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Патент США №

7469183

Автор(ы)

Bodin и др.

Дата выдачи

23 декабря 2008 г.

Navigating UAVs in formation



РЕФЕРАТ

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.

Авторы:

William Kress Bodin (Austin, TX), Jesse Redman (Cedar Park, TX), Derral Charles Thorson (Austin, TX)

Заявитель:

International Business Machines Corporation (Armonk, NY)

ID семейства патентов

39795770

Номер заявки:

11/041,919

Дата регистрации:

24 января 2005 г.
Prior Publication Data
Document IdentifierPublication Date
US 20080243372 A1Oct 2, 2008

Класс патентной классификации США:

701/23; 701/3; 701/466; 701/467

Класс совместной патентной классификации:

G05D 1/0027 (20130101); G05D 1/0044 (20130101); G08G 5/0052 (20130101); G08G 5/0069 (20130101)

Класс международной патентной классификации (МПК):

G01C 21/00 (20060101)

Область поиска:

;701/2,3,10,13,200-214,23,24 ;340/974,979 ;244/45R,75R,75.1,76R

Использованные источники

[Referenced By]

Патентные документы США

5240207August 1993Eiband et al.
5552983September 1996Thornbert et al.
5581250December 1996Khvilivitzky
5716032February 1998McIngvale
5890441April 1999Swinson et al.
6056237May 2000Woodland
6130705October 2000Lareau et al.
6219004April 2001Johnson
6377875April 2002Schwaerzler
6498968December 2002Bush
2001/0035995November 2001Ruggiero

Другие источники


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Главный эксперт: Camby; Richard M.
Уполномоченный, доверенный или фирма: Ohanian; H. Artoush Dillon; Justin Biggers & Ohanian, LLP


ФОРМУЛА ИЗОБРЕТЕНИЯ



What is claimed is:

1. A method for navigating UAVs in formation, the method comprising: 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, the navigation algorithm including: repeatedly comparing the UAV's intended position and the UAV's actual position, the actual position taken from a GPS receiver; and calculating a corrective flight vector when the distance between the UAV's actual and intended positions exceeds an error threshold.

2. The method of claim 1 wherein: assigning pattern positions to each of a multiplicity of UAVs flying together in a pattern further comprises designating an anchor position for the pattern and assigning pattern positions to the other UAVs relative to the anchor position; and identifying a waypoint for each UAV in dependence upon its pattern position further comprises designating a waypoint for the anchor position and calculating each UAV's waypoint in dependence upon the waypoint for the anchor and in dependence upon the UAV's position in the pattern.

3. The method of claim 1 wherein each UAV's intended position is specified by the UAV's position in the pattern, a cross track to the UAV's waypoint, and a flight schedule.

4. The method of claim 1 wherein piloting the UAVs in dependence upon a navigation algorithm further comprises: identifying a cross track to a waypoint for each UAV, the cross track having a cross track direction; piloting the UAV to a starting point on the cross track; calculating an airspeed for flying from the starting point to the waypoint on schedule; calculating a heading in dependence upon wind speed, wind direction, airspeed, and the cross track direction; and flying the UAV on the heading at the airspeed.

5. The method of claim 1 wherein calculating a corrective flight vector further comprises: selecting a corrective waypoint on a cross track between a UAV's intended position and its waypoint; calculating a corrective airspeed for arriving at the corrective waypoint on schedule; and calculating a corrective heading in dependence upon the calculated airspeed.

6. The method of claim 5 wherein selecting a corrective waypoint on a cross track between a UAV's intended position and its waypoint further comprises selecting a corrective waypoint at a predetermined portion of the distance between a UAV's intended position and its waypoint.

7. The method of claim 5 wherein calculating a corrective airspeed for arriving at the corrective waypoint on schedule further comprises calculating a groundspeed needed to bring the UAV to the remedial waypoint on schedule, including dividing the distance from the actual position to the corrective waypoint by the difference between the current time and the schedule time for the corrective waypoint.

8. A system for navigating UAVs in formation, the system comprising: means for assigning pattern positions to each of a multiplicity of UAVs flying together in a pattern; means for identifying a waypoint for each UAV in dependence upon the UAV's pattern position; means for piloting the UAVs in the pattern toward their waypoints in dependence upon a navigation algorithm; means for repeatedly comparing the UAV's intended position and the UAV's actual position, the actual position taken from a GPS receiver; and means for calculating a corrective flight vector when the distance between the UAV's actual and intended positions exceeds an error threshold.

9. The system of claim 8 wherein: means for assigning pattern positions to each of a multiplicity of UAVs flying together in a pattern further comprises means for designating an anchor position for the pattern and assigning pattern positions to the other UAVs relative to the anchor position; and means for identifying a waypoint for each UAV in dependence upon its pattern position further comprises means for designating a waypoint for the anchor position and calculating each UAV's waypoint in dependence upon the waypoint for the anchor and in dependence upon the UAV's position in the pattern.

10. The system of claim 8 wherein means for piloting the UAVs in dependence upon a navigation algorithm further comprises: means for identifying a cross track to a waypoint for each UAV, the cross track having a cross track direction; means for piloting the UAV to a starting point on the cross track; means for calculating an airspeed for flying from the starting point to the waypoint on schedule; means for calculating a heading in dependence upon wind speed, wind direction, airspeed, and the cross track direction; and means for flying the UAV on the heading at the airspeed.

11. The system of claim 8 wherein means for calculating a corrective flight vector further comprises: means for selecting a corrective waypoint on a cross track between a UAV's intended position and its waypoint; means for calculating a corrective airspeed for arriving at the corrective waypoint on schedule; and means for calculating a corrective heading in dependence upon the calculated airspeed.

12. The system of claim 11 wherein means for selecting a corrective waypoint on a cross track between a UAV's intended position and its waypoint further comprises means for selecting a corrective waypoint at a predetermined portion of the distance between a UAV's intended position and its waypoint.

13. The system of claim 11 wherein means for calculating a corrective airspeed for arriving at the corrective waypoint on schedule further comprises means for calculating a groundspeed needed to bring the UAV to the remedial waypoint on schedule, including means for dividing the distance from the actual position to the corrective waypoint by the difference between the current time and the schedule time for the corrective waypoint.

14. A computer program product for navigating UAVs in formation, the computer program product comprising: a computer readable recording medium; means, recorded on the recording medium, for assigning pattern positions to each of a multiplicity of UAVs flying together in a pattern; means, recorded on the recording medium, for identifying a waypoint for each UAV in dependence upon the UAV's pattern position; means, recorded on the recording medium, for piloting the UAVs in the pattern toward their waypoints in dependence upon a navigation algorithm; means, recorded on the recording medium, for repeatedly comparing the UAV's intended position and the UAV's actual position, the actual position taken from a GPS receiver; and means, recorded on the recording medium, for calculating a corrective flight vector when the distance between the UAV's actual and intended positions exceeds an error threshold.

15. The computer program product of claim 14 wherein: means, recorded on the recording medium, for assigning pattern positions to each of a multiplicity of UAVs flying together in a pattern further comprises means, recorded on the recording medium, for designating an anchor position for the pattern and assigning pattern positions to the other UAVs relative to the anchor position; and means, recorded on the recording medium, for identifying a waypoint for each UAV in dependence upon its pattern position further comprises means, recorded on the recording medium, for designating a waypoint for the anchor position and calculating each UAV's waypoint in dependence upon the waypoint for the anchor and in dependence upon the UAV's position in the pattern.

16. The computer program product of claim 14 wherein each UAV's intended position is specified by the UAV's position in the pattern, a cross track to the UAV's waypoint, and a flight schedule.

17. The computer program product of claim 14 wherein means, recorded on the recording medium, for piloting the UAVs in dependence upon a navigation algorithm further comprises: means, recorded on the recording medium, for identifying a cross track to a waypoint for each UAV, the cross track having a cross track direction; means, recorded on the recording medium, for piloting the UAV to a starting point on the cross track; means, recorded on the recording medium, for calculating an airspeed for flying from the starting point to the waypoint on schedule; means, recorded on the recording medium, for calculating a heading in dependence upon wind speed, wind direction, airspeed, and the cross track direction; and means, recorded on the recording medium, for flying the UAV on the heading at the airspeed.

18. The computer program product of claim 14 wherein means, recorded on the recording medium, for calculating a corrective flight vector further comprises: means, recorded on the recording medium, for selecting a corrective waypoint on a cross track between a UAV's intended position and its waypoint; means, recorded on the recording medium, for calculating a corrective airspeed for arriving at the corrective waypoint on schedule; and means, recorded on the recording medium, for calculating a corrective heading in dependence upon the calculated airspeed.

19. The computer program product of claim 18 wherein means, recorded on the recording medium, for selecting a corrective waypoint on a cross track between a UAV's intended position and its waypoint further comprises means, recorded on the recording medium, for selecting a corrective waypoint at a predetermined portion of the distance between a UAV's intended position and its waypoint.

20. The computer program product of claim 18 wherein means, recorded on the recording medium, for calculating a corrective airspeed for arriving at the corrective waypoint on schedule further comprises means, recorded on the recording medium, for calculating a groundspeed needed to bring the UAV to the remedial waypoint on schedule, including means, recorded on the recording medium, for dividing the distance from the actual position to the corrective waypoint by the difference between the current time and the schedule time for the corrective waypoint.


ОПИСАНИЕ




ПРЕДПОСЫЛКИ СОЗДАНИЯ ИЗОБРЕТЕНИЯ



1. Field of the Invention

The field of the invention is data processing, or, more specifically, methods, systems, and products for navigating UAVs in formation.

2. Description of Related Art

Many forms is of UAV are available in prior art, both domestically and internationally. Their payload weight carrying capability, their accommodations (volume, environment), their mission profiles (altitude, range, duration), and their command, control and data acquisition capabilities vary significantly. Routine civil access to these various UAV assets is in an embryonic state.

Conventional UAVs are typically manually controlled by an operator who may view aspects of a UAV's flight using cameras installed on the UAV with images provided through downlink telemetry. Navigating such UAVs from a starting position to one or more waypoints requires an operator to have specific knowledge of the UAV's flight, including such aspects as starting location, the UAV's current location, waypoint locations, and so on. Operators of prior art UAVs usually are required generally to manually control the UAV from a starting position to a waypoint with little aid from automation. There is therefore an ongoing need for improvement in the area of UAV navigations.


СУЩНОСТЬ ИЗОБРЕТЕНИЯ



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, the navigation algorithm including: repeatedly comparing the UAV's intended position and the UAV's actual position, the actual position taken from a GPS receiver; and calculating a corrective flight vector when the distance between the UAV's actual and intended positions exceeds an error threshold.

The foregoing and other objects, features and advantages of the invention will be apparent from the following more particular descriptions of exemplary embodiments of the invention as illustrated in the accompanying drawings wherein like reference numbers generally represent like parts of exemplary embodiments of the invention.


КРАТКОЕ ОПИСАНИЕ РИСУНКОВ



FIG. 1 sets forth a system diagram illustrating relations among components of an exemplary system for navigating a UAV.

FIG. 2 is a block diagram of an exemplary UAV showing relations among components that includes automated computing machinery.

FIG. 3 is a block diagram of an exemplary remote control device showing relations among components that includes automated computing machinery.

FIG. 4 sets forth a flow chart illustrating an exemplary method for navigating a UAV that includes receiving in a remote control device a user's selection of a GUI map pixel that represents a waypoint for UAV navigation.

FIG. 4A is a data flow diagram illustrating an exemplary method for receiving downlink telemetry.

FIG. 4B sets forth a data flow diagram illustrating an exemplary method for transmitting uplink telemetry.

FIG. 5 sets forth a block diagram that includes a GUI displaying a map and a corresponding area of the surface of the Earth.

FIG. 6 sets forth a flow chart illustrating an exemplary method of navigating a UAV in accordance with a navigation algorithm.

FIG. 7 sets forth a line drawing illustrating a flight path produced by application of the method of FIG. 6.

FIG. 8 sets forth a flow chart illustrating an exemplary method of navigating a UAV in accordance with a navigation algorithm.

FIG. 9 sets forth a line drawing illustrating a flight path produced by application of the method of FIG. 8.

FIG. 10 sets forth a flow chart illustrating an exemplary method of navigating a UAV in accordance with a navigation algorithm.

FIG. 11 sets forth a line drawing illustrating a flight path produced by application of the method of FIG. 10.

FIG. 12 sets forth a flow chart illustrating an exemplary method for navigating a UAV that includes receiving in a remote control device a user's selection of a GUI map pixel that represents a waypoint for UAV navigation

FIG. 13 sets forth a flow chart illustrating an exemplary method of piloting in accordance with a navigation algorithm.

FIG. 14 sets forth a line drawing illustrating a method of calculating a heading with a cross wind to achieve a particular ground course.

FIG. 15 sets forth a line drawing illustrating a flight path produced by application of the method of FIG. 13.

FIG. 16 sets forth a flow chart illustrating an exemplary method of piloting in accordance with a navigation algorithm.

FIG. 17 sets forth a line drawing illustrating a flight path produced by application of the method of FIG. 16.

FIG. 18 sets forth a flow chart illustrating an exemplary method for navigating UAVs in formation.

FIGS. 19A and 19B are line drawings illustrating exemplary relations among UAVs flying in formation.

FIG. 20 sets forth a flow chart illustrating an exemplary method of piloting the UAVs in dependence upon a navigation algorithm.

FIG. 21 sets forth a line drawing illustrating an exemplary method of calculating airspeed and heading according to the method of FIG. 21.

FIG. 22 sets forth a flow chart illustrating an exemplary method of calculating a corrective flight vector.

FIG. 23 is a line drawing illustrating application of the method of FIG. 22, showing relations among an intended position, an error threshold, an actual position, a corrective flight vector, and a cross track to a waypoint.

FIG. 24 sets forth a line drawing illustrating an exemplary method of calculating corrective airspeed and corrective heading according to the method of FIG. 22.

DETAILED DESCRIPTION OF EXEMPLARY EMBODIMENTS

Introduction

The present invention is described to a large extent in this specification in terms of methods for navigating UAVs in formation. Persons skilled in the art, however, will recognize that any computer system that includes suitable programming means for operating in accordance with the disclosed methods also falls well within the scope of the present invention. Suitable programming means include any means for directing a computer system to execute the steps of the method of the invention, including for example, systems included of processing units and arithmetic-logic circuits coupled to computer memory, which systems have the capability of storing in computer memory, which computer memory includes electronic circuits configured to store data and program instructions, programmed steps of the method of the invention for execution by a processing unit.

The invention also may be embodied in a computer program product, such as a diskette or other recording medium, for use with any suitable data processing system. Embodiments of a computer program product may be implemented by use of any recording medium for machine-readable information, including magnetic media, optical media, or other suitable media. Persons skilled in the art will immediately recognize that any computer system having suitable programming means will be capable of executing the steps of the method of the invention as embodied in a program product. Persons skilled in the art will recognize immediately that, although most of the exemplary embodiments described in this specification are oriented to software installed and executing on computer hardware, nevertheless, alternative embodiments implemented as firmware or as hardware are well within the scope of the present invention.

DEFINITIONS

"Airspeed" means UAV airspeed, the speed of the UAV through the air.

A "cross track" is a fixed course from a starting point directly to a waypoint. A cross track has a direction, a `cross track direction,` that is the direction straight from a starting point to a waypoint. That is, a cross track direction is the heading that a UAV would fly directly from a starting point to a waypoint in the absence of wind.

"GUI" means graphical user interface, a display means for a computer screen.

"Heading" means the compass heading of the UAV. "Course" means the direction of travel of the UAV over the ground. In the absence of wind, or in the presence of a straight tailwind or straight headwind, the course and the heading are the same direction. In the presence of crosswind, the course and the heading are different directions.

"Position" refers to a location in the air or over the ground. `Position` is typically specified as Earth coordinates, latitude and longitude. A specification of position may also include altitude.

A "waypoint" is a position chosen as a destination for navigation of a route. A route has one or more waypoints. That is, a route is composed of waypoints, including at least one final waypoint, and one or more intermediate waypoints.

"TDMA" stands for Time Division Multiple Access, a technology for delivering digital wireless service using time-division multiplexing. TDMA works by dividing a radio frequency into time slots and then allocating slots to multiple calls. In this way, a single frequency can support multiple, simultaneous data channels. TDMA is used by GSM.

"GSM" stands for Global System for Mobile Communications, a digital cellular standard. GSM at this time is the de facto standard for wireless digital communications in Europe and Asia.

"CDPD" stands for Cellular Digital Packet Data, a data transmission technology developed for use on cellular phone frequencies. CDPD uses unused cellular channels to transmit data in packets. CDPD supports data transfer rates of up to 19.2 Kbps.

"GPRS" stands for General Packet Radio Service, a standard for wireless data communications which runs at speeds up to 150 Kbps, compared with current GSM systems which cannot support more than about 9.6 Kbps. GPRS, which supports a wide range of speeds, is an efficient use of limited bandwidth and is particularly suited for sending and receiving small bursts of data, such as e-mail and Web browsing, as well as large volumes of data.

"EDGE" stands for Enhanced Data Rates for GSM Evolution, a standard for wireless data communications supporting data transfer rates of more than 300 Kbps. GPRS and EDGE are considered interim steps on the road to UMTS.

"UMTS" stands for Universal Mobile Telecommunication System, a standard for wireless data communications supporting data transfer rates of up to 2 Mpbs. UMTS is also referred to W-CDMA for Wideband Code Division Multiple Access.

Navigating a UAV with Telemetry Through a Socket

Methods, systems, and products for navigating a UAV are explained with reference to the accompanying drawings, beginning with FIG. 1. FIG. 1 sets forth a system diagram illustrating relations among components of an exemplary system for navigating a UAV. The system of FIG. 1 includes UAV (100) and UAV (126), flying in formation, each of which includes a GPS (Global Positioning System) receiver (not shown) that receives a steady stream of GPS data from satellites (190, 192). For convenience of explanation, only two GPS satellites are shown in FIG. 1, although the GPS satellite network in fact includes 24 GPS satellites. For convenience of explanation in the example of FIG. 1, only two UAVs are shown, but in fact any number of UAVs may be navigated together in formation according to embodiments of the present invention.

The system of FIG. 1 operates to navigate a UAV by receiving in a remote control device a user's selection of a GUI map pixel that represents a waypoint for UAV navigation. Each such pixel has a location on a GUI map, typically specified as a row and column position. Examples of remote control devices in FIG. 1 include mobile telephone (110), workstation (104), laptop computer (106), and PDA (Personal Digital Assistant) (120). Each such remote control device is capable of supporting a GUI display of a map of the surface of the Earth in which each pixel on the GUI map represents a position on the Earth.

Each remote control device also supports at least one user input device through which a user may enter the user's selection of a pixel. Examples of user input devices in the system of FIG. 1 include telephone keypad (122), workstation keyboard (114), workstation joystick (112), laptop keyboard (116) and PDA touch screen (118).

The system of FIG. 1 typically is capable of operating a remote control device to map the pixel's location on the GUI to Earth coordinates of a waypoint. The remote control device is often capable of receiving downlink telemetry including starting position from a GPS receiver on the UAV through the socket. In fact, the remote control device is often receiving downlink telemetry that includes a steady stream of GPS positions of the UAV. Receiving a starting position therefore is typically carried out by taking the current position of the UAV when the user selects the pixel as the starting position. In the example of FIG. 1, the remote control device generally receives the starting position from the UAV through wireless network (102). The remote control device is often capable of transmitting uplink telemetry including the coordinates of the waypoint, flight control instructions, or UAV instructions through a socket on the remote control devices.

Wireless network (102) is implemented using any wireless data transmission technology as will occur to those of skill in the art including, for example, TDMA, GSM, CDPD, GPRS, EDGE, and UMTS. In a one embodiment, a data communications link layer is implemented using one of these technologies, a data communications network layer is implemented with the Internet Protocol ("IP"), and a data communications transmission layer is implemented using the Transmission Control Protocol ("TCP"). In such systems, telemetry between the UAV and remote control devices, including starting positions, UAV instructions, and flight control instructions, are transmitted using an application-level protocol such as, for example, the HyperText Transmission Protocol ("HTTP"), the Wireless Application Protocol ("WAP"), the Handheld Device Transmission Protocol ("HDTP"), or any other data communications protocol as will occur to those of skill in the art.

The system of FIG. 1 typically is capable of 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.

UAVs according to embodiments of the present invention typically include, not only an aircraft, but also automated computing machinery capable of receiving GPS data, operating telemetry between the UAV and one or more remote control devices, and navigating a UAV among waypoints. FIG. 2 is a block diagram of an exemplary UAV showing relations among components that includes automated computing machinery. In FIG. 2, UAV (100) includes a processor (164), also typically referred to as a central processing unit or `CPU.` The processor may be a microprocessor, a programmable control unit, or any other form of processor useful according to the form factor of a particular UAV as will occur to those of skill in the art. Other components of UAV (100) are coupled for data transfer to processor (164) through system bus (160).

UAV (100) includes random access memory or `RAM` (166). Stored in RAM (166) is an application program (152) that implements inventive methods according to embodiments of the present invention. Among other things, application program (158) includes computer program instructions capable of navigating UAVs in formation according to embodiments of the present invention, including computer program steps that execute generally by 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, the actual position taken from a GPS receiver, and calculating a corrective flight vector when the distance between the UAV's actual and intended positions exceeds an error threshold. This capability of navigating UAVs in formation is described in more detail below in this specification.

In some embodiments, the application programming runs on an OSGi service framework (156). OSGi Stands for `Open Services Gateway Initiative.` The OSGi specification is a Java-based application layer framework that provides vendor neutral application layer APIs and functions. An OSGi service framework (156) is written in Java and therefore typically runs on a Java Virtual Machine (JVM) (154) which in turn runs on an operating system (150). Examples of operating systems useful in UAVs according to the present invention include Unix, AIX.TM., and Microsoft Windows.TM..

In OSGi, the framework is a hosting platform for running `services`. Services are the main building blocks for creating applications according to the OSGi. A service is a group of Java classes and interfaces that implement a certain feature. The OSGi specification provides a number of standard services. For example, OSGi provides a standard HTTP service that can respond to requests from HTTP clients, such as, for example, remote control devices according to embodiments of the present invention. That is, such remote control devices are enabled to communicate with a UAV having an HTTP service by use of data communications messages in the HTTP protocol.

Services in OSGi are packaged in `bundles` with other files, images, and resources that the services need for execution. A bundle is a Java archive or `JAR` file including one or more service implementations, an activator class, and a manifest file. An activator class is a Java class that the service framework uses to start and stop a bundle. A manifest file is a standard text file that describes the contents of the bundle.

The service framework in OSGi also includes a service registry. The service registry includes a service registration including the service's name and an instance of a class that implements the service for each bundle installed on the framework and registered with the service registry. A bundle may request services that are not included in the bundle, but are registered on the framework service registry. To find a service, a bundle performs a query on the framework's service registry.

In the UAV (100) of FIG. 2, software programs and other useful information may be stored in RAM or in non-volatile memory (168). Non-volatile memory (168) may be implemented as a magnetic disk drive such as a micro-drive, an optical disk drive, static read only memory (`ROM`), electrically erasable programmable read-only memory space (`EEPROM` or `flash` memory), or otherwise as will occur to those of skill in the art.

UAV (100) includes communications adapter (170) implementing data communications connections (184) to other computers (162), which may be wireless networks, satellites, remote control devices, servers, or others as will occur to those of skill in the art. Communications adapter (170) advantageously facilitates receiving flight control instructions from a remote control device. Communications adapters implement the hardware level of data communications connections through which UAVs transmit wireless data communications. Examples of communications adapters include wireless modems for dial-up connections through wireless telephone networks.

UAV (100) includes servos (178). Servos (178) are proportional control servos that convert digital control signals from system bus (160) into actual proportional displacement of flight control surfaces, ailerons, elevators, and the rudder. The displacement of flight control surfaces is `proportional` to values of digital control signals, as opposed to the `all or nothing` motion produced by some servos. In this way, ailerons, for example, may be set to thirty degrees, sixty degrees, or any other supported angle rather than always being only neutral or fully rotated. Several proportional control servos useful in various UAVs according to embodiments of the present invention are available from Futaba.RTM..

UAV (100) includes a servo control adapter (172). A servo control adapter (172) is multi-function input/output servo motion controller capable of controlling several servos. An example of such a servo control adapter is the "IOSERVO" model from National Control Devices of Osceola, Mo. The IOSERVO is described on National Control Devices website at www.controlanything.com.

UAV (100) includes a flight stabilizer system (174). A flight stabilizer system is a control module that operates servos (178) to automatically return a UAV to straight and level flight, thereby simplifying the work that must be done by navigation algorithms. An example of a flight stabilizer system useful in various embodiments of UAVs according to the present invention is model Co-Pilot.TM. from FMA, Inc., of Frederick, Md. The Co-Pilot flight stabilizer system identifies a horizon with heat sensors, identifies changes in aircraft attitude relative to the horizon, and sends corrective signals to the servos (178) to keep the UAV flying straight and level.

UAV (100) includes an AVCS gyro (176). An AVCS gryo is an angular vector control system gyroscope that provides control signal to the servos to counter undesired changes in attitude such as those caused by sudden gusts of wind. An example of an AVCS gyro useful in various UAVs according to the present invention is model GYA350 from Futaba.RTM..

Remote control devices according to embodiments of the present invention typically include automated computing machinery capable of receiving user selections of pixel on GUI maps, mapping the pixel to a waypoint location, receiving downlink telemetry including for example 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 as uplink telemetry from the remote control device to the UAV. FIG. 3 is a block diagram of an exemplary remote control device showing relations among components that includes automated computing machinery. In FIG. 3, remote control device (161) includes a processor (164), also typically referred to as a central processing unit or `CPU.` The processor may be a microprocessor, a programmable control unit, or any other form of processor useful according to the form factor of a particular remote control device as will occur to those of skill in the art. Other components of remote control device (161) are coupled for data transfer to processor (164) through system bus (160).

Remote control device (161) includes random access memory or `RAM` (166). Stored in RAM (166) an application program 152 that implements inventive methods of the present invention. Among other things, application program (158) includes computer program instructions capable of navigating UAVs in formation according to embodiments of the present invention, including computer program steps that execute generally by 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, the actual position taken from a GPS receiver, and calculating a corrective flight vector when the distance between the UAV's actual and intended positions exceeds an error threshold. This capability of navigating UAVs in formation is described in more detail below in this specification.

In some embodiments, the application program (152) is OSGi compliant an therefore runs on an OSGi service framework installed (not shown) on a JVM (not shown). In addition, software programs and further information for use in implementing methods of navigating a UAV according to embodiments of the present invention may be stored in RAM or in non-volatile memory (168). Non-volatile memory (168) may be implemented as a magnetic disk drive such as a micro-drive, an optical disk drive, static read only memory (`ROM`), electrically erasable programmable read-only memory space (`EEPROM` or `flash` memory), or otherwise as will occur to those of skill in the art.

Remote control device (161) includes communications adapter (170) implementing data communications connections (184) to other computers (162), including particularly computers on UAVs. Communications adapters implement the hardware level of data communications connections through which remote control devices communicate with UAVs directly or through networks. Examples of communications adapters include modems for wired dial-up connections, Ethernet (IEEE 802.3) adapters for wired LAN connections, 802.11b adapters for wireless LAN connections, and Bluetooth adapters for wireless microLAN connections.

The example remote control device (161) of FIG. 3 includes one or more input/output interface adapters (180). Input/output interface adapters in computers implement user-oriented input/output through, for example, software drivers and computer hardware for controlling output to display devices (185) such as computer display screens, as well as user input from user input devices (182) such as keypads, joysticks, keyboards, and touch screens.

FIG. 4 sets forth a flow chart illustrating an exemplary method for navigating a UAV that includes receiving (402) in a remote control device a user's selection of a GUI map pixel (412) that represents a waypoint for UAV navigation. The pixel has a location on the GUI. Such a GUI map display has many pixels, each of which represents at least one position on the surface of the Earth. A user selection of a pixel is normal GUI operations to take a pixel location, row and column, from a GUI input/output adapter driven by a user input device such as a joystick or a mouse. The remote control device can be a traditional `ground control station,` an airborne PDA or laptop, a workstation in Earth orbit, or any other control device capable of accepting user selections of pixels from a GUI map.

The method of FIG. 4 includes mapping (404) the pixel's location on the GUI to Earth coordinates (414) of the waypoint. As discussed in more detail below with reference to FIG. 5, mapping (404) the pixel's location on the GUI to Earth coordinates of the waypoint (414) typically includes mapping pixel boundaries of the GUI map to corresponding Earth coordinates and identifying a range of latitude and a range of longitude represented by each pixel. Mapping (404) the pixel's location on the GUI to Earth coordinates of the waypoint (414) also typically includes locating a region on the surface of the Earth in dependence upon the boundaries, the ranges, and the location of the pixel on the GUI map.

The method of FIG. 4 also includes receiving (408) downlink telemetry, including a starting position from a GPS receiver on the UAV, from the UAV through a socket on the remote control device. In fact, the remote control device is receiving downlink telemetry that includes a steady stream of GPS positions of the UAV. Receiving a starting position therefore is typically carried out by taking the current position of the UAV when the user selects the pixel as the starting position.

A socket is one end-point of a two-way communication link between two application programs running on a network. In Java, socket classes are used to represent a connection between a client program and a server program. The java.net package provides two Java classes--Socket and ServerSocket--that implement the client side of the connection and the server side of the connection, respectively. In some embodiments of the present invention, a Java web server, is included in an OSGi framework on a remote control device. Often then, a socket on the remote control device would be considered a server-side socket, and a socket on the UAV would be considered a client socket. In other embodiments of the present invention, a Java web server, is included in an OSGi framework on the UAV. In such embodiments, a socket on the UAV would be considered a server-side socket, and a socket on a remote control device would be considered a client socket.

Use of a socket requires creating a socket and creating data streams for writing to and reading from the socket. One way of creating a socket and two data streams for use with the socket is shown in the following exemplary pseudocode segment: uavSocket=new Socket("computerAddress", 7); outStream=new PrintWriter(uavSocket.getOutputStream( ), true); in Stream=new BufferedReader(new InputStreamReader(uavSocket.getInputStream( )));

The first statement in this segment creates a new socket object and names it "uavSocket." The socket constructor used here requires a fully qualified IP address of the machine the socket is to connect to, in this case the Java server on a remote control device or a UAV, and the port number to connect to. In this example, "computerAddress" is taken as a domain name that resolves to a fully qualified dotted decimal IP address. Alternatively, a dotted decimal IP address may be employed directly, as, for example, "195.123.001.001." The second argument in the call to the socket constructor is the port number. Port number 7 is the port on which the server listens in this example, whether the server is on a remote control device or on a UAV.

The second statement in this segment gets the socket's output stream and opens a Java PrintWriter object on it. Similarly, the third statement gets the socket's input stream and opens a Java BufferedReader object on it. To send data through the socket, an application writes to the PrintWriter, as, for example: outStream.println(someWaypoint, macro, or Flight Control Instruction);

To receive data through the socket, an application reads from the BufferedReader, as show here for example: a Waypoint, GPS data, macro, or flight control instruction=in Stream.readLine( );

The method of FIG. 4 also includes calculating (410) a heading in dependence upon the starting position, the coordinates of the waypoint, and a navigation algorithm. Methods of calculating a heading are discussed in detail below in this specification.

The method of FIG. 4 includes identifying (418) flight control instructions for flying the UAV on the heading. Flight control instructions are specific commands that affect the flight control surfaces of the UAV. That is, instructions to move the flight control surfaces to affect the UAV's flight causing the UAV to turn, climb, descend, and so on. As an aid to further explanation, an exemplary method of identifying flight control instructions for flying on a calculated heading is provided: receive new calculated heading from navigation algorithms read current heading from downlink telemetry if current heading is left of the calculated heading, identify flight control instruction: AILERONS LEFT 30 DEGREES if current heading is right of the calculated heading, identify flight control instruction: AILERONS RIGHT 30 DEGREES monitor current heading during turn when current heading matches calculated heading, identify flight control instruction: FLY STRAIGHT AND LEVEL

The method of FIG. 4 includes transmitting (420) uplink telemetry, including the flight instructions, through the socket to the UAV. Transmitting (420) the flight control instructions from the remote control device to the UAV may be carried out by use of any data communications protocol, including, for example, transmitting the flight control instructions as form data, URI encoded data, in an HTTP message, a WAP message, an HDML message, or any other data communications protocol message as will occur to those of skill in the art.

FIG. 4A is a data flow diagram illustrating an exemplary method for receiving downlink telemetry. The method of FIG. 4A includes listening (450) on the socket (456) for downlink data (458). Listening on a socket for downlink data may be implemented by opening a socket, creating an input stream for the socket, and reading data from the input stream, as illustrated, for example, in the following segment of pseudocode: uavSocket=new Socket("computerAddress", 7); in Stream=new BufferedReader(new InputStreamReader(uavSocket.getInputStream( ))); String downLinkData=in Stream.readLine( );

This segment opens a socket object named "uavSocket" with an input stream named "in Stream." Listening for downlink data on the socket is accomplished with a blocking call to in StreamreadLine( ) which returns a String object name "downLinkData."

The method of FIG. 4A includes storing (452) downlink data (458) in computer memory (166) and exposing (454) the stored downlink data (458) through an API (462) to a navigation application (460). Downlink data typically is exposed through an `API` (Application Programming Interface) by providing in a Java interface class public accessor functions for reading from member data elements in which the downlink data is stored. A navigation application wishing to access downlink data then may access the data by calling a public accessor methods, as, for example: String someDownLinkData=APIimp1.getDownLinkData( ).

In the method of FIG. 4A, the downlink telemetry (470) further comprises flight control instructions. It is counterintuitive that downlink telemetry contains flight control instruction when the expected data communications direction for flight control instructions ordinarily is in uplink from a remote control device to a UAV. It is useful to note, however, that flight control instructions can be uplinked from a multiplicity of remote control devices, not just one. A flight line technician with a handheld PDA can issue flight control instructions to a UAV that is also linked for flight control to a computer in a ground station. It is sometimes advantageous, therefore, for downlink telemetry to include flight control instructions so that one remote control device can be advised of the fact that some other remote control device issued flight control instructions to the same UAV.

FIG. 4B sets forth a data flow diagram illustrating an exemplary method for transmitting uplink telemetry. The method of FIG. 4B includes monitoring (466) computer memory (166) for uplink data (464) from a navigation application (460). When uplink data (464) is presented, the method of FIG. 4B includes sending (468) the uplink data through the socket (456) to the UAV (100). Sending uplink data through a socket may be implemented by opening a socket, creating an output stream for a socket, and writing the uplink data to the output stream, as illustrated, for example, in the following segment of pseudocode: uavSocket=new Socket("computerAddress", 7); outStream=new PrintWriter(uavSocket.getOutputStream( ), true); outStream.println(String someUplinkData);

This segment opens a socket object named "uavSocket" with an output stream named "outStream." Sending uplink data through the socket is accomplished with a call to outStream.println( ) which takes as a call parameter a String object named "someUplinkData."

Macros

Although the flow chart of FIG. 4 illustrates navigating a UAV to a single waypoint, as a practical matter, embodiments of the present invention typically support navigating a UAV along a route having many waypoints, including a final waypoint and one or more intermediate waypoints. That is, methods of the kind illustrated in FIG. 4 may also include receiving user selections of a multiplicity of GUI map pixels representing waypoints, where each pixel has a location on the GUI and mapping each pixel location to Earth coordinates of a waypoint.

Such methods for navigating a UAV can also include assigning one or more UAV instructions to each waypoint and storing the coordinates of the waypoints and the UAV instructions in computer memory on the remote control device. A UAV instruction typically includes one or more instructions for a UAV to perform a task in connection with a waypoint. Exemplary tasks include turning on or off a camera installed on the UAV, turning on or off a light installed on the UAV, orbiting a waypoint, or any other task that will occur to those of skill in the art.

UAV instructions to perform tasks in connection with a waypoint may be encoded in, for example, XML (the eXtensible Markup Language) as shown in the following exemplary XML segment: <UAV-Instructions> <macro> <waypoint>33.degree. 44'10''N 30.degree.15' 50'' W</waypoint> <instruction>orbit</instruction> <instruction>videoCameraON</instruction> <instruction>wait30 minutes</instruction> <instruction>videoCameraOFF</instruction> <instruction>nextWaypoint</instruction> </macro> <macro></macro> <macro></macro> <macro></macro> <UAV-instructions>

This XML example has a root element named `UAV-instructions.` The example contains several subelements named `macro.` One `macro` subelement contains a waypoint location representing an instruction to fly to 33.degree. 44'10'' N 30.degree. 15' 50'' W. That macro subelement also contains several instructions for tasks to be performed when the UAV arrives at the waypoint coordinates, including orbiting around the waypoint coordinates, turning on an on-board video camera, continuing to orbit for thirty minutes with the camera on, turning off the video camera, and continuing to a next waypoint. Only one macro set of UAV instructions is shown in this example, but that is not a limitation of the invention. In fact, such sets of UAV instructions may be of any useful size as will occur to those of skill in the art.

Exemplary methods of navigating a UAV also include flying the UAV to each waypoint in accordance with one or more navigation algorithms and operating the UAV at each waypoint in accordance with the UAV instructions for each waypoint. Operating the UAV at the waypoint in accordance with the UAV instructions for each waypoint typically includes identifying flight control instructions in dependence upon the UAV instructions for each waypoint and transmitting the flight control instructions as uplink telemetry through a socket. Flight control instructions identified in dependence upon the UAV instructions for each waypoint typically include specific flight controls to move the flight control surfaces of the UAV causing the UAV to fly in accordance with the UAV instructions. For example, in the case of a simple orbit, a flight control instruction to move the ailerons and hold them at a certain position causing the UAV to bank at an angle can effect an orbit around a waypoint.

Operating the UAV at the waypoint in accordance with the UAV instructions for each waypoint typically includes transmitting the flight control instructions as uplink data from the remote control device to the UAV. Transmitting the flight control instructions as uplink data from the remote control device to the UAV may be carried out by use of any data communications protocol, including, for example, transmitting the flight control instructions as form data, URI encoded data, in an HTTP message, a WAP message, an HDML message, or any other data communications protocol message as will occur to those of skill in the art.

Pixel Mapping

For further explanation of the process of mapping pixels' locations to Earth coordinates, FIG. 5 sets forth a block diagram that includes a GUI (502) displaying a map (not shown) and a corresponding area of the surface of the Earth (504). The GUI map has pixel boundaries identified as Row.sub.1, Col.sub.1; Row.sub.1, Col.sub.100; Row.sub.100, Col.sub.100; and Row.sub.100, Col.sub.1. In this example, the GUI map is assumed to include 100 rows of pixels and 100 columns of pixels. This example of 100 rows and columns is presented for convenience of explanation; it is not a limitation of the invention. GUI maps according to embodiments of the present invention may include any number of pixels as will occur to those of skill in the art.

The illustrated area of the surface of the Earth has corresponding boundary points identified as Lat.sub.1, Lon.sub.1; Lat.sub.1, Lon.sub.2; Lat.sub.2, Lon.sub.2; and Lat.sub.2, Lon.sub.1. This example assumes that the distance along one side of surface area (504) is 100 nautical miles, so that the distance expressed in terms of latitude or longitude between boundary points of surface area (504) is 100 minutes or 1.degree. 40'.

In typical embodiments, mapping a pixel's location on the GUI to Earth coordinates of a waypoint Includes mapping pixel boundaries of the GUI map to Earth coordinates. In this example, the GUI map boundary at Row.sub.1, Col.sub.1 maps to the surface boundary point at Lat.sub.1, Lon.sub.1; the GUI map boundary at Row.sub.1, Col.sub.2 maps to the surface boundary point at Lat.sub.1, Lon.sub.2; the GUI map boundary at Row.sub.2, Col.sub.2 maps to the surface boundary point at Lat.sub.2, Lon.sub.2; the GUI map boundary at Row.sub.2, Col.sub.1 maps to the surface boundary point at Lat.sub.2, Lon.sub.1.

Mapping a pixel's location on the GUI to Earth coordinates of a waypoint typically also includes identifying a range of latitude and a range of longitude represented by each pixel. The range of latitude represented by each pixel may be described as (Lat.sub.2-Lat.sub.1)/N.sub.rows, where (Lat.sub.2-Lat.sub.1) is the length in degrees of the vertical side of the corresponding surface (504), and N.sub.rows is the number of rows of pixels. In this example, (Lat.sub.2-Lat.sub.1) is 1.degree. 40' or 100 nautical miles, and N.sub.rows is 100 rows of pixels. The range of latitude represented by each pixel in this example therefore is one minute of arc or one nautical mile.

Similarly, the range of longitude represented by each pixel may be described as (Lon.sub.2-Lon.sub.1)/N.sub.cols, where (Lon.sub.2-Lon.sub.1) is the length in degrees of the horizontal side of the corresponding surface (504), and N.sub.cols is the number of columns of pixels. In this example, (Lon.sub.2-Lon.sub.1) is 1.degree. 40 or 100 nautical miles, and N.sub.cols is 100 columns of pixels. The range of longitude represented by each pixel in this example therefore is one minute of arc or one nautical mile.

Mapping a pixel's location on the GUI to Earth coordinates of a waypoint typically also includes locating a region on the surface of the Earth in dependence upon the boundaries, the ranges, and the location of the pixel on the GUI map. The region is the portion of the surface corresponding to the pixel itself. That region is located generally by multiplying in both dimensions, latitude and longitude, the range of latitude and longitude by column or row numbers of the pixel location on the GUI map. That is, a latitude for the surface region of interest is given by Expression 1. Lat.sub.1+P.sub.row((Lat.sub.2-Lat.sub.1)/N.sub.rows) (Exp. 1)

In Expression 1: Lat.sub.1 is the latitude of an origin point for the surface area (504) corresponding generally to the GUI map, P.sub.row is the row number of the pixel location on the GUI map, and ((Lat.sub.2-Lat.sub.1)/N.sub.rows) is the range of latitude represented by the pixel.

Similarly, a longitude for the surface region of interest is given by Expression 2. Lon.sub.1+P.sub.col((Lon.sub.2-Lon.sub.1)/N.sub.cols) (Exp. 2)

In Expression 2: Lon.sub.1 is the longitude of an origin point for the surface area (504) corresponding generally to the GUI map, P.sub.col is the column number of the pixel location on the GUI map, and ((Lon.sub.2-Lon.sub.1)/N.sub.cols) is the range of longitude represented by the pixel.

Referring to FIG. 5 for further explanation, Expressions 1 and 2 taken together identify a region (508) of surface area (504) that corresponds to the location of pixel (412) mapping the pixel location to the bottom left corner (506) of the region (508). Advantageously, however, many embodiments of the present invention further map the pixel to the center of the region by adding one half of the length of the region's sides to the location of the bottom left corner (506).

More particularly, locating a region on the surface of the Earth in dependence upon the boundaries, the ranges, and the location of the pixel on the GUI map, as illustrated by Expression 3, may include multiplying the range of longitude represented by each pixel by a column number of the selected pixel, yielding a first multiplicand; and multiplying the range of longitude represented by each pixel by 0.5, yielding a second multiplicand; adding the first and second multiplicands to an origin longitude of the GUI map. Lon.sub.1+P.sub.col((Lon.sub.2-Lon.sub.1)/N.sub.cols)+0.5((Lon.sub.2-Lon.- sub.1)/N.sub.cols) (Exp. 3)

In Expression 3, the range of longitude represented by each pixel is given by ((Lon.sub.2-Lon.sub.1)/N.sub.cols), and the first multiplicand is P.sub.col((Lon.sub.2-Lon.sub.1)/N.sub.cols). The second multiplicand is given by 0.5((Lon.sub.2-Lon.sub.1)/N.sub.cols).

Similarly, locating a region on the surface of the Earth in dependence upon the boundaries, the ranges, and the location of the pixel on the GUI map, as illustrated by Expression 4, typically also includes multiplying the range of latitude represented by each pixel by a row number of the selected pixel, yielding a third multiplicand; multiplying the range of latitude represented by each pixel by 0.5, yielding a fourth multiplicand; and adding the third and fourth multiplicands to an origin latitude of the GUI map. Lat.sub.1+P.sub.row((Lat.sub.2-Lat.sub.1)/N.sub.rows)+0.5((Lat.sub.2-Lat.- sub.1)/N.sub.rows) (Exp. 4)

In Expression 4, the range of latitude represented by each pixel is given by ((Lat.sub.2-Lat.sub.1)/N.sub.rows), and the third multiplicand is P.sub.row ((Lat.sub.2-Lat.sub.1)/N.sub.rows). The fourth multiplicand is given by 0.5((Lat.sub.2-Lat.sub.1)/N.sub.rows). Expressions 3 and 4 taken together map the location of pixel (412) to the center (510) of the located region (508).

Navigation on a Heading to a Waypoint

An exemplary method of navigating in accordance with a navigation algorithm is explained with reference to FIGS. 6 and 7. FIG. 6 sets forth a flow chart illustrating an exemplary method of navigating a UAV in accordance with a navigation algorithm, and FIG. 7 sets forth a line drawing illustrating a flight path produced by application of the method of FIG. 6.

The method of FIG. 6 includes periodically repeating (610) the steps of, receiving (602) in the remote control device from the GPS receiver a current position of the UAV, and calculating (604) a new heading from the current position to the waypoint. The method of FIG. 6 also includes identifying (606) flight control instructions for flying the UAV on the new heading, and transmitting (608), from the remote control device to the UAV, the flight control instructions for flying the UAV on the new heading. In this method, if Lon.sub.1, Lat.sub.1 is taken as the current position, and Lon.sub.2, Lat.sub.2 is taken as the waypoint position, then the new heading may be calculated generally as the inverse tangent of ((Lat.sub.2-Lat.sub.1)/(Lon.sub.2-Lon.sub.1)).

FIG. 7 shows the effect of the application of the method of FIG. 6. In the example of FIG. 7, a UAV is flying in a cross wind having cross wind vector (708). Curved flight path (716) results from periodic calculations according to the method of FIG. 6 of a new heading straight from a current location to the waypoint. FIG. 7 shows periodic repetitions of the method of FIG. 6 at plot points (710, 712, 714). For clarity of explanation, only three periodic repetitions are shown, although that is not a limitation of the invention. In fact, any number of periodic repetitions may be used as will occur to those of skill in the art.

Navigation with Headings set to a Cross Track Direction

A further exemplary method of navigating in accordance with a navigation algorithm explained with reference to FIGS. 8 and 9. FIG. 8 sets forth a flow chart illustrating an exemplary method of navigating a UAV in accordance with a navigation algorithm, and FIG. 9 sets forth a line drawing illustrating a flight path produced by application of the method of FIG. 8. The method of FIG. 8 includes identifying (802) a cross track between the starting point and the waypoint. A cross track is a fixed course from a starting point directly to a waypoint. If Lon.sub.1, Lat.sub.1 is taken as the position of a starting point, and Lon.sub.2, Lat.sub.2 is taken as the waypoint position, then a cross track is identified by Lon.sub.1, Lat.sub.1 and Lon.sub.2, Lat.sub.2. A cross track has a direction, a `cross track direction,` that is the direction straight from a starting point to a waypoint, and it is often useful to characterize a cross track by its cross track direction. The cross track direction for a cross track identified by starting point Lon.sub.1, Lat.sub.1 and waypoint position Lon.sub.2, Lat.sub.2 may be calculated generally as the inverse tangent of ((Lat.sub.2-Lat.sub.1)/(Lon.sub.2-Lon.sub.1)).

The method of FIG. 8 includes periodically repeating (810) the steps of receiving (804) in the remote control device from the GPS receiver a current position of the UAV, and calculating (806) a shortest distance between the current position and the cross track. If the shortest distance between the current position and the cross track is greater than a threshold distance (808), the method of FIG. 8 includes transmitting (812) flight control instructions that pilot the UAV toward the cross track, and, when the UAV arrives at the cross track, transmitting (814) flight control instructions that pilot the UAV in a cross track direction toward the waypoint.

FIG. 9 illustrates calculating a shortest distance between the current position and a cross track. In the example of FIG. 9, calculating a shortest distance between the current position and a cross track includes calculating the distance from a current position (912) to the waypoint (704). In the example of FIG. 9, the distance from the current position (912) to the waypoint (704) is represented as the length of line (914). For current position Lon.sub.1, Lat.sub.1 and waypoint position Lon.sub.2, Lat.sub.2, the distance from a current position (912) to the waypoint (704) is given by the square root of (Lat.sub.2-Lat.sub.1).sup.2+ (Lon.sub.2-Lon.sub.1).sup.2.

In this example, calculating a shortest distance between the current position and a cross track also includes calculating the angle (910) between a direction from the current position (912) to the waypoint (704) and a cross track direction. In the example of FIG. 9, the direction from the current position (912) to the waypoint (704) is represented as the direction of line (914). In the example of FIG. 9, the cross track direction is the direction of cross track (706). The angle between a direction from the current position to the waypoint and a cross track direction is the difference between those directions.

In the current example, calculating a shortest distance between the current position and a cross track also includes calculating the tangent of the angle between a direction from the current position to the waypoint and a cross track direction and multiplying the tangent of the angle by the distance from the current position to the waypoint.

FIG. 9 also shows the effect of the application of the method of FIG. 8. In the example of FIG. 9, a UAV is flying in a cross wind having cross wind vector (708). The flight path (904) results from periodic calculations according to the method of FIG. 8 of a shortest distance between a current position and the cross track (706), flying the UAV back to the cross track and then flying in the direction of the cross track whenever the distance from the cross track exceeds a predetermined threshold distance (916).

Headings Set to Cross Track Direction with Angular Thresholds

A further exemplary method of navigating in accordance with a navigation algorithm is explained with reference to FIGS. 10 and 11. FIG. 10 sets forth a flow chart illustrating an exemplary method of navigating a UAV in accordance with a navigation algorithm, and FIG. 11 sets forth a line drawing illustrating a flight path produced by application of the method of FIG. 10.

In the method of FIG. 10, piloting in accordance with a navigation algorithm includes identifying (1002) a cross track having a cross track direction between the starting point and the waypoint. As described above, a cross track is identified by a position of a starting point and a waypoint position. For a starting point position of Lon.sub.1, Lat.sub.1 and a waypoint position of Lon.sub.2, Lat.sub.2, a cross track is identified by Lon.sub.1, Lat.sub.1 and Lon.sub.2, Lat.sub.2. In addition, it is often also useful to characterize a cross track by its cross track direction. The cross track direction for a cross track identified by starting point Lon.sub.1, Lat.sub.1 and waypoint position Lon.sub.2, Lat.sub.2 may be calculated generally as the inverse tangent of ((Lat.sub.2-Lat.sub.1)/(Lon.sub.2-Lon.sub.1)).

In the method of FIG. 10, navigating a UAV in accordance with a navigation algorithm includes periodically repeating (1010) the steps of receiving (1004) in the remote control device from the GPS receiver a current position and a current heading of the UAV, and calculating (1006) an angle between the direction from the current position to the waypoint and a cross track direction. If the angle is greater than a threshold angle (1008), the method of FIG. 10 includes transmitting (1012) flight control instructions that pilot the UAV toward the cross track, and, upon arriving at the cross track, transmitting (1014) flight control instructions that pilot the UAV in the cross track direction toward the waypoint.

Transmitting (1012) flight control instructions that pilot the UAV toward the cross track is carried out by transmitting flight control instructions to turn to a heading no more than ninety degrees from the cross track direction, turning to the left if the current position is right of the cross track and to the right if the current position is left of the cross track. Transmitting (1014) flight control instructions that pilot the UAV in the cross track direction toward the waypoint transmitting flight control instructions to turn the UAV to the cross track direction and then flying straight and level on the cross track direction.

FIG. 11 shows the effect of the application of the method of FIG. 10. In the example of FIG. 1, a UAV is flying in a cross wind having cross wind vector (708). The flight path (1104) results from periodically transmitting flight control instructions to fly the UAV, according to the method of FIG. 10, back to the cross track and then in the direction of the cross track whenever an angle between the direction from the current position to the waypoint and a cross track direction exceeds a predetermined threshold angle.

In many embodiments of the method of FIG. 10, the threshold angle is a variable whose value varies in dependence upon a distance between the UAV and the waypoint. In typical embodiments that vary the threshold angle, the threshold angle is increased as the UAV flies closer to the waypoint. It is useful to increase the threshold angle as the UAV flies closer to the waypoint to reduce the risk of excessive `hunting.` That is, because the heading is the cross track direction, straight to the WP rather than cross wind, if the angle remains the same, the distance that the UAV needs to be blown off course to trigger transmitting flight control signals instructing the UAV to return to the cross track gets smaller and smaller until the UAV is flying to the cross track, turning to the cross track direction, getting blown immediately across the threshold, flying back the cross track, turning to the cross track direction, getting blown immediately across the threshold, and so on, and so on, in rapid repetition. Increasing the threshold angle as the UAV flies closer to the waypoint increases the lateral distance available for wind error before triggering the transmission of flight instructions to return to the cross track, thereby reducing this risk of excessive hunting.

FIG. 12 sets forth a flow chart illustrating an exemplary method for navigating a UAV that includes receiving (402) in a remote control device a user's selection of a GUI map pixel (412) that represents a waypoint for UAV navigation. The pixel has a location on the GUI. Such a GUI map display has many pixels, each of which represents at least one position on the surface of the Earth. A user selection of a pixel is normal GUI operations to take a pixel location, row and column, from a GUI input/output adapter driven by a user input device such as a joystick or a mouse. The remote control device can be a traditional `ground control station,` an airborne PDA or laptop, a workstation in Earth orbit, or any other control device capable of accepting user selections of pixels from a GUI map.

The method of FIG. 12 includes mapping (404) the pixel's location on the GUI to Earth coordinates of the waypoint (414). As discussed in more detail above with reference to FIG. 5, mapping (404) the pixel's location on the GUI to Earth coordinates of the waypoint (414) typically includes mapping pixel boundaries of the GUI map to corresponding Earth coordinates and identifying a range of latitude and a range of longitude represented by each pixel. Mapping (404) the pixel's location on the GUI to Earth coordinates of the waypoint (414) also typically includes locating a region on the surface of the Earth in dependence upon the boundaries, the ranges, and the location of the pixel on the GUI map.

The method of FIG. 12 also includes transmitting (406) uplink telemetry, including the coordinates of the waypoint, to the UAV through a socket on the remote control device. Transmitting (406) uplink telemetry, including the coordinates of the waypoint, to the UAV through a socket on the remote control device may be carried out by use of any data communications protocol, including, for example, transmitting the coordinates as form data, URI encoded data, in an HTTP message, a WAP message, an HDML message, or any other data communications protocol message as will occur to those of skill in the art. Transmitting uplink telemetry through a socket may be implemented by opening a socket, creating an output stream for the socket, and writing uplink telemetry data to the output stream, as illustrated, for example, in the following segment of pseudocode: uavSocket=new Socket("computerAddress", 7); outStream=new PrintWriter(uavSocket.getOutputStream( ), true); outStream.println(String someUplinkData);

This segment opens a socket object named "uavSocket" with an output stream named "outStream." Transmitting uplink telemetry through the socket is accomplished with a call to outStream.println( ) which takes as a call parameter a String object named "someUplinkData."

The method of FIG. 12 also includes receiving (408) downlink telemetry, including a starting position from a GPS receiver, from the UAV through the socket and piloting (410) the UAV, under control of a navigation computer on the UAV, from the starting position to the waypoint in accordance with a navigation algorithm. Methods of piloting a UAV according to a navigation algorithm are discussed in detail below in this specification.

Receiving downlink telemetry through a socket may be implemented by opening a socket, creating an input stream for the socket, and reading data from the input stream, as illustrated, for example, in the following segment of pseudocode: uavSocket=new Socket("computerAddress", 7); in Stream=new BufferedReader(new InputStreamReader(uavSocket.getInputStream( ))); String downLinkTelemetry=in Stream.readLine( );

This segment opens a socket object named "uavSocket" with an input stream named "in Stream." Receiving downlink telemetry through the socket is accomplished with a blocking call to in Stream.readLine( ) which returns a String object name "downLinkTelemetry."

In the method of FIG. 12, downlink telemetry may include Earth coordinates of waypoints as well as one or more UAV instructions. It is counterintuitive that downlink telemetry contains waypoint coordinates and UAV instructions when the expected data communications direction for waypoint coordinates and UAV instructions ordinarily is in uplink from a remote control device to a UAV. It is useful to note, however, that waypoint coordinates and UAV instructions can be uplinked from a multiplicity of remote control devices, not just one. A flight line technician with a handheld PDA can issue waypoint coordinates and UAV instructions to a UAV that is also linked for flight control to a computer in a ground station. It is sometimes advantageous, therefore, for downlink telemetry to include waypoint coordinates or UAV instructions so that one remote control device can be advised of the fact that some other remote control device issued waypoint coordinates or UAV instructions to the same UAV.

Macros

As mentioned above, embodiments of the present invention often support navigating a UAV along a route having many waypoints, including a final waypoint and one or more intermediate waypoints. That is, methods of the kind illustrated in FIG. 12 may also include receiving user selections of a multiplicity of GUI map pixels representing waypoints, where each pixel has a location on the GUI and mapping each pixel location to Earth coordinates of a waypoint.

Such methods of navigating a UAV can also include assigning one or more UAV instructions to each waypoint and transmitting the coordinates of the waypoints and the UAV instructions in the uplink telemetry through the socket to the UAV. A UAV instruction typically includes one or more instructions for a UAV to perform a task in connection with a waypoint. Exemplary tasks include turning on or off a camera installed on the UAV, turning on or off a light installed on the UAV, orbiting a waypoint, or any other task that will occur to those of skill in the art. Such exemplary methods of navigating a UAV also include storing the coordinates of the waypoints and the UAV instructions in computer memory on the UAV, piloting the UAV to each waypoint in accordance with one or more navigation algorithms, and operating the UAV at each waypoint in accordance with the UAV instructions for each waypoint.

Navigation on a Course to a Waypoint

A further exemplary method of navigating in accordance with a navigation algorithm is explained with reference to FIGS. 13, 14, and 15. FIG. 13 sets forth a flow chart illustrating an exemplary method of piloting in accordance with a navigation algorithm. FIG. 14 sets forth a line drawing illustrating a method of calculating a heading with a cross wind to achieve a particular ground course. And FIG. 15 sets forth a line drawing illustrating a flight path produced by application of the method of FIG. 13.

In the method of FIG. 13, piloting in accordance with a navigation algorithm comprises periodically repeating (1212) the steps of reading (1202) from the GPS receiver a current position of the UAV; calculating (1204) a direction to the waypoint from the current position; calculating (1206) a heading in dependence upon wind speed, wind direction, airspeed, and the direction to the waypoint; turning (1208) the UAV to the heading; and flying (1210) the UAV on the heading.

FIG. 14 illustrates calculating a heading in dependence upon wind speed, wind direction, airspeed, and the direction to the waypoint. FIG. 14 sets forth a line drawing illustrating relations among several pertinent vectors, a wind velocity (1222), a resultant velocity (1224), and a UAV's air velocity (1226). A velocity vector includes a speed and a direction. These vectors taken together represent wind speed, wind direction, airspeed, and the direction to the waypoint. In the example of FIG. 14, the angle B is a so-called wind correction angle, an angle which subtracted from (or added to, depending on wind direction) a direction to a waypoint yields a heading, a compass heading for a UAV to fly so that its resultant ground course is on a cross track. A UAV traveling at an airspeed of `a` on heading (D-B) in the presence of a wind speed `b` with wind direction E will have resultant groundspeed `c` in direction D.

In FIG. 14, angle A represents the difference between the wind direction E and the direction to the waypoint D. In FIG. 14, the wind velocity vector (1222) is presented twice, once to show the wind direction as angle E and again to illustrate angle A as the difference between angles E and D. Drawing wind velocity (1222) to form angle A with the resultant velocity (1224) also helps explain how to calculate wind correction angle B using the law of sines. Knowing two sides of a triangle and the angle opposite one of them, the angle opposite the other may be calculated, in this example, by B=sin.sup.-1(b (sin A)/a). The two known sides are airspeed `a` and wind speed `b.` The known angle is A, the angle opposite side `a,` representing the difference between wind direction E and direction to the waypoint D. Calculating a heading, angle F on FIG. 14, is then carried out by subtracting the wind correction angle B from the direction to the waypoint D.

FIG. 15 shows the effect of the application of the method of FIG. 13. In the example of FIG. 15, a UAV is flying in a cross wind having cross wind vector (708). Curved flight path (1316) results from periodic calculations according to the method of FIG. 13 of a new heading straight whose resultant with a wind vector is a course straight from a current location to the waypoint. FIG. 15 shows periodic repetitions of the method of FIG. 13 at plot points (1310, 1312, 1314). For clarity of explanation, only three periodic repetitions are shown, although that is not a limitation of the invention. In fact, any number of periodic repetitions may be used as will occur to those of skill in the art.

Navigation on a Course Set to a Cross Track Direction

A further exemplary method of navigating in accordance with a navigation algorithm is explained with reference to FIGS. 16 and 17. FIG. 16 sets forth a flow chart illustrating an exemplary method of piloting in accordance with a navigation algorithm, and FIG. 17 sets forth a line drawing illustrating a flight path produced by application of the method of FIG. 16.

The method of FIG. 16 includes identifying (1402) a cross track and calculating (1404) a cross track direction from the starting position to the waypoint. In the method of FIG. 16, piloting in accordance with a navigation algorithm is carried out by periodically repeating the steps of reading (1406) from the GPS receiver a current position of the UAV; calculating (1408) a shortest distance between the cross track and the current position; and, if the shortest distance between the cross track and the current position is greater than a threshold distance, piloting (1412) the UAV to the cross track. Upon arriving at the cross track, the method includes: reading (1414) from the GPS receiver a new current position of the UAV; calculating (1416), in dependence upon wind speed, wind direction, airspeed, and the cross track direction, a new heading; turning (1418) the UAV to the new heading (1502, 1505, and 1506); and flying (1420) the UAV on the new heading.

FIG. 17 shows the effect of the application of the method of FIG. 16. In the example of FIG. 17, a UAV is flying in a cross wind having cross wind vector (708). Curved flight path (1504) results from periodic calculations according to the method of FIG. 16 of a shortest distance between a current position and the cross track (706), flying the UAV back to the cross track, and, upon arriving at the cross track, calculating a new heading and flying the UAV on the new heading.

Navigating UAVs in Formation

It is also advantageous to have an ability to navigate UAVs together in a flight formation or pattern. Exemplary methods, systems, and products for navigating UAVs together in a flight formation or pattern are described with reference to the accompanying drawings, beginning with FIGS. 18, 19A, and 19B. FIG. 18 sets forth a flow chart illustrating an exemplary method for navigating UAVs in formation. FIGS. 19A and 19B are line drawings illustrating exemplary relations among UAVs flying in formation.

The method of FIG. 18 includes assigning (302) pattern positions to each of a multiplicity of UAVs flying together in a pattern. The examples of FIGS. 19A and 19B includes two exemplary flight patterns for UAVs. FIG. 19A illustrates a pattern having two pattern positions occupied by UAV (226) and UAV (100). FIG. 19B illustrates a pattern having four pattern positions occupied by UAVs (226, 100, 234, and 142). Assigning pattern positions to each of a multiplicity of UAVs flying together in a pattern may be carried out by designating an anchor position for the pattern and assigning pattern positions to the other UAVs relative to the anchor position. In the pattern of FIG. 19A, for example, the pattern position occupied by UAV (226) may be designated an anchor position and UAV (100) may be assigned to a pattern position one mile to the right of the position of UAV (226). Similarly in the pattern of FIG. 19B, the position of the pattern position occupied by UAV (226) may be designated an anchor position and: UAV (100) may be assigned to a pattern position one mile to the right of the position of UAV (226), UAV (234) may be assigned to a pattern position one mile behind the position of UAV (226), and UAV (142) may be assigned to a pattern position one mile to the right and one mile behind the position of UAV (226).

The method of FIG. 18 also includes identifying (304) a waypoint for each UAV in dependence upon the UAV's pattern position. Identifying a waypoint for each UAV in dependence upon its pattern position may be carried out by designating a waypoint for the anchor position and calculating each UAV's waypoint in dependence upon the waypoint for the anchor and in dependence upon the UAV's position in the pattern. In the pattern of FIG. 19A, for example, the pattern position occupied by UAV (226) may be designated an anchor position and assigned the waypoint (230). If UAV (100) is assigned to a pattern position one mile to the right of the position of UAV (226), a waypoint (210) is calculated for UAV (100) as one mile to the right of the waypoint (230) assigned to the anchor position.

Similarly, if in the pattern of FIG. 19B: the position of the pattern position occupied by UAV (226) is designated an anchor position and assigned the waypoint (230), UAV (100) is assigned to a pattern position one mile to the right of the position of UAV (226), UAV (234) is assigned to a pattern position one mile behind the position of UAV (226), and UAV (142) is assigned to a pattern position one mile to the right and one mile behind the position of UAV (226), then: waypoint (210) is calculated for UAV (100) as one mile to the right of the waypoint (230) assigned to the anchor position, waypoint (238) is calculated for UAV (234) as one mile behind the waypoint (230) assigned to the anchor position, and waypoint (248) is calculated for UAV (142) as one mile to the right and one mile behind the waypoint (230) assigned to the anchor position.

The method of FIG. 18 also includes piloting (306) the UAV s in the pattern toward their waypoints in dependence upon a navigation algorithm (312). The method of FIG. 18 also includes an exemplary navigation algorithm that is implemented to repeatedly compare (308) the UAV's intended position and the UAV's actual position. In this example, the actual position is taken from a GPS receiver on board the UAV.

Each UAV's intended position may be specified by the UAV's position in the pattern, a cross track to the UAV's waypoint, and a flight schedule. The intended position is a conceptual position, an ideal used to navigate UAVs in formation. The intended position is the position on the cross track where the UAV would be if it flew precisely on schedule directly along the cross track.

A flight schedule is a time limitation upon travel from a starting point to a waypoint. A flight schedule may be established by assigning an arrival time at the waypoints of the pattern, from which a groundspeed may be inferred. Or a flight schedule may be established by assigning a groundspeed for the formation, from which an arrival time can be inferred. Either way, the schedule established an intended position for the formation for every moment of the flight. If the groundspeed is taken as the governing parameter, then the arrival time is the groundspeed multiplied by the distance between the starting point and the waypoint. If the arrival time is taken as the governing parameter, then the groundspeed is the distance between the starting point and the waypoint divided by the difference between the arrival time and the start time. Either way, the groundspeed is known and the intended position of the pattern at any point in time is the groundspeed multiplied by the time elapsed after the start time. Similarly, for each UAV in a pattern, the UtAV's intended position at any point of time elapsed after the start time is a position on a cross track where the UAV would be if the UAV's course were directly over the cross track at that point in time.

The exemplary UAVs of FIGS. 19A and 19B are shown flying directly over their cross tracks. As a practical matter, actual flight courses are rarely directly over cross tracks. Nevertheless, for flying in formation, a course for each UAV that approximates a cross track is adequate if a UAV's actual position in its actual course does not vary too much from its intended position. What is `too much` is defined by an error threshold. The navigation algorithm of FIG. 18 includes calculating (310) a corrective flight vector when the distance between the UAV's actual and intended positions exceeds an error threshold. Calculating a corrective flight vector is explained in more detail below.

Piloting UAVs in dependence upon a navigation algorithm, together in a flight formation or pattern, usefully includes startup and continuation of normal flight to UAV waypoints, that is, flight when a UAV is within its error threshold. An exemplary algorithm for such flight is described with reference to FIGS. 20 and 21. FIG. 20 sets forth a flow chart illustrating an exemplary method of piloting the UAVs in dependence upon a navigation algorithm. FIG. 21 sets forth a line drawing illustrating an exemplary method of calculating airspeed and heading according to the method of FIG. 21.

FIG. 20 sets forth a flow chart illustrating an exemplary method of piloting the UAVs in dependence upon a navigation algorithm that includes identifying (340) a cross track to a waypoint for each UAV, where the cross track has a cross track direction. In FIG. 21, cross track (212) has cross track direction indicated by angle D. The method of FIG. 20 includes piloting (342) the UAV to a starting point on the cross track. (222 on FIG. 21). In subsequent iterations, the method may be implemented any time the UAV returns to the cross track by moving the starting point to the point where the UAV returns to the cross track.

The method of FIG. 20 includes calculating (344) an airspeed for flying from the starting point to the waypoint on schedule. The airspeed may be calculated from the wind speed, the groundspeed, and the angle between the wind direction and the ground course direction by use of the law of cosines according to the formula: a= {square root over (b.sup.2+c.sup.2-2ab cos A)}, where: a is the airspeed needed for flying from the starting point to the waypoint on schedule, indicated on FIG. 21 as the length (280) of the flight vector (250), b is the wind speed, indicated on FIG. 21 as the length (282) of the wind vector (208), c is the course groundspeed for flying from the starting point to the waypoint on schedule, indicated on FIG. 21 as the length (284) of the course vector (212), and A is the angular difference between the wind direction and the ground course direction along the cross track, indicated on FIG. 21 as the angle `A.`

The wind direction is indicated on FIG. 21 as the angle E, and the ground course direction along the cross track is indicated on FIG. 21 as the angle D.

The method of FIG. 20 includes calculating (346) a heading in dependence upon wind speed, wind direction, airspeed, and the cross track direction. The heading may be so calculated by use of the law of sines according to the formula: B=sin.sup.-1(b(sin A)/a), where: B is the wind correction angle, which in combination with a direction to a waypoint yields a heading, indicated on FIG. 21 as angle `F,` b is the wind speed, indicated on FIG. 21 as the length (282) of the wind vector (208), A is the angular difference between the wind direction and the ground course direction along the cross track, indicated on FIG. 21 as the angle `A,` and a is the airspeed needed for flying from the starting point to the waypoint on schedule, calculated by use of the law of cosines as described above, and indicated on FIG. 21 as the length (280) of the flight vector (250).

Having the wind correction angle B, calculating the heading, angle F on FIG. 21, is then carried out by subtracting the wind correction angle B from the direction to the waypoint D.

The method of FIG. 20 includes flying (348) the UAV on the heading at the airspeed. That is, starting from a starting point on the cross track and flying a heading and airspeed so calculated, results in a ground course that approximates the cross track direction.

Calculating a corrective flight vector is further explained with reference to FIGS. 22, 23, and 24. FIG. 22 sets forth a flow chart illustrating an exemplary method of calculating a corrective flight vector. FIG. 23 is a line drawing illustrating application of the method of FIG. 22, showing relations among an intended position, an error threshold, an actual position, a corrective flight vector, and a cross track to a waypoint. FIG. 24 sets forth a line drawing illustrating an exemplary method of calculating corrective airspeed and corrective heading according to the method of FIG. 22.

As mentioned above, an actual flight course is rarely directly over a cross track. For flying in formation, a course for each UAV that approximates a cross track is adequate if a UAV's actual position in its actual course does not vary too much from its intended position. What is `too much` is defined by an error threshold. The navigation algorithm of FIG. 18 includes calculating (310) a corrective flight vector when the distance between the UAV's actual and intended positions exceeds an error threshold. FIG. 23 shows a UAV whose actual position (218) is outside an error threshold (202) around the UAV's intended position (220). That is, for this exemplary UAV, the distance (290) between the UAV's actual (218) and intended (220) positions exceeds an error threshold (202).

The method of FIG. 22 includes selecting (360) a corrective waypoint (214) on FIG. 23) on a cross track (212) between a UAV's intended position (220) and its waypoint (210). Selecting a corrective waypoint on a cross track between a UAV's intended position and its waypoint may be carried out by selecting a corrective waypoint at a predetermined portion of the distance between a UAV's intended position and its waypoint. In the example of FIG. 23, a corrective waypoint (214) on a cross track (212) between a UAV's intended position (220) and its waypoint (210) is selected as a corrective waypoint at the predetermined portion of one-half of the distance between the UAV's intended position and its waypoint.

The method of FIG. 22 also includes calculating (362) a corrective airspeed for arriving at the corrective waypoint on schedule. Calculating a corrective airspeed for arriving at the corrective waypoint on schedule may include calculating a groundspeed needed to bring the UAV to the remedial waypoint on schedule. Calculating a groundspeed needed to bring the UAV to the remedial waypoint on schedule may be carried out by dividing the distance from the actual position to the corrective waypoint by the difference between the current time and the schedule time for the corrective waypoint. The schedule time for the corrective waypoint is the time when the UAV would reach the corrective waypoint if the UAV's ground course were over the cross track. With the groundspeed to the remedial waypoint known, calculating a corrective airspeed for arriving at the corrective waypoint on schedule may be calculated from the wind speed, the groundspeed to the remedial waypoint, and the angle between the wind direction and the ground course to the corrective waypoint by use of the law of cosines according to the formula: a= {square root over (b.sup.2+c.sup.2-2ab cos A)}, where: a is the corrective airspeed for arriving at the corrective waypoint on schedule, indicated on FIG. 24 as the length (292) of the corrective flight vector (204), b is the wind speed, indicated on FIG. 24 as the length (294) of the wind vector (208), c is the groundspeed to the remedial waypoint, indicated on FIG. 24 as the length (296) of the ground course to the corrective waypoint (216), and A is the angular difference between the wind direction and the ground course direction to the corrective waypoint, indicated on FIG. 24 as the angle `A.`

The wind direction is indicated on FIG. 24 as the angle E, and the ground course direction to the corrective waypoint is indicated on FIG. 24 as the angle D.

The method of FIG. 22 includes also calculating (364) a corrective heading in dependence upon the calculated airspeed. The corrective heading may be so calculated by use of the law of sines according to the formula: B=sin.sup.-1(b(sin A)/a), where: B is the wind correction angle, which in combination with a direction to a corrective waypoint yields a heading, indicated on FIG. 24 as angle `B,` b is the wind speed, indicated on FIG. 24 as the length (294) of the wind vector (208), A is the angular difference between the wind direction and the ground course to the corrective waypoint, indicated on FIG. 24 as the angle `A,` and a is the airspeed needed to fly from the actual position (218) to the corrective waypoint so as to arrive at the corrective waypoint on schedule, calculated by use of the law of cosines as described above, and indicated on FIG. 24 as the length (292) of the corrective flight vector (204).

Having the wind correction angle B, calculating the corrective heading, angle F on FIG. 24, is then carried out by subtracting the wind correction angle B from the direction to the corrective waypoint D. Upon arriving at the corrective waypoint (214), the UAV may be piloted by the method of FIG. 20, for example, on a heading and with an airspeed calculated to fly a course along a cross track (212 on FIG. 23) and arrive at its waypoint on schedule.

All the navigational calculations for navigating UAVs in formation according to embodiments of the present invention may be carried in computers located either in the UAVs or in one or more ground stations. In systems that carry out navigational calculations in a UAV, uplink telemetry may provide starting points, waypoints, and other flight parameters to the UAV, and downlink telemetry may provide GPS locations for the UAV to the ground station. In systems that carry out navigational calculations in ground stations, downlink telemetry may provide GPS locations, and uplink telemetry may provide flight control instructions.

It will be understood from the foregoing description that modifications and changes may be made in various embodiments of the present invention without departing from its true spirit. The descriptions in this specification are for purposes of illustration only and are not to be construed in a limiting sense. The scope of the present invention is limited only by the language of the following claims.

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