Software-defined multi-mode ultra-wideband radar for autonomous vertical take-off and landing of small unmanned aerial systems

• US 9,110,168 B2
• Filed: 11/16/2012
• Issued: 08/18/2015
• Est. Priority Date: 11/18/2011
• Status: Active Grant

• Current Assignee: Farrokh Mohamadi
• Original Assignee: Farrokh Mohamadi
• Inventors: Mohamadi, Farrokh
• Primary Examiner(s): Khatib, Rami
• Assistant Examiner(s): Ziaeianmehdizadeh, Navid
• Application Number:
  US13/678,835
• Publication Number:
  US 20140222246A1
• Time in Patent Office: 1,005 Days
• US Class Current: 1/1
• CPC Class Codes: G01S 13/0209 Systems with very large relative bandwidth, i.e. larger than 10 %, e.g. baseband, pulse, carrier-free, ultrawideband
• CPC Class Codes: G01S 13/885 for ground probing prospecting or detecting using electromagnetic waves G01V3/12
• CPC Class Codes: G01S 13/913 for landing purposes
• CPC Class Codes: G01S 7/28 Details of pulse systems
• CPC Class Codes: G05D 1/0669 specially adapted for vertical take-off
• CPC Class Codes: G05D 1/0676 specially adapted for landing

Abstract

A small unmanned aerial system (sUAS) is used for aerial and on the ground surveillance while an operator of the sUAS, or other personnel, remain at a safe distance. The sUAS system can perform an autonomous landing and can be operated at an extended, e.g., greater than 100 meters, standoff from the detection apparatus and potential harm. The sUAS may be implemented as an easy-to-operate, small vertical take-off and landing (VTOL) aircraft with a set of optical, thermal, and chemical detection modules for performing aerial surveillance and ground surveillance after landing.

Claims

1. A system comprising:

an aircraft having a plurality of wing unit propellers for vertical takeoff and landing;

a control system included in the aircraft for controlling flight of the aircraft autonomously and receiving additional control inputs from an operator at a remote location;

an ultra-wideband (UWB) radar imaging system, wherein the UWB radar imaging system is carried by the aircraft; and

wherein;

the control system is configured to perform an autonomous landing pattern by autonomously flying the aircraft, guided by a pre-defined pattern, over a selected area while the UWB radar imaging system gathers information from the selected area;

the control system is configured to decide, based on whether multiple reflections are observed by the UWB radar imaging system, as indicated by adjacent sample values of reflected power not being closer together than a pre-determined amount, or a single reflection, as indicated by adjacent sample values of reflected power being closer together than the pre-determined amount, dominates the observation of the UWB radar imaging system, whether a platform is suitable for landing; and

a telemetry system carried by the aircraft for providing information from the UWB radar imaging system to the remote location for surveillance of the selected area.

2. The system of claim 1, further comprising:

a global positioning system (GPS) unit carried by the aircraft; and

wherein

the system determines a start point for autonomously flying the autonomous landing pattern from a global positioning system (GPS) waypoint.

3. The system of claim 1, further comprising:

a global positioning system (GPS) unit carried by the aircraft; and

wherein

the pre-defined pattern of the autonomous landing pattern is a spiral pattern implemented automatically using differential GPS.

4. The system of claim 1, wherein the pre-defined pattern further comprises:

coordinates and timing of a plurality of incremental waypoints (waypoint(j)) that are programmed in the system prior to flight of the aircraft; and

the information gathered from the selected area by the the UWB radar imaging system includes;

a reflected power, Pj, for each incremental waypoint(j) scanned by the UWB radar imaging system as the aircraft travels through each incremental waypoint(j);

a pattern of reflected power from a plurality of Pj stored in a bin (ψ

(Pj)); and

a number of reflected elements within a beam width antenna range of the UWB radar imaging system determined by a mathematical filtering of the bin (ψ

(Pj)) performed to identify a spatial position (φ

(Pj)) of the reflected elements.

5. The system of claim 1, further comprising:

an optical or infrared camera carried by the aircraft, wherein;

the telemetry system provides information from the optical or infrared camera to the remote location.

6. The system of claim 1, wherein the ultra-wideband (UWB) radar imaging system includes a wafer scale beam forming antenna array wherein the maximum dimension of the antenna array is less than 5 inches.

7. The system of claim 1, wherein:

the control system is a multi-link control system;

the multi-link control system includes a communication link for streaming optical, thermal, or radar processed images from a scanned portion of the selected area.

8. A method comprising:

controlling, autonomously and additionally by receiving control inputs from an operator at a remote location, an aircraft having a plurality of wing unit propellers for vertical takeoff and landing;

operating an ultra-wideband (UWB) radar imaging system for gathering information from a selected area, wherein the UWB radar imaging system is carried by the aircraft; and

performing an autonomous landing pattern, by the aircraft, by autonomously flying the aircraft, guided by a pre-defined pattern, over the selected area and gathering information from the selected area with the UWB radar imaging system;

comparing at least one pair of adjacent sample values of reflected power to determine if the values are closer together than a pre-determined amount;

deciding, based on whether multiple reflections are observed by the UWB radar imaging system, as indicated by the compared adjacent sample values of reflected power not being closer together than the pre-determined amount, or a single reflection, as indicated by the compared adjacent sample values of reflected power being closer together than the pre-determined amount, dominates the observation of the UWB radar imaging system, whether a platform is suitable for landing; and

providing information from the UWB radar imaging system to the remote location, using a telemetry system carried by the aircraft.

9. The method of claim 8, further comprising:

determining a start point for autonomously flying the autonomous landing pattern from a global positioning system (GPS) waypoint, wherein a GPS unit carried by the aircraft is used for determining the aircraft position.

10. The method of claim 8, wherein performing the autonomous landing pattern further comprises:

flying the autonomous landing pattern in a spiral pattern implemented automatically using differential GPS, wherein a GPS unit carried by the aircraft is used for determining the aircraft position.

11. The method of claim 8, further comprising:

programming coordinates and timing of a plurality of incremental waypoints (waypoint(j)) in the system prior to flight of the aircraft;

scanning by the UWB radar imaging system as the aircraft travels through each incremental waypoint(j) a reflected power, Pj, for each incremental waypoint(j);

storing a pattern of reflected power from a plurality of Pj in a bin (ψ

(Pj)); and

determining a number of reflected elements within a beam width antenna range of the UWB radar imaging system by a mathematical filtering of the bin (ψ

(Pj)) performed to identify a spatial position (φ

(Pj)) of the reflected elements.

12. The method of claim 8, further comprising:

providing information from an optical or infrared camera carried by the aircraft to the remote location using the telemetry system.

13. The method of claim 8, further comprising:

forming a UWB radar beam, by the UWB radar imaging system, using a wafer scale beam forming antenna array wherein the maximum dimension of the antenna array is less than 5 inches.

14. The method of claim 8, further comprising:

streaming optical, thermal, or radar processed images from a scanned portion of the selected area using a communication link of a multi-link control system between the aircraft and the remote location.