Control computer for an unmanned vehicle

• US 9,199,725 B2
• Filed: 02/14/2012
• Issued: 12/01/2015
• Est. Priority Date: 02/28/2011
• Status: Active Grant

• Current Assignee: BAE Systems Australia Limited (BAE Systems Plc)
• Original Assignee: BAE Systems Australia Limited (BAE Systems Plc)
• Inventors: Yelland, Bradford Scott, Logan, Glen Eric, Riseborough, Paul
• Primary Examiner(s): Alharbi, Adam
• Application Number:
  US14/002,066
• Publication Number:
  US 20130338856A1
• Time in Patent Office: 1,386 Days
• Field of Search: None
• US Class Current: 1/1
• CPC Class Codes: B64C 13/18 using automatic pilot
• CPC Class Codes: B64C 13/20 using radiated signals
• CPC Class Codes: B64U 2201/10 autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
• 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

Abstract

A control computer for an unmanned vehicle, including: a sensor interface for receiving sensor data from sensors of the vehicle, the sensor data including data values associated with movement of the vehicle; an actuator control interface for sending actuator data to control actuators of the vehicle, the actuators controlling parts of the vehicle associated with controlling movement of the vehicle; and a system management component for executing a state machine having states corresponding to one or more phases of the movement and for determining a transition between current one of the states and another of the states based on at least one condition associated with the transition, at least one condition being determined based on at least one of the sensor data, the actuator data and status of the computer.

Claims

1. A control computer for an unmanned vehicle, comprising:

a sensor interface for receiving sensor data from sensors of a vehicle, said sensor data including data values associated with movement of the vehicle;

an actuator control interface for sending actuator data to control actuators of the vehicle, said actuators controlling parts of the vehicle associated with controlling movement of the vehicle; and

a system management component for;

executing a state machine having a plurality of states, each state corresponding to one of a plurality of phases of said movement, said actuator data being generated based on a current one of said plurality of states of said state machine; and

determining a transition between said current state and another of said states based on at least one condition associated with said transition, said at least one condition being determined based on at least one of said sensor data, said actuator data and status of said computer, and said at least one condition associated with said transition representing completion of a phase of movement of said current state.

2. A control computer according to claim 1, wherein said at least one condition represents violation of a movement limit of said vehicle associated with said current state.

3. A control computer according to claim 1, wherein a phase of movement of said vehicle corresponds to a plurality of said states.

4. A control computer according to claim 1, wherein said states include a commence state wherein said actuator data will command said vehicle to be stationary, and said system management component is configured to determine successful initialisation and operation of said computer.

5. A control computer according to claim 1, wherein said states include a navigation alignment state wherein said sensors associated with navigation are tested, and wherein initial navigation sensor data including positional and velocity data is obtained.

6. A control computer according to claim 1, wherein said states include a start engine state, wherein a movement plan is accepted and validated, and an engine of said vehicle is successfully started.

7. A control computer according to claim 1, wherein said states include a position state, wherein said actuator data is generated based on said sensor data to move said vehicle to a launch position as said at least one condition for transition to a launch state.

8. A control computer according to claim 1, wherein said states include a scenario state, wherein the computer generates actuator data to move the vehicle through scenario waypoints of a movement plan.

9. A control computer as claimed in claim 8, wherein the computer comprises:

guidance, navigation and waypoint management components for generating actuator data based on the sensor data to complete the waypoints.

10. A control computer according to claim 1, wherein the states include an inbound state, and said at least one condition for a transition to the inbound state includes an error condition associated with the vehicle.

11. A control computer as claimed in claim 10, wherein the error condition includes lost communications with a remote controller.

12. A control computer as claimed in claim 10, wherein in the inbound state, the computer generates actuator data for the vehicle to follow an inbound trajectory of a movement plan to return to a base location.

13. A control computer according to claim 1, wherein the states include at least one state where the computer generates actuator data for the vehicle to follow a holding path.

14. A control computer according to claim 1, wherein said states include circuit, approach and landing states corresponding to a landing movement phase of the vehicle.

15. A control computer according to claim 1, wherein said states include a take off and climb out state corresponding to a takeoff movement phase of the vehicle.

16. A control computer according to claim 1, wherein said states include scenario and loiter states that correspond to a cruise movement phase of the vehicle.

17. A control computer according to claim 1, wherein said states include engine shutdown and control computer shutdown states that correspond to a shutdown phase of a vehicle.

18. A method performed by a control computer for an unmanned vehicle, the method comprising:

receiving sensor data from sensors of the vehicle, said sensor data including data values associated with movement of the vehicle;

sending actuator data to control actuators of the vehicle, said actuators controlling parts of the vehicle associated with controlling movement of the vehicle;

executing a state machine having a plurality of states, each state corresponding to one of a plurality of phases of said movement, said actuator data being generated based on a current one of said plurality of states of said state machine; and

determining a transition between said current state and another of said states based on at least one condition associated with said transition, said at least one condition being determined based on at least one of said sensor data, said actuator data and status of said computer, and said at least one condition associated with said transition representing completion of a phase of movement of said current state.