IPC분류정보
국가/구분 |
United States(US) Patent
등록
|
국제특허분류(IPC7판) |
|
출원번호 |
US-0880292
(2010-09-13)
|
등록번호 |
US-8380425
(2013-02-19)
|
발명자
/ 주소 |
- Duggan, David S.
- Felio, David A.
- Askew, Craig S.
|
출원인 / 주소 |
- L-3 Unmanned Systems, Inc.
|
인용정보 |
피인용 횟수 :
22 인용 특허 :
79 |
초록
▼
Autonomous collision avoidance systems for unmanned aerial vehicles are disclosed. Systems illustratively include a detect and track module, an inertial navigation system, and an auto avoidance module. The detect and track module senses a potential object of collision and generates a moving object t
Autonomous collision avoidance systems for unmanned aerial vehicles are disclosed. Systems illustratively include a detect and track module, an inertial navigation system, and an auto avoidance module. The detect and track module senses a potential object of collision and generates a moving object track for the potential object of collision. The inertial navigation system provides information indicative of a position and a velocity of the unmanned aerial vehicle. The auto avoidance module receives the moving object track for the potential object of collision and the information indicative of the position and the velocity of the unmanned aerial vehicle. The auto avoidance module utilizes the information to generate a guidance maneuver that facilitates the unmanned aerial vehicle avoiding the potential object of collision.
대표청구항
▼
1. An autonomous collision avoidance system for an unmanned aerial vehicle comprising: a detect and track module configured to sense a potential object of collision and generate a moving object track for the potential object of collision;an inertial navigation system configured to provide informatio
1. An autonomous collision avoidance system for an unmanned aerial vehicle comprising: a detect and track module configured to sense a potential object of collision and generate a moving object track for the potential object of collision;an inertial navigation system configured to provide information indicative of a position and a velocity of the unmanned aerial vehicle; andan auto avoidance module configured to receive the moving object track for the potential object of collision and the information indicative of the position and the velocity of the unmanned aerial vehicle, the auto avoidance module configured to utilize the moving object track of the potential object of collision and the information indicative of the position and the velocity of the unmanned aerial vehicle to determine a line of sight rate vector, and configured to calculate a zero effort miss distance as a function of the line of sight rate vector, the zero effort miss distance being a closest point of approach between the unmanned aerial vehicle and the potential object of collision, the auto avoidance module configured to compare the zero effort miss distance to a predetermined miss distance limit, the auto avoidance module configured to generate a guidance maneuver command that facilitates the unmanned aerial vehicle avoiding the potential object of collision by at least the predetermined miss distance limit based at least in part upon a determination that the zero effort miss distance is less than the predetermined miss distance limit. 2. The system of claim 1, further comprising: flight controls configured to receive the guidance maneuver command and utilize the guidance maneuver command to re-direct a course of the unmanned aerial vehicle to avoid the potential object of collision. 3. The system of claim 1, wherein the auto avoidance module includes a track state estimator configured to receive the moving object track in a form of an elevation angle and an azimuth direction finding angle. 4. The system of claim 3, wherein the elevation angle and the azimuth direction finding angle are relative to a sensor bore sight. 5. The system of claim 1, wherein the inertial navigation system includes a global positioning system and an inertial measurement unit. 6. The system of claim 1, wherein the auto avoidance module includes an auto avoid recovery unit configured to generate a recovery command, the recovery command returning the unmanned aerial vehicle to a previous guidance mode. 7. A method for autonomously controlling an unmanned aerial vehicle comprising: utilizing a sensor to scan for a potential object of collision;utilizing data collected from the sensor to generate a moving object track for the potential object of collision;determining a position and a velocity of the unmanned aerial vehicle;generating an estimate of a position and a velocity of the potential object of collision based at least in part on the moving object track and on the position and velocity of the unmanned aerial vehicle;determining whether the unmanned aerial vehicle is on course to enter within a predetermined distance relative to the potential object of collision;activating two different alert flags based at least in part upon a determination that the unmanned aerial vehicle is on course to enter within the predetermined distance relative to the potential object of collision;altering the course of the unmanned aerial vehicle based at least in part on the activation of at least one of the two different alert flags;determining, after the course of the unmanned aerial vehicle has been altered, whether the unmanned aerial vehicle is on course to enter within the predetermined distance relative to the potential object of collision;deactivating the at least one of the two different alert flags based at least in part upon a determination that the unmanned aerial vehicle is not on course to enter within the predetermined distance relative to the potential object of collision; andreturning the unmanned aerial vehicle to a previous guidance mode based at least in part on the deactivation of the at least one of the two different alert flags. 8. The method of claim 7, wherein a first one of the two different alert flags provides an indication of whether the unmanned aerial vehicle is on course to collide head-on with the potential object of collision and wherein a second one of the two different alert flags provides an indication of whether the unmanned aerial vehicle is on course to enter into another type of collision with the potential object of collision. 9. The method of claim 7, wherein altering the course comprises guiding the unmanned aerial vehicle away from the potential object of collision according to civilian aircraft operating rules. 10. The method of claim 7, wherein altering the course comprises calculating a waypoint leg to alter the course of the unmanned aerial vehicle. 11. The method of claim 7, wherein returning the unmanned aerial vehicle to a previous guidance mode comprises restoring a previous course of the unmanned aerial vehicle after the unmanned aerial vehicle has avoided the potential object of collision. 12. The method of claim 7, further comprising: sending an indication of a collision status from the unmanned aerial vehicle to a ground control station. 13. An autonomous collision avoidance system for an unmanned aerial vehicle comprising: a sensor configured to detect an elevation angle and an azimuth angle of a potential object of collision;an inertial navigation system configured to provide information indicative of a velocity, a position, and an angular position of the unmanned aerial vehicle;a track state estimator configured to receive information indicative of the potential object of collision elevation angle, the potential object of collision azimuth angle, the unmanned aerial vehicle velocity, the unmanned aerial vehicle position, and the unmanned aerial vehicle angular position, the track state estimator configured to utilize the received information to determine a line of sight rate vector, a relative range magnitude, and a relative range rate of the unmanned aerial vehicle relative to the potential object of collision; andan avoid state calculator configured to receive information indicative of the line of sight rate vector, the relative range magnitude, and the relative range rate, the avoid state calculator configured to utilize the received information to determine a zero effort miss distance of the unmanned aerial vehicle relative to the potential object of collision. 14. The system of claim 13, further comprising: an avoid alert calculator configured to receive the zero effort miss distance and compare the zero effort miss distance to a predetermined allowable miss distance, the avoid alert calculator configured to generate an alert flag upon the zero effort miss distance being less than the predetermined allowable miss distance. 15. The system of claim 14, further comprising: an auto avoid guidance module that, upon receiving the alert flag, is configured to generate a command to re-direct a course of the unmanned aerial vehicle to avoid the potential object of collision. 16. The system of claim 15, further comprising: an auto avoid recovery unit configured to generate a recovery command that returns the unmanned aerial vehicle to a previous guidance mode. 17. The system of claim 14, wherein an indication of the alert flag is sent to a ground station. 18. The system of claim 14, wherein the alert flag indicates a head-on collision. 19. The system of claim 14, wherein the alert flag indicates a non-head-on collision.
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