Выделить слова:


Патент США №	8386095
Автор(ы)	Fitzpatrick
Дата выдачи	26 февраля 2013 г.

Performing corrective action on unmanned aerial vehicle using one axis of three-axis magnetometer

РЕФЕРАТ

Авторы:

David Fitzpatrick (Rio Rancho, NM)

Патентообладатель:

Имя	Город	Штат	Страна	Тип
David Fitzpatrick	Rio Rancho	NM	US

Заявитель:

Honeywell International Inc. (Morristown, NJ)

Номер заявки:

12/417,380

Дата регистрации:

02 апреля 2009 г.

Prior Publication Data


	Document Identifier	Publication Date
	US 20100256839 A1	Oct 7, 2010

Класс патентной классификации США:	701/4; 244/171; 701/525
Класс международной патентной классификации (МПК):	G05D 1/08 (20060101); B64C 29/00 (20060101)
Область поиска:	;701/3,4,8,23,38,41,58,400,408,525 ;244/4,75.1,175,166,171 ;324/244,260

Использованные источники

[Referenced By]

Патентные документы США


3992707	November 1976	Schmidtlein et al.
4525784	June 1985	Hamel et al.
4664340	May 1987	Jackson
4807835	February 1989	Fowler
5575438	November 1996	McGonigle et al.
5716032	February 1998	McIngvale
5904724	May 1999	Margolin
5933099	August 1999	Mahon
6018315	January 2000	Ince et al.
6377875	April 2002	Schwaerzler
6389335	May 2002	Vos
6422508	July 2002	Barnes
6473676	October 2002	Katz et al.
6493631	December 2002	Burns
6502787	January 2003	Barrett
6575402	June 2003	Scott
6588701	July 2003	Yavnai
6622090	September 2003	Lin
6665594	December 2003	Armstrong
6694228	February 2004	Rios
6712312	March 2004	Kucik
6813559	November 2004	Bodin et al.
6847865	January 2005	Carroll
6859727	February 2005	Bye et al.
6873886	March 2005	Mullen et al.
6925382	August 2005	Lahn
7000883	February 2006	Mercadal et al.
7107148	September 2006	Bodin et al.
7130741	October 2006	Bodin et al.
7149611	December 2006	Beck et al.
7158877	January 2007	Carlsson et al.
7228227	June 2007	Speer
7231294	June 2007	Bodin et al.
7269513	September 2007	Herwitz
7286913	October 2007	Bodin et al.
7289906	October 2007	Van Der Merwe et al.
7299130	November 2007	Mulligan et al.
7302316	November 2007	Beard et al.
7343232	March 2008	Duggan et al.
7520466	April 2009	Bostan
7706932	April 2010	Morales De La Rica et al.
7871044	January 2011	Hursig et al.
7970500	June 2011	Parra Carque
2004/0123474	July 2004	Manfred et al.
2005/0138825	June 2005	Manfred
2005/0165517	July 2005	Reich
2006/0097107	May 2006	Parks et al.
2006/0102780	May 2006	Parks
2006/0106506	May 2006	Nichols et al.
2006/0121418	June 2006	DeMarco et al.
2006/0192047	August 2006	Goossen
2006/0197835	September 2006	Anderson et al.
2006/0235584	October 2006	Fregene et al.
2006/0253228	November 2006	Abraham et al.
2006/0271248	November 2006	Cosgrove et al.
2006/0287824	December 2006	Lin
2007/0018052	January 2007	Eriksson
2007/0069083	March 2007	Shams et al.
2007/0093945	April 2007	Grzywna et al.
2007/0129855	June 2007	Coulmeau
2007/0131822	June 2007	Stallard
2007/0200027	August 2007	Johnson
2007/0221790	September 2007	Goossen
2007/0244608	October 2007	Rath et al.
2007/0246610	October 2007	Rath et al.
2007/0271032	November 2007	Cheng et al.
2007/0284474	December 2007	Olson et al.
2008/0023587	January 2008	Head et al.
2008/0033604	February 2008	Margolin
2008/0035786	February 2008	Bilyk et al.
2008/0059068	March 2008	Strelow et al.
2008/0071431	March 2008	Dockter et al.
2008/0078865	April 2008	Burne
2008/0147254	June 2008	Vos et al.
2008/0269963	October 2008	Vos et al.
2010/0250022	September 2010	Hines et al.

Зарубежные патентные документы


28 43 034	Aug 1980	DE
1868008	Dec 2007	EP
1 995 174	Nov 2008	EP
2394340	Apr 2004	GB
WO2005119387	Dec 2005	WO
2007001369	Jan 2007	WO
2007058643	May 2007	WO
WO2007148246	Dec 2007	WO

Другие источники

Ahn et al., "Gyroless Attitude Estimation of Sun-Pointing Satellites Using Magnetometers," IEEE Geoscience and Remote Sensing, vol. 2, No. 1, Jan. 2005, p. 8-12. cited by examiner .
Kinkel, John F., et al., "Estimation of Vehicle Dynamic and Static Parameters from Magnetometer Data," Journal of Guidance, Control, and Dynamics, vol. 20, No. 1, Jan.-Feb. 1997, p. 111-116. cited by examiner .
Reply to communication from the Examining Division, for EP Application No. 10151453.7, dated Mar. 8, 2011, 14 pages. cited by applicant .
European Examination report from corresponding EP Application No. 10151453.7, dated Apr. 8, 2011, 3 pages. cited by applicant .
European Search Report from corresponding EP Application No. 10151453, mailed Jul. 28, 2010, 3 pages. cited by applicant .
Spinka et al., "Control System for Unmanned Aerial Vehicles," IEEE International Conference on Industrial Informatics, 2007, pp. 455-460. cited by applicant .
Ahn et al., "Gyroless Attitude Estimation of Sun-Pointing Satellites Using Magnetometers," IEEE Geoscience and Remote Sensing Letters, vol. 2, No. 1, Jan. 2005, 6 pgs. cited by applicant .
European Examination Report from corresponding EP Application No. 10151453, mailed Sep. 7, 2010, 6 pgs. cited by applicant.

Главный эксперт: Trammell; James
Assistant Examiner: Testardi; David
Уполномоченный, доверенный или фирма: Shumaker & Sieffert, P.A.

Интересы правительства

GOVERNMENT RIGHTS

The United States Government may have certain rights in this invention pursuant to Contract No. N41756-06-C-5617, awarded by the United States Navy.

ФОРМУЛА ИЗОБРЕТЕНИЯ

The invention claimed is:

1. A method of operating an unmanned aerial vehicle (UAV), the method comprising: receiving, from a three-axis magnetometer, a single measurement representative of an attitude of the UAV, wherein the single measurement is of only one axis of the three-axis magnetometer; comparing the single measurement to an allowable range of attitudes; determining that the single measurement is not within the allowable range of attitudes; and performing at least one corrective action on the UAV based only on the determination that the single measurement of the only one axis of the three-axis magnetometer is not within the allowable range of attitudes.

2. The method of claim 1, wherein comparing the single measurement to an allowable range of attitudes comprises comparing the single measurement to a range of attitudes stored on a data storage associated with the UAV.

3. The method of claim 1, wherein comparing the single measurement to an allowable range of attitudes comprises transmitting the single measurement to a ground operator for comparing the single measurement to a range of attitudes.

4. The method of claim 1, wherein performing at least one corrective action comprises shutting off an engine of the UAV.

5. The method of claim 4, wherein shutting off the engine of the UAV comprises triggering an engine kill switch.

6. The method of claim 1, wherein performing at least one corrective action comprises adjusting the attitude of the UAV to within the allowable range of attitudes.

7. The method of claim 6, wherein adjusting the attitude of the UAV to within the allowable range of attitudes comprises adjusting an angle of a thrust vectoring vane of the UAV.

8. The method of claim 6, wherein adjusting the attitude of the UAV to within the allowable range of attitudes comprises adjusting a speed of a fan providing thrust to the UAV.

9. An unmanned aerial vehicle (UAV) comprising: an engine; a three-axis magnetometer configured to measure an attitude of the UAV; and a processor connected to the magnetometer and configured to: receive, from the magnetometer, a single measurement representative of the attitude of the UAV, wherein the single measurement is of only one axis of the three-axis magnetometer; compare the single measurement to an allowable range of attitudes; determine that the single measurement is not within the allowable range of attitudes; and perform at least one corrective action on the UAV based only on the determination that the single measurement of the only one axis of the three-axis magnetometer is not within the allowable range of attitudes.

10. The UAV of claim 9, further comprising a data storage connected to the processor, wherein the allowable range of attitudes is stored on the data storage.

11. The UAV of claim 9, wherein the processor is configured to compare the single measurement to an allowable range of attitudes by at least transmitting the single measurement to a ground operator for comparing the single measurement to the range of attitudes.

12. The UAV of claim 9, wherein the processor is configured to perform the at least one corrective action by at least shutting off the engine.

13. The UAV of claim 12, further comprising an engine kill switch, wherein the processor is configured to shut off the engine by at least triggering the engine kill switch.

14. The UAV of claim 9, wherein the processor is configured to perform the at least one corrective action by at least adjusting the attitude of the UAV to within the allowable range of attitudes.

15. A vehicle comprising: means for receiving, from a three-axis magnetometer, a single measurement representative of an attitude of the vehicle, wherein the single measurement is of only one axis of the three-axis magnetometer; means for comparing the single measurement to an allowable range of attitudes; means for determining that the single measurement is not within the allowable range of attitudes; and means for performing at least one corrective action on the vehicle based only on the determination that the single measurement of the only one axis of the three-axis magnetometer is not within the allowable range of attitudes.

16. The vehicle of claim 15, wherein the means for comparing the single measurement to an allowable range of attitudes comprises means for comparing the single measurement to a range of attitudes stored on a data storage associated with the vehicle.

17. The vehicle of claim 15, wherein the means for comparing the single measurement to an allowable range of attitudes comprises means for transmitting the single measurement to a ground operator for comparing the single measurement to a range of attitudes.

18. The vehicle of claim 15, wherein the means for performing at least one corrective action comprises means for shutting off an engine of the vehicle.

19. The vehicle of claim 15, wherein the means for performing at least one corrective action comprises means for adjusting the attitude of the vehicle to within the allowable range of attitudes.

20. The vehicle of claim 19, wherein the means for adjusting the attitude of the vehicle to within the allowable range of attitudes comprises at least one of means for adjusting an angle of a thrust vectoring vane of the vehicle or means for adjusting a speed of a fan providing thrust to the vehicle.

ОПИСАНИЕ

УРОВЕНЬ ТЕХНИКИ

An unmanned aerial vehicle ("UAV") is a remotely piloted or self-piloted aircraft that can carry cameras, sensors, communications equipment, or other payloads. A UAV is capable of controlled, sustained, level flight and may be powered by, for example, a jet or an engine. A UAV may be remotely controlled or may fly autonomously based on preprogrammed flight plans or more complex dynamic automation systems.

UAVs have become increasingly used for various applications where the use of manned flight vehicles is not appropriate or is not feasible. For example, military applications may include surveillance, reconnaissance, target acquisition, data acquisition, communications relay, decoy, harassment, or supply flights. UAVs are also used in a growing number of civilian applications, such as firefighting when a human observer would be at risk, police observation of civil disturbances or crime scenes, reconnaissance support in natural disasters, and scientific research, such as collecting data from within a hurricane.

A UAV may have avionics equipment on board to control the flight and operation of the UAV. The avionics may control the direction, flight, stability compensation, and other aspects of flight control. The avionics may comprise, for example, a three-axis magnetometer to provide attitude measurements of the vehicle. Additionally, a UAV may carry a variety of equipment on board tailored to the mission that the UAV is to accomplish.

СУЩНОСТЬ

Methods and systems are provided for using a measurement of only one axis of a three-axis magnetometer to perform at least one corrective action on an unmanned aerial vehicle ("UAV"). One embodiment comprises (i) receiving from a three-axis magnetometer a measurement representative of an attitude of a UAV, wherein the measurement is of only one axis of the magnetometer, (ii) comparing the measurement to an allowable range of attitudes, (iii) determining that the measurement is not within the allowable range of attitudes, and (iv) performing at least one corrective action on the UAV.

Another embodiment comprises (i) receiving from a three-axis magnetometer a measurement representative of an attitude of a UAV, wherein the measurement is of only one axis of the magnetometer, (ii) comparing the measurement to an allowable range of attitudes, (iii) determining that the measurement is not within the allowable range of attitudes, and (iv) shutting off an engine.

Another embodiment is a vehicle comprising (i) means for receiving from a three-axis magnetometer a measurement representative of an attitude of the vehicle, wherein the measurement is of only one axis of the magnetometer, (ii) means for comparing the measurement to an allowable range of attitudes, (iii) means for determining that the measurement is not within the allowable range of attitudes, and (iv) means for performing at least one corrective action on the vehicle.

These as well as other aspects and advantages will become apparent to those of ordinary skill in the art by reading the following detailed description, with reference where appropriate to the accompanying drawings.

КРАТКОЕ ОПИСАНИЕ РИСУНКОВ

Various exemplary embodiments are described herein with reference to the following drawings, wherein like numerals denote like entities.

FIG. 1 is a drawing of a ducted-fan unmanned aerial vehicle ("UAV"), in accordance with exemplary embodiments;

FIG. 2 is a simplified block diagram of a center body of a UAV, in accordance with exemplary embodiments;

FIG. 3 is a flowchart of a method, in accordance with exemplary embodiments; and

FIG. 4 is a flowchart of a method, in accordance with exemplary embodiments.

DETAILED DESCRIPTION OF THE DRAWINGS

1. Overview

It is possible that, during take-off, a UAV might engage in uncontrolled flight, or the UAV might tip-over. This may occur, for example, if the UAV is oriented during take-off in such a way that the thrust of the engine will not be partially cancelled out by the weight of the UAV. A VTOL (vertical take-off and landing) UAV, such as a ducted-fan UAV, may be particularly prone to tip-over or uncontrolled flight during take-off. Because of the risk of tip-over or uncontrolled flight, a UAV may determine whether it is about to engage in tip-over or uncontrolled flight and, in response, perform a corrective action. Such a corrective action may be, for example, shutting off the engine of the UAV.

A measurement that is indicative of whether the UAV is about to tip over or engage in uncontrolled flight is the attitude of the UAV. An attitude is the orientation of the UAV's axes relative to the horizon. If the attitude exceeds a certain threshold, tip-over or uncontrolled flight is possible. The attitude may be measured using, for example, a fully blended GPS/inertial navigation solution.

However, the time required to determine the attitude and perform a corrective action using a fully blended GPS/inertial navigation solution may be too great. A UAV that uses a combustion-based engine and/or a hand-start engine may require that an operator deploy the UAV, for example, outside the safety of a vehicle. An important goal is to minimize the time the operator is required to be outside the safety of the vehicle. Therefore, it is desirable to minimize the time required to determine an attitude and perform a corrective action

Further, if the UAV requires an operator to deploy the UAV, it is possible that the operator may still be in proximity of the UAV during take-off. Uncontrolled flight or tip-over poses a risk of injury to the operator or any other person in proximity to the UAV, as it is possible that the UAV may strike those persons.

Among the focuses of the present invention is to receive from a three-axis magnetometer a measurement representative of an attitude of the UAV, wherein the measurement is of only one axis of the magnetometer, to compare the measurement to an allowable range of attitudes, to determine that the measurement is not within the allowable range of attitudes, and to perform at least one corrective action on the UAV.

By receiving a measurement of only one axis of the three-axis magnetometer, the amount of time required to determine the attitude of the UAV and to perform a corrective action is reduced. By using only one axis, the three-axis magnetometer may require no startup time to determine abrupt pitch and roll changes. As a result, less time is required to deploy the UAV, and therefore less time is required outside the safety of a vehicle.

Comparing the measurement to an allowable range of attitudes may comprise, for example, comparing the measurement to a range of attitudes stored on a data storage associated with the UAV. Additionally or alternatively, comparing the measurement to an allowable range of attitudes may comprise transmitting the measurement to a ground operator for comparing the measurement to a range of attitudes. Those having skill in the art will recognize that other methods of comparing the measurement to an allowable range of attitudes are possible without departing from the scope of the claims.

Performing at least one corrective action may comprise, for example, shutting off an engine of the UAV. Additionally or alternatively, performing at least one corrective action may comprise adjusting the attitude of the UAV to within the allowable range of attitudes. Those having skill in the art will recognize that the examples described are not limiting and that other methods of performing at least one corrective action are possible without departing from the scope of the claims.

It should be understood that all descriptions presented herein are exemplary in nature. Those having skill in the art will recognize that the invention may be carried out in any manner without departing from the scope of the claims. For example, there may be other methods of receiving a measurement representative of an attitude of the UAV or comparing the measurement to an allowable range of attitudes without departing from the scope of the claims.

2. Exemplary Architecture

a. An Exemplary UAV

FIG. 1 is a drawing of a ducted-fan UAV, in accordance with exemplary embodiments. It should be understood that this and other arrangements described herein are set forth only as examples. Those skilled in the art will appreciate that other arrangements and elements (e.g., machines, interfaces, functions, orders, and groupings of functions, etc.) can be used instead, and that some elements may be omitted altogether. Further, many of the elements described herein are functional entities that may be implemented as discrete or distributed components or in conjunction with other components, and in any suitable combination and location. Various functions described herein as being performed by one or more entities may be carried out by hardware, firmware, and/or software. Various functions may be carried out by a processor executing instructions stored in memory.

As shown in FIG. 1, UAV 100 may include an air duct 102, a fan 104, a center body 106, a stator assembly 108, movable vanes 110, struts 202, and a landing gear 203. Fan 104 may comprise rotor blades to provide thrust so UAV 100 can lift, hover, cruise, etc. Fan 104 may be connected to an engine, perhaps in center body 106, which may spin and force air through the fan, providing lift for the UAV.

Center body 106 may be a housing that contains additional components of UAV 100, such as a camera or other surveillance equipment. Center body 106 may further include avionics equipment, such as a three-axis magnetometer. Center body 106 may also contain an engine for powering UAV 100.

UAV 100 may also include a stator assembly 108 and a plurality of fixed and/or movable vanes 110 for providing thrust vectoring for the UAV. The stator assembly 108 may be located just under the fan 104 within air duct 102 to reduce or eliminate the swirl and torque produced by the fan 104. Further downstream of the stators, the thrust vectoring vanes 110 may be located within or outside the air duct 102. For instance, the vanes 110 may be placed slightly below an exit section of the air duct 102.

UAV 100 may further include struts 202 which support the center body 106. Struts 202 may also provide a connection for the landing gear 203 of the UAV.

FIG. 2 is a simplified block diagram of center body 106, in accordance with exemplary embodiments. As illustrated, center body 106 may include a processor 250, data storage 252, an engine 254, a magnetometer 256, and/or a wireless communication interface 258, all connected by a system bus 262. Further, center body 106 may include any other mechanism now known or later developed for a UAV.

In an exemplary embodiment, processor 250 may be, for example, a general purpose microprocessor and/or a discrete signal processor. Though processor 250 is described here as a single processor, those having skill in the art will recognize that center body 106 may contain multiple (e.g., parallel) processors. Data storage 252 may store a set of machine-language instructions, which are executable by processor 250 to carry out various functions described herein. Alternatively, some or all of the functions could instead be implemented through hardware.

Engine 254 may comprise any device now known or later developed for providing thrust to UAV 100. Magnetometer 256 may be a three-axis magnetometer. Wireless communication interface 258 may include a chipset suitable for communicating with one or more devices over antenna 260. Suitable devices may include, for example, a device operated by a ground controller for operating the UAV.

b. Exemplary Operation

FIG. 3 is a flowchart of an exemplary embodiment, in the form of a method of operating a UAV, such as UAV 100 depicted in FIG. 1. As shown in FIG. 3, method 300 begins at step 302 by receiving from a three-axis magnetometer a measurement representative of an attitude of the UAV. The measurement is of only one axis of the three-axis magnetometer. For example, the measurement may be of only the z-axis of the three-axis magnetometer. The three-axis magnetometer may be, for example, magnetometer 256 depicted in FIG. 2. In an exemplary embodiment, the amount of time needed to receive the measurement may be small--for example, less than one second.

Method 300 continues at step 304 by comparing the measurement to an allowable range of attitudes. In an exemplary embodiment, comparing the measurement to an allowable range of attitudes may comprise comparing the measurement to a range of attitudes stored on a data storage associated with the UAV. The data storage may be, for example, data storage 252 depicted in FIG. 2. The range of attitudes may comprise, for example, a single, contiguous range, or multiple, non-contiguous ranges.

In another exemplary embodiment, comparing the measurement to an allowable range of attitudes may comprise transmitting the measurement to a ground operator for comparing the measurement to a range of attitudes. Transmitting the measurement may comprise, for example, using wireless interface 258 and antenna 260, both depicted in FIG. 2, to transmit the measurement. The ground operator, perhaps a device, might then compare the measurement to a data storage associated with the ground operator and, in response, transmit an instruction to the UAV to perform a corrective action.

Method 300 continues at step 306 by determining that the measurement is not within the allowable range of attitudes. The method then continues at step 308 by performing at least one corrective action on the UAV. In an exemplary embodiment, the amount of time required to perform at least one corrective action may be small--for example, less than one second. In another embodiment, the amount of time required to perform steps 302 through 308 may be less than one second. Note, however, that the times described to perform any of the steps in method 300 are by way of example only, and are not intended to be limiting.

In an exemplary embodiment, performing at least one corrective action comprises shutting off an engine of the UAV. The engine may be, for example, engine 254 depicted in FIG. 2. The UAV may contain, for example, an engine kill switch, and shutting off an engine may comprise triggering the engine kill switch. In another exemplary embodiment, performing at least one corrective action comprises adjusting the attitude of the UAV to within the allowable range of attitudes. Adjusting the attitude may comprise adjusting the speed of fan 104 or adjusting the angle of thrust vectoring vanes 110. Other methods of adjusting the attitude are possible without departing from the scope of the claims.

FIG. 4 is a flowchart of an exemplary embodiment, in the form of a method of operating a UAV, such as UAV 100 depicted in FIG. 1. As shown in FIG. 4, method 400 begins at step 402 by receiving from a three-axis magnetometer a measurement representative of an attitude of the UAV. The three-axis magnetometer may be, for example, magnetometer 256 depicted in FIG. 2. The measurement is of only one axis of the three-axis magnetometer. The method continues at step 404 by comparing the measurement to an allowable range of attitudes. The method then continues at step 406 by determining that the measurement is not within the allowable range of attitudes. Method 400 continues at step 408 by shutting off an engine. The engine may be, for example, engine 254 of UAV 100, as depicted in FIG. 2.

3. Conclusion

Various exemplary embodiments have been described above. Those skilled in the art will understand, however, that changes and modifications may be made to those examples without departing from the scope of the claims.

* * * * *

2013, Патинформбюро. Русификация заголовков и переформатирование исходного htm-описания патентов: В.И. Карнышев

Патент США №

Автор(ы)

Дата выдачи