초록 ▼

A system and method for providing autonomous control of unmanned aerial vehicles (UAVs) is disclosed. The system includes a ground station in communication with an unmanned aerial vehicle. The method for providing autonomous control of a UAV includes methods for processing communications between the

A system and method for providing autonomous control of unmanned aerial vehicles (UAVs) is disclosed. The system includes a ground station in communication with an unmanned aerial vehicle. The method for providing autonomous control of a UAV includes methods for processing communications between the ground station and UAV. The method also includes procedures for processing commands from the ground station. Also included in the method is a process for estimating the attitude of the UAV and autonomously maintaining its altitude within a desired threshold. The method also includes a process for autonomously orbiting about a specified point in space. Combined with these processes, the method also includes a process for an autonomous takeoff and landing of the UAV.

대표청구항 ▼

What is claimed is: 1. An autopilot control system for an unmanned aerial vehicle, comprising: a ground station; and an on-plane control system, comprising: a processor; memory in electronic communication with the processor; three accelerometers in electronic communication with the processor; three

What is claimed is: 1. An autopilot control system for an unmanned aerial vehicle, comprising: a ground station; and an on-plane control system, comprising: a processor; memory in electronic communication with the processor; three accelerometers in electronic communication with the processor; three rate gyroscopes in electronic communication with the processor; an absolute pressure sensor in electronic communication with the processor; a differential pressure sensor in electronic communication with the processor; a global positioning system in electronic communication with the processor; a transceiver in electronic communication with the processor to receive and transmit wireless signals; and a power source that supplies power to both the on-plane control system and to an actuator used to propel the unmanned aerial vehicle. 2. The autopilot control system as defined in claim 1, wherein the ground station further comprises: a processor; memory in electronic communication with the processor; a user interface in electronic communication with the processor; and a transceiver in electronic communication with the processor to receive and transmit wireless signals. 3. The autopilot control system as defined in claim 2, wherein the ground station further comprises an RC controller in electronic communication with the ground station processor to provide manual control of the unmanned aerial vehicle. 4. The autopilot control system as defined in claim 3, wherein the on-plane control system further comprises a bypass circuit that allows the unmanned aerial vehicle to be controlled by the RC controller instead of the on-plane control system. 5. The autopilot control system as defined in claim 2, wherein flight control parameters of the unmanned aerial vehicle are reconfigurable from the ground station while the unmanned aerial vehicle is in flight. 6. The autopilot control system as defined in claim 2, wherein the on-plane transceiver and the ground station transceiver are digital modems. 7. The autopilot control system as defined in claim 1, wherein the on-plane control system further comprises executable instructions executable by the on-plane processor, wherein the executable instructions are configured to implement a method for estimating attitude, comprising: sampling state variables provided in part by the accelerometers, rate gyroscopes, absolute pressure sensor, differential pressure sensor, and the global positioning system; processing the state variables through a fixed gain Kalman Filter; calculating new state variable estimates; and storing the new state variable estimates in the on-plane memory. 8. The autopilot control system as defined in claim 7, wherein the executable instructions are further configured to implement a method for tracking a desired altitude, comprising: reading a desired altitude and tolerance; adjusting a pitch angle to reach the desired altitude when the unmanned aerial vehicle deviates from the desired altitude but is within the desired tolerance; adjusting the pitch angle and increasing throttle to reach the desired altitude when the unmanned aerial vehicle is below the desired altitude and outside the desired tolerance; and adjusting the pitch angle and decreasing throttle to reach the desired altitude when the unmanned aerial vehicle is above the desired altitude and outside the desired tolerance. 9. The autopilot control system as defined in claim 8, wherein the executable instructions are further configured to implement a method for loitering the unmanned aerial vehicle about a desired waypoint, comprising: reading a desired waypoint and orbiting radius; estimating the attitude of the unmanned aerial vehicle; calculating a heading angle error of the unmanned aerial vehicle; calculating a loiter radius error of the unmanned aerial vehicle; and adjusting roll of the unmanned aerial vehicle to compensate for any detected error. 10. The autopilot control system as defined in claim 9, wherein the executable instructions are further configured to implement a method for automatic take-off of the unmanned aerial vehicle, comprising: estimating the attitude of the unmanned aerial vehicle; maintaining a constant pitch of the unmanned aerial vehicle until a desired climb-out altitude or airspeed is reached; and tracking the desired altitude and loitering the unmanned aerial vehicle about the desired waypoint once the desired climb-out altitude or airspeed is reached. 11. The autopilot control system as defined in claim 9, wherein the executable instructions are further configured to implement a method for automatic landing of the unmanned aerial vehicle, comprising: setting the desired altitude at a flare height; tracking the desired altitude and loitering the unmanned aerial vehicle about the desired waypoint until the flare height is reached; and maintaining zero roll and a constant pitch of the unmanned aerial vehicle when the flare height is reached and until a desired landing altitude is reached. 12. An autopilot control system for an unmanned aerial vehicle, comprising: a ground station; and an on-plane control system, comprising: a processor; memory in electronic communication with the processor; three accelerometers in electronic communication with the processor; three rate gyroscopes in electronic communication with the processor; an absolute pressure sensor in electronic communication with the processor; a differential pressure sensor in electronic communication with the processor; a global positioning system in electronic communication with the processor; a transceiver in electronic communication with the processor to receive and transmit wireless signals; and executable instructions executable by the processor, wherein the executable instructions are configured to implement a method for estimating attitude comprising: sampling state variables provided in part by the accelerometers, rate gyroscopes, absolute pressure sensor, differential pressure sensor, and the global positioning system; processing the state variables through a fixed gain Kalman Filter; calculating new state variable estimates; and storing the new state variable estimates in memory. 13. The autopilot control system as defined in claim 12, wherein the executable instructions are further configured to implement a method for tracking a desired altitude, comprising: reading a desired altitude and tolerance; adjusting a pitch angle to reach the desired altitude when the unmanned aerial vehicle deviates from the desired altitude but is within the desired tolerance; adjusting the pitch angle and increasing throttle to reach the desired altitude when the unmanned aerial vehicle is below the desired altitude and outside the desired tolerance; and adjusting the pitch angle and decreasing throttle to reach the desired altitude when the unmanned aerial vehicle is above the desired altitude and outside the desired tolerance. 14. The autopilot control system as defined in claim 13, wherein the executable instructions are further configured to implement a method for loitering the unmanned aerial vehicle about a desired waypoint, comprising: reading a desired waypoint and orbiting radius; estimating the attitude of the unmanned aerial vehicle; calculating a heading angle error of the unmanned aerial vehicle; calculating a loiter radius error of the unmanned aerial vehicle; and adjusting roll of the unmanned aerial vehicle to compensate for any detected error. 15. The autopilot control system as defined in claim 14, wherein the executable instructions are further configured to implement a method for automatic take-off of the unmanned aerial vehicle, comprising: estimating the attitude of the unmanned aerial vehicle; maintaining a constant pitch of the unmanned aerial vehicle until a desired climb-out altitude or airspeed is reached; and tracking the desired altitude and loitering the unmanned aerial vehicle about the desired waypoint once the desired climb-out altitude or airspeed is reached. 16. The autopilot control system as defined in claim 14, wherein the executable instructions are further configured to implement a method for automatic landing of the unmanned aerial vehicle, comprising: setting the desired altitude at a flare height; tracking the desired altitude and loitering the unmanned aerial vehicle about the desired waypoint until the flare height is reached; and maintaining zero roll and a constant pitch of the unmanned aerial vehicle when the flare height is reached and until a desired landing altitude is reached. 17. An autopilot control system for an unmanned aerial vehicle, comprising: a processor; memory in electronic communication with the processor; three accelerometers in electronic communication with the processor; three rate gyroscopes in electronic communication with the processor; an absolute pressure sensor in electronic communication with the processor; a differential pressure sensor in electronic communication with the processor; a global positioning system in electronic communication with the processor; a transceiver in electronic communication with the processor to receive and transmit wireless signals; and executable instructions executable by the processor, wherein the executable instructions are configured to implement a method for estimating attitude comprising: sampling state variables provided in part by the accelerometers, rate gyroscopes, absolute pressure sensor, differential pressure sensor, and the global positioning system; processing the state variables through a fixed gain Kalman Filter; calculating new state variable estimates; and storing the new state variable estimates in memory. 18. The autopilot control system as defined in claim 17, wherein the executable instructions are further configured to implement a method for tracking a desired altitude, comprising: reading a desired altitude and tolerance; adjusting a pitch angle to reach the desired altitude when the unmanned aerial vehicle deviates from the desired altitude but is within the desired tolerance; adjusting the pitch angle and increasing throttle to reach the desired altitude when the unmanned aerial vehicle is below the desired altitude and outside the desired tolerance; and adjusting the pitch angle and decreasing throttle to reach the desired altitude when the unmanned aerial vehicle is above the desired altitude and outside the desired tolerance. 19. The autopilot control system as defined in claim 18, wherein the executable instructions are further configured to implement a method for loitering the unmanned aerial vehicle about a desired waypoint, comprising: reading a desired waypoint and orbiting radius; estimating the attitude of the unmanned aerial vehicle; calculating a heading angle error of the unmanned aerial vehicle; calculating a loiter radius error of the unmanned aerial vehicle; and adjusting roll of the unmanned aerial vehicle to compensate for any detected error. 20. The autopilot control system as defined in claim 19, wherein the executable instructions are further configured to implement a method for automatic take-off of the unmanned aerial vehicle, comprising: estimating the attitude of the unmanned aerial vehicle; maintaining a constant pitch of the unmanned aerial vehicle until a desired climb-out altitude or airspeed is reached; and tracking the desired altitude and loitering the unmanned aerial vehicle about the desired waypoint once the desired climb-out altitude or airspeed is reached. 21. The autopilot control system as defined in claim 19, wherein the executable instructions are further configured to implement a method for automatic landing of the unmanned aerial vehicle, comprising: setting the desired altitude at a flare height; tracking the desired altitude and loitering the unmanned aerial vehicle about the desired waypoint until the flare height is reached; and maintaining zero roll and a constant pitch of the unmanned aerial vehicle when the flare height is reached and until a desired landing altitude is reached.