公开(公告)号：US20060167622A1

公开(公告)日：2006-07-27

申请号：US11041922

申请日：2005-01-24

申请人： William Bodin ,  Jesse Redman ,  Derral Thorson

发明人： William Bodin ,  Jesse Redman ,  Derral Thorson

IPC分类号： G01C21/00

摘要： Navigating UAVs in formations, including assigning transition pattern positions of a transition pattern to each of a multiplicity of UAVs flying together in a travel pattern toward a waypoint to be orbited by the UAVs; flying the UAVs into the transition pattern, continuing toward the waypoint; and flying the UAVs into an orbital pattern upon arrival at the waypoint, the orbital pattern having an orbital radius. The orbital pattern typically includes an orbital pattern distance among orbital pattern positions, and assigning transition pattern positions typically includes setting a transition pattern distance among transition pattern positions equal to the orbital pattern distance.

摘要翻译： 在地层中导航UAV，包括将过渡模式的转换模式位置分配给以旅行模式一起飞行的多个无人机中的每一个到由无人机运行的航点; 将无人机飞入过渡模式，继续向航点; 并且在到达航路点时将无人机飞行成轨道模式，轨道图案具有轨道半径。 轨道图案通常包括轨道图案位置之间的轨道图案距离，并且分配过渡图案位置通常包括设置等于轨道图案距离的过渡图案位置之间的过渡图案距离。

公开(公告)号：US20060167599A1

公开(公告)日：2006-07-27

申请号：US11041505

申请日：2005-01-24

申请人： William Bodin ,  Jesse Redman ,  Derral Thorson

发明人： William Bodin ,  Jesse Redman ,  Derral Thorson

IPC分类号： G08G5/00

CPC分类号： G08G5/025 ,  G08G5/0069

摘要： Methods, systems, and products are provided for identifying a UAV landing location. Embodiments include identifying a need to land the UAV, determining a current position of the UAV, determining an available flight distance for landing the UAV, and selecting, from a database, an available landing location in dependence upon the current position and the available flight distance. Determining an available flight distance may include determining a landing priority for the need to land, and determining an available flight distance from the current position of the UAV in dependence upon the landing priority and UAV specifications. Determining a landing priority for the need to land may also include determining a UAV condition.

摘要翻译： 提供方法，系统和产品用于识别UAV着陆位置。 实施例包括识别UAV的需要，确定UAV的当前位置，确定用于登陆UAV的可用飞行距离，以及根据当前位置和可用飞行距离从数据库中选择可用的着陆位置 。 确定可用的飞行距离可以包括确定落地需要的着陆优先级，以及根据着陆优先级和UAV规格确定与UAV的当前位置的可用飞行距离。 确定需要着陆的降落优先级还可以包括确定UAV状况。

公开(公告)号：US20050094851A1

公开(公告)日：2005-05-05

申请号：US10692129

申请日：2003-10-23

申请人： William Bodin ,  Jesse Redman ,  Derral Thorson

发明人： William Bodin ,  Jesse Redman ,  Derral Thorson

IPC分类号： G05D1/02 ,  G06K9/00 ,  G05D1/00 ,  G06F7/00 ,  H01Q1/28 ,  H04B10/00 ,  H04N9/47

CPC分类号： G05D1/0044 ,  G05D1/0202

摘要： Navigating a UAV, including receiving in a remote control device a user's selection of a GUI map pixel that represents a waypoint for UAV navigation, the pixel having a location on the GUI; mapping the pixel's location on the GUI to Earth coordinates of the waypoint; receiving downlink telemetry, including a starting position from a GPS receiver on the UAV, from the UAV through a socket on the remote control device; calculating a heading in dependence upon the starting position, the coordinates of the waypoint, and a navigation algorithm; identifying flight control instructions for flying the UAV on the heading; and transmitting uplink telemetry, including the flight control instructions, through the socket to the UAV. In some embodiments the UAV is piloted, under control of a navigation computer on the UAV, from the starting position to the waypoint in accordance with a navigation algorithm.

摘要翻译： 导航无人机，包括在远程控制设备中接收用户对代表UAV导航的航点的GUI地图像素的选择，所述像素在GUI上具有位置; 将GUI上的像素位置映射到航点的地球坐标; 从UAV通过远程控制设备上的插座接收包括来自UAV上的GPS接收器的起始位置的下行链路遥测; 根据开始位置，航点的坐标和导航算法计算航向; 识别飞行控制指令，用于在航标上飞行无人机; 并通过插座向UAV发送包括飞行控制指令的上行链路遥测。 在一些实施例中，根据导航算法，在UAV上的导航计算机的控制下，UAV被引导从起始位置到航点。

公开(公告)号：US20070106473A1

公开(公告)日：2007-05-10

申请号：US11041831

申请日：2005-01-24

申请人： William Bodin ,  Jesse Redman ,  Derral Thorson

发明人： William Bodin ,  Jesse Redman ,  Derral Thorson

IPC分类号： G01C23/00 ,  G06F17/10

CPC分类号： G01C23/00 ,  G05D1/0044 ,  G05D1/101

摘要： Methods, systems, and computer program products are provided for navigating a UAV that include piloting the UAV, under control of a navigation computer, in accordance with a navigation algorithm. While piloting the UAV, embodiments include reading from the GPS receiver a sequence of GPS data, anticipating a future position of the UAV, identifying an obstacle in dependence upon the future position, selecting an obstacle avoidance algorithm, and piloting the UAV in accordance with an obstacle avoidance algorithm. Identifying an obstacle in dependence upon the future position may include comprises retrieving obstacle data from a database in dependence the future position. Identifying an obstacle in dependence upon the future position may also include depicting an anticipated flight of the UAV with 3D computer graphics in dependence upon the future position and identifying an obstacle in dependence upon the depiction of the anticipated flight.

摘要翻译： 提供了方法，系统和计算机程序产品，用于根据导航算法在导航计算机的控制下导航包括驾驶UAV的UAV。 在对UAV进行驾驶时，实施例包括从GPS接收器读取一系列GPS数据，预测UAV的未来位置，根据未来位置识别障碍物，选择障碍物避免算法，以及根据无人机 障碍物回避算法 根据未来位置识别障碍物可包括从未来位置检索数据库中的障碍物数据。 根据未来位置识别障碍还可以包括根据未来的位置描绘具有3D计算机图形的无人机的预期飞行，并根据预期飞行的描绘识别障碍物。

公开(公告)号：US20050090972A1

公开(公告)日：2005-04-28

申请号：US10692169

申请日：2003-10-23

申请人： William Bodin ,  Jesse Redman ,  Derral Thorson

发明人： William Bodin ,  Jesse Redman ,  Derral Thorson

IPC分类号： G01C21/20 ,  G05D1/00 ,  G01C21/00

CPC分类号： G05D1/0044 ,  G01C21/20

摘要： Exemplary embodiments of the present invention include a method for navigating a UAV. Such embodiments include receiving in a remote control device a user's selection of a GUI map pixel that represents a waypoint for UAV navigation. The pixel has a location on the GUI. Such embodiments also include mapping the pixel's location on the GUI to Earth coordinates of the waypoint, transmitting the coordinates of the waypoint to the UAV, reading a starting position from a GPS receiver on the UAV, and piloting the UAV, under control of a navigation computer on the UAV, from the starting position to the waypoint in accordance with a navigation algorithm.

摘要翻译： 本发明的示例性实施例包括用于导航UAV的方法。 这样的实施例包括在遥控设备中接收用户对代表无人机导航的航点的GUI地图像素的选择。 像素在GUI上有一个位置。 这些实施例还包括将GUI上的像素位置映射到航路点的地球坐标，将航点的坐标传输到无人机，从无人机上的GPS接收机读取起始位置，以及在导航控制下驾驶无人机 无人机上的计算机，根据导航算法从起始位置到航点。

公开(公告)号：US20050090945A1

公开(公告)日：2005-04-28

申请号：US10692118

申请日：2003-10-23

申请人： William Bodin ,  Jesse Redman ,  Derral Thorson

发明人： William Bodin ,  Jesse Redman ,  Derral Thorson

IPC分类号： G01C21/00 ,  G05D1/00

CPC分类号： G05D1/0044

摘要： Navigating a UAV, including receiving in a remote control device a user's selection of a GUI map pixel that represents a waypoint for UAV navigation, the pixel having a location on the GUI; mapping the pixel's location on the GUI to Earth coordinates of the waypoint; receiving a starting position from a GPS receiver on the UAV; calculating a heading in dependence upon the starting position, the coordinates of the waypoint, and a navigation algorithm; identifying flight control instructions for flying the UAV on the heading; and transmitting the flight control instructions from the remote control device to the UAV.

摘要翻译： 导航无人机，包括在远程控制设备中接收用户对代表UAV导航的航点的GUI地图像素的选择，所述像素在GUI上具有位置; 将GUI上的像素位置映射到航点的地球坐标; 从无人机上的GPS接收机接收起始位置; 根据开始位置，航点的坐标和导航算法计算航向; 识别飞行控制指令，用于在航标上飞行无人机; 并将飞行控制指令从遥控装置传送到无人机。

公开(公告)号：US20060167597A1

公开(公告)日：2006-07-27

申请号：US11041506

申请日：2005-01-24

申请人： William Bodin ,  Jesse Redman ,  Derral Thorson

发明人： William Bodin ,  Jesse Redman ,  Derral Thorson

IPC分类号： G01C21/00

CPC分类号： G05D1/0094 ,  G01C21/005 ,  G05D1/0044

摘要： Methods, systems, and products are provided for enabling services on a UAV. Embodiments include determining a current position of the UAV, selecting a service module for the UAV in dependence upon the current position of the UAV, uploading the service module to the UAV, and executing the service module on the UAV. Selecting a service module for the UAV in dependence upon the current position of the UAV may include retrieving from a module database a module record in dependence upon the current position of the UAV. Typical embodiments also include selecting a flying pattern algorithm in dependence upon the selected service module and piloting the UAV in accordance with the flying pattern algorithm. Many embodiments also include selecting a navigational algorithm in dependence upon the selected service module and navigating the UAV in accordance with the navigational algorithm.

公开(公告)号：US20060217877A1

公开(公告)日：2006-09-28

申请号：US10692128

申请日：2003-10-23

申请人： William Bodin ,  Jesse Redman ,  Derral Thorson

发明人： William Bodin ,  Jesse Redman ,  Derral Thorson

IPC分类号： G01C21/00

CPC分类号： G01C21/005 ,  G05D1/0044 ,  G05D1/0202

摘要： Navigating a UAV including receiving in a remote control device a user's selection of a GUI map pixel that represents a waypoint for UAV navigation, mapping the pixel's location on the GUI to Earth coordinates of the waypoint, transmitting the coordinates of the waypoint to the UAV, reading a starting position from a GPS receiver on the UAV, and piloting the UAV, under control of a navigation computer on the UAV, from the starting position to the waypoint in accordance with a navigation algorithm. While piloting the UAV from the starting position to the waypoint, such embodiments include reading from the GPS receiver a sequence of GPS data representing a flight path of the UAV, and depicting the flight of the UAV with 3D computer graphics, including a computer graphic display of a satellite image of the Earth, in dependence upon the GPS data.

摘要翻译： 导航无人机，包括在远程控制设备中接收用户对代表无人机导航的航点的GUI地图像素的选择，将图形上的像素位置映射到航路点的地球坐标，将航点的坐标传送到无人机， 从无人机上的GPS接收器读取起始位置，并且在UAV上的导航计算机的控制下，根据导航算法从起始位置到航路点驾驶UAV。 在将UAV从起始位置引导到航路点时，这样的实施例包括从GPS接收器读取表示UAV的飞行路径的GPS数据序列，并且描绘具有3D计算机图形的UAV的飞行，包括计算机图形显示 的卫星图像，依靠GPS数据。

公开(公告)号：US20060167596A1

公开(公告)日：2006-07-27

申请号：US11041481

申请日：2005-01-24

申请人： William Bodin ,  Jesse Redman ,  Derral Thorson

发明人： William Bodin ,  Jesse Redman ,  Derral Thorson

IPC分类号： G06F17/00

CPC分类号： G05D1/0027 ,  G05D1/0044

摘要： Methods, systems, and computer program products are provided for depicting the flight of a formation of a plurality of UAVs. Embodiments include piloting a plurality of UAVs, each UAV being piloted under the control of a navigation computer in accordance with a navigation algorithm and a flight formation algorithm. While piloting each UAV, embodiments typically include reading from a GPS receiver on each UAV a sequence of GPS data representing a flight path of the UAV; depicting the flight of each UAV with 3D computer graphics to create a plurality of UAV flight depictions, including a computer graphic display of a satellite image of the Earth, in dependence upon the GPS data; and coalescing the plurality of UAV flight depictions. Embodiments may also include identifying a deviation of a UAV from its intended position in the formation in dependence upon the coalesced depiction.

摘要翻译： 提供了方法，系统和计算机程序产品来描述多个UAV的组合的飞行。 实施例包括驾驶多个UAV，每个UAV根据导航算法和飞行形成算法在导航计算机的控制下被驾驶。 在引导每个UAV时，实施例通常包括从每个UAV上的GPS接收器读取表示UAV的飞行路径的一系列GPS数据; 描绘具有3D计算机图形的每个无人机的飞行，以根据GPS数据创建多个UAV飞行描述，包括地球卫星图像的计算机图形显示; 并结合多个无人机飞行描述。 实施例还可以包括根据合并描绘来识别UAV与其在地层中的预期位置的偏差。

公开(公告)号：US20090030566A1

公开(公告)日：2009-01-29

申请号：US12242995

申请日：2008-10-01

申请人： William Kress Bodin ,  Jesse Redman ,  Derral Charles Thorson

发明人： William Kress Bodin ,  Jesse Redman ,  Derral Charles Thorson

IPC分类号： G05D1/10

CPC分类号： G08G5/0069 ,  G05D1/0027 ,  G05D1/0044 ,  G08G5/0052

摘要： Navigating UAVs in formation, including assigning pattern positions to each of a multiplicity of UAVs flying together in a pattern; identifying a waypoint for each UAV in dependence upon the UAV's pattern position; piloting the UAVs in the pattern toward their waypoints in dependence upon a navigation algorithm, where the navigation algorithm includes repeatedly comparing the UAV's intended position and the UAV's actual position and calculating a corrective flight vector when the distance between the UAV's actual and intended positions exceeds an error threshold. The actual position of the UAV may be taken from a GPS receiver on board the UAV.

摘要翻译： 在无人机的形成过程中，包括为模式中一起飞行的多个无人机中的每一个分配模式位置; 根据无人机的模式位置确定每个无人机的航点; 根据导航算法，将无人机以模式驾驶到航路点，其中导航算法包括重新比较UAV的预期位置和UAV的实际位置，并且当UAV的实际位置和预期位置之间的距离超过UAV时，计算校正飞行矢量 错误阈值。 无人机的实际位置可以从无人机上的GPS接收机取出。