Process and system to register and regulate unmanned aerial vehicle operations

• US 9,734,723 B1
• Filed: 07/15/2015
• Issued: 08/15/2017
• Est. Priority Date: 07/15/2015
• Status: Active Grant

• Current Assignee: Harris Corporation (L3Harris Technologies, Inc.)
• Original Assignee: Exelis Incorporated (L3Harris Technologies, Inc.)
• Inventors: Bruno, Ronald, Keller, James Mathew, Ramsey, Christian
• Primary Examiner(s): Badii, Behrang
• Application Number:
  US14/800,204
• Time in Patent Office: 762 Days
• CPC Class Codes: B64C 19/00 Aircraft control not otherwise provided for
• CPC Class Codes: B64U 2201/00 UAVs characterised by their flight controls
• CPC Class Codes: B64U 2201/20 Remote controls
• CPC Class Codes: G01C 21/005 with correlation of navigation data from several sources, e.g. map or contour matching G01C21/30 takes precedence
• CPC Class Codes: G01C 21/20 Instruments for performing navigational calculations G01C21/24, G01C21/26 take precedence
• CPC Class Codes: G01C 21/3826 Terrain data
• CPC Class Codes: G05D 1/00 Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots drive control systems specially adapted for autonomous road vehicles B60W60/00
• CPC Class Codes: G05D 1/02 Control of position or course in two dimensions
• CPC Class Codes: G05D 1/042 specially adapted for aircraft
• CPC Class Codes: G06Q 10/00 Administration; Management
• CPC Class Codes: G08G 5/00 Traffic control systems for aircraft , e.g. air-traffic control [ATC]
• CPC Class Codes: G08G 5/003 Flight plan management
• CPC Class Codes: G08G 5/0034 Assembly of a flight plan
• CPC Class Codes: G08G 5/0039 Modification of a flight plan
• CPC Class Codes: G08G 5/0052 for cruising combined instruments indicating more than one navigational value G01C23/00
• CPC Class Codes: G08G 5/0056 in an emergency situation, e.g. hijacking
• CPC Class Codes: G08G 5/006 in accordance with predefined flight zones, e.g. to avoid prohibited zones
• CPC Class Codes: G08G 5/0069 specially adapted for an unmanned aircraft
• CPC Class Codes: G08G 5/0086 for monitoring terrain radar or analogous systems specially adapted for terrain avoidance G01S13/935
• CPC Class Codes: G08G 5/0091 for monitoring atmospheric conditions radar or analogous systems specially adapted for meteorological use G01S13/95; meteorology G01W
• CPC Class Codes: G08G 5/025 : Navigation or guidance aids radar or analogous systems specially adapted for landing purposes G01S13/913
• CPC Class Codes: G08G 5/04 : Anti-collision systems

Abstract

A registration authority (RA) server registers unmanned aerial vehicles (UAVs) and their owners/operators (O/O). A UAV is maintained in a flight lock state until a flight plan request from the O/O is approved by the RA, which sends an key-signed approval to unlock the UAV'"'"'s flight lock. The RA server evaluates a UAV'"'"'s proposed flight plan based on the attributes of the O/O and UAV, the location and time of the requested flight plan, and a set of flight rules and exclusion zones that are developed in view of privacy assurance, security assurance, flight safety assurance, and ground safety assurance. The flight plan key-signed approval supplied to the UAV by the RA server specifies an inclusion zone that corresponds to a flight plan trajectory to be followed. Once in flight, the UAV maintains real-time knowledge of its position and time to ensure its flight remains within the approved inclusion zone.

Claims

1. A method of establishing and using an unmanned aerial vehicle (UAV) flight plan, comprising:

receiving, by a registration authority (RA) server, a flight plan request comprising a proposed flight plan for a UAV, the UAV having an onboard flight lock that is initially turned on to prevent the UAV from flying;

building, by the RA server, a flight plan trajectory from the flight plan request;

determining, by the RA server, whether the flight plan trajectory conflicts with exclusion zones that restrict operation of the UAV;

sending from the RA server an approved flight plan that is destined for the UAV, the approved flight plan conveying to the UAV an authority to fly in a defined inclusion zone in a defined time window;

receiving, by the UAV, the approved flight plan;

determining, by the UAV, whether the received approved flight plan meets criteria to turn off the flight lock; and

if the criteria are met, by the UAV, turning off the flight lock to enable the UAV to fly.

2. The method of claim 1, wherein sending the approved flight plan comprises sending:

a key-signed flight plan, a non-encrypted flight plan, and an encrypted UAV electronic identification (EID).

3. The method of claim 2, wherein the determining, by the UAV, includes determining that the criteria are met if the non-encrypted flight matches the key-signed flight plan after decryption, a stored UAV EID matches the encrypted UAV EID after decryption, and a location and time provided by the UAV are consistent with the defined inclusion zone and the defined time window of the approved flight plan.

4. The method of claim 1, wherein sending the approved flight plan comprises sending the approved flight plan to a cellular receiver of the UAV.

5. The method of claim 1, further comprising modifying, by the RA server, the proposed flight plan in the event of a conflict with an exclusion zone to produce the approved flight plan.

6. The method of claim 1, wherein determining whether the flight plan trajectory conflicts with exclusion zones includes determining whether the flight plan trajectory conflicts with airspace constraints based on safety restrictions, flight plans of other airborne objects, terrain and obstacles, and privacy restrictions.

7. The method of claim 1, wherein building the flight plan trajectory comprises building at least a portion of the flight plan trajectory as a volumetric trajectory that defines a geographic volume that contains UAV operations in four dimensions.

8. The method of claim 1, wherein building the flight plan trajectory comprises building at least a portion of the flight plan trajectory as a four dimensional (4D) trajectory that defines a UAV path of flight in terms of trajectory change points with containment deviation tolerances.

9. A system for establishing and using an unmanned aerial vehicle (UAV) flight plan, comprising:

a UAV having an onboard flight lock that is turned on to prevent the UAV from flying or turned off to enable the UAV to fly, wherein the flight lock is initially turned on; and

a registration authority server, including;

an interface to receive a flight plan request comprising a proposed flight plan for the UAV;

a trajectory building engine to build a flight plan trajectory from the flight plan request;

one or more processors to determine whether the flight plan trajectory conflicts with exclusion zones that restrict operation of the UAV; and

an interface to send an approved flight plan that is destined for the UAV, the approved flight plan conveying to the UAV an authority to fly in a defined inclusion zone in a defined time window;

wherein the UAV is configured to;

receive the approved flight plan;

determine whether the received approved flight plan meets criteria to turn off the flight lock; and

if the criteria are met, turn off the flight lock to enable the UAV to fly.

10. The system of claim 9, wherein the approved flight plan comprises:

a key-signed flight plan, a non-encrypted flight plan, and an encrypted UAV electronic identification (EID).

11. The system of claim 10, wherein the UAV is further configured to determine that the criteria are met if the non-encrypted flight plan matches the key-signed flight plan after decryption, a UAV EID stored in the UAV matches the encrypted UAV EID after decryption, and a location and time provided by the UAV are consistent with the defined inclusion zone and the defined time window of the approved flight plan.

12. The system of claim 9, wherein the interface to send enables transmission of the approved flight plan to a cellular receiver of the UAV.

13. The system of claim 9, wherein the processor is adapted to modify the proposed flight plan in response to a conflict with an exclusion zone to produce the approved flight plan.

14. The system of claim 9, wherein the processor is adapted to determine whether the flight plan trajectory conflicts with airspace constraints based on safety restrictions, flight plans of other airborne objects, terrain and obstacles, and privacy restrictions.

15. The system of claim 9, wherein the trajectory building engine is adapted to build at least a portion of the flight plan trajectory as a volumetric trajectory that defines a geographic volume that contains UAV operations in four dimensions.

16. The system of claim 9, wherein the trajectory building engine is adapted to build at least a portion of the flight plan trajectory as a four dimensional (4D) trajectory that defines a UAV path of flight in terms of trajectory change points with containment deviation tolerances.

17. An unmanned aerial vehicle (UAV), comprising:

an engine and flight control surfaces;

a position, navigation, and time (PNT) module to provide PNT information;

a communication interface to receive data;

a processor coupled to the flight control surfaces, the PNT module, and the communication interface, and configured to;

implement a flight lock that when turned on prevents the UAV from flying and when turned off enables the UAV to fly;

initially turn on the flight lock to prevent the UAV from flying;

receive, via the communication interface, an approved flight plan conveying authority to fly a UAV in a defined time window in a defined inclusion zone that avoids conflicts with flight path exclusion zones;

determine whether the approved flight plan meets criteria to turn off the flight lock; and

if the criteria are met, turn off the flight lock to enable the UAV to fly.

18. The UAV of claim 17, wherein the processor is further configured to, once the flight lock is turned off and the UAV is in flight:

cause the UAV to fly along a path in accordance with the approved flight plan; and

keep the flight lock turned off while a location of the UAV and time provided by the PNT module are consistent with the defined inclusion zone and the defined time window, and otherwise turn on the flight lock.

19. The UAV of claim 17, wherein:

the approved flight plan includes an encrypted flight plan, a non-encrypted flight plan, and an encrypted UAV electronic identification (EID); and

the processor is configured to determine that the criteria are met if the unencrypted flight plan matches the encrypted flight after decryption, an EID stored in a memory of the UAV matches the encrypted EID after decryption, and a location and time provided by the PNT module are consistent with the defined inclusion zone and the defined time window of the approved flight plan.

20. The apparatus of claim 17, wherein the flight path exclusion zones include airspace constraints based on safety restrictions, flight plans of other airborne objects, terrain and obstacles, and privacy restrictions.