Modular software architecture for an unmanned aerial vehicle

• US 8,260,479 B2
• Filed: 12/09/2008
• Issued: 09/04/2012
• Est. Priority Date: 12/09/2008
• Status: Expired due to Fees

• Current Assignee: Honeywell International Inc.
• Original Assignee: Honeywell International Inc.
• Inventors: Christenson, Julie, Watson, Linda, McNamara, Jeffrey
• Primary Examiner(s): Trammell, James P
• Assistant Examiner(s): Malhotra, Sanjeev
• Application Number:
  US12/331,274
• Publication Number:
  US 20100145556A1
• Time in Patent Office: 1,365 Days
• Field of Search: 701/3, 370/392, 370/395.5, 355/72, 324/163, 602/261, 600/428
• US Class Current: 701/15
• 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: G06F 8/36 Software reuse

Abstract

A method for developing software as a layered, segmented system having diverse functionalities, based on a software architecture and an aerial vehicle utilizing the software architecture are provided. The software architecture for the aerial vehicle, such as an unmanned aerial vehicle (UAV) includes an electrical segment, a propulsion segment, a flight management segment, a navigation segment, a data link segment, and perhaps a payload segment. Each segment includes a number of software modules and objects, and each segment interfaces with or controls one or more devices. The software architecture also includes a number of layers, including an executive layer for managing execution rates of the segments, a vehicle controller layer for coordinating activities across segments, and various layers providing utilities, common services, and computing support including operating system support. Rules of engagement guiding interaction between software entities within the software architecture are specified.

Claims

1. A segmented and layered system comprising a plurality of devices, wherein the segmented and layered system comprises an aerial vehicle, the segmented and layered system further comprising:

a computing device;

data storage that stores instructions executable on the computing device to control the segmented and layered system;

a plurality of segments, each segment comprising a plurality of software entities arranged in one or more layers, wherein each segment is associated with one or more devices in the plurality of devices, and wherein one or more software entities of the plurality of software entities for the segment is assigned to each of the associated one or more devices;

a segment integrator for each segment in the plurality of segments, wherein interaction between the plurality of software entities of segments of the plurality of segments is governed by one or more rules of engagement, and wherein a first rule of engagement of the one or more rules of engagement specifies a first rule of interaction that requires a first device of the one or more devices associated with a first segment in the plurality of segments provide information to each of the one or more devices associated with the first segment in the plurality of segments using a segment integrator for the first segment in the plurality of segments,

wherein the plurality of devices comprises;

a control panel;

an engine control unit (ECU);

one or more flight control devices;

one or more navigation devices; and

one or more communication devices, wherein the one or more communication devices comprise one or more radios, one or more data links, or a combination of one or more radios and one or more data links; and

a processor, wherein the plurality of segments comprises;

an electrical segment, configured to interface with the control panel,

a propulsion segment, configured to interface with the ECU,

a flight management segment, configured to interface with the one or more flight control devices,

a navigation segment, configured to interface with one or more navigation devices, and

a data link segment, configured to interface with the one or more communication devices.

2. The segmented and layered system of claim 1, further comprising:

one or more payload sensors; and

wherein the plurality of segments further comprises a payload segment, configured to control the payload sensors.

3. The segmented and layered system of claim 1, wherein the software further comprises at least one layer for controlling an execution rate of each segment in the plurality of segments.

4. The segmented and layered system of claim 1, wherein the software further comprises at least one layer for supporting functionality across the plurality of segments, wherein the functionality comprises pre-launch functionality, maintenance functionality, launch functionality, flight functionality, and landing operations.

5. The segmented and layered system of claim 1, wherein the flight management segment is configured to control a flight of the aerial vehicle utilizing the one or more flight control devices and wherein the flight management segment comprises flight planning, flight guidance and flight controls functionality.

6. A segmented and layered system comprising a plurality of devices, wherein the segmented and layered system comprises an unmanned aerial vehicle (UAV), the segmented and layered system further comprising:

a computing device;

data storage that stores instructions executable on the computing device to control the segmented and layered system;

a plurality of segments, each segment comprising a plurality of software entities arranged in one or more layers, wherein each segment is associated with one or more devices in the plurality of devices, and wherein one or more software entities of the plurality of software entities for the segment is assigned to each of the associated one or more devices; and

a segment integrator for each segment in the plurality of segments, wherein interaction between the plurality of software entities of segments of the plurality of segments is governed by one or more rules of engagement, and wherein a first rule of engagement of the one or more rules of engagement specifies a first rule of interaction that requires a first device of the one or more devices associated with a first segment in the plurality of segments provide information to a second device of the one or more devices associated with a second segment in the plurality of segments through a first segment integrator of the first segment and a second segment integrator of the second segment.

7. The segmented and layered system of claim 6, wherein the plurality of segments comprise an electrical segment, a propulsion segment, a flight management segment, a navigation segment, and a data link segment.

8. The segmented and layered system of claim 7, wherein the plurality of segments further comprises a payload segment.

9. The segmented and layered system of claim 6, wherein the one or more layers comprise an integration layer and at least one device layer.

10. The segmented and layered system of claim 9, wherein the at least one device layer comprises an abstract device layer and a physical device layer.

11. The segmented and layered system of claim 10, wherein at least one software entity of the physical device layer interfaces with or controls a device.

12. The segmented and layered system of claim 6, wherein the one or more layers comprise an executive layer, a vehicle controller layer, and a utility layer.

13. The segmented and layered system of claim 12, wherein the executive layer comprises software for controlling execution of each segment, wherein the vehicle controller layer comprises software for ensuring proper execution of external commands and determining a health of the segmented and layered system, and wherein the utility layer comprises software for common functionality shared across segments including data conversion software.

14. The segmented and layered system of claim 6, wherein the segmented and layered system comprises a common service layer, a board support package/operating system layer, and a computing platform layer.

15. The segmented and layered system of claim 14, wherein the common service layer comprises software implementing services required to be used by all segments in the plurality of segments, the board support package/operating system layer comprises software implementing locking mechanisms and communications control, and the computing platform layer manages a processor of the computing device.

16. The segmented and layered system of claim 6, wherein the segment integrator for a given segment in the plurality of segments comprises software to control one or more software entities within the given segment and to share data from the given segment with the other segments in the plurality of segments.

17. The segmented and layered system of claim 6, further comprising a functional integrator comprising software that provides an integrated function for the plurality of segments.

18. The segmented and layered system of claim 6, wherein the first segment and the second segment are the same segment.