode comprises a straight following of the target.

11. The system of claim 9, wherein the track mode comprises flying in the shape of a sinusoid.

12. The system of claim 9, wherein the track mode comprises flying orbits around the target.

13. The system of claim 12, wherein the orbits are adjustable.

14. The system of claim 9, wherein the track mode comprises flying to at least one waypoint.

15. The system of claim 13, wherein the program logic is further executable to adjust the orbits if the first speed of the target increases.

16. The system of claim 9, wherein the program logic is further arranged to employ the track mode selected from the plurality of track modes based on at least one limitation of the unmanned aerial vehicle.

17. A method comprising:

determining a position of a target relative to the center of a sensor footprint;

determining the distance from the center of the sensor footprint to a side of the sensor footprint that is closest to the target;

determining a first speed of the target;

determining a second speed of an unmanned aerial vehicle;

employing a track mode selected from a plurality of track modes based on the first speed of the target and the second speed of the unmanned aerial vehicle; and

causing the unmanned aerial vehicle to fly in the employed track mode to maintain the target within a field of view of the sensor.

18. The method of claim 17, further comprising causing the unmanned aerial vehicle to fly at a height in which the target will remain in the field of view of the sensor.

19. The method of claim 17, further comprising causing the unmanned aerial vehicle to fly to at least one waypoint.

20. The method of claim 17, wherein employing the track mode selected from the plurality of track modes is further based on the stall speed of the unmanned aerial vehicle.