Flight monitoring system and method for monitoring flight of unmanned aerial vehicle

• US 9,846,436 B2
• Filed: 09/30/2016
• Issued: 12/19/2017
• Est. Priority Date: 04/22/2014
• Status: Active Grant

• Current Assignee: Zerotech shenzhen Intelligence Robot Co Ltd
• Original Assignee: Zerotech shenzhen Intelligence Robot Co Ltd
• Inventors: Wang, Shuaiqin, Wang, Lun, Yang, Lin, Yang, Jianjun
• Primary Examiner(s): Shafi, Muhammad
• Application Number:
  US15/300,952
• Publication Number:
  US 20170045892A1
• Time in Patent Office: 445 Days
• Field of Search: 701 3, 701 302- 311, 701501, 3408563, 3408562, 34042624, 3404265, 34053922, 34053926, 3405452, 340615, 340619, 340621, 340622, 340623, 34235765, 801 302- 311, 801501
• CPC Class Codes: B64C 39/02 characterised by special use
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• 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: G01S 19/39 the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
• CPC Class Codes: G05D 1/0022 characterised by the communication link data switching networks in general H04L12/00
• CPC Class Codes: G05D 1/0077 using redundant signals or controls
• CPC Class Codes: G05D 1/0808 specially adapted for aircraft
• CPC Class Codes: G05D 1/0816 to ensure stability

Abstract

A flight monitoring system comprises a first set of flight-status detecting sensors comprising a first-type sensor A1 for providing a first-type measurement result and a second-type sensor A2 for providing a second-type measurement result; a second set of flight-status detecting sensors comprising a first-type sensor B1 for providing a first-type measurement result and a second-type sensor B2 for providing a second-type measurement result. The flight monitoring system further comprises a control module configured to perform: comparing a difference between the first-type measurement results from the first-type sensors A1 and B1 with a first predetermined threshold; if the difference is more than the first predetermined threshold, deciding a first-type sensor data of the first-type sensors as indefinite; and determining a value of the first-type sensor data by selecting one of the first-type measurement results from the first-type sensors A1 and B1 as the value of the first-type sensor data according to the second-type measurement results, and setting the first-type sensor data as definite after the selection.

Claims

1. A flight monitoring system for an unmanned aerial vehicle (UAV), comprising:

a first set of flight-status detecting sensors comprising;

a first-type sensor A1 for providing a first-type measurement result; and

a second-type sensor A2 for providing a second-type measurement result;

a second set of flight-status detecting sensors comprising;

a first-type sensor B1 for providing a first-type measurement result; and

a second-type sensor B2 for providing a second-type measurement result; and

a control module coupled to the first and second sets of flight-status detecting sensors to receive the measurement results therefrom, wherein the control module is configured to;

compare a difference between the first-type measurement results from the first-type sensor A1 and the first-type sensor B1 with a first predetermined threshold;

decide a first-type sensor data of the first-type sensors as indefinite if the difference is more than the first predetermined threshold;

determine a value of the first-type sensor data by selecting one of the first-type measurement results from the first-type sensor A1 and the first-type sensor B1 as the value of the first-type sensor data according to the second-type measurement results;

set and setting the first-type sensor data as definite after the selection; and

determine the value of the first-type sensor data of the first-type sensors even if a conflict occurs between the first-type measurement results of the first-type sensors, in order to improve the reliability and safety of the flight monitoring system and the unmanned aerial vehicle.

2. The flight monitoring system of claim 1, wherein the control module is configured to select the first-type measurement result from either the first-type sensor A1 or the first-type sensor B1 as the value of the first-type sensor data, if the difference between the first-type measurement results from the first-type sensor A1 and the first-type sensor B1 is equal to or less than the first predetermined threshold.

3. The flight monitoring system of claim 1, wherein the control module comprises:

a primary controller coupled to the first set of fight-status detecting sensors; and

a secondary controller coupled to the second set of flight-status detecting sensor and the primary controller;

wherein one or both of the primary controller and the secondary controller is further configured to determine the validity of the measurement results from the first and second sets of flight-status detecting sensors, and select the first-type measurement result from the first-type sensor A1 as the value of the first-type sensor data if the difference between the first-type measurement results from the first-type sensor A1 and the first-type sensor B1 is equal to or less than the first predetermined threshold.

4. The flight monitoring system of claim 1, wherein the control module is further configured to:

selecting one of the second-type measurement results from the second-type sensor A2 and the second-type sensor B2 to be used for said selection of one of the first-type measurement results as the value of the first-type sensor data.

5. The flight monitoring system of claim 1, wherein the control module is further configured to determine the validity of the first-type measurement results from both the first-type sensor A1 and the first-type sensor B1, and to perform the operations of comparing, deciding and determining the value of the first-type sensor if both of the first-type measurement results are valid.

6. The flight monitoring system of claim 1, wherein the first set of flight-status detecting sensors further comprises:

a third-type sensor A3 for providing a third-type measurement result, and the second set of flight-status detecting sensors further comprises;

a third-type sensor B3 for providing a third-type measurement result; and

wherein the control module is further configured to perform;

comparing a difference between the third-type measurement results from the third-type sensor A3 and the third-type sensor B3 with a third predetermined threshold;

deciding a third-type sensor data of the third-type sensors as indefinite if the difference is more than the third predetermined threshold; and

selecting one of the third-type measurement results from the third-type sensor A3 and the third-type sensor B3 as the value of the third-type sensor data according to the first-type sensor data, and setting the third-type sensor data as definite after the selection.

7. A method for monitoring flight of an unmanned aerial vehicle (UAV) using a control module comprising the steps of:

detecting a flight status of the UAV using a first set of flight-status detecting sensors comprising a first-type sensor A1 and a second-type sensor A2, wherein the first-type sensor A1 provides a first-type measurement result and the second-type sensor A2 provides a second-type measurement result;

detecting the flight status of the UAV using a second set of flight-status detecting sensors comprising a first-type sensor B1 and a second-type sensor B2, wherein the first-type sensor B1 provides a first-type measurement result and the second-type sensor B2 provides a second-type measurement result;

comparing a difference between the first-type measurement results from the first-type sensor A1 and the first-type sensor B1 with a first predetermined threshold;

deciding a first-type sensor data of the first-type sensors as indefinite if the difference is more than the first predetermined threshold;

determining a value of first-type sensor data by selecting one of the first-type measurement results from the first-type sensor A1 and the first-type sensor B1 as the value of the first-type sensor data according to the second-type measurement results;

setting the first-type sensor data as definite after the selection; and

determining the value of the first-type sensor data of the first-type sensors even if a conflict occurs between the first-type measurement results of the first-type sensors, in order to improve the reliability and safety of the unmanned aerial vehicle.

8. The method of claim 7, wherein the method further comprises:

selecting the first-type measurement result from either the first-type sensor A1 or the first-type sensor B1 as the value of the first-type sensor data, if the difference between the first-type measurement results from the first-type sensor A1 and the first-type sensor B1 is equal to or less than the first predetermined threshold.

9. The method of claim 7, wherein the step of selecting one of the first-type measurement results from the first-type sensor A1 and the first-type sensor B1 as the value of the first-type sensor data according to the second-type measurement results comprises:

selecting one of the second-type measurement results from the second-type sensor A2 and the second-type sensor B2 to be used for said selection of one of the first-type measurement results as the value of the first-type sensor data.

10. The method of claim 7, wherein the first set of flight-status detecting sensors further comprises a third-type sensor A3 for providing a third-type measurement result, and the second set of flight-status detecting sensors further comprises a third-type sensor B3 for providing a third-type measurement result;

and the method further comprises;

comparing a difference between the third-type measurement results from the third-type sensor A3 and the third-type sensor B3 with a third predetermined threshold;

deciding a third-type sensor data of the third-type sensors as indefinite if the difference is more than the third predetermined threshold; and

selecting one of the third-type measurement results from the third-type sensor A3 and the third-type sensor B3 as the value of the third-type sensor data according to the first-type sensor data, and setting the third-type sensor data as definite after the selection.

11. The method of claim 7, wherein the first-type sensors are inertial measurement sensors and the second-type sensors are positioning sensors, or the first-type sensors are positioning sensors and the second-type sensors are inertial measurement sensors, and wherein the selecting step further comprises:

determining a first velocity from the first-type measurement result of the first-type sensor A1 and a second velocity from the first-type measurement result of the first-type sensor B1;

determining a reference velocity from the second-type measurement results; and

determining a first difference between the first velocity and the reference velocity, and a second difference between the second velocity and the reference velocity; and

selecting the first-type measurement result of the first-type sensor A1 as the value of the first-type sensor data for flight control of the UAV, unless the first difference is greater than a reference threshold and the second difference is smaller than the reference threshold.

12. The method of claim 7, wherein the first-type sensors are inertial measurement sensors and the second-type sensors are barometers, or the first-type sensors are barometers and the second-type sensors are inertial measurement sensors or positioning sensors, or the first-type sensors are positioning sensors and the second-type sensors are barometers, and wherein the selecting step further comprises:

determining a first vertical speed from the first-type measurement result of the first-type sensor A1 and a second vertical speed from the first-type measurement result of the first-type sensor B1;

determining a reference vertical speed from the second-type measurement results; and

determining a first difference between the first vertical speed and the reference vertical speed, and a second difference between the second vertical speed and the reference vertical speed; and

selecting the first-type measurement result of the first-type sensor A1 as the value of the first-type sensor data for flight control of the UAV, unless the first difference is greater than a reference threshold and the second difference is smaller than the reference threshold.

13. The method of claim 7, wherein the first-type sensors are inertial measurement sensors and the second-type sensors are magnetic compasses, or the first-type sensors are magnetic compasses, and the second-type sensors are inertial measurement sensors, and wherein the selecting step further comprises:

determining a first azimuth from the first-type measurement result of the first-type sensor A1 and a second azimuth from the first-type measurement result of the first-type sensor B1;

determining a reference azimuth from the second-type measurement results; and

determining a first difference between the first azimuth and the reference azimuth, and a second difference between the second azimuth and the reference azimuth; and

selecting the first-type measurement result of the first-type sensor A1 as the value of the first-type sensor data for flight control of the UAV, unless the first difference is greater than a reference threshold and the second difference is smaller than the reference threshold.

14. The method of claim 7, wherein prior to the operation of comparing, the method further comprises:

determining the validity of the first-type measurement results from both the first-type sensor A1 and the first-type sensor B1; and

if both of the first-type measurement results are valid, continuing the operation of comparing.

15. A method for monitoring flight of an unmanned aerial vehicle (UAV) using a control module comprising the steps of:

detecting a flight status of the UAV using a first set of flight-status detecting sensors comprising a first inertial measurement sensor A1, a first barometer A2, a first positioning sensor A3 and a first magnetic compass A4;

detecting the flight status of the UAV using a second set of flight-status detecting sensors comprising a second inertial measurement sensor B1, a second barometer B2, a second positioning sensor B3 and a second magnetic compass B4;

identifying whether a sensor data of each type of flight-status detecting sensors is definite;

determining a value of the sensor data of a type of flight-status detecting sensors using the sensor data of at least one another type of flight-status detecting sensors;

setting the sensor data of the type of flight-status detecting sensors as definite after the determination; and

determining the value of sensor data of the flight-status detecting sensors even if a conflict occurs between the measurement results of the flight-status detecting sensors of the same type, in order to improve the reliability and safety of the unmanned aerial vehicle.

16. The method of claim 15, wherein the sensor data of the inertial measurement sensors A1 and B1, the sensor data of the barometers A2 and B2, the sensor data of the positioning sensors A3 and B3 and the sensor data of the magnetic compass A4 and B4 are determined sequentially.

17. The method of claim 15, wherein the determining step further comprises:

determining the sensor data of the inertial measurement sensors using the sensor data of the positioning sensors, if the sensor data of the positioning sensors is definite;

determining the sensor data of the inertial measurement sensors using the sensor data of the barometers, if the sensor data of the positioning sensors is indefinite and the sensor data of the barometers is definite; and

determining the sensor data of the inertial measurement sensors using the sensor data of the magnetic compass, if the sensor data of the positioning sensors is indefinite, the sensor data of the barometers is indefinite and the sensor data of the magnetic compass is definite.

18. The method of claim 15, wherein the determining step further comprises:

determining the sensor data of the barometers using the sensor data of the inertial measurement sensors, if the sensor data of the inertial measurement sensors is definite; and

determining the sensor data of the barometers using the sensor data of the positioning sensors, if the sensor data of the inertial measurement sensors is indefinite and the sensor data of the positioning sensors is definite.

19. The method of claim 15, wherein the determining step further comprises:

determining the sensor data of the positioning sensors using the sensor data of the inertial measurement sensors, if the sensor data of the inertial measurement sensors is definite; and

determining the sensor data of the positioning sensors using the sensor data of the barometers, if the sensor data of the inertial measurement sensors is indefinite and the sensor data of the barometers is definite.

20. The method of claim 15, wherein the determining step further comprises:

determining the sensor data of the magnetic compass using the sensor data of the inertial measurement sensors.