Method for autonomous controlling of an aerial vehicle and corresponding system

• US 10,049,590 B2
• Filed: 09/23/2014
• Issued: 08/14/2018
• Est. Priority Date: 09/26/2013
• Status: Active Grant

• Current Assignee: Airbus Defence and Space GmbH
• Original Assignee: Airbus Defence and Space GmbH
• Inventors: Thiele, Christian, Lohmiller, Winfried, Schoepfer, Lars, Heusinger, Hugo, Kleih, Werner
• Primary Examiner(s): LANG, MICHAEL DEAN
• Application Number:
  US15/023,962
• Publication Number:
  US 20160240091A1
• Time in Patent Office: 1,421 Days
• CPC Class Codes: B64C 39/02 characterised by special use
• 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: G05D 1/042 specially adapted for aircraft
• 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: G08G 5/0013 with a ground station
• CPC Class Codes: G08G 5/0021 located in the aircraft
• CPC Class Codes: G08G 5/0056 in an emergency situation, e.g. hijacking
• CPC Class Codes: G08G 5/0065 for taking-off
• CPC Class Codes: G08G 5/0069 specially adapted for an unmanned aircraft
• 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 5/045 Navigation or guidance aids, e.g. determination of anti-collision manoeuvers radar or analogous systems specially adapted for anti-collision between aircraft G01S13/933

Abstract

A method for autonomous controlling of an aerial vehicle, wherein a flight operator commands the aerial vehicle, comprising the steps of: measuring flight and/or system data of the aerial vehicle; performing an evaluation of a flight condition of the aerial vehicle based on the measured data and based on at least one decision criterion; and, issuing at least one autonomous controlling command, if, as a result of the evaluation of the flight condition, the aerial vehicle is in danger.

Claims

1. A method for autonomous controlling of an aerial vehicle, wherein a flight operator commands the aerial vehicle, comprising the steps of:

measuring data of the aerial vehicle including at least flight data of the aerial vehicle;

performing an evaluation of a flight condition of the aerial vehicle based on the measured data and based on at least one decision criterion; and

,

issuing at least one autonomous controlling command, if, as a result of the evaluation of the flight condition, the aerial vehicle is in danger;

wherein the at least one autonomous controlling command issued comprises at least one of;

an emergency route command that selects an emergency route, wherein the emergency route permits the aerial vehicle to land as soon as possible;

a crash route command that selects a crash route, wherein the crash route permits the aerial vehicle to go to a next reachable crash site;

an alternate route command that selects an alternate route, wherein the alternative route is prepared regarding changed air tasking orders, changed mission objectives or changed airspace coordination orders;

or

an approach and landing route command that selects an approach and landing route;

wherein the evaluation of the flight condition of the aerial vehicle is performed via a traffic alert and collision avoidance system of the aerial vehicle;

wherein the measured data of the aerial vehicle includes flight data of the aerial vehicle and system data of the aerial vehicle, and

wherein data regarding at least one of;

altitude,

airspeed,

ground speed,

flight path of the aerial vehicle,

weather conditions parameters,

air temperature, or

wind speed,

is used as the flight data of the aerial vehicle for said performing an evaluation of a flight condition of the aerial vehicle;

and wherein at least one of;

health information of engines,

health information of a flight control computer, or

health information of further units of the aerial vehicle,

is used as the system data of the aerial vehicle for said performing an evaluation of a flight condition of the aerial vehicle.

2. The method according to claim 1, wherein the at least one autonomous controlling command is checked by at least one of an air vehicle ground segment or the flight operator, before it is released to the air segment.

3. The method according to claim 1, wherein at least one of:

a minimum safe altitude,

a maximum safe altitude,

a minimum safe airspeed, or

a maximum safe airspeed of the aerial vehicle,

is used as the at least one decision criterion.

4. The method of claim 1, wherein the emergency route, the crash route, the alternate route, and the approach and landing are preplanned in a flight plan for the aerial vehicle.

5. The method of claim 1, wherein the autonomous controlling command comprises an alternate route command that selects an alternate route, wherein the alternative route is prepared regarding changed air tasking orders, changed mission objectives or changed airspace coordination orders.

6. A system for autonomous controlling of an aerial vehicle, comprising:

a data sensing unit configured to measure data of the aerial vehicle including at least flight data of the aerial vehicle;

an evaluation unit configured to evaluate a flight or a system condition of the aerial vehicle based on the measured data and based on at least one decision criterion; and

a command unit configured to issue at least one autonomous controlling command if as a result of the evaluation the aerial vehicle is in danger;

wherein the evaluation unit evaluates the flight condition of the aerial vehicle via a traffic alert and collision avoidance system of the aerial vehicle;

wherein the measured data of the aerial vehicle includes flight data of the aerial vehicle and system data of the aerial vehicle,

wherein data regarding at least one of;

altitude,

airspeed,

ground speed,

flight path of the aerial vehicle,

weather conditions parameters,

air temperature, or

wind speed,

is used as the flight data of the aerial vehicle for said performing an evaluation of a flight condition of the aerial vehicle;

and wherein at least one of;

health information of engines,

health information of a flight control computer, or

health information of further units of the aerial vehicle,

is used as the system data of the aerial vehicle for said performing an evaluation of a flight condition of the aerial vehicle;

wherein the at least one autonomous controlling command issued comprises at least one of;

an emergency route command that selects an emergency route;

a crash route command that selects a crash route;

an alternate route command that selects an alternate route;

or

an approach and landing route command that selects an approach and landing route;

wherein the emergency route, the crash route, the alternate route, and the approach and landing route are preplanned in a flight plan for the aerial vehicle.

7. The system of claim 6, wherein the autonomous controlling command comprises an alternate route command that selects an alternate route, wherein the alternative route is prepared regarding changed air tasking orders, changed mission objectives or changed airspace coordination orders.

8. A method for autonomous controlling of an aerial vehicle, wherein a flight operator commands the aerial vehicle, comprising the steps of:

measuring at least one of flight or system data of the aerial vehicle;

performing an evaluation of a flight condition of the aerial vehicle based on the measured data and based on at least one decision criterion; and

,

issuing at least one autonomous controlling command, if, as a result of the evaluation of the flight condition, the aerial vehicle is in danger;

wherein the measured data of the aerial vehicle includes flight data of the aerial vehicle and system data of the aerial vehicle,

wherein data regarding at least one of;

altitude,

airspeed,

ground speed,

flight path of the aerial vehicle,

weather conditions parameters,

air temperature, or

wind speed,

is used as the flight data of the aerial vehicle for said performing an evaluation of a flight condition of the aerial vehicle;

and wherein at least one of;

health information of engines,

health information of a flight control computer, or

health information of further units of the aerial vehicle,

is used as the system data of the aerial vehicle for said performing an evaluation of a flight condition of the aerial vehicle;

wherein the at least one autonomous controlling command comprises at least one of;

an automatic take-off of the aerial vehicle;

or

an automatic landing of the aerial vehicle;

wherein the at least one autonomous controlling command is preplanned in a flight plan for the aerial vehicle.

9. The method of claim 8, wherein the at least one autonomous controlling command comprises an automatic take-off of the aerial vehicle.