Location verification and secure no-fly logic for unmanned aerial vehicles

• US 9,862,488 B2
• Filed: 08/28/2015
• Issued: 01/09/2018
• Est. Priority Date: 08/28/2015
• Status: Active Grant

• Current Assignee: McAfee, LLC
• Original Assignee: McAfee, LLC
• Inventors: Hunt, Simon, Sambandam, Venkata Ramanan, Shah, Samir
• Primary Examiner(s): Tran, Thai
• Assistant Examiner(s): SMITH, STEPHEN R
• Application Number:
  US14/839,395
• Publication Number:
  US 20170057634A1
• Time in Patent Office: 865 Days
• Field of Search: 342 36, 701 3, 701469, 701 24, 701 16, 701 11, 701 25, 382218, 244 1723, 348144, 386248
• CPC Class Codes: B64U 2101/30 for imaging, photography or videography
• 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: B64U 2201/104 using satellite radio beacon positioning systems, e.g. GPS
• CPC Class Codes: G01S 19/215 issues related to spoofing
• CPC Class Codes: G05D 1/106 Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones
• CPC Class Codes: G06F 21/606 by securing the transmission between two devices or processes
• CPC Class Codes: G08G 5/0013 with a ground station
• CPC Class Codes: G08G 5/0021 located in the aircraft
• CPC Class Codes: G08G 5/0034 Assembly 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 5/006 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 5/0082 for monitoring traffic from a ground station radar or analogous systems specially adapted for traffic control G01S13/91
• CPC Class Codes: H04L 9/3247 involving digital signatures
• CPC Class Codes: H04W 4/021 Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
• CPC Class Codes: H04W 4/40 for vehicles, e.g. vehicle-to-pedestrians [V2P]

Abstract

Certain embodiments herein relate to location verification for autonomous unmanned aerial vehicles (also referred to as “drones”). In some embodiments, an unmanned aerial vehicle engaged in autonomous flight may determine its location using a satellite-based navigation system. The location may be evaluated against location data obtained from one or more secondary factors, such as public broadcast beacons, cellular towers, wireless network identifiers, visual markers, or any combination thereof. If the location is determined to be invalid, the unmanned aerial vehicle may be instructed to take a mitigation action. Additionally, certain embodiments also include the verification of a flight plan for the unmanned aerial vehicle using secure no-fly logic to verify a flight plan does not violate no-fly zones. If the flight plan is verified, the flight plan may be signed using a cryptographic signature and provided to a navigation module that verifies the signature and executes the flight plan.

Claims

1. A non-transitory computer-readable medium comprising computer-executable instructions that, when executed by a processor, cause the processor to perform operations including:

obtaining a location of an unmanned aerial vehicle engaged in autonomous flight, the location determined from a satellite-based navigation system;

determining location data from one or more sources accessible by the unmanned aerial vehicle, the one or more sources including at least one of a broadcast beacon, a wireless network identifier, a cellular tower, and a visual marker;

comparing the location data to the location by;

determining a range associated with the location data;

determining a source location of the one or more sources of the location data;

determining a distance between the location and the source location; and

comparing the range to the distance; and

initiating an action based on the comparison, the action including;

landing of the unmanned aerial vehicle, returning the unmanned aerial vehicle to a previously determined location, returning the unmanned aerial vehicle to a base station associated with the unmanned aerial vehicle, requesting user control of the unmanned aerial vehicle, or initiating self-destruction of the unmanned aerial vehicle.

2. The non-transitory computer-readable medium of claim 1, wherein comparing the location data to the location further includes:

determining a source location of the one or more sources of the location data from a map comprising respective locations of the one or more sources; and

determining a distance between the source location and the location; and

comparing the distance to a distance threshold.

3. The non-transitory computer-readable medium of claim 1, further including obtaining the visual marker from images or video captured by a camera of the unmanned aerial vehicle.

4. The non-transitory computer-readable medium of claim 1, wherein the one or more sources further includes the base station.

5. The non-transitory computer-readable medium of claim 4, the operations further including:

determining a distance between a location of the base station and the location; and

comparing the distance to the range of the base station.

6. An unmanned aerial vehicle, comprising:

a processor;

a computer-readable memory including computer-executable instructions that, when executed by the processor, cause the processor to perform operations including;

obtaining a location of the unmanned aerial vehicle while engaged in autonomous flight, the location determined from a satellite-based navigation system;

determining location data from one or more sources accessible by the unmanned aerial vehicle, the one or more sources including at least one of a broadcast beacon, a wireless network identifier, a cellular tower, and a visual marker;

comparing the location data to the location by;

determining a range associated with the location data;

determining a source location of the one or more sources of the location data;

determining a distance between the location and the source location; and

comparing the range to the distance; and

initiating an action based on the comparison, the action including;

landing of the unmanned aerial vehicle, returning the unmanned aerial vehicle to a previously determined location, returning the unmanned aerial vehicle to a base station associated with the unmanned aerial vehicle, requesting user control of the unmanned aerial vehicle, or initiating self-destruction of the unmanned aerial vehicle.

7. The unmanned aerial vehicle of claim 6, wherein comparing the location data to the location includes:

determining a source location of the one or more sources of the location data from a map comprising respective locations of the one or more sources; and

determining a distance between the source location and the location; and

comparing the distance to a distance threshold.

8. The unmanned aerial vehicle of claim 6, further including obtaining the visual marker from images or video capture by a camera of the unmanned aerial vehicle.

9. The unmanned aerial vehicle of claim 6, wherein the one or more sources further include the base station.

10. The unmanned aerial vehicle of claim 9, the operations further including:

determining a distance between a location of the base station and the location; and

comparing the distance to the range of the base station.