Multi-sensor autonomous control of unmanned aerial vehicles

• US 8,355,834 B2
• Filed: 11/16/2011
• Issued: 01/15/2013
• Est. Priority Date: 06/20/2003
• Status: Active Grant

• Current Assignee: L3 Technologies, Inc. (L3Harris Technologies, Inc.)
• Original Assignee: L-3 Unmanned Systems, Inc. (L3Harris Technologies, Inc.)
• Inventors: Felio, David A., Longhi, Vince R., Petersen, Jerry L., Duggan, David S., Pate, Billy B., Bergee, Mark J.
• Primary Examiner(s): ARTHUR JEANGLAUDE, GERTRUDE
• Application Number:
  US13/297,736
• Publication Number:
  US 20120123628A1
• Time in Patent Office: 426 Days
• Field of Search: 701/2, 701/11, 701/13, 701/24, 701/36, 701/32.3, 244/75.1, 244/76.R
• US Class Current: 701/24
• CPC Class Codes: B64C 19/00 Aircraft control not otherwise provided for
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• CPC Class Codes: G05D 1/0061 for transition from automatic pilot to manual pilot and vice versa
• 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 5/04 Anti-collision systems

Abstract

Multi-sensor autonomous control of unmanned aerial vehicles systems and methods are disclosed herein. In one embodiment, a variable autonomy control system for an unmanned aerial vehicle include a variable autonomy processing unit. The variable autonomy processing unit illustratively receives inputs from multiple sensors. It utilizes the inputs to generate commands to control the unmanned aerial vehicle at variable autonomy levels.

Claims

1. A variable autonomy control system for an unmanned aerial vehicle comprising:

a variable autonomy processing unit that receives inputs from multiple sensors and utilizes the inputs to generate commands to control the unmanned aerial vehicle at variable autonomy levels.

2. The system of claim 1, wherein one of the multiple sensors is a navigation sensor.

3. The system of claim 2, wherein another one of the multiple sensors is a payload sensor.

4. The system of claim 3, wherein the variable autonomy processing unit utilizes information from the navigation and payload sensors to autonomously track an object.

5. The system of claim 4, and further comprising:

a target state estimation unit that utilizes information from the navigation and payload sensors to estimate position and velocity of the object.

6. The system of claim 5, wherein the target state estimation unit is onboard the unmanned aerial vehicle.

7. The system of claim 6, wherein the target state estimation unit is datalinked to a ground station.

8. The system of claim 7, wherein the ground station utilizes information from the target state estimation unit to display an indication of the position and the velocity of the object.

9. The system of claim 4, wherein the object is an airborne object.

10. The system of claim 9, wherein the object is a ground object.

11. The system of claim 1, wherein the variable autonomy levels include a fully autonomous mode, a semi-autonomous mode, and a manual mode.

12. The system of claim 1, wherein information from one of the multiple sensors is utilized to stabilize a gimbal assembly.

13. The system of claim 1, and further comprising:

a user interface that enables a user to configure at least one of the multiple sensors.

14. A method of controlling an unmanned aerial vehicle comprising:

collecting data from multiple sensors;

receiving an indication of a selected autonomy level for the unmanned aerial vehicle;

utilizing the data from the multiple sensors to generate a command to control the unmanned aerial vehicle at the selected autonomy level.

15. The method of claim 14, and further comprising:

autonomously controlling a speed of the unmanned aerial vehicle.

16. The method of claim 14, and further comprising:

autonomously altering a flight path of the unmanned aerial vehicle.

17. The method of claim 14, and further comprising:

tracking an object utilizing one of the multiple sensors.

18. The method of claim 17, wherein tracking the object is optionally based on an operator input.

19. The method of claim 18, wherein the operator input is optionally generated based on an image generated from the collected data.

20. The method of claim 19, wherein the operator input is generated from a ground control station.

21. The method of claim 17, wherein tracking the object comprises autonomously tracking the object.

22. A method of controlling an unmanned aerial vehicle comprising:

receiving data from a sensor associated with the unmanned aerial vehicle;

receiving a manual input that controls a position of the sensor; and

autonomously controlling the unmanned aerial vehicle to accommodate the manual input.

23. The method of claim 22, wherein autonomously controlling the unmanned aerial vehicle comprises controlling a flight path of the unmanned aerial vehicle to track an object.

24. The method of claim 22, and further comprising:

autonomously stabilizing a gimbal assembly associated with the sensor.