Command and control of unmanned vehicles using cellular and IP mesh technologies for data convergence

• US 9,927,807 B1
• Filed: 07/01/2016
• Issued: 03/27/2018
• Est. Priority Date: 07/13/2015
• Status: Active Grant

• Current Assignee: Anra Technologies LLC
• Original Assignee: Anra Technologies LLC
• Inventors: Ganjoo, Amit
• Primary Examiner(s): Lee, Tyler J
• Application Number:
  US15/200,493
• Time in Patent Office: 634 Days
• Field of Search: 701 2
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• CPC Class Codes: B64U 10/13 Flying platforms
• CPC Class Codes: B64U 2101/20 for use as communications relays, e.g. high-altitude platforms
• CPC Class Codes: B64U 2101/23 for providing telephone services
• CPC Class Codes: B64U 2201/00 UAVs characterised by their flight controls
• 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 2201/20 Remote controls
• CPC Class Codes: G05D 1/0022 characterised by the communication link data switching networks in general H04L12/00
• CPC Class Codes: G08G 5/0008 with other aircraft
• CPC Class Codes: G08G 5/0013 with a ground station
• 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 5/0043 Traffic management of multiple aircrafts from the ground G08G5/003 takes precedence; data processing specially designed for resource management, e.g. scheduling or allocating time, human or machine resources G06Q10/06
• 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: G08G 5/0091 for monitoring atmospheric conditions radar or analogous systems specially adapted for meteorological use G01S13/95; meteorology G01W
• CPC Class Codes: G08G 5/045 Navigation or guidance aids, e.g. determination of anti-collision manoeuvers radar or analogous systems specially adapted for anti-collision between aircraft G01S13/933
• CPC Class Codes: H04B 7/18506 Communications with or from aircraft, i.e. aeronautical mobile service
• CPC Class Codes: H04L 63/0428 wherein the data content is protected, e.g. by encrypting or encapsulating the payload
• CPC Class Codes: H04L 67/12 : specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
• CPC Class Codes: H04W 4/38 : for collecting sensor information
• CPC Class Codes: H04W 4/40 : for vehicles, e.g. vehicle-to-pedestrians [V2P]
• CPC Class Codes: H04W 4/70 : Services for machine-to-machine communication [M2M] or machine type communication [MTC]
• CPC Class Codes: H04W 4/90 : Services for handling of emergency or hazardous situations, e.g. earthquake and tsunami warning systems [ETWS]
• CPC Class Codes: H04W 48/18 : Selecting a network or a communication service
• CPC Class Codes: H04W 76/10 : Connection setup
• CPC Class Codes: H04W 76/15 : Setup of multiple wireless link connections
• CPC Class Codes: H04W 84/042 : Public Land Mobile systems, e.g. cellular systems
• CPC Class Codes: H04W 84/18 : Self-organising networks, e.g. ad-hoc networks or sensor networks

Abstract

Methods, systems, and apparatus, including computer programs encoded on computer storage media, for control of unmanned vehicles. One of the methods includes determining, using an internet protocol mesh module, whether a peer unmanned vehicle is within a predetermined physical distance from the unmanned vehicle to enable creation of a mesh network for network communications between an unmanned vehicle and the peer unmanned vehicle, determining, using a cellular gateway module, whether the unmanned vehicle can connect to a cellular network, determining, using the available networks, a communications path between the unmanned vehicle and a control system, creating, using the communications path between the unmanned vehicle and the control system, a network connection with the control system, receiving, from the control system via the network connection, navigation commands, and using the navigation commands to control movement of the unmanned vehicle.

Claims

1. An unmanned vehicle comprising:

a cellular gateway module;

an internet protocol mesh module;

a data processing apparatus; and

a non-transitory computer readable storage medium in data communication with the data processing apparatus and storing instructions executable by the data processing apparatus and upon such execution cause the data processing apparatus to perform operations comprising;

determining, using the internet protocol mesh module, whether a peer unmanned vehicle is within a predetermined physical distance from the unmanned vehicle to enable creation of a mesh network for network communications between the unmanned vehicle and the peer unmanned vehicle;

determining, using the cellular gateway module, whether the unmanned vehicle can connect to a cellular network;

determining, using the available networks, a communications path between the unmanned vehicle and a control system that is not a peer unmanned vehicle, that is a separate system from the unmanned vehicle, and which generates navigation commands for the unmanned vehicle;

creating, using the communications path between the unmanned vehicle and the control system, a network connection with the control system to allow the unmanned vehicle to receive navigation commands from the control system;

receiving, from the control system via the network connection, navigation commands; and

using the navigation commands to control movement of the unmanned vehicle;

determining, using the available networks, that a communications path between the unmanned vehicle and the control system is not available;

determining, using the available networks, that a second communications path between the unmanned vehicle and a local control station is available;

creating, using the second communications path, a second network connection with the local control station;

receiving, from the local control station via the second network connection, second navigation commands; and

using the second navigation commands to control movement of the unmanned vehicle.

2. The unmanned vehicle of claim 1, comprising one or more sensors, the operations comprising:

capturing, from each of the one or more sensors, sensor data; and

providing, to the control system via the network connection, the sensor data for analysis by another device.

3. The unmanned vehicle of claim 2, wherein providing the sensor data for analysis by another device comprises providing the sensor data for analysis by an operator device separate from the control system.

4. The unmanned vehicle of claim 2, wherein providing the sensor data for analysis by another device comprises providing the sensor data for analysis by the control system.

5. The unmanned vehicle of claim 1, wherein:

creating the network connection with the control system comprises creating an encrypted network connection with the control system for use during all network communications with the control system; and

receiving, from the control system via the network connection, the navigation commands comprises receiving, from the control system via the encrypted network connection, encrypted data that includes the navigation commands, the operations comprising decrypting the encrypted data to determine the navigation commands.

6. The unmanned vehicle of claim 1, the operations comprising:

providing, to the control system that includes one or more computers using the network connection, current location data for the unmanned vehicle, wherein;

receiving, from the control system via the network connection, navigation commands comprises receiving, from the control system via the network connection, navigation commands the control system generated using the current location data for the unmanned vehicle, data from an external source, and a mission path for the unmanned vehicle; and

using the navigation commands to control movement of the unmanned vehicle comprises in response to receiving the navigation commands, changing a current path of the unmanned vehicle using the received navigation commands.

7. The unmanned vehicle of claim 6, wherein:

the data from the external source comprises data that identifies one or more hazards, one or more obstacles, one or more airspace restrictions, or one or more notices to airmen; and

changing the current path of the unmanned vehicle using the received navigation commands comprises changing the current path of the unmanned vehicle using the received navigation commands generated using the data that identifies the one or more hazards, the one or more obstacles, the one or more airspace restrictions, or the one or more notices to airmen.

8. The unmanned vehicle of claim 6, wherein:

the data from the external source comprises data that identifies current positions and trajectories for one or more other vehicles; and

changing the current path of the unmanned vehicle using the received navigation commands comprises changing the current path of the unmanned vehicle using the received navigation commands generated using the data that identifies the current positions and the trajectories for the one or more other vehicles.

9. The unmanned vehicle of claim 6, wherein:

the data from the external source comprises data that identifies traffic management data; and

changing the current path of the unmanned vehicle using the received navigation commands comprises changing the current path of the unmanned vehicle using the received navigation commands generated using the data that identifies the traffic management data.

10. The unmanned vehicle of claim 6, wherein:

the data from the external source comprises data that identifies current weather conditions; and

changing the current path of the unmanned vehicle using the received navigation commands comprises changing the current path of the unmanned vehicle using the received navigation commands generated using the data that identifies the current weather conditions.

11. The unmanned vehicle of claim 6, wherein:

the data from the external source comprises data that identifies predicted weather conditions; and

changing the current path of the unmanned vehicle using the received navigation commands comprises changing the current path of the unmanned vehicle using the received navigation commands generated using the data that identifies the predicted weather conditions.

12. The unmanned vehicle of claim 6, wherein:

the data from the external source comprises data that identifies a likelihood of risk to the unmanned vehicle; and

changing the current path of the unmanned vehicle using the received navigation commands comprises changing the current path of the unmanned vehicle using the received navigation commands generated using the data that identifies the likelihood of risk to the unmanned vehicle.

13. The unmanned vehicle of claim 12, wherein the data that identifies a likelihood of risk to the unmanned vehicle comprises data that identifies a likelihood of risk to the unmanned vehicle based on a proximity of the unmanned vehicle to another vehicle.

14. The unmanned vehicle of claim 12, wherein the data that identifies a likelihood of risk to the unmanned vehicle comprises data that identifies a likelihood of risk to the unmanned vehicle based on a condition of an operational area for the mission path of the unmanned vehicle.

15. A computer-implemented method comprising:

determining, by an unmanned vehicle using an internet protocol mesh hardware module, whether a peer unmanned vehicle is within a predetermined physical distance from the unmanned vehicle to enable creation of a mesh network for network communications between the unmanned vehicle and the peer unmanned vehicle, wherein the unmanned vehicle includes the internet protocol mesh hardware module and a cellular gateway hardware module;

determining, by the unmanned vehicle using the cellular gateway hardware module, whether the unmanned vehicle can connect to a cellular network;

determining, using the available networks, a communications path between the unmanned vehicle and a control system that is not a peer unmanned vehicle, that is a separate system from the unmanned vehicle, and which generates navigation commands for the unmanned vehicle;

creating, using the communications path between the unmanned vehicle and the control system, a network connection with the control system to allow the unmanned vehicle to receive navigation commands from the control system, wherein creating the network connection with the control system comprises creating an encrypted network connection with the control system for use during all network communications with the control system;

receiving, from the control system via the network connection, navigation commands by receiving, from the control system via the encrypted network connection, encrypted data that includes the navigation commands;

decrypting the encrypted data to determine the navigation commands; and

using the navigation commands to control movement of the unmanned vehicle.

16. A non-transitory computer readable storage medium storing instructions executable by a data processing apparatus and upon such execution cause the data processing apparatus to perform operations comprising:

determining, by the data processing apparatus using an internet protocol mesh module, whether a peer unmanned vehicle is within a predetermined physical distance from an unmanned vehicle that includes the data processing apparatus to enable creation of a mesh network for network communications between the unmanned vehicle and the peer unmanned vehicle, wherein the unmanned vehicle includes the internet protocol mesh module and a cellular gateway module;

determining, by the data processing apparatus using the cellular gateway module, whether the unmanned vehicle can connect to a cellular network;

determining, by the data processing apparatus using the available networks, a communications path between the unmanned vehicle and a control system that includes one or more computers separate from the unmanned vehicle, that is not a peer unmanned vehicle, and which generates navigation commands for the unmanned vehicle;

creating, by the data processing apparatus using the communications path between the unmanned vehicle and the control system, a network connection with the control system to allow the unmanned vehicle to receive navigation commands from the control system;

providing, to the control system using the network connection, current location data for the unmanned vehicle;

receiving, by the data processing apparatus from the control system via the network connection, navigation commands the control system generated using the current location data for the unmanned vehicle, data from an external source, and a mission path for the unmanned vehicle; and

in response to receiving the navigation commands, changing, by the data processing apparatus, a current path of the unmanned vehicle using the received navigation commands.

17. The computer readable storage medium of claim 16, the operations comprising:

capturing, from each of one or more sensors, sensor data; and

providing, to the control system via the network connection, the sensor data for analysis by another device.

18. The computer readable storage medium of claim 17, wherein providing the sensor data for analysis by another device comprises providing the sensor data for analysis by an operator device separate from the control system.

19. The computer readable storage medium of claim 17, wherein providing the sensor data for analysis by another device comprises providing the sensor data for analysis by the control system.

20. The computer readable storage medium of claim 16, wherein:

creating the network connection with the control system comprises creating an encrypted network connection with the control system for use during all network communications with the control system; and

receiving, from the control system via the network connection, the navigation commands comprises receiving, from the control system via the encrypted network connection, encrypted data that includes the navigation commands, the operations comprising decrypting the encrypted data to determine the navigation commands.

21. The computer readable storage medium of claim 16, wherein:

the data from the external source comprises data that identifies one or more hazards, one or more obstacles, one or more airspace restrictions, or one or more notices to airmen; and

changing the current path of the unmanned vehicle using the received navigation commands comprises changing the current path of the unmanned vehicle using the received navigation commands generated using the data that identifies the one or more hazards, the one or more obstacles, the one or more airspace restrictions, or the one or more notices to airmen.

22. The computer readable storage medium of claim 16, wherein:

the data from the external source comprises data that identifies current positions and trajectories for one or more other vehicles; and

changing the current path of the unmanned vehicle using the received navigation commands comprises changing the current path of the unmanned vehicle using the received navigation commands generated using the data that identifies the current positions and the trajectories for the one or more other vehicles.

23. The computer readable storage medium of claim 16, wherein:

the data from the external source comprises data that identifies traffic management data; and

changing the current path of the unmanned vehicle using the received navigation commands comprises changing the current path of the unmanned vehicle using the received navigation commands generated using the data that identifies the traffic management data.

24. The computer readable storage medium of claim 16, wherein:

the data from the external source comprises data that identifies current weather conditions; and

changing the current path of the unmanned vehicle using the received navigation commands comprises changing the current path of the unmanned vehicle using the received navigation commands generated using the data that identifies the current weather conditions.

25. The computer readable storage medium of claim 16, wherein:

the data from the external source comprises data that identifies predicted weather conditions; and

changing the current path of the unmanned vehicle using the received navigation commands comprises changing the current path of the unmanned vehicle using the received navigation commands generated using the data that identifies the predicted weather conditions.

26. The computer readable storage medium of claim 16, wherein:

the data from the external source comprises data that identifies a likelihood of risk to the unmanned vehicle; and

changing the current path of the unmanned vehicle using the received navigation commands comprises changing the current path of the unmanned vehicle using the received navigation commands generated using the data that identifies the likelihood of risk to the unmanned vehicle.

27. The computer readable storage medium of claim 26, wherein the data that identifies a likelihood of risk to the unmanned vehicle comprises data that identifies a likelihood of risk to the unmanned vehicle based on a proximity of the unmanned vehicle to another vehicle.

28. The computer readable storage medium of claim 26, wherein the data that identifies a likelihood of risk to the unmanned vehicle comprises data that identifies a likelihood of risk to the unmanned vehicle based on a condition of an operational area for the mission path of the unmanned vehicle.