Unoccupied flying vehicle (UFV) location assurance

• US 9,810,789 B2
• Filed: 09/30/2013
• Issued: 11/07/2017
• Est. Priority Date: 12/19/2012
• Status: Expired due to Fees

• Current Assignee: Elwha LLC (Intellectual Ventures LLC)
• Original Assignee: Elwha LLC (Intellectual Ventures LLC)
• Inventors: Levien, Royce A., Lord, Robert W., Lord, Richard T., Malamud, Mark A., Rinaldo, Jr., John D., Wood, Jr., Lowell L.
• Primary Examiner(s): ANTONUCCI, ANNE MARIE
• Application Number:
  US14/042,302
• Publication Number:
  US 20160299233A1
• Time in Patent Office: 1,499 Days
• Field of Search: 701 2
• CPC Class Codes: B64C 33/00 Ornithopters
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• CPC Class Codes: B64U 10/00 Type of UAV
• CPC Class Codes: B64U 10/30 Lighter-than-air aircraft, e.g. aerostatic aircraft
• CPC Class Codes: B64U 2201/102 adapted for flying in formations
• CPC Class Codes: B64U 2201/104 using satellite radio beacon positioning systems, e.g. GPS
• CPC Class Codes: B64U 2201/20 Remote controls
• CPC Class Codes: B64U 30/10 Wings
• CPC Class Codes: B64U 30/12 Variable or detachable wings, e.g. wings with adjustable sweep
• CPC Class Codes: B64U 30/20 Rotors; Rotor supports
• CPC Class Codes: F41H 11/02 Anti-aircraft or anti-guided missile or anti-torpedo defence installations or systems cartridges or missiles for producing smoke or for dispensing radar chaff or infrared material F42B5/15, F42B12/48, F42B12/70; informative reference: details of radar or sonar systems G01S7/00; jamming or electronic countermeasures G01S7/38, G01S7/495, H04K3/00
• CPC Class Codes: G01S 19/14 specially adapted for specific applications
• CPC Class Codes: G01S 19/21 Interference related issues ; Issues related to cross-correlation, spoofing or other methods of denial of service
• CPC Class Codes: G01S 19/215 issues related to spoofing
• CPC Class Codes: G01S 19/396 Determining accuracy or reliability of position or pseudorange measurements
• CPC Class Codes: G08G 5/0008 with other aircraft
• CPC Class Codes: G08G 5/0013 with a ground station
• CPC Class Codes: G08G 5/0052 for cruising combined instruments indicating more than one navigational value G01C23/00
• CPC Class Codes: G08G 5/0069 specially adapted for an unmanned aircraft
• CPC Class Codes: G08G 5/0078 for monitoring traffic from the aircraft radar or analogous systems specially adapted for traffic control G01S13/91
• 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: H04L 63/14 : for detecting or protecting against malicious traffic

Abstract

Disclosed herein are example embodiments for unoccupied flying vehicle (UFV) location assurance. For certain example embodiments, at least one machine, such as a UFV, may: (i) obtain one or more satellite positioning system (SPS) coordinates corresponding to at least an apparent location of at least one UFV; or (ii) perform at least one analysis that uses at least one or more SPS coordinates and at least one assurance token. However, claimed subject matter is not limited to any particular described embodiments, implementations, examples, or so forth.

Claims

1. A method for unoccupied flying vehicle (UFV) location assurance, the method being at least partially implemented by at least one machine in at least one UFV, the method comprising:

autonomously controlling the at least one UFV including at least;

obtaining one or more positioning system (PS) coordinates corresponding to at least an apparent location of at least one UFV;

analyzing at least the one or more PS coordinates including at least determining at least one electromagnetic signal strength associated with the one or more PS coordinates and focusing directional reception of electromagnetic signals associated with the one or more PS coordinates to increase the at least one electromagnetic signal strength to a predetermined level of at least one of accuracy, reliability, precision, or confidence; and

controlling at least a portion of at least one flight path of the at least one UFV based at least partly on the one or more PS coordinates determined by focused directional reception of electromagnetic signals.

2. An apparatus for unoccupied flying vehicle (UFV) location assurance, the apparatus comprising:

one or more electronic devices including at least;

circuitry configured for autonomously controlling the at least one UFV including at least;

circuitry configured for obtaining one or more positioning system (PS) coordinates corresponding to at least an apparent location of at least one UFV;

circuitry configured for analyzing at least the one or more PS coordinates including at least determining at least one electromagnetic signal strength associated with the one or more PS coordinates and focusing directional reception of electromagnetic signals associated with the one or more PS coordinates to increase the at least one electromagnetic signal strength to a predetermined level of at least one of accuracy, reliability, precision, or confidence; and

circuitry configured for controlling at least a portion of at least one flight path of the at least one UFV based at least partly on the one or more PS coordinates determined by focused directional reception of electromagnetic signals.

3. The apparatus of claim 2, wherein the circuitry configured for obtaining one or more positioning system (PS) coordinates corresponding to at least an apparent location of at least one UFV comprises:

circuitry configured for receiving the one or more PS coordinates via one or more signals received from one or more positioning systems.

4. The apparatus of claim 2, wherein the circuitry configured for obtaining one or more positioning system (PS) coordinates corresponding to at least an apparent location of at least one UFV comprises:

circuitry configured for calculating at least two PS coordinates corresponding to the at least an apparent location.

5. The apparatus of claim 2, wherein the circuitry configured for obtaining one or more positioning system (PS) coordinates corresponding to at least an apparent location of at least one UFV comprises:

circuitry configured for receiving one or more PS coordinates from at least one other UFV.

6. The apparatus of claim 2, wherein the circuitry configured for obtaining one or more positioning system (PS) coordinates corresponding to at least an apparent location of at least one UFV comprises:

circuitry configured for accepting one or more PS coordinates from at least one PS chip.

7. The apparatus of claim 2, wherein the circuitry configured for obtaining one or more positioning system (PS) coordinates corresponding to at least an apparent location of at least one UFV comprises:

circuitry configured for obtaining the one or more PS coordinates corresponding to at least an accurate location of the at least one UFV.

8. The apparatus of claim 2, wherein the circuitry configured for obtaining one or more positioning system (PS) coordinates corresponding to at least an apparent location of at least one UFV comprises:

circuitry configured for obtaining the one or more PS coordinates corresponding to at least a falsified location of the at least one UFV.

9. The apparatus of claim 2, wherein the circuitry configured for obtaining one or more positioning system (PS) coordinates corresponding to at least an apparent location of at least one UFV comprises:

circuitry configured for obtaining the one or more PS coordinates corresponding to at least a degraded location of the at least one UFV.

10. The apparatus of claim 2, wherein the circuitry configured for obtaining one or more positioning system (PS) coordinates corresponding to at least an apparent location of at least one UFV comprises:

circuitry configured for obtaining the one or more PS coordinates corresponding to a location that comports with at least an expected level of accuracy absent at least one of malfunction or malfeasance.

11. The apparatus of claim 2, wherein the circuitry configured for obtaining one or more positioning system (PS) coordinates corresponding to at least an apparent location of at least one UFV comprises:

circuitry configured for obtaining the one or more PS coordinates corresponding to a location that deviates from at least an expected level of accuracy as a result of at least one of malfunction or malfeasance.

12. The apparatus of claim 2, wherein the circuitry configured for analyzing at least the one or more PS coordinates includes:

circuitry configured for analyzing at least one or more first PS coordinates and at least one or more second PS coordinates.

13. The apparatus of claim 12, wherein the circuitry configured for analyzing at least one or more first PS coordinates and at least one or more second PS coordinates comprises:

circuitry configured for analyzing at least one or more first PS coordinates obtained for a first time and at least one or more second PS coordinates obtained for a second time.

14. The apparatus of claim 12, wherein the circuitry configured for analyzing at least one or more first PS coordinates and at least one or more second SPS coordinates comprises:

circuitry configured for analyzing multiple PS coordinates to identify at least one trend.

15. The apparatus of claim 14, wherein the circuitry configured for analyzing multiple PS coordinates to identify at least one trend comprises:

circuitry configured for detecting at least one discontinuity responsive to the at least one trend.

16. The apparatus of claim 2, wherein the circuitry configured for analyzing at least the one or more PS coordinates includes:

circuitry configured for comparing the one or more PS coordinates to one or more location coordinates determined based at least partly on at least one aspect of a velocity indicative of at least one flight path associated with the at least one UFV.

17. The apparatus of claim 2, wherein the circuitry configured for analyzing at least the one or more PS coordinates includes:

circuitry configured for comparing the one or more PS coordinates to one or more location coordinates determined based at least partly on the one or more inertial measurements indicative of at least one of a flight trajectory, a heading, a speed, a direction, a velocity, an acceleration, a position, an altitude, a stability level, a destination, a two-dimensional course or a three-dimensional course through air or space, a course through a spherical geometrical space, a time or times at which a course is to be traversed, a time or times at which one or more positions or one or more altitudes are to be attained, a time or times at which other flight characteristics are to be attained, extrapolated position-time stamp pairs based on current flight characteristics, or extrapolated altitude-time stamp pairs based on current flight characteristics associated with the at least one UFV.

18. The apparatus of claim 2, wherein the circuitry configured for analyzing at least the one or more PS coordinates includes:

circuitry configured for comparing the one or more PS coordinates to one or more location coordinates determined based at least partly on the one or more inertial measurements indicative of at least one of an acceleration value, a magnitude or direction of rate of change of velocity, a curved trajectory, or a braking rate associated with the at least one UFV.

19. The apparatus of claim 2, wherein the circuitry configured for analyzing at least the one or more PS coordinates comprises:

circuitry configured for comparing the one or more PS coordinates to one or more location coordinates determined based at least partly on one or more gyroscopic measurements measured by a sensor including at least one of a gyroscope or a micro-electro-mechanical system (MEMS) gyroscope of a three-axis gyroscope mechanism indicative of at least one of an orientation indication;

a rotational direction;

Euler angles;

a pitch, a roll, or a yaw value associated with the at least one UFV.

20. The apparatus of claim 2, wherein the circuitry configured for analyzing at least the one or more PS coordinates includes:

circuitry configured for comparing the one or more PS coordinates to one or more location coordinates determined based at least partly on one or more compass values indicative of at least one of a cardinal direction, a magnetic north, an approximate north, a number of degrees, or a number of degrees with reference to a cardinal direction associated with the at least one UFV.

21. The apparatus of claim 2, wherein the circuitry configured for analyzing at least the one or more PS coordinates includes:

circuitry configured for comparing the one or more PS coordinates to one or more location coordinates determined based at least partly on at least one of a camera, an image sensor, or a microphone indicative of at least one sensed signal associated with the at least one UFV.

22. The apparatus of claim 2, wherein the circuitry configured for analyzing at least the one or more PS coordinates includes:

circuitry configured for analyzing at least the one or more PS coordinates including at least determining at least one electromagnetic signal strength associated with the one or more PS coordinates and focusing directional reception of electromagnetic signals associated with the one or more PS coordinates via beam-forming by at least one directional meta-material antenna.

23. The apparatus of claim 2, wherein the circuitry configured for autonomously controlling the at least one UFV comprises:

at least one of;

circuitry in the at least one UFV;

circuitry in at least one other UFV;

circuitry in at least one handheld controller;

or

circuitry in at least one base station.

24. The apparatus of claim 2, wherein the circuitry configured for analyzing at least the one or more PS coordinates includes:

circuitry configured for analyzing at least the one or more PS coordinates including at least determining at least one electromagnetic signal strength associated with the one or more PS coordinates and focusing directional reception of electromagnetic signals associated with the one or more PS coordinates via beam-forming by at least one directional phased array antenna.

25. The apparatus of claim 2, wherein the circuitry configured for analyzing at least the one or more PS coordinates includes:

circuitry configured for analyzing at least the one or more PS coordinates including at least determining at least one electromagnetic signal strength associated with the one or more PS coordinates and focusing directional reception of electromagnetic signals associated with the one or more PS coordinates based at least partly on the at least one electromagnetic signal strength and one or more historical observations in a location.

26. The apparatus of claim 2, wherein the circuitry configured for analyzing at least the one or more PS coordinates includes:

circuitry configured for analyzing one or more specification parameters associated with the at least one UFV and at least one flight path characteristic that is determined based at least partially on the one or more PS coordinates.

27. The apparatus of claim 2, wherein the circuitry configured for analyzing at least the one or more PS coordinates includes:

circuitry configured for comparing a measured fuel usage to an expected fuel usage that is determined based at least partially on the one or more PS coordinates.

28. The apparatus of claim 2, wherein the circuitry configured for analyzing at least the one or more PS coordinates includes:

circuitry configured for analyzing at least the one or more PS coordinates and at least one warning of at least one detected PS-based attack.

29. The apparatus of claim 2, wherein the circuitry configured for analyzing at least the one or more PS coordinates includes:

circuitry configured for analyzing at least the one or more PS coordinates and at least one or more other PS coordinates associated with at least one other UFV.

30. The apparatus of claim 29, wherein the circuitry configured for analyzing at least the one or more PS coordinates and at least one or more other PS coordinates associated with at least one other UFV comprises:

circuitry configured for analyzing at least one estimated distance between the at least one UFV and the at least one other UFV.

31. The apparatus of claim 2, wherein the circuitry configured for analyzing at least the one or more PS coordinates includes:

circuitry configured for analyzing at least the one or more PS coordinates and at least one or more additional PS coordinates obtained from one or more PS signals that are acquired via at least one directional reception.

32. The apparatus of claim 31, wherein the circuitry configured for analyzing at least the one or more PS coordinates and at least one or more additional PS coordinates obtained from one or more PS signals that are acquired via at least one directional reception comprises:

circuitry configured for acquiring the one or more PS signals by directing reception upward.

33. The apparatus of claim 2 wherein the circuitry configured for analyzing at least the one or more PS coordinates includes:

circuitry configured for assigning at least one trust value to the one or more PS coordinates.

34. The apparatus of claim 33, wherein the circuitry configured for assigning at least one trust value to the one or more PS coordinates comprises:

circuitry configured for assigning at least one reliance value.

35. The apparatus of claim 34, wherein the circuitry configured for assigning at least one reliance value comprises:

circuitry configured for assigning at least one confidence level.

36. The apparatus of claim 33, wherein the circuitry configured for assigning at least one trust value to the one or more PS coordinates comprises:

circuitry configured for assigning at least one weighting value.

37. The apparatus of claim 2 wherein the circuitry configured for controlling at least a portion of at least one flight path of the at least one UFV based at least partly on the one or more PS coordinates determined by focused directional reception of electromagnetic signals includes:

circuitry configured for determining whether the one or more PS coordinates are to be used in at least one navigational determination.

38. The apparatus of claim 2, wherein the circuitry configured for controlling at least a portion of at least one flight path of the at least one UFV based at least partly on the one or more PS coordinates determined by focused directional reception of electromagnetic signals includes:

circuitry configured for controlling at least a portion of at least one flight path of the at least one UFV including at least one of direction, timing, targeted position, speed, or acceleration.

39. The apparatus of claim 2, wherein the circuitry configured for controlling at least a portion of at least one flight path of the at least one UFV based at least partly on the one or more PS coordinates determined by focused directional reception of electromagnetic signals includes:

circuitry configured for controlling at least a portion of at least one flight path of the at least one UFV including at least one of performing a sensor observation or delivering at least one payload.

40. The apparatus of claim 2, further comprising:

circuitry configured for signaling the one or more PS coordinates and at least one associated trust value.

41. A system for unoccupied flying vehicle (UFV) location assurance, the system being at least partially implemented by at least one hardware machine, the system comprising:

means for autonomously controlling the at least one UFV including at least;

means for obtaining one or more positioning system (PS) coordinates corresponding to at least an apparent location of at least one UFV;

means for analyzing at least the one or more PS coordinates including at least determining at least one electromagnetic signal strength associated with the one or more PS coordinates and focusing directional reception of electromagnetic signals associated with the one or more PS coordinates to increase the at least one electromagnetic signal strength to a predetermined level of at least one of accuracy, reliability, precision, or confidence; and

means for controlling at least a portion of at least one flight path of the at least one UFV based at least partly on the one or more PS coordinates determined by focused directional reception of electromagnetic signals.