A termination system that transmits on a cyclic basis, from a control station to an unmanned vehicle, pairs of mutually dependent code and counter values whose dependency is determined by a termination algorithm. The vehicle has knowledge of the algorithm and can hence validate a received code/count
A termination system that transmits on a cyclic basis, from a control station to an unmanned vehicle, pairs of mutually dependent code and counter values whose dependency is determined by a termination algorithm. The vehicle has knowledge of the algorithm and can hence validate a received code/counter pair using the same algorithm. If the received code/counter pair is invalid, the vehicle can decide to self-terminate. The control station includes a termination actuator that allows the vehicle to be remotely terminated by invalidating, when actuated by an operator, the code/counter pairs that are transmitted to the vehicle.
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1. A termination system for remote termination of an unmanned vehicle communicatively connected to an unmanned vehicle control station via an air interface, said termination system comprising: one control station portion located in said control station comprisinga control station computer comprising
1. A termination system for remote termination of an unmanned vehicle communicatively connected to an unmanned vehicle control station via an air interface, said termination system comprising: one control station portion located in said control station comprisinga control station computer comprising a counter value generator adapted to generate, on a cyclic basis, different counter values;a termination device adapted to generate, in each cycle, a control station code by running a counter value through a termination algorithm;a transmitter adapted to transmit, in each cycle, the counter value and the control station code generated from the counter value to the unmanned vehicle in form of a counter value/control station code pair, via said air interface, anda termination actuator which, when actuated, is adapted to prevent counter value/control station code pairs in which the control station code has been generated from the counter value from being transmitted to the unmanned vehicle, anda vehicle portion comprisinga receiver adapted to receive the counter value/control station code pair transmitted from the control station in each cycle; andan unmanned vehicle computer connected to said receiver and adapted to:generate an unmanned vehicle code by running the counter value in the received counter value/control station code pair through a termination algorithm corresponding to the algorithm used to generate the control station code in the control station, andcompare the control station code in the received counter value/control station code pair with said generated unmanned vehicle code to establish whether the counter value/control station code pair and the generated unmanned vehicle code differ from each other, in which case a termination event of the type code termination event has occurred, anda termination decision unit configured to decide whether or not to terminate the unmanned vehicle based on the occurrence of any termination events, wherein the termination decision unit is further configured to effectuate termination of the unmanned vehicle if no counter value/control station code pair has been received by the receiver in at least one consecutive cycle. 2. The termination system according to claim 1, wherein the termination device is a stand-alone unit externally connected to the control station computer, said termination device being adapted to receive the counter values from the control station computer, run them through the termination algorithm, and return a control station code for each counter value to the control station computer, said termination actuator being adapted to, when actuated, disconnect the termination device from the control station computer such that the counter values cannot be received by the termination device and/or the control station codes cannot be returned to the control station computer by the termination device, thereby preventing counter value/control station code pairs in which the control station code has been generated from the counter value from being transmitted to the unmanned vehicle. 3. The termination system according to claim 1, wherein the unmanned vehicle computer is further adapted to, for each cycle: store, at least temporarily, any of the counter value parameter, the control station code parameter, or the unmanned vehicle code parameter; andcompare any of said parameters with at least one parameter of the same type, stored during at least one previous cycle, to see whether the parameter remains unchanged between the cycles, in which case a termination event of the type constant parameter termination event has occurred. 4. The termination system according to claim 1, wherein the vehicle portion of the termination system further comprises a vehicle termination device which is externally connected to the unmanned vehicle computer, said unmanned vehicle computer being further adapted to, for each cycle in which no termination event has occurred: generate a do-not-terminate command in form of one or several signals having predetermined characteristics or carrying predetermined information content, which characteristics or information content is sufficiently complex for making unlikely that a random process in the unmanned vehicle computer would generate such a signal or signals by chance, andtransmit said signal(s) to said vehicle termination device,the vehicle termination device in turn being adapted to, for each cycle:establish whether the vehicle termination device has not received signal(s) from the unmanned vehicle computer having said predetermined characteristics or carrying said predetermined information content, in which case a termination event of the type termination function test termination event has occurred. 5. The termination system according to claim 1, wherein the sequence of actions performed by the unmanned vehicle computer is performed by the execution of a termination function, said termination function includes: an interruption avoidance function adapted to set the computer processor responsible for the execution of the termination function in a mode in which the computer processor ignores incoming interrupt requests from other software/hardware while executing the termination function;a full execution control function adapted to detect if entry into the termination function has not been done through the correct entry point, in which case a termination event of the type termination function entry termination event has occurred, anda data integrity function adapted to detect if data processed by the termination function has been inadvertently modified by any other process in the unmanned vehicle computer, in which case a termination event of the type data corruption termination event has occurred. 6. The termination system according to claim 1, wherein said termination decision unit is adapted to determine the number of consecutive cycles in which any type of termination event has occurred, and, if said number exceeds a predetermined threshold value, instruct a termination execution device of the unmanned vehicle to terminate the vehicle. 7. The termination system according to claim 6, wherein the unmanned vehicle is terminated by switching of the vehicle engine ignition or quenching the fuel supply to the vehicle engine. 8. An unmanned vehicle control station from which an unmanned vehicle communicatively connected to said control station via an air interface can be terminated remotely, said control station comprising: a control station computer comprising a counter value generator adapted to generate, on a cyclic basis, different counter values;a termination device adapted to generate, in each cycle, a control station code by running a counter value through a termination algorithm;a transmitter adapted to transmit, in each cycle, the counter value and the control station code generated from that counter value to the unmanned vehicle in form of a counter value/control station code pair, via said air interface, anda termination actuator which, when actuated, is adapted to prevent counter value/control station code pairs in which the control station code has been generated from the counter value from being transmitted to the unmanned vehicle,wherein the unmanned vehicle is adapted to self-terminate if no counter value/control station code pair is received in at least one consecutive cycle, and wherein the cyclic transmission of the counter value/control station code pairs by the control station serves as transmission of do-not-terminate commands to the unmanned vehicle, instructing the unmanned vehicle not to self-terminate. 9. An unmanned vehicle being communicatively connected to an unmanned vehicle control station via an air interface from which the vehicle can be terminated remotely, said unmanned vehicle comprising: a receiver adapted to receive counter values and control station codes cyclically transmitted in form of counter value/control station code pairs from said control station, the control station code in each pair being generated by running the counter value in that pair through a termination algorithm; andan unmanned vehicle computer connected to said receiver and adapted to, for each cycle: generate an unmanned vehicle code by running the counter value through a termination algorithm corresponding to the termination algorithm through which the counter value was run to generate the control station code;compare said received control station code with said generated unmanned vehicle code to establish whether they differ from each other, in which case a termination event of the type code termination event has occurred, andtermination decision unit adapted to decide whether or not to terminate the unmanned vehicle based on the occurrence of any termination events,wherein the termination decision unit is further adapted to effectuate termination of the unmanned vehicle if no counter value/control station code pair has been received by the receiver in at least one consecutive cycle. 10. A method for deciding whether an unmanned vehicle that is communicatively connected to an unmanned vehicle control station via an air interface should be terminated or not, based on the occurrence of one or a plurality of termination events being one of at least one termination event types, the method comprising: generating mutually dependent code and counter values by performing, on a cyclic basis, the following in the control station: generating with a control station computer a counter value;generating with the control station computer a control station code by running said counter value through a termination algorithm; andtransmitting, with a transmitter, over the air interface, said counter value and said control station code to the unmanned vehicle;and deciding whether or not to terminate the vehicle based on information received over the air interface by performing, for each cycle, the following in the unmanned vehicle:receiving with a receiver said counter value and said control station code;generating with an unmanned vehicle computer an unmanned vehicle code by running said received counter value through a termination algorithm corresponding to the termination algorithm used to generate the control station code in the control station;comparing with the unmanned vehicle computer said received control station code with said generated unmanned vehicle code to establish whether they differ from each other, in which case a termination event of the type code termination event has occurred; anddeciding whether or not to terminate the unmanned vehicle based on the occurrence of any termination events;terminating, with the unmanned vehicle computer, the unmanned vehicle if no counter value/control station code pair has been received in the unmanned vehicle in at least one consecutive cycle. 11. The method according to claim 10, wherein the method further includes performing, for each cycle, the following in the unmanned vehicle: storing, with the unmanned vehicle computer, at least temporarily, any of the counter value parameter, the control station code parameter, or the unmanned vehicle code parameter;comparing, with the unmanned vehicle computer, any of said parameters with at least one parameter of the same type, stored during at least one previous cycle, to establish whether they do not differ from each other, in which case a termination event of the type constant parameter termination event has occurred. 12. The method according to claim 10, further comprises performing, with said unmanned vehicle computer, for each cycle in which no termination event has occurred, the following in said computer: generating a do-not-terminate command in form of at least one signal having predetermined characteristics or carrying predetermined information content, which characteristics or information content is sufficiently complex for making unlikely that a random process in the unmanned vehicle computer would generate said at least one signal by chance;transmitting said at least one signal to a vehicle termination device, externally connected to the unmanned vehicle computer,the method further includes performing, for each cycle, the following in said vehicle termination device;establishing whether said vehicle termination device has not received said at least one signal from the unmanned vehicle computer having said predetermined characteristics or carrying said predetermined information content, in which case a termination event of the type termination function test termination event has occurred. 13. The method according to claim 10, further comprising: if a manually activated termination actuator is actuated in the control station, preventing counter value/control station code pairs in which the control station code has been generated from the counter value from being transmitted to the unmanned vehicle, thereby intentionally causing one or several termination events to occur. 14. The method according to claim 10, wherein deciding whether or not to terminate the unmanned vehicle based on the occurrence of any termination events comprises: determining, with the unmanned vehicle computer, the number of consecutive cycles in which any type of termination event has occurred; anddeciding, with the unmanned vehicle computer, to terminate the unmanned vehicle if said number exceeds a predetermined threshold value.
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이 특허에 인용된 특허 (2)
Hans-Juergen Schwaerzler DE, Method for remote-controlling an unmanned aerial vehicle.
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