JP6535382B2 - Method and system for determining the position of an unmanned aerial vehicle - Google Patents

Description

  Unmanned vehicles, such as unmanned aerial vehicles (UAVs), have been developed for use in a variety of fields, including consumer and industrial applications. For example, UAVs may fly in entertainment, photography / videography, surveillance, delivery, and other applications.

  The UAV has broadened the life of individuals. However, as the use of UAVs becomes more widespread, safety issues and challenges arise. For example, if the UAV's flight is not restricted, the UAV may fly over the area where it is prohibited or should be prohibited. This may occur deliberately or unintentionally. In some cases, novice users may lose control of the UAV or may not be familiar with flight aviation regulations. A danger also exists for possible hijacking or hacking in the control of the UAV.

  The safety systems and methods described herein improve flight safety of an unmanned aerial vehicle (UAV). A flight control and authentication system and method may be provided to assist in tracking the use of the UAV. The system can uniquely identify the various parties communicating (e.g., user, remote controller, UAV, geofencing device). In some cases, an authentication process may be performed and only authorized parties may be authorized to operate the UAV. Flight restrictions may be imposed on the operation of the UAV, and manual control of the user can be disabled. In some cases, geofencing devices can be used to provide information about flight restrictions or to help in flight restriction processing.

  Aspects of the invention may be directed to a system for controlling an unmanned aerial vehicle (UAV). The system comprises a first communication module and one or more processors. One or more processors, operatively connected to the first communication module, individually or collectively, (1) a user identifier indicating a user type using the first communication module or the second communication module Receive (2) generate a set of flight restrictions for the UAV based on the user identifier, and (3) transmit the set of flight restrictions to the UAV using the first communication module or the second communication module .

  Additionally, aspects of the invention may include a method of providing a set of flight restrictions to an unmanned aerial vehicle (UAV). The method comprises the steps of (1) receiving a user identifier indicating a user type, and (2) generating a set of flight restrictions for the UAV based on the user identifier, with the assistance of one or more processors ( 3) sending the set of flight restrictions to the UAV with the aid of the communication module.

  Non-transitory computer readable media including program instructions for controlling an unmanned aerial vehicle (UAV) may be provided by aspects of the present invention. The computer readable medium comprises (1) program instructions for receiving a user identifier indicative of a user type, (2) program instructions for generating a set of flight restrictions for a UAV based on the user identifier, and (3) a communication module. The program instructions include generating a signal to transmit the set of flight restrictions to the UAV with assistance.

  Furthermore, aspects of the invention may be directed to a method of operating an unmanned aerial vehicle (UAV). The UAV includes (1) one or more propulsion units for executing the UAV flight, (2) a communication module for receiving one or more flight commands from the remote user, and (3) one or more propulsion units. A flight control unit may be provided which generates a flight control signal to be transmitted. Flight control signals are generated according to a set of flight restrictions for the UAV. Flight restrictions are generated based on a user identifier that indicates the remote user's user type.

  Aspects of the invention may also include a system for controlling an unmanned aerial vehicle (UAV). The system comprises a first communication module and one or more processors. One or more processors, individually or collectively, are operatively connected to the first communication module and (1) a UAV identifier indicating the UAV type using the first communication module or the second communication module And (2) generate a set of flight restrictions for the UAV based on the UAV identifier, and (3) transmit the set of flight restrictions to the UAV using the first communication module or the second communication module Do.

  A method of controlling an unmanned aerial vehicle (UAV) may be provided by further aspects of the present invention. The method comprises the steps of: (1) receiving a UAV identifier indicating a UAV type; (2) generating a set of flight restrictions for the UAV based on the UAV identifier with the assistance of one or more processors ( 3) sending the set of flight restrictions to the UAV with the aid of the communication module.

  Further, aspects of the invention may be directed to non-transitory computer readable media comprising program instructions for controlling an unmanned aerial vehicle (UAV). The computer readable medium comprises (1) program instructions for receiving a UAV identifier indicating a UAV type, (2) program instructions for generating a set of flight restrictions for the UAV based on the UAV identifier, and (3) a communication module. The assistance includes program instructions for generating a signal that transmits a set of flight restrictions to the UAV.

  Aspects of the invention may be directed to an unmanned aerial vehicle (UAV). The UAV includes (1) one or more propulsion units for executing the UAV flight, (2) a communication module for receiving one or more flight commands from the remote user, and (3) one or more propulsion units. A flight control unit is provided which generates a flight control signal to be transmitted. Flight control signals are generated according to a set of flight restrictions for the UAV. The flight restriction is generated based on the UAV identifier indicating the UAV type of the remote user.

  Additional aspects of the invention may be directed to unmanned aerial vehicles (UAVs). The UAV includes (1) a flight control unit that controls the operation of the UAV, and (2) an identification module incorporated in the flight control unit to uniquely identify the UAV from other UAVs.

  Additionally, aspects of the invention may provide a method of identifying an unmanned aerial vehicle (UAV). The method comprises the steps of: (1) controlling the operation of a UAV using a flight control unit; and (2) using the identification module incorporated in the flight control unit, to make the UAV unique from other UAVs. Including the steps of:

  In some aspects of the invention, an unmanned aerial vehicle (UAV) may comprise a flight control unit that controls the operation of the UAV. The flight control unit comprises an identification module and a chip. The identification module (1) uniquely identifies the UAV from other UAVs, (2) includes an initial record of chips, and (3) gathers information about the chip subsequent to including an initial record of chips. The identification module goes through a self-testing procedure that compares the information gathered about the chip with the chip's initial record. The identification module provides an alert if the information gathered about the chip does not match the initial record of the chip.

  Aspects of the present invention may also be directed to methods of identifying an unmanned aerial vehicle (UAV). The method comprises the steps of: (1) controlling the operation of the UAV using a flight control unit comprising an identification module and a chip; and (2) using the identification module including an initial recording of the chip, to the other UAV (3) collecting information about the chip following the inclusion of the initial recording of the chip, and (4) using the identification module, the information collected about the chip in the initial state of the chip. And (5) providing an alert if the information gathered about the chip does not match the initial record of the chip by comparing it to the record.

  An unmanned aerial vehicle (UAV) load control system may be provided by further aspects of the present invention. The system may comprise a first communication module and one or more processors. One or more processors are operatively connected to the first communication module individually or collectively, (1) location dependent mounting using the first communication module or the second communication module Receiving a signal indicative of an object usage parameter, and (2) generating one or more UAV operation signals for performing the operation of the load object according to the load object usage parameter.

  Furthermore, aspects of the invention may be directed to methods of constraining the use of a load on an unmanned aerial vehicle (UAV). The method comprises the steps of (1) receiving a signal indicative of a position dependent load object usage parameter, and (2) performing operation of the load component according to the load component use parameter with the aid of one or more processors. Generating the above UAV operation signal.

  Additional aspects of the invention may provide a non-transitory computer readable medium comprising program instructions for restricting the use of a load on an Unmanned Aerial Vehicle (UAV). The computer readable medium comprises (1) program instructions for receiving signals indicative of position dependent load item usage parameters, and (2) one or more UAV operation signals for performing operations of load components according to load component usage parameters. Contains program instructions to generate.

  An unmanned aerial vehicle (UAV) may be provided according to aspects of the present invention. The UAV comprises: (1) a load, (2) a communication module that receives one or more load commands from a remote user, and (3) load control that is transmitted to the load or a support mechanism that supports the load. It has a flight control unit that generates a signal. The vehicle control signal is generated by one or more UAV operation signals. The UAV operating signal is generated based on the position dependent payload usage parameters.

  Aspects of the invention may be directed to an unmanned aerial vehicle (UAV) communication control system. The system comprises a first communication module and one or more processors. One or more processors are operatively connected to the first communication module, individually or collectively, (1) position dependent communication use using the first communication module or the second communication module Receiving signals indicative of the parameters and (2) generating one or more UAV operating signals to perform operation of the UAV communication unit according to the communication usage parameters.

  Additionally, aspects of the invention may include a method of constraining wireless communications to an unmanned aerial vehicle (UAV). The method comprises the steps of: (1) receiving a signal indicative of position dependent communication usage parameters; and (2) performing the layer of communication units according to the communication usage parameters with the aid of one or more processors. Generating the UAV operating signal.

  A non-transitory computer readable medium containing program instructions to constrain wireless communication to an unmanned aerial vehicle (UAV) may be provided by further aspects of the present invention. The computer readable medium generates (1) program instructions to receive signals indicative of position dependent communication usage parameters, and (2) one or more UAV operating signals to perform operation of the communication unit in accordance with the communication usage parameters. Includes program instructions.

  Aspects of the invention may also be directed to unmanned aerial vehicles (UAVs). The UAV includes (1) a communication unit that receives or transmits wireless communication, and (2) a flight control unit that generates a communication control signal to be transmitted to the communication unit that executes an operation of the communication unit. The communication control signal is generated by one or more UAV operation signals. The UAV operation signal is generated based on position dependent communication usage parameters.

  Additional aspects of the invention may be directed to methods of operating an unmanned aerial vehicle (UAV). The method comprises the steps of: (1) receiving a UAV identifier uniquely identifying the UAV from another UAV; (2) receiving a user identifier uniquely identifying the user from the other user; (3) Assess, with the assistance of one or more processors, whether the user identified by the user identifier is authorized to operate the UAV identified by the UAV identifier, and (4) the user identifies the UAV. If authorized to operate, it includes the step of permitting the user to operate the UAV.

  According to aspects of the present invention, a non-transitory computer readable medium can be provided that includes program instructions for operating an unmanned aerial vehicle (UAV). The non-transitory computer readable medium comprises (1) program instructions for receiving a UAV identifier uniquely identifying the UAV from another UAV, and (2) a user identifier uniquely identifying the user from another user Program instructions to receive, (3) program instructions to assess whether the user identified by the user identifier is authorized to operate the UAV identified by the UAV identifier, and (4) the user authorizes the operation to the UAV It may include program instructions that allow the user to manipulate the UAV, if it is.

  Aspects of the invention may provide an unmanned aerial vehicle (UAV) licensing system. The UAV licensing system comprises one or more processors. One or more processors individually or collectively receive (1) a UAV identifier that uniquely identifies the UAV from other UAVs, and (2) uniquely identifies the user from the other users Receive the user identifier, (3) assess whether the user identified by the user identifier is authorized to operate the UAV identified by the UAV identifier, and (4) if the user is authorized to operate the UAV, Send a signal to allow the user to operate the UAV.

  Additionally, aspects of the invention may be directed to a method of operating an unmanned aerial vehicle (UAV). The method comprises: (1) authenticating UAV identification information, wherein the identification information of the UAV is uniquely distinguishable from other UAVs; (2) identification information of the user is unique from other users Authenticating the user's identification information, (3) assessing whether the user is authorized to operate the UAV with the assistance of one or more processors, (4) the UAV And allowing the user to operate the UAV if both the UAV and the user are authenticated.

  Further, in accordance with aspects of the present invention, a non-transitory computer readable medium may be provided that includes program instructions for operating an unmanned aerial vehicle (UAV). The computer readable medium comprises: (1) program instructions for authenticating UAV identification information, wherein the identification information of the UAV is uniquely distinguishable from other UAVs, and (2) other users of the user identification information. Program instructions for authenticating the user's identification information, and (3) program instructions for assessing whether the user is authorized to operate the UAV with the assistance of one or more processors, 4) Includes program instructions that allow the user to operate the UAV if the user is authorized to operate the UAV and both the UAV and the user are authenticated.

  Aspects of the invention may also be directed to an unmanned aerial vehicle (UAV) authentication system. The UAV authentication system comprises one or more processors. One or more processors individually or collectively authenticate (1) UAV identification information, the UAV identification information is uniquely distinguishable from other UAVs, (2) user identification information Authentication, the identification information of the user is uniquely distinguishable from other users, (3) assesses whether the user is authorized to operate the UAV, and (4) the user is authorized to operate the UAV. Allows the user to operate the UAV if both the UAV and the user are authenticated.

  Furthermore, aspects of the invention may be directed to methods of determining the level of authentication of operation of an unmanned aerial vehicle (UAV). The method comprises the steps of (1) receiving status information about the UAV, and (2) assessing the authentication level of the UAV or the user of the UAV based on the status information using one or more processors. 3) performing authentication of the UAV or the user according to the degree of authentication, and (4) permitting operation of the UAV by the user when the degree of authentication is completed.

  According to aspects of the present invention, a non-transitory computer readable medium can be provided that includes program instructions for determining a level of authentication of operation of an unmanned aerial vehicle (UAV). The computer readable medium comprises (1) program instructions for receiving status information on the UAV, (2) program instructions for evaluating the UAV or the user's authentication degree of the UAV based on the status information, and (3) the authentication degree. , A program instruction for effecting the authentication of the UAV or the user, and (4) a program instruction for providing a signal for allowing the user to operate the UAV when the degree of authentication is completed.

  Furthermore, aspects of the invention may be directed to an unmanned aerial vehicle (UAV) authentication system. The UAV authentication system includes one or more processors. One or more processors individually or collectively receive (1) status information about the UAV, (2) assess the authentication degree of the UAV or UAV user based on the status information, and (3) authentication Perform UAV or user authentication depending on the degree.

  According to aspects of the invention, a method may be provided to determine the level of flight control for the operation of an unmanned aerial vehicle (UAV). The method comprises the steps of: (1) assessing the degree of authentication of a UAV or user of a UAV using one or more processors; (2) performing authentication of the UAV or user according to the degree of authentication; B.) Generating a set of flight restrictions based on the degree of certification; and (4) performing the operation of the UAV with the set of flight restrictions.

  Further aspects of the present invention may be directed to non-transitory computer readable media including program instructions for determining a level of flight control of an unmanned aerial vehicle (UAV). The computer readable medium comprises (1) program instructions for assessing the UAV or the user's authentication degree, (2) program instructions for performing the UAV or user authentication according to the authentication degree, and (3) the authentication degree. Program instructions for generating a set of flight restrictions; and (4) program instructions for providing signals enabling operation of the UAV according to the set of flight restrictions.

  Further, aspects of the invention may provide an unmanned aerial vehicle (UAV) authentication system. The UAV authentication system includes one or more processors. One or more processors individually or collectively evaluate (1) the UAV or UAV user's authentication degree, (2) perform the UAV or user authentication according to the authentication degree, and (3) authentication degree Generate a set of flight restrictions based on.

  According to aspects of the invention, a method may be provided to alert a user when the operation of an unmanned aerial vehicle (UAV) is compromised. The method comprises the steps of: (1) a user authenticating the execution of the UAV operation; (2) receiving one or more commands from the remote controller receiving user input to execute the UAV operation; 3) detecting unlicensed communications that interfere with one or more commands from the user, and (4) alerting the user via the remote controller regarding the unlicensed communications.

  Aspects of the invention may also include non-transitory computer readable media including program instructions for alerting the user when unmanned aerial vehicle (UAV) operation is compromised. The computer readable medium receives (1) program instructions from a remote controller that authorizes the user to perform an operation of the UAV, and (2) receives one or more commands from the user to perform user operations of the UAV. Program instructions and (3) program instructions for generating an alert provided to the user via the remote controller regarding detected unlicensed communications that interfere with one or more commands from the user.

  Furthermore, aspects of the invention may be directed to an unmanned aerial vehicle (UAV) alarm system. The UAV alarm system comprises one or more processors. One or more processors individually or collectively, (1) a user to perform UAV operations authentication, (2) one or more commands remote control to receive user input to perform UAV operations (3) detect unauthorized communications interfering with one or more commands from the user, and (4) generate a signal to alert the user via the remote controller regarding the unauthorized communications.

  According to a further aspect of the invention, a method may be provided for detecting flight deviations of an unmanned aerial vehicle (UAV). The method comprises the steps of: (1) receiving one or more flight commands provided by the user from the remote controller; and (2) with the assistance of one or more processors, based on the one or more flight commands. The steps of calculating the predicted position, (3) detecting the actual position of the UAV with the aid of one or more sensors, and (4) the predicted position to determine the deviation of the UAV's behavior. And (5) displaying the danger that the UAV is not operating according to one or more flight commands based on the deviation of the UAV's behavior.

  In some aspects of the invention, a non-transitory computer readable medium may be provided that includes program instructions for detecting flight deviations of an unmanned aerial vehicle (UAV). The computer readable medium comprises: (1) program instructions provided by the user from the remote controller to calculate the predicted location of the UAV based on one or more flight commands; and (2) assistance for one or more sensors. A program instruction for detecting the actual position of the UAV, (3) a program instruction for comparing the predicted position with the actual position to determine the deviation of the UAV's behavior, and (4) the deviation of the UAV's behavior. And program instructions to indicate danger that the UAV is not operating according to one or more flight commands.

  Aspects of the invention may be directed to an unmanned aerial vehicle (UAV) flight departure detection system. The UAV flight departure detection system comprises one or more processors. One or more processors, individually or collectively, (1) receive one or more flight commands provided by the user from the remote controller, and (2) predict UAV based on the one or more flight commands Calculated position, (3) detect the actual position of the UAV with the aid of one or more sensors, and (4) determine the expected position to determine the deviation of the UAV's behavior. (5) Generate a signal indicating the danger that the UAV is not operating according to one or more flight commands based on the deviation of the UAV's behavior.

  Furthermore, aspects of the invention may be directed to a method of recording the behavior of an unmanned aerial vehicle (UAV). The method comprises the steps of (1) receiving a UAV identifier uniquely identifying the UAV from another UAV, and (2) one or more commands by which the user performs the UAV operation via the remote controller. Providing and receiving a user identifier uniquely identifying the user from other users; (3) one or more storage units associated with one or more commands, one or more commands Recording the user identifier and the UAV identifier associated with the one or more commands.

  According to aspects of the present invention, a non-transitory computer readable medium can be provided that includes program instructions for recording the behavior of an unmanned aerial vehicle (UAV). The computer readable medium (1) one or more from a user providing a user identifier uniquely identifying the user from other users, and one or more commands to perform UAV operations via a remote controller. Program instructions for associating one or more commands, (2) program instructions associating one or more commands with a UAV identifier uniquely identifying the UAV from other UAVs, (3) one or more commands, one or more And one or more program instructions for recording the UAV identifier associated with one or more commands in one or more storage units.

  Aspects of the invention may include an unmanned aerial vehicle (UAV) behavior recording system. The UAV behavior recording system includes one or more storage units and one or more processors. One or more processors, operatively connected to one or more storage units, individually or collectively receive (1) a UAV identifier that uniquely identifies the UAV from other UAVs, 2) Receive a user identifier that uniquely identifies the user from other users. The user provides one or more commands to perform UAV operations via a remote controller, and one or more commands, one or more commands, a user identifier associated with one or more commands, to one or more storage units. And record UAV identifiers associated with one or more commands.

  According to an aspect of the present invention, a system for operating an unmanned aerial vehicle (UAV) can be provided. The system comprises an identification registration database, an authentication center, and an aviation control system. The identification registration database stores one or more UAV identifiers that uniquely identify UAVs to each other, and one or more user identifiers that uniquely identify users to each other. The authentication center authenticates UAV identification information and user identification information. The aviation control system receives (1) the UAV identifier for the authenticated UAV and the user identifier for the authenticated user, and (2) based on at least one of the authenticated UAV identifier and the authenticated user identifier. Provide a set of flight restrictions.

  Additional aspects of the invention may provide a method of determining the position of an unmanned aerial vehicle (UAV). The method comprises the steps of (1) receiving one or more messages from the UAV at a plurality of recording devices; (2) stamping a time stamp on the one or more messages from the UAV at the plurality of recording devices; 3) calculating the position of the UAV with the aid of one or more processors based on the time stamps of one or more messages.

  In some aspects of the invention, a non-transitory computer readable medium may be provided that includes program instructions for determining the position of an unmanned aerial vehicle (UAV). The computer readable medium comprises (1) program instructions for receiving one or more messages from the UAV in a plurality of recording devices, and (2) a program for timestamping one or more messages from the UAV in a plurality of recording devices. And (3) program instructions for calculating the location of the UAV based on the time stamps of one or more messages.

  An unmanned aerial vehicle (UAV) communication location system according to further aspects of the present invention comprises a communication module and one or more processors. The one or more processors are operatively connected to the communication module, individually or collectively, based on the time stamps of one or more messages transmitted from the UAV and received at the plurality of recording devices remote from the UAV. And calculate the position of the UAV.

  According to an aspect of the present invention, a method of authenticating an unmanned aerial vehicle (UAV) may be provided. The method comprises the steps of (1) receiving an authentication request including a UAV identifier from the UAV, (2) acquiring information corresponding to the UAV identifier, and (3) acquiring an authentication vector including at least an authentication token. And (4) transmitting an authentication token and a key evaluation reference to the UAV, wherein the UAV generates a message authentication based on the authentication token, the key evaluation reference, and the key encoded on the UAV. Authenticating the authentication vector based on the code, (5) receiving from the UAV a response based on the key evaluation reference and the key encoded on the UAV, and (6) based on the response received from the UAV Including the step of verifying the authentication request.

A further aspect of the invention may provide a system for authenticating an unmanned aerial vehicle (UAV). The system comprises an authentication module, a communication module, and one or more processors. One or more processors are operatively connected to the authentication module and the communication module and individually or collectively receive (1) an authentication request including a UAV identifier from the UAV, and (2) corresponding to the UAV identifier The information is acquired, (3) an authentication vector including at least an authentication token is generated based on the acquired information, (4) an authentication token and a key evaluation reference are sent to the UAV, the UAV generates an authentication token, a key evaluation reference, And authenticate the authentication vector based on the message authentication code generated based on the key encoded on the UAV, and (5) receive a key evaluation reference and a response based on the key encoded on the UAV from the UAV, (6) Verify the authentication request based on the response received from the UAV.

  Additionally, aspects of the invention may be directed to non-transitory computer readable media including program instructions for authenticating an unmanned aerial vehicle (UAV). The computer readable medium comprises (1) program instructions for receiving an authentication request including a UAV identifier from the UAV, (2) program instructions for acquiring information corresponding to the UAV identifier, and (3) authentication including at least an authentication token. The vector instruction is generated based on the acquired information, and (4) the authentication token and the key evaluation reference are sent to the UAV, and the UAV is based on the authentication token, the key evaluation reference, and the key encoded on the UAV Program instructions for authenticating the authentication vector based on the message authentication code generated; (5) program instructions for receiving from the UAV a response based on the key evaluation reference and the key encoded on the UAV; (6) from the UAV Program instructions are included to verify the authentication request based on the received response.

  In some aspects of the invention, a method may be provided for authenticating an authentication center. The method comprises the steps of: (1) providing an authentication request including a UAV identifier from the UAV to an authentication center; (2) an authentication token generated based on the acquired information corresponding to the UAV identifier, and a key evaluation reference Receiving an authentication vector including the authentication vector from the authentication center, (3) calculating an authentication sequence number based on the authentication token, and (4) key evaluation reference and an authentication key based on the key encoded on the UAV. (5) determining a message authentication code based on (5) an authentication token, an authentication sequence number, and an authentication key; (6) an authentication sequence number and a message determined from an authentication vector received from an authentication center Authenticating the authentication center based on at least one of the authentication codes Including.

  According to an aspect of the present invention, a system for authenticating an authentication center may be provided. The system comprises an authentication module, a communication module, and one or more processors. Operatively connected to one or more processors, authentication modules and communication modules, individually or collectively, (1) provide an authentication request including a UAV identifier from the UAV to the authentication center, and (2) support the UAV identifier An authentication token generated based on the acquired information and an authentication vector including a key evaluation reference are received from the authentication center, (3) an authentication sequence number is calculated based on the authentication token, and (4) key evaluation reference And generate an authentication key based on the key encoded on the UAV, (5) determine a message authentication code based on the authentication token, the authentication sequence number, and the authentication key, and (6) the authentication received from the authentication center Authentication center based on at least one of authentication sequence number determined from vector and message authentication code To authenticate.

  Aspects of the present invention may also be directed to non-transitory computer readable media comprising program instructions for authenticating an authentication center. The computer readable medium comprises: (1) program instructions for providing an authentication request including a UAV identifier from a UAV to an authentication center; (2) an authentication token generated based on acquired information corresponding to the UAV identifier; Based on a program command for receiving an authentication vector including a reference from the authentication center, (3) a program command for calculating an authentication sequence number based on an authentication token, and (4) based on a key evaluation reference and a key encoded on a UAV Program instruction to generate an authentication key, (5) program instruction to determine a message authentication code based on an authentication token, an authentication sequence number, and an authentication key, and (6) determined from an authentication vector received from an authentication center At least one of the authentication sequence number and the message authentication code Including program instructions to authenticate the authentication center Zui.

  Additionally, aspects of the invention may be directed to a method of alerting a user when the operation of an unmanned aerial vehicle (UAV) is compromised. The method comprises the steps of: (1) authenticating a user to operate the UAV; (2) receiving one or more commands from a remote controller that receives user input to perform the operation of the UAV; ) Detecting unlicensed communications that interfere with one or more commands from the user; Including the steps of

  A non-transitory computer readable medium comprising program instructions for alerting a user when the operation of an unmanned aerial vehicle (UAV) is compromised may be provided in accordance with aspects of the present invention. The computer readable medium is (1) a program instruction for allowing a user to authenticate execution of a UAV operation, and (2) a program for receiving one or more commands from a remote controller for receiving a user input to execute a UAV operation And (3) program instructions responsive to detection of unauthorized communications to cause the UAV to fly to a predetermined home point while ignoring unauthorized communications.

  According to a further aspect of the invention, an unmanned aerial vehicle (UAV) alarm system can be provided. The UAV alarm system may comprise one or more processors. One or more processors individually or collectively, (1) a remote controller that authenticates the user performing the UAV operation, and (2) receives user input performing the UAV operation of one or more commands (3) detect unlicensed communications that interfere with one or more commands from the user, and (4) respond to the detection of Fly to a given home point.

  It is understood that different aspects of the invention can be recognized individually, collectively, or in combination with one another. The various inventive aspects described herein may be applied to any of the specific applications described below, or to any other type of movable object. Any description of an aircraft (e.g. unmanned aerial vehicle) herein may apply to and be used on any movable object (e.g. any airframe). Further, the systems, devices, and methods disclosed herein in connection with air movement (e.g., flight) may be used for other types of movement (e.g., movement on ground or water, in water, or in space) It may be applied in conjunction.

Citation by Reference All publications, patents, patent applications mentioned in this specification are as detailed and individually as individual publications, patents or patent applications are incorporated by reference. Are hereby incorporated by reference.

  The novel features of the present invention are set forth with particularity in the appended claims. A better understanding of the features and advantages of the present invention can be obtained by reference to the following detailed description that sets forth illustrative embodiments, in which the principles of the invention are utilized, and the accompanying drawings.

7 illustrates an example of communication with one or more users and one or more UAVs, according to an embodiment of the present invention. 1 shows an example of an authentication system according to an embodiment of the present invention. 5 illustrates an example of one or more factors that may be involved in the generation of a set of flight restrictions, according to an embodiment of the present invention. 3 shows an example of a flight control unit according to an embodiment of the present invention. 6 illustrates a further example of a flight control unit according to an embodiment of the present invention. Fig. 6 shows an example of a flight control unit for tracking the identification of chips on a flight control unit according to an embodiment of the present invention. FIG. 7 illustrates an example of incorporating multiple types of flight restrictions according to embodiments of the present invention. 7 illustrates a process of considering whether a user is authorized to operate a UAV, according to an embodiment of the present invention. 7 illustrates a process of determining whether to allow a user to operate a UAV, according to an embodiment of the present invention. FIG. 6 shows a diagram of the level of flight restrictions may be influenced by the degree of authentication according to an embodiment of the present invention. 5 illustrates an example of device information that may be stored in memory, according to embodiments of the present invention. FIG. 7 shows a diagram of a hijacker attempting to take over control of a UAV, according to an embodiment of the present invention. Fig. 6 shows an example of a flight deviation of a UAV according to an embodiment of the invention. 1 illustrates an example of a monitoring system using one or more recording devices, according to an embodiment of the present invention. FIG. 7 shows a diagram of two-way authentication between a UAV and an authentication center according to an embodiment of the present invention. 7 illustrates a process for sending a message with a cryptographic signature, according to an embodiment of the present invention. 8 illustrates another process for validating a message by decrypting a signature according to an embodiment of the present invention. 3 illustrates an example of a UAV and geofencing device according to embodiments of the present invention. FIG. 7 shows a side view of a geo-fencing device, a geo-fencing boundary, and a UAV, according to an embodiment of the present invention. 1 illustrates a system in which a geo-fencing device sends information directly to a UAV, according to an embodiment of the present invention. 1 illustrates a system in which an aviation control system may communicate with at least one of a geofencing device or a UAV. 1 illustrates a system in which a UAV detects a geofencing device, according to an embodiment of the present invention. Fig. 6 illustrates an example of a UAV system in which the UAV and the geofencing device do not need to communicate directly with each other according to embodiments of the present invention. Fig. 6 illustrates an example of a geofencing device that may have multiple flight restriction zones. 5 illustrates a process of generating a set of flight restrictions, according to an embodiment of the present invention. 7 illustrates a process of authenticating a geo-fencing device according to an embodiment of the present invention. 5 illustrates another example of device information that may be stored in memory, in accordance with an embodiment of the present invention. Fig. 5 illustrates a geo-fencing device that may provide different sets of different flight restrictions, in accordance with embodiments of the present invention. Fig. 6 illustrates an example of a geofencing device with a set of flight restrictions that can change with time according to an embodiment of the present invention. Fig. 8 illustrates the case where a UAV can be provided within overlapping ranges across multiple geofencing devices according to embodiments of the present invention. 6 illustrates an example of different regulations for different geofencing devices according to aspects of the present invention. 1 illustrates an example of a mobile geofencing device according to an embodiment of the present invention. Fig. 6 shows an example of mobile geofencing devices approaching each other according to an embodiment of the present invention. 7 shows another example of a mobile geofencing device according to an embodiment of the present invention. FIG. 10 illustrates an example user interface showing information regarding one or more geofencing devices, according to an embodiment of the present invention. 1 illustrates a UAV according to an embodiment of the present invention. Fig. 5 illustrates a movable object including a support mechanism and a load according to an embodiment of the present invention. 1 illustrates a system for controlling movable objects, according to an embodiment of the present invention. 4 illustrates different types of communication between a UAV and a geofencing device according to embodiments of the invention. Fig. 6 illustrates an example of a system having a plurality of geofencing devices, each having a corresponding geofence identifier, according to an embodiment of the present invention. FIG. 7 illustrates an example of a UAV system in which an aviation control system communicates with multiple UAVs and multiple geofencing devices according to embodiments of the invention. Fig. 6 illustrates an example of an environment having a UAV capable of traversing a flight path, and one or more geofencing devices within the environment. FIG. 10 illustrates an example of an apparatus capable of accepting user input to control one or more geofencing apparatus in accordance with an embodiment of the present invention. Figure 4 provides an illustration of how to use geofencing devices in a home to limit the use of UAVs according to embodiments of the present invention. Figure 7 provides an illustration of how a geofencing device can be used for storage of UAVs according to embodiments of the present invention.

  Unmanned vehicles, such as unmanned aerial vehicles (UAVs), may operate according to a safety system that improves the flight safety of the unmanned aircraft. Any mentioning of a UAV herein may apply to any type of unmanned aerial vehicle (eg, an aircraft, a ground transport, a ship, or a spacecraft). A flight control and authentication system and method may be provided that may assist in monitoring and control of UAV usage. The system may uniquely identify the various parties (eg, users, remote controllers, UAVs, geofencing devices) in communication. In some cases, an authentication process may be performed and only authorized parties may be authorized to operate the UAV. Flight restrictions may be imposed on the operation of the UAV, and manual control of the user may be disabled. The geofencing device can be used to provide information on flight restrictions or help with flight restriction processing. The geofencing device may provide a physical reference of one or more geofencing boundaries that may be associated with a corresponding set of flight restrictions.

  Flight safety efforts during UAV use can occur in several different ways. For example, conventionally, UAV flight is not restricted (e.g., UAV may fly above where it should be banned). Also, for example, the UAV may fly to a secret area (e.g., an airport, a military base) without permission. In addition, UAVs may fly in the course of other aircraft without permission. UAVs can fly without permission to a company or individual's premises, causing noise pollution, physical injury and property damage. In some cases, UAVs can fly to public areas without permission, which can cause physical injury and property damage. The systems and methods provided herein may provide the UAV with a set of flight restrictions that may impose the necessary restrictions. This may be based on geography, time or at least one of the activities. The UAV can automatically comply with flight restrictions without requiring user input. In some cases, control of the UAV may be generated based on flight restrictions that may invalidate manual input from the user.

  The flight of the UAV may be controlled by the user with the help of one or more remote controllers. In some cases, there is a danger that flight hijacking may occur. The hijacker can interfere with commands from authorized users to the UAV. If the UAV receives and accepts a fake instruction, it may perform uncontrollable tasks, which may have adverse consequences. The systems and methods provided herein may be identified when hijacking occurs. The system and method may alert the user when a hijacking occurs. In addition, the system and method can cause the UAV to act in response to the detected hijacking and can override hijacker control.

  The UAV can support various on-board sensors that can be used to acquire data. A hacker may attempt to steal the retrieved data. For example, data from the UAV may be intercepted or data transmitted to the ground through a remote wireless link may be monitored. The systems and methods provided herein can provide encryption and authentication so that only authorized users can receive data.

  In another case of UAV flight safety issues, UAVs may be abused. Heretofore, there have been no warning measures, identification measures or stop measures for violations, in particular when the UAV operator deliberately abuses the UAV. For example, UAVs may be used for unlawful advertising, unauthorized attacks, or breach of privacy (eg, unauthorized snapshots). The systems and methods provided herein can monitor usage and can help identify if an abuse of the UAV occurs. The data may further be used to criminally track parties involved in abuse or any relevant data. Further, systems and methods may be provided that enable a warning to the user or other entity when abuse is taking place or at least one of disabling any control that allows abuse.

  During operation, the UAV can transmit or receive data wirelessly. In some cases, the UAV may abuse at least one of radio resources or air resources, which may result in the waste of public resources. For example, the UAV may interfere with licensed communications or steal bandwidth from other communications. The systems and methods provided herein can identify when such an activity occurs and can trigger an alert or prevent such an obstruction from occurring.

  In general, the task is to oversee the operation of the UAV. As different types of UAVs have become more popular for different types of usage, there has been no prior art licensed system for UAV flight. At least one of the following is difficult. Unusual flight and normal flight differentiation, small UAV detection, visual detection of UAV in night flight, tracking and punishment of unidentified flight, UAV flight and its users or owners can not be denied Association by method. The systems and methods described herein can perform one or more of these purposes. Identification data can be collected and can result in the authentication of one or more identifiers. In the past, providing secure control over the absence of one or more of the following may have been difficult. That is, a secure channel between the supervisor and the UAV owner or user, a direct alert or alert mechanism, a legal mechanism for the supervisor to take over control, and a UAV to differentiate the hijacker from the supervisor Mechanisms and measures to force off illegal actions of UAVs. However, the systems and methods provided herein can provide one or more of these functions.

  Similarly, a mechanism for assessing or assessing UAV performance, load capacity and permits is needed. A further need is a mechanism for the assessment or review of UAV user's maneuverability and records. The systems and methods provided herein can advantageously provide such type of assessment. Optionally, flight restrictions may be generated and enforced according to the assessment.

  As mentioned above, conventional UAV systems do not have security mechanisms for UAV flight safety. For example, there is no flight safety warning mechanism, no information sharing mechanism for the flight environment, or no emergency rescue mechanism. The described flight safety system and method can perform one or more of the functions described above.

System Overview FIG. 1 shows an example of communication between one or more users 110a, 110b, 110c and one or more UAVs 120a, 120b, 120c. The user can communicate with the UAV with the help of the remote controller 115a, 115b, 115c. The authentication system may include storage 130, which may store information regarding at least one of a user, a remote controller or a UAV.

  The users 110a, 110b, 110c may be individuals associated with the UAV. The user may be an operator of the UAV. The user may be an individual authorized to operate the UAV. The user can give input and control the UAV. The user may provide inputs to control the UAV by remote controllers 115a, 115b, 115c. The user may provide user input to control: UAV flight, UAV on-board operation, on-board condition for UAV, UAV's one or more sensor operation, UAV communication operation, or other UAV functions. Users can receive data from the UAV. Data acquired using one or more sensors of the UAV are provided to the user, optionally via a remote controller. The user may be the owner of the UAV. The user may be a registered owner of the UAV. The user may be registered that the operation of the UAV is permitted. The user may be a human operator. The user may be an adult or a child. The user may or may not have a line of sight with the UAV while operating the UAV. The user can communicate directly with the UAV using the remote controller. Alternatively, the user can communicate indirectly with the UAV (optionally using a remote controller) via the network.

  The user may have a user identifier (eg, user ID1, user ID2, user ID3...) Identifying the user. The user identifier may be unique to the user. Other users may have different identifiers than the users. The user identifier may uniquely differentiate and / or distinguish the user from other individuals. Each user may be assigned only a single user identifier. Alternatively, the user may be able to register multiple user identifiers. In some cases, a single user identifier may be assigned to only a single user. Alternatively, a single user identifier may be shared by multiple users. In a preferred embodiment, a one-to-one correspondence may be provided between the user and the corresponding user identifier.

  Optionally, the user may be authenticated as a licensed user for the user identifier. The authentication process may include verification of the identity of the user. Examples of authentication processes are described in more detail elsewhere in this specification.

  The UAVs 120a, 120b, 120c may be operational upon power up. The UAV may be in flight or in the landing state. The UAV can collect data using one or more sensors (optionally the load may be sensors). UAVs include autonomously (eg, do not require user input) or semi-autonomously (eg, some user input) in response to control from the user (eg, manually through a remote control) May operate in a manner that does not depend on user input). The UAV may be capable of responding to commands from the remote controller 115a, 115b, 115c. The remote controller may not be connected to the UAV, and the remote controller may communicate wirelessly from a distance with the UAV. The remote controller is capable of at least one of accepting user input or detecting. The UAV may be capable of following a set of preprogrammed instructions. In some cases, the UAV may operate semi-autonomously, or otherwise operate autonomously, in response to one or more commands from the remote controller. For example, one or more commands from the remote controller can cause a series of autonomous or semi-autonomous actions by the UAV according to one or more parameters. The UAV can be switched between at least one operation: manual, autonomous or semi-autonomous. In some cases, the activity of the UAV may be governed by a set of one or more flight restrictions.

  A UAV may have one or more sensors. The UAV may include one or more vision sensors, such as an image sensor. For example, the image sensor may be a monocular camera, a stereoscopic camera, a radar, a sonar, or an infrared camera. The UAV may further include other sensors that may be used to determine the position of the UAV. For example, inertial sensors, lidars, ultrasonic sensors, acoustic sensors, WiFi sensors. These may be part of a Global Positioning System (GPS) sensor, an inertial measurement unit (IMU) (eg, an accelerometer, gyroscope, magnetometer) or a Global Positioning System (GPS) sensor, an inertial measurement unit Can be used separately from IMU). Various examples of sensors may include, but are not limited to: Position sensors (eg, Global Positioning System (GPS) sensors, mobile device transmitters that enable triangulation of position), vision sensors (eg, imaging that allows detection of visible light such as a camera, infrared, or ultraviolet light) Devices), proximity sensors or range sensors (eg ultrasonic sensors, lidars, time of flight or depth cameras), inertial sensors (eg accelerometers, gyroscopes, inertial measurement units (IMUs)), altitude sensors, attitude sensors (eg For example, a compass), a pressure sensor (e.g. a barometer), an audio sensor (e.g. a microphone) or an electric field sensor (e.g. a magnetometer, an electromagnetic sensor). Any suitable number of sensors and combinations thereof may use, for example, one, two, three, four, five or more sensors.

  Optionally, data can be received from sensors of different types (e.g. two, three, four, five or more types). Different types of sensors may utilize at least one of the following. Measurement of different types of signals or information (eg position, orientation, velocity, acceleration, proximity, pressure etc) or different types of measurement techniques to obtain data. For example, the sensors include any suitable combination of active sensors (eg, sensors that generate and measure energy from their own energy source) and passive sensors (eg, sensors that detect available energy) obtain. As another example, certain sensors may generate absolute measurement data (eg, position data provided by a GPS sensor, attitude data provided by a compass or magnetometer) provided in terms of a global coordinate system. On the other hand, the other sensors may be relative measurement data provided in terms of the local coordinate system (eg, relative angular velocity provided by the gyroscope, relative translational acceleration provided by the accelerometer, relative attitude information provided by the visual sensor , An ultrasonic sensor, a lidar, or relative distance information provided by a time-of-flight camera). A UAV on-board or off-board sensor may collect information such as the location of the UAV, the location of other objects, the orientation of the UAV, or environmental information. A single sensor may be able to collect a complete set of information under an environment, or a group of sensors may cooperate to collect a complete set of information under an environment. Sensors may be used for mapping locations, navigating between locations, detecting obstacles, or detecting targets. Sensors can be used to look for an environment or object. A sensor may be used to recognize the target. The target can be distinguished from other objects in the environment.

  The UAV may be an aircraft. A UAV may have one or more propulsion units that may allow it to move around in the air. One or more propulsion units may allow the UAV to move about with one or more, two or more, three or more, four or more, five or more, six or more degrees of freedom. In some cases, the UAV may rotate about one, two, three or more rotation axes. The rotation axes may be orthogonal to one another. The rotation axes may remain orthogonal to one another throughout the flight course of the UAV. The rotation axis may include at least one of a pitch axis, a roll axis, or a yaw axis. A UAV may be movable along one or more dimensions. For example, the UAV may be moveable upward by the lift generated by one or more rotors. In some cases, the UAV may be movable along the Z-axis (which may be upward with respect to the orientation of the UAV), at least one of the X-axis or the Y-axis (which may be laterally). The UAV may be movable along one, two or three axes which may be orthogonal to one another.

  The UAV may be a rotorcraft. In some cases, the UAV may be a multi-rotor aircraft that may include multiple rotors. The plurality of rotors may be able to rotate to generate lift for the UAV. The rotor may be a propulsion unit that may allow the UAV to move freely around the air. The rotor may rotate at the same speed and / or generate the same amount of lift or thrust. The rotor may rotate at any variable speed, and may generate different amounts of lift or thrust, or allow rotation of the UAV. In some cases, one, two, three, four, five, six, seven, eight, nine, ten, or more rotors may be provided in the UAV. The rotors may be arranged such that their rotational axes are parallel to one another. In some cases, the rotors may have axes of rotation that are at any angle relative to one another which may affect the motion of the UAV.

  The illustrated UAV may have multiple rotors. The rotor can be connected to the body of the UAV, which can have a control unit, one or more sensors, a processor, and a power supply. The sensor may include at least one of a visual sensor or other sensor capable of collecting information about the UAV environment. The information from the sensors can be used to determine the position of the UAV. The rotor may be connected to the body via one or more arms or extensions that can branch from the center of the body. For example, one or more arms may extend radially from the central body of the UAV and may have a rotor at or near the end of the arms. In another case, the UAV may include one or more arms, which may include one or more additional support members, which have one, two, three or more rotors attached to them. It can. For example, a T-bar structure can be used to support the rotor.

  At least one of the longitudinal position or velocity of the UAV may be controlled by at least one of maintaining or adjusting the power output to the one or more propulsion units of the UAV. For example, increasing the rotational speed of one or more rotors of a UAV can help raise the altitude of the UAV, or raise the altitude at a faster rate. Increasing the rotational speed of one or more rotors may increase the thrust of the rotors. Reducing the rotational speed of the UAV's one or more rotors can help the UAV reduce altitude or reduce altitude at a faster speed. Reducing the rotational speed of the one or more rotors may reduce the thrust of the one or more rotors. When the UAV takes off, the power that can be given to the propulsion unit can be increased from the previous landing condition. When the UAV lands, the power given to the propulsion unit may be reduced from the previous flight conditions. The UAV is capable of near vertical take-off and / or landing.

  At least one of the lateral position or velocity of the UAV may be controlled by at least one of maintaining or adjusting the power output to the one or more propulsion units of the UAV. The altitude of the UAV and the rotational speed of one or more rotors of the UAV can affect the lateral movement of the UAV. For example, the UAV can tilt in a particular direction and move in that direction. Also, the speed of the UAV's rotor may affect at least one of the lateral movement speed or the trajectory of movement. At least one of the lateral position or velocity of the UAV may be controlled by varying or maintaining the rotational velocity of one or more rotors of the UAV.

  The UAV may be of small dimensions. A UAV may be able to be lifted or supported by humans. The UAV may be capable of being supported with one hand.

  The UAV may have maximum dimensions (eg, length, width, height, diagonal, diameter) not exceeding 100 cm. In some cases, the maximum dimension is 1 mm or less, 5 mm or less, 1 cm or less, 3 cm or less, 5 cm or less, 10 cm or less, 12 cm or less, 15 cm or less, 20 cm or less, 25 cm or less, 30 cm or less, 35 cm or less, 40 cm or less, 45 cm or less 50 cm or less, 55 cm or less, 60 cm or less, 65 cm or less, 70 cm or less, 75 cm or less, 80 cm or less, 85 cm or less, 95 cm or less, 95 cm or less, 100 cm or less, 110 cm or less, 120 cm or less, 130 cm or less, 140 cm or less, 150 cm or less, 160 cm or less 170 cm or less, 180 cm or less, 190 cm or less, 200 cm or less, 220 cm or less, 250 cm or less, or 300 cm or less. Optionally, the largest dimension of the UAV may be any two or more of the values described herein. The UAV may have the largest dimension falling within the range between any two of the values described herein.

  The UAV may be lightweight. For example, UAV is 1 mg or less, 5 mg or less, 10 mg or less, 50 mg or less, 100 mg or less, 1 mg or less, 2 g or less, 3 g or less, 5 g or less, 7 g or less, 10 g or less, 12 g or less, 15 g or less, 20 g or less 25 g or less, 30 g or less, 40 g or less, 45 g or less, 50 g or less, 60 g or less, 70 g or less, 80 g or less, 90 g or less, 100 g or less, 120 g or less, 150 g or less, 200 g or less, 250 g or less, 300 g or less, 350 g or less 400 g or less, 450 g or less, 500 g or less, 600 g or less, 700 g or less, 800 g or less, 1 g or less, 1.1 kg or less, 1.2 kg or less, 1.3 kg or less, 1.4 kg or less, 1.5 kg or less 1.7 kg or less, 2 kg or less, 2.2 kg or less, 2.5 kg or less 3 kg or less, 3.5 kg or less, 4 kg or less, 4.5 kg or less, 5 kg or less, 5.5 kg or less, 6 kg or less, 6.5 kg or less, 7 kg or less, 7.5 kg or less, 8 kg or less, 8.5 kg or less, 9 kg or less 9.5 kg or less, 10 kg or less, 11 kg or less, 12 kg or less, 13 kg or less, 14 kg or less, 15 kg or less, 17 kg or less, or 20 kg or less. The UAV may have a weight that is greater than or equal to any of the values described herein. The UAV may have a weight falling within the range between any two of the values described herein.

  The UAV may have a UAV identifier (eg, UAVID1, UAVID2, UAVID3, ...) identifying the UAV. The UAV identifier may be unique to the UAV. Another UAV may have an identifier different from the UAV. The UAV identifier can uniquely differentiate or distinguish the UAV from other UAVs. Each UAV may be assigned only a single UAV identifier. Alternatively, multiple UAV identifiers may be registered for a single UAV. In some cases, only a single UAV identifier may be assigned to a single UAV. Alternatively, a single UAV identifier may be shared by multiple UAVs. In a preferred embodiment, a one-to-one correspondence may be provided between the UAV and the corresponding UAV identifier.

  Optionally, the UAV may be authenticated as being a licensed UAV with respect to the UAV identifier. The authentication process may include verification of the UAV's identity. Examples of authentication processes are described in more detail elsewhere herein.

  In one embodiment, the remote controller may have a remote controller identifier that identifies the remote controller. The remote controller identifier may be unique to the remote controller. Another remote controller may have an identifier different from the remote controller. The remote controller identifier can uniquely differentiate or distinguish the remote controller from other remote controllers. Each remote controller may be assigned only a single remote controller identifier. Alternatively, multiple remote controller identifiers may be registered for a single remote controller. In some cases, only a single remote controller identifier may be assigned to a single remote controller. Alternatively, multiple remote controllers may share a single remote controller identifier. In a preferred embodiment, a one-to-one correspondence may be provided between the remote controller and the corresponding remote controller identifier. The remote controller identifier may or may not be associated with the corresponding user identifier.

  Optionally, the remote controller may be authenticated as being a licensed remote controller with respect to the remote controller identifier. The authentication process may include verification of the remote controller's identity. Examples of authentication processes are described in more detail elsewhere herein.

  The remote controller may be any type of device. The device may be a computer (eg, a personal computer, laptop computer, server), a mobile device (eg, a smart phone, a cell phone, a tablet, a personal digital assistant), or any other type of device. The device may be a network device capable of communicating via a network. The apparatus includes one or more storage units, which may be non-transitory computer readable media capable of storing code, logic or instructions for performing one or more steps described elsewhere herein. The apparatus may include one or more processors capable of performing one or more steps individually or collectively according to the code, logic or instructions of the non-transitory computer readable medium as described herein. . The remote controller may be handheld. The remote controller can accept input from the user via any user interactive mechanism. In one example, the device may have a touch screen that allows user input to be registered when the user touches or swipes the screen. The device may have any other type of user interactive component. For example, buttons, mice, joysticks, trackballs, touch pads, pens, inertial sensors, imaging devices, motion capture devices, or microphones. Tilting the device may affect the operation of the UAV. The device can detect that. The remote controller may be a single piece performing the various functions of the remote controller described elsewhere herein. Alternatively, the remote controller may be provided as a plurality of pieces or parts that can perform the remote controller various functions individually or collectively as described in the other parts herein.

  The authentication system may include storage 130, which may store information regarding at least one of a user, a remote controller, or a UAV. The storage may include one or more storage units. One or more storage units may be provided together or distributed on at least one of a network or different locations. In some cases, the storage device may be a cloud storage system. The storage device may include one or more databases that store information.

  The information may include identification information regarding at least one of a user, a remote controller, or a UAV. For example, the identification may include at least one of a user identifier (e.g., user ID1, user ID2, user ID3, ...) or a UAV identifier (e.g., UAVID1, UAVID2, UAVID3, ...). Optionally, a remote controller identifier may additionally be stored. The information may be stored on long-term storage, or only for a short time. The information may be received and buffered.

  FIG. 1 shows that various users 110a, 110b, 110c can control corresponding UAVs 120a, 120b, 120c. For example, the first user 110a can control the first UAV 120a with the assistance of the remote controller. The second user 110b can control the second UAV 120b with the help of the remote controller. The third user 110c can control the third UAV 120c with the help of the remote controller. These users may be separated from one another. Alternatively, these users can manipulate UAVs in the same area. These users may operate the UAVs corresponding to the users simultaneously or at different times. Also, the times of use may be duplicated. Users and UAVs may be individually recognizable so that commands from each user can only be accepted by the corresponding UAV and not by other UAVs. This may reduce the possibility of signal interference when multiple UAVs are operating simultaneously.

  Each user can control the UAV of the corresponding user. The user may be pre-registered with the UAV to allow only authorized users to control the corresponding UAV. The UAV may be pre-registered so that only licensed UAVs can be controlled. At least one of a relationship or association between the user and the UAV may be recognized. Optionally, at least one of the relationship or association with the UAV may be stored on storage device 130. The user identifier may be associated with the corresponding UAV UAV identifier.

  The storage unit can track commands from the user to the UAV. The stored command may be associated with at least one of the corresponding user identifier of the user or the UAV identifier of the UAV. Optionally, the corresponding remote controller identifier may be stored as well.

  The identity of the device or party involved in the operation of the UAV may be authenticated. For example, the identity of the user may be authenticated. The user may be verified as the user associated with the user identifier. UAV identification information may be authenticated. A UAV may be verified as a UAV associated with a UAV identifier. Optionally, the identification of the remote controller may be authenticated. The remote controller may be verified as a remote controller associated with the remote controller identifier.

  FIG. 2 shows an example of an authentication system according to an embodiment of the present invention. The authentication system may be or may operate as part of a UAV safety system. The authentication system may provide improved UAV security. The authentication system can authenticate at least one of a user, a UAV, a remote controller, or a geofencing device.

  The authentication system may include an identification (ID) registration database 210. The ID registration database may be in communication with the authentication center 220. The authentication system may communicate with an aviation control system 230 that may include a flight supervision module 240, a flight regulation module 242, a traffic management module 244, a user access control module 246, and a UAV access control module 248.

  The ID registration database 210 can hold identification information about the users 250a, 250b, 250c and the UAVs 260a, 260b, 260c. The ID registration database is assigned a unique identifier to each user and each UAV (Consolidation 1). Optionally, the unique identifier is (1) a randomly generated alphanumeric string, or (2) any other type that may uniquely identify a user and another user or UAV and another UAV. It may be an identifier. The unique identifier may be generated by the ID registration database or may be selected from a list of possible identifiers that have not yet been assigned. Optionally, the identity registration database is assigned a unique identifier to (1) at least one of the geofencing device or the remote controller, or (2) any other device that may be involved in the UAV safety system. The identifier may be used to authenticate at least one of a user, a UAV, or other device. The identity registration database may or may not communicate with one or more users, or one or more UAVs.

  The authentication center 220 may provide authentication of the identity of the users 250a, 250b, 250c or UAVs 260a, 260b, 260c. Optionally, the authentication center may authenticate identification information of (1) at least one of the geofencing device or the remote controller, or (2) any other device that may be involved in the UAV safety system. From the ID registration database 210, the authentication center can obtain information about the user and the UAV (or at least one of any other devices involved in the UAV safety system) (link 2). Further details regarding the authentication process are described elsewhere in this specification.

  The aviation control system 230 can communicate with the authentication center 220. The aviation control system can obtain information from the authentication center about the user and the UAV (or at least one of any other devices involved in the UAV safety system) (connection 4). This information may include the user identifier and the UAV identifier. This information may relate to the confirmation or identification of at least one of the user or UAV identification information. The aviation control system may be a management cluster that may include one or more subsystems. For example, flight supervision module 240, flight regulation module 242, traffic management module 244, user access control module 246, and UAV access control module 248. One or more of the subsystems may be flight control, air traffic control, applicable licenses, users And UAV access control, and may be used for other functions.

  In one example, a flight supervision module / subsystem 240 can be used to monitor the flight of a UAV within the assigned airspace. The flight supervision module can detect when one or more UAVs deviate from a predetermined course. The flight supervision module may detect when one or more UAVs perform an unauthorized action or an action not entered by the user. In addition, the flight supervision module can detect when one or more unlicensed UAVs enter the assigned airspace. The flight supervision module may issue a warning or alert to unlicensed UAVs. This alert may be provided to the remote controller of the user operating an unlicensed UAV. The alarm may be emitted in a visual, audible or tactile manner.

  The flight supervision module may utilize data collected by one or more sensors onboard the UAV. The flight supervision module may utilize data collected by one or more offboard sensors in the UAV. Data may be collected by radar, photoelectric sensors, or acoustic sensors that can monitor UAV or other activity in the assigned airspace. Data may be collected by one or more base stations, docks, battery stations, geofencing devices, or networks. Data may be collected by stationary devices. The stationary device may or may not be physically communicated with the UAV (eg, recover energy to the UAV, accept delivery from the UAV, or provide repair to the UAV To do). Data may be provided from wired or wireless communication.

  The aviation control system may further include a flight control module / subsystem 242. The flight restriction module can generate and store one or more sets of flight restrictions. Air traffic management may be regulated based on a set of flight regulations. The generation of flight restrictions may include creating a flight restriction from scratch, or may include the selection of one or more sets of flight restrictions from a plurality of sets of flight restrictions. The generation of flight restrictions may include combining the selected set of flight restrictions.

  The UAV can operate in accordance with one or more sets of flight restrictions. Flight regulations can regulate any aspect of the operation of the UAV (eg, flight, sensors, communications, payload, navigation, electricity usage, items supported). For example, flight restrictions may indicate where the UAV may or may not fly. Flight restrictions can dictate when a UAV may or may not fly in a particular area. Flight restrictions may direct the UAV when one or more on-board sensors may be used to collect, transmit, or record data. Flight restrictions can dictate when the payload may be operational. For example, the load may be an imaging device, and flight restrictions may indicate when the imaging device can take at least one of capture, transmit, or store an image. Also, flight restrictions can dictate how communications can be performed (eg, channels or methods that can be used), or what type of communication can be performed.

  The flight control module may include one or more databases storing information regarding flight controls. For example, one or more databases can store one or more places where UAV flight is restricted. The flight restriction module may store a set of flight restrictions for multiple types of UAVs, and a set of flight restrictions may be associated with a particular UAV. The set of flight restrictions associated with a particular type of UAV of the plurality of types of UAV may be accessible.

  The flight control module may approve or reject one or more UAV flight plans. In some cases, a flight plan may be formulated that includes flight paths scheduled for the UAV. The flight path may be provided in association with at least one of the UAV or the environment. The flight path may be fully defined (all points along the path are defined) or semi-defined (for example, it may include one or more navigation points, but the path to reach the navigation points may be variable Or may be less defined (eg, may include the ultimate destination or other parameters, but the path to reach there may not be defined). The flight control module can receive the flight plan and can approve or reject the flight plan. The flight control module may reject the flight plan if it violates the flight control set for the UAV. The flight control module may propose changes to the flight plan to comply with the set of flight controls. The flight control module may generate or suggest a set of flight plans for the UAV, which may conform to the set of flight controls. The user can enter one or more parameters or arrival locations for UAV missions, and the flight control module generates a set of flight plans that can be adapted to the set of flight restrictions while simultaneously meeting the one or more parameters or We can propose. Examples of parameters or destinations for UAV missions are destination, one or more route fixed points, timing requirements (eg overall time limit, time to be at one location), maximum speed, maximum acceleration, collection It may include the data type being performed, the type of image being captured, any other parameters or arrival location.

  The aviation control system may be provided with a traffic management module / sub-system 244. The traffic management module can receive requests for resources from users. Examples of resources may include, but are not limited to: Radio resources (eg, bandwidth, access to communication devices), location or space (eg, for flight planning), time (eg, for flight planning), access to base stations, access to docking stations , Access to battery station, Access to delivery point or pickup point, or any other type of resource. The traffic management module can, upon request, plan the flight course of the UAV. The flight course may utilize allocated resources. The traffic management module may plan the UAV's mission and may optionally include the operation of any sensors or other devices onboard the UAV, in addition to the flight course. This mission can use any of the allocated resources.

  The traffic management module may coordinate the mission based on conditions detected in the assigned airspace. For example, the traffic management module may adjust the predetermined flight path based on the detected condition. Adjustment of the flight path may include complete adjustment of a predetermined flight path, adjustment of a fixed point of a semi-defined flight path, or adjustment of a destination of the flight path. Conditions detected may include climate, changes in available airspace, accidents, establishment of geofencing equipment, or changes in flight restrictions. The traffic management module may inform the user of adjustments to the mission, eg, adjustment of flight paths.

  Users 250a, 250b, 250c may be individuals associated with UAVs 260a, 260b, 260c (e.g., operators of UAVs). Examples of users and UAVs are described elsewhere in this specification. A communication channel may be provided between the user and the corresponding UAV, which may control the operation of the UAV (connection 3). Control of the operation of the UAV may include control of the flight of the UAV, or any other part of the UAV described elsewhere herein.

  A communication channel (link 5) can be provided between the UAV and the aeronautical control system, whereby the aeronautical control system (1) identifies the situation, (2) alerts the user about the situation or 3) Take over the UAV, at least one of which can improve the situation. Also, the communication channel may be useful for identity authentication when at least one of the user or the UAV is in the process of authentication. Optionally, a communication channel may be established between the aeronautical control system and the user's remote controller, and may provide some of the same functionality. In systems that include geofencing devices, a communication channel may be provided between the geofencing devices for at least one of identification / authentication or status identification, and / or alerting or takeover.

  A communication channel (link 6) can be provided between the user and the aeronautical control system, whereby the aeronautical control system (1) identifies the situation, (2) alerts the user about the situation or 3) At least one of taking over the UAV can improve the situation. Also, the communication channel may be useful for identity authentication when at least one of the user or the UAV is in the process of authentication.

  Optionally, connection 1 may be a logical channel. Connection 2 and connection 4 may be network connections. For example, connection 2 and connection 4 are provided via a location area network (LAN), a wide area network (WAN) such as the Internet, a telecommunication network, a data network, a cellular network, or any other type of network. obtain. Connection 2 and connection 4 may be provided (for example, via a network) through indirect communication. Alternatively, they may be provided through a direct communication channel. Connection 3, connection 5, and connection 6 may be network connections provided via a remote controller or ground station, mobile access network connections, or any other type of connection. These may be provided via an indirect communication channel or a direct communication channel.

  The authorized third party (eg aviation control system, geofencing system etc.) identifies the corresponding UAV according to the UAV identifier (ID) through the certification center and associates the relevant information (eg UAV configuration, loading capacity) Level and security level). The security system may be able to handle different types of UAVs. Different types of UAVs may have different physical characteristics (eg, type, shape, size, engine power, range, battery life, sensors, performance, load, load rating or load of load) Or, it may be used to perform different tasks (e.g., watching, movie shooting, communication, delivery). Different types of UAVs may have different security levels or priorities. For example, different types of UAVs may be licensed to perform different activities. For example, a UAV of a first grant type may be licensed to enter a range that may not be licensed for a UAV of a second grant type to enter. The UAV types may include different UAV types created by the same manufacturer or designer or by different manufacturers or designers.

  A licensed third party (e.g., an aviation control system, a geofencing system, etc.) can identify the corresponding user and obtain relevant information according to the user identifier (ID) through the authentication center. The security system may be able to handle different types of users. Different types of users may have different proficiency levels, amount of experience, relevance to different types of UAVs, permission levels, or different demographic information. For example, users with different proficiency levels may be considered as different types of users. The user may receive a proof or exam to verify the user's proficiency. One or more other users may guarantee or verify the user's proficiency. For example, a user's leader may verify the user's proficiency level. Alternatively, the user may specify the skill level by himself. Users with different degrees of experience may be considered different types of users. For example, the user can record or prove a certain number of UAV operations for a certain number of hours, or a certain number of missions that were fly with the UAV. Other users can verify or guarantee the user's level of experience. Users can identify their own experience with the user. The user type may indicate the level of training of the user. At least one of the user's proficiency or experience may be for the UAV in general. Alternatively, at least one of the user's proficiency or experience may be UAV type specific. For example, the user may have a high proficiency level or a large amount of experience for the first type of UAV, while having a low proficiency level or a relatively small amount of experience for the second type of UAV. Different types of different users may include users of different permission types. Different permission types may mean that different sets of flight restrictions may be imposed on different users. In some cases, some users may have a higher security level than others, which may mean that fewer flight restrictions or restrictions are set. In some cases, the general user may be differentiated from the administrative user who may be able to take over control from the general user. General users can be differentiated from control agent users (eg, government staff, members of emergency services, law enforcement agencies, etc.). In one embodiment, the administrative user may be a controlling subject user or may be differentiated from the controlling subject user. In another case, the parent may be able to take over flight control from the child, or the instructor may be able to take over flight control from the student. The user type may indicate the class or category of the user operating one or more types of UAVs. Other user type information may be based on the user's demographics (eg, location, age, etc.).

  Likewise, any other device or party involved in the safety system may have its own type. For example, the geofencing identifier may indicate a geofencing device type, or the remote controller identifier may indicate a remote controller type.

  UAVs operating within the security system may be assigned a UAVID and a key. The ID and key may be granted from an ID registration database. The ID and key may be globally unique, and optionally can not be copied. A user operating a UAV within the security system may be assigned a user ID and key. The ID and key may be granted from an ID registration database. The ID and key may be globally unique, and optionally can not be copied.

  The UAV and the aeronautical control system may have mutual authentication with an ID and a key, thereby enabling the operation of the UAV. In some cases, authentication may include obtaining a flight permit within a restricted area. The user and aviation control system may have mutual authentication with an ID and a key, thereby enabling the user to operate the UAV.

  The key may be provided in various forms. In one embodiment, the UAV key may not be separable from the UAV. The key may be designed to prevent key theft. The key may be implemented by an externally readable one-time write memory (eg, an encrypted chip) or by a Secure Universal Subscriber Identity Module (USIM). In some cases, the user key or remote control key may be inseparable from the user's remote control. The key is used by the authentication center and can authenticate at least one of the UAV, the user, or any other device.

  As described herein, the authentication system may include an identity registration database, an authentication center and an aviation control system. The identification registration database stores one or more UAV identifiers that uniquely identify UAVs to one another, and one or more user identifiers that uniquely identify users to one another. The authentication center authenticates the identification information of the UAV and the identification information of the user. The aviation control system receives the UAV identifier of the authenticated UAV and the user identifier of the authenticated user, and sets the flight restriction based on at least one of the authenticated UAV identifier and the authenticated user identifier. I will provide a.

  The authentication system may be implemented using any hardware configuration or setting that is known in the art or later developed. For example, at least one of an ID registration database, an authentication center, or an aviation control system may be moved individually or collectively using one or more servers. One or more subsystems of the aviation control system (eg flight supervision module, flight regulation module, traffic management module, user access control module, UAV access control module or any other module) using one or more servers , May be realized individually or collectively. Any description of the server may apply to any other type of device. The device may be a computer (eg, a personal computer, laptop computer, server), a mobile device (eg, a smart phone, a cell phone, a tablet, a personal digital assistant), or any other type of device. The device may be a network device capable of communicating via a network. The apparatus may include one or more storage units. The one or more storage units may include non-transitory computer readable media capable of storing code, logic or instructions for performing one or more steps described elsewhere herein. The apparatus may include one or more processors. One or more processors may perform one or more steps individually or collectively according to the code, logic or instructions of the non-transitory computer readable medium as described herein.

  The various components (e.g. at least one of the ID registration database, authentication center or aviation control system) may be implemented on hardware at the same point or may be implemented at different points. Authentication system components may be implemented using the same device or multiple devices. In some cases, a cloud computing infrastructure may be incorporated into the installation of the authentication system. Optionally, a peer-to-peer (P2P) relationship may be used by the authentication system.

  The UAV may be provided with off-board components, the UAV with on-board components, or a combination thereof. The remote controller may be provided with off-board components, the remote controller may be provided with on-board components, or a combination thereof. In a preferred embodiment, the component may be provided offboard to the UAV and offboard to the remote controller, and the UAV (or at least one other UAV) and / or the remote controller (or other remote controller) Can communicate with The component may communicate directly or indirectly with the UAV. In some cases, communication may be relayed through another device. The other device may be a remote controller or another UAV.

Flight Regulations UAV activities may be controlled according to a set of flight regulations. The set of flight restrictions may include one or more flight restrictions. Various types and examples of flight restrictions are described herein.

  Flight restrictions can control the physical placement of UAVs. For example, flight restrictions may govern UAV flight, UAV takeoff, or UAV landing. Flight restrictions may indicate the area of the ground where the UAV may fly, or the area of the ground where the UAV may not fly, or the volume of the space where the UAV may fly, or the volume of the space where the UAV may not fly. . Flight restrictions may relate to at least one of the position of the UAV (e.g., the position where the UAV is located in space or on the lower surface thereof) or the orientation of the UAV. In one example, flight restrictions may prevent the UAV from flying within the allocated volume (e.g., airspace) or at least one of the allocated area (e.g., the ground or water below). Flight restrictions include a set of one or more boundaries. UAVs are not allowed to fly inside the one or more boundary sets. In another example, the flight restriction may allow only at least one of flight within the allocated volume or flight across the allocated area. Flight restrictions include a set of one or more boundaries. Inside the one or more boundary sets, UAVs are allowed to fly. Optionally, flight restrictions may prevent the UAV from flying above the upper altitude limit which may be fixed or variable. In another case, flight restrictions may prevent the UAV from flying below the lower altitude limit, which may be fixed or variable. The UAV may be required to fly at altitudes between the lower altitude limit and the upper altitude limit. In another case, the UAV may be capable of flying within one or more altitude ranges. For example, flight restrictions may allow only a certain range of UAV orientations, or not allow a certain range of UAV orientations. The range of orientation of the UAV may be with respect to one, two or three axes. This axis may be orthogonal (e.g. yaw, pitch or roll).

  Flight regulations can control the operation of the UAV. For example, flight restrictions may include UAV translational velocity, UAV translational acceleration, UAV angular velocity (e.g., about 1, 2, or 3 axes) or UAV angular acceleration (e.g., 1 axis, 2 axes, Or control around three axes). The flight restriction can set the maximum limit for UAV translational velocity, UAV translational acceleration, UAV angular velocity, or UAV angular acceleration. Thus, the set of flight restrictions may include at least one limitation of UAV flight speed or flight acceleration. The flight restriction can set a minimum threshold for UAV translational velocity, UAV translational acceleration, UAV angular velocity, or UAV angular acceleration. Flight restrictions can require the UAV to move between a minimum threshold and a maximum limit. Alternatively, flight restrictions can prevent the UAV from moving within one or more translational velocity ranges, translational acceleration ranges, angular velocity ranges, or angular acceleration ranges. In one example, the UAV may not be allowed to hover within the designated airspace. The UAV may be required to fly above a minimum translational velocity of 0 mph. In another case, the UAV may not be allowed to fly too fast (e.g., a flight below the 40 mph maximum speed limit). Operations of the UAV may be performed at least one of control over the allocation volume, or control over the allocation area.

  Flight restrictions may govern takeoff or landing procedures for the UAV. For example, the UAV may be allowed to fly within the allocated area but not allowed to land. In another case, the UAV may be able to take off from the allocation area in a fixed way or only at a fixed speed. In another case, manual takeoff or landing may not be permitted, and an autonomous landing or takeoff process must be used in the allocated area. Flight restrictions can control whether take-off is permitted, landing is permitted, and all rules that take-off or landing must comply with (eg, speed, acceleration, direction, direction, flight mode). In one embodiment, only manual sequences for take-off or landing are allowed, and not vice versa, while manual landing or take-off is not allowed. At least one of the take-off or landing procedure of the UAV may be performed control over the assigned volume or control over the assigned area.

  In some cases, flight restrictions may control the operation of the UAV's payload. The mount of the UAV may be a sensor, an emitter, or any other that may be supported by the UAV. The load may be powered on or off. The load may be operable (eg, powered on) or inoperable (eg, powered off). Flight restrictions may include situations where the UAV is not authorized to operate the load. For example, in an assigned airspace, flight restrictions may require that the load be turned off. The vehicle may emit a signal, and flight regulations may govern the nature of the signal, the magnitude of the signal, the range of the signal, the direction of the signal, or the mode of any operation. For example, if the load is a light source, flight restrictions may require that the light not be brighter than the threshold intensity within the allocated airspace. In another case, where the load is a speaker for emitting sound, flight restrictions may require that the speaker not emit any noise outside the assigned airspace. The load may be a sensor that collects information, and the flight regulations may be the mode in which the information is collected, the mode in how the information is preprocessed or processed, the sensitivity limit in which the information is collected. Control the frequency or sampling rate at which information is collected, the range in which information is collected, or the direction in which information is collected. For example, the load may be an imaging device. The imaging device may be capable of taking still images (e.g. still pictures) or moving pictures (e.g. video). Flight regulations can control: The zoom of the imaging device, the resolution of the image captured by the imaging device, the sampling rate of the imaging device, the shutter speed of the imaging device, the aperture of the imaging device, whether a flash is used or a mode of the imaging device (for example, illumination mode, color Mode, still vs. video mode), or focus on the imaging device. In one example, the camera may not be allowed to capture an image across the allocated area. In another case, the camera may be allowed to take an image, but may not be allowed to capture sound over an assigned area. In another case, the camera may only be allowed to take high resolution pictures in the allocated area and only allow taking low resolution pictures outside the allocated area. In another case, the load may be an audio capture device. Flight regulations can control: The audio capture device is allowed to power on, the sensitivity of the audio capture device, the decibel range in which the audio capture device can pick up, the directivity of the audio capture device (for example, for a parabolic microphone) Or any other characteristic of the voice capture device. In one example, the audio capture device may or may not be permitted to capture audio in the assigned area. In another case, the audio capture device may only be allowed to capture audio within a particular frequency range while in the assigned region. The operation of the load may be controlled on the assigned volume, or controlled across the assigned area.

  Flight restrictions can control whether the load can transmit or store information. For example, if the load is an imaging device, flight restrictions can control whether an image (still or video) is being recorded. Flight restrictions can control whether the imaging device can record in on-board memory or UAV on-board memory. For example, the imaging device may be turned on to allow the display of the captured image on the local display, but none of the images may be permitted to record. Flight restrictions can control whether images can be streamed off the imaging device and off board, or UAV and off board. For example, flight restrictions may allow the UAV to allow on-board imaging devices to stream video to an off-board terminal while the UAV is in the assigned airspace, and in the case of out of the assigned airspace, video Streaming may not be possible. Similarly, if the load is an audio capture device, flight restrictions can control whether sound can be recorded to the onboard memory of the audio capture device's onboard memory or UAV. For example, the audio capture device may be permitted to power on and play the captured sound with a local speaker, but there may be cases where recording of any of the sounds is not permitted. Flight restrictions can control whether images can be streamed offboard with the audio capture device or any other payload. At least one of storage or transmission of collected data may be controlled with respect to the allocation volume, or control over the allocation area, or both.

  In some cases, the load may be an item supported by the UAV, and flight restrictions may determine the characteristics of the load. Examples of the properties of the load are the dimensions of the load (e.g. height, width, length, diameter, diagonal), the weight of the load, the stability of the load, the material of the load, the brittleness of the load, or It may include the type of load. For example, flight restrictions can dictate that the UAV can support packages that do not exceed three pounds during flight over the allocated area. In another case, flight restrictions may allow the UAV to support packages with dimensions greater than one foot only within the allocated volume range. Another flight restriction can allow a UAV to fly only for 5 minutes while supporting a package of 1 pound or more within the allocated volume range, and automatically UAV if it does not leave the allocated volume within 5 minutes You can land it on Restrictions may be placed on the type of load itself. For example, a load that may be unstable or explosive may not be supported by the UAV. Flight restrictions can prevent the UAV from supporting vulnerable objects. The characteristics of the load may be at least one of a restriction on the allocation volume and a restriction on the allocation area.

  Also, flight restrictions may regulate activities that may be performed on items supported by the UAV. For example, flight restrictions may dictate whether items may be unloaded in the assignment area. Similarly, flight restrictions can dictate from the assignment area whether an item may be picked up. The UAV may have a robotic arm or other mechanical structure that can assist in unloading and picking up items. The UAV may have a supporting compartment that may allow the UAV to support the item. Load related activities may be regulated with respect to at least one of an allocated volume or an allocated area.

  The positioning of the load relative to the UAV may be governed by flight restrictions. The position of the load relative to the UAV may be adjustable. At least one of the translational position of the load relative to the UAV or the orientation of the load relative to the UAV may be adjustable. The translational position may be adjustable with respect to one, two or three orthogonal axes. The orientation of the load may be adjustable with respect to one, two or three orthogonal axes (eg, pitch, yaw, or roll axes). In one embodiment, the load may be connected to a UAV having a support mechanism that can control the position of the load relative to the UAV. The support mechanism can support the weight of the load on the UAV. Optionally, the support mechanism may be a gimbaled platform that may allow rotation of the load relative to the UAV with one, two or three axes. One or more frame parts and one or more actuators may be provided which can make adjustments in the positioning of the load. Flight restrictions can control the support mechanism or any other mechanism that adjusts the position of the load relative to the UAV. In one example, flight restrictions may not allow the load to face down while flying over the allocated area. For example, the area may have sensitive data that may not be desirable to capture the load. In another case, flight restrictions may translate the load downward relative to the UAV when in the assigned airspace and may allow for a wider field of view, such as panoramic image capture. The positioning of the load may be at least one of control over the allocation volume, or control over the allocation area.

  Flight regulations can control one or more sensors of an unmanned aerial vehicle. For example, flight restrictions may be: (1) whether the sensors are on or off (or which sensors are on or off), (2) the mode in which the information is collected, (3) how the information is (4) sensitivity limit at which information is collected, (5) frequency or sampling rate at which information is collected, (6) range in which information is collected, or (6) information Can control the direction in which the Flight restrictions can control whether the sensor can store or transmit information. In one example, the GPS sensor may be turned off while the UAV is within the allocated volume, while the visual or inertial sensor is turned on for navigation. In another case, the voice sensor of the UAV may be turned off while flying over the allocated area. The operation of one or more sensors may be at least one of control over the assigned volume, or control over the assigned area.

  UAV communications may be controlled in accordance with one or more flight regulations. For example, a UAV may be capable of remote communication with one or more remote devices. Examples of remote devices may include the following. A remote controller that can control the operation of the UAV, a mounted object, a support mechanism, a sensor, or any other part of the UAV, a display terminal that can indicate the information received by the UAV, a database that can collect information from the UAV, or any Other external devices. The remote communication may be wireless communication. The communication may be direct communication between the UAV and the remote device. Examples of direct communication may include WiFi, WiMax, radio frequency, infrared, visible, or other types of direct communication. The communication may be direct communication between the UAV and a remote device which may include one or more intermediate devices or networks. Examples of indirect communication may include 3G, 4G, LTE, satellite, or other types of communication. Flight restrictions can dictate whether telecommunication is on or off. Flight restrictions may include conditions under which the UAV is not permitted to communicate under one or more radio conditions. For example, communication may not be allowed while the UAV is within the volume of allocated space. Flight restrictions can dictate communication modes that may or may not be permitted. For example, flight restrictions may dictate whether the direct communication mode is allowed, the indirect communication mode is allowed, or a priority is established between the direct communication mode and the indirect communication mode. In one example, only direct communication is allowed in the allocation volume. In another case, priorities to direct communication may be established over the allocated area as long as it is available, otherwise indirect communication may be used while communicating while out of the allocated area. Is not allowed. Flight restrictions may determine the characteristics of the communication (e.g. bandwidth used, frequency used, protocol used, encryption used, equipment supporting communication that may be used). For example, flight restrictions can only allow existing networks to be used for communication if the UAV is within a predetermined volume. Flight restrictions may govern at least one of the UAV's communication regarding the allocated volume, or the communication of the UAV across the allocated area.

  Other functions of the UAV, such as navigation, power usage and monitoring, may be controlled in accordance with flight regulations. Examples of power usage and monitoring may include the amount of remaining flight time based on battery and power usage information, the state of charge of the battery, or the amount of remaining estimated distance based on battery and power usage information. For example, flight restrictions may require a UAV operating within the allocated volume to have at least 3 hours of remaining battery life. In another case, flight restrictions may require the UAV to be at least 50% charged if out of the allocated range. Such additional functions may be controlled by flight restrictions, at least one of control over the allocation volume, or control over the allocation area.

  At least one of the allocated volume or allocated area may be static with respect to the set of flight restrictions. For example, boundaries for at least one of the assigned volume or the assigned region may remain the same for a set of flight restrictions over time. Alternatively, the boundary may change with time. For example, the assignment area may be a school, and the boundaries for the assignment area may encompass school in school hours. After school hours, boundaries may be reduced or allocated space may be removed. During post-school hours, the assigned area may be set up in a nearby park where the children participate in after-school activities. The rules for at least one of the assigned volume or the assigned region may remain the same for a long time or may change over time for a set of flight restrictions. The changes may be dictated by factors related to time of day, day of week, week of month, month, quarter, season, year, or any other time. Information from the watch that may provide information about the time of day, date, or other times may be used in making changes to boundaries or rules. The set of flight restrictions may have dynamic parts that correspond to other factors in addition to time. Examples of other factors may include the following. Climate, temperature, detected light level, presence of detected individual or machine, environmental complexity, physical traffic (eg ground traffic, pedestrian traffic, aircraft traffic), wireless or network traffic, detected Degree of noise, detected behavior, detected thermal characteristics, or any other factor.

  At least one of the assigned volume or the assigned area may or may not be associated with the geofencing device. A geofencing device may be a reference point for at least one of an allocated volume or an allocated area. As described elsewhere herein, the position of at least one of the allocated volume or area may be provided based on the position of the geofencing device. Alternatively, at least one of the allocated volume or allocated area may be provided without the need for the presence of a geofencing device. For example, coordinates well known to the airport may be provided so that they do not require physical geofencing equipment at the airport and may be used as at least one of allocated volume or reference of allocated area. Geofencing devices may or may not be relied upon, and any combination of allocated volumes or areas may be provided.

  Flight restrictions may derive any type of flight response measures by the UAV. For example, a UAV can change the course. The UAV may automatically enter an autonomous or semi-autonomous flight control mode from manual mode or may not respond to certain user input. The UAV may allow other users to take over control of the UAV. The UAV can land or take off automatically. The UAV can send an alert to the user. The UAV can be decelerated or accelerated automatically. The UAV can coordinate the operation of the load, support mechanism, sensors, communication unit, navigation unit, power supply adjustment unit (which may include interruption of operation or change of operation parameters). Flight response measures may occur instantaneously or may take place after a period of time (eg, 1 minute, 3 minutes, 5 minutes, 10 minutes, 15 minutes, 30 minutes). A period of time may be a grace period for the user to exercise in response to some control over the UAV before flight response measures begin. For example, if the user is approaching a flight restricted zone, the user can be alerted and can change the course of the UAV to exit the flight restricted zone. If the user does not respond within the grace period, the UAV may be automatically landed in a flight restricted zone. The UAV can operate normally according to one or more flight commands from the remote controller operated by the remote user. The flight response measures may invalidate one or more flight commands if the set of flight restrictions contradict one or more flight commands. For example, if the user instructs the UAV to enter a no-fly zone, the UAV may automatically change course to avoid the no-fly zone.

  The set of flight restrictions may include information regarding one or more of the following. (1) At least one of allocated volume or area to which a set of flight restrictions may apply, (2) Operation of one or more rules (eg, UAV, load, support mechanism, sensor, communication module, navigation unit, power supply unit ), (3) one or more flight response measures (eg, UAV, load, support mechanism, sensor, communication module, navigation unit, response by power supply unit), or (4) assignment to make the UAV conform to the regulations Volume or at least one of the regions, rules, or time or any other factors that may affect flight response measures. The set of flight restrictions may include a single flight restriction, and may include information regarding at least one of (1), (2), (3), or (4). The set of flight restrictions may include a plurality of flight restrictions that may each include information regarding at least one of (1), (2), (3), or (4). Any type of flight restriction may be combined, and any combination of flight response measures may be performed according to the flight restriction. For a set of flight restrictions, one or more allocated volumes or regions may be provided. For example, for UAVs, a set of flight restrictions may be provided. The set of flight restrictions does not allow the UAV to fly within the first allocated volume and allows the UAV to fly within the second allocated volume under the altitude cap. However, without allowing the UAV to operate the on-board camera, it only allows the UAV to record audio data within the third allocated volume. The UAV may have flight response measures that may cause the UAV to conform to flight regulations. The manual operation of the UAV may be invalidated to cause the UAV to conform to the rules of flight regulation. One or more flight response measures may be automatically performed to override manual input by the user.

  A set of flight restrictions may be generated for the UAV. The generation of the set of flight restrictions may include the creation of one of the flight restrictions. The generation of the set of flight restrictions may include the selection of a set of flight restrictions from the set of available flight restrictions. The generation of the set of flight restrictions may include combining one or more of the features of the set of flight restrictions. For example, the generation of the set of flight restrictions may include the determination of at least one of the following: Determination of at least one of allocated volume or area, determination of one or more rules, determination of one or more flight response measures, determination of any factor that may cause any factor to be dynamic, etc. These elements may be generated from scratch or may be selected from the choice of one or more existing elements. In some cases, flight restrictions may be manually selected by the user. Alternatively, flight restrictions may be selected automatically with the assistance of one or more processors without the need for human intervention. In some cases, although some user input may be provided, final determination of flight restrictions may be made by one or more processors in response to user input.

  FIG. 3 shows an example of one or more factors that may go into the generation of a set of flight restrictions. For example, at least one of user information 310, UAV information 320, or geofencing device information 330 may enter into generation 340 of a set of flight restrictions. In some cases, (1) only user information is considered, (2) only UAV information is considered, (3) only geofencing information is considered, (4) only remote control information is considered, or (5) Any number or combination of these factors is considered in the generation of the set of flight restrictions.

  Additional factors may be considered in the generation of a set of flight restrictions. These include information about the local environment (eg, environmental complexity, cities vs. countryside, traffic information, climate information), one or more third party sources (eg, government sources such as FAA). , Information from time, user-entered preferences, or any other factor.

  In certain embodiments, the set of flight restrictions for a particular terrain (eg, allocated volume, allocated area) may be the same regardless of user information, UAV information, geofencing device information, or any other information. For example, all users may receive the same set of flight restrictions. In another case, all UAVs may receive the same set of flight restrictions.

  Alternatively, the set of flight restrictions for a particular terrain (e.g., allocated volume, allocated area) may be different based on at least one of user information, UAV information, or geofencing device information. As described elsewhere herein, user information may be information specific to an individual user (eg, user flight history, previous user flight records) or user type (eg, user technology). It may include at least one of a category, a user's experience category). As described elsewhere herein, UAV information may be information specific to an individual UAV (eg, UAV flight history, maintenance or accident records, unique serial number) or UAV type (eg, UAV). Of at least one of the following:

  A set of flight restrictions may be generated based on a user identifier indicating a user type. A system may be provided to control an unmanned aerial vehicle (UAV). The system may include a first communication module and one or more processors. One or more processors, operatively connected to the first communication module, individually or collectively, (1) a user identifier indicating a user type using the first communication module or the second communication module Receive (2) generate a set of UAV flight restrictions based on the user identifier, and (3) transmit the set of flight restrictions to the UAV using the first communication module or the second communication module .

  A method of controlling an unmanned aerial vehicle (UAV) comprises: (1) receiving a user identifier indicating a user type; and (2) a set of UAV flight restrictions based on the user identifier with the aid of one or more processors. And (3) transmitting the set of flight restrictions to the UAV with the aid of the communication module. Similarly, a non-transitory computer readable medium may be provided which includes program instructions for controlling an unmanned aerial vehicle (UAV), the computer readable medium comprising: (1) program instructions for receiving a user identifier indicative of a user type; (2) program instructions for generating a set of UAV flight restrictions based on the user identifier, and (3) program instructions for generating a signal for transmitting the set of flight restrictions to the UAV with the aid of the communication module.

  The UAV communicates to (1) one or more propulsion units that perform UAV flights, (2) a communication module that receives one or more flight commands from a remote user, and (3) one or more propulsion units. And a flight control unit that generates a flight control signal. The flight control signal is generated according to a set of flight restrictions for the UAV, and the flight restrictions are generated based on a user identifier that indicates the user type of the remote user.

  As described elsewhere herein, user types may have any property. For example, the user type may indicate the user's experience level in the operation of the UAV, the level or certification of the user's training in the operation of the UAV, or the class of users in the operation of one or more types of UAV. The user identifier can uniquely identify the user from other users. The user identifier may be received from a remote controller remote to the UAV.

  A set of flight restrictions is generated by selecting a set of flight restrictions from a plurality of flight restriction sets based on the user identifier. A set of flight restrictions is generated by the UAV offboard aviation control system. The UAV can communicate with the aviation control system via a direct communication channel. The UAV can communicate with the aviation control system by being relayed through the user or a remote controller operated by the user. The UAV can communicate with the aviation control system by being relayed through one or more other UAVs.

  A set of flight restrictions may be generated based on the UAV identifier indicating the UAV type. A system may be provided to control an unmanned aerial vehicle (UAV). The system may include a first communication module and one or more processors. One or more processors are operatively connected to the first communication module, individually or collectively, (1) a UAV identifier indicating a UAV type using the first communication module or the second communication module (2) generate a set of UAV flight restrictions based on the UAV identifier, and (3) transmit the set of flight restrictions to the UAV using the first communication module or the second communication module .

  In one embodiment, a method of controlling an unmanned aerial vehicle (UAV) comprises: (1) receiving a UAV identifier indicative of the UAV type; and (2) with the assistance of one or more processors, based on the UAV identifier, the UAV. And (3) transmitting the set of flight restrictions to the UAV with the aid of the communication module. Similarly, the non-transitory computer readable medium containing program instructions for controlling an unmanned aerial vehicle (UAV) comprises: (1) program instructions for receiving a UAV identifier indicative of the UAV type; and (2) a UAV identifier based on the UAV identifier. And (3) program instructions for generating a signal for transmitting the set of flight restrictions to the UAV with the aid of the communication module.

  An unmanned aerial vehicle (UAV) may be provided that includes one or more propulsion units, a communication module, and a flight control unit. One or more propulsion units perform UAV flight. The communication module receives one or more flight commands from the remote user. The flight control unit generates flight control signals that are communicated to one or more propulsion units. Also, a flight control signal is generated according to a set of UAV flight restrictions, and the flight restrictions are generated based on the UAV identifier indicating the remote user UAV type.

  As described elsewhere herein, UAV types may have any property. For example, the UAV type may indicate the type of UAV, the performance of the UAV, or the load of the UAV. The UAV identifier can uniquely identify a UAV from other UAVs. The user identifier may be received from a remote controller remote to the UAV.

  A set of flight restrictions may be generated based on including one or more additional factors, for example as described elsewhere herein. For example, environmental conditions may be considered. For example, if the complexity of the environment is high, it may be further limited, while if the complexity of the environment is low, it may be less restricted. If the population density is high, it may be further limited, while if the population density is low, it may be less limited. If the degree of traffic (eg, air traffic or traffic on the surface) is high, it may be further restricted. On the other hand, if the degree of traffic is low, it may be less restricted. In one embodiment, (1) the environmental climate is at an extreme temperature, a strong wind, includes rainfall, or (2) the environmental climate is at a milder temperature if there is a possibility of lightning Or, it may be more limited than if there is less wind, no rainfall, or little or no possibility of lightning.

  A set of flight restrictions is generated by selecting a set of flight restrictions from a plurality of flight restriction sets based on the UAV identifier. A set of flight restrictions is generated by the UAV offboard aviation control system. The UAV can communicate with the aviation control system via a direct communication channel. The UAV can communicate with the aviation control system by being relayed through the user or a remote controller operated by the user. The UAV can communicate with the aviation control system by being relayed through one or more other UAVs.

  As mentioned above, the set of flight restrictions may be provided with various types of flight restrictions. Flight restrictions may be UAV or user specific, or need not be specific to at least one of the UAV or user.

  FIG. 7 shows a diagram for combining multiple types of flight restrictions. Various regions may be provided. Boundaries may be provided to define the area. The set of flight restrictions may affect one or more areas (e.g., airspace above the area of the two-dimensional surface, or airspace volume). The set of flight restrictions may include one or more rules associated with one or more zones.

  In one example, a flight control zone 710 may be provided, a communication control zone 720 may be provided, and a load control zone 730 may be provided. A load control and communication control zone 750 and a non-control zone 760 may be provided. Zones may have boundaries of any shape or dimension. For example, the zones may have regular shapes (eg, circular, oval, elliptical, square, rectangular, any type of quadrilateral, triangles, pentagons, hexagons, octagons, bands, curves, etc.) Good. The zones may have an irregular shape and may include convex or concave portions.

  Flight restriction zone 710 may impose one or more rules regarding UAV placement or operation. The flight control zone may impose flight response measures that may affect the flight of the UAV. For example, a UAV may only be able to fly at an altitude between the lower altitude limit and the upper altitude limit while in the flight control zone, while flight restrictions are imposed outside the flight control zone.

  Load control zone 730 may impose one or more rules regarding the operation or positioning of the load of the UAV. The load control zone can impose flight response measures that can affect the load of the UAV. For example, the UAV may not be able to capture an image while in the load restriction zone using the image pickup device load, while no load restriction is imposed outside the load restriction zone.

  The communication restriction zone 720 can impose one or more rules on the operation of the communication unit of the UAV. The communication control zone may impose flight response measures that affect the operation of the communication unit of the UAV. For example, the UAV may not be able to capture images while in the communication control zone, but may receive flight control signals, while no load restrictions are imposed outside the load control zone.

  The load and communication control zone 750 may impose one or more rules on the UAV load and the operation / positioning of the communication unit of the UAV. For example, the UAV may not be able to store images taken by the onboard imaging device on the UAV while within the payload and communication restrictions, and may not stream or transmit offboard images to the UAV there is a possibility. However, on the other hand, no loading restrictions are imposed outside the loading control and communication control range.

  One or more non-regulatory zones may be provided. Non-regulated zones may be outside of one or more boundaries, or within one or more boundaries. While in the unregulated zone, the user can maintain control over the UAV without automatically activating one or more flight response measures. The user may be able to manipulate the UAV freely within the physical limitations of the UAV.

  One or more zones may overlap. For example, the flight control zone may overlap the communication control zone (715). In another case, the communication control zone may overlap the load control zone (725). In another case, the flight control zone may overlap the load control zone (735). In some cases, the flight control zone, the communication control zone, and the vehicle control zone may all be overlapping (740).

  If multiple zones overlap, rules from multiple zones can remain in place. For example, both flight restrictions and communication restrictions may remain in place in overlapping zones. In some cases, rules from multiple zones can remain in place as long as they do not conflict with one another.

  If there is a conflict between these rules, various rule responses may be imposed. For example, the most restrictive set of rules may apply. For example, if the first zone requires the UAV to fly below 400 feet and the second zone requires the UAV to fly below 200 feet, the overlapping zones may The rules for flying below 200 feet may apply. This may include combining and matching sets of rules to form the most restrictive set. For example, a first zone requires UAVs to fly above 100 feet and below 400 feet, and a second zone requires UAVs to fly above 50 feet and below 200 feet. If so, the UAV can fly between 100 feet and 200 feet while in overlapping zones, using the lower flight limit from the first zone and the upper flight limit from the second zone.

  In another case, zones may be tiered. Rules from higher zones in the hierarchy may be prioritized regardless of whether they are somewhat more restrictive than rules in lower zones in the hierarchy. The hierarchy can be ordered according to the type of regulation. For example, UAV's positional flight regulations may be ranked higher than communication regulations, which may be ranked higher than load regulations. In another example, the rules as to whether the UAV is not permitted to fly in a particular zone may outweigh other restrictions on that zone. The hierarchy may be preselected or entered into the hierarchy. In some cases, a user providing a set of rules for zones may indicate which zone is higher than the other zones in the hierarchy. For example, the first zone may require the UAV to fly below 400 feet and turn off the load. The second zone may require the UAV to fly below 200 feet and have no load restrictions. If the first zone is higher in the hierarchy, rules from the first zone may be imposed without any rules from the second zone being imposed. For example, the UAV may fly below 400 feet and turn off the load. If the second zone is higher in the hierarchy, rules from the second zone may be imposed without any rules from the first zone being imposed. For example, the UAV may fly below 200 feet and have no load restrictions.

  As mentioned above, the set of flight restrictions may impose different types of rules on the UAV while the UAV is in the zone. This may include constraining the use of the load based on the location of the UAV, or constraining wireless communication based on the location of the UAV.

  Aspects of the invention may be directed to a load control system of a UAV. The UAV load control system includes a first communication module and one or more processors. One or more processors are operatively connected to the first communication module, individually or collectively, (1) a position dependent load using the first communication module or the second communication module Receiving a signal indicating a use parameter, and (2) generating one or more UAV operation signals for performing an operation of the load according to the load use parameter.

  It is a method of restricting the use of the UAV load for the UAV. The method comprises the steps of (1) receiving a signal indicative of a load-dependent use parameter of the position, and (2) operating the load according to the load-use parameter with the aid of one or more processors. Generating the above UAV operation signal. Similarly, a non-transitory computer readable medium can be provided that includes program instructions that constrain the use of the load to the UAV. The computer readable medium comprises: (1) program instructions for receiving signals indicative of position dependent load item usage parameters; and (2) one or more UAV operations to perform load component manipulation according to load component usage parameters. Contains program instructions that generate signals.

  According to embodiments of the present system, the UAV may include a load, a communication module and a flight control unit. The communication module receives one or more payload commands from the remote user. The flight control unit generates a load control signal that is transmitted to the load or a support mechanism supporting the load. In addition, the vehicle control signal is generated according to one or more UAV operation signals, and the UAV operation signal is generated based on the position-dependent vehicle use parameters.

  The load use parameters can limit the use of the load at one or more predetermined locations. As mentioned above, the load may be an imaging device, and the load use parameters may limit the imaging device at one or more predetermined locations. The load object usage parameter can limit the recording of one or more images using the imaging device at one or more predetermined locations. The load object usage parameter can limit transmission of one or more images using the imaging device at one or more predetermined locations. In another embodiment, the load may be an audio capture device, and the load usage parameters limit the operation of the audio capture device at one or more predetermined locations.

  Alternatively or in combination, the load usage parameters may allow the use of the load at one or more predetermined locations. If the load is an imaging device, the load usage parameters may permit operation of the imaging device at one or more predetermined locations. The loading object use parameter can permit the recording of one or more images using the imaging device at one or more predetermined places. The load object usage parameter can permit transmission of one or more images using the imaging device at one or more predetermined locations. The load may be an audio capture device, and the load usage parameters may allow operation of the voice capture device at one or more predetermined locations.

  Furthermore, the one or more processors individually or collectively receive (1) a signal indicating the position of the UAV using the first communication module or the second communication module, and (2) the position of the UAV May be compared to a position dependent load usage parameter to determine (3) whether the UAV is located at a location that limits or permits the load motion. This location may be a flight restricted zone. Flight restricted zones may be determined by the regulator. A flight-restricted zone may be a predetermined distance from an airport, a public meetinghouse, a national property, a military property, a school, a private house, a power plant, or any other area that may be designated as a flight-restricted zone. Good inside. This location may remain fixed over time or may change with time.

  A signal indicative of the position dependent load usage parameters may be received from the control entity. The control entity is a regulator, an international organization, or a legal entity, or any other type of control entity as described elsewhere herein. The control entity may be a global authority, such as any authority and organization described elsewhere herein. The control entity may be offboard to the UAV or onboard source. The control entity may be the UAV an offboard aviation control system or any other part of the UAV an offboard authentication system. The controlling entity may be a database, may be stored in the memory of the UAV, or may be stored offboard in the UAV. The database may be updatable. The control entity may be a transmitter located at a location where operation of the load is restricted or permitted. In some cases, the control entity may be a geofencing device, as described elsewhere herein. In one embodiment, at least one of a user identifier indicating a user of the UAV or a signal based on a UAV identifier indicating a UAV type may be transmitted.

  Aspects of the invention may be directed to a UAV communication control system. The UAV communication control system includes a first communication module and one or more processors. One or more processors are operatively connected to the first communication module, individually or collectively using (1) position dependent communication using the first communication module or the second communication module Receiving a signal indicating a parameter, and (2) generating one or more UAV operation signals for performing operation of the UAV communication unit according to the communication usage parameter.

  Further, a method is provided for constraining wireless communications to the UAV. The method comprises the steps of (1) receiving a signal indicative of a position dependent communication usage parameter, and (2) operating the communication unit according to the communication usage parameter with the assistance of one or more processors. Generating a UAV operating signal. Similarly, a non-transitory computer readable medium may be provided that includes program instructions for constraining wireless communications to an unmanned aerial vehicle (UAV). The computer readable medium generates (1) a signal indicating position-dependent communication usage parameters, and (2) one or more UAV operation signals that perform operations of the communication unit according to the communication usage parameters. Generating a program instruction to

  Additional aspects of the invention may include a UAV comprising a communication unit and a flight control unit. A communication unit receives or transmits wireless communications. The flight control unit is communicated to the communication unit to generate a communication control signal that causes the operation of the communication unit. The communication control signal is generated according to the one or more UAV operation signals, and the UAV operation signal is generated based on the position dependent communication use parameter.

  The communication usage parameter can limit the use of wireless communication at one or more predetermined locations. Wireless communication may be direct communication. Wireless communication may include radio frequency communication, WiFi communication, Bluetooth (registered trademark) communication, or infrared communication. Wireless communication may be indirect communication. Wireless communication may include 3G, 4G, or LTE communication. The use of the communication may be limited by not allowing any wireless communication. The communication may be restricted by permitting the use of wireless communication only within the selected frequency band. The use of the communication may be limited by permitting the use of wireless communication only if it does not interfere with higher priority communication. In some cases, all other existing wireless communications may have higher priority than UAV communications. For example, if the UAV is flying within the near range, various wireless communications taking place within the near range may be considered to be of higher priority. In some cases, one type of communication may be considered to be a higher quality communication (eg, emergency service communication, government or official communication, medical device or service communication, etc.). Alternatively or in combination, the communication usage parameter may authorize the use of wireless communication at one or more predetermined locations. For example, within a certain range, indirect communication may be permitted while direct communication is not permitted.

  Furthermore, the one or more processors individually or collectively receive (1) a signal indicating the position of the UAV using the first communication module or the second communication module, and (2) the position of the UAV May be compared to location dependent communication usage parameters to determine (3) if the UAV is located at a location that restricts or permits operation of the communication unit. This location may be a communication restricted zone. The communication restricted zone may be determined by the regulator or by an individual. The flight restricted zone may be within a predetermined distance from the airport, a public meetinghouse, national property, military property, school, power plant or any other area that may be designated as a flight restricted zone. Good. This location may remain fixed over time or may change with time.

  This location may depend on existing wireless communication within a range. For example, if the operation of the communication unit interferes with one or more existing wireless communications within a particular range, the range may be identified as a communication limited range. Operation of the UAV communication unit in accordance with communication usage parameters may reduce electromagnetic interference or audio interference. For example, if electronic devices in the vicinity are used, certain operations of the UAV communication unit may interfere with the electronic devices. For example, it interferes with the wireless signal of the electronic device. Operation of the UAV communication unit according to communication usage parameters can reduce or eliminate interference. For example, the operation of the UAV communication unit within a limited frequency band may not interfere with the operation or communication of nearby electronic devices. In another case, stopping the operation of the UAV communication unit within a certain range can prevent interference with the operation or communication of surrounding electronic devices.

  A signal indicative of position dependent communication usage parameters may be received from the control entity. The control entity is a regulator, an international organization, or a legal entity, or any other type of control entity as described elsewhere herein. The controlling entity may be a global organization (e.g. any of the organizations or organizations described elsewhere herein). The control entity may be offboard to the UAV or onboard source. The control entity may be the UAV an offboard aviation control system or any other part of the UAV an offboard authentication system. The controlling entity may be a database, may be stored in the memory of the UAV, or may be stored offboard in the UAV. The database may be updatable. The control entity may be a transmitter located at a location where operation of the load is restricted or permitted. In some cases, the control entity may be a geofencing device as described elsewhere herein. In one embodiment, a signal based on at least one of a user identifier indicating a user of the UAV or a UAV identifier indicating a UAV type may be transmitted.

Identification Module The UAV may include one or more propulsion units that may propel the UAV. In some cases, the propulsion unit may include a rotor assembly, and may include one or more motors that drive the rotation of one or more moving blades. The UAV may be a multi-motor UAV, which may include multiple rotor assemblies. The blades can provide propulsive force (e.g. lift) to the UAV when rotating. The various blades of the UAV may rotate at the same speed or at different speeds. The motion of the blades can be used to control the flight of the UAV. The motion of the blades can be used to control at least one of takeoff or landing of the UAV. The motion of the blades can be used to control the steering of the UAV in the airspace.

  The UAV may include a flight control unit. The flight control unit can generate one or more signals that can control the operation of the rotor assembly. The flight control unit may generate one or more signals that control the operation of one or more motors of the rotor assembly, which may in turn affect the rotational speed of the blades. The flight control unit can receive data from one or more sensors. Data from the sensors can be used to generate one or more flight control signals for the rotor assembly. Examples of sensors may include, but are not limited to, GPS units, inertial sensors, vision sensors, ultrasound sensors, thermal sensors, magnetometers, or other type sensors. The flight control unit can receive data from the communication unit. Data from the communication unit may include commands from the user. Commands from the user may be input via the remote controller and sent to the UAV. Data from at least one of the communication unit or sensor may include detection of information transmitted from the geofencing device or the geofencing device. Data from the communication unit can be used to generate one or more flight control signals for the rotor assembly.

  In one embodiment, the flight control unit can control other functions of the UAV as an alternative to or in addition to flight. The flight control unit may control the operation of the onboard load on the UAV. For example, the load may be an imaging device, and the flight control unit may control the operation of the imaging device. The flight control unit can control the positioning of the onboard load on the UAV. For example, the support mechanism can support a load (for example, an imaging device). The flight control unit can control the operation of the support mechanism to control the positioning of the load. The flight control unit can control the operation of one or more sensors onboard the UAV. This may include any of the sensors described elsewhere herein. The flight control unit can control UAV communication, UAV navigation, UAV power usage, or any other function onboard the UAV.

  FIG. 4 shows an example of a flight control unit according to an embodiment of the present invention. The flight control unit 400 may include an identification module 410, one or more processors 420, one or more communication modules 430. In one embodiment, the flight control unit of the UAV may include at least one of one or more chips, such as one or more identification chips, one or more processor chips, or one or more communication chips. A substrate can be included.

  Identification module 410 may be UAV specific. The identification module may uniquely identify and differentiate a UAV from other UAVs. The identification information module may include the UAV identifier and the key of the UAV.

  The UAV identifier stored in the identification module may not be changed. The UAV identifier may be stored in the identification module in an unmodifiable state. The identification module may be a hardware component that stores a unique UAV identifier for the UAV in a manner that prevents the user from changing the unique identifier.

  The UAV key may provide verification of the UAV's authentication. The UAV key may be unique to the UAV. The UAV key may be an alphanumeric string, which may be unique to the UAV, and may be stored in the identification module. The UAV key may be randomly generated.

  The UAV identifier and the UAV key may be used in combination to authenticate the UAV and authorize the operation of the UAV. The UAV identifier and the UAV key may be authenticated using an authentication center. The certification center may be offboard to the UAV. The authentication center may be part of an authentication system as described elsewhere herein (e.g., authentication center 220 of FIG. 2).

  UAV identifiers and UAV keys may be issued by an identity registration database (eg, identity registration database 210 of FIG. 2) as described elsewhere herein. The ID registration database may be offboard to the UAV. The identification module may receive the UAV identifier and the UAV key once and may not change any after initial reception. Thus, the UAV identifier and the UAV key may be immutable once determined. In another example, the UAV identifier and key may be fixed as they are received and may not be rewritten. Alternatively, the UAV identifier and the UAV key may be modified only by the authorized party. The general operator of the UAV may not be able to change or alter the UAV identifier and UAV key in the identification module.

  In some cases, the identity registration database may issue an identification module itself that may be manufactured to the UAV. The ID registration database can issue identifiers prior to, or in parallel with, the manufacture of the UAV. The ID registration database can issue an identifier before the UAV is sold or distributed.

  The identification module may be implemented as a USIM. The identification module may be a memory that can be written only once. Optionally, the identification module may not be externally readable.

  The identification module 410 may not be able to disconnect from the flight control unit 400. The identification module can not be removed from other parts of the flight control unit without impairing the function of the flight control unit. The identification module can not be removed from the rest of the flight control unit by hand without assistance. An individual can not manually remove the identification module from the flight control unit.

  The UAV may include a flight control unit that controls the operation of the UAV, and an identification module incorporated in the flight control unit. The identification module uniquely identifies a UAV from other UAVs. A method may be provided to identify a UAV. The method comprises (1) controlling the operation of the UAV using a flight control unit, and (2) uniquely identifying the UAV from other UAVs using an identification module incorporated in the flight control unit. Including the step of

  The identification module may be physically bonded or attached to the flight control unit. An identification module may be incorporated into the flight control unit. For example, the identification module may be a chip deposited on the flight control unit circuit board. Various physical techniques may be used to prevent the identification module from being disconnected from other parts of the flight control unit.

  System in package (SIP) technology may be used. For example, a multi-functional chip (including at least one of a processor, a communication module, or an identification module) may be incorporated into one package. It may perform a complete function. If the identification module is split, the other modules of the package will be destroyed and as a result the UAV will be unusable.

  FIG. 5 shows a further example of a flight control unit 500 according to an embodiment of the present invention. A possible configuration using SIP technology is illustrated. Identification module 510 and processor 520 may be packaged in the same chip. The identification module is not disconnected from the processor, and any attempt to remove the identification module may result in removal or breakage of the processor and may result in damage to the flight control unit. The identification module may be integrated with one or more other parts of the flight control unit in one package of the same chip. In another example, the identification module may be packaged on the same chip as the communication module 530. In some cases, the identification module, the processor and the communication module may all be packaged in one chip.

  Chip on board (COB) packages may be used. A conductive or nonconductive adhesive can be used to bond the exposed chip to the wiring substrate. Wire bonding can then be performed to achieve their electrical connection, also known as soft encapsulation. The identification module may be welded onto the circuit board of the flight control unit. After COB packaging, the identification module, once deposited on the circuit board, can not be removed in its entirety. Attempts to physically remove the identification module result in damage to the circuit board or other parts of the flight control unit.

  Software can be used to verify that the identification module is not separable from the other parts of the flight control unit of the UAV. For example, each UAV may be implemented with a version of software corresponding to its identification module. In other words, there may be a one-to-one correspondence between the software version and the identification module. The software version may be unique or substantially unique to the UAV. The normal operation of the software may require the acquisition of the UAV key stored in the identification module. The software version can not operate without the corresponding UAV key. If the identification module is changed or removed, then the UAV software can not operate properly thereafter.

  In one embodiment, the identification module may be issued by the controlling entity. The controlling entity may be an entity to identify the UAV or to exercise some form of authority over the UAV. In some cases, the controlling entity may be a government agency or an operator licensed by the government. The government may be a central government, a state government, a city office, or any form of local government. The control entity may be a government agency, such as the Federal Aviation Administration (FAA), the Federal Trade Commission (FTC), the Federal Communications Commission (FCC), the Telecommunications Information Agency (NTIA), the Department of Transportation (DoT), or the Department of Defense (DoD) ) Is fine. The control entity may be a regulator. The controlling entity may be a domestic organization or an international organization or a corporation. The control entity may be the manufacturer of the UAV or the seller of the UAV.

  FIG. 6 shows an example of a flight control unit tracking the identification of chips on a flight control unit according to an embodiment of the present invention. The flight control unit 600 may have an identification module 610 and one or more other chips (eg, chip 1 620, chip 2 630, ...). The identification module may have a unique UAV identifier 612, an initial chip record 614, and one or more processors 616.

  Identification module 610 may be inseparable from other portions of flight control unit 600. Alternatively, the identification module may be removable from the flight control unit. The identification module can uniquely identify a UAV from other UAVs through the unique UAV identifier 612.

  The identification module may include a chip record 614 that may store a record of one or more surrounding chips 620,630. Other chip examples may include one or more processing chips, communication chips, or any other type of chip. This chip record can store any type of data regarding one or more surrounding chips. For example, the type of surrounding chip (eg, model), information about the chip manufacturer, chip serial number, chip performance characteristics, or any other data about the chip. This record can be at least one of the following: (1) include parameters that are specific to a particular chip, (2) specific to the specific chip type, or (3) not necessarily specific to the chip or type of chip. Chip recording may be a memory unit.

  Once the UAV is activated, the identification module can begin self-testing and can collect information about surrounding chips and compare the collected information to the information stored in the chip record. The comparison may be performed using one or more processors 616 of the identification module. The identification module can check if the surrounding chips match the internal chip records, thereby distinguishing if they were implanted. For example, during self-testing, if the currently collected information matches the initial chip records, then it is likely that the identification module has not been implanted. During the self-test procedure, if the currently collected information does not match the initial chip records, then it is likely that the identification module has been implanted. An indication of whether the identification module has been implanted, or an indication of the likelihood of having been implanted, may be provided to the user or another device. For example, an alert can be sent to the user device or to the control entity when the initial chip record does not match the surrounding chip information during self-test.

  In one embodiment, the chip recording information can not be changed. The chip recording information may be a memory that can be written only once. The chip record may include information about one or more surrounding chips collected only when the UAV is turned on. Information about the surrounding chips can be physically incorporated into the chip record. Information about the surrounding chips can be provided by the manufacturer and incorporated into the chip record. In some cases, chip recording may not be externally readable.

  In an alternative embodiment, chip recording information can be changed. Chip record information may be updated each time a self test procedure is performed. For example, information about surrounding chips can be used to replace or supplement existing records for surrounding chips. A comparison can be made between the initial chip records and the chip information gathered during the self test. If no change is detected, then it is likely that the identification module has not been ported. If a change is detected, then it is likely that the identification module has been implanted. Similarly, an indication of whether a transplant has been made may be provided.

  For example, the initial chip record may include a record showing two surrounding chips, one model X of serial number ABCD 123 and one model Y of serial number DCBA 321. A self test procedure may be performed. During the self-test procedure, information may be gathered about the surrounding chips, which may indicate two chips, one model X with serial number 12345FG and one model S with serial number HIJK 987. Because the data do not match, a high probability that the identification module has been ported can be provided. The initial identification module recording model number X of serial number 12345FG and model S of serial number HIJK 987 in the chip record may be removed. The initial identification module may have been replaced with a new identification module taken from a different UAV. In this case, flight control units of different UAVs have chips of model X with serial number ABCD 123 and model Y with serial number DCBA 321. The initial chip records may include recordings of surrounding chips from the UAV, either from the initial manufacturer's or UAV's configuration, or from prior operations of the UAV. In any event, it may indicate that the identification module has been ported to that UAV, either due to the initial manufacturer or configuration, or due to previous operation.

  Thus, it is possible to provide a UAV that includes a flight control unit that controls the operation of the UAV. The flight control unit comprises an identification module and a chip. The identification module (1) uniquely identifies a UAV from other UAVs, (2) includes an initial record of chips, and (3) gathers information about the chip subsequent to including an initial record of chips. The identification module goes through a self-testing procedure comparing the information gathered about the chip with the chip's initial record, and the identification module provides an alert if the information gathered about the chip does not match the chip's initial record. Do.

  The method of identifying the UAV comprises: (1) controlling the operation of the UAV with a flight control unit comprising an identification module and a chip; and (2) using the identification module with an initial recording of the chip, Uniquely identifying from the UAV, (3) gathering information about the chip subsequent to including initial recording of the chip, and (4) using the identification module to tip information collected about the chip And (5) providing an alert if the information gathered about the chip does not match the initial recording of the chip.

  The chip record may be an integral part of the identification module. The chip record may be inseparable from other parts of the identification module. In some cases, the tip record can not be removed from the identification module without damaging the identification module or at least one other part of the flight control unit.

  Self-testing can be performed automatically without any user input. The self test procedure may be initiated automatically when the UAV is powered on. For example, once the UAV is turned on, a self test procedure may be performed. Self-testing procedures may be initiated automatically when the UAV begins to fly. Self test procedures may be performed automatically when the UAV is powered down. Self-testing procedures may be performed automatically periodically (eg, at regular or irregular time intervals) during operation of the UAV. Also, self test procedures may be performed in response to detected events or in response to user input.

  In one embodiment, an authentication system may be involved in the issuance of an identification module. The authentication system can issue data that can be provided to the physical identification module or the identification module. At least one of the ID registration module or the authentication center may be involved in the issuance of the identification module. The control agency may be involved in the implementation of the authentication system. The control entity may be involved in the issuance of the identification module. The control entity may be a specific government agency or an operator licensed by the government, or any other type of control entity as described elsewhere herein.

  In order to prevent the UAV from being illegally re-armed (e.g. by a new identification module or a new identifier), an authentication system (e.g. an authentication center) requires the UAV to be reviewed regularly. it can. Once the UAV is qualified and no tampering is detected, the authentication process can continue. The authentication process can uniquely identify the UAV and confirm that the UAV is the actual UAV identified by the identifier.

Operation Identification Users of the UAV may be uniquely identified. A user may be uniquely identified with the aid of a user identifier. The user identifier uniquely identifies the user and can differentiate the user from other users. The user may be a UAV operator. The user may be an individual who controls the UAV. The user may (1) control the flight of the UAV, (2) control at least one of the operation of the load or the placement of the UAV, and (3) control the communication of the UAV. (4) one or more sensors of the UAV may be controlled, (5) navigation of the UAV may be controlled, (6) power usage of the UAV may be controlled, or (7) of the UAV Any other function may be controlled.

  UAVs may be uniquely identified. UAVs may be identified with the aid of UAV identifiers. The UAV identifier uniquely identifies the UAV and can differentiate the UAV from other UAVs.

  In some cases, the user may be authorized to operate the UAV. One or more individual users may be required to be identified before operation of the UAV becomes possible. In some cases, all users may be authorized to operate the UAV when identified. Optionally, only a selected group of users may be authorized to operate the UAV when identified. Some users may not be authorized to operate the UAV.

  FIG. 8 illustrates the process of considering whether the user is authorized to operate the UAV before allowing the user to manipulate the UAV. The process may include receiving a user identifier (810) and receiving a UAV identifier (820). A determination may be made as to whether the user is authorized to operate the UAV (830). If the user is not authorized to operate the UAV, the user is not authorized to operate the UAV (840). If the user is authorized to operate the UAV, the user is authorized to operate the UAV (850).

  A user identifier may be received (810). The user identifier may be received from the remote controller. The user identifier may be received from user input. The user identifier may be retrieved from memory based on user input. Optionally, user input may be provided to the remote controller or another device. The user may log in or go through any authentication procedure in providing the user identifier. The user may manually enter the user identifier. The user identifier may be stored on the user device. The user identifier may be stored from memory without the user having to manually enter the user identifier.

  A UAV identifier may be received (820). The user identifier may be received from the UAV. A UAV identifier may be received from user input. The UAV identifier may be retrieved from memory based on user input. Optionally, user input may be provided to the remote controller or another device. The user may go through an authentication procedure in providing the UAV identifier. Alternatively, the UAV may go through a self identification or self authentication procedure automatically. The UAV identifier may be stored on the UAV or on the user device. The UAV identifier may be stored from memory without requiring the user to manually enter the UAV identifier. The UAV identifier may be stored in the identification module of the UAV. Optionally, the UAV identifier for the UAV may be immutable.

  The UAV may broadcast the UAV identifier during operation. The UAV identifier may be broadcast continuously. Alternatively, the UAV identifier may be broadcasted on request. The UAV identifier may be broadcasted upon request of the UAV to an offboard aviation control system, to the UAV to an offboard authentication system, or any other device. The UAV identifier may be broadcast if communication between the UAV and the aviation control system can be encrypted or authenticated. In some cases, a UAV identifier may be broadcast in response to an event. For example, the UAV identifier may be automatically broadcast when the UAV is turned on. The UAV identifier may be broadcast during the initialization procedure. The UAV identifier may be broadcast during the authentication procedure. Optionally, the UAV identifier may be broadcast via a wireless signal (eg, a wireless signal, an optical signal, or an acoustic signal). The identifier may be broadcast using direct communication. Alternatively, the identifier may be broadcast using indirect communication.

  At least one of the user identifier or the UAV identifier may be received by the authentication system. At least one of the user identifier or the UAV identifier may be received at an authentication center of the authentication system or at an aviation control system. At least one of the user identifier or the UAV identifier may be received by the UAV or at least one of the remote controllers of the UAV. At least one of the user identifier and the UAV identifier may be received at one or more processors that may determine if the user is authorized to operate the UAV.

  With the assistance of one or more processors, a determination 830 may be made as to whether the user is authorized to operate the UAV. The determination may be made onboard the UAV or offboard the UAV. The determination may be made on-board the user's remote controller or off-board the user's remote controller. The determination may be made in a device separate from at least one of the UAV or the remote controller. In some cases, a determination may be made on a part of the authentication system. A determination may be made at an authentication center of the authentication system (e.g., authentication center 220 illustrated in FIG. 2) or at an aviation control system of the authentication system (e.g., aviation control system 230 illustrated in FIG. 2).

  The determination may be made in an apparatus or system that may generate one or more sets of flight restrictions. For example, a determination may be made in an aviation control system where the UAV may generate one or more sets of flight restrictions that are manipulated. The set of one or more flight restrictions may depend on the location of the UAV or any other factor related to the UAV. One or more sets of flight restrictions may be generated based on at least one of the user identifier or the UAV identifier.

  The user identifier and the UAV identifier may be considered when determining whether the user is authorized to operate the UAV. In some cases, only user identifiers and UAV identifiers may be considered. Alternatively, further information may be considered. Information about the user may be associated with the user identifier. For example, information regarding the user type (eg, proficiency, experience level, certification, license, training) may be associated with the user identifier. The user's flight history (e.g., where the user has been flying, the type of UAV the user has been flying, whether the user has had an accident) may be associated with the user identifier. Information about the UAV may be associated with the UAV identifier. For example, information regarding the UAV type (eg, model, manufacturer, characteristics, performance parameters, operating difficulty) may be associated with the UAV identifier. The UAV's flight history (eg, where the UAV has been flying, users who have previously communicated with the UAV) may be associated with the UAV identifier. Information associated with at least one of the user identifier and the UAV identifier may be considered in determining whether the user is authorized to operate the UAV. In some cases, additional factors may be considered, such as geographic factors, temporal factors, environmental factors, or any other type of factor.

  Optionally, only a single user is authorized to operate the corresponding UAV. A one-to-one correspondence may be provided between the authorized user and the corresponding UAV. Alternatively, multiple users may be authorized to operate the UAV. Many-to-one correspondence may be provided between the authorized user and the corresponding UAV. The user may only be authorized to operate a single corresponding UAV. Alternatively, the user may be licensed to operate multiple UAVs. A one-to-many correspondence may be provided between the authorized user and the plurality of corresponding UAVs. Multiple users may be authorized to operate multiple corresponding UAVs. A many-to-many correspondence may be provided between a licensed user and a number of corresponding UAVs.

  In some cases, users may be pre-registered with UAV operations. For example, only users who have pre-registered UAV operations may be authorized to operate UAVs. The user may be the owner of the registered UAV. When a user purchases or receives a UAV, the user may be registered as at least one of an owner or an operator of the UAV. In some cases, multiple users may be registered as at least one of an owner or an operator of a UAV. Alternatively, only a single user may be registered as at least one of the owner or the operator of the UAV. A single user may be able to specify one or more other users authorized to operate the UAV. In some cases, only users having a user identifier registered to operate the UAV may be authorized to operate the UAV. One or more registration databases may store information regarding registered users authorized to operate the UAV. The registration database may be onboard to the UAV or offboard to the UAV. The user identifier may be compared to the information in the registration database, and the user may only be permitted to operate the UAV if the user identifier matches a user identifier associated with the UAV in the registration database. The registration database may be UAV specific. For example, the first user may be pre-registered with the operation of UAV1, but may not be pre-registered with the operation of UAV2. The user may then be authorized to operate UAV 1 but may not be pre-registered to operate UAV 2. In some cases, the registration database may be specific to the type of UAV (eg, all UAVs of a particular model).

  In another example, the registration database may be open regardless of the UAV. For example, a user may be pre-registered as an operator of a UAV. The user may be permitted to fly any UAV as long as those particular UAVs do not have any other requirements for licensing.

  Alternatively, the UAV may default to allowing all users to operate the UAV. All users may be authorized to operate the UAV. In some cases, all users not on the "blacklist" may be authorized to operate the UAV. Thus, when determining whether the user is authorized to operate the UAV, the user may be authorized to operate the UAV, as long as the user is not blacklisted. One or more blacklist databases can store information about users who are not authorized to operate the UAV. The blacklist database can store user identifiers of users who are not authorized to operate the UAV. The blacklist database may be onboard to the UAV or offboard to the UAV. The user identifier may be compared to the information in the blacklist database, and if the user identifier does not match the user identifier in the blacklist database, the user may only be permitted to operate the UAV. Blacklisting may be UAV or UAV type specific. For example, a user may be blacklisted for a flight of a first UAV, but may not be blacklisted for a second UAV. Blacklisting may be UAV type specific. For example, the user may not be allowed to fly a particular module UAV, while the user is allowed to fly another model UAV. Alternatively, blacklisting need not be UAV or UAV type specific. Blacklisting may be applicable to all UAVs. For example, if the user is prohibited from operating any UAV, the user may not be permitted to operate the UAV regardless of UAV identification information or type, and may not be permitted to operate the UAV.

  Pre-registration or blacklisting may be further applied to other factors in addition to the UAV or UAV type. For example, pre-registration or blacklisting may be applied to a particular location or jurisdiction. For example, the user may be pre-registered with the UAV's operation in the first jurisdiction, while not pre-registered with the UAV's operation in the second jurisdiction. This may or may not depend on the identity or type of UAV itself. In another case, pre-registration or blacklisting may apply to specific climatic conditions. For example, the user may be blacklisted from the operation of the UAV if the wind speed exceeds 30 miles per hour. In other cases, other environmental conditions may be considered, such as environmental complexity, population density, or air traffic.

  Further considerations as to whether the user is authorized to operate the UAV may depend on the user type. For example, in determining whether the user is authorized to operate the UAV, the user's skill or experience level may be considered. Information about the user (eg, user type) can be associated with the user identifier. When considering whether the user is authorized to operate the UAV, information regarding the user (eg, user type) may be considered. In one example, the user may be authorized to operate the UAV only if the user meets a threshold proficiency level. For example, the user may be authorized to operate the UAV when undergoing training for UAV flight. In another case, the user may be authorized to operate the UAV if the user has proof that the user has certain flying skills. In another case, the user may be authorized to operate the UAV only if the user meets a threshold experience level. For example, the user may be authorized to operate the UAV if at least a certain threshold unit of time has been reached for flight. In some cases, the threshold number may be applied to time units for flight for any UAV or only UAVs that match the UAV. The information about the user may include demographic information about the user. For example, the user may be authorized to operate the UAV only if it has reached a threshold age (eg, being an adult). Information regarding the user and / or UAV may be derived and considered with the assistance of one or more processors in determining whether the user is authorized to operate the UAV. In determining whether the user is authorized to operate the UAV, one or more considerations may be made in accordance with the non-transitory computer readable medium.

  As discussed above, additional factors (eg, geographic, time, or environmental factors) may be considered in determining whether the user is authorized to operate the UAV. For example, while only some users may be licensed to operate the UAV at night, other users may be licensed to operate the UAV only during the daytime. In one example, a user undergoing night flight training may be authorized to operate the UAV both during the day and night, while a user who indicates that night flight training has not been performed may only operate the UAV during the day. It may be licensed.

  In some cases, different modes of UAV licensing may be provided. For example, in pre-registration mode, only pre-registered users may be authorized to fly the UAV. In open mode, all users can be authorized to fly the UAV. In the skill-based mode, only users exhibiting a certain level of proficiency or experience may be permitted to fly the UAV. In some cases, a single mode may be provided for user authorization. In another example, the user may be to switch between modes of user operation. For example, the owner of the UAV may switch the licensed mode in which the UAV works. In some cases, other factors (eg, location of the UAV, time, air traffic levels, environmental conditions) may determine the licensed mode in which the UAV functions. For example, if the environmental conditions are very windy or difficult to fly, the UAV may automatically authorize the UAV to fly only to users authorized in the skill mode.

  If the user is not authorized to operate the UAV, the user is not authorized to operate the UAV (840). In some cases, this may result in the UAV not responding to commands from at least one of the user or the user's remote controller. The user may not be able to fly or control the flight of the UAV. The user may not be able to control any other part of the UAV (eg, load, support mechanism, sensor, communication unit, navigation unit, or power supply unit). The user may or may not be able to power on the UAV. In some cases, the user can turn on the UAV, but the UAV may not respond to the user. Optionally, the UAV may power off itself if the user is not licensed. In some cases, the user may be provided with an alert or message that the user is not authorized to operate the UAV. Reasons for which the user has not been granted may or may not be provided. Optionally, the second user may be provided with an alert or message that the user is not authorized to operate the UAV, or that the user has attempted to operate the UAV. The second user may be the owner or the operator of the UAV. The second user may be an individual authorized to operate the UAV. The second user may be an individual exercising control of the UAV.

  In an alternative embodiment, if the user is not authorized to operate the UAV, the user may only be authorized to operate the UAV in a restricted manner. This may include geographical limitations, time limitations, speed limitations, usage limitations of one or more additional components (e.g., loads, support mechanisms, sensors, communication units, navigation units, power units, etc.). This may include the mode of operation. In one example, if the user is not authorized to operate the UAV, the user can not operate the UAV at the selected location. In another case, if the user is not authorized to operate the UAV, the user can operate the UAV only at the selected location.

  If the user is authorized to operate the UAV, the user may be authorized to operate the UAV (850). The UAV may respond to at least one of the user or a command from the user's remote controller. The user may be able to control the flight of the UAV, or any other part of the UAV. The user can manually control the UAV through user input via the remote controller. In some cases, the UAV can automatically disable user input to conform to a set of flight restrictions. The set of flight restrictions may be predetermined or may be received during flight. In some cases, one or more geofencing devices may be used to set up or provide a set of flight restrictions.

  Aspects of the invention may be directed to methods of operating a UAV. The method comprises the steps of: (1) receiving a UAV identifier uniquely identifying the UAV from the other UAV; (2) receiving a user identifier uniquely identifying the user from the other user; ) With the assistance of one or more processors, determining whether the user identified by the user identifier is authorized to operate the UAV identified by the UAV identifier, and (4) the user is authorized to operate the UAV And the step of permitting the user to operate the UAV. Similarly, non-transitory computer readable media may be provided which include program instructions for operating the UAV. The computer readable medium comprises (1) program instructions for receiving a UAV identifier uniquely identifying the UAV from the other UAVs, and (2) program instructions for receiving a user identifier uniquely identifying the user from the other users. And (3) program instructions to assess whether the user identified by the user identifier is authorized to operate the UAV identified by the UAV identifier, and (4) the user if the user is authorized to operate the UAV. Contains program instructions to allow the operation of the UAV.

  Additionally, a UAV licensing system may be provided. The UAV licensing system may include a first communication module and one or more processors. One or more processors are operatively connected to the first communication module and, individually or collectively, receive (1) a UAV identifier uniquely identifying the UAV from the other UAVs, (2) a user Receive a user identifier uniquely identifying it from other users, (3) assess whether the user identified by the user identifier is authorized to operate the UAV identified by the UAV identifier, and (4) the user Sends a signal to allow the user to operate the UAV if the user is authorized to operate the UAV. An unmanned aerial vehicle (UAV) licensing module may include one or more processors. One or more processors, individually or collectively, (1) receive a UAV identifier uniquely identifying the UAV from the other UAV, and (2) a user identifier uniquely identifying the user from the other user And (3) assess whether the user identified by the user identifier is authorized to operate the UAV identified by the UAV identifier, and (4) if the user is authorized to operate the UAV, the user Send a signal to allow UAV operation by.

  The second user may be able to take over control of the UAV from the first user. In some cases, both the first user and the second user may be authorized to operate the UAV. Alternatively, only the second user is authorized to operate the UAV. The first user may be authorized to operate the UAV in a more restricted manner than the second user. The second user may be authorized to operate the UAV in a less restrictive manner than the first user. One or more operation levels may be provided. The higher operation level may indicate the priority with which the user can operate the aircraft. For example, higher operating level users may have priority over lower operating level users in operating UAVs. A higher operation level user may be able to take over control of the UAV from a lower operation level user. In some cases, the second user may be at a higher operating level than the first user. Optionally, higher operation level users may be authorized to operate the UAV in a manner that is less restrictive than lower operation level users. Optionally, lower operation level users may be authorized to operate the UAV in a more restricted manner than higher operation level users. If the UAV is licensed to operate and is at a higher operation level than the first user, the operation of the UAV may be taken over by the second user from the first user.

  The operation of the UAV by the second user may be authorized when the UAV authenticates the second user's privilege to operate the UAV. The authentication may be performed with the aid of at least one of a digital signature or a digital certificate verifying the identity of the second user. At least one of the authentication of the second user or the first user may be performed using any authentication procedure as described elsewhere herein.

  In one embodiment, the second user who can take over control may be part of the emergency service. For example, the second user may be a member of a law enforcement agency, a fire department, a medical institution, or a disaster relief agency. The second user may be an electronic police. In some cases, the second user may be a member of a government agency (e.g., of an agency that can regulate air traffic or other types of traffic). The second user may be an operator of the aviation control system. The user may be a member or an administrator of the authentication system. The second user may be a member of a defense army or a semi-defense army. For example, the second user may be a member of the Air Force, Coast Guard, National Guard, Chinese People's Armed Police Force (CAPF), or any other type of defense force or equivalent in any jurisdiction in the world.

  The first user may be notified when the second user takes over control. For example, an alert or message may be provided to the first user. An alert or message may be provided via the first user's remote controller. The alarm may be displayed visually or may be audible or tactilely recognizable. In one embodiment, the second user may request that the first user take over control of the UAV. The first user can choose to accept or decline the request. Alternatively, the second user may be able to take over control without requiring acceptance or permission from the first user. In one embodiment, there may be a time lag between when the first user is alerted that the second user is taking over control and when the second user takes over control. Alternatively, there may be little or no time lag, so it may be possible for the second user to take over instantly. The second user makes an attempt to take over control: 1 minute, 30 seconds, 15 seconds, 10 seconds, 5 seconds, 3 seconds, 2 seconds, 1 second, 0.5 seconds, 0.1 seconds, 0.1. It may be possible to take over control within less than 05 seconds, or 0.01 seconds.

  The second user may take over control from the first user in response to any case. In one embodiment, the second user can take over control when the UAV enters a restricted area. Control may be returned to the first user when the UAV leaves the restricted area. The second user can manipulate the UAV while the UAV is within the restricted area. In another case, the second user may be able to take over control of the UAV at any time. In some cases, when a security or security threat is identified, a second user may be able to take over control of the UAV. For example, if it is detected that the UAV is heading for a course that collides with the aircraft, the second user may be able to take over control to avoid colliding with the aircraft.

Authentication UAV users can be authenticated. A user may be uniquely identified with the aid of a user identifier. The user identifier is authenticated and can verify that the user is actually the user associated with the user identifier. For example, if the user is self-identifying using the user identifier associated with Bob Smith, the user may be authenticated and verified to be actually Bob Smith.

  The UAV can be authenticated. A UAV may be uniquely identified with the aid of a UAV identifier. The UAV identifier can authenticate and verify that the UAV is actually the UAV associated with the UAV identifier. For example, if the UAV identifies itself with the user identifier associated with the UAV ABCD 1234, the UAV may be authenticated and verified to be in fact the UAV ABCD 1234.

  In some cases, the user may be authorized to operate the UAV. One or more individual users may need to be identified before the UAV can be operated. In order for the user to authorize the operation of the UAV, the user's identity may need to be authenticated as the person that the user claims. The user identification information must first be authenticated to confirm that the authenticated identification information is authorized to operate the UAV before the user is authorized to operate the UAV.

  FIG. 9 illustrates a process of determining whether to allow the user to manipulate the UAV, in accordance with an embodiment of the present invention. The process may include authenticating a user (910) and authenticating a UAV (920). If the user does not pass the authentication process, the user may not be authorized to operate the UAV (940). If the UAV does not pass the authentication process, the user may not be authorized to operate the UAV (940). A determination may be made as to whether the user is authorized to operate the UAV (930). If the user is not authorized to operate the UAV, the user may then not be authorized to operate the UAV (940). If the user passes the authentication process, the user may be authorized to operate the UAV (950). If the UAV passes the authentication process, the user may be authorized to operate the UAV (950). Once the user is authorized to operate the UAV, the user may be authorized to operate the UAV (950). In some cases, both the user and the UAV must pass the authentication process (950) before the user is authorized to operate the UAV. Optionally, both the user and the UAV must pass the authentication process, and the user must be authorized to operate the UAV (950) before being authorized to operate the UAV.

In some cases, permission to operate the UAV can be granted in any situation, or can be granted only within one or more allocated volumes or areas. For example, the user / UAV may need to pass the authentication anyway to operate the UAV. In another example, the user may normally be able to operate the UAV, but the selected airspace (
For example, the operation of the UAV may need to be authenticated within a limited range.

  Aspects of the invention may be directed to methods of operating a UAV. The method comprises the steps of (1) recognizing UAV identification information uniquely distinguishable from other UAVs, and (2) authenticating user identification information uniquely distinguishable from other users. And (3) with the assistance of one or more processors, assessing whether the user is authorized to operate the UAV, and (4) the user is authorized to operate the UAV, and both the UAV and the user are authenticated. Includes the step of allowing the user to operate the UAV. Similarly, non-transitory computer readable media may be provided which include program instructions for operating the UAV. The computer readable medium comprises (1) program instructions for identifying identification information of a UAV uniquely distinguishable from other UAVs, and (2) identification information of a user uniquely distinguishable from other users. Program instructions to authenticate, (3) program instructions to assess whether the user is authorized to operate the UAV with the assistance of one or more processors, (4) the user is authorized to operate the UAV, the UAV and the user Contains program instructions that allow the user to operate the UAV when both are authorized.

  Also, the systems and methods provided herein may include a UAV authentication system. The UAV authentication system includes a first communication module and one or more processors. One or more processors, operatively connected to the first communication module, individually or collectively authenticate (1) UAV identification information uniquely distinguishable from other UAVs (2 )) Authenticate the identity of the user that is uniquely distinguishable from other users, (3) assess whether the user is authorized to operate the UAV, and (4) permit the user to operate the UAV, the UAV And send a signal allowing the user to operate the UAV when both are authenticated. The UAV authentication module may include one or more processors individually or collectively. One or more processors (1) authenticate UAV identification information that is uniquely distinguishable from other UAVs, and (2) user's identification information is uniquely distinguishable from other users Authenticate the identification information, (3) evaluate whether the user is authorized to operate the UAV, (4) when the user is authorized to operate the UAV, and when both the UAV and the user are authenticated, the UAV by the user Send a signal to allow the operation of.

  At least one of the user identifier and the UAV identifier may be collected in any manner as described elsewhere herein. For example, the UAV can broadcast its identification information on an ongoing basis or as needed during flight. For example, the UAV may broadcast a user identifier if it receives supervisory instructions from an aviation control system (eg, a police officer) or if communication between the UAV and the aviation control system is encrypted and authenticated. . The broadcast of identification information may be performed in various ways (eg, wireless signal, optical signal, acoustic signal, or any other type of direct or indirect communication method as described elsewhere herein) Can be implemented by

  The user or at least one of the UAV may be authenticated using any technique known in the art or later developed. Further details and examples of at least one of user or UAV authentication are described elsewhere herein.

UAV
The UAV can be authenticated with the assistance of the UAV's key. A UAV may have a unique UAV identifier. The UAV may be further authenticated with the aid of the UAV identifier. The UAV identifier and UAV key information may be used in combination to authenticate the UAV. At least one of the UAV identifier and the UAV key may be provided onboard the UAV. The UAV identifier or key may be part of the UAV's identification module. The identification module may be part of a flight control unit of the UAV. The identification module may be removable from the flight control unit as described elsewhere herein. At least one of the UAV identifier and the UAV key may not be removable from the UAV. The UAV may not be disconnected from the onboard UAV identifier and UAV key to the UAV. In a preferred embodiment, at least one of the UAV identifier or the UAV key may not be erased or changed.

  Further descriptions of UAV authentication are provided elsewhere in this specification. Further details on how UAV authentication may be performed using at least one of the UAV identifier or key are described in more detail elsewhere herein.

  According to one embodiment of the present invention, any UAV that does not have a UAV identifier and a UAV key can not be authenticated by the authentication center. If the UAV identifier or UAV key is lost, the UAV can not successfully access the aviation control system and can not perform any activity within the flight restricted area. In some cases, the user may not be permitted to operate the UAV at all if the UAV identity is not authenticated. Alternatively, the user may not be authorized to operate the UAV in the restricted airspace, but may be authorized to operate the UAV in other areas. All such unlawful activities of the UAV may be arrested and punishable.

  Under certain circumstances, the UAV and the user may initiate direct flight missions without certification. For example, if a communication connection can not be established between the UAV, the user and the authentication center, the user may still be authorized to start the mission. In some cases, during a mission, when a communication connection is established, at least one of user or UAV authentication may be performed. If at least one of the user or the UAV does not pass authentication, then a response may be taken. For example, the UAV can land after a predetermined period of time. In another case, the UAV may return to the start of flight. If at least one of the user or the UAV passes the authentication, then the user may be able to continue the operation of the UAV without interruption. In some cases, authentication of at least one of the user or the UAV does not occur even though the communication connection is established during the mission.

  If the mission has already been started without certification, certification may take place after the mission. Flight response measures may or may not be taken, depending on whether the certification is passed. Or, when it is possible to perform the authentication, no authentication takes place after the mission. During the mission, based on any number of factors, a determination may be made as to whether to proceed with the authentication. For example, one or more environmental conditions may be considered. For example, environmental climate, topography, population density, air traffic or surface traffic, environmental complexity, or any other environmental condition may be considered. For example, the UAV may be able to determine that it is located in an urban area or a suburb (eg, with the aid of GPS and maps), and if it is in a suburb, authentication may not be required . Thus, if the population density is high, authentication may be required and may not be required when the population density is low. When the population density exceeds the population density threshold, authentication may be required. In another case, authentication may be required when high air traffic density and may not be required when low air traffic density. Authentication may be required when the air traffic density exceeds a threshold. Similarly, authentication may be required when the complexity of the environment (eg, a larger number of surrounding objects or denser surrounding objects) is high, and when the complexity of the environment is low It does not have to be. When the complexity of the environment exceeds a threshold, authentication may be required. Other types of factors (e.g., geography, time, and any other factors described elsewhere herein) may be considered in determining whether authentication is required.

  If the UAV flies without certification, its flight capabilities may be limited. The flight of the UAV may be restricted according to a set of flight restrictions. The set of flight restrictions may include one or more rules that may affect the operation of the UAV. In one embodiment, if the UAV is flying without certification, the UAV may be restricted only in accordance with flight restrictions. Otherwise, if the UAV is certified, no set of flight restrictions are imposed. Alternatively, the UAV may be restricted according to the set of flight restrictions during normal operation, and a further set of flight restrictions may be imposed if the UAV is not certified. In one embodiment, the operation of the UAV may be restricted according to a set of flight restrictions whether or not the UAV is certified, but the set of flight restrictions is based on whether the UAV is certified Different rules may be required. In some cases, the rules may be more restrictive if the UAV is not certified. Overall, not authenticating the UAV results in the operator of the UAV as a result of any aspect of the UAV (eg, flight, movement or positioning of the load, support mechanism, sensors, communication, navigation, power usage, or any other) In some cases, the degree of freedom in controlling the UAV may be reduced.

  Examples of types of UAV flight capabilities that may be limited may include one or more of the following, or may include other types of limitations on the UAV as described elsewhere herein. For example, the UAV's flight distance may be limited (eg, it needs to be within the user's view). Flight altitude or flight speed may be limited. Optionally, equipment supported by the UAV (eg, a camera or other type of load) may be required to temporarily suspend operation.

  Different restrictions may apply according to the level of the user. For example, less experienced users may apply less restrictions. For example, a more experienced or more advanced user may be permitted to perform functions that are not permitted to a novice user. A more experienced or more advanced user may be permitted to fly in areas or locations where novice users may not be permitted to fly. As described elsewhere herein, the set of flight restrictions for the UAV may be tailored to at least one of user type or UAV type.

  The UAV can communicate with the authentication system. In one example, the authentication system may have one or more of the characteristics described elsewhere herein (e.g., FIG. 2). The UAV can communicate with the aviation control system of the authentication system. Any description herein of communication between the UAV and the aviation control system may apply to any communication between the UAV and any other part of the authentication system. As used herein, any description of the communication between the UAV and the aeronautical control system applies to the communication between the UAV and any other external device or system that may assist UAV flight safety, security, or regulation. It can.

  The UAV can communicate with the aviation control system in any manner. For example, the UAV may form a direct communication channel with the aviation control system. Examples of direct communication channels may include wireless connection, WiFi, WiMax, infrared, Bluetooth, or any other type of direct communication. The UAV may form an indirect communication channel with the aviation control system. Communication may be relayed through one or more intermediate devices. In one example, communication may be relayed to at least one of a user or a user device (eg, via a remote controller). Alternatively, or in addition, communications may be relayed via a single UAV or multiple other UAVs. Communication may be relayed via ground stations, routers, towers, or satellites. The UAV can communicate using one or many of the methods described herein. Any communication method may be combined. In some cases, different modes of communication may be used simultaneously. Alternatively or additionally, the UAV may switch between different modes of communication.

  After mutual authentication of the UAV (possibly with the user) with the authentication center (or any part of the authentication system), a secure communication connection with the aviation control system can be obtained. A secure communication connection between the UAV and the user can also be obtained. The UAV may communicate directly with at least one of the traffic monitoring server or one or more geofencing devices of the aviation control system. The UAV can also communicate with the user and be relayed through the user to reach an authentication center or an aviation control system. In one embodiment, direct communication with the traffic monitoring server or at least one of the one or more geofencing devices may be possible only after authentication of at least one of the UAV or the user has taken place. Alternatively, direct communication can be performed even if authentication has not been performed. In an embodiment, communication between the UAV and the user may occur only after authentication of at least one of the UAV or the user. Alternatively, communication may occur between the UAV and the user, even though at least one of the UAV and the user has not been authenticated.

  In one embodiment, the flight plan of the UAV may be pre-registered with the aviation control system. For example, the user may need to identify at least one of the planned location or the timing of the flight. The aviation control system may determine if the UAV is authorized to fly according to the flight plan. The flight plan may be elaborate or rough. During flight, the UAV may be autonomously controlled or semi-autonomously controlled to fly according to the flight plan. Alternatively, the user may have the freedom to manually control the UAV, but is required to stay within the estimated range of the flight plan. In some cases, the flight of the UAV may be monitored, and the UAV may be forced to be subordinate to the flight response measures if the manual control deviates significantly from the flight plan proposal. Flight response measures may force a UAV back into the course (eg, takeover of a flight by a computer or another individual), UAV forced landing, UAV forced hovering, or UAV forced departure It may include returning to the point. In some cases, the aviation control system can determine if the UAV is authorized to fly according to the flight plan based on the following: Other UAV flight plans, air traffic currently being monitored, environmental conditions, any flight restrictions in area and / or time, or any other factor. Alternate embodiments may not require pre-registration of flight plans.

  After the secure link is established, the UAV will apply to the traffic management module of the aviation control system for a resource (e.g., an airway and a period, or any other resource described elsewhere herein). it can. The traffic management module may manage the access right. The UAV may accept a set of flight restrictions (eg, distance, altitude, speed, or any other type of flight restriction described elsewhere herein) at the time of flight. The UAV can only take off if it is authorized. Flight plans may be recorded in traffic management.

  During flight, the UAV may periodically report its status to the traffic control subsystem of the aviation control system. The status of the UAV can be communicated to the traffic monitoring subsystem using any technique. Direct or indirect communication may be used, such as those described elsewhere herein. Data from external sensors may or may not be used in determining the state of the UAV and in transmitting the state information to the traffic monitoring subsystem. In one example, the UAV status information may be broadcast or relayed by the ground station or other intermediate device to the traffic management subsystem. The UAV may be supervised by the traffic management subsystem. The traffic management subsystem can communicate with the UAV using direct or indirect communication methods (eg, using those described elsewhere herein). If the scheduled flight is changed, the UAV may submit an application to the traffic management subsystem. The application may be submitted before the UAV's flight begins, or may be made after the UAV begins its flight. Applications may be made while the UAV is flying. Traffic management may have the ability to monitor UAV flight. The traffic management subsystem may monitor the flight of the UAV with information from the UAV and / or information from one or more sensors external to the UAV.

  The UAV can communicate with other devices (including but not limited to other UAVs or geofencing devices) during flight. Also, the UAV may be capable of at least one of authentication (including but not limited to digital signature + digital certificate) and / or response (eg, response to an authenticated geofencing device) during flight.

  The UAV can accept control takeovers from higher level users (e.g., an aviation control system or electronic police) during flight, as described in more detail elsewhere herein. Higher level users can take over control if their privileges are authorized by the UAV.

  After flight, the UAV can release the resources used. If the response to the traffic management subsystem times out, the claimed resources may also be released. For example, the resources may be at least one of planned UAV flight position or timing. When the flight is complete, the UAV can signal the traffic management subsystem to release resources. Alternatively, the traffic management subsystem may self-trigger the opening of resources. If the UAV shuts down traffic management subsystem communication after a predetermined period of time, the traffic management subsystem may self-initiate the release of resources. In some cases, when the application period is over (e.g., the UAV is shut off for the task from 3:00 to 4:00 pm and after 4:00), the traffic management subsystem It is possible to make the release of resources self-starting.

  The UAV can respond to at least one of an authentication request and an identity verification request. The request may come from an authentication system. In some cases, the request may come from a traffic monitoring server. A request may be made when the UAV is powered on. A request may be made when the UAV requests a resource. Prior to the flight of the UAV, a request may be introduced. Alternatively, during the flight of the UAV, a request may be introduced. In one embodiment, a UAV having a security function responds to at least one of an authentication request or an identification information inspection request from a traffic monitoring server. In certain embodiments, responses can be made under any circumstances and may include authentication failure.

  During flight, at least one of the interruptions or loss of communication between the UAV and the aeronautical control system, the UAV will quickly return to a relatively limited flight state of authority, and quickly It may be possible to return. Thus, when communication between the UAV and the aeronautical control system is interrupted, flight response measures can be taken. In some cases, the flight response may be an automatic return to the departure point of the UAV. The flight response measure may be an automatic flight of the UAV to the location of the UAV user. The flight response measures may be the automatic return of the UAV to the home location, may or may not be the departure point of the flight of the UAV. Flight response measures can land automatically. Flight response measures may automatically enter an autonomous flight mode if the UAV is flying according to a pre-registered flight plan.

Users Users can be UAV operators. Users can be classified by user type. In one example, users can be classified by at least one of their skill or experience level. The authentication system can issue identification information about the user. For example, the authentication center may be responsible for issuing a certificate to the user, giving at least one of the corresponding user identifier or user key. In some cases, the ID registration database may perform one or more of the functions. For example, the identity registration database may provide at least one of a user identifier or a user key.

  The user can be authenticated. User authentication may be performed using any technique known in the art or later developed. The user authentication technology may be similar to UAV authentication technology or may be different from UAV authentication technology.

  In one example, the user may be authenticated based on the information provided by the user. Users can be authenticated based on the knowledge they can have. In some cases, this knowledge may be known only to the user and not widely known to other users. For example, the user may be authenticated by providing the correct username and password. The user may be authenticated by submitting a password, passphrase, typing or swipe movement, signature, or any other type of information by the user. The user may be authenticated by correctly responding to one or more queries by the system. In one embodiment, the user can apply for a login name and / or password from an authentication center. The user may be able to log in with the login name and password.

  Users can be authenticated based on their physical characteristics. The biometric information about the UAV may be used to authenticate the user. For example, the user may be authenticated by submitting biometric information. For example, the user may go through a fingerprint scan, palm print scan, iris scan, retina scan, or a scan of any other part of the user's body. The user may provide a physical sample (eg, saliva, blood, clipped nails, or clipped hair) that may be analyzed to identify the user. In some cases, DNA analysis of samples from the user may be performed. The user may be authenticated by face recognition or walking recognition. The user may be authenticated by submitting a voiceprint. The user may submit at least one of the height or weight of the user for analysis.

  Users can be authenticated based on devices they may own. The user may be authenticated based on the memory unit and / or information of the memory unit that may be owned by the user. For example, a user may have a memory device issued by an authentication center, another part of an authentication system, or any other source. The memory device may be an external memory device, such as a U disk (eg, a USB drive), an external hard drive, or any other type of memory device. In one embodiment, an external device may be connected with a user remote controller. For example, an external device such as a U disk may be physically connected (eg, inserted / plugged into the remote controller) to the remote controller, or communicate with the remote controller (eg, transmit a signal that may be picked up by the remote controller) ). The device may be a physical memory storage device.

  The user may be authenticated based on information that may be storable in memory that may be in the possession of the user. Separate physical memory devices may or may not be used. For example, tokens such as digitized tokens may be owned by the user. The digitized tokens may be stored on a U disk, hard drive or other form of memory. The digitized token may be stored in the memory of the remote controller. For example, digitized tokens may be received by the remote controller from an authentication center, an identity registration database, or any other source. In one embodiment, the digitized token may be externally readable from the memory of the remote controller. The digitized token may or may not be modifiable on the memory of the remote controller.

  The user may be authenticated with the aid of an identification module which may be provided on the remote controller. An identification module can be associated with the user. The identification module may include a user identifier. In one embodiment, the identification module may include user key information. The data stored in the identification module may or may not be externally readable. The data stored in the identification module may not be arbitrarily modifiable. Optionally, the identification module may not be detachable from the remote controller. Optionally, the identification can not be removed from the remote controller without damaging the flight controller. Optionally, the identification module may be integrated into the remote controller. The information in the identification module can be recorded via the authentication center. For example, the authentication center may continue to record information from the identification module of the remote controller. In one example, at least one of the user identifier or the user key may be recorded by the authentication center.

  Users can be authenticated by going through a mutual authentication process. In some cases, the mutual authentication process may be similar to the authentication and key agreement (AKA) process. The user may be authenticated with the aid of an on-board key at the user terminal used by the user to communicate with the UAV. Optionally, the terminal may be a remote controller capable of transmitting one or more command signals to the UAV. The terminal may be a display device that may show information based on data received from the UAV. Optionally, the key may be part of the identification module of the user terminal and may be incorporated in the user terminal. The key may be part of the identification module of the remote controller and may be incorporated into the remote controller. The key may be provided by an authentication system (e.g., an identity registration database of the authentication system). Further examples and details of mutual authentication of users may be described in more detail elsewhere herein.

  In one embodiment, the user may need to have software or applications to operate the UAV. The software or application may itself be licensed as part of the user authentication process. In one example, a user may have a smartphone app that may be used to operate a UAV. The smartphone app may itself be licensed directly. If the smartphone application used by the user is authenticated, then user authentication may or may not be used. In some cases, the smartphone's license may be connected with a further user authentication step, as detailed in other parts of the specification. In some cases, the permission of the smartphone app may be sufficient to authenticate the user.

  Users can be authenticated with the help of an authentication system. In some cases, the user may be authenticated by the authentication center of the authentication system (e.g., authentication center 220 as illustrated in FIG. 2), or any other component of the authentication system.

  User authentication may be performed at any time. In one embodiment, user authentication may occur automatically when the UAV is turned on. User authentication may occur automatically when the remote controller is turned on. User authentication may be performed when the remote controller and the UAV form a communication channel. User authentication may be performed when at least one of the remote controller or the UAV forms a communication channel with the authentication system. User authentication may be performed in response to input from a user. For example, user authentication may occur when the user attempts to log in or provide information about the user (eg, username, password, biometric information). In another case, user authentication may be when information from a memory device (e.g., U disk) is provided to the authentication system, or when information (e.g., a digitized token or key) is provided to the authentication system Can be done. The authentication process may be pushed from the user or user device. In another case, user authentication may be performed when authentication is requested from an authentication system or another external source. The authentication center of the authentication system or the aviation control system can request authentication of the user. An authentication center or an aviation control system may be required to authenticate from the user one or more times. The authentication may occur at least one of before and / or during the flight of the UAV. In some cases, the user may be authenticated prior to exercising flight authority using the UAV. The user may be authenticated before the flight plan can be approved. Users can be authenticated before they can take control of the UAV. The user may be authenticated before the take off of the UAV can be authorized. The user may be authenticated at least one after connection to the authentication system has been lost or after being reestablished. The user may be authenticated when one or more events or situations (eg, unusual flight patterns with UAV) are detected. The user may be authenticated when an interrupted unlicensed UAV takeover occurs. The user may be authenticated when interrupted communication interference of the UAV occurs. The user may be authenticated when the UAV deviates from the assumed flight plan.

  Similarly, UAV authentication may be performed at any time, eg, as described above for user authentication. User authentication and UAV authentication are almost simultaneously (for example, 5 minutes or less, 4 minutes or less, 3 minutes or less, 2 minutes or less, 1 minute or less, 30 seconds or less, 15 seconds or less, 10 seconds or less, 5 seconds or less It may be performed in a range not exceeding seconds, 1 second or less, 0.5 seconds or less, or 0.1 seconds or less. User and UAV authentication may be performed with similar conditions or content. Alternatively, they may be performed in response at different times or at least one of different conditions or content.

  Information about the user may be collected after the user is authenticated. The information about the user may include any information described elsewhere in this specification. For example, this "information" may include the user type. The user type may include at least one of the user's skill or experience level. This information may include the user's past flight data.

Authentication Center An authentication system according to an embodiment of the present invention may be provided. The authentication system may include an authentication center. Any description of the certification center herein may apply to any part of the certification system. Any description of the authentication system herein may apply to an external device or entity, or one or more functions of the authentication system may be performed onboard the UAV or onboard the remote controller. It is also good.

  The authentication center may be responsible for data associated with one or more users and / or UAVs. The data may include at least one of an associated user identifier, an associated user key, an associated UAV identifier, or an associated UAV key. The authentication center can receive at least one of the identity of the user or the identity of the UAV. In one embodiment, the authentication system can be responsible for all data associated with one or more users and UAVs. Alternatively, the authentication system can be responsible for a subset of all data related to one or more users and UAVs.

  The UAV's controller (eg, the user's remote controller) and the UAV can issue a login request to the aviation control system. The controller or at least one of the UAV can issue a login request prior to flight of the UAV. The controller and / or UAV may send a login request before UAV flight is allowed. The controller or at least one UAV can issue a login request when at least one of the controller or UAV is turned on. At least one of the controller and the UAV may (1) when a connection between the controller and the UAV is established, or (2) when a connection between the controller and the external device is established, or (3) with the UAV A login request can be issued when a connection with an external device is established. The controller and / or UAV can issue a login request in response to a detected event or condition. The controller and / or the UAV can issue a login request when an authentication command is provided. The controller and / or UAV can issue a login request when an authentication instruction is provided from an external source (eg, an authentication center). The controller and / or the UAV may trigger a login request. Alternatively, a login request may be provided in response to startup from at least one of an external controller or UAV. The controller and / or UAV may make a request for login at a single point in the UAV session. Alternatively, the controller and / or the UAV may make requests for login at multiple points during the UAV session.

  The controller and the UAV are substantially simultaneously (eg, less than 5 minutes, less than 3 minutes, less than 2 minutes, less than 1 minute, less than 30 seconds, less than 15 seconds, less than 10 seconds, less than 5 seconds, less than 3 seconds relative to each other Request for login may be made less than one second, less than one-half second, less than one-half second). Alternatively, the controller and the UAV may make requests for login at different times. The controller and the UAV may make a request for login by detection of the same event or situation. For example, when a connection between the controller and the UAV is established, both the controller and the UAV may make a login request. Alternatively, the controller and the UAV may make requests for login by different events or situations. Thus, the controller and the UAV can make requests for logins independently of one another. For example, the controller can make a request for login when the power is on. On the other hand, the UAV can make a request for login when the power is on. These events may occur at times independent of one another.

  Any statement of login requirements may apply to any type of authentication as described elsewhere herein. For example, any mention of a login request may apply to the provision of a username and password. In another case, any description of a login request can apply to the initiation of the AKA protocol. In another case, any statement of login request may apply to providing physical characteristics of the user. The login request may be an authentication process or initiation of a request for authentication.

  After receiving a login request from at least one of the UAV user and the UAV, the authentication system may initiate an authentication process. In some cases, the aviation control system may receive a login request and may initiate an authentication process using an authentication center. Alternatively, the authentication center can receive the login request and start the authentication process alone. Login request information can be sent to the authentication center, and the authentication center can authenticate the identification information. In some cases, the login request information may include at least one of a username and a password. In one embodiment, the login information may include at least one of a user identifier, a user key, a UAV identifier, or a UAV key.

  The communication connection between the aviation control system and the certification center may be secure and reliable. Optionally, the aviation control system and the authentication center can utilize one or more of the same set of at least one of the same processor or storage unit. Alternatively, they may not be. The aviation control system and the certification center may or may not utilize the same set of hardware. The aviation control system and the certification center may or may not be co-located. In some cases, a wired connection may be provided between the aviation control system and the certification center. Alternatively, wireless communication may be provided between the aviation control system and the authentication center. Direct communication may be provided between the aviation control system and the certification center. Alternatively, indirect communication may be provided between the aviation control system and the certification center. The communication between the aviation control system and the authentication center may or may not traverse the network. The communication between the connecting aviation control system and the authentication center may be encrypted.

  After authentication of the user or at least one of the UAV at the authentication center, a communication connection between the UAV and the aviation control system is established. In one embodiment, both user and UAV authentication may be required. Alternatively, user authentication or UAV authentication may be sufficient. Optionally, a communication connection between the remote controller and the aviation control system may be established. Alternatively or additionally, a communication connection between the remote controller and the UAV may be established. After the communication connection (e.g., the connection described herein) is established, further authentication may or may not occur.

  The UAV can communicate with the aviation control system via a direct communication channel. Alternatively, the UAV can communicate with the aviation control system via an indirect communication channel. The UAV can communicate with the aviation control system by being relayed through the user or a remote controller operated by the user. The UAV can communicate with the aviation control system by being relayed through one or more other UAVs. Any other type of communication (e.g., as described elsewhere herein) may be provided.

  The user's remote controller can communicate with the aviation control system via a direct communication channel. Alternatively, the remote controller can communicate with the aviation control system via an indirect communication channel. The remote controller can communicate with the aviation control system by being relayed through the user operated UAV. The remote controller can communicate with the aviation control system by being relayed through one or more other UAVs. Any other type of communication (e.g., as described elsewhere herein) may be provided. In some cases, a communication connection between the remote controller and the aviation control system may be provided. In some cases, a communication connection between the remote controller and the UAV may be sufficient. Any type of communication (eg, as described elsewhere herein) may be provided between the remote controller and the UAV.

  After authentication of the user or at least one of the UAV, the UAV may be authorized to apply for resources by the traffic management module of the aviation control system. In one embodiment, both user and UAV authentication may be required. Alternatively, user authentication or UAV authentication may be sufficient.

  The resources may include at least one of an airway or a period. Resources may be used according to the flight plan. Resources may include one or more of the following. Assisted detection and avoidance, access to one or more geofencing devices, access to battery stations, access to refueling stations, or access to at least one of base stations or docks. Any other resource as described elsewhere herein may be provided.

  The traffic management module of the aviation control system can record the flight plan of one or more UAVs. The UAV may be authorized to apply for modification in the UAV's scheduled flight. The UAV may be allowed to modify the UAV's flight plan prior to beginning the flight plan. The UAV may be allowed to modify the UAV's flight plan during flight plan execution. The traffic management module may make a determination whether the UAV is authorized for the requested modification. If the UAV is authorized for the requested correction, the flight plan may be updated and include the requested correction. The flight plan may not be changed if the UAV is not authorized for the requested correction. The UAV may be required to comply with the original flight plan. A flight response may be imposed on the UAV if the UAV deviates significantly from the flight plan (either original or updated).

  In one embodiment, after authentication of the user or at least one of the UAVs at an authentication center, a communication connection may be established between the UAV and one or more geofencing devices. Further details regarding geo-fencing devices are described elsewhere herein.

  After authentication of the user or the UAV at the authentication center, a communication connection between the UAV and one or more authenticated intermediate objects may be established. The certified intermediate object may be another certified UAV or a certified geofencing device. The authenticated intermediate object may be a base station or a station or device that may relay communications. The authenticated intermediate object may go through any type of authentication process (e.g., as described elsewhere herein). For example, an authenticated intermediate object can pass authentication using the AKA process.

  Can determine if the user is authorized to operate the UAV. A determination may be made prior to authenticating at least one of the user or UAV, simultaneously with authenticating at least one of the user or UAV, or after authenticating at least one of the user or UAV. If the user is not authorized to operate the UAV, the user may not be permitted to operate the UAV. If the user is not authorized to operate the UAV, it may only be possible to operate the UAV in a restricted way. When the user is not authorized to operate the UAV, the user may only be permitted to operate the UAV at the selected location. One or more flight restrictions (e.g., those described elsewhere herein) may be imposed on users who are not authorized to operate the UAV. In some embodiments, the set of flight restrictions imposed when the user is not authorized to operate the UAV is more restrictive or stricter than the restrictions imposed on the user when the user is authorized to operate the UAV. It is good. When the user is authorized to operate the UAV, a set of flight restrictions may or may not be imposed on the user. When the user is authorized to operate the UAV, the set of flight restrictions imposed on the user may include null values. When the user is authorized to operate the UAV, the user may be able to operate the UAV in an unrestricted manner. Alternatively, certain restrictions may apply, but may not be as strict as or may differ from the restrictions that may be applied when the user is not authorized to operate the UAV.

  The set of flight restrictions may depend on at least one of the UAV's identity or the user's identity. In some cases, the set of flight restrictions may be changed depending on at least one of the UAV identification and / or the user identification. UAV flight restrictions may be adjusted or maintained based on UAV identification information. UAV flight restrictions may be adjusted or maintained based on the user's identification information. In certain embodiments, a default set of UAV flight restrictions may be provided. A default may be introduced prior to at least one of UAV authentication or identification. A default may be introduced prior to at least one of user authentication or identification. Defaults may be maintained or adjusted depending on the authenticated identity of at least one of the user or the UAV. In some cases, defaults may be adjusted to a less restrictive set of flight restrictions. In other examples, defaults may be adjusted to a more restrictive set of flight restrictions.

  In one embodiment, the user may be authorized to operate the UAV if at least one of the user or the UAV is identified and authenticated. In some cases, the user may not be authorized to operate the UAV, even though the user or at least one of the UAV is identified and authenticated. Whether the user is authorized to operate the UAV may be independent of whether at least one of the user or the UAV is authenticated. In some cases, prior to determining whether the user is authorized to verify at least one of the user or the UAV before determining whether the verified user is authorized to operate the verified UAV. At least one of identification or authentication may be performed.

  In some cases, only a single user is authorized to operate the UAV. Alternatively, multiple users may be authorized to operate the UAV.

  The UAV may be authenticated before being allowed to take off. The user may be authenticated before the UAV is allowed to take off. The user may be authenticated prior to authorizing control over the UAV. The user may be authenticated prior to permitting the UAV to send one or more operation commands via the user remote controller.

Authentication degree Authentication may be performed to different degrees. In some cases, different authentication processes may be performed, such as those described elsewhere herein. In some cases, a higher degree of authentication may be performed, and in other examples, a lower degree of authentication may be performed. In one embodiment, a determination may be made as to the degree or type of authentication process received.

  Aspects of the present invention may provide a method of determining the level of authentication of operation of an unmanned aerial vehicle (UAV). The method comprises the steps of receiving status information about the UAV, assessing the degree of authentication of the UAV or user of the UAV based on the status information using one or more processors, the UAV or user depending on the degree of authentication Performing the authentication of the user, and allowing the user to operate the UAV when the degree of authentication is completed. Similarly, a non-transitory computer readable medium may be provided that includes program instructions for determining the level of authentication operating an unmanned aerial vehicle (UAV). The computer readable medium executes the UAV or the user authentication according to the program instruction for receiving the status information on the UAV, the program instruction for evaluating the UAV or the user of the UAV based on the status information, and the authentication degree Program instructions for providing a signal to allow the user to operate the UAV when the degree of authentication is completed.

  An unmanned aerial vehicle (UAV) authentication system may include a communication module and one or more processors. One or more processors are operatively connected to the communication module and individually or collectively receive (1) status information about the UAV, and (2) authenticate the UAV or UAV user based on the status information Assess the degree and (3) perform UAV or user authentication according to the degree of authentication. An unmanned aerial vehicle (UAV) authentication module includes one or more processors. One or more processors individually or collectively receive (1) status information on the UAV, (2) assess the authentication degree of the UAV or UAV user based on the status information, and (3) the Perform UAV or user authentication according to the degree of authentication.

  A degree of authentication may be provided for at least one of the user or the UAV. In some cases, the degree of authentication for the user may be variable. Alternatively, the degree of authentication for the user may be fixed. The degree of authentication for the UAV may be variable. Alternatively, the degree of authentication for the UAV may be fixed. In one embodiment, the degree of authentication for the user and the UAV may both be variable. Optionally, the degree of authentication for the user and the UAV may both be fixed. Alternatively, the degree of authentication for the user may be variable while the authentication for the UAV may be fixed or the degree of authentication for the user may be fixed, while the authentication for the UAV is variable Good.

  The degree of authentication may not require any authentication to at least one of the user or the UAV. For example, the degree of authentication may be zero. Thus, the degree of authentication may not include UAV or user authentication. The degree of authentication may include both UAV and user authentication. The degree of authentication may include UAV authentication without requiring user authentication or may include user authentication without requiring UAV authentication.

  The degree of authentication may be selected from multiple options for the degree of authentication of at least one of the UAV or the user. For example, three options may be provided (e.g., a high degree of authentication, a medium degree of authentication, or a low degree of authentication) for the degree of authentication of at least one of the UAV or the user. For the authentication degree, any number of options (for example, 2 or more, 3 or more, 4 or more, 5 or more, 6 or more, 7 or more, 8 or more, 9 or more, 10 or more, 12 or more, 15 or more, 20 or more, 25 The above options may be provided. In some cases, the degree of authentication may be generated and / or determined without being selected from one or more predetermined options. The degree of authentication may be generated immediately.

  A higher degree of authentication provides a higher level of confidence that the user is a user to be identified or that a UAV is to be a UAV to be identified as compared to a lower degree of authentication It can. A higher degree of authentication provides a higher level of confidence that the user identifier matches the actual user or the UAV identifier matches the actual UAV as compared to the lower degree authentication. It can. A higher degree of authentication may be a more rigorous authentication process than a lower degree of authentication. Higher degree authentication may include additional authentication processes in addition to lower degree authentication processes. For example, a lower degree of authentication may include only a username / password combination, while a higher degree of authentication may include an AKA authentication process in addition to the username / password combination. Optionally, a higher degree of authentication may require additional resources or computing power. Optionally, a higher degree of authentication may take more time.

  Any description of the degree of authentication herein may apply to the type of authentication. For example, the authentication type to use may be selected from several different options. The authentication type may or may not indicate a higher degree of authentication. Depending on the status information, different types of authentication processes may be selected. For example, based on context information, a username / password combination may be used for authentication, or biometric data may be used for authentication. Depending on the status information, biometric data authentication may be performed in addition to the AKA authentication process, or biological sample data authentication may be performed in addition to the username / password. Also, any mention herein of the choice of degree of authentication is applicable to the choice of authentication type.

  The status information can be used to assess the degree of authentication. Status information may be optional for the user, UAV, remote controller, geofencing equipment, environmental conditions, geographical conditions, timing conditions, communication or network conditions, risks to the mission (eg, risks of attempted takeover or interference) Or any other type of information that may be relevant to the mission. Status information may include information provided by a user, a remote controller, a UAV, a geofencing device, an authentication system, an external device (eg, an external sensor, an external data source) or any other device.

  In one example, the status information may include environmental conditions. For example, status information may include the environment in which the UAV is operated. The environment may be of environmental type (eg, rural, suburban, or urban). When UAVs are in urban areas, a higher degree of authentication may be required than when UAVs are in rural areas. When the UAV is in the urban area, a higher degree of authentication may be required than when the UAV is in the suburbs. When the UAV is in a suburban area, a higher degree of authentication may be required than when the UAV is in a rural area.

  Environmental conditions may include the population density of the environment. When the UAV is in an environment with a higher population density, a higher degree of authentication may be required than in an environment where the UAV has a lower population density. When the UAV is in an environment having a population density that meets or exceeds the population threshold, a higher degree of authentication may be required. Also, when the UAV is in an environment with a population that does not exceed or fall below the population threshold, a lower degree of authentication may be required. Any number of population thresholds may be provided, which may be used to determine the degree of authentication. For example, if it may be necessary to increase the degree of authentication, for at least one of fulfilling or exceeding each threshold, three population thresholds may be provided.

  Environmental conditions may include the degree of traffic within the environment. The traffic may include air traffic and / or surface traffic. Overland traffic may include at least one of a ground transport or ship in the environment. When the UAV is in an environment with a higher degree of traffic, a higher degree of authentication may be required than in an environment where the UAV has a lower degree of traffic. When the UAV is in an environment that has a degree of traffic that meets or exceeds the traffic threshold, a higher degree of authentication may be required. When the UAV is in an environment with a degree of traffic that does not exceed or falls below the traffic threshold, a lower degree of authentication may be required. Any number of traffic thresholds may be provided, which may be used to determine the degree of authentication. For example, if it may be necessary to increase the degree of authentication for at least one of fulfilling or exceeding each threshold, five traffic thresholds may be provided.

  Environmental conditions may include the complexity of the environment in the environment. The complexity of the environment may indicate at least one of obstacles or possible safety problems in the environment. Environmental complexity may be used to represent the extent to which the environment is occupied by obstacles. Environmental complexity may be a quantitative or qualitative measure. In certain embodiments, environmental complexity may be determined based on one or more of the following. Number of obstacles, volume or percentage of space occupied by obstacles, volume or percentage of space within constant proximity to UAV occupied by obstacles, volume or percentage of spaces not blocked by obstacles, blocked by obstacles Unoccupied volume or proportion of space within constant proximity to UAV, proximity of obstacle to UAV, fault density (eg number of obstacles per unit space), type of obstacle (eg stationary or movable), fault Spatial arrangement of objects (eg, position, orientation), movement of obstacles (eg, velocity, acceleration), etc. For example, environments with relatively high fault densities are associated with high environmental complexity (eg, indoor environments, urban environments). In contrast, environments with relatively low fault densities are associated with low environmental complexity (eg, high altitude environments). As another example, environments where a large percentage of space is occupied by obstacles have higher complexity. On the other hand, environments where the unobstructed space occupies a large percentage have low complexity. Thus, the complexity of the environment can be calculated based on the generated environmental representation. The complexity of the environment may be determined based on a three-dimensional digital representation of the environment generated using sensor data. The three-dimensional digital representation may include a three-dimensional point cloud or occupancy grid. When the UAV is in an environment with additional environmental complexity, a higher degree of authentication may be required than when the UAV is in an environment with lower environmental complexity. Also, when the UAV is in an environment with an environmental complexity that meets or exceeds the environmental complexity threshold, a higher degree of authentication may be required. When the UAV is in an environment with a degree of complexity of the environment that does not exceed or fall below the complexity threshold of the environment, a lower degree of authentication may be required. Any number of environmental complexity thresholds may be provided, which may be used to determine the degree of authentication. For example, two environmental complexity thresholds may be provided if it may be required to increase the degree of authentication for each threshold to meet or exceed.

  Environmental conditions may include environmental climatic conditions. Examples of climatic conditions may include, but are not limited to, temperature, rainfall, wind speed or direction, or any other climatic conditions. When the UAV is in an environment with climatic conditions that may be more severe or harmful, the UAV may have a much higher degree than in an environment with less severe or non-poor climatic conditions. Authentication may be required. When the UAV is in an environment that meets or exceeds the climatic threshold, a higher degree of authentication may be required. Also, a lower degree of authentication may be required when the UAV is in an environment that does not exceed or fall below the climatic threshold. Any number of climatic thresholds may be provided, which may be used to determine the degree of authentication. For example, multiple climatic thresholds may be provided if it may be required to increase the degree of authentication to meet or exceed each threshold.

  The status information may include geographical information. For example, the status information may include the location of the UAV. Status information may include geographical flight restrictions on the location of the UAV. Certain locations may be classified as sensitive locations. In some instances, the location may be an airport, a school, a university campus, a hospital, a military area, a secure zone, a research facility, a judicial landmark, a power plant, a private house, a shopping mall, a meetinghouse, or any other May contain a type of location. In some cases, locations may be divided into one or more categories that may indicate their "sensitivity" level. When the UAV is in a location with a higher degree of confidentiality, a higher degree of authentication may be required than when the UAV is in a location with a lower degree of confidentiality. For example, when the UAV is in a secure military installation, a higher degree of authentication may be required than when the user is in a shopping mall. A higher degree of authentication may be required when the UAV is in a location that has a degree of confidentiality that meets or exceeds the location's confidentiality threshold. Also, a lower degree of authentication may be required when the UAV is in a location that does not exceed or fall below the location's confidentiality threshold. Any number of location confidentiality thresholds may be provided and may be used to determine the degree of authentication. For example, a certain place confidentiality threshold may be provided if it may be necessary to increase the degree of authentication for each threshold to meet or exceed.

  Status information may include time-based information. Time based information may include time of day, day of the week, day, month, quarter, season, year, or any other time based information. For some time periods, a higher degree of authentication may be required than for other time periods. For example, a day with more traffic in the past may require a higher degree of authentication. At times when there have been more traffic or accidents in the past, a higher degree of authentication may be required. A higher degree of certification may be required for seasons with more severe environmental climates. When the time is within one or more specific time ranges, a higher degree of authentication may be required. Any number of specific time ranges may be provided, which may be used to determine the degree of authentication. For example, ten time ranges may be provided, with different degrees or types of authentication required for each time range. In some cases, multiple types of time ranges may be simultaneously compared during the degree of authentication. For example, time of day and day of the week may be considered and may be compared to determine the degree of authentication.

  Status information may include information about the user. The status information may include identification information of the user. The identification information of the user may indicate the user type. Status information may include user type. Examples of user types may include at least one of a user's proficiency level or experience. Any other user information as described elsewhere herein may be used as context information. When the user has less skill or experience, a higher degree of authentication may be required than when the user has more skill or experience. If the user has a skill or experience level that meets or exceeds the skill or experience threshold, a lower degree of authentication may be required. Also, if the user has a skill or experience level that does not meet or equals the skill or experience threshold, a higher degree of authentication may be required. Any number of skills or experience thresholds may be provided, which may be used to determine the degree of authentication. For example, three skill or experience thresholds may be provided, and a reduced degree of authentication of meeting or exceeding each threshold may be required.

  Status information may include information about the UAV. The status information may include UAV identification information. The identification information of the UAV may indicate the UAV type. Status information may include UAV type. Examples of UAV types may include models of UAVs. Any other UAV information, as described elsewhere herein, may be used as context information. When the UAV model is a more complex or difficult to maneuver model, a higher degree of authentication may be required than if the UAV model is a simpler or easier to maneuver model. If the complexity or difficulty of the UAV model meets or exceeds the complexity or difficulty threshold, a higher degree of authentication may be required. Also, if the UAV model complexity or difficulty does not meet or equal the complexity or difficulty threshold, a lower degree of authentication may be required. Any number of complexity or difficulty thresholds may be provided, which may be used to determine the degree of authentication. For example, four complexity or difficulty thresholds may be provided, and an increased degree of authentication of at least one of meeting or exceeding each threshold may be required.

  Status information may include the complexity of tasks performed by the UAV. A UAV may include the execution of one or more tasks during a mission. The task may include flight along a flight path. The tasks may include the collection of data regarding the UAV environment. The task may include the transmission of data from the UAV. The task may include at least one of picking up, supporting or placing the load. The tasks may include management of onboard power to the UAV. The mission may include a lookout or photography mission. In some cases, task complexity may be higher if more on-board computing or processing resources are used for the UAV in completing the task. In one example, the task of detecting a moving target and tracking the target as the UAV moves may be more complex than the task of playing pre-recorded music from the speaker of the UAV. When the UAV task is more complex, a higher degree of authentication may be required than when the UAV task is simpler. When the UAV task complexity meets or exceeds the task complexity threshold, a higher degree of authentication may be required. Also, when the UAV task complexity does not meet or equal the task complexity threshold, a lower degree of authentication may be required. Any number of task complexity thresholds may be provided and may be used to determine the degree of authentication. For example, multiple task complexity thresholds may be provided if it may be necessary to increase the degree of authentication for each threshold to meet or exceed.

  Status information may include information regarding surrounding communication systems. For example, the presence or absence of wireless signals within the environment may be an example of status information. In some cases, the possibility of affecting one or more ambient wireless signals may be provided as status information. The number of wireless signals in the environment may or may not affect the possibility of affecting one or more surrounding wireless signals. If more signals are provided, it is likely that at least one of them may be affected. The security level of the wireless signal within the environment may or may not affect the potential to affect one or more surrounding wireless signals. For example, the more wireless signals have some security, the less they are likely to be affected. When the probability of affecting one or more ambient radio signals is higher, a higher degree of authentication may be required than when the probability of affecting one or more ambient radio signals is lower. A higher degree of authentication may be required when the possibility of affecting one or more ambient wireless signals meets or exceeds the communication threshold. Also, a lower degree of authentication may be required when the probability of affecting one or more ambient wireless signals is less than or equal to the communication threshold. Any number of communication thresholds may be provided, which may be used to determine the degree of authentication. For example, multiple communication thresholds may be provided, and at least one of meeting or exceeding each threshold and an increased degree of authentication may be required.

  The risk of interference to the operation of the UAV may be an example of context information. Status information may include information regarding the hacking / hijacking risk of the UAV. Other users may attempt to take over control of the UAV in an unauthorized manner. A higher degree of authentication may be required if the risk of hacking / hijacking is higher than if the risk of hacking / hijacking is lower. If the risk of hacking / hijacking meets or exceeds the risk threshold, a higher degree of authentication may be required. Also, if the risk of hacking / hijacking is less than or equal to the risk threshold, a lower degree of authentication may be required. Any number of danger thresholds may be provided, which may be used to determine the degree of authentication. For example, multiple risk thresholds may be provided, where an increased degree of authentication at least one of meeting or exceeding each threshold may be required.

  Status information may include information regarding the risk of interference to the communication of the UAV. For example, another unauthorized user may interfere with the communication with the licensed user's UAV in an unauthorized manner. Unauthorized users may interfere with commands to UAVs from authorized users. This can affect the control of the UAV. Unlicensed users may interfere with data from UAVs for licensed users' devices. If the risk of interference to UAV communication is higher, a higher degree of authentication may be required than if the risk of interference to UAV communication is lower. If the risk of interference to UAV communication meets or exceeds the risk threshold, a higher degree of authentication may be required. Also, if the risk of interference to UAV communication is less than or equal to the risk threshold, a lower degree of authentication may be required. Any number of danger thresholds may be provided, which may be used to determine the degree of authentication. For example, multiple risk thresholds may be provided, and an increased degree of authentication at least one of meeting or exceeding each threshold may be required.

  The context information may include information regarding one or more sets of flight restrictions. The status information may include information on the degree of flight restriction in one area. This may be based on current flight limits or past flight limits. Flight restrictions may be imposed by the control entity. A higher degree of flight restriction within the area may require a higher degree of authentication than a lower degree of flight restriction within the area. If the degree of flight restriction in the area meets or exceeds the restriction threshold, a higher degree of authentication may be required. Also, if the degree of flight restriction within the region is less than or equal to the restriction threshold, a lower degree of authentication may be required. Any number of limiting thresholds may be provided, which may be used to determine the degree of authentication. For example, multiple limit thresholds may be provided, where an increased degree of authentication at least one of meeting or exceeding each threshold may be required.

  Any type of status information may be used alone or in combination in determining the degree of authentication for at least one of the user or the UAV. The type of status information used may remain the same or may change over time. When multiple types of status information are assessed, they can be assessed at approximately the same time as for determining the degree of authentication. Multiple types of status information may be considered as equivalent factors. Alternatively, multiple types of context information may be weighted and not necessarily equal factors. The type of more weighted context information may be more relevant to the degree of authentication being determined.

  The determination of the degree of authentication may be made onboard the UAV. The UAV may receive and / or generate status information to be used. The UAV's one or more processors can receive status information from either an external data source (e.g., an authentication system) or an onboard data source (e.g., a sensor, a watch) on the UAV. In one embodiment, one or more processors may receive information from an offboard aviation control system at the UAV. Information from the aviation control system can be assessed to determine the degree of certification. The information from the aviation control system may be status information or may be added to the type of status information described elsewhere herein. One or more processors may make the determination using the received status information.

  The determination of the degree of authentication may be made offboard to the UAV. For example, the determination may be made by an authentication system. In some cases, an UAV offboard aviation control system or certification center may make a determination regarding the degree of certification. One or more processors of the authentication system either from an external data source (eg UAV, external sensor, remote controller) or from an onboard data source to the authentication system (eg clock, information about other UAVs) , Can receive status information. In one embodiment, one or more processors can receive information from a UAV, remote controller, remote sensor, or other external device off board to the authentication system. One or more processors may make the determination using the received status information.

  In another case, the determination may be made onboard the user's remote controller. The remote controller is capable of at least one of receiving or generating status information to be used. One or more processors of the remote controller can receive status information from either an external data source (e.g., an authentication system) or an onboard data source (e.g., memory, clock) on the remote controller. In one embodiment, one or more processors may receive information from an offboard aviation control system at a remote controller. Information from the aviation control system can be assessed to determine the degree of certification. The information from the aviation control system may be status information or may be added to the type of status information described elsewhere herein. One or more processors may make the determination using the received status information.

  Any other external device may be used in determining the degree of authentication based on the status information. A single external device may be used, or multiple external devices may be used together. Other external devices may receive status information from on-board or off-board sources. Other external devices may include one or more processors that may use the received status information to make a determination.

  FIG. 10 shows a diagram in which the level of flight restriction is affected by the degree of certification, according to an embodiment of the present invention. A set of flight restrictions may be generated that may affect the operation of the UAV. A set of flight restrictions may be generated based on the degree of authentication. A set of flight restrictions may be generated based on the completed degree of authentication. It may be taken into account whether the authentication pass is successful. The degree of authentication may apply to any part of the system (eg, at least one of UAV authentication, user authentication, remote controller authentication, geofencing device authentication, or any other type of authentication).

  In certain embodiments, increasing the degree of authentication 1010 may reduce the level of flight restriction 1020. As a higher degree of recognition is formed, flight restriction concerns and needs may be reduced. The degree of certification and the level of flight restrictions may be inversely proportional. The degree of authentication and the level of flight control may be linearly proportional (eg, linear inverse proportional). The degree of certification and the level of flight control may be exponentially proportional (e.g. exponentially inverse). Any other reverse relationship may be established between the degree of certification and the level of flight control. In an alternative embodiment, the relationship may be directly proportional. The relationship may be linear direct, exponential direct, or any other relationship. The level of flight restrictions may depend on the degree of authentication being performed. In alternative embodiments, the level of flight control may be independent of the degree of authentication. The level of flight restriction may or may not be selected for the degree of certification. If the degree of authentication is lower, more restrictive flight restrictions may be generated. If the degree of authentication is higher, a less restrictive set of flight restrictions may be generated. The set of flight restrictions may or may not be generated based on the degree of authentication.

  Aspects of the invention may be directed to a method of determining a level of flight control of operation of a UAV. The method comprises the steps of: (1) assessing the degree of authentication of the UAV or user of the UAV using one or more processors; (2) performing authentication of the UAV or user according to the degree of authentication; B) generating a set of flight restrictions based on the degree of authentication; and (4) manipulating the UAV according to the set of flight restrictions. Similarly, embodiments of the present invention may be directed to non-transitory computer readable media including program instructions for determining the level of UAV flight restrictions. The computer readable medium comprises (1) program instructions for assessing the UAV or the user's authentication degree, (2) program instructions for performing the UAV or user authentication according to the authentication degree, and (3) the authentication degree. Program instructions for generating a set of flight restrictions; and (4) program instructions for providing signals permitting operation of the UAV according to the set of flight restrictions.

  A UAV authentication system may be provided. The UAV authentication system may include a communication module and one or more processors. One or more processors are operatively connected to the communication module and individually or collectively assess (1) the UAV or UAV user's authentication degree, and (2) the UAV or user authentication depending on the authentication degree. And (3) generate a set of flight restrictions based on the degree of authentication. The UAV authentication module may include one or more processors. One or more processors individually or collectively evaluate (1) the UAV or UAV user's authentication degree, (2) perform the UAV or user authentication according to the authentication degree, and (3) authentication degree Generate a set of flight restrictions based on.

  As described elsewhere herein, the degree of authentication may not require any authentication for at least one of the user or the UAV. For example, the degree of authentication may be zero. Thus, the degree of authentication may be without UAV or user authentication. The degree of authentication may include both UAV and user authentication. The degree of authentication may include UAV authentication without requiring user authentication or may include user authentication without requiring UAV authentication.

  The degree of authentication may be selected from multiple options of the degree of authentication for at least one of the UAV or the user. For example, three options of authentication of at least one of the UAV or the user may be provided (e.g., a high degree of authentication, an intermediate degree of authentication, or a low degree of authentication). For the authentication degree, any number of options (for example, 2 or more, 3 or more, 4 or more, 5 or more, 6 or more, 7 or more, 8 or more, 9 or more, 10 or more, 12 or more, 15 or more, 20 or more, More than 25 options may be provided. In some cases, the degree of authentication may be generated and / or determined without selecting from one or more predetermined options. The degree of authentication can be generated immediately. At least one of the UAV or the user may be authenticated by the degree of authentication. At least one of the UAV or the user may be considered to be authenticated if it passes the authentication process or if it passes the authentication process. If the UAV or at least one of the users has passed the authentication process but has not passed, it may be considered not to be authenticated. For example, an identifier / key mismatch may be an example of not passing authentication. The fact that the provided biometric data does not match the recorded biometric data may be another example in the case where the authentication is not passed. A further example of not passing the authentication process provides an incorrect login username / password combination.

  The information on the degree of authentication may include the level or category of authentication performed. The level of the category may be at least one of qualitative or quantitative. The information on the degree of authentication may include one or more types of authentication performed. The information regarding the degree of authentication may include data collected during authentication (e.g. if the authentication involves processing of biometric data, the biometric data itself may be provided).

  A set of flight restrictions may be generated based on the degree of authentication. Any description of the degree of authentication herein may further apply to the type of authentication. The set of flight restrictions may be generated in accordance with any of the techniques as described elsewhere herein. For example, a set of flight restrictions may be generated by selection of a set of flight restrictions from a plurality of sets of restrictions. In another case, a set of flight restrictions may be generated from scratch. A set of flight restrictions may be generated with the assistance of input from the user.

  A set of flight restrictions may be generated with the aid of one or more processors. Generation of a set of flight restrictions may be done onboard the UAV. The UAV may receive and / or generate the degree of authentication used. The UAV's one or more processors can receive information related to the degree of authentication from an external data source or an onboard data source to the UAV. In an embodiment, one or more processors may receive information from an offboard aviation control system at the UAV. Information from the aviation control system may be assessed to generate a set of flight restrictions. One or more processors may make the determination using information related to the received degree of authentication.

  Generation of a set of flight restrictions may be done offboard to the UAV. For example, generation of a set of flight restrictions may be performed by an authentication system. In some cases, an UAV an offboard aviation control system or certification center can generate a set of flight restrictions. One or more processors of the authentication system may receive information related to the degree of authentication from either an external data source or an onboard data source to the authentication system. In one embodiment, one or more processors can receive information from the UAV, a remote controller, a remote sensor, or other external device off board to the authentication system. One or more processors may make the determination using information related to the received degree of authentication.

  In another case, the generation of a set of flight restrictions may be performed onboard the user's remote controller. The remote controller may receive and / or generate the degree of authentication used. One or more processors of the remote controller can receive information related to the degree of authentication from either an external data source or a remote control onboard data source. In one embodiment, one or more processors can receive information from an offboard aviation control system at a remote controller. Information from the aviation control system can be assessed to generate a set of flight restrictions. One or more processors may make the determination using information regarding the degree of authentication.

  Any other external device may be used in the generation of the set of flight restrictions based on the degree of authentication. A single external device may be used, or multiple external devices may be used together. Other external devices can receive information on the degree of authentication from off board or on board sources. Other external devices may include one or more processors that may make decisions using information regarding the received degree of authentication.

  The UAV may be operated according to a set of flight restrictions. A UAV user can issue one or more commands to perform UAV operations. The command may be issued with the help of the remote controller. The operation of the UAV may be performed in accordance with a set of flight restrictions. If one or more commands do not comply with the set of flight restrictions, the commands can be disabled so that the UAV continues to comply with the set of flight restrictions. When the command conforms to a set of flight restrictions, it is not necessary to override the command, and control of the UAV may be possible without interference.

Device Identification Storage FIG. 11 illustrates an example of device information that may be stored in memory, according to an embodiment of the present invention. A storage device 1110 may be provided. Information from at least one of one or more users 1115a, 1115b, one or more user terminals 1120a, 1120b, or one or more UAVs 1130a, 1130b may be provided. This information may include one or more commands, associated user identifiers, associated UAV identifiers, associated timing information, and any other associated information. One or more sets of information 1140 may be stored.

  Storage 1110 may include one or more storage units. The storage device may include one or more databases that may store the information described herein. The storage device may include computer readable media. For example, one or more electronic memory units may be provided, such as a memory (e.g. read only memory, random access memory, flash memory) or a hard disk. A "storage" type medium may include any or all of tangible memory, such as a computer, processor, etc., or their associated modules (eg, various semiconductor memories, tape devices, disk drives, etc.). These can provide non-temporary storage for software programming at any time. In one embodiment, the non-volatile storage medium includes, for example, an optical disc or a magnetic disc (e.g., any storage device such as any computer (s) that can be used to implement a database). Volatile storage media include dynamic memory, such as the main memory of such a computer platform. Substantial transmission media include coaxial cables, copper wire and fiber optics (eg, wires including a bus inside a computer system). The carrier medium may take the form of an electrical or electromagnetic signal, or an acoustic or light wave, such as that generated during radio frequency (RF) and infrared (IR) data communication. Thus, the general form of computer readable media includes: For example, floppy disks, flexible disks, hard disks, magnetic tapes, any other magnetic media, CD-ROM, DVD or DVD-ROM, any other optical media, punch cards, paper tapes, any other having a pattern of holes Physical storage medium, RAM, ROM, PROM and EPROM, flash EPROM, any other memory chip or cartridge, carrier wave for transmitting data or instructions, cable or link for transmitting such carrier wave, or computer with programming code or data Any other medium from which at least one can be read. Many of these forms of computer readable media may be involved in carrying one or more sequences of one or more instructions to a processor for execution.

  Storage devices may be provided at a single location or may be distributed at multiple locations. In one embodiment, the storage device may include a single storage unit or multiple storage units. Cloud computer infrastructure may be provided. In some cases, peer-to-peer (P2P) storage may be provided.

  Storage may be provided off-board to the UAV. A storage device may be provided in the UAV external device. A storage device may be provided off board on the remote controller. The storage device may be provided on an external device of the remote controller. The storage may be offboard to the UAV and the remote controller. The storage device may be part of an authentication system. The storage device may be part of an aviation control system. The storage device may include one or more memory units, which may be one or more memory units of an authentication system (e.g., an aviation control system). Alternatively, the storage may be disconnected from the authentication system. The storage may be owned and / or operated by the same entity as the authentication system. Alternatively, the storage may be owned and / or operated by an entity different from the authentication system.

  The communication system may include one or more recording devices. One or more recording devices can receive data from any device of the communication system. For example, one or more recording devices can receive data from one or more UAVs. One or more recording devices can receive data from at least one of one or more users or a remote controller. One or more storage units may be provided via one or more recording devices. For example, one or more storage units may be provided via one or more recording devices that receive one or more messages from at least one of a UAV, a user, or a remote controller. The one or more recording devices may or may not have a limited range of receiving information. For example, the recording device may receive data from a device that is in the same physical area as the recording device. For example, the first recording device can receive information from the UAV when the UAV is in the first zone. Also, the second recording device can receive information from the UAV when the UAV is in the second zone. Alternatively, the recording device does not have a limited range and can receive information from the device (e.g., UAV, remote controller) regardless of the device's location. The recording device may be at least one of a recording device unit or conveying information gathered in the recording device unit.

  Information from one or more users 1115a, 1115b may be stored on a storage device. This information may include user identification information. Examples of user identification information may include user identifiers (e.g., user ID1, user ID2, user ID3, ...). The user identifier may be unique to the user. In some cases, the information from the user may include information useful for at least one of identification or authentication of the user. The information from one or more users may include information about the users. The information from the one or more users may include one or more commands from the users (e.g., command 1, command 2, command 3, command 4, command 5, command 6, ...). The one or more commands may include commands to perform operations of the UAV. One or more commands can be used to control at least one of the following: UAV flight, UAV takeoff, UAV landing, UAV on-board operation, UAV support mechanism operation, on-board one or more sensor operations on UAV, UAV one or more communication units, UAV One or more power supply units, one or more navigation units of the UAV, or any function of the UAV. Any other type of information may be provided by one or more users and may be stored on storage device.

  In one embodiment, all user input may be stored on storage device. Alternatively, only selected user input may be stored in the storage device. In some cases, only certain types of user input may be stored on storage device. For example, in one embodiment, only at least one of user identification input or command information is stored on the storage device.

  Optionally, the user can provide information to the storage device with the assistance of one or more user terminals 1120a, 1120b. The user terminal may be a device capable of communicating with the user. The user terminal may be able to communicate with the UAV. The user terminal may be a remote controller that sends one or more operation commands to the UAV. The user terminal may be a display that indicates data based on the information received from the UAV. The user terminal may be able to both transmit information to the UAV and receive information from the UAV.

  The user can provide information to the storage with the assistance of any other type of device. For example, one or more computers or other devices capable of receiving user input may be provided. The apparatus may be able to communicate user input to a memory storage device. The device may not communicate with the UAV.

  The user terminals 1120a and 1120b can provide information to the storage device. The user terminal can provide information about the user, user commands, or any other type of information. The user terminal can provide information about the user terminal itself. For example, user terminal identification may be provided. In some cases, at least one of a user identifier or a user terminal identifier may be provided. Optionally, at least one of a user key or a user terminal key may be provided. In one example, the user does not provide any input for the user key, but the user key information may be stored at the user terminal or accessible by the user terminal. In some cases, user key information may be stored on physical memory of the user terminal. Alternatively, the user key information may be stored off board (e.g., on the cloud) and may be accessible by the user terminal. In one embodiment, the user terminal can communicate at least one of a user identifier or an associated command.

  The UAVs 1130a, 1130b can provide information to the storage device. The UAV can provide information about the UAV. For example, UAV identification information may be provided. Examples of UAV identification information may include UAV identifiers (eg, UAVID1, UAVID2, UAVID3, ...). The UAV identifier may be unique to the UAV. In some cases, the information from the UAV may include information useful for at least one of identification or authentication of the UAV. The information from the one or more UAVs may include information about the UAVs. The information from the one or more UAVs may include one or more commands (eg, command 1, command 2, command 3, command 4, command 5, command 6, ...) received by the UAV. The one or more commands may include commands to perform operations of the UAV. One or more commands can be used to control at least one of the following: UAV flight, UAV takeoff, UAV landing, UAV on-board operation, UAV support mechanism operation, on-board one or more sensor operations on UAV, UAV one or more communication units, UAV One or more power supply units, one or more navigation units of the UAV, or any function of the UAV. Any other type of information may be provided from one or more UAVs and may be stored on storage.

  In one embodiment, the user may be authenticated before the user related information is stored in storage. For example, the user may be authenticated at least one before the user identifier is obtained or stored by the storage device. Thus, in one embodiment, only the authenticated user identifier is stored on the storage device. Alternatively, the user need not be authenticated, and what may be termed a user identifier may be stored on the storage device prior to authentication. If the authentication passes, an indication may be made that the user identifier has been verified. If the authentication is not passed, an indication may be made that the user identifier has been flagged for suspicious activity or that an attempt at authentication with the user identifier has failed.

  Optionally, the UAV can be authenticated before the UAV related information is stored in the storage device. For example, the UAV may be authenticated at least one before the UAV identifier is obtained or stored by the storage device. Thus, in one embodiment, only the authenticated UAV identifier is stored on the storage device. Alternatively, the UAV does not need to be authenticated, and what may be referred to as a UAV identifier may be stored on the storage device prior to authentication. If the authentication is passed, an indication may be made that the UAV identifier has been verified. If the authentication is not passed, an indication may be made that the UAV identifier has been flagged for suspicious activity or that an attempt at authentication with the UAV identifier has failed.

  In one embodiment, one or more flight commands are allowed only if the user is authorized to operate the UAV. The user or at least one of the UAV may or may not be authenticated prior to determining whether the user is authorized to operate the UAV. The user or at least one of the UAV may be authenticated before the user is allowed to operate the UAV. In some cases, commands in the storage device may only be stored if the user is authorized to operate the UAV. Commands in storage may be stored only if at least one of the user or UAV is authenticated.

  The storage unit can store one or more sets of information 1140. The set of information may include information from at least one of a user, a user terminal, or a UAV. The set of information may include at least one of one or more commands, a user identifier, a UAV identifier, or an associated time. The user identifier may be associated with the user who issued the command. A UAV may be associated with a UAV that has received and / or executed a command. This time may be a time when at least one of issuance of a command or reception of a command has been performed. This time may be the time the command was stored in memory. This time may be the time when the UAV executed a command. In some cases, a single command may be provided to a single set of information. Alternatively, multiple commands may be provided to a single set of information. The plurality of commands may include both commands issued by the user and corresponding commands received by the UAV. Alternatively, a single command may be provided, may be recorded as issued by the user, or may be recorded as received by the UAV and / or performed by the UAV.

  Thus, the plurality of sets of information may comprise associated commands. For example, the first set of information may be stored when the command is issued by the user. The time for the first set of information may reflect when the command was issued by the user or when the set of information was stored on the storage device. Optionally, data from the remote controller may be used to provide a first set of information. The second set of information may be stored when the command is received by the UAV. The time for the second set of information may reflect when the command was received by the UAV or when the set of information was stored in storage. Optionally, data from the UAV can be used to provide a second set of information based on the associated command. A third set of information can be stored when the command is executed by the UAV. The time for the third set of information may reflect when the command was executed by the UAV or when the set of information was stored in storage. Optionally, data from the UAV may be used to provide a third set of information based on the associated command.

  The storage device can store a set of information regarding a particular communication between the first user and the first UAV. For example, multiple commands may be issued during communication between the first user and the first UAV. Communication may be the execution of a mission. In some cases, the storage unit may only store information associated with a particular communication. Alternatively, the storage device may be information related to multiple communications (eg, multiple missions) between the first user and the first UAV. Optionally, the storage device may store information by user identifier. Data bound to the first user may be stored together. Alternatively, the storage unit can store information by UAV identifier. Data bound to the first UAV may be stored together. The storage unit may store information in accordance with the communication between the user and the UAV. For example, the first UAV and the data bound to the first user may be stored together. In some cases, only information regarding the user, the UAV, or a combination of the user and the UAV may be stored in the storage unit.

  Alternatively, the storage device may store a set of information related to communication between at least one of the plurality of users or between the UAVs. The storage device may be a data repository that gathers information from at least one of a plurality of users or UAVs. The storage may store information from multiple missions and may include at least one of different users, different UAVs, or combinations of different users and UAVs. In some cases, the information set in storage may be searchable or indexable. The information set may be found or indexed according to any parameter (eg, user identification, UAV identification, time, combination of user and UAV, type of command, location, or any other information). The information set may be stored according to any parameter.

  In some cases, information in storage may be analyzed. The information set can be analyzed to detect one or more behavioral patterns. The information set can be analyzed to detect one or more characteristics that may be related to an accident or undesirable situation. For example, this data can be extracted if a particular user is crashing a particular model of UAV frequently. In another case, such information can be extracted if other users tend to try to fly the UAV within the range where flight is not permitted according to the set of flight restrictions. Statistical analysis may be performed on the information set in the storage unit. Such statistical analysis may be useful to identify trends or correlated factors. For example, it may be notified that certain UAV models may have an overall higher accident rate than other UAV models. The information set can be analyzed to determine that the malfunction rate of the UAV can be generally higher when the temperature in the environment is below 5 ° C. In this way, the information in the storage may be generally analyzed to gather information about the operation of the UAV. Such general analysis need not be responsive to a particular event or event.

  Information from storage may be analyzed in response to particular events or cases. For example, if a UAV crash occurs, the information associated with the UAV can be analyzed to further provide legal information regarding the crash. If a UAV crash occurs during a mission, the information sets collected during the mission can be pulled together and analyzed. For example, a mismatch between the issued command and the received command may be identified. Environmental conditions at the time of crash can be analyzed. The presence or absence of other UAVs or obstacles within the relevant range may be analyzed. In one embodiment, the UAV's information set may be further derived from other missions. For example, on other missions, it may be detected that there have been some near misses or malfunctions. Such information may be useful in determining at least one of the fall cause or any action that needs to be taken after the fall.

  Information in the information set can be used to track personalized UAV activity. For example, personalized UAV activity can be tracked using one or more commands, associated user identifier (s), associated UAV identifier (s).

  The information set may store commands, user information, UAV information, timing information, position information, environmental condition information, flight restriction information, or any detected situation. Arbitrary information may correspond to the command. For example, the geographic information may include the location of at least one of the UAV or the remote controller when the command was issued. The geographic information may also indicate whether the UAV has entered a zone for the purpose of considering flight restrictions. Environmental conditions may include one or more environmental conditions of the area. For example, when a command is issued or received, the complexity of the environment around the UAV may be considered. The climate the UAV is experiencing when the command is issued may be considered. The command may be issued at some point.

  The storage may be updated in real time. For example, when at least one of a command is issued, received, or executed, they can be stored on storage along with any other information from the information set. This may be done in real time. Less than 10 minutes, less than 5 minutes, less than 3 minutes, less than 2 minutes, less than 1 minute, less than 30 seconds, and at least one of the command and any relevant information in the information set It can be stored within less than 15 seconds, less than 10 seconds, less than 5 seconds, less than 3 seconds, less than 1 second, less than 0.5 seconds, or less than 0.1 seconds. An information set can be stored or recorded on a storage device in any way. These can be recorded as being entered without being related to other parameters, such as user identification information, UAV identification information, or a combination of user and UAV. Alternatively, they may be recorded in connection with other parameters. For example, all sets of information about the same user may be stored together. Even though not all sets of information are stored together, they may be searchable and / or indexed in order to find the associated information. For example, if the information set for a particular user came in at different times and was recorded along with the information sets from other users, the information set may be searchable to find all the information sets associated with the user .

  In alternative embodiments, the storage may not need to be updated in real time. The storage may be updated regularly, at regular or irregular time intervals. For example, the storage may be weekly, daily, every few hours, every hour, every 30 minutes, every 15 minutes, every 10 minutes, every 5 minutes, every 3 minutes, every 1 minute, every 30 seconds , Every 15 seconds, every 10 seconds, every 5 seconds, or every second. In some cases, an update schedule may be provided and may include regular or irregular update times. The update schedule may be fixed or changeable. In some cases, the update schedule may be changed by the storage operator or administrator. The update schedule may be changed by the operator or administrator of the authentication system. The UAV user may or may not be able to change the update schedule. A UAV user may be able to change the UAV update schedule associated with the user. The user may be able to change the update schedule for the UAV authorized for operation.

  The storage may be updated depending on the detected event or situation. For example, the storage device can request or retrieve a set of information from one or more external sources (e.g., a remote controller, UAV, user) when the storage operator requests information. In another case, the storage device may be able to request or retrieve a set of information when a detected condition (eg, a detected crash) occurs. In some cases, one or more external sources (eg, remote controller, UAV, user) can push the information set to the storage device. For example, if the UAV detects that the UAV is approaching a flight limited zone, the UAV can push the information set to storage. In another case, if the remote controller or UAV recognizes that there is an interfering radio signal, it can push the information set to the storage unit.

  Aspects of the invention may be directed to a method of recording the behavior of an unmanned aerial vehicle (UAV). The method comprises the steps of (1) identifying a UAV identifier that uniquely identifies the UAV from other UAVs, and (2) providing one or more commands to perform the operation of the UAV through the remote controller. Receiving a user identifier uniquely identifying the target user from other users, (3) one or more commands in one or more storage units, and a user associated with one or more commands. Recording the identifier and the UAV identifier associated with the one or more commands. Similarly, a non-transitory computer readable medium may be provided that includes program instructions for recording the behavior of an unmanned aerial vehicle (UAV) according to embodiments of the present invention. The computer readable medium comprises: (1) a user identifier uniquely identifying the user from other users, from the user providing one or more commands for performing the operation of the UAV through the remote controller Program instructions to associate one or more commands, (2) program instructions to associate a UAV identifier uniquely identifying one UAV from another UAV to one or more commands, and (3) one or more storage units , Program instructions for recording one or more commands, one or more commands associated with a user identifier, and one or more commands associated with a UAV identifier.

  An unmanned aerial vehicle (UAV) behavior recording system may be provided according to embodiments of the present invention. The system may include one or more storage units and one or more processors. One or more processors, operatively connected to one or more storage units, individually or collectively receive (1) a UAV identifier that uniquely identifies a UAV from another UAV, (2) ) Receive, via a remote controller, a user identifier uniquely identifying from the other user a user who provides one or more commands for executing a UAV operation; (3) one or more storage devices The unit records one or more commands, a user identifier associated with the one or more commands, and a UAV identifier associated with the one or more commands.

  The storage device can store the information set for any period of time. In some cases, the information set can be permanently stored until erased. Erasure of the information set may or may not be permitted. In some cases, only the storage operator or administrator may be authorized to communicate with data stored in the storage. In some cases, only an operator of the authentication system (e.g., an aviation control system, authentication center) may be authorized to communicate with data stored in the storage device.

  Optionally, the information set may be automatically erased after a certain period of time. The period may be determined in advance. For example, the information set may be automatically deleted after a predetermined period of time. Examples of the prescribed period are 20, 15, 12, 10, 7, 5, 4, 3, 3, 2, 2, 1, 9, 9, 6, 30, 30, 1. May include months, 4 weeks, 3 weeks, 2 weeks, 1 week, 4 days, 3 days, 2 days, 1 day, 18 hours, 12 hours, 6 hours, 3 hours, 1 hour, 30 minutes or 10 minutes However, it is not limited to these. In some cases, the information set may be manually erased only after a predetermined period of time has elapsed.

Control Takeover In one embodiment, the operation of the UAV may be at risk. In one example, the user can manipulate the UAV. Other users (e.g. hijackers) may attempt to take over control of the UAV in an unauthorized manner. The systems and methods described herein may allow for the detection of such attempts. Also, the systems and methods described herein may provide a response to such a hijacking attempt. In one embodiment, the information collected on the storage device can be analyzed to detect hijacking.

  FIG. 12 shows a diagram of a hijacker attempting to take over control of a UAV, according to an embodiment of the present invention. The user 1210 can issue user commands to the UAV 1220 using the user remote controller 1215. Hijacker 1230 may issue a hijacker command to UAV 1220 using hijacker remote controller 1235. Hijacker commands may interfere with user commands.

  In one embodiment, user 1210 may be a licensed user of UAV 1220. The user may have an initial relationship with the UAV. Optionally, the user may be pre-registered with the UAV. The user can manipulate the UAV before the hijacker attempts to take over control of the UAV. In some cases, if the user is a UAV licensed user, the user can manipulate the UAV. If the user is not a UAV licensed user, the user may not be authorized to operate the UAV, or may operate the UAV in a more restricted manner.

  User identification information may be authenticated. In some cases, the user identification may be authenticated before the user manipulates the UAV. The user may be authenticated at the same time as or subsequent to the determination before determining whether the user of the licensed UAV. If the user is authenticated, the user can operate the UAV. If the user is not authenticated, the user may not be authorized to operate the UAV, or may operate the UAV in a more restricted manner.

  The user 1210 can control the operation of the UAV 1220 using the user remote controller 1215. The remote controller can obtain user input. The remote controller can send user commands to the UAV. User commands may be generated based on user input. User commands can control the operation of the UAV. For example, user commands can control UAV flight (eg, flight path, takeoff, landing). User commands can control at least one of the following: Movement of one or more loads, position of one or more loads, movement of one or more support mechanisms, movement of one or more sensors, movement of one or more communication units, one or more navigation units Operation of, or operation of one or more power supply units.

  In some cases, user commands may be sent continuously to the UAV. Even if the user does not actively provide input at some point, commands can be sent to the UAV to maintain the status quo or based on the latest input provided by the user. For example, if the user input includes joystick activity and the user maintains the joystick at a particular angle, flight commands may be sent to the UAV based on the joystick angle as seen from the previous activity. In some cases, user input may be continuously provided to the remote controller even though the user is not actively moving or physically changing nothing. For example, if the user input includes tilting the remote control to a particular position, and the user does not adjust the established position, the user input is constantly provided based on the measured position of the remote controller. May be For example, if the remote control is at angle A for an extended period of time, during that time the user input can be understood as the attitude of the remote controller at angle A. A flight command may be sent to the UAV indicating that the flight command in response to the remote controller is at angle A. User commands to the UAV may be updated in real time. User commands are less than 1 minute, less than 30 seconds, less than 15 seconds, less than 10 seconds, less than 5 seconds, less than 3 seconds, less than 2 seconds, less than 1 second, less than 0.5 seconds, less than 0.1 seconds, 0. User input can be reflected in less than 05 seconds, or less than 0.01 seconds.

  Optionally, user commands do not need to be sent continuously to the UAV. User commands may be sent regularly or irregularly. For example, user commands are hourly, every 30 minutes, every 15 minutes, every 10 minutes, every 5 minutes, every 3 minutes, every minute, every 30 seconds, every 15 seconds, every 10 seconds, every 5 seconds, 3 seconds It may be transmitted every second, every second, every second, every 0.5 seconds, or every 0.1 seconds or less. User commands may be sent according to a schedule. The schedule may or may not be modifiable. User commands can be sent in response to one or more detected events or conditions.

  User commands may be received by UAV 1220. If the user command received in the UAV matches the user command sent from the user remote controller 1215, the UAV may be operable according to the command from the user. If the issued command and the received command match, the communication link between the UAV and the remote controller may be operational. If the issued command matches the received command, the command may not have been dropped. In one embodiment, if the issued command and the received command do not match, the command may have been dropped (e.g., the communication link between the remote controller and the UAV may have been dropped). Or an interfering command may have been issued.

  The hijacker 1230 may use the hijacker remote controller 1235 to control the operation 1220 of the UAV. The remote controller gets the hijacker input. The remote controller can send hijacker commands to the UAV. The hijacker command may be generated based on the hijacker input. The hijacker command may control the operation of the UAV. For example, hijacker commands may provide UAV flight control (eg, flight path, takeoff, landing). The hijacker command may control at least one of the following: Motion of one or more loads, position of one or more loads, motion of one or more support mechanisms, motion of one or more sensors, motion of one or more communication units, one or more navigation units Operation, or operation of one or more power supply units.

  In some cases, hijacker commands may be sent continuously to the UAV. This may be done in the same way as user commands are continuously sent to the UAV. Alternatively, hijacker commands need not be sent to the UAV continuously. This may be done in the same way as user commands are continuously sent to the UAV. The hijacker commands may be sent regularly or irregularly. The hijacker command may be sent according to a schedule. The hijacker command may be sent in response to one or more detected events or conditions.

  A hijacker command may be received by UAV 1220. When the hijacker command received by the UAV matches the hijacker command sent from the hijacker remote controller 1235, the UAV may be operable according to the command from the hijacker. When the issued command and the received command match, the communication link between the UAV and the hijacker remote controller may be operational. It is possible that the hijacker could successfully take over control of the UAV when the command received by the UAV matches the command issued from the hijacker receive controller. In some cases, when the UAV performs one or more actions according to the hijacker command, the hijacker may have succeeded in taking over control of the UAV. A hijacker may have succeeded in gaining control of the UAV when the UAV does not perform one or more actions according to user commands.

  If a hijacker command is received on the UAV, the UAV may or may not receive user commands as well. In one type of hijacking, the communication link between the UAV and the hijacker remote controller may interfere with the communication link between the UAV and the user remote controller. This may prevent the user command from reaching the UAV or may be received by the UAV only when the user command is insecure. The hijacker command may or may not be received by the UAV. In one embodiment, the hijacker connection may interfere with the user connection when the hijacker issues a command to take over control of the UAV. The UAV may receive only hijacker commands in this case. The UAV may operate according to the hijacker command. In another embodiment, the hijacker connection may interfere with the user connection even though the hijacker does not necessarily send commands to the UAV. The interference of this signal may be sufficient for user operation hijacking or hacking of the UAV. Optionally, the UAV may not receive any commands (e.g., it may stop receiving previously entered user commands). The UAV may have one or more default actions that occur when communication with the user is lost. For example, a UAV can hover in place. In another case, the UAV can return to the starting point of the mission.

  In another type of hijacking, the UAV may receive both user commands and hijacker commands. The communication link between the UAV and the hijacker remote controller does not necessarily interfere with the communication link between the UAV and the user remote controller. The UAV may operate according to the hijacker command. The UAV may ignore user commands as it chooses to operate according to the hijacker commands. Alternatively, the UAV may take one or more default actions when multiple command sets are received by the UAV. For example, a UAV can hover in place. In another case, the UAV can return to the starting point of the mission.

  The hijacker may be an individual who is not authorized to operate the UAV. The hijacker may be an individual not pre-registered with the UAV. The hijacker may be an individual who takes control from the user and is not authorized to operate the UAV. In other cases, the hijacker may be authorized to operate the UAV. However, when the user is already operating the UAV, the hijacker may not be authorized to interfere with the user's operation.

  The systems and methods described herein may include detection of interference with one or more commands from a user. This may include UAV hijacking. User commands may be interfered when the UAV has not been reached. User commands may be interfered due to the communication connection between the UAV and the hijacker. In some cases, the hijacker may attempt to block the signal between the user and the UAV. Signal jamming may occur in response to communication between the UAV and the hijacker. Alternatively, the hijacker need not be in communication with the UAV in order to disturb the signal between the user and the UAV. For example, even though the hijacker device has not issued any hijacker commands, the hijacker device may broadcast a signal that may interfere with the user's communication with the UAV. User commands can be interfered even if they reach the UAV. If the UAV does not operate according to the user command, the user command may be interfered. For example, the UAV may choose to act upon hijacker commands instead of user commands. Or, the UAV may choose to take the default action or take no action in place of the user command.

  The hijacker command may or may not conflict with the user command. Unlicensed communications may provide conflicting commands to the UAV and interfere with one or more commands from the user. In one example, user commands can perform UAV flight and hijacker commands can perform flight in different ways. For example, a user command may instruct the UAV to turn right while a hijacker command may instruct the UAV to advance. The user command may instruct the UAV to rotate about the pitch axis, while the hijacker command may instruct the UAV to rotate about the yaw axis.

  In addition to detecting interference, the systems and methods herein may enable taking action in response to detected interference with one or more commands from a user. The action may include alerting the user regarding the interference. The action may include alerting one or more other parties (e.g., an operator or administrator of the authentication system) regarding the interference. Actions may include one or more default actions by the UAV (eg, landing, hovering in place, returning to the departure point).

  Aspects of the invention are directed to a method of alerting a user when the operation of a UAV is compromised. The method comprises the steps of (1) authenticating a user to perform a UAV operation and (2) receiving one or more commands from a remote controller that receives a user input and performs the UAV operation. And (3) detecting unauthorized communications that interfere with one or more commands from the user, and (4) alerting the user of unauthorized communications via the remote controller. In a similar manner, a non-transitory computer readable medium may be provided which includes program instructions that alert the user when the operation of the UAV is compromised. The computer readable medium comprises (1) program instructions for authenticating a user to perform operations of the UAV, and (2) one or more commands from a remote controller for receiving user input and performing operations of the UAV. Program instructions to receive; and (3) program instructions to generate an alert provided to the user via the remote controller regarding detected unauthorized communications that interfere with one or more commands from the user. obtain.

  A UAV alert system according to embodiments of the present invention may be provided. The UAV alarm system includes a communication module and one or more processors. One or more processors are operatively connected to the communication module, individually or collectively, (1) to authenticate the user to perform UAV operations, and (2) to receive user input to the UAV Receives one or more commands from the remote controller performing the operation, (3) detects unauthorized communication that interferes with one or more commands from the user, and (4) remote controller with respect to the unauthorized communication Generate a signal to alert the user via. The UAV alarm module may include one or more processors. One or more processors, individually or collectively, (1) authenticate the user to perform UAV operations, and (2) one from a remote controller that receives user input and performs UAV operations A signal to receive the above commands, (3) detect unauthorized communications that interfere with one or more commands from the user, and (4) issue an alert to the user via the remote controller regarding the unauthorized communications. Generate

  Unlicensed communications may include hijacker commands. Unlicensed communications may indicate an attempt by an unauthorized user to hijack. The hijacker commands may optionally include one or more commands that control the operation of the UAV. Unlicensed communication may indicate an attempt by the unauthorized user to block the signal. Unlicensed communications that cause signal interference need not include hijacker commands that control the operation of the UAV.

  An alert may be generated for unsolicited communications. The alert attempts to operate the UAV to another individual (eg, an operator or at least one of the administrators of the authentication system, an individual at the law enforcement agency, an individual at the emergency services), or at least one of the controlling entities. Can be provided to users.

  The alarm may be provided at least one of visual, audible or tactile. For example, an alert may be provided on the display screen of the user remote controller. For example, letters or images may be provided indicating unauthorized communication. A letter or image may be provided to indicate that interference with a user command has occurred. In another case, the alert may be provided audibly via the user remote controller. The user remote controller may have a speaker capable of producing sound. The sound may indicate an unauthorized communication. The sound may indicate interference with user commands. The alarm may be provided tactilely via the remote controller. The user remote controller may vibrate or pulse. Alternatively, the user remote controller may be spastic, warm or cool, deliver a mild electrical shock, or provide any other tactile indication. Haptic effects may indicate unauthorized communication. Haptic effects may indicate interference with user commands.

  An alert may indicate the type of unauthorized communication. The type of unauthorized communication may be selected from one or more categories of unauthorized communication. For example, the unlicensed communication may be a competing flight command, a signal jamming communication, a competing load operation command, or a competing communication (eg, data transmission) command. Alerts can visually differentiate different types of unlicensed communications. For example, at least one of different characters or images may be provided. Alerts can audibly differentiate different types of unlicensed communications. For example, different sounds may be provided. Different sounds may be different words or different tones. Alerts can tactilely differentiate different types of unlicensed communications. For example, different vibrations or pulses may be used.

  Various methods of detecting unauthorized communications can be implemented. For example, an unauthorized communication can be detected if the user identifier associated with the unauthorized communication is not authenticated or does not indicate a user authorized to communicate with the UAV. For example, a hijacker may not be authenticated as a user. In some cases, separate hijacker identifiers may be extracted. The hijacker identifier may determine that it is not an individual authorized to operate the UAV, or an individual authorized to take over control of the operation from the user. In some cases, key information may also be used to identify the hijacker. For example, information regarding hijacker keys may be extracted while undergoing at least one of an identification or authentication process. The hijacker key may not match the user key. The hijacker may not have access to the user's key. A hijacker may be identified as not being a user. Hijacker communication may be identified as not user communication. In some cases, the hijacker may not be able to create at least one of a user identifier or a user key.

  Unauthorized communications may be detected when compared between user commands issued from the remote controller and / or between commands received at the UAV. If a user command is not received at the UAV, one or more interfering and unauthorized communications may have occurred. If unauthorized communication reduces the efficiency of the communication channel between the user remote controller and the UAV, unauthorized communication may be detected. Based on the unlicensed communication, one or more incompatible commands may or may not be provided to the UAV. For example, one or more incompatible commands may be hijacker flight commands that are incompatible with user commands. It may be detected that the UAV has received an incompatible command. In other cases, incompatible commands may not have been received at the UAV, and incompatible commands may not be detected by the UAV. The absence of a command issued from the user may be sufficient to indicate that the unlicensed communication was interfering with the user command.

  An unauthorized communication may be detected when comparing between a user command issued from the remote controller and an operation performed by the UAV. If the UAV does not operate according to the user command, one or more interfering and unauthorized communications may have occurred. This may occur at the first stage where communication can occur between the user remote controller and the UAV. This may occur in the second phase while the UAV receives the command and the UAV executes the command. An example of the type of unauthorized communication in the first phase is described above. During unlicensed communication in the second phase, a user command may be received by the UAV. However, alternative incompatible commands may also be received by the UAV. The UAV may operate according to alternative incompatible commands. A mismatch between the user issued command and the operation of the UAV may indicate unauthorized communication. In another case, the UAV may receive user commands and alternate incompatible commands, but may not take action or may take default action due to the nature of conflicting commands. The lack of action or default action can result in a mismatch between the user command and the action of the UAV.

  In some cases, data from a storage device (e.g., a storage device as illustrated in FIG. 11) may be analyzed to detect unauthorized communications. Data from one or more information sets may be analyzed. In one embodiment, the commands stored in the information set can be compared. For example, multiple sets of information may be stored and associated with specific communications between the user and the UAV. The plurality of information sets may include at least one of a command issued by the remote controller, a command received by the UAV, or a command executed by the UAV. If the command issued by the remote controller matches the command received by the UAV, then there is little or no risk of interference in the communication between the user remote controller and the UAV. If the command issued by the remote controller does not match the command received by the UAV, then there is a high risk of interference in the communication between the remote controller and the UAV. The commands may not match if different commands are received by the UAV or no commands are received by the UAV. If the command issued by the remote controller matches the command executed by the UAV, then there is little or no risk of unauthorized communication interfering with the user command. If the command issued by the remote controller does not match the operation of the UAV, then there is a high risk of unauthorized interference with the user command. In some cases, there may be errors in the operation of the UAV without hijacker interference. For example, the UAV may receive user commands but may not be able to execute them according to the commands. Commands or other data from storage may be compared to detect interference with user commands.

  In some cases, data (e.g., command data) may be retrieved from a separate device and need not reside in storage. For example, user command data may be retrieved from the remote controller and / or command data may be retrieved from the UAV, and a comparison may be made.

  The hijacker may be an individual who is not authorized to take over control of the UAV from the user. However, in other examples, takeover of control may be allowed, as described elsewhere herein. For example, a user with a higher priority level or a higher operation level may be able to take over control. The user may be an administrative user. The user may be a member of a law enforcement agency or a member of an emergency service. The user may have any of the properties as described elsewhere herein. If the user is authorized to take over control from the original user, the UAV may show different responses. Any mention of a licensed user herein may apply to an autonomous or semi-autonomous system capable of taking over control of the UAV from the user. For example, a computer can take over control of the UAV in certain circumstances, and can operate the UAV according to one or more sets of code, logic, or instructions. The computer can operate the UAV according to a set of flight restrictions.

  The system may be distinguishable between unlicensed takeovers and licensed takeovers. If takeover is authorized, the authorized user may be allowed to continue taking over control of the UAV. If takeover is not granted, then communication between the UAV and the original user is then re-established, blocking communication between the UAV and unlicensed users, and providing alerts to one or more individuals At least one of: the UAV taking one or more default flight responses, or the authorized entity taking over control of the UAV.

  In the present specification, an example will be described where a licensed takeover may be performed. The UAV can send out a message containing a signature. The message may include various types of information including at least one of flight control commands, GPS location of the UAV, or time information. Any other information related to the operation of the UAV or UAV can be sent (eg, information on the UAV's payload, information on the position of the UAV's payload, information on data collected using the payload, UAV's 1 Information on one or more sensors, information on data collected using one or more sensors, information on UAV communications, information on UAV navigation, information on UAV power usage, or any other information can be sent ). In some cases, a message may be received by the aviation control system.

  From the information sent (e.g., broadcasted) by the UAV, if the aviation control system recognizes that the UAV has entered within the restricted area, the aviation control system alerts the UAV or the UAV It is possible to stop the continuation of the activity in the area. The restricted area may or may not be determined with the aid of the geofencing device as described elsewhere herein. Optionally, the restricted area may be an allocated volume or space on the allocated area. The user may not be authorized to fly within the restricted area of the UAV. UAVs may not be authorized to enter restricted areas. In one embodiment, none of the UAVs are authorized to enter the restricted area. Alternatively, certain UAVs may be licensed for entry into a restricted area, which may be limited to user controlled UAVs.

  An alert can be sent to the user via the communication connection between the aviation control system and the user. For example, an alert may be sent to the remote controller of the user with whom the user is communicating. The user may be an individual operating a UAV when entering the restricted area of the UAV. Optionally, the alert may also be sent first to the UAV and then to the user via the communication connection between the UAV and the user. The alert may be relayed to the user using an intermediary device or network. The aviation control system may take over the UAV if the user does not accordingly block the flight of the unlicensed UAV. The UAV may be given a period of time that allows the UAV to leave the restricted area. If the UAV does not leave the restricted area within the time period, the aviation control system can take over control of the operation of the UAV. If the UAV continues to penetrate further into the restricted area and does not begin to turn, the aviation control system can take over control of the UAV's operation. Any mentioning of a UAV entering a restricted range herein may apply to any other activity of an unlicensed UAV under a set of flight restrictions on the UAV. For example, this may include a UAV that collects images with a camera when the UAV is in an area that is not authorized to take a picture. Similarly, a warning may be issued to the UAV. The UAV may or may not be given some time to follow the alert before taking over the aviation control system.

  After initiating the process to take over control, the aviation control system can issue a remote control command to the UAV using the digital signature. Such remote control commands can have a trusted digital signature and digital certificate of the aviation control system and can be protected from fake control commands. Digital signatures and digital certificates of aviation control systems can not be fake.

  The UAV's flight control unit can recognize remote control commands from the aviation control system. The priority of the remote control command of the aviation control system may be set to be higher than the command from the user. In this way, the aviation control system can be at a higher operating level than the user. These commands from the aviation control system may be recorded by the authentication center. The original user of the UAV may also be notified of commands from the aviation control system. The original user may be notified that the aviation control system has taken over. The original user may or may not be able to know the details of how the aviation control system is controlling the UAV. In one embodiment, the user remote controller may indicate information about how the aviation control system is controlling the UAV. For example, while the aviation control system is controlling the UAV, data such as the positioning of the UAV may be shown on the remote controller in real time. Commands from the aviation control system may be provided from an operator of the aviation control system. For example, the aviation control system may utilize one or more administrative users who have the ability to take over control of the UAV. In another example, commands from the aviation control system may be provided automatically with the assistance of one or more processors without the need for human intervention. The commands may be generated according to one or more parameters with the aid of one or more processors. For example, if the UAV enters a restricted area where the UAV is not authorized to enter, one or more processors of the aviation control system may generate a return to the UAV to leave the restricted area . In another case, the aviation control system can generate a path for the UAV to start landing.

  An aviation control system can guide the UAV to leave the restricted area. Thereafter, the control authority may be returned to the original user. Alternatively, the aviation control system may land the UAV properly. In this way, licensed takeover can be possible in various cases. Conversely, unauthorized takeovers can be detected. One or more responses may be made to an unlicensed takeover, as described elsewhere herein. For example, a licensed entity may take over control of the UAV from an unlicensed hijacker. The aviation control system may be at a higher operating level than an unlicensed hijacker. The aviation control system may be able to take over control of the UAV from an unlicensed hijacker. In one embodiment, the aviation control system may be assigned a higher operating level. Alternatively, the aviation control system may be assigned a high operating level while one or more government agencies may have a higher operating level. An aviation control system may have a higher operating level than all civilian users.

  Deviations in UAV behavior may be detected. Deviations in UAV behavior may occur due to one or more hijacker activities. Deviation of UAV behavior may occur due to malfunction of at least one of the UAV or the user's remote control. In one example, the behavior of the UAV may include flight. As used herein, any reference to UAV flight deviations refers to any other type of UAV movement deviation (eg, load behavior, load placement, support behavior, sensor behavior, communication, navigation, or It may apply to at least one of the deviations of the power usage.

  FIG. 13 shows an example of a flight deviation of a UAV, according to an embodiment of the present invention. UAV 1300 may have a predicted path 1310 to travel. However, the actual UAV path 1320 may be different from the predicted path. At some point in time, the predicted location 1330 of the UAV can be determined. However, the actual UAV location 1340 may be different. In one embodiment, the distance d between the predicted position and the actual position may be determined.

  The predicted path 1310 of the progression of the UAV can be determined. Data from the user remote controller can be used to determine information about the predicted path. For example, a user can provide input to a remote controller, which can provide one or more UAV flight commands based on the user input. A flight command from the remote controller may be received by a flight control unit of the UAV, which may send one or more control signals to the UAV propulsion unit to generate the flight command. In one embodiment, one or more flight commands sent by the remote controller can be used to determine the predicted path of the UAV. For example, if the flight command instructs the UAV to go straight ahead, it can be predicted that the predicted path will go straight ahead. In calculating the predicted path, the attitude / orientation of the UAV may be taken into account. Flight commands may be used to maintain or adjust the orientation of the UAV as a result and to affect the flight path.

  At any given time, based on the predicted path, the predicted position 1330 for the UAV can be determined. In calculating the predicted position, the predicted behavior of the UAV (eg, at least one of the predicted velocity or the predicted acceleration) may be considered. For example, if it is determined that the predicted path is straight forward and the velocity of the UAV remains constant, then the predicted position can be calculated.

  The actual path 1320 of UAV progression can be determined. Data from one or more sensors can be used to determine information about the actual path. For example, the UAV may have one or more on-board GPS sensors that can be used to determine its coordinates in real time. In another case, the UAV may use at least one of one or more inertial sensors, visual sensors, or ultrasonic sensors to provide navigation. Multi-sensor fusion may be incorporated to determine the position of the UAV. At any given time, the actual position 1340 of the UAV may be determined based on sensor data. The UAV can support one or more sensors, such as those described elsewhere herein. The one or more sensors may be any of the sensors described elsewhere herein. In some cases, data from on-board sensors may be used to determine at least one of the actual path or the location of the UAV. In some cases, one or more off board sensors may be used to determine at least one of the actual path or the position of the UAV. For example, multiple cameras may be provided at known locations, and images of the UAV can be taken. The image can be analyzed to detect the location of the UAV. In some cases, a combination of on-board sensors on the UAV and off-board sensors on the UAV may be used to determine at least one of the actual path or location of the UAV. The one or more sensors may operate independently of the UAV and optionally may not be controllable by the user. One or more sensors may be onboard the UAV or offboard the UAV and still operate independently from the UAV. For example, the UAV may have a GPS tracking device that may not be controllable by the user.

  The difference d between the predicted position of the UAV and the position of the actual UAV can be determined. In some cases, the distance d may be calculated with the assistance of one or more processors. The difference in coordinates between the predicted position of the UAV and the actual position of the UAV can be calculated. Coordinates may be provided as global coordinates. Alternatively, the coordinates may be provided as local coordinates, and one or more transformations to the global coordinate system or to the same local coordinate system may be performed.

  The one or more processors used to determine this difference may be onboard to the UAV, onboard the remote controller, or external to the UAV and the remote controller. In some cases, one or more processors may be part of an aviation control system or any other part of an authentication system. In one embodiment, one or more processors may be part of a flight supervision module, a flight regulation module, or a traffic management module.

  In one example, commands from the remote controller can be communicated to the UAV and can be detected by the aviation control system. The aviation control system can receive commands directly from the remote controller or via one or more intermediate devices or networks. A storage device (eg, the storage device of FIG. 11) can receive commands. The storage device may be part of the aviation control system or may be accessed by the aviation control system. Data from sensors (at least one of on-board and off-board to the UAV) can be received by the aviation control system. The aviation control system may receive sensor data directly from the sensor, via the UAV, or via any other intermediate device or network. The storage device may or may not receive sensor data.

  In one embodiment, there may be some natural deviation between the predicted path of the UAV and the actual path. However, if the deviation is large, there is a high probability of deviation due to hijacking or malfunctioning or any other compromise to the UAV. This may apply to any type of behavioral deviation of the UAV, and need not be limited to flight. In some cases, the distance d can be reviewed to determine the risk of hijacking or malfunction, or any other compromise to the UAV. The indication of danger may be determined based on the distance. In some cases, the indication of danger may be a binary indication of danger (e.g., presence or absence of danger). For example, if the distance remains below a predetermined value, an indication of danger may not be provided. If the distance exceeds a predetermined value, an indication of the risk of hijacking or malfunction may be provided. In other cases, the hazard indication may be provided as one or more categories or levels. For example, if the distance meets or exceeds the first threshold, it may indicate a high level of danger. An intermediate level of danger may be indicated if the distance is between a first threshold and a lower second threshold. If the distance is below the second threshold, it may indicate a low level of danger. In some cases, the level of danger may be substantially continuous or may have very many categories. For example, the hazard indication may be quantitative. Based on the distance, a percentage of danger may be provided. For example, based on the deviation, a 74% risk of hijacking or malfunction may be provided.

  In some cases, a deviation may be the only factor at which an indication of danger is provided. In other embodiments, other factors may be used in combination with the deviation to determine an indication of the hazard to be presented. For example, under a first set of environmental conditions, a deviation of a particular distance can indicate that the UAV is at high risk (eg, hijacking, malfunction). On the other hand, under the second set of environmental conditions, the same particular distance can indicate that the UAV is at low risk. For example, a 10-meter deviation from a predicted position of a quiet day may indicate that some form of hijacking or malfunction has occurred. However, a 10 meter departure on a high wind day may represent a lower risk of hijacking or malfunctioning as the wind is more likely to cause a deviation in the flight path.

  Factors that may be considered in determining the indication of danger include environmental conditions (eg, environmental climate (wind, rainfall, temperature), traffic, environmental complexity, obstacles), UAV behavior (eg, speed, Acceleration), communication conditions (eg signal strength, the possibility of signal dropouts or interfering signals), UAV type sensitivity (eg cornering, stability) or any other factor May be included.

  An indication of danger that the UAV is not operating according to one or more flight commands can be provided. This may include the degree of risk to which the UAV is exposed. This may include flight operations, payload operations, support operations, sensor operations, communications, navigation, power usage, or any other type of UAV operation described herein. Larger deviations in UAV behavior may correspond to a higher degree of danger that the UAV is not operating according to one or more flight commands. In one embodiment, the type of deviation of the UAV's behavior can be assessed to determine the degree of risk. For example, flight deviations of a UAV may be treated differently than deviations in load activities. In one embodiment, deviations in the location of the UAV may be treated differently than deviations in the velocity of the UAV.

  Aspects of the invention may be directed to a method of detecting flight departures of a UAV. The method comprises the steps of: (1) receiving one or more flight commands provided by the user from the remote controller; and (2) with the assistance of one or more processors, based on the one or more flight commands. Calculating the predicted position of the UAV, (3) detecting the actual position of the UAV with the assistance of one or more sensors, and (4) predicting to determine the deviation of the UAV's behavior. And (5) displaying the danger that the UAV is not operating according to one or more flight commands based on (5) deviation of the UAV's behavior. Additionally, a non-transitory computer readable medium may be provided that includes program instructions for detecting a flight deviation of the UAV. The computer readable medium comprises (1) program instructions for calculating a predicted location of a UAV based on one or more flight commands provided by a user from a remote controller, and (2) assistance for one or more sensors. Program instructions for detecting the actual position of the UAV, (3) program instructions for comparing the predicted position with the actual position to determine the deviation of the UAV's behavior, and (4) the UAV's behavior Program instructions are displayed that indicate the danger that the UAV is not operating according to one or more flight commands based on the deviation.

  A flight departure detection system for a UAV according to embodiments of the present invention may be provided. The flight departure detection system may include a communication module and one or more processors. One or more processors are operatively connected to the communication module and individually or collectively receive (1) one or more flight commands provided by the user from the remote controller, (2) one or more Calculate the predicted position of the UAV based on the flight command of (3), detect the actual position of the UAV with the assistance of one or more sensors, and (4) determine the deviation of the UAV's behavior Then, compare the predicted position with the actual position and (5) generate a signal to indicate the danger that the UAV is not operating according to one or more flight commands based on the deviation of the UAV's behavior . The UAV flight departure detection module may include one or more processors. One or more processors, individually or collectively, (1) receive one or more flight commands provided by the user from the remote controller, and (2) a UAV based on the one or more flight commands. Calculate the predicted position, (3) detect the actual position of the UAV with the help of one or more sensors, and (4) determine the predicted position to determine the deviation of the UAV's behavior. (5) Based on the deviation of the UAV's behavior compared to the position, it generates a signal to indicate the danger that the UAV is not operating according to one or more flight commands.

  An indication of danger is provided as an alarm. An alert may be provided to the user via the user's remote controller. The user may be able to make choices to take action depending on the indication of danger. An indication of danger is provided to the aviation control system separate from the remote control and the UAV. The aviation control system may be able to determine whether to take action depending on the indication of danger. For example, the aviation control system can take over control of the UAV. Before deciding to take over control of the UAV, the aviation control system can ask the user to confirm that the user still controls the UAV. For example, if the user determines that the UAV is operating according to the user's commands, the aviation control system may determine that it does not take over control of the UAV. If the user does not verify that the UAV is operating according to the user's commands, the aviation control system may take over control of the UAV.

  In certain embodiments, an indication of danger may be presented to the UAV itself. The UAV may have one or more on-board protocols in place that may cause one or more default flight responses from the UAV. For example, if the UAV receives a report that its flight control is compromised, the landing sequence may be initiated automatically, may be automatically hovered in place, or may fly in an idle path, the departure of the mission. It may automatically return to a point or may fly automatically to a designated "home" location. In one embodiment, the starting point of the mission may be where the UAV took off. The "home" location may be a predetermined set of coordinates that may be stored in the UAV's memory. In some cases, the starting point of the mission may be set to the home location. In some cases, the home location may be the location of the user or the user's remote controller. Even if the user moves around, the remote controller's home location can be updated and the UAV can discover the remote controller. In some cases, the user may manually enter home coordinates or designate a street address as the home. The UAV may block commands from external sources while undergoing default flight response procedures. In some cases, the UAV may block commands from civilian users while undergoing default flight response procedures. The UAV may or may not be able to block commands from the aeronautical control system or control entity while undergoing the default flight response procedure.

  The indication of danger that the UAV is not operating according to one or more flight commands may include information of the type of compromise of the UAV. For example, the indication of danger that the UAV is not operating according to one or more flight commands may include an indication of danger that the UAV is hijacked. In another case, the indication of danger that the UAV is not operating according to one or more flight commands may include an indication of danger that the signal from the remote controller is interrupted. In another case, the indication of danger that the UAV is not operating according to one or more flight commands may include an indication of danger that the UAV has malfunctioned on-board. The alert may convey information regarding the type of compromise of the UAV. The alert may convey information about the degree of danger. The alert may convey information about the degree of risk for compromise of various types of UAVs. For example, the alert has a 90% chance of some form of compromise, a 85% chance of being compromised by hijacking, a 15% chance of being compromised due to communication interruptions, an on-board malfunction on UAV It may indicate that the probability of compromise is 0%.

  If the command received by the UAV is different from the command issued through the remote controller, the risk of hijacking may be higher. If the command received by the UAV is a missing command from the command issued through the remote controller, the risk of communication interference may be higher. If the command received by the UAV matches the command issued through the remote controller, but the operation of the UAV does not follow the received command, the risk of on-board malfunction may be higher.

  Any description of hijacking herein may also apply to hacking. A hacker may intercept one or more communications going to or from the UAV. Hackers may intercept data collected by the UAV. A hacker may intercept data from one or more UAV sensors or payloads. For example, a hacker may intercept a UAV from data from an onboard imaging device. In this way, a hacker may attempt to steal the acquired data. Also, thus, hackers can compromise the privacy of UAV operators. Hackers may intercept communications going to the UAV. For example, a hacker may intercept one or more commands from a user remote controller to a UAV. Hackers may intercept commands to determine how a UAV works. Hackers can use intercepted commands to determine where the UAV can not otherwise be revealed, or other activities of the UAV.

  Interception of the communication (uplink or downlink) by the hacker may not interfere with other parts of the communication. For example, when a hacker intercepts an image being streamed from a UAV, the intended image recipient can still receive the image. Otherwise, the intended recipient may not know that the intercept has been made. Alternatively, communication interception may interfere with other parts of the communication. For example, the intended image recipient can not receive the image when the image is intercepted. The systems and methods described herein can support at least one of hacking detection or prevention.

  For example, the device may need to be certified before engaging in any communication with the various components of the UAV system. For example, the device may need to be authenticated before receiving communication from at least one of the UAV or the remote controller. The device can receive communications only if the device is authorized to receive communications. Hackers may not be authorized to receive communications, and may not be able to receive communications. Similarly, if a hacker attempts and issues a false replacement communication, the hacker's identity can not fall under the licensed user, preventing the hacker from issuing a false communication. Similarly, if a false communication is issued from an unauthorized user or a false communication attempt is made, an alert can be provided to the licensed user. In one embodiment, communication encryption may be performed. In some cases, only the authorized user or at least one of the authorized users may be able to decrypt the encrypted communication. For example, even if a hacker intercepts a communication, there is a possibility that the communication can not be decrypted and deciphered. In one embodiment, decryption may require the user to have a key that may be stored in physical memory of only the authorized device. Thus, it may be difficult for a hacker to try to obtain a copy of the key or at least one of trying to fake the authorized user.

Individualized Assessment At least one of user or UAV activity can be assessed. For example, it can assess the activity of the UAV user. Because the user can be uniquely identified, the user's activity can be tied to unique user identification information. In this way, activities performed by the same user can be associated with the user. In one example, the user's activity may be associated with a previous flight mission by the user. Various exams, certifications, or training exercises can also be associated with the user. Also, the user's activity may (1) attempt any unsuccessful attempt by the user to participate in the task, (2) interfere with other users 'UAV operations, or (3) communicate with other users' UAVs. Can intercept at least one of: In one embodiment, the user may be authenticated prior to associating the activity with the user identifier.

  Can assess UAV activity. UAVs are also uniquely identifiable and can link UAV activity to unique UAV identification information. In this way, activities performed by the same UAV may be associated with that UAV. In one example, the activity of the UAV may relate to a previous flight mission by the UAV. Various maintenance activities, diagnostics, or certifications can also be associated with the UAV. Also, the activity of the UAV may include any errors, malfunctions or accidents. In one embodiment, the UAV may be authenticated prior to associating the activity with the UAV identifier.

  Evaluate one or more users and / or UAV activity. In some cases, the assessment may provide a qualitative assessment. For example, one or more annotations associated with either a user activity or a UAV can be associated with the user or UAV, or at least one of the corresponding user activity or UAV. For example, if the UAV is involved in an accident, an annotation on the accident, how the accident happened, to whom fault liability is assigned may be associated with the UAV. In another case, if the user is flying many missions at high wind speeds and navigating well in different zones, annotations on these achievements may be provided. One or more rating categories can be associated with a user or at least one of the corresponding user's activities. For example, if the user has completed many different tasks, the user can obtain an "skilled user" rating associated with the user. The UAV may have a "high risk of malfunction" rating associated with the UAV if it has undergone many malfunctions and errors.

  In some cases, the assessment can provide a quantitative assessment. For example, at least one of the user or the UAV activity may receive a rating (eg, a textual score or a numeric rating). The assessment may be associated with either the user or the activity of the UAV, and may be associated with the user or the UAV or at least one of the corresponding user or UAV activity. For example, when a user completes a mission, the user may be evaluated or scored as to how the user performed during the mission. For example, the user may receive rating 7.5 for the first task and rating 9.8 for the second task. This indicates that the user may have performed better during the second mission. Other factors may be involved, such as task difficulty. In some cases, users may receive higher ratings due to their success in completing more difficult tasks. In another case, the user may go through a proficiency test or a proving test, and may receive a numerical evaluation indicating how it was accomplished. The UAV may be evaluated depending on how the task completion progressed. For example, if the UAV malfunctions during a mission, the UAV may receive a lower rating than if the UAV did not malfunction during the mission. If the UAV is undergoing maintenance, the UAV rating may be higher than if the UAV is not undergoing maintenance.

  When at least one of the user or UAV succeeds in completing the activity in a positive manner, at least one of the user or UAV may have an overall higher rating. When at least one of the user or UAV is engaged in a behavior that may not be completed successfully or suspicious, the user or at least one of the UAV may have an overall lower rating. Thus, at least one of the user or UAV may have a reputation score based on the activity of at least one of the user or UAV.

  In one embodiment, the rating system can provide a set of ratings to at least one of the user or the UAV. The assessment may automatically determine the assessment (eg, at least one of qualitative assessment or quantitative assessment) with the assistance of one or more processors without the need for human communication. The evaluation may be determined according to one or more parameters or algorithms, data regarding the activity of at least one of the user or the UAV. For example, each successfully completed mission may automatically pull the user or UAV's rating to a more positive outcome. Each failed mission or crash may automatically reduce the rating of the user or UAV to a more negative outcome. Thus, the assessment may be objective.

  Alternatively or additionally, ratings may be provided by one or more human users. For example, users can rate themselves. The user can evaluate the flying UAV. In another example, a user's peers can rate the user. This associate can evaluate the UAV that the user flew. For example, a first user can operate a first UAV. The second user observes the first user and causes the first user to have incorrect flight behavior (e.g., jumping towards the second user's UAV or threatening the second user) We can notify that we are engaged. The second user can provide a negative rating of the first user. In another case, the second user can observe that the first user is engaged in positive flight behavior (e.g. performing a difficult maneuver, helping the second user) And provide a positive assessment of the first user.

  Ratings of at least one of the user or the UAV may be viewed by other users. For example, a first user can view an overall rating of a second user, and vice versa. Users can view their own ratings. The user may take measures to try to improve the rating. In one embodiment, the system may allow activity by the user only if the user rating reaches a threshold level. For example, if the user rating reaches a threshold level, the user can only operate within a certain area. If the user rating is 7.0 or higher, the user can fly only within a certain area. The level of flight restriction may depend on the evaluation of at least one of the user or the UAV. In some cases, an evaluation of at least one of a user or a UAV may indicate at least one of a user type or a UAV type, and vice versa. Lower levels of flight restrictions can be provided if the user has a higher user rating. Higher levels of flight restrictions can be provided if the user has a lower user rating. If the user has a low user rating, the set of flight restrictions for the user may be more stringent. If the user has a higher user rating, the set of flight restrictions for the user may not be as tight. Lower levels of flight restrictions may be provided if the UAV is a higher UAV rating. Higher levels of flight restrictions may be provided if the UAV is a lower UAV rating. If the UAV is a low UAV rating, the set of flight restrictions for the UAV may be more stringent. If the UAV is a higher UAV rating, the set of flight restrictions for the UAV may not be as tight.

Flight Monitoring It may be desirable for the flight control system to be aware of the location of the UAV. The UAV can send location information to the aviation control system. In some cases, it may be preferable for the UAV to report location information for security and / or security purposes. The UAV may periodically and actively report its current position and course to the aviation control system. However, in some cases, the UAV may not conform to the report. This may occur when communication between the UAV and the aviation control system is lost, or the UAV will maliciously hold information intentionally or provide false (i.e. false) information. There is a case. The aviation control system can deploy a recording device in its management area to monitor the status of the UAV. One or more recorders can be deployed to monitor UAV activity.

  FIG. 14 shows an example of a monitoring system using one or more recording devices according to an embodiment of the present invention. The UAV 1410 may be provided within an environment. The environment may be within the area managed by the aviation control system. One or more recording devices (for example, recording device A 1420 a, recording device B 1420 b, recording device C 1420 c,...) May be provided inside the area managed by the aviation control system. A monitoring device or system 1430 can receive information collected from one or more recording devices. In one embodiment, the surveillance system may be an aviation control system.

  In one embodiment, an aviation control system can be used to manage the flight system of the entire UAV. The area managed by the aviation control system may be all over the world. In other examples, the area managed by the aviation control system may be limited. The areas managed by the aviation control system may be based on jurisdiction. For example, the aviation control system can manage the flight system of the UAV within all jurisdictions (e.g., country, state / province, local, urban, town, county, or any other jurisdiction). Different aviation control systems can manage different areas. The size of the regions may be equal or different.

  The UAV 1410 can send one or more messages and can be monitored by one or more recording devices 1420a, 1420b, 1420c. The message from the UAV may include a signature. In some cases, the message from the UAV may include UAV-specific identification information (eg, at least one of a UAV identifier and UAV key information). The identification information can uniquely identify and differentiate a UAV from other UAVs. The message from the UAV may contain any other information. For example, at least one of flight control commands, information about the UAV's GPS location (or other location information about the UAV), or time information. This information may include location information (eg, GPS information) regarding the UAV. The time information may include at least one of the times at which the message was formulated or sent. A time may be provided according to the UAV's clock.

  The signals obtained from the recording devices 1420a, 1420b, 1420c are time stamped and collected in the aviation control system 1430. Data from the recording device may be stored on the storage device. The storage device may be part of an aviation control system or may be accessible by the aviation control system. The aviation control system can analyze the information from the data storage device. In this way, the aviation control system may be able to collect UAV's past control information, flight information, UAV's asserted GPS flight path. The aviation control system may be able to collect operational data associated with the UAV. This may include the commands sent to the UAV, the commands received by the UAV, the actions performed by the UAV, information about the UAV (eg, the location of the UAV at different points in time).

  In one embodiment, the UAV can be in direct communication with the aeronautical control system, and / or provide information directly to the storage device. Alternatively, the UAV can communicate directly with one or more recording devices. The one or more recording devices can be in communication with at least one of the aviation control system or the storage device. In some cases, information about the UAV may be relayed to the aviation control system via one or more recording devices. In some cases, the recording device may provide the aviation control system with additional data associated with the information for the UAV.

  The aviation control system can analyze the time data to determine the location of the UAV. Aspects of the invention may be directed to methods for determining the position of a UAV. The method comprises: (1) receiving one or more messages from the UAV in a plurality of recording devices; and (2) adding a time stamp to the one or more messages from the UAV in the plurality of recording devices. And (3) calculating the location of the UAV based on the timestamping of one or more messages with the assistance of one or more processors. A non-transitory computer readable medium may be provided which includes program instructions for determining the location of the UAV. The computer readable medium is (1) program instructions for receiving one or more messages from the UAV in a plurality of recording devices, and (2) time stamps the one or more messages from the UAV in a plurality of recording devices. And (3) program instructions for calculating the position of the UAV based on time stamp addition of one or more messages. The UAV communication location system includes a communication module, one or more processors. One or more processors are operatively connected to the communication module, individually or collectively transmitted from the UAV, and timed for one or more messages received at the plurality of recording devices remote to the UAV Calculate the UAV position based on the stamp.

  In one example of analyzing the position of a UAV based on time data, the time difference of signals sent from different recording devices that collected the same message from the same UAV can be used to determine the rough position of the UAV. For example, if two recording devices receive signals transmitted from one particular UAV together, the UAV determines the time difference between the two recording devices and the position according to the time difference when the recording devices receive the signal. It can be seen that it is on the hyperbola formed. Two, three or more recording devices may be used to form the hyperbola. Thus, the location of the rough UAV can be asserted along the hyperbola. The time stamp may be taken when the signal exits the UAV or may be taken when the signal arrives at the recording device. Such information can be used to calculate the time difference.

  In another case, multiple recording devices can receive signals from the UAV and can determine the time difference. An example of the time difference may be the time difference between when the signal is sent by the UAV and when the recording device receives the signal. In some cases, a UAV may time stamp a signal when it is sent to one or more recording devices. One or more recording devices can add a time stamp when a signal is received. The difference in time between the two timestamps may indicate the time it takes the signal to reach the recording device. The travel time can be correlated with the approximate distance from the UAV to the recording device. For example, if the travel time is shorter, the UAV may be closer to the recording device than when the travel time is longer. If multiple recording devices show different travel times, the UAV may be close to the recording device showing less travel time. For example, if the UAV is further away from the recording device, the transit time for the signal may be expected to be longer. The progress time may be a small unit of time. For example, the travel time may be on the order of seconds, milliseconds, microseconds, or nanoseconds. A timestamp for at least one of the UAV or the recording device may be provided with high precision (eg, on the order of at least one second, millisecond, microsecond, or nanosecond). The clocks of at least one of the UAV or the recording device may be synchronized. The clock can be used to provide a time stamp. In some cases, there may be an offset between one or more clocks of at least one of the UAV or the recording device, but the offset is known and may be compensated. Triangulation techniques or other similar techniques can be used to determine a rough UAV location based on the distance from the UAV to one or more recording devices.

  In a further example of UAV location analysis, one or more recording devices can also roughly determine the distance between the UAV and the recording device through a received signal strength indication (RSSI). The RSSI may be a measure of the power present in the signal (eg, a wireless signal) received at the recording device. Higher RSSI measurements may indicate stronger signals. In one embodiment, the wireless signal may be attenuated over long distances. Thus, stronger signals may be correlated with closer distances, while weaker signals may be correlated with longer distances. The approximate distance of the UAV to the recording device can be verified based on the RSSI. In some cases, the RSSI of multiple recording devices can be compared to determine a rough UAV location. For example, if two recording devices are provided, the position where the UAV may be present may be provided as a hyperbola. If three or more recorders are provided, a triangulation approach can be used to determine a rough UAV position. If multiple recording devices indicate different RSSI values, the UAV may be closer to the recording device showing a stronger RSSI value as compared to the recording device showing a weaker RSSI value.

  Further examples may be provided, comprising one or more recording devices with multiple reception channels. The recording device may have one or more antennas capable of receiving a plurality of signals. For example, the receive antenna may have multiple receive channels. Multiple signals received through multiple receive channels can be processed to obtain the relative direction of the UAV. An aviation control system, an authentication center, or other part of the authentication system can process multiple signals from the receiving antenna by undergoing beamforming. This allows the aviation control system or other entity to roughly obtain the relative orientation and position of the UAV relative to the recording device. Beamforming can detect the direction in which the signal arrives and can be used to detect the direction of the UAV relative to the recording device. Multiple recorders can be used to narrow down the UAV's location by looking at the location where the expected direction of the UAV intersects.

  In another case, the recording device may include a sensor (eg, a visual sensor, an ultrasonic sensor, or other type of sensor). The recording device may be capable of recording the environment surrounding the recording device. The recording device can record the presence or operation of the UAV in the environment. For example, the recording device can record the UAV flying in the environment onto videotape. Data from the recording device can be used to detect the UAV and analyze the location of the UAV relative to the recording device. For example, at least one of the following is possible. The distance of the UAV relative to the recording device may be determined based on the size of the UAV in the image, or the direction may be determined when the sensor's orientation is known.

  The position of the recording device may be known. The global coordinates of the recording device may be known. Alternatively, the recording device may have local coordinates, and the local coordinates of the recording device may be transformed into a common coordinate system. In one embodiment, the recording device may have a predetermined position. In other examples, the recording device may move around or be installed from time to time. The recording device can transmit a signal indicating the position of the recording device. For example, each recording device may have a GPS unit and can provide global coordinates to the recording device. The coordinates of the recording device may be transmitted. The aviation control system or any other part of the authentication system may be aware of the position of the recording device. The aviation control system or any other part of the authentication system may receive a signal from the recording device indicating the position of the recording device. Thus, as the recording device moves around, the aviation control system can obtain updated data regarding the position of the recording device. In some cases, the recording device may be a small device that can be picked up and moved. The recording device may or may not be self-propelled. The recording device may be capable of being hand-held or supported by humans. Alternatively, the recording device may be a fairly large device that can provide the location of data permanently or semi-permanently.

  Any number of recording devices may be provided within the area. One, two, three, four, five, six, seven, eight, nine, ten or more recording devices may be provided. In some cases, the signal from the UAV may have a limited range. In some cases, only recording devices within the vicinity of the UAV may receive the signal. The recording device receiving the signal can record information on the received signal and can provide the information to an authentication system (e.g. an aviation control system of the authentication system). More recorders receiving signals from the UAV can provide greater certainty or accuracy in the rough UAV position. In some embodiments, providing more recording devices in a particular area, or more recording devices, can increase the likelihood that a significant number of recording devices receive signals from the UAV. In some cases, recording devices may be dispersed within the area at the following densities: At least one recorder per square mile, 3 recorders per square mile, 5 recorders per square mile, 10 recorders per square mile, 15 recorders per square mile, 1 square 20 recording units per mile, 30 recording units per square mile, 40 recording units per square mile, 50 recording units per square mile, 70 recording units per square mile, 1 square 100 recording units per mile, 150 recording units per square mile, 200 recording units per square mile, 300 recording units per square mile, 500 recording units per square mile, or 1 1000 recording devices per square mile.

  The recording devices may be distributed over a wide area. For example, multiple recording devices, about 50 square meters, 100 square meters, 300 square meters, 500 square meters, 750 square meters, 1000 square meters, 1500 square meters, 2000 square meters, 3000 square meters, 5000 square meters, 7000 square meters, 10000 square meters, 15000 square meters Or, it may be distributed over an area larger than 50000 square meters. Having a large area may be useful for detecting differences in travel time, signal strength or other data collected by the recording device. If the recording devices are only in a narrow area, the transit time of the signal may also be reduced and it may be difficult to identify or differentiate between recording devices. The recording devices may be distributed apart from one another. For example, at least two of the plurality of recording devices are at least 1 meter apart, 5 meters apart, 10 meters apart, 20 meters apart, 30 meters apart, 50 meters apart, each other 75 meters away, each other 100 meters away, each other 150 meters away, each other 200 meters away, each other 300 meters away, each other 500 meters away, each other 750 meters away, each other 1000 meters away, each other 1250 meters Away, 1500 meters apart, 1750 meters apart, 2000 meters apart, 2500 meters apart, 3000 meters apart, 5000 meters apart, or 10000 meters apart Torr to effect the position away. Having a recording device that can be distributed remotely can be useful for detecting differences in travel time, signal strength, or other data collected by the recording device. If the recording devices are too close to one another, the transit time of the signal may be less and it may be difficult to identify or differentiate between the recording devices.

  The authentication center, the aviation control system, or any other part of the authentication system can calculate a rough UAV location based on data received from the recording device. One or more processors can be used to calculate a rough UAV position based on data from the recording device. Data from the recording device may include time stamp data, signal strength data, sensor data, or any other type of data described elsewhere herein.

  The authentication center, the aeronautical control system, or any other part of the authentication system checks the position asserted by the UAV against the rough position information based on the timing information and It can be determined whether there is a significant difference between the positions. Larger deviations may indicate a higher risk of some form of compromise to the UAV. For example, larger deviations may indicate a higher risk of locations incorrectly reported by the UAV. Locations reported fraudulently from the UAV may indicate actions that are malicious or fraud related (e.g., sensor abuse, or reporting of fake location data). The incorrectly reported position may indicate an error or malfunction of the navigation system of the UAV (e.g., a failure of a GPS sensor, an error of one or more sensors used to determine the position of the UAV). Errors or malfunctions of the UAV's navigation system do not have to be malicious, but may raise concerns that the UAV's location may not be accurately tracked. In some cases, the position asserted / reported by the UAV may be compared to the position of the calculated UAV, if the difference between the calculated position and the asserted position exceeds a threshold value: Alerts may be issued. In some cases, only differences between locations are considered in determining the risk of fraud. Alternatively, other factors may be considered, such as environmental conditions, wireless communication conditions, UAV model parameters, or any other factor as described elsewhere herein.

  The recording device may be present as an air traffic monitoring system and can record the history of flight missions being monitored. The aviation control system compares flight information actively reported by the UAV with flight information obtained by one or more recorders for the same UAV, and whether the data reported by the UAV is true or not Can be determined quickly. An alert may be provided if there is a risk of some form of compromise to the UAV. The alert may be provided to the UAV operator, an aviation control system, or any other entity. The alarm may or may not indicate the estimated level of danger. The alert may or may not indicate the type of compromise (e.g., the possibility of malicious tampering or forgery, the possibility of sensor malfunction).

User Authentication Process The authentication center can use any of a number of processes to authenticate the identity of the user flying the UAV. For example, the authentication center may use a simple authentication process (e.g., by comparing the user's identification and password with the stored authentication information associated with the user). In another process, the identity of the user may be authenticated by obtaining at least one of the user's voiceprint, fingerprint, or iris information and comparing the obtained information to stored user information. Alternatively, user identification information may be verified using Short Message Signal (SMS) verification sent to the mobile device associated with the user. The system may utilize the token or at least one of the identification modules built into the remote controller to authenticate the user associated with the remote controller.

  In a further example, the user authentication process may include a combined form of the authentication listed above. For example, the user may require the user to enter identification information (e.g. username) along with a password, and then present the user with the second step of authentication by verifying the characters received on the user's mobile device It can be certified using a two-step process that asks for things.

  After successful execution of authentication, the authentication center can obtain information about the user from the database. The acquired information can be sent to the aviation control system to determine if the user is authorized to fly.

UAV Authentication Processing The authentication of the user may be performed using the user's native personal information (e.g. voice print, fingerprint). On the other hand, UAV authentication may use device information (for example, a key encoded in the device) stored inside the UAV. Thus, the authentication of the UAV may be based on the combination of the UAV identifier and a key stored inside the UAV. Additionally, UAV authentication may be performed using authentication and key agreement (AKA). AKA is a two-way authentication protocol. In one example, while using AKA, the authentication center can authenticate the UAV's validity, and the UAV can authenticate the authentication center's validity. An example of authentication based on AKA is described in FIG.

  FIG. 15 shows a diagram 1500 of two-way authentication between a UAV and an authentication center according to an embodiment of the present invention. In particular, FIG. 15 illustrates how a UAV communicates with an aviation control system, which in turn communicates with an authentication center.

  AKA authentication between the UAV and the authentication center may be performed based on the Universal Subscriber Identity Module (USIM). In particular, the UAV may have an onboard USIM module that includes an International Mobile Subscriber Identity (IMSI) and a key. In one example, the key is burned into the UAV when manufactured. The key may be permanently stamped or integrally formed on the UAV when manufactured. In this way, the key is protected and can not be read. Furthermore, the key is shared with the authentication center or any other part of the authentication system (eg, authentication center 220 as illustrated in FIG. 2). Breaking the USIM is extremely difficult. In the present technology, AKA is recognized as an authentication system with high security. In this way, the authentication center may have a high degree of security and reliability that extends the protection of the user's IMSI, key and counter SQN.

  As seen in step 1505, the UAV may provide the aviation control system with an authentication request and an IMSI. The UAV can send its IMSI actively (broadcast) or passively (response). Once the certificate request and the IMSI have been received at the aviation control system, the aviation control system may, at step 1510, send an authentication data request to the authentication center. The authentication data request may include information regarding the UAV (eg, the IMSI of the UAV).

  In step 1515, the authentication center may receive the IMSI, inquire about the corresponding key, generate a random number, and calculate an authentication vector (AV) according to a predetermined algorithm. The algorithms f1, f2, f3, f4 and f5 are described in the general Universal Mobile Telecommunications System (UMTS) security protocol. AV can include five elements. For example, RAND (random number), XRES (expected response), CK (encryption key), IK (integrated check key) and AUNT (authentication token). Alternatively, the authentication vector may include one or more elements (including different elements) including at least one of the elements of this example. In this example, the AUNT consists of a hidden counter SQN, an AMF (authentication management field), and a MAC (message authentication code).

  AUNT: = SQN (+) AK || AMF || MAC

  At step 1520, the authentication center may send an authentication data response to the aeronautical control system, which may then provide the UAV with an authentication response including AUNT and RAND at step 1525. In particular, AUNT and RAND can be sent to security module A of the UAV. At step 1530, security module A may verify the AUNT. The security module A can calculate AK according to RAND and the key. Once AK is calculated, SQN can be calculated and collected according to AUNT. Then, XMAC (expected authentication code), RES (response to random number), CK (encryption key), IK (integrated check key) may be calculated. Security module A can compare MAC and XMAC. If the MAC and XMAC are different, the UAV can send an authentication rejection message to the remote controller and the authentication center, in response to which the authentication is terminated. Alternatively, if the MAC and XMAC are identical, the security module may verify that the received SQN is within the proper range. Specifically, security module A can record the largest SQN received, so that only SQN can be increased. If the SQN is not normal, the UAV can send a synchronization failure message so that authentication can be terminated. Alternatively, if the SQN is within the proper range, the security module A can verify the authenticity of the AUNT and provide the computer RES to the authentication center.

  As seen in FIG. 15, the security module may send the RES to the aviation control system at step 1535. Also, at step 1540, the aviation control system can provide the RES to the certification center. Alternatively, the UAV may provide the RES directly to the authentication center.

  Once the authentication center receives the RES, the authentication center can compare XRES (expected response to random numbers) and RES in step 1545. If XRES and RES turn out to not match, then the authentication fails. Alternatively, mutual authentication succeeds if XRES and RES turn out to be identical.

  After mutual authentication, the UAV and the aeronautical control system may perform secure communication by using the matched CK and IK. Specifically, after mutual authentication, at step 1550, the authentication center may send the matched CK and IK to the aviation control system. Additionally, in step 1555, the UAV can calculate the matched CK and IK. Once the aviation control system receives the matched CK and IK from the authentication center, secure communication can be established between the UAV and the aviation control system in step 1560.

Aviation Control System The aviation control system may include a user and UAV access subsystem, an aviation condition monitoring subsystem, a ride control system, and a geofencing subsystem. The aviation control system can perform several functions (e.g. including real-time aviation situation monitoring and recording of UAV activity). Also, the aviation control system is assigned the right of access within the restricted airspace. In addition, the aviation control system can accept geofencing equipment applications and can inspect and determine the nature of the geofencing equipment.

  Also, the aviation control system may perform the necessary approval for user and aircraft certification. Additionally, the aviation control system can monitor non-compliant aircraft. The aviation control system can recognize non-compliant behavior or near non-compliant behavior and can warn of such behavior. In addition, the aviation control system may provide countermeasures for aircraft that continue to be non-compliant (e.g., aviation status monitoring, right-of-entry supervision, safety interface with certification center, geofencing, other types of non-compliant measures). Also, the aviation control system may have a recording function of each event. An aviation control system can also provide hierarchical access to aviation status information.

  The air control system may include an air condition monitoring subsystem. The air condition monitoring subsystem may be responsible for monitoring the status of real time flight (eg, UAV flight) within the assigned airspace. In particular, the air condition monitoring subsystem can monitor whether the licensed aircraft is flying along a predetermined course. Also, the aviation situation monitoring subsystem may be responsible for finding out the abnormal behavior of the licensed aircraft. Based on the unhealthy behavior found, the aviation situation monitoring subsystem can alert the non-compliant measures system. Additionally, the air condition monitoring subsystem can monitor the presence of unauthorized aircraft, and can alert non-compliant systems based on detection of unauthorized aircraft. Examples of airspace monitoring may include radar, photoelectric, acoustic detection as well as other examples.

  The aviation situation monitoring subsystem can also actively authenticate the aircraft identity and respond to authentication requests received from the aircraft. Furthermore, the air condition monitoring system can actively obtain information regarding the flight status of a particular aircraft. An aircraft being monitored may be three-dimensionally positioned when being monitored. For example, an air condition monitoring system can track aircraft tracks and recognize unusual behavior relative to a planned course. Unnormal behavior may be recognized as behavior exceeding a predetermined tolerable threshold (e.g., a threshold that deviates from a predetermined flight plan during flight or falls below a threshold altitude). Furthermore, the monitoring points may be scattered or concentrated.

  The aviation situation monitoring subsystem may have primary means for monitoring airspace. It can be broadcast in real time (directly received or received and forwarded) broadcast by the licensed (or compliant) aircraft in real time about the aircraft in the monitored airspace Receive and decipher. Real-time flight information may be obtained by active air supervisor queries and aircraft responses. In addition, the aviation situation monitoring subsystem may have auxiliary means for monitoring the airspace (e.g. acoustic radar and photoelectric radar). In one example, an authenticated user may be allowed to query the airspace monitoring subsystem regarding the status of the air condition.

  Also, the aviation control system may include an entry right management subsystem. The access right management system may be responsible for accepting the initial application for course resources and the application for course change, planning the flight course, and giving the applicant feedback on the responses determined for the application. You can send Examples of the information provided for the determined response include the planned flight course, monitoring points along the way, and a time response window. Furthermore, the access right management system may be responsible for the adjustment of a given flight course if it is a condition of at least one of the current airspace or another airspace. The predetermined flight course may be adjusted for the following reasons, but is not limited thereto. For example, adjustments to climate, changes in available airspace resources, incidents, establishment of geofencing equipment, their nature (spatial range, duration, restricted hierarchy etc). Also, the access right management system may notify the applicant or user that the original flight course is adjusted. In addition, authorized users may be authorized to query the boarding right management subsystem regarding the assignment of the granted air course.

  The aviation control system may also include a safety interface with the certification center subsystem. The secure interface with the certification center subsystem may be responsible for secure communication with the certification center. In particular, the aviation control system can communicate with the certification center for the purpose of certification or for the purpose of querying aircraft and users.

  In one example, a user may recognize other users within the same range through an aviation control system. The user can select information (e.g. sharing the user's flight path) with other users. Users can also share content captured by their devices. For example, a user can share content captured from a camera on or within the user's UAV. Furthermore, users can send instant messages to each other.

  The UAV's flight system may include a geofencing subsystem comprising one or more geofencing devices. The UAV may be able to detect geofencing devices or vice versa. The geofencing device can cause the UAV to act according to a set of flight restrictions. Examples of geofencing subsystems are described in more detail later in this application.

Flight process relying solely on UAV certification In certain applications, the aviation control system may only need to authenticate to the UAV before it can be taken off. In these applications, it is not necessary to authenticate the user. The process by which the aviation control system authenticates to the UAV may be indicated by AKA, as described in FIG. After authentication, the UAV and the aviation control system can obtain CK and IK and communicate with each other as described in steps 1550 and 1555 of FIG. CK may be used for data encryption and IK may be used for data integrity protection.

  After authentication, the user can finally obtain the key (CK, IK) created during the authentication process through the secure channel, the communication data between the user and the UAV, but the key It can be protected by the used encryption to avoid being hijacked or miscontrolled. Thus, the subsequent data message (MSG) may include information about the UAV (eg, the location of the UAV, the speed of the UAV, etc.). In this way, the UAV can be tested by IK, with comprehensive protection. The transmitted information is as follows.

Equation 1: MSG1 || ((HASH (MSG1) || CRC () + SCR (IK)) || IMSI
Here, MSG1 = MSG || RAND || TIMESTAMP || GPS.

  In Equation 1 above, CRC () may be a periodic checksum on information, and SCR (IK) may be a data mask derived from IK. Furthermore, in this description, MSG is an initial message, HASH () is a hash function, RAND is a random number, a timestamp is a current timestamp, and GPS is currently for avoiding a replay attack. Position.

  FIG. 16 shows a process 1600 for sending a message with an encrypted signature, according to an embodiment of the present invention. In a first step 1610, a message is constructed. As stated in the previous description, the message may be expressed as "MSG". After the message has been constructed, at step 1620, the sender of the message can generate a digest of the message from the characters of the message using a hash function. The digest may simply be a hash of the message itself (MSG) or may be a modified message (eg a hash of MSG1 as described above). In particular, MSG1 may include the compilation of information. For example, initial message (MSG), random number (RAND), current timestamp (TIMESTAMP), current position (GPS). In another example, the modified message may include alternative information.

  Once the digest of the message (MSG) or of the modified message (MSG1) is generated, at step 1630, the sender can encrypt the digest using a personal key. Specifically, the digest can be encrypted using the sender's public key, and the encrypted digest can act as a personal signature for the transmitted message. Thus, at step 1630, this encrypted digest may then be sent to the recipient as a digital signature of the message along with the message.

  FIG. 17 shows a process 1700 for validating a message by decrypting a signature according to an embodiment of the present invention. As seen in step 1710, the recipient receives the message and the encrypted digest (eg, the message and encrypted digest described in FIG. 16). At step 1720, the recipient can calculate the digest of the message from the original message received using the same hash function as the sender. Additionally, at step 1730, the recipient can decrypt the digital signature attached to the message using the sender's public key. Once the digital signature attached to the message is decrypted, at step 1740, the recipient can compare the digests. If these two digests are identical, the recipient can confirm that the digital signature was sent from the sender.

  Thus, when the other party receives this information and uploads it to the authentication center, it may be treated as a digital signature. That is, the presence of such wireless information may be equal to the presence of this UAV. This process can simplify the UAV authentication process. That is, after the initial authentication is completed, the UAV can correctly announce that the UAV clearly exists by performing the above-described process, instead of having to start the complicated initial authentication process each time.

Flight process dependent on UAV and user authentication In some applications, the UAV can only take off after both the UAV and the user have been authenticated.

  Authentication for the user can be based on an electronic key. When the UAV is manufactured, the manufacturer may incorporate an electronic key. The electronic key may have a built-in USIM card and includes IMSI-U (IMSI associated with user) and K-U (key associated with user) shared with the authentication center. This is also the only user personal identification and is written only once when the USIM is manufactured. Thus, the USIM card can not be duplicated or forged. It is also protected by USIM security mechanisms and can not be read out. Therefore, it is extremely difficult to decode the USIM. The electronic key as an electronic device may be inserted into the remote controller, integrated into the remote controller, or the remote controller via conventional means (eg Bluetooth (TM), WIFI, USB, voice, optical communication etc) Can communicate with The remote controller can obtain basic information of the electronic key and can communicate with the authentication center for the corresponding authentication.

  Authentication to the user may be accomplished by various other means (eg, user-native features). In particular, authentication of the user may be achieved by voice prints, fingerprints, iris information, etc.

  The authentication for UAV is based on the onboard security module and is authenticated by the authentication center via CH (channel). In one example, the on-board security module in the UAV may be IMSI-M (eg, an IMSI associated with the UAV as provided by the manufacturer) and KM (eg, a UAV as provided by the manufacturer) Contains the USIM containing the key associated with K-M is shared between the UAV and the Certification Center, but is written only once when the USIM is manufactured. It is also protected by the USIM security mechanism and can not be read. Therefore, it is extremely difficult to decode the USIM.

  The UAV's on-board security module and authentication center can be bi-directionally authenticated using a process similar to that of UTMS bi-directional authentication using authentication and key matching mechanisms, ie, AKA. AKA is a match of two-way authentication. That is, not only does the authentication center require verification of the UAV or electronic key validity, but the UAV or electronic key also needs verification of the authentication center that offers the same service. This process is illustrated by the AKA authentication process between the UAV and the authentication center as described above and shown in FIG.

  Before performing the flight task, the UAV and the electronic key may need to perform an authentication process. In one example, both are authenticated in series or in parallel to an authentication center, and basic authentication processing is performed. In particular, (IMSI-M, K-M) can be used for UAV authentication, and (IMSI-U, K-U) can be used for electronic key authentication. The following description is general. The security module indicates a UAV or an electronic key.

  After the UAV has been certified by the Certification Center, the Certification Center can determine many characteristics of the UAV through the database. For example, the authentication center may determine the type of UAV, UAV capacity, UAV ownership, UAV health / operation status, UAV maintenance needs, UAV past flight records, and the like. Furthermore, after the authentication center has completed the authentication of the electronic key, the authentication center can determine personal information, operation permission, flight history, and the like of the user corresponding to the electronic key.

  After the aforementioned authentication is complete, the controller obtains several key passwords that match. CK-U (CK associated with user), IK-U (IK associated with user), CK-M (CK associated with UAV), and IK-M (IK associated with UAV). The basic authentication process and results described above can be used flexibly in the context of a UAV.

  The electronic key can negotiate with the certification center on the flight task via the encrypted channel. The authentication center may approve, reject, or provide relevant suggestions or instructions for the flight task based on the user and the nature of the UAV. The in-flight process, authentication can maintain communication with the UAV and the remote controller using various passwords, obtain flight parameters (eg position, velocity etc) and manage and control the UAV's or user's permission in flight .

  The wireless communication link between the UAV and the remote controller uses dual signatures of the UAV and the electronic key. When a message is sent, the sender uses a hash function to generate a digest of the message from the characters of the message and then encrypts the digest using a personal key. This encrypted digest is sent to the recipient along with the message as a digital signature of the message. The recipient first calculates the message digest from the original message received using the same hash function as the sender, and then decrypts the digital signature attached to the message using the sender's public key . If these two digests are identical, the recipient can confirm that the digital signature has been sent from the sender.

  Specifically, the subsequent data message (MSG) may be remote control commands, position reports, speed reports etc., and can be tested by IK-U and IK-M with integrity protection. The transmitted information is as follows.

(HASH (MSG || RAND) || CRC) (+) SCR 1 (IK-M) (+) SCR 2 (IK-U)) || IMSI-U || IMSI-M
Here, MSG1 = MSG || RAND || TIMESTAMP || GPS.

  In the above equation, CRC (+) is a periodic checksum on the information, and SCR1 (IK) and SCR2 (IK) are data masks derived from IK. SCR1 () and SCR2 () may be general password generators. Furthermore, HASH () is a hash function, RAND is a random number, TIMESTAMP is a current timestamp, and GPS is a current position to avoid replay attacks.

  Such information may be treated as a digital signature when uploaded to the Certification Center. That is, the presence of such wireless information may be equal to the presence of this UAV and the user. This process can simplify the UAV authentication process. That is, after the initial authentication is complete, the UAV can correctly announce that the UAV clearly exists by performing the above process instead of having to start a complicated initial authentication process each time.

  To enhance security, the aforementioned IK can be given an expiration date. The authentication center may continuously perform the AKA process with UAV and electronic key. During the flight process, the UAV receives a program of user switching.

  The certification center may hold UAV identification information, registered UAV flight tasks, and its actual flight history. In addition, it may hold corresponding user information. Also, based on the result of the two-way verification, the authentication center can further provide various services and information regarding the security of the user. The certification center can also take over the UAV to some extent. For example, the authentication center may take over some functions of the UAV. In this way, the control and control of the UAV by the governing body may be strengthened.

Supervision Process The aviation control system can send an IMSI query command to the UAV via the peer communication mechanism B. After the UAV responds to the IMSI query with its IMSI, the administrator can initiate the aforementioned command authentication in the aviation control system to identify the UAV as lawfully holding the IMSI. Once it has been established that the UAV legally holds the IMSI, mutual signal communication can be performed between the UAV and the aviation control system, using the matched CK and IK. For example, the UAV can report historical information or task planning. Additionally, the aviation control system can require the UAV to perform certain actions. Thus, the aviation control system can take over some actions of the UAV. Using this certification process, the aviation control system can guarantee the correct identification without the danger of fakes.

  In another case, if the aviation control system sends an IMSI query command to the UAV and does not receive a response, if it receives an error response or an error authentication, the aviation control system is considered to be non-compliant with the UAV obtain. In another example, the UAV system can require the UAV to periodically broadcast its IMSI without having to be instructed from air traffic control. The aviation control system, upon receiving the broadcasted IMSI, may choose to initiate the aforementioned authentication process with the UAV.

Geo-fencing Overview The UAV's flight system may include one or more geo-fencing devices. The UAV may be able to detect geofencing devices or vice versa. The geofencing device may cause the UAV to act according to a set of flight restrictions. The set of flight restrictions may include geographic components that may be related to the position of the geofencing device. For example, a geofencing device can provide a location and can assert one or more geofencing boundaries. UAV activity may be regulated within geofencing boundaries. Alternatively or additionally, UAV activity may be regulated outside of geofencing boundaries. In some cases, the rules imposed on UAVs may differ within geofencing boundaries and outside geofencing boundaries.

  FIG. 18 shows an example of a UAV and geofencing apparatus according to an embodiment of the present invention. The geofencing device 1810 can assert the geofencing boundary 1820. The UAV 1830 may face geofencing equipment.

  The UAV 1830 can operate according to a set of flight restrictions. A set of flight restrictions may be generated based on the geofencing device. The set of flight restrictions may take into account the boundaries of the geofencing device. A set of flight restrictions may be associated with geofencing boundaries within the scope of the geofencing device.

  A geofencing device 1810 may be provided at a location. A geofencing device may be used to assist in the determination of one or more geofencing boundaries, and may be any device that may be used in a set of one or more flight restrictions. The geofencing device may or may not send a signal. The signal may or may not be detectable by the UAV. The UAV can detect geofencing devices by or without signals. The geofencing device may or may not detect the UAV. The UAV may or may not send a signal. The signal may or may not be detectable by the geofencing device. One or more intermediate devices may be able to detect signals from at least one of the UAV or the geofencing device. For example, the intermediate device can receive signals from the UAV and can send data about the UAV to the geofencing device. The intermediary device can receive signals from the geofencing device and can send data about the geofencing device to the UAV. Various combinations of detection and communication as described in more detail elsewhere herein may be performed.

  A geofencing device may be used as a reference for one or more geofencing boundaries 1820. A geofencing boundary may indicate a two dimensional extent. Everything above or below the two dimensional extent may be within the geofencing boundary. All above or below the two dimensional extent may be outside the scope of the geofencing boundary. In another case, the geo-fencing boundary may indicate a three dimensional volume. Space in the three dimensional volume may be within geofencing boundaries. Space outside the three-dimensional volume may be outside the boundaries of geofencing boundaries.

  The boundaries of the geofencing device may be open or closed. The boundaries of a closed geofencing device can generally enclose an area within the boundaries of the geofencing device. The boundaries of a closed geofencing device can start and end at the same point. In certain embodiments, a closed geofencing boundary may not have a beginning or an end. Examples of closed geofencing boundaries may be circular, square, or any other polygon. Open geofencing boundaries may have different beginnings and ends. Geofencing walls may have boundaries that are straight or curved. A closed geofencing boundary can enclose an area. For example, a closed border may be useful to define a flight limited zone. Open geofencing boundaries can form a barrier. Barriers can be useful to form geofencing boundaries at natural physical boundaries. Examples of physical boundaries are jurisdictional boundaries (eg, countries, regions, states, provinces, towns, cities, boundaries between towns, or land boundaries), naturally occurring boundaries (eg, rivers, streams, streams, etc.) , Cliffs, canyons, canyons, artificial boundaries (eg, walls, streets, bridges, dams, doors, walkways), or any other type of boundary.

  The geofencing device may have a position relative to the geofencing boundary. The location of the geofencing device can be used to determine the location of the geofencing boundary to be determined. The location of the geofencing device may serve as a reference for geofencing boundaries. For example, if the geofencing boundary is circular surrounding the geofencing device, the geofencing device may be at the center of the circle. Thus, depending on the location of the geofencing device, the geofencing boundary may be determined to be circular, surrounding the geofencing device, having the geofencing device at its center and having a predetermined radius. The geofencing device does not have to be a circular center. For example, the boundaries of the geofencing device may be provided to be circular offset relative to the geofencing device. The geofencing device itself may be within the boundaries of the geofencing device. In alternative embodiments, the boundary of the geofencing device may be outside the boundary of the geofencing device. However, the boundaries of the geofencing device may be determined based on the location of the geofencing device. The location of the geofencing device boundaries may also be determined based on the type of geofencing boundaries (eg, the shape, size of the geofencing boundaries). For example, if the type of geofencing boundary is recognized as a hemispherical boundary with a center at the geofencing device location and a radius of 30 meters, the geofencing device is recognized as having global coordinates X, Y, Z , Then the position of the geofencing boundary can be calculated according to the global coordinates.

  The UAV has access to geofencing equipment. Awareness of the boundaries of the geofencing device may be provided by the UAV. The UAV can fly according to flight regulations that may have different rules based on whether it is on the first side of the boundary of the geofencing device or on the second side of the boundary of the geofencing device.

  In one example, the UAV may not be allowed to fly within the boundaries of the geofencing device. Thus, as the UAV approaches the geofencing device, it can be detected that the geofencing boundary is close or that the UAV has crossed the geofencing boundary. It may be detected by the UAV. For example, the UAV can recognize the UAV's location and geofencing boundaries. In another case, it may be detected by an aviation control system. The aviation control system can receive data regarding the location of the UAV and / or the location of the geofencing device. The UAV may or may not recognize the location of the geofencing device. Flight restrictions may prevent the UAV from being allowed to fly within boundaries. Flight response measures may be taken by the UAV. For example, the course of the UAV can be changed so that the UAV does not enter within the geofencing boundary or the UAV can exit within the geofencing boundary if the UAV has entered. Any other type of flight response measures may be taken and may alert the user of the UAV or the aviation control system. Flight response measures may be initiated onboard the UAV or may be initiated from an aviation control system.

  In some cases, the UAV has access to the geofencing device. The UAV can recognize the location of the UAV itself (e.g., using a GPS unit, any other sensor, or any other technique described elsewhere herein). The UAV can recognize the location of the geofencing device. The UAV can detect geofencing devices directly. The geofencing device can detect the UAV and can send a signal to the UAV indicating the location of the geofencing device. The UAV can receive an indication of the geofencing device from the aviation control system. Based on the location of the geofencing device, the UAV can recognize the location of the geofencing boundary. The UAV may be able to calculate the location of the geofencing boundary based on the location of the recognized geofencing device. In other examples, calculation of the location of the geofencing device may be done offboard to the UAV, and the location of the geofencing boundary may be sent to the UAV. For example, the geofencing device can recognize its own position and type of boundary (e.g., spatial placement of the boundary relative to the position of the device). The geofencing device can calculate the location of its own geofencing boundary and send boundary information to the UAV. Boundary information may be sent from the geofencing device directly to the UAV or via another intermediary (e.g., an aviation control system). In another case, the aviation control system can recognize the location of the geofencing device. The aviation control system can receive the location of the geofencing device from the geofencing device or from the UAV. The aviation control system can recognize the type of boundary. The aviation control system can calculate the location of the geofencing boundary and send boundary information to the UAV. Boundary information may be sent directly from the aviation control system to the UAV. Boundary information may be transmitted from the aviation control system directly to the UAV or via one or more intermediates. If the location of the geofencing boundary is known to the UAV, the UAV can compare its location to the location of the geofencing device.

  Based on this comparison, one or more flight response measures may be taken. The UAV may be capable of self-starting to take flight response measures. The UAV may have a set of flight restrictions stored onboard the UAV and may be capable of initiating flight response measures in compliance with the flight restrictions. Alternatively, flight restrictions may be stored offboard to the UAV, but may be accessible by the UAV to determine flight response measures to be taken by the UAV. In another case, the UAV does not self-start flight response, but can receive flight response instructions from an external source. Based on the location comparison, the UAV can ask the external source if it needs flight response measures, and the external sources can provide an indication of the flight response measures if necessary. For example, the aviation control system may refer to the position comparison to determine if flight response measures are required. In such a case, the aviation control system can give instructions to the UAV. For example, if it is necessary to shift the flight path of the UAV to avoid entering a geo-fencing boundary, a command to change the flight path can be provided.

  In another case, the UAV can access the geofencing device. The UAV can recognize the location of the UAV itself (e.g., using a GPS unit, any other sensor, or any other technique described elsewhere herein). Optionally, the UAV does not know the location of the geofencing device. The UAV can provide the external device with information regarding the location of the UAV. In one example, the external device is a geofencing device. The geofencing device can recognize its own position. The geofencing device can recognize the location of the UAV from the information provided by the UAV. In an alternative embodiment, the geo-fencing device can detect the UAV and determine the position of the UAV based on the detected data. The geofencing device may be able to receive information regarding the location of the UAV from a further source (e.g. an aviation control system). The geofencing device may be aware of the location of the geofencing boundary. The geofencing device may be able to calculate the location of the geofencing boundary based on the location of the recognized geofencing device. Furthermore, the calculation of the position of the boundary may be based on the type of boundary (e.g. the spatial arrangement of the boundary relative to the location of the device). If the location of the geofencing boundary is known, the geofencing device can compare the location of the UAV to the location of the geofencing device.

  In another case, the external device is an aviation control system. The aviation control system can know the location of the geofencing device. The aviation control system may receive the location of the geofencing device directly from the geofencing device or via one or more intermediate devices. The aviation control system may detect the geofencing device and determine the position of the geofencing device based on the detected data. In some cases, information from one or more recording devices can be used to determine the location of the geofencing device. The aviation control system may be able to receive the location of the geofencing device from a further source (e.g. a UAV). The aviation control system can recognize the location of the UAV from the information provided by the UAV. In an alternative embodiment, the aviation control system device can detect the UAV and determine the position of the UAV based on the detected data. In some cases, information from one or more recording devices can be used to determine the location of the UAV. The geofencing device may be able to receive information regarding the location of the UAV from a further source (e.g. the geofencing device). The aviation control system can know the location of the geofencing boundary. The aviation control system may receive the location of the boundary of the geofencing device from the geofencing device or another source. The aviation control system may be able to calculate the location of the geofencing boundary based on the location of the recognized geofencing device. The calculation of the position of the boundary may be based on (for example, the spatial arrangement of the boundary relative to the location of the device). If the location of the geofencing boundary is known, the aviation control system can compare the location of the UAV to the location of the geofencing device.

  Based on this comparison, one or more flight response measures may be taken. A geofencing device, or an aviation control system, may be able to provide information regarding the comparison with the UAV. The UAV may be capable of self-starting to take flight response measures. The UAV may have a set of flight restrictions stored onboard the UAV and may be capable of initiating flight response measures in compliance with the flight restrictions. Alternatively, flight restrictions may be stored offboard to the UAV, but may be accessible by the UAV to determine flight response measures to be taken by the UAV.

  In another case, the UAV does not self-start flight response, but can receive flight response instructions from an external source. The external source may be a geofencing device or an aviation control system. Based on the position comparison, the external source can provide instructions for flight response measures, if necessary. For example, the aviation control system may refer to the position comparison to determine if flight response measures are required. In such case, the aviation control system may give instructions to the UAV. For example, if it is necessary to shift the flight path of the UAV to avoid intrusion into the geofencing boundary, a command may be provided to change the flight path.

  Any of the statements previously provided for flight restrictions may apply herein. The geofencing device can establish boundaries of potential locations involved in flight control. Various types of flight restrictions may be imposed as described elsewhere herein. Geofencing devices may be used to establish boundaries for different types of flight restrictions, and may include at least one of the following. Regulations that may affect UAV flight (eg, flight path, takeoff, landing), UAV load motion, UAV load alignment, UAV support motion, UAV motion sensor operation Or placement, operation of one or more communication units of UAV, operation of navigation of UAV, power distribution of UAV, or any other operation of UAV.

  FIG. 19 shows a side view of a geofencing device, a geofencing boundary, and a UAV, according to an embodiment of the present invention. Geofencing device 1910 may be provided anywhere. For example, a geofencing device may be provided on object 1905 or on surface 1925. A geofencing device may be used as a reference for one or more geofencing boundaries 1920. The UAV 1930 may approach at least one of a geofencing device or a geofencing boundary.

  A geofencing device 1910 can be established at a location. In some cases, geofencing devices may be provided in a permanent or semi-permanent manner. The geofencing device may be substantially immovable. Geo-fencing devices may not be able to move manually without the assistance of tools. The geofencing device may remain at the same place. In some cases, the geofencing device may be affixed or attached to the object 1905. The geofencing device may be embedded in the object.

Alternatively, the geofencing device may be easily movable and / or portable. Geofencing devices can be moved manually without the need for tools. Geofencing devices may be moved from one location to another. The geofencing device may be removably attached to or supported by the object. In some cases, the geofencing device may be a handheld device. Geofencing devices can be picked up and supported by humans. The geofencing device can be picked up and supported by one hand with humans. The geofencing device may be easily transportable. In one embodiment, the geofencing device is about 500 kg or less, 400 kg or less, 300 kg or less, 200 kg or less, 150 kg or less, 100 kg or less, 75 kg or less, 50 kg or less, 40 kg or less, 30 kg or less, 25 kg or less, 20 kg or less, 15 kg or less, 12 kg or less, 10 kg or less, 9 kg or less, 8 kg or less, 6 kg or less, 5 kg or less, 4 kg or less, 3 kg or less, 2 kg or less, 1.5 kg or less, 1 kg or less, 750 g or less, 500 g or less, 300 g or less, 200 g or less 100 g or less, 75 g or less, 50 g or less, 30 g or less, 20 g or less, 10 g or less, 5 g or less, 3 g or less, 2 g or less, 1 g or less, 500 mg or less, 100 mg or less, 50 mg or less, 10 mg or less, 5 mg or less, or 1 mg With the following weight Good. Geofencing system, about 5 m ³ or less, 3m ³ below, 2m ³ below, 1 m ³ or less, 0.5 m ³ or less, 0.1 m ³ or less, 0.05 m ³ or less, 0.01 m ³ or less, 0.005 m ³ Below, 0.001 m ³ or less, 500 cm ³ or less, 300 cm ³ or less, 100 cm ³ or less, 75 cm ³ or less, 50 cm ³ or less, 30 cm ³ or less, 20 cm ³ or less, 10 cm ³ or less, 5 cm ³ or less, 3 cm ³ or less, 1 cm ³ hereinafter, may have the following ³ or 0.01 cm ³ or less in volume, 0.1 cm. Geofencing devices may be worn by individuals. The geofencing device may be supported within a pocket, bag, pouch, purse, rucksack, or any other personal item.

  Geofencing devices can be moved from one place to another with the assistance of an individual. For example, the user may pick up the geofencing device, move it to another location, and drop it. Optionally, the user may need to remove the geofencing device from the existing object, then pick up the geofencing device, move it to another location and install it at the new location. Alternatively, the geofencing device may be self-propelled. The geofencing device may be mobile. For example, the geofencing device may be another UAV or another airframe (e.g., a ground transport, a waterborne transport, an airborne transport, a transport in space). In some cases, the geofencing device may be attached to or supported by a UAV or other vehicle. The location of the geofencing device can be updated at the time of movement, or at least one of tracking.

  In one embodiment, the geofencing device may be substantially stationary during use. A geofencing device may be provided on the object 1905 or on the surface 1925. The object may be a naturally occurring object or an artificial object. Examples of naturally occurring objects may include trees, bushes, stones, hills, mountains, or any other naturally occurring object. Examples of artificial objects may include structures (e.g., buildings, bridges, utility poles, fences, walls, breakwaters, buoys) or any other artificial objects. In one example, the geofencing device may be provided on a structure (e.g., a roof of a building). This surface may be a naturally occurring surface or an artificial surface. Examples of surfaces may include ground (e.g., land, soil, gravel, asphalt, streets, flooring), or underwater surfaces (e.g., lakes, seas, rivers, streams).

  Optionally, the geofencing device may be a UAV docking station. A geofencing device may be affixed to the UAV docking station. The geofencing device may be located on or supported by the UAV docking station. The geofencing device may be part of the UAV docking station or may be integrally formed with the UAV docking station. The UAV docking station may allow one or more UAVs to land on or be supported by the docking station. The UAV docking station may include one or more landing zones that may be used to support the weight of the UAV. The UAV docking station can power the UAV. In some cases, the UAV docking station can be used to charge the UAV with one or more on-board power supply units (eg, a battery). The UAV docking station can be used to remove the power supply unit from the UAV and replace it with a new power supply unit. The new power supply unit may have a higher energy capacity or state of charge. The UAV docking station may be able to repair the UAV or supply spare parts to the UAV. The UAV docking station can receive items supported by the UAV or store items that can be picked up for support by the UAV.

  The geofencing device may be any type of device. The device may be a computer (eg, a personal computer, laptop computer, server), a mobile device (eg, a smart phone, a cell phone, a tablet, a personal digital assistant), or any other type of device. The device may be a network device that can communicate via a network. The apparatus includes one or more storage units as described elsewhere herein. The one or more storage units may include non-transitory computer readable media capable of storing code, logic or instructions for performing one or more steps. The apparatus may include one or more processors. One or more processors may perform one or more steps individually or collectively according to the code, logic or instructions of the non-transitory computer readable medium described herein.

  The device may be a geofencing device if the device provides a reference point for the set of boundaries associated with the set of flight restrictions. In some cases, if the software or application is operating on a device that can provide the position of the device as a reference point to the set of boundaries associated with the set of flight restrictions, the device is a geofencing device and obtain. For example, the user may have a device (e.g. a smartphone) that performs further functions. The application may be downloaded to a smartphone that may communicate with an aviation control system, another part of an authentication system, or any other system. The application provides the location of the smartphone to the aviation control system, which may indicate that the smartphone is a geofencing device. In this way, the location of the smartphone may be known and the boundaries associated with the restriction may be used to determine. The device may already have a position input device or may use a position input device system to determine the position of the device. For example, the location of at least one of a smartphone or a tablet, or another mobile device may be determined. The location of the mobile device can be used to provide a reference point as a geofencing device.

  In one embodiment, the geofencing device may be designed to be provided in an outdoor environment. Geofencing devices can be designed to withstand various climates. The geofencing device may have a housing that can partially or completely enclose one or more components of the geofencing device. The housing can protect one or more parts from wind, dust, or precipitation (eg, rain, snow, hail, ice). The housing of the geofencing device may or may not be air tight, and may or may not be waterproof. The geofencing device enclosure can enclose one or more processors of the geofencing device. The geofencing device enclosure can enclose one or more storage units of the geofencing device. The enclosure of the geofencing device can enclose the location input device of the geofencing device.

  In one embodiment, the geofencing device may be a remote controller that receives user input. The remote controller can control the operation of the UAV. This may be useful when using geofencing boundaries to allow UAVs to operate within geofencing boundaries but restricting the operation of UAVs outside geofencing boundaries. For example, a UAV may only be allowed to fly within geofencing boundaries. If the UAV approaches or exits the boundary, the flight path of the UAV can be changed to keep the UAV within the geofencing boundary. If the UAV is only allowed to fly within the geofencing boundary, this allows the UAV to be maintained within the defined proximity of the remote controller. This can help the user to more easily monitor the UAV. Also, this may prevent the UAV from flying out of the desired range and getting lost. If the geofencing device is a remote controller, it may be possible for the user to walk around and the boundary of the geofencing device may move with the remote controller. In this way, the user may have some freedom to freely traverse certain areas while the UAV remains correlated with the user and within the desired boundaries.

  The geofencing boundaries may include one or more lateral boundaries. For example, the geofencing boundary may be a two dimensional extent that may define the space within the geofencing boundary and the lateral dimensions of the space outside the geofencing boundary. Geofencing boundaries may or may not include elevation boundaries. Geofencing boundaries can define three-dimensional volumes.

  FIG. 19 provides an illustration when the geo-fencing boundary 1920 may include lateral aspect and elevation aspect. For example, one or more lateral boundaries may be provided. At least one of an upper limit or a lower limit of altitude may be provided. For example, the upper altitude limit may define the top of the boundary. The lower elevation limit may define the lowest part of the boundary. The boundary may be substantially flat or curved or sloped or may have any other shape. Certain boundaries may have a cylindrical, prismatic, conical, spherical, hemispherical, mortar, donut, tetrahedral shape, or any other shape. In one illustrative example, a UAV may not be allowed to fly within geofencing boundaries. The UAV may fly freely outside the geofencing boundary. In this way, the UAV can fly above the upper altitude limit shown in FIG.

  In one embodiment, a geofencing system may be provided. The geofencing system may be a subsystem of an aviation control system. In some cases, the aviation control system may include a geofencing module that may perform one or more of the examples described herein. Any description of the geo-fencing system herein may apply to the geo-fencing module which may be part of an aviation control system. The geofencing module may be part of an authentication system. Alternatively, the geofencing system may be separate and / or independent of the authentication system or the aviation control system.

  The geofencing system can accept an application for the establishment of geofencing equipment. For example, if the geofencing device is part of a UAV system, these may be identified and / or tracked. The geofencing device may have unique identification information. For example, the geofencing device may have a unique geofencing identifier that may uniquely identify and / or differentiate the geofencing device from other geofencing devices. Identification information about the geofencing device may be collected. Such information may include information regarding the type of geofencing device. The geofencing device identifier may be used to ascertain the type of geofencing device. Further description as to the type of geofencing device may be provided elsewhere herein.

  In one embodiment, the geofencing device identifier may be provided from an ID registration database. The ID registration database may also provide at least one of a user identifier or a UAV identifier (e.g., the ID registration database 210 illustrated in FIG. 2). Alternatively, the geofencing device may use an identity registration database separate from at least one of the UAV or the user. In this way, geofencing devices can be identified. If the geo-fencing device has received an application for establishment through the geo-fencing system, the geo-fencing device may be identified.

  In one embodiment, the geo-fencing device may be authenticating. The authentication of the geofencing device may confirm that it is the geofencing device indicated by the geofencing device identifier. Geofencing devices can be authenticated using any authentication technique. Any technique used to authenticate UAV or at least one of the users may be used to authenticate the geofencing device. The geofencing device may have a geofencing device key. The geofencing device key may be used during the authentication process. In some cases, the AKA process may be used to assist in the authentication of geofencing devices. Furthermore, possible processes for authenticating the geofencing device are described in more detail elsewhere herein. The geofencing system can prevent geofencing devices from being replicated. The geo-fencing system allows replicated geo-fencing devices to prevent authentication by surveillance systems (eg, aviation control systems) and UAVs. An authenticated geofencing device may be used by the aviation control system and can communicate with the UAV.

  The geo-fencing system can track the identification information of the geo-fencing device through the registration process of the geo-fencing device system. The geofencing device may be authenticated by the geofencing device system prior to successful registration. In some cases, the geofencing device is registered at one time by the geofencing device subsystem. Alternatively, registration may be performed multiple times. The geofencing device may be identified or authenticated each time the power is turned on. In some cases, the geofencing device may remain powered on during use. In some cases, the geofencing device may be powered off. If the geofencing device is powered off again after being powered off, at least one of an identification or authentication process may be performed to be established in the system. In some cases, only geofencing devices that are currently on are tracked by the system. Data associated with geofencing devices that have been established but are not currently powered on may be stored by the system. The device needs to be tracked when it is powered down.

  The geofencing system can examine and determine at least one of the available space range, the lifetime, or the restricted hierarchy of the geofencing device. For example, it can track the location of geofencing devices. In some cases, the geofencing device can self-report its location. Also, in some cases, the geo-fencing device may have a position tracking device (eg, a GPS unit, or one or more sensors). The geofencing device can send information about the location of the geofencing device to the geofencing system. This position may include the coordinates of the geofencing device (e.g. global coordinates or local coordinates).

  The geofencing system can constantly monitor geofencing boundaries for each geofencing device. The geofencing device may have the same type of boundaries or may have different types of boundaries. For example, this boundary may differ from device to device. The geofencing system can constantly monitor the type of boundaries and the location of geofencing equipment. Thus, the geofencing system may be able to determine the boundary of the geofencing device location. The effective space range of the geofencing device may be recognized by the system.

  The duration of the boundary of the geofencing device may be recognized. In one embodiment, the geofencing boundaries may remain unchanged for a long time. These may remain on as long as the geofencing device is powered on. In other examples, the geofencing boundaries may change with time. Even when the geo-fencing device is powered on, the geo-fencing boundaries may have the same extent, but may or may not be effective. For example, from 2 pm to 5 pm daily, geofencing boundaries may be established, while during the remaining time geofencing boundaries are not valid. At least one of the shape or size of the geofencing boundary may change with time. Changes in geo-fencing boundaries may be based on time, day, day, week, month, quarter, season, year, or any other time related factor. The change may be regular or periodic. Alternatively, the change may be irregular. In some cases, a schedule may be provided that may follow changes in geofencing boundaries. Additionally, examples and descriptions of varying geofencing boundaries are provided in more detail elsewhere herein.

  The hierarchy of geo-fencing devices may be recognized by the geo-fencing subsystem. The above description of the various flight control layers may be applied to the geofencing device layers. For example, if multiple geofencing devices have overlapping spatial extents, the overlapping extents may be treated according to the hierarchy. For example, flight restrictions associated with geo-fencing devices having higher tiers can be applied to overlapping areas. Alternatively, more restrictive flight restrictions may be used at overlapping ranges.

  The geofencing system can determine how geofencing devices can be published. In some cases, the geofencing device may emit a signal. The signal can be used to detect geofencing devices. The UAV may be able to detect signals from the geofencing device to detect the geofencing device. Alternatively, the UAV may not be able to detect the geofencing device directly, but the geofencing system may detect the geofencing device. A recording device (e.g., a recording device described elsewhere herein) may be capable of detecting a geofencing device. An aviation control system may be able to detect geofencing devices. The geofencing device may be published in any way. For example, geofencing devices may be published using electromagnetic or acousto-optic signals. The signal from the geofencing device may be detected with the aid of a vision sensor, an infrared sensor, an ultraviolet sensor, a sound sensor, a magnetometer, a wireless receiver, a WiFi receiver, or any other type of sensor or receiver. The geofencing system can track which type of signal is used for the geofencing device. The geofencing system can notify one or more other devices or systems (e.g., a UAV) what type of signal is provided by the geofencing device, thereby using the correct sensors to geofencing devices Can be detected. Also, geofencing information can track information such as at least one of a frequency range, bandwidth, or protocol used in transmitting the signal.

  The geofencing system can manage resource pools for UAV flight based on information from the geofencing device. The geofencing device may impose one or more restrictions on the operation of the UAV. For example, UAV flight may be restricted based on geofencing equipment. An example of a resource may be an available airspace. The available airspace may be limited based on at least one of the location or boundary of the geofencing device. The available airspace information may be used by the aviation control system in allocating resources to the UAV. The available airspace may be updated in real time. For example, the geofencing device may be turned on or off, added or removed, moved, or the boundaries of the geofencing device may change with time. Thus, the available airspace may change with time. The available airspace may be updated in real time. The available airspace may be updated continuously or on a periodic basis. The available airspace may be updated at regular or irregular time intervals or according to a schedule. The available space may be updated in response to an event (eg, a request for resources). In some cases, the available airspace may be predicted over time. For example, if the schedule of the geofencing device is known in advance, multiple changes in the airspace may be predictable. In this way, when the user requests resources (such as airspaces) for the future, the expected available airspace can be assessed. In certain embodiments, different levels may be provided. For example, users of different operation levels may be defined. Based on the user's operation level, the user may be able to use different resources. For example, multiple geofencing restrictions may apply only to certain users, but not to other users. User types can affect available resources. Another example of a level may include the UAV type. The UAV type may affect the available resources. For example, multiple geo-fencing restrictions may apply to only certain models, but not to UAVs of other models.

  If the user desires to operate the UAV, a request may be made for one or more resources. In some cases, resources may include some space for a period of time. Resources may include devices (e.g., devices such as those described elsewhere herein). The flight plan may be accepted or rejected based on the available resources. In some cases, changes may be made to the flight plan to match available resources. Geofencing device information may be used in determining resource availability. Geofencing device information may be useful in determining whether to accept, reject or change the proposed flight plan.

  Users can communicate with the geofencing system. Users can query the geofencing system for resource allocation. For example, the user may seek to assign the status of available airspace or other resources. The user may ask about the assignment of available airspace status corresponding to the user's level (e.g. operation level, user type). The user may request an assignment of available airspace status corresponding to the UAV type or other characteristics. In some cases, users can receive information returned from the geofencing system about resource allocation. In some cases, the information may be presented in graphical form. For example, a map indicating available airspace may be provided. The map may indicate the current available airspace when the user queries or may project the available airspace at some point in the future that the user is asking. The map may indicate at least one of the location or boundary of the geofencing device. Further descriptions of user interfaces that may indicate at least one of a geofencing device or available resources may be provided in more detail elsewhere herein (eg, FIG. 35).

  In one embodiment, a non-compliance countermeasure system may be provided. The non-compliant countermeasure system may be a subsystem of an aviation control system. The aviation control system may include a non-compliant measure module that may perform one or more of the actions described herein. Any reference to a non-compliance countermeasure system herein may apply to a non-compliance countermeasure module, which may be part of an aviation control system. The non-compliant countermeasure module may be part of an authentication system. Alternatively, the non-compliant measures system may be separate and / or independent of the authentication system or the aviation control system.

  Non-compliant systems can track UAV activity. For example, it can track UAV locations. The location of the UAV may include the orientation of the UAV. Also, tracking the location of a UAV may include the motion of the tracking UAV (eg, translational velocity, translational acceleration, angular velocity, angular acceleration). Other operations of the UAV (eg, motion of load, positioning of load, motion of support mechanism, motion of one or more UAV sensors, motion of communication unit, motion of navigation unit, power dissipation, or any other Track UAV activity). The non-compliant system can detect when the UAV is operating abnormally. A non-compliant countermeasure system can detect when a UAV is involved in behavior that is not compliant with a set of flight restrictions. At least one of the user identification information or the UAV identification information may be considered in determining whether the UAV conforms to or does not conform to the set of flight restrictions. Geofencing data may be considered in determining whether the UAV is compliant or not compliant with the set of flight restrictions. For example, the non-compliant system can detect when an unlicensed UAV appears in a restricted airspace. A restricted airspace may be provided within the boundaries of the geofencing device. At least one of the user or the UAV may not be authorized to enter the restricted airspace. However, the presence of a UAV approaching or entering a restricted airspace may be detected. UAV activity may be tracked in real time. UAV activity may be tracked periodically, according to a schedule, or in response to detected events or conditions.

  A non-compliant system can issue an alert when a UAV is involved in an activity that does not comply with the UAV's set of flight restrictions. For example, if an unlicensed UAV is trying to enter a restricted airspace, a warning can be given. The warning can be given in any way. In some cases, the alert may be an electromagnetic or acousto-optic alert. An alert may be provided to the user of the UAV. An alert may be provided at the user terminal (eg, via a remote control). The alert may be provided to at least one of the aviation control system or the UAV. The user may be given the opportunity to make the UAV conform to flight regulations and change the behavior of the UAV. For example, if the UAV is approaching a restricted airspace, the user may have time to reroute the UAV avoiding the restricted airspace. Alternatively, the user may not be given the opportunity to change the behavior of the UAV.

  Non-compliant measures systems may achieve flight response measures by the UAV. The flight response measures may be activated to cause the UAV to conform to a set of flight restrictions. For example, if the UAV enters a restricted range, the flight path of the UAV may be changed to cause the UAV to leave the restricted range immediately or to land the UAV. Flight response measures may be a mandatory means by which one or more user inputs can be nullified. The flight response measures may be mechanical, electromagnetic or acousto-optical means or takeover of control of the UAV. If the warning is ineffective, this measure may drive away, capture, or even destroy the UAV. For example, this means may cause the flight path of the UAV to change automatically. This measure can cause the UAV to land automatically. This measure may power off or self destroy UAV. Any other flight response measures may be used, such as those described elsewhere herein.

  Non-compliant systems can record and track information about UAV activity. Various types of information regarding the UAV may be recorded and / or stored. In one embodiment, this information may be stored on a storage device. All information related to UAV activity may be stored. Alternatively, a subset of information related to UAV activity may be stored. In some cases, the recorded information can be used to facilitate subsequent review. The recorded information can be used for legal purposes. In some cases, the recorded information may be used for disciplinary action. For example, certain events may occur. Recorded information related to this event may be considered. The information can be used to determine the details of how or why the event occurred. If this event is an accident, the information can be used to determine the cause of the accident. Information can be used to assign accident negligence. For example, if the party is responsible for the accident, the information can be used to determine that the party is responsible. Disciplinary action may be taken if the parties are responsible. In some cases, multiple parties may share various degrees of negligence. Disciplinary actions may be assigned depending on the information recorded. In another case, this event may be an action by a UAV that is not compliant with the set of flight restrictions. For example, a UAV may fly through an area where photography is not permitted. However, there are also cases where a UAV takes an image using a camera. The UAV may have been continuing to shoot images somehow after the alert was issued. The information can be analyzed to determine how long the UAV has taken the image, or the type of image taken. This event may be the abnormal behavior exhibited by the UAV. If the UAV behaves abnormally, the information can be analyzed to determine the cause of the unnormal behavior. For example, if the UAV performs an action that did not correspond to the command issued from the user remote controller, the information can be analyzed to determine how or why the UAV did that action.

  In one embodiment, the recorded information may not be alterable. Optionally, individual users may not be able to change the recorded information. In some cases, only the operator or administrator of at least one of the storage device or the non-compliant system may be able to access the recorded information.

Communication Types The UAV and geofencing devices can communicate within the UAV system. The geofencing device can provide one or more geofencing boundaries. One or more geofencing boundaries may affect at least one of (1) the available airspace of the UAV or (2) activities that may or may not occur within the airspace.

  FIG. 39 illustrates different types of communication between a UAV and a geofencing device according to an embodiment of the present invention. The geofencing device may be online (3910) or offline (3920). The geofencing device may either only receive signals from the UAV (3930), may only transmit signals to the UAV (3940), or may both transmit and receive signals from the UAV (3950).

  When the geofencing device is connected (eg, in communication) with the authentication center, the geofencing device may be online (3910). The geofencing device may be online when the geofencing device is connected (eg, in communication) with any part of the authentication system. The geo-fencing system may be online when the geo-fencing device is connected to (communicated with) an aviation control system or module thereof (e.g., geo-fencing module, non-compliant module). When the geofencing device is connected to the network, the geofencing device may be online. The geofencing device may be online when the geofencing device is directly connected to another device. If the geofencing device can communicate with another device or system, the geofencing device may be online.

  When the geofencing device is not connected (eg, in communication) with the authentication center, the geofencing device may be offline (3920). The geofencing device may be offline when the geofencing device is not connected (e.g., in communication) with any part of the authentication system. The geo-fencing system may be offline when the geo-fencing device is not connected to (communicated with) an aviation control system or a module thereof (e.g., a geo-fencing module, a non-compliant module). When the geofencing device is not connected to the network, the geofencing device may be offline. When the geofencing device is not directly connected to another device, the geofencing device may be offline. If the geofencing device can not communicate with another device or system, the geofencing device may be offline.

  The geofencing device can communicate with the UAV. Communication between the geofencing device and the UAV may occur in various ways. For example, communication may occur via a channel, a signaling system, a multiple access mode, a signal format, or a signaling format. Communication between the geofencing device and the UAV may be direct or indirect. In some cases, only direct communication may be used, only indirect communication may be used, or both direct and indirect communication may be used. Further examples and details related to direct and indirect communication are described elsewhere herein.

  If the geofencing device only receives signals from UAVs (3930), indirect communication may be used. When the geofencing device is online, indirect communication may include a signal to the UAV. For example, a network may be used to transmit signals from the geofencing device to the UAV. When the geofencing device is offline, indirect communication may include the UAV's presence record. The geofencing device may be capable of detecting the presence of the UAV or receiving indirect communication of the UAV's presence.

  If the geofencing device only signals the UAV (3940), direct communication may be used. Direct communication may be used regardless of whether the geofencing device is online or offline. Even though the geo-fencing device is not in communication with the authentication system or its parts, the geo-fencing device may be able to communicate directly with the UAV. The geofencing device can communicate directly with the UAV for transmission. The geofencing device can provide direct communication via wireless signals. Direct communication may be an electromagnetic signal, a photoacoustic signal or any other type of signal.

  If the geofencing device both sends and receives signals via the UAV (eg, involved in bi-directional communication), direct or indirect communication may be used (3950). In some cases, direct communication and indirect communication may be used simultaneously. The geofencing device and the UAV may switch between using direct communication and using indirect communication. Direct or indirect communication may be used regardless of whether the geofencing device is online or offline. In one embodiment, direct communication may be used as part of bi-directional communication from the geofencing device to the UAV, while indirect communication is used as part of bi-directional communication from the UAV to the geofencing device It may be done. For part of the bi-directional communication from the UAV to the geofencing device, the indirect communication can include a signal to the UAV when the geofencing device is online, and the UAV's recorded when the geofencing device is offline May include presence. Alternatively, direct communication and indirect communication may be used interchangeably regardless of direction.

  Optionally, the communication rules may be stored on-board memory in the geofencing device. Optionally, one or more rules associated with one or more sets of flight restrictions may be stored onboard the geofencing device. The geofencing device may or may not connect to a network (e.g., the Internet, any other WAN, LAN, telecommunications network, or data network). If the geofencing device can be connected to the network, the geofencing device does not have to store the rules in memory. For example, communication rules need not be stored onboard the geofencing device. Alternatively, one or more rules associated with one or more sets of flight restrictions need not be stored onboard the geofencing device. The geofencing device can access the rules stored in separate devices or memories through the network.

  The geofencing device memory may store at least one of geofence identification or authentication information. For example, the geofencing device memory may store a geofencing device identifier. The memory can store geofencing device keys. Associated algorithms may be stored. The geofencing device identifier or at least one of the keys may not be changed. Optionally, at least one of the geofencing device identifier or key may not be externally readable. The geofencing device identifier or at least one of the keys may be stored in a module that is not separable from the geofencing device. The module can not be removed from the geofencing device without compromising the functionality of the geofencing device. In some cases, at least one of the geofencing identification or authentication information may be stored onboard the geofencing device regardless of whether the geofencing device may access the network.

  The geofencing device may include a communication unit and one or more processors. One or more processors can perform any step or function of the geofencing device individually or collectively. The communication unit may enable direct communication, indirect communication, or both indirect communication and direct communication. A communication unit and one or more processors may be provided to the geofencing device regardless of whether the geofencing device may access the network.

  In one embodiment, the UAV may be offline or online. The UAV may be off-line (eg, not connected to an authentication system). When offline, the UAV can not communicate with any part of the authentication system. For example, an authentication center, an aviation control system, or a module of an aviation control system (eg, geofencing module, non-compliance countermeasure module). When the UAV is not connected to the network, the UAV may be offline. The UAV may be offline when the UAV is not directly connected to another device. If the UAV can not communicate with another device or system, the UAV may be offline.

  When the UAV can be off-line, the digital signature method can be used in communication. Certificate issuance and use may be used for communication. Such methods may provide some degree of security for communication with the UAV. Such security may be provided without the UAV needing to communicate with the authentication system.

  When the UAV is connected (eg, in communication) with any part of the authentication system, the UAV may be online. For example, a certification center, an aviation control system, or any module of a certification center (eg, geofencing module, non-compliance countermeasure module). When the UAV is directly connected to another device, the UAV may be online. The UAV may be online if the geofencing device can communicate with another device or system.

  Various communication methods or techniques may be used when the UAV is online. For example, at least one of the UAV or the user may receive a geofencing signal, and authentication may occur at an authentication center of an authentication system. Authentication may be performed on the geofencing device, which can verify that the geofencing device is authentic and authorized. In some cases, confirmation may be made that the geofencing device complies with legal standards. In some cases, an authorized geofencing device can notify at least one of the UAV or the user about one or more sets of flight restrictions. The aviation control system can notify at least one of the UAV or the user regarding a set of one or more flight restrictions imposed in response to the certified geofencing device.

  FIG. 20 illustrates a system in which a geo-fencing device sends information directly to a UAV, according to an embodiment of the present invention. The geofencing device 2010 can transmit a signal 2015 that can be received by the UAV 2030. The geofencing device may have a geofencing boundary 2020. The geofencing device may include a communication unit 2040, a memory unit 2042, a detector 2044, one or more processors 2046. Communication can be used to transmit signals. A detector can be used to detect the presence of UAV 2030.

  The geofencing device 2010 can broadcast the wireless signal 2015. Broadcast can be performed continuously. The broadcast may be performed independently of any detected conditions. Advantageously, this broadcast mode may be simple. Alternatively, broadcast of the signal may occur when an approaching UAV 2030 is detected. At other times, there is no need to broadcast. This advantageously eliminates the use of radio resources. The geofencing device may remain hidden until a UAV is detected.

  Aspects of the invention may be directed to a geofencing device 2010. The geofencing device 2010 comprises (1) a communication unit 2040 for transmitting information within a predetermined geographical range of the geofencing device, and (2) a set of one or more flight restrictions regarding the predetermined geographical range of the geofencing device And one or more memory units 2042 for storing or receiving. The communication unit sends a set of flight restrictions from the set of one or more flight restrictions to the UAV when the UAV enters a predetermined geographic area of the geofencing device. A method may be provided for granting a UAV a set of flight restrictions. The method comprises the steps of: (1) storing or receiving a set of one or more flight restrictions of one or more memory units of the geofencing device for a given geographical area of the geofencing device; 2) With the assistance of a communication unit that transmits information within the predetermined geographical range of the geofencing device when the UAV enters a predetermined geographical range of the geofencing device, the UAV receives one or more of the flight restrictions Transmitting the set of flight restrictions from the set.

  The geofencing device 2010 can detect the presence of the UAV 2030. Optionally, detector 2044 of the geofencing device may assist in detecting the presence of the UAV.

  In one embodiment, the geo-fencing device can detect a UAV by identifying the UAV through visual information. For example, geofencing devices can visually detect and / or identify the presence of a UAV. In some cases, a camera or other type of visual sensor may be provided as a detector of the UAV. The camera may be able to detect the UAV when the UAV reaches within a predetermined range of the geofencing device. In some cases, the detector of the geofencing device may include multiple cameras or visual sensors. Multiple cameras or vision sensors may have different fields of view. The camera can capture UAV images. The images can be analyzed to detect UAVs. In some cases, the image can be analyzed to detect the presence or absence of a UAV. The images can be analyzed to determine the estimated distance of the UAV from the geofencing device. The image can be analyzed to detect the type of UAV. For example, different models of UAVs can be identified.

  Information in the electromagnetic spectrum from any part may be used in identifying UAVs. For example, in addition to the visible spectrum, other spectra from the UAV may be analyzed to detect or identify the presence of the UAV. In some cases, the detector may be an infrared detector, an ultraviolet detector, a microwave detector, a radar, or any other type of device capable of detecting an electromagnetic signal. The detector may be able to detect the UAV when the UAV reaches within a predetermined range of the geofencing device. In some cases, multiple sensors may be provided. Multiple sensors may have different fields of view. In some cases, an electromagnetic image or signature of a UAV may be detected. The image or signature can be analyzed to detect the presence or absence of a UAV. The image or signature can be analyzed to estimate the distance of the UAV from the geofencing device. The image or signature can be analyzed to detect the type of UAV. For example, different models of UAVs can be identified. In one example, the first UAV model type may have different thermal characteristics than the second UAV model type.

  The geofencing device can detect the UAV by identifying the UAV via acoustic information (eg, sound). For example, the geofencing device can acoustically detect or identify the presence of the UAV. In some cases, the detector may include a microphone, a sonar, an ultrasonic sensor, a vibration sensor, or any other type of acoustic sensor. The detector is capable of detecting the UAV when the UAV reaches within a predetermined range of the geofencing device. The detector may include multiple sensors. Multiple sensors may have different fields of view. The sensor may capture the acoustic characteristics of the UAV. The acoustic characteristics can be analyzed to detect UAVs. Acoustic characteristics can be analyzed to detect the presence or absence of a UAV. Acoustic characteristics can be analyzed to determine the estimated distance of the UAV from the geofencing device. The acoustic characteristics can be analyzed to detect the type of UAV. For example, different models of UAVs can be identified. In one example, the first UAV model type may have different acoustical characteristics than the second UA model type.

  The geofencing device can identify an approaching UAV by monitoring one or more radio signals from the UAV. Optionally, the UAV may broadcast a wireless signal that may be detectable by the geofencing device when within range. The detector of the UAV may be a receiver of radio signals from the UAV. The detector may optionally be a UAV communication unit. The same communication unit can be used to transmit signals and detect wireless communication from the UAV. Alternatively, different communication units may be used to transmit signals and detect wireless communication from the UAV. The wireless data captured by the detector can be analyzed to detect the presence or absence of a UAV. The wireless data can be analyzed to estimate the distance of the UAV from the geofencing device. For example, time difference or signal strength may be analyzed to estimate the distance of the UAV from the geofencing device. The wireless data can be analyzed to detect UAV types. In some cases, the wireless data may identify data regarding the UAV (eg, at least one of a UAV identifier or UAV type).

  In some cases, the geofencing device can detect the UAV based on information from the aeronautical control system or any other part of the authentication system. For example, the aviation control system can track the location of the UAV and can send a signal to the geofencing device when the aviation control system detects that the UAV is near the geofencing device. In another example, the aviation control system can send location information regarding the UAV to the geofencing device, which can determine that the UAV is near the geofencing device. In one embodiment, the detector may be a communication unit that may receive data from an aviation control system.

  The UAV may or may not send any information regarding the UAV 2030. In some cases, the UAV can originate wireless communications. Wireless communication may be detected by an on-board detector at the geofencing device. Wireless communications may include the broadcast of information by the UAV. Information broadcast by the UAV can announce the presence of the UAV. Further information on UAV identification may or may not be provided. In an embodiment, the information on UAV identification may include the UAV identifier. The information may include information on UAV type. The information may include location information regarding the UAV. For example, a UAV can broadcast its current global coordinates. The UAV can broadcast any other attribute (eg, UAV parameters or UAV type).

  In one embodiment, the UAV can establish communication with the geofencing device and an exchange of information can take place. Communication may include one-way communication or two-way communication. The communication may include at least one of the following information: Information on UAV identification, geofencing device identification, UAV type, geofencing device type, UAV location, geofencing device location, geofencing device boundary type, flight restrictions, or any other type of information.

  The geofencing device can recognize the presence of the UAV through an onboard detector to the geofencing device. The geofencing device can recognize the presence of the UAV through information from other devices. For example, an aviation control system (e.g., a geo-fencing module, a non-compliant module), an authentication center, another geo-fencing device, another UAV may provide the geo-fencing device with information regarding the presence of the UAV.

  A detector of the geofencing device may detect the presence of a UAV within a predetermined range of the geofencing device. In one embodiment, the detector may detect the presence of a UAV outside of a predetermined range. The detector may be very likely to detect the presence of a UAV when the UAV is within a predetermined range. When the UAV is within the predetermined range of geofencing equipment, the detector has 80% chance, 90% chance, 95% chance, 97% chance, 99% chance, 99 .5% probability, 99.7% possibility, 99.9% possibility, or more than 99.99% possibility of detecting UAV. The predetermined range of the geofencing device may be within a predetermined distance of the UAV geofencing device. The predetermined range of the geofencing device may have a circular, cylindrical, hemispherical, or spherical shape relative to the geofencing device. Alternatively, the predetermined range may have any shape based on the geofencing device. The geofencing device may be provided at the center of a predetermined range. Alternatively, the geofencing device may be offset from the center of the predetermined range.

  The predetermined range of geofencing devices may include any degree of distance. For example, the prescribed range of geofencing equipment is within 1 meter, 3 meter, 5 meter, 10 meter, 15 meter, 20 meter, 25 meter, 30 meter, 40 meter, 50 meter Within 70 meters, within 100 meters, within 120 meters, within 150 meters, within 200 meters, within 500 meters, within 750 meters, within 1000 meters, within 1500 meters, within 2000 meters, within 2500 meters, 3000 Within meters, within 4000 meters, within 5000 meters, within 7000 meters, or within 10000 meters may be sufficient.

  The communication unit of the geofencing device can transmit information to the UAV within the predetermined range of the geofencing device. The communication unit may send information continuously, send information periodically, send information according to a schedule, or send information regarding the detection of an event or situation. The transmitted information can be broadcast as can be received by the UAV. If the other device is within the predetermined range, information may be received as well. Alternatively, even if within range, only the selected device may receive the information. In one embodiment, the communication unit may, in some cases, send information to the UAV outside of a predetermined range. The communication unit may be very likely to get the communication to reach the UAV when the UAV is within the predetermined range. The communication unit has 80% possibility, 90% possibility, 95% possibility, 97% possibility, 99% possibility, 99 when UAV is within the predetermined range of geofencing equipment . 5% possibilities, 99.7% possibilities, 99.9% possibilities, or more than 99.99% possibilities, can successfully transmit information to the UAV.

  The communication unit of the geofencing device may transmit information within a predetermined range of the geofencing device upon detecting the presence of the UAV. The detection of the presence of a UAV may be an event or condition that may initiate the transmission of information from the geofencing device. The information may be sent once or continuously after detection of the presence of the UAV. In some cases, information may be sent to the UAV continuously or periodically while remaining within the predetermined range of the geofencing device.

  In one embodiment, the information sent to the UAV may include a set of flight restrictions. A set of flight restrictions may be generated at the geofencing device. The set of flight restrictions may be generated by being selected from a plurality of sets of flight restrictions. A set of flight restrictions may be generated from scratch on the geofencing device. A set of flight restrictions may be generated with the assistance of user input. A set of flight restrictions may combine features from multiple flight restriction sets.

  A set of flight restrictions may be generated based on information about the UAV. For example, a set of flight restrictions may be generated based on the UAV type. The set of flight restrictions may be selected from a plurality of sets of flight restrictions based on the UAV type. A set of flight restrictions may be generated based on the UAV identifier. One set of flight restrictions may be selected from a plurality of sets of flight restrictions based on the UAV identifier. A set of flight restrictions may be generated based on the information about the user. For example, a set of flight restrictions may be generated based on the user type. The set of flight restrictions may be selected from a plurality of sets of flight restrictions based on the user type. A set of flight restrictions may be generated based on the user identifier. The plurality of flight restrictions may be selected from the set of flight restrictions based on the user identifier. Any other type of flight regulation generation technology may be utilized.

  The geofencing device may receive at least one of a UAV identifier or a user identifier. The UAV identifier can uniquely identify a UAV from other UAVs. The user identifier can uniquely identify the user from other users. At least one of the UAV identification information or the user identification information may be authenticated. The communication module of the geofencing device may receive at least one of a UAV identifier or a user identifier.

  The communication unit may be able to change the communication mode when the UAV enters a predetermined range of the geofencing device. The communication unit may be the communication unit of the geofencing device. Alternatively, the communication unit may be a UAV communication unit. The communication unit may operate under the first communication mode before the UAV enters a predetermined range of the geofencing device. The communication unit can switch to the second communication mode when entering a predetermined range of the UAV geofencing device. In one embodiment, the first communication mode is an indirect communication mode and the second communication mode is a direct communication mode. For example, the UAV can communicate with the geofencing device via a direct communication mode when within a predetermined range of the geofencing device. The UAV can communicate with the geofencing device via an indirect communication mode when outside the predetermined range of the geofencing device. In one embodiment, bi-directional communication can be established between the UAV and the geofencing device. Optionally, bi-directional communication can be established when the UAV is within the predetermined range of the geofencing device. The communication unit transmits information within the predetermined range of the geofencing device when the UAV is within the predetermined range of the geofencing device and optionally when the UAV is not outside the predetermined range of the geofencing device it can. The communication unit receives information within the predetermined range of the geofencing device when the UAV is within the predetermined range of the geofencing device and optionally when the UAV is not outside the predetermined range of the geofencing device it can.

  One or more processors 2046 of the geofencing device can generate sets of flight restrictions individually or collectively. A set of flight restrictions may be generated using information regarding the set of flight restrictions that may be stored onboard the geofencing device. The processor can generate a set of flight restrictions and can select a set of flight restrictions from a plurality of sets of flight restrictions stored in one or more memory units 2042. The processor may generate a set of flight restrictions by combining flight restrictions from a plurality of sets of flight restrictions stored in one or more memory units. Alternatively, the processor may generate a set of flight restrictions using information regarding the set of flight restrictions that may be stored offboard in the geofencing device. In some cases, off-board information may be extracted by the geo-fencing device and received by the geo-fencing device. The geofencing device can store the retrieved information permanently or temporarily. The retrieved information may be stored in short term storage memory. In some cases, the retrieved information may be temporarily stored by buffering the received information.

  The geofencing device may or may not be detectable by the UAV. In some cases, the geofencing device may include an indicator that is detectable by the UAV. The indicator may be a visible marker, an infrared marker, an ultraviolet marker, an acoustic marker, a wireless signal, or any other type of marker that may be detectable by a UAV. Further details of detection of geofencing devices by UAV may be described in more detail elsewhere herein. The UAV may be able to receive a set of flight restrictions without detecting the geofencing device. The geofencing device can detect the UAV, and the UAV can push a set of flight restrictions or any other geofencing data to the UAV without requiring detection of the geofencing device.

  The set of flight restrictions may include a set of one or more geofencing boundaries. Geofencing boundaries can be used to contain or eliminate UAVs. For example, the set of flight restrictions includes a set of one or more boundaries. Inside the one or more boundary sets, UAVs are allowed to fly. The UAV may optionally not be allowed to fly out of bounds. Alternatively, the set of flight restrictions may include one or more sets of boundaries. UAVs are not allowed to fly inside the one or more boundary sets. A set of flight restrictions may or may not impose any altitude restrictions. In one embodiment, the set of flight restrictions may include an upper altitude limit. The UAV is not allowed to fly above the high altitude limit. The set of flight restrictions may include lower altitude limits. The UAV is not allowed to fly below the lower altitude limit.

  The set of flight restrictions may include conditions under which the UAV is not permitted to operate its payload. The load on the UAV may be an imaging device, and the flight restrictions may include conditions under which the UAV is not permitted to take an image. The condition may be based on whether the UAV is within or outside the geofencing boundary. The set of flight restrictions may include conditions under which the UAV is not permitted to communicate under one or more radio conditions. The radio conditions may include one or more selected frequencies, bandwidths, protocols. This condition may be based on whether the UAV is within or outside geofencing boundaries.

  The set of flight restrictions may include one or more restrictions on the items that the UAV supports. For example, the number of articles, the dimensions of the articles, the weight of the articles, or the type of articles may be limited. This situation may be based on whether the UAV is within or outside geofencing boundaries.

  The set of flight restrictions may include the minimum battery charge for operation of the UAV. Battery capacity may include state of charge, remaining flight time, remaining flight distance, energy efficiency, or any other factor. This condition may be based on whether the UAV is within or outside geofencing boundaries.

  The set of flight restrictions may include one or more restrictions on the landing of the UAV. This limitation may include a landing procedure that may be implemented by the UAV, or whether the UAV may truly land. This condition may be based on whether the UAV is within or outside geofencing boundaries.

  As described in more detail elsewhere herein, any other type of flight restriction may be provided. One or more sets of flight restrictions may be associated with a predetermined range of geofencing devices. One or more sets of flight restrictions are associated with one or more geofencing boundaries within a predetermined range of the geofencing device. In certain embodiments, the predetermined range may indicate at least one of the range of detection of the UAV or the range of communication with the UAV. Geo fencing boundaries may indicate boundaries that may define different operations that may or may not be authorized by the UAV. Different rules may be applied inside and outside the geofencing boundary. In some cases, predetermined ranges are not used to define motion. The geofencing boundary may end in a predetermined range. Alternatively, the geofencing boundaries may be different than the predetermined range. Geo fencing boundaries may be included within the predetermined range. In some cases, a buffer area may be provided between the predetermined area and the geofencing boundary. This buffer area can reliably receive a set of flight restrictions before the UAV reaches the boundary.

  In one example, the UAV can receive a set of flight restrictions when within a predetermined range of the geofencing device. The UAV can determine from the set of flight restrictions that the geofencing boundary for the device is approaching and the UAV is not authorized to enter the geofencing boundary. The UAV can make this determination when the UAV crosses the geofencing boundary, or immediately after the UAV crosses the geofencing boundary, before reaching the geofencing boundary. The set of flight restrictions sent to the UAV may include instructions to prevent the UAV from entering one or more geofencing boundaries. The UAV may take flight response measures. For example, the flight path of the UAV may be automatically controlled to avoid one or more geofencing boundaries. A UAV may be automatically landed upon entering one or more geofencing boundaries. When a UAV enters one or more geofencing boundaries, the flight path of the UAV may be automatically controlled to withdraw the UAV from the area enclosed by the one or more geofencing boundaries.

  FIG. 21 illustrates a system that allows an aviation control system to communicate with at least one of a geofencing device or a UAV. A geofencing device 2110 and a UAV 2120 may be provided in the system. An aviation control system 2130 may be further provided. The geofencing device may provide spatial reference to one or more geofencing boundaries 2115. The geofencing device may include a communication unit 2140 and a detector 2142. The aviation control system may include one or more processors 2150 and a memory unit 2152.

  UAV 2120 may be detected by detector 2142 of the geofencing device. UAV can be detected using any technique, as described elsewhere herein. The UAV can be detected when entering a predetermined range. The UAV is likely to be detected when entering a predetermined range. In some cases, a UAV may be detected before entering a predetermined range. When the UAV enters a predetermined range, it may provide the UAV with a set of flight restrictions.

  A set of flight restrictions may be generated at the aviation control system 2130. A set of flight restrictions may be generated from the set of available flight restrictions by selection of a set of flight restrictions for the UAV. A plurality of sets of flight restrictions may be stored in memory unit 2152. One or more processors 2150 of the aviation control system can select a set of flight restrictions from a plurality of sets of flight restrictions. Any other flight regulation generation technology (including those described in other parts) may be used by the aviation control system.

  In some cases, geo-fencing device 2110 can send a signal to aviation control system 2130 that can trigger the generation of a set of flight restrictions at the aviation control system. This signal can be transmitted with the aid of the communication unit 2140 of the geofencing device. When the geofencing device detects that the UAV is within a predetermined range, the geofencing device can send a signal to the aviation control system. Detection of a UAV falling within a predetermined range can trigger an instruction from the geofencing device to the aviation control system to generate a set of flight restrictions for the UAV.

  In certain embodiments, the geo-fencing device may be capable of detecting information regarding at least one of a UAV or a user. Geofencing may be able to detect at least one of a UAV identifier or a user identifier. The geofencing device may be capable of determining UAV type or user type. The geofencing device can communicate information regarding at least one of the UAV or the user to the aviation control system. For example, the geofencing device can communicate information about UAV types or user types to an aviation control system. The geofencing device can communicate to the aviation control system at least one of a UAV identifier or a user identifier. The geofencing device may communicate to the aviation control system additional information (e.g. environmental conditions or any other data captured or received by the geofencing device).

  The aviation control system may optionally use information from the geofencing device to assist in the generation of a set of flight restrictions. For example, the aviation control system can generate a set of flight restrictions based on the UAV or user information. The aviation control system can generate a set of flight restrictions based on the UAV type or user type. The aviation control system can generate a set of flight restrictions based on the UAV identifier or the user identifier. Additional data (eg, environmental conditions) from the geofencing device may be used from the aviation control system in generating the set of flight regulations. For example, a set of flight restrictions may be generated based on a set of environmental conditions detected or communicated by the geofencing device. The geofencing device may have one or more on-board sensors that may enable detection of one or more environmental conditions. In some cases, the aviation control system may receive data from additional data sources that are different from the geofencing device. In some cases, the aviation control system may receive data from multiple geofencing devices. The aviation control system may receive information regarding environmental conditions from multiple data sources (eg, multiple geofencing devices, external sensors, or third party data sources). Any data from geofencing devices or other data sources may be used in the generation of a set of UAV flight restrictions. A set of flight restrictions may be generated based on one or more of the following. That is, user information, UAV information, additional data from geofencing devices, or additional information from other data sources.

  The UAV may or may not send communications directly to the aviation control system. In one embodiment, the UAV can transmit at least one of the UAV or user data to the aviation control system. Alternatively, the UAV does not send at least one of the UAV or user data to the aviation control system.

  Once the aviation control system generates a set of UAV flight restrictions, the aviation control system may communicate the set of flight restrictions to the UAV. The aviation control system can communicate directly or indirectly with the UAV in applying the set of flight restrictions. The aviation control system can communicate a set of flight restrictions to the UAV via the geofencing device. For example, the aviation control system may generate a set of flight restrictions to communicate the set of flight restrictions to the geofencing device, which may send the set of flight restrictions to the UAV.

  The UAV may receive a set of flight restrictions quickly. The UAV may receive a set of flight restrictions prior to, simultaneously with, or after entering a predetermined range of the geofencing device. The UAV may receive a set of flight restrictions prior to, simultaneously with, or after passing through the geofencing boundary of the geofencing device. In one embodiment, the UAV is less than about 10 minutes, less than 5 minutes, less than 3 minutes, less than 1 minute, less than 30 seconds, less than 15 seconds, less than 10 seconds, less than 5 seconds of detection by the detector of the geofencing device. A set of flight restrictions can be received within less than 3 seconds, less than 2 seconds, less than 1 second, less than 0.5 seconds, or less than 0.1 seconds. The UAV is less than about 10 minutes, less than 5 minutes, less than 3 minutes, less than 1 minute, less than 30 seconds, less than 15 seconds, less than 10 seconds, less than 5 seconds, less than 3 seconds of entry into a given range of geofencing devices The set of flight restrictions can be received within less than 2 seconds, less than 1 second, less than 0.5 seconds, or less than 0.1 seconds.

  FIG. 22 shows a system in which a UAV detects a geofencing device according to an embodiment of the present invention. The geofencing device 2210 may be detectable by the UAV 2220. The UAV may have at least one of a memory unit 2230, a communication unit 2232, a flight controller 2234, or one or more sensors 2236.

  The geofencing device 2210 may include an indicator. The indicator of the geofencing device may be detectable by the UAV 2220. The indicator may be a marker that may be identifiable by one or more sensors 2236 onboard the UAV. The indicator may be detectable by the UAV while the UAV is in flight. The indicator may be detectable by one or more sensors onboard the UAV while the UAV is in flight. The indicator may be detectable by the UAV before or when the UAV reaches within a predetermined range of the geofencing device. The indicator may be detectable by the UAV before the UAV enters the geofencing boundary of the geofencing device. The indicator may be detectable by the UAV when the UAV enters a geo-fencing boundary of the geo-fencing device.

  The indicator may be a wireless signal. The geofencing device can continuously broadcast the wireless signal. The geofencing device can broadcast wireless signals periodically (e.g., regularly or irregularly). For example, geofencing devices may be about 0.01 seconds once, 0.05 seconds once, 0.1 seconds once, 0.5 seconds once, once every second, once every 2 seconds, once every 3 seconds 5 Once every second, once every 10 seconds, once every 15 seconds, once every 30 seconds, once every minute, once every 3 minutes, once every 5 minutes, once every 10 minutes or once every 15 minutes or less, wirelessly You can broadcast the signal. The geofencing device can broadcast the wireless signal according to the schedule. The geofencing device can broadcast a wireless signal in response to an event or condition. For example, the geofencing device may broadcast a wireless signal in response to the presence of the detected UAV. The geofencing device may broadcast a wireless signal in response to detecting that the UAV has crossed within the predetermined range of the geofencing device. The geofencing device wirelessly signals in response to detecting the UAV when the UAV is in the predetermined range before the UAV enters the predetermined range, or after the UAV enters the predetermined range. Can broadcast The geofencing device can broadcast a wireless signal to the UAV before the UAV crosses the geofencing boundary of the geofencing device.

  The indicator can provide any type of wireless signal. For example, the wireless signal may be a radio signal, a Bluetooth® signal, an infrared signal, a UV signal, a visible or light signal, a WiFi or WiMax signal, or any other type of wireless signal. The wireless signal may be broadcast such that any device in the area is capable of receiving and / or detecting the wireless signal. In some cases, the radio signal may target only the UAV. The wireless signal may be detectable by a wireless receiver or a sensor onboard the UAV. In an embodiment, the wireless receiver or sensor may be a communication unit. The same communication unit can be used to detect the indicator or provide communication between the UAV and other devices (eg, user terminals). Alternatively, different communication units may be used to detect the indicator or provide communication between the UAV and other devices (eg, user terminals).

  The indicator may be a visible marker. The visible marker may be detectable by one or more visual sensors of the UAV. The visible marker may be visually represented on the image taken by the camera. The visible marker may comprise an image. The visible markers may be static or may include still images that do not change with time. Still images may include letters, numbers, icons, graphics, symbols, images, 1D, 2D, or 3D barcodes, quick response (QR) codes, or any other type of image. The visible markers may be dynamic and may include images that may change over time. The visible markers may change continuously, periodically, according to a schedule, or in response to detected events or circumstances. Visual markers may be kept static or may be displayed on an image that may cause the displayed markers to change with time. The visual marker may be a sticker that may be provided on the surface of the geofencing device. Visual markers may include one or more lights. At least one of the spatial arrangement of the lights or the blinking pattern of the lights may be used as part of the visual marker. The visual marker may have a color. Further descriptions of dynamic markers are described in more detail elsewhere herein. Visual markers may be visually distinguishable from a distance. The UAV may be able to visually identify visual markers when entering a predetermined range of the geofencing device. The UAV may be able to visually identify the visual marker before entering a predetermined range of the geofencing device. The UAV may be able to visually identify visual markers prior to entering the geofencing boundary of the geofencing device.

  The indicator may be an acoustic marker. Acoustic markers may emit sounds, vibrations, or other identifiable acoustic effects. The acoustic marker may be detectable by an onboard acoustic sensor (eg, a microphone or other type of acoustic detector) on the UAV. Acoustic markers may emit different tones, pitches, frequencies, harmonics, loudness, or patterns or vibrations of sound. The acoustic marker may or may not be detectable by the human ear. The acoustic marker may or may not be detectable by a typical mammalian ear.

  The indicator may indicate the presence of the geofencing device. When the UAV detects an indicator, the UAV can recognize that a geofencing device may be present. In some cases, the indicator can uniquely identify the geofencing device. For example, each geofencing device may have different indicators that may be detectable by the UAV to distinguish the geofencing device from other geofencing devices. In some cases, a set of flight restrictions may be generated based on the uniquely identified geofencing device. A set of flight restrictions may be associated with uniquely identified geofencing devices.

  In some cases, the indicator may indicate the type of geofencing device. The indicators need not be specific to a particular geofencing device, but may be specific to a particular type of geofencing device. In some cases, different types of geofencing devices may have different physical characteristics (eg, model, shape, size, power output, range, battery life, sensors, performance). Alternatively, different geofencing functions (eg, maintaining the UAV out of the area, affecting the flight of the UAV, affecting the operation of the UAV load, affecting the communication of the UAV, affecting the UAV It may be used to affect onboard sensors, affect UAV navigation, affect UAV power usage). Different types of geofencing devices may have different security levels or priorities. For example, the rules imposed by the first level geofencing device may be more important than the rules imposed by the second level geofencing device. Types of geofencing devices may include different types of geofencing devices created by the same manufacturer or designer or by different manufacturers or designers. In some cases, a set of flight restrictions may be generated based on the type of geofencing device identified. A set of flight restrictions may be associated with the type of geofencing device identified.

  The indicator may be permanently affixed to the geofencing device. The indicator may be integral to the geofencing device. In some cases, the indicator can not be removed from the geofencing device without damaging the geofencing device. Alternatively, the indicator may be removable from the geofencing device. The indicator can be removed from the geofencing device without damaging the geofencing device. In certain embodiments, the indicator may be the body or shell of the geofencing device itself. The body or contour of the geofencing device may be recognizable by the UAV. For example, the UAV may include an image of the geofencing device that can capture an image and that can recognize the geofencing device from its body or shell.

  The UAV 2220 may be geofencing device discoverable. The UAV can detect the indicator of the geofencing device. The UAV generates one or more signals to operate the UAV according to a set of flight restrictions generated based on (1) a sensor that detects the indicator of the geofencing device and (2) the indicator of the detected geofencing device Flight control module. The method of operating the UAV comprises: (1) detecting the indicator of the geofencing device with the assistance of the onboard sensor in the UAV; and The method may include generating one or more signals that cause the UAV to operate according to a set of flight restrictions generated based thereon.

  The UAV can detect the indicator with the help of the sensor 2236. A UAV can support one or more types of sensors. In some cases, the UAV may be able to detect different types of indicators. For example, the UAV may encounter a geofencing device with visible markers and another geofencing device with a wireless signal as an indicator. The UAV may be able to detect both types of indicators. Alternatively, the UAV can watch over certain types of indicators (eg, recognize only visual markers as indicators of geofencing devices). The UAV may have one or more types of sensors (e.g. may carry the ones described elsewhere herein and may also have a communication unit 2232 which may also act as a sensor of the indicator) .

  When the UAV detects a geofencing device, the UAV can generate or receive a set of flight restrictions. The UAV can then operate according to a set of flight restrictions. Various types of flight restrictions may be provided (e.g., the flight restrictions described in more detail elsewhere herein). The set of flight restrictions may include information about geofencing boundaries and locations, and types of UAV operators that are authorized or not authorized within or outside the geofencing boundaries. The set of flight restrictions may include at least one of the timing of applying rules or restrictions, or any flight response taken by the UAV to comply with the restrictions.

  A set of flight restrictions may be generated onboard the UAV. A UAV may include one or more processors that may perform the steps for generating a set of flight restrictions. The UAV may include memory 2230 that may store information that may be used to generate a set of flight restrictions. In one example, a set of flight restrictions may be generated by selecting a set of flight restrictions from a plurality of flight restriction sets. Multiple sets of flight restrictions may be stored in onboard memory in the UAV.

  The UAV can detect the presence of geofencing devices. A set of flight restrictions may be generated based on the presence of the detected geofencing device. In some cases, the presence of geofencing devices may be sufficient to generate a set of flight restrictions. At least one of the UAV and the user information may be provided by the UAV. In some cases, at least one of the UAV or the user information may be used in generating a set of flight restrictions. For example, the set of flight restrictions may be generated based on at least one of UAV or user information (eg, at least one of a UAV identifier, a UAV type, a user identifier, or a user type).

  The UAV can receive other information about the geofencing device (eg, the type of geofencing device or an identifier unique to the geofencing device). Information regarding the geofencing device may be determined based on the indicator of the geofencing device. Alternatively, other channels may transmit information about the geofencing device. Geofencing device information can be used to assist in the generation of a set of flight restrictions. For example, a set of flight restrictions may be generated based on geofencing information (eg, geofencing device identifier, type of geofencing device). For example, different types of geofencing devices may have boundaries of different sizes or shapes. Different types of geofencing devices may have different operating rules or constraints imposed on the UAV. In some cases, different geofencing devices of the same type may have boundaries of the same shape or size, or at least one of the imposed operating rules of the same type. Alternatively, different flight restrictions may be imposed, even within the same geofencing device type.

  The UAV may collect or receive other information that may be used to generate a set of flight restrictions. For example, the UAV can receive information regarding environmental conditions. Information regarding environmental conditions may be received from a geofencing device, an aviation control system, one or more external sensors, one or more sensors onboard the UAV, or any other source. A set of flight restrictions may be generated based on other information (eg, environmental conditions).

  A set of flight restrictions may be generated offboard to the UAV. For example, a set of flight restrictions may be generated by the UAV off board aviation control system. The aviation control system may include one or more processors that may perform the steps for generating a set of flight restrictions. The aviation control system may include a memory that can store information that may be used to generate a set of flight restrictions. In one example, a set of flight restrictions may be generated by selecting a set of flight restrictions from a plurality of flight restriction sets. A plurality of sets of flight restrictions may be stored in the memory of the aviation control system.

  The UAV can detect the presence of geofencing devices. In response to the detection of the geofencing device, the UAV can send a request for a set of flight restrictions to the aviation control system. A set of flight restrictions may be generated at the aviation control system based on the presence of the detected geofencing device. In some cases, the presence of geofencing devices may be sufficient to generate a set of flight restrictions. At least one of the UAV or the user information may be provided to the aviation control system from the UAV or from any other part of the system. In some cases, at least one of UAV or user information may be used to assist in the generation of a set of flight restrictions. For example, the set of flight restrictions may be generated based on at least one of UAV or user information (eg, at least one of a UAV identifier, a UAV type, a user identifier, or a user type).

  The aviation control system may receive other information regarding the geofencing device (e.g., the type of geofencing device or an identifier unique to the geofencing device). The aviation control system may receive information from the UAV that determined the information based on the indicator of the geofencing device. Alternatively, other channels may deliver information about the geofencing device. For example, the aviation control system may receive information directly from the geofencing device. The aviation control system may be able to compare the location of the UAV with the location of the geofencing device to determine which geofencing device (s) the UAV has detected. Geofencing device information can be used to assist in the generation of a set of flight restrictions. For example, a set of flight restrictions may be generated based on geofencing information (eg, geofencing device identifier, type of geofencing device). For example, different types of geofencing devices may have boundaries of different sizes or shapes. Different types of geofencing devices may have different operating rules or constraints imposed on the UAV. In some cases, different geofencing devices of the same type may have at least one of the same shape or size boundaries, or the same type of operating rules imposed. Alternatively, different flight restrictions may be imposed, even within the same geofencing device type.

  The aviation control system may collect or receive other information that may be used to generate a set of flight restrictions. For example, an aviation control system can receive information regarding environmental conditions. Information regarding environmental conditions may be received from the geofencing device, one or more external sensors, one or more sensors onboard the UAV, or any other source. A set of flight restrictions may be generated based on other information (eg, environmental conditions).

  In another case, a set of flight restrictions may be generated onboard the geofencing device. The geofencing device may include one or more processors that may perform the steps for generating a set of flight restrictions. The geofencing device may include a memory that can store information that may be used to generate a set of flight restrictions. In one example, a set of flight restrictions may be generated by selecting a set of flight restrictions from a plurality of flight restriction sets. Sets of flight restrictions may be stored in the memory of the geofencing device.

  The UAV can detect the presence of geofencing devices. In response to the detection of the geofencing device, the UAV can send the geofencing device a request for a set of flight restrictions. A set of flight restrictions may be generated at the geofencing device in response to a request from the UAV. At least one of the UAV or user information may be provided to the geofencing device from the UAV or from any other part of the system. In some cases, at least one of UAV or user information may be used to assist in the generation of a set of flight restrictions. For example, the set of flight restrictions may be generated based on at least one of UAV or user information (eg, at least one of UAV identifier, UAV type, user identifier, or user type).

  The geofencing device may use information about the geofencing device (e.g., the type of geofencing device or an identifier unique to the geofencing device). The geofencing device can store information about the geofencing device onboard the geofencing device. Geofencing device information can be used to assist in the generation of a set of flight restrictions. For example, a set of flight restrictions may be generated based on geofencing information (eg, geofencing device identifier, type of geofencing device). For example, different types of geofencing devices may have boundaries of different sizes or shapes. Different types of geofencing devices may have different operating rules or constraints imposed on the UAV. In some cases, different geofencing devices of the same type may have at least one of the same shape or size boundaries, or the same type of operating rules imposed. Alternatively, different flight restrictions may be imposed, even within the same geofencing device type.

  The geofencing device may collect or receive other information that may be used to generate a set of flight restrictions. For example, the geofencing device can receive information regarding environmental conditions. Information regarding environmental conditions may be received from other geofencing devices, one or more external sensors, one or more sensors onboard the geofencing device, a UAV, or any other source. A set of flight restrictions may be generated based on other information (eg, environmental conditions).

  In one embodiment, the geofencing device comprises (1) a receiver that receives data useful for determining a set of flight restrictions, and (2) data received by the receiver individually or collectively. Based on it, it may include one or more processors that determine a set of flight restrictions, and (3) one or more transmitters that transmit signals that cause the UAV to fly according to the set of flight restrictions. Aspects of the invention may be directed to methods for controlling the flight of a UAV. The method comprises the steps of: (1) receiving data useful for determining a set of flight restrictions using a user receiver of the geofencing device; and (2) based on the data received by the receiver. Determining the set of flight restrictions with the aid of one or more processors; and (3) transmitting a signal to cause the UAV to fly according to the set of flight restrictions with the aid of one or more transmitters of the geofencing device. including. The receiver may be an input element that collects data. The transmitter may be an output element that outputs a signal to the UAV.

  In one embodiment, the receiver may be a sensor. The data received by the receiver may be detected data indicative of one or more environmental conditions of the geofencing device. The geofencing device may include any type of sensor. For example, a vision sensor, a GPS sensor, an IMU sensor, a magnetometer, an acoustic sensor, an infrared sensor, an ultrasound sensor, or any other type of sensor (supported by a UAV as described elsewhere herein Including other sensors described in the context of One or more environmental conditions may include any type of environmental conditions, such as those described elsewhere herein. This sensor can be data on environmental climate (eg temperature, wind, rainfall, sunshine, humidity), environmental complexity, population density, or traffic (eg surface traffic or air traffic in the vicinity of geofencing equipment) Detection may be possible. Environmental conditions may be taken into account when generating the set of flight restrictions. For example, flight control may be different when comparing when it is raining and when it is not raining. The sensor may have different flight restrictions when it detects more activity around the geofencing device (e.g. high traffic) and when it detects that there is no activity.

  The data received by the receiver may be detected data indicative of one or more radio or communication conditions of the geofencing device. For example, geofencing devices may be surrounded by different wireless networks or hotspots. Radio or communication conditions may be considered when generating the set of flight restrictions.

  The receiver may be a detector that detects the presence of the UAV. Data received by the receiver may indicate the presence of a UAV. The detector may be able to recognize the UAV as one UAV as compared to other objects that may be in the environment. The detector may be capable of detecting at least one of UAV identification or UAV type. In some cases, the data received by the receiver may indicate at least one of the type of UAV or an identifier of the UAV. The detector may be able to detect the location of the UAV. The detector may be capable of detecting the distance of the UAV relative to the detector. The detector may be capable of detecting the direction of the UAV relative to the detector. The detector may be able to determine the orientation of the UAV. The detector may be capable of detecting at least one of the position of the UAV relative to the detector or the position of the UAV relative to the global environment.

  The receiver may be a communication module that receives the wireless signal. The data received by the communication module may be user input. Users can manually enter data directly into the communication module. Alternatively, the user can communicate with a remote user terminal that can send a signal indicative of the user input to the communication module. The data may include information from one or more surrounding geofencing devices. Geofencing devices can communicate with each other to share information. The data may include information from the aviation control system or any other part of the authentication system.

  The set of flight restrictions may be determined based on the data received by the receiver. The set of flight restrictions may include one or more geofencing boundaries for one or more flight restrictions. Geo fencing boundaries may be determined based on data received by the receiver. Thus, different geofencing boundaries may be provided under different circumstances for the same geofencing device. For example, the geofencing device may generate a first set of boundaries when a first type of UAV is detected, and the geofencing device may generate a second boundary when a second type of UAV is detected. Can generate a set of Both the first type of UAV and the second type of UAV may be simultaneously within the scope of the geofencing device, and each may be subject to different boundaries. In another case, the geofencing device can generate a first set of boundaries when the environmental condition indicates a high wind speed, and can generate a second boundary set when the environmental condition indicates a low wind speed . Geo fencing boundaries may be determined based on any data received by the receiver, including but not limited to UAV information, user information, environment information, shared information.

  The set of flight restrictions may include one or more types of flight restrictions. Flight restrictions may be applied to areas within or out of geofencing boundaries. Flight restrictions may be one or more aspects of the operation of the UAV (e.g., flight, takeoff, landing, operation of the load, positioning of the load, positioning of the support, mechanical operation of the support, objects, communications, sensors, navigation, or which may be supported by the UAV Constraints may be imposed on at least one of the power usages. In some cases, flight restrictions may be imposed only within geofencing boundaries. Alternatively, restrictions may be imposed only outside geofencing boundaries. Certain limitations may be provided both inside and outside the boundaries. The set of global limits within the boundary may be different than the set of global limits outside the boundary. Flight restrictions may be determined based on the data received by the receiver. Thus, the same geofencing device may have different limitations under different conditions. For example, the geofencing device may generate a first set of flight restrictions when a first type of UAV is detected. Also, the geofencing device may generate a second set of restrictions when a second type of UAV is detected. Both the first type of UAV and the second type of UAV may be simultaneously within the scope of the geofencing device, and each may be subject to them with a different set of restrictions. In another case, the geofencing device can generate a first set of flight restrictions when the geofencing device detects many wireless hotspots in the area. Also, if the geo-fencing device does not detect many wireless hotspots, a second set of flight restrictions can be generated.

  The geofencing device may transmit a signal that causes the UAV to fly according to a set of flight restrictions. This signal may include the set of flight restrictions itself. The geofencing device can determine the set of flight restrictions locally and then send the set of flight restrictions to the UAV. The set of flight restrictions may be sent directly to the UAV, or may be sent to an aviation control system that may relay the set of flight restrictions to the UAV. This signal can be sent directly to the UAV or to another external device.

  In one embodiment, this signal may include a trigger that causes the external device to transmit a set of flight restrictions to the UAV. In one example, the external device may be another geofencing device, an aviation control system, or any other external device. In some cases, the external device may store a set of possible flight restrictions, or parts that may be used to generate a set of flight restrictions. The geofencing device can send a signal to the external device that can cause a set of flight restrictions to be generated as determined by the geofencing device. The external device can then communicate to the UAV the set of flight restrictions generated. The signal may be sent directly to an external device.

  This signal may include an identifier that causes the UAV to select the determined set of flight restrictions from the UAV's memory. The UAV can generate a set of flight restrictions based on the signals from the geofencing device. For example, the UAV can store one or more flight regulation sets or flight regulation parts in the UAV's memory. The geofencing device can send a signal that can cause the UAV to generate a set of flight restrictions as determined by the geofencing device. In one example, this signal may include an identifier that may cause the generation of a set of flight restrictions to be determined. This identifier may be an identifier unique to a particular set of flight restrictions. The UAV may then operate in accordance with the generated set of flight restrictions.

  FIG. 23 shows an example of a UAV system where the UAV and the geofencing device do not need to communicate directly with each other. In some cases, the UAV can detect the presence of geofencing devices, and vice versa.

  The UAV system may include at least one of a geofencing device 2310, a UAV 2320, or an external device 2340. The UAV may include at least one of a memory unit 2330, a sensor 2332, a flight controller 2334, or a communication unit 2336.

  External device 2340 may be an aviation control system, an authentication center, or any other part of an authentication system. The external device may be another UAV or another geofencing device. The external device may be a separate device from the other types of devices described herein. In some cases, the external device may include one or more physical devices. Multiple physical devices can communicate with one another. The external device may have a distributed architecture. In some cases, the external device may have a cloud computing infrastructure. The external device may have a P2P architecture. An external device can communicate with UAV 2320 and can communicate with geofencing device 2310 alone.

  In one implementation, the geofencing device 2310 may be able to detect the presence of a UAV. The geofencing device may include a detector that may detect the presence of the UAV when the UAV is within a predetermined geographic range of the geofencing device. The detector may be any type of detector (such as those described elsewhere herein). For example, the detector may use a vision sensor, a radar, or any other detection mechanism as described elsewhere herein. The detector may detect the UAV with the aid of one or more external devices. For example, additional sensors may be provided separately in the environment. A separate sensor can detect the UAV or can assist in the detection of the UAV by detectors of the geofencing device or in collecting information about the UAV. For example, separate sensors may include visual sensors, acoustic sensors, infrared sensors, or wireless receivers that may be spread throughout the environment occupied by the geofencing device. As described elsewhere herein, the detector may detect the UAV before the UAV enters the predetermined range, or may detect the UAV when the UAV is within the predetermined range Can be very high. The detector can detect the UAV before it reaches the boundary of the geofencing device.

  The detector may be able to detect any information regarding at least one of the UAV or the user. The detector can detect UAV or user type. The detector may be capable of determining at least one of a UAV identifier or a user identifier. In one embodiment, the detector may be a communication module. The communication module may receive communications from the UAV or an external device indicating at least one of the UAV or the user information. The UAV can broadcast information that can be received by the detector to detect its presence. The information to be broadcast may include information on the UAV (eg, identification information of the UAV, UAV type, location of the UAV, or attributes of the UAV).

  The geofencing device may include a communication unit capable of transmitting a signal to trigger the transmission of a set of flight restrictions to the UAV. The communication unit may transmit a signal when the UAV enters a predetermined geographical area of the geofencing device. The communication unit can transmit a signal when the UAV is detected by the geofencing device. The communication unit can transmit a signal before entering the boundary of the geofencing device where the UAV enters.

  Aspects of the invention may include a geofencing device. The geofencing device is (1) a detector that detects the presence of a UAV within a predetermined geographical range of the geofencing device, and (2) a flight when the UAV enters a predetermined geographical range of the geofencing device A communication unit is included that transmits to the UAV a signal that triggers the transmission of a set of restrictions. A further aspect may be directed to a method of applying a set of flight restrictions to a UAV. The method comprises the steps of: (1) detecting the presence of a UAV within a predetermined geographical range of the geofencing device with the aid of a detector of the geofencing device; and (2) the predetermined geographic area of the geofencing device When entering the range, transmitting with the aid of the communication unit of the geofencing device a signal triggering the set of flight restrictions to the UAV.

  Signals from the communication unit can be sent to any device that is off board to the geofencing device. For example, a signal can be sent to the external device 2340. As mentioned above, the signal can be sent to the aviation control system, authentication center, other geofencing equipment, or other UAV. In some cases, a signal can be sent to the UAV itself. An external device can receive the signal and send a set of flight restrictions to the UAV 2320. When the external device receives the signal, the external device can generate a set of flight restrictions. The external device can transmit the set of flight restrictions to the UAV after the set of flight restrictions is generated.

  In an alternative embodiment, the communication unit may signal the geofencing device to on-board components. For example, the set of flight restrictions may be retrieved from the memory of the geofencing device and may be signaled to one or more processors of the geofencing device that may transmit the set of flight restrictions to the UAV. Two-way communication may be provided between the geofencing device and the UAV.

  The communication unit may transmit information within a predetermined geographical range of the geofencing device. The communication unit may reach the device at least within a predetermined geographical range of the geofencing device. The communication unit may be able to reach the device beyond the predetermined geographical range of the geofencing device. The communication unit can issue direct communication which may have a limited range. In some cases, the communication unit may communicate indirectly and may utilize one or more intermediate devices or networks.

  The communication unit may transmit information continuously. The communication unit may transmit information periodically (e.g., at regular or irregular intervals), transmit information according to a schedule, or transmit information during certain events or circumstances. For example, the communication unit may transmit information when it detects the presence of a UAV. The communication unit may transmit information when it detects that the UAV is within a predetermined range of the geofencing device. The communication unit may send information when it detects that the UAV is approaching a geofencing boundary. The communication unit may transmit information when any of the conditions (such as those described elsewhere herein) are detected.

  The geofencing device 2310 may include a position input device that provides the position of the geofencing device. In some cases, the position input device may be a GPS unit. The position input device may provide global coordinates of the geofencing device. The position input device can use one or more sensors to determine the position of the geofencing device. The position input device can provide local coordinates of the geofencing device. The location of the geofencing device may be included in the signal that triggers the transmission of a set of flight restrictions. In one example, the external device may receive the location of the geofencing device. The external device may be capable of tracking the location of at least one of the geofencing device or any other geofencing device within the area.

  In one embodiment, a set of flight restrictions may be generated at an external device. The set of flight restrictions may be generated based on at least one of the UAV or the user information. For example, at least one of UAV identification information, UAV type, user identification information, or user type may be used to generate a set of flight restrictions. Information on geofencing devices can be used to generate a set of flight restrictions. For example, geofencing device identification information, type, or location may be used. The set of flight restrictions may be selected from a plurality of sets of flight restrictions based on any type of information described herein.

  The set of flight restrictions may include any of the characteristics as described elsewhere herein. The set of flight restrictions may include geofencing boundaries. The set of flight restrictions may include one or more restrictions on the operation of the UAV.

  A set of flight restrictions can be sent from an external device to the UAV. In some cases, a set of flight restrictions can be sent from the geofencing device to the UAV. A set of flight restrictions can be sent from the geofencing device to the UAV, directly or via an external device.

  In another embodiment, the UAV may receive information regarding the location of the geofencing device. A UAV generates a flight that generates (1) a communication unit that receives the location of the geofencing device, and (2) one or more signals that cause the UAV to operate according to a set of flight restrictions generated based on the location of the geofencing device And a control module. Aspects of the invention may include methods of operating a UAV. The method comprises the steps of: (1) receiving the location of the geofencing device with the assistance of the UAV's communication unit; and (2) flying the UAV based on the location of the geofencing device with the assistance of the flight control module. Generating one or more signals to operate according to the set of regulations.

  The UAV can receive information regarding the positioning of the geofencing device in flight. The geofencing device may have an onboard location input device on the geofencing device. For example, the location input device may be a GPS unit that provides global coordinates to the geofencing device. Any other location input device, as described elsewhere herein, may be provided to the geofencing device.

  The UAV may receive information on the positioning of the geofencing device at the communication unit of the UAV. The communication unit may receive the location of the geofencing device directly from the geofencing device. The communication unit may receive the location of the geofencing device from one or more intermediate devices (ie external devices). The one or more intermediate devices may be an offboard aviation control system to the UAV.

  A set of flight restrictions may be generated onboard the UAV. The UAV can store information that can be used to generate a set of flight restrictions in its on-board memory. For example, the onboard memory of the UAV can store multiple sets of flight restrictions. The UAV can generate a set of flight restrictions using the received information associated with the geofencing device. Geofencing device detection can trigger the generation of a set of flight restrictions. Geofencing device information may or may not affect the generation of a set of flight restrictions. And, the UAV can operate according to the generated set of flight restrictions set.

  A set of flight restrictions may be generated at the aviation control system or at another external device off board to the UAV. The external device can store information that can be used to generate a set of flight restrictions in its on-board memory. For example, the onboard memory of the external device can store multiple sets of flight restrictions. The external device can generate a set of flight restrictions using the received information associated with the geofencing device. Geofencing device detection can trigger the generation of a set of flight restrictions. Geofencing device information may or may not affect the generation of a set of flight restrictions. In some cases, a set of flight restrictions may be generated based on the location of the geofencing device. The external device can send the generated set of flight restrictions to the UAV. The set of flight restrictions can be sent directly or indirectly. A UAV may have a communication unit that may receive a set of flight restrictions from an external device.

  An external device (eg, an aviation control system or other part of an authentication system) can assist in managing the communication between the UAV and the geofencing device. Any description herein may apply to any type of external device. The aviation control system can receive information from multiple UAVs and multiple geofencing devices. An aviation control system can collect information from multiple sources and assist in managing UAV flight. The aviation control system can push dynamic route information to various UAVs. The aviation control system can accept, reject or modify the scheduled route of the UAV based on the information regarding the other UAV and / or the geofencing device. The aviation control system may use the location information of the various geofencing devices to accept, reject or change the scheduled route of the UAV. An aviation control system can provide navigation services. An aviation control system can assist in assisting navigation within the UAV's environment. The aviation control system may help navigate the environment where the UAV may have one or more geofencing devices.

  FIG. 41 illustrates an example of a system of UAVs in which an aviation control system communicates with multiple UAVs and multiple geofencing devices according to an embodiment of the present invention. The aviation control system 4110 can be in communication with one or more geofencing devices 4120a, 4120b, 4120c, 4120d. The aviation control system can communicate with one or more UAVs 4130a, 4130b, 4130c, 4130d.

  In one embodiment, the aviation control system may be aware of the location of the geofencing device. The geofencing device may have a position input device that can determine the position of the geofencing device. Information from the position input device can be communicated to the aviation control system. The location of the geofencing device may be updated if changed.

  The aviation control system may recognize the position of the UAV. The UAV may have a position input device that determines its position. For example, the UAV may have a GPS unit, or other sensors may be used to determine the position of the UAV. Information on the location of the UAV can be communicated to the aviation control system. The location of the UAV may be updated if changed.

  The aviation control system can know the location of the geofencing device and the UAV. The location of geofencing devices and UAVs can be searched in real time or frequently. The aviation control system can advantageously collect information from multiple geofencing devices and multiple UAVs. In this way, the aviation control system may be able to suitably overview the devices in the area. The aviation control system can know the location of the geofencing device and the UAV, and the geofencing device does not require detection of the UAV or vice versa. In some cases, detection may occur between the geofencing device and the UAV. The aviation control system may be detectable when the UAV enters a predetermined range of the geofencing device. An aviation control system may be detectable when the UAV is approaching the geofencing boundary of the geofencing device. The aviation control system may be able to alert at least one of the UAV or the geofencing device that the UAV is approaching the geofencing device. Alternatively, no alert may be provided.

  When the aviation control system detects that the UAV is approaching the geofencing device, the aviation control system can generate a set of flight restrictions for the UAV and send the set of flight restrictions to the UAV. The aviation control system can detect that the UAV is approaching the geofencing device by comparing the UAV's location data with the geofencing device's location data. The location of the UAV in real time can be compared to the location of the geofencing device in real time. The coordinates of the UAV can be compared to the coordinates of the geofencing device. The location of the UAV and the geofencing device can be compared, the geofencing device does not require detection of the UAV, or vice versa. The set of flight restrictions may be tailored to or generated based on the geofencing device that the UAV is approaching. The UAV may receive a set of flight restrictions and operate according to the set of flight restrictions.

  In an alternative embodiment, the UAV can detect that the geofencing device can provide an indication to the aviation control system that the UAV is approaching the geofencing device. The aviation control system can generate a set of flight restrictions for the UAV and send the set of flight restrictions to the UAV. The geofencing device can provide the location to be detected, but need not have other functionality. In some cases, the geofencing device may alternatively be uniquely identifiable by type, which may have something to do with the type of flight restriction generated. The geofencing device does not have to do any action on its own. Alternatively, the geofencing device can detect that the UAV is approaching, and can provide the aviation control system with an indication that the UAV is approaching the geofencing device. The aviation control system can generate a set of flight restrictions for the UAV and send the set of flight restrictions to the UAV. The geofencing device can provide the location to be detected by the UAV, but need not have other functionality. In some cases, the geofencing device may be provided at a particular location and may be uniquely identified or identifiable by type. The type may have something to do with the type of flight restriction that is generated. The geofencing device does not have to take additional action on its own. Thus, in certain embodiments, the geofencing device may advantageously be a relatively simple or cost effective device.

  In a further alternative embodiment, instead of having the aviation control system generate a set of flight restrictions on board, the aviation control system provides the UAV with a signal that may cause the UAV to generate a set of flight restrictions. Signals from the aviation control system may determine which set of flight restrictions should be generated. The signals from the aviation control system may correspond to a single set of flight restrictions. When the UAV generates a set of flight restrictions, the UAV may then act according to the set of flight restrictions. In another case, instead of generating an on-board set of flight restrictions on an aviation control system, the aviation control system provides the geo-fencing device with a signal that may cause the geo-fencing unit to generate a set of flight controls. Can. Signals from the aviation control system can determine which set of flight restrictions should be generated. The signals from the aviation control system may correspond to a single set of flight restrictions. The geofencing device can send the generated set of flight restrictions to the UAV. When the UAV receives a set of flight restrictions, the UAV can then act according to the set of flight restrictions. Likewise, the aviation control system can provide any other type of signal that causes the additional device to generate a set of flight restrictions. The further device can send the generated set of flight restrictions to the UAV, and the UAV can operate according to the set of flight restrictions.

  As mentioned above, various types of communication between the parts of the UAV system can allow for the generation of flight restrictions and for the operation of the UAV to conform to the flight restrictions. Flight restrictions may relate to one or more areas defined by boundaries of the geofencing device. In some cases, at least one of the following various components may be able to communicate with one another or be detectable to one another. For example, UAVs, user terminals (eg, remote controllers), geofencing devices, external storage units, or aviation control systems (or other external devices).

  In an embodiment, push communication may be provided between any two parts. The push communication may include communication transmitted from the first component to the second component, the first component initiating communication. Communication may be sent from the first part to the second part without any requirement for communication from the second part. For example, an aviation control system can push communications down to the UAV. The aviation control system can transmit a set of flight restrictions to the UAV without the UAV asking for a set of flight restrictions.

  If desired, pull communication may be provided between any two components. The pull communication may include the communication sent from the first part to the second part, the second part initiating the communication. Communication may be sent from the first component to the second component in response to a request for communication from the second component. For example, the aviation control system can send a set of flight restrictions to the UAV when the UAV requests an update of the set of flight restrictions.

  Communication between any two parts may be automatic. Communication may be performed without the need for any command or input from the user. Communication may occur automatically in response to a schedule or detected event or condition. One or more processors can receive the data and can automatically generate instructions for communication based on the received data. For example, the aviation control system can automatically send local navigation map updates to the UAV.

  One or more communications between any two parts may be manual. Communication may occur upon command or input from a user. The user can initiate communication. A user can control one or more aspects of communication (e.g., content or delivery). For example, the user can instruct the UAV to request a local navigation map update from the aviation control system.

  Communication may be continuous in real time, routinely (eg, on a periodic basis with regular or irregular time intervals, or according to a schedule), or in a non-routine manner (eg, detection (In response to the event or situation). The first part can continuously send communications to the second part in a routine or non-routine manner. For example, the geofencing device can continuously transmit information regarding the location of the geofencing device to the aviation control system. The aviation control system can recognize the position of the geofencing device in real time. Alternatively, the geofencing device can transmit information regarding the location of the geofencing device in a routine manner. For example, the geofencing device can update the aviation control system every minute for its location. In another case, the geo-fencing device can send updates regarding its location to the aviation control system according to a schedule. The schedule may be updated. For example, the geofencing device may send updates on its location every minute on Mondays, while on Tuesday, the geofencing device may send updates on its location every 5 minutes. In another case, the geo-fencing device may transmit information regarding the location of the geo-fencing device in a non-routine manner. For example, when the device detects that the UAV is in proximity to the device, the geofencing device can send information to the aviation control system regarding the location of the geofencing device.

  Communication between any two parts may be direct or indirect. Communication may be provided directly from the first part to the second part without the need for any intermediates. For example, the remote controller can transmit a wireless signal from the transmitter that is directly received by the receiver of the UAV. Communication may be provided indirectly from the first part to the second part by being relayed through the intermediary. The intermediate may be one or more intermediate devices or networks. For example, the remote controller can transmit signals that control the operation of the UAV through a telecommunications network, which may include being routed through one or more telecommunications towers. In another case, flight control information may be sent directly to the UAV and then sent indirectly to the user terminal (eg, via the UAV) or sent directly to the user terminal and then sent indirectly to the UAV (eg, , Via the user terminal).

  Any type of communication may be provided (eg, in various manners as described herein) between any of the components. The communication may include location information, identification information, information for authentication, information regarding environmental conditions, or information related to flight restrictions. For example, one or more communications via push or pull communications, automatic or manual communications, communications that occur in real time continuously according to a routine or in a routineized way, or communications that may be direct or indirect. A set of flight restrictions may be provided.

Regulatory as determined by geofence devices Geofencing devices may have boundaries. The boundaries can define the extent to which the set of flight restrictions can apply. The range may be within geofencing boundaries. Range may be outside geofencing boundaries. Boundaries may be determined upon generation of a set of flight restrictions. Boundaries may be determined independently of the generation of other parts of the set of flight restrictions.

  In one embodiment, the geofencing device can generate a set of flight restrictions. The set of flight restrictions generated by the geofencing device may further include an indication of the boundary of the geofencing device. Alternatively, the geofencing device can determine the boundaries of the geofencing device regardless of whether it generates a set of flight restrictions or whether different devices generate a set of flight restrictions.

  Alternatively, an aviation control system may generate a set of flight restrictions. The set of flight restrictions generated by the aviation control system may further include an indication of the boundaries of the geofencing device. Alternatively, the aviation control system can determine the boundaries of the geofencing device regardless of whether it generates a set of flight restrictions or whether different devices generate a set of flight restrictions. Any description of a flight control by the geofencing device or the determination of the boundary of the geofencing device herein is applicable to the determination of the boundary of the flight control or geofencing device by the aviation control system.

  In a further example, a UAV may generate a set of flight restrictions. The set of flight restrictions generated by the UAV may further include an indication of the boundary of the geofencing device. Alternatively, the UAV can determine the boundaries of the geofencing device regardless of whether it generates a set of flight restrictions or whether different devices generate a set of flight restrictions. Any mention herein of the determination of the flight control or boundary of the geofencing device by the geofencing device is applicable to the determination of the boundary of the flight control or geofencing device by the UAV.

  The geofencing device may self-determine at least one of a set of flight restrictions applicable to the geofencing device or boundaries of the geofencing device. The set of flight restrictions (or at least one of the boundaries) may be based on at least one of the following: Information from air traffic control systems, user input, environmental condition information (eg, environmental climate, environmental complexity, population density, traffic), airway conditions (eg, air traffic condition), from surrounding geofencing devices Information, or information from one or more UAVs. Any flight restrictions may also be modified or updated in response to information from any of the listed factors or any of the listed sources. Updates or changes may be made in real time, periodically (eg, at regular or irregular time intervals), according to a schedule, or in response to detected events or circumstances.

Types of Restrictions As noted above, the operation of the UAV may be subject to any type of flight restriction. As mentioned above, any type of flight restriction may be imposed depending on the presence of the geofencing device. The geofencing device may have one or more geofencing boundaries that may be associated with a set of flight restrictions.

  The set of flight restrictions may include restrictions on the behavior of the UAV. For example, the entry of the UAV into the area bounded by the geofencing boundary may be limited. Examples of other limitations may include, but are not limited to: Limiting the presence, allowing the presence, elevation limitation, linear velocity limitation, angular velocity limitation, linear acceleration limitation, angular acceleration limitation, time limitation, vehicle use limitation, aerial photograph limitation, limitation to sensor operation (Eg, turning on / off specific sensors, not collecting data with data, not recording data from sensors, not transmitting data from sensors), mission restrictions (eg, visible light, infrared Or emitting in a specific electromagnetic spectrum that may include ultraviolet light, sound or vibration limitations, limitations on changes in the appearance of the UAV (eg, limitations on deformation of the UAV), limitations on wireless signals (eg, bandwidth, frequency) , Protocol), restrictions on communications used or changes in communications, restrictions on items supported by the UAV (eg, type of item, Amount, the dimensions of the item, the material of the item), restrictions on the action performed on or by the item (eg, drop or delivery of the item, pick up of the item), restrictions on the operation of the support mechanism of the UAV, power use or management Restrictions on (eg, requiring sufficient battery power), restrictions on landing, restrictions on takeoff, or restrictions on any other use of the UAV. All of the examples listed elsewhere herein for flight control, coupled with the presence of the geofencing device, can be applied to the UAV as a possible limitation.

  The geofencing device may be of different types. In some cases, different types of geofencing devices may be subject to different types of flight restrictions. Examples of flight restriction types may include any of the flight restrictions described above, or any of the flight restrictions described elsewhere herein. In some cases, different geofencing devices of different types may have different boundaries (eg, different shapes, sizes, changing states) in correlation with the geofencing devices.

  As mentioned above, different restrictions may be imposed based on at least one of the UAV identity, the user identity, or the geofencing device entity. Different restrictions may be imposed on at least one of different UAV types, different user types, or different geofencing device types. Different restrictions may be imposed on at least one of UAVs of different operation levels, users of different operation levels, or geofencing devices of different operation levels.

  If the UAV is not acting in accordance with the set of flight restrictions, flight response measures may be taken. UAV control may be taken over from the user. The UAV itself may automatically perform flight response actions according to the on-board instructions to the UAV, or an aviation control system capable of sending instructions to the UAV to perform flight response actions according to the on-board instructions to the aviation control system Control may be taken over by other users with higher operation levels than the original UAV user. Instructions can be provided to the UAV from a remote source, which has higher rights than the original user. It can report takeover to the aviation control system. The UAV can perform flight response measures. Flight response measures may be provided depending on flight restrictions to which the UAV is not compliant.

  For example, if the UAV is in an area that is not authorized to be inside, the UAV may be forced to leave the range and return to the departure point or home point, or be landed. The UAV may be given time for the user to withdraw the UAV out of range before a takeover occurs. If the UAV exits from only one area where the UAV is allowed to fly, the UAV may be required to return to that area or be required to land. The UAV may give the user time to bring the UAV back into the domain before takeover of control. If the UAV is operating the load within an area where the UAV is not allowed to operate the load, the load may be automatically turned off. If the UAV is collecting information by the sensor and collection of information within the area is not permitted, may the sensor be turned off or can the sensor not record the data being collected Or the sensor may not be able to transmit the data being collected. In another case, if wireless communication is not allowed in the area, the UAV's communication unit may be turned off to prevent wireless communication. If the UAV is not allowed to land in the area and the user gives a landing command, the UAV may not land but may hover. If the UAV must be maintained within a certain level of battery charge range and the charge level drops below the desired level, the UAV can be automatically directed to the battery charging station or navigated out of area It can be gated or forced to land. In either situation, the user can be given time to comply, or flight response measures can take effect immediately. Any other type of flight response may be provided that may allow the UAV to conform to non-compliant flight regulations.

  In some cases, geofencing devices can be used to define flight restriction zones and to apply one or more sets of flight restrictions. The geofencing boundary may be the perimeter of the flight restriction zone. In some cases, the same set of flight restrictions may be applied within a flight restriction zone or outside of a flight restriction zone for a particular UAV bearing a particular task.

  Optionally, geofencing devices may be used to define multiple flight restriction zones. FIG. 24 illustrates an example of a geofencing device that may have multiple flight restriction zones. The geofencing device 2410 can be used to define a first flight restriction zone (e.g., zone 2420a), a second flight restriction zone (e.g., zone B 2420b). Optionally, a third flight restriction zone (e.g. zone C2420c) may be provided. The geofencing device may define any number of flight restriction zones. For example, depending on the geofencing device, 1 or more, 2 or more, 3 or more, 4 or more, 5 or more, 6 or more, 7 or more, 8 or more, 9 or more, 10 or more, 11 or more, 12 or more, 15 or more, 20 or more, 25 Above, 30 or more, 50 or more, or 100 or more flight restriction zones may be defined.

  The zones may or may not overlap. In some cases, Zone A, Zone B, and Zone C may be separate zones that do not overlap. For example, zone A may have a circular shape. Zone B may be donut shaped (eg, inside the outer boundary B of the zone, outside the outer boundary A of the zone). Zone C may be a rectangular shape with a notch (for example, inside the outer boundary C of the zone and outside the outer boundary B of the zone). The outer boundaries of the zones may be concentric so that the boundaries do not intersect one another. Alternatively, the outer boundaries of the zones may intersect one another. In some cases, zones may overlap. In some cases, a zone may be completely within another zone. For example, zone A may be a circle. Zone B may be a circle without holes. Zone A may be completely inside zone B. In some cases, if a zone is inside another zone, the inner zone may have all the limitations of the outer zone.

  The zones may have any size or shape. Zones may be defined by two-dimensional boundaries. The space above or below the two-dimensional boundary may be part of a zone. For example, the zones may be circular, oval, triangular, square, rectangular, any quadrilateral shape, strip-shaped, pentagonal, hexagonal, octagonal, semicircular, donut-shaped, star-shaped, or any other regular or irregular It may have a two-dimensional boundary with a regular shape. This shape may or may not include one or more holes therein. Zones may be defined by three-dimensional boundaries. The space enclosed inside the three dimensional boundary may be part of a zone. For example, the zone may be spherical, cylindrical, prismatic (with any shaped cross section), hemispherical, bowl-shaped, donut-shaped, bell-shaped, wall-shaped, conical, or any regular or irregular It may have a shape. The different zones defined by the geofencing device may have the same shape or may have different shapes. Different zones defined by the geofencing device may have different sizes.

  In some cases, the geofencing device may be inside the outer boundary of all zones. Alternatively, the geofencing device may be outside of one or more outer boundaries of the zone. All zones may be spaced and independent. However, all zones of the geofencing device may be located relative to the geofencing device. When moving the geofencing device within the environment, the zones of the geofencing device may be moved along the device. For example, if the geofencing device has moved about 10 meters to the east, then the zone of the geofencing device may be moved to the east by 10 meters. In one embodiment, the zones may be radially symmetric. The zones may remain the same regardless of how the geofencing device is rotated. Alternatively, the zones may not be radially symmetrical. For example, if the geofencing device rotates, the zones may be rotated accordingly. The zone can be rotated about the geofencing device. For example, if the geofencing device is rotated 90 degrees clockwise, the zone may be rotated 90 degrees clockwise about the point of the geofencing device. In some cases, rotation of the geofencing device can affect the location of the zone.

  In some cases, each flight restriction zone may have its own restriction. A set of flight restrictions may be associated with different flight restriction zone boundaries and corresponding restrictions. For example, the set of flight restrictions may include at least one of zone A boundaries, zone B boundaries, zone C boundaries, zone A limitations, zone B limitations, or zone C limitations. Different zones may have different limitations. In one example, zone A may restrict flight so that no UAV can enter zone A. Zone B may allow flight, but may prevent the UAV from operating the camera in zone B. Zone C may allow flight and use of the camera, but the UAV may not allow flight under the lower altitude limit. Instructions for these different regulations may be provided in a set of flight regulations. Different zones may have limitations on different aspects of the operation of the UAV. Different zones may have different levels of restriction, but with restrictions to the same aspect of UAV operation. For example, Zone A, Zone B, Zone C may limit UAV flight. However, UAV flight may be limited in different ways in different zones. For example, in zone A, the UAV may not be allowed to enter at all. In zone B, the UAV may fly above the lower altitude limit, but as the distance from zone A increases, the lower altitude limit rises in altitude. In zone C, the UAV may maintain a sufficient level of altitude, may not fly below the altitude lower limit, and the altitude limit of zone C matches the highest altitude limit of zone B.

  Similarly, each zone may have its own set of boundaries, which may be the same as or different from the boundaries of the other zones. Each boundary set may correspond to a different set of flight restrictions. Each boundary set may correspond to a different set of flight restrictions. In some cases, the type of flight restriction for each boundary set may be the same. Alternatively, the type of flight restriction for each boundary set may be different.

  In certain embodiments, the zone closest to the geofencing device may have the most severe limitations. In certain embodiments, the zone closest to the geofencing device may have more stringent limitations than the zone further from the geofencing device. Zones away from the geofencing device may have less restrictive restrictions than zones closer to the geofencing device. For example, in zone A, the UAV may be allowed to enter. In zone B, the UAV may be allowed to fly above the first lower altitude limit. In zone C, the UAV may be allowed to fly above the second lower altitude limit lower than the first lower altitude limit. In an embodiment, all restrictions in the zone remote from the geofencing device may apply to all zones closer to the geofencing device. As such, zones closer to the geofencing device may be subject to other zone limitations. For example, zone C may have a set of restrictions. Zone B may additionally have Zone B restrictions in addition to all Zone C restrictions. Zone A may additionally have all of the limitations of zone C, the additional limitations of zone B, and the limitations from zone A. For example, zone C may allow the UAV to fly anywhere in the zone, allowing the UAV's payload to operate but not landing. Zone B may also not allow the UAV to land, but may block the operation of the load on the UAV and still allow any UAV flight. Zone A may not allow the UAV to land, may block the operation of the load, and may require flight above the lower altitude limit of the UAV.

  In other embodiments, the zones may have limitations independently of one another. Zones closer to the geofencing device need not be more restrictive than the other zones. For example, Zone A may prevent the UAV from operating the load, but may allow the UAV to fly anywhere. Zone B may allow the UAV to operate the payload, but may prevent the UAV from flying above the upper altitude limit. Zone C may allow the UAV to fly anywhere and operate the payload while blocking radio communication from the UAV.

UAV Navigation One or more UAVs can navigate an area. The UAV can travel along the flight path. The flight path may be predetermined, predetermined in advance, or created in real time.

  For example, the entire flight path may be predetermined. The locations along the flight path may each be predetermined. In some cases, the flight path may include the location of the UAV within the area. In some cases, the flight path may further include the orientation of the UAV at a location. In one example, the predetermined flight path may predetermine both the position and orientation of the UAV. Alternatively, only the location of the UAV may be predetermined, while the orientation of the UAV may not be predetermined and may be variable. Other functions of the UAV may or may not be predetermined as part of the predetermined flight path. For example, the use of the load may be predetermined as part of the flight path. For example, the UAV may carry an imaging device. The features of the imaging device's other actions at various locations along the path, position, zoom, mode, or location where the imaging device is turned on or off may be predetermined. In some cases, the positioning (eg, orientation) of the imaging device relative to the UAV may also be predetermined as part of the flight path. For example, the imaging device may have a first orientation for the UAV at a first location, and may then be switched to a second orientation for the UAV at a second location. In another case, wireless communication may be predetermined as part of the flight path. For example, it may be predetermined that the UAV uses a constant communication frequency in the first part of the flight path and then switches to a different communication frequency in the second part of the flight path. Any other operational features of the UAV may be predetermined as part of a predetermined flight path. In certain embodiments, aspects of the operation of the UAV predetermined as part of the flight path may be variable. The user may be able to provide input that may control one or more variable features of the operation of the UAV while the UAV is traversing the flight path. The user may or may not be able to change the pre-determined portion of the pre-determined flight path.

  In another case, the flight path may be pre-determined in advance. Several parts or check points may be provided in the flight path and may be predetermined. The portions that are not predetermined may be variable or controllable by the user. For example, the series of route fixed points may be predetermined with respect to the flight path. The UAV flight path between routing points may be variable. However, even if there is a possibility that the route between the route fixed points changes, the UAV can be guided to each route fixed point. In some cases, the final destination may be predetermined. The entire path to the final destination may be variable or controllable by the user.

  In another case, the route may be created in real time. The entire flight may be controlled by the user. The user can manually control the UAV without any schedule or predetermined route or destination. Users are free to fly UAVs within the environment. The flight path of the UAV may be created as the UAV crosses the environment.

  Geofencing devices within the area may affect the flight path of the UAV. In some cases, geo-fencing devices in the environment may be considered, and may impose a set of one or more flight restrictions of UAVs operating in the environment. The behavior of the UAV may or may not be altered by the geofencing device. If the UAV's behavior is not in compliance with the set of flight restrictions, you can change the UAV's behavior. If the UAV's behavior conforms to a set of flight restrictions, the UAV's behavior may not be arbitrarily changed. A geofencing device may be considered when traversing a UAV pre-determined flight path, a pre-determined flight path, or a real-time flight path.

  FIG. 42 illustrates an example where there is more than one geofencing device in the environment where the UAV may have traversed the flight path. One or more UAVs (eg, UAV 4210a, UAVB 4210b) can traverse the environment along the flight path. The flight paths (e.g., path A, path B, path C) may be predetermined, predetermined in advance, or determined in real time. The UAV may optionally be flying towards a destination 4220. The destination may be a predetermined destination or may be a destination determined in real time. The destination may be the final destination or may be a fixed route along the route. The destination may be anywhere that may be the purpose of the UAV. One or more geofencing devices (eg, GF1 4230a, GF2 4230b, GF3 4230c, GF4 4230d, or GF5, 4230e) may be provided in the environment. The geofencing device may have a boundary of the geofencing device.

  The UAV can operate according to a set of flight restrictions associated with one or more geofencing devices. Any communication between the UAV and the geofencing device may be provided as described elsewhere herein. Any communication between the aviation control system (or other external device or system) and at least one of the UAV or geofencing device may be provided as described elsewhere herein. As a result of the communication, a set of flight restrictions may be provided to the UAV or generated onboard the UAV. The set of flight restrictions may include one or more restrictions imposed by geofencing devices within the area.

  In one example, the UAV 4210a may be heading to a destination 4220. One or more geofencing devices 4230a, 4230b may be provided between the UAV and the destination. The geofencing device may have a boundary that may be located between the UAV and the destination. In some cases, the boundary of the geofencing device may interfere with the path of the UAV towards its destination. The UAV may optionally have a flight trajectory. In some cases, if the UAV continues to travel along the flight trajectory, the UAV may encounter boundaries of the geofencing device on its way to the destination. The trajectory may be along a predetermined flight path, a pre-determined flight path, or a real-time flight path for the UAV.

  In one example, the originally planned flight path may intersect a restricted area within the boundaries of the geofencing device. In such a case, the route can be changed to another route (e.g., route A) that can keep the UAV out of the restricted area, bypassing the geofencing device. Path A may be calculated to cause the UAV to arrive at the destination while avoiding the restricted area. In some cases, a route may be selected to cause the UAV to arrive at the destination with relatively few deviations from the predetermined route. The least amount of deviation that can occur can be calculated. Alternatively, the amount of deviation may be 50% or less, 40% or less, 30% or less, 20% or less, 10% or less, 5% or less, or 1% or less of the minimum amount of possible deviation. For example, it may be determined that a UAV can not pass between geofencing devices because GF1 and GF2 overlap boundaries. The UAV can choose to take a route that bypasses the GF2 side or the GF1 side. The GF2 pathway may be shorter or deviate less from the original pathway. Thus, the route A can be selected to go around the GF2 side. In some cases, the route may be selected in consideration of environmental conditions. When strong winds are blowing, the UAV can take wider paths to avoid boundaries, to more reliably ensure that the UAV is not unintentionally blown into the restricted area. Other metrics, such as energy efficiency may be considered. UAVs can be directed to pathways with relatively high levels of energy efficiency. In this way, while the UAV is in flight, the pre-determined route can be changed to avoid geofencing devices.

  In other examples, predetermined paths may be calculated or generated to avoid the geofencing device in advance. For example, the user can enter a scheduled route, a route fixed point, or a destination. The user can indicate that he / she wants the UAV to reach a particular destination, which may be a fixed route point. An aviation control system, or any other system described elsewhere herein, can collect data regarding geo-fencing devices within the area. The aviation control system can detect at least one of the location or boundary of the geofencing device. The user can optionally schedule a flight path to arrive at the destination. The aviation control system can accept, reject or change the route. In some cases, an aviation control system may suggest a route (e.g., route A) that may allow the UAV to reach the destination while avoiding the restricted area. The scheduled route can be selected so as not to deviate significantly from the route originally scheduled by the user. The user can choose to accept or reject the scheduled route. Alternatively, routes scheduled by the aviation control system may be implemented automatically. In this way, it is possible to plan the path for the UAV to arrive at the destination, passing through the various geofencing devices, already taking into account the geofencing device, the flight path of the UAV being determined beforehand. In one embodiment, the user need not schedule the entire route, but may schedule one or more destinations. The aviation control system can review the information of the geofencing device and can generate a pre-determined flight path that allows the UAV to reach the destination without entering the restricted area. In some cases, a large number of feasible paths may be considered, avoiding a restricted area, and a single path may be selected from a large number of paths.

  In another case, the UAV may be on orbit such that the pre-determined flight path intersects a restricted area within the boundaries of the geofencing device. For example, the destination may be registered and the UAV may be moving toward the destination. In such a case, the route can be changed to another route (e.g., route A) that can keep the UAV out of the restricted area, bypassing the geofencing device. Path A may be calculated to cause the UAV to arrive at the destination while avoiding the restricted area. In some cases, path A may be selected to cause the UAV to arrive at the destination with relatively few deviations based on the previous trajectory. New routes may be selected taking into account environmental conditions or other conditions. Thus, while the UAV is in flight, pre-determined paths are changed to avoid the geofencing device, but the UAV may still be able to reach the destination.

  In some cases, pre-determined paths may be calculated or generated to avoid the geofencing device in advance. For example, the user can enter a scheduled destination (e.g., a final destination, a route fixed point). An aviation control system, or any other system described elsewhere herein, can collect data regarding geo-fencing devices within the area. The aviation control system can detect at least one of the location or boundary of the geofencing device. The aviation control system can determine if the planned destination is within a restricted area and may be within the boundaries of the geofencing device. If the destination is not within the restricted area, then the planned destination may be accepted. If the destination is within a restricted area where the UAV is not permitted to enter, the aviation control system may subsequently reject the destination. In some cases, the aviation control system may propose another destination outside of the restricted area but that may be closer to the original destination location. In creating a new scheduled destination, one or more factors (eg, the distance from the original scheduled destination, ease of flight path to approach the new destination, or environmental conditions) are taken into account It may be done.

  Additionally, the user may manually control the UAV in real time. A UAV may have a trajectory that may indicate that it is likely to enter a restricted area within the boundaries of the geofencing device. In such a case, the route can be changed to another route (e.g., route A) that can keep the UAV out of the restricted area, bypassing the geofencing device. In some cases, a warning may be issued to the user that the user is approaching the boundary, and optionally, the user can be given time to self-correct. If the user does not self-correct within the allotted time, control may be taken over from the user. Alternatively, the path may be automatically changed without giving the user time for self-correction. The takeover allows the UAV to fly along the altered path (e.g., path A). Path A may be calculated to cause the UAV to arrive at the intended destination while avoiding the restricted area. One or more factors (e.g. departure from the original trajectory, energy efficiency, or environmental conditions) may be considered when formulating the route A. In this way, the real-time path can be changed such that the UAV avoids the geofencing device during flight.

  In one embodiment, the UAV can comprise a local navigation map. The UAV can receive a local navigation map from an aviation control system or other external device. The UAV can receive the local navigation map from the geofencing device. The local navigation map may include the location of one or more geofencing devices. The local navigation map may include the boundaries of one or more geofencing devices. The local navigation map may include information regarding limitations that may be imposed on the UAV in various areas. For example, if the UAV is not permitted to fly within the boundaries of the geofencing device, the local map may indicate flight restrictions within the range on the map. In another case, the UAV is not allowed to operate the load within the boundaries of another geofencing device, and the local map may show limitations on the operation of the load within the range on the map . A set of one or more flight restrictions for the UAV may be reflected in the local navigation map.

  The UAV can navigate the range using a local navigation map. In some cases, the local navigation map may include predetermined paths graphed therein. The pre-determined path may already take into account the geofencing device. The UAV may be able to follow a predetermined route. If the UAV deviates from the predetermined path, it may be adjusted as needed. The current location of the UAV can be compared to the location on the map where the UAV is estimated to be. If the pre-determined route does not consider the geo-fencing device and is considered to enter a restricted area, the pre-determined route may be updated and the map to reflect this information Information may be updated.

  In one embodiment, the local navigation map may include one or more destinations of the UAV as part of a pre-determined route. The destination may include the UAV's route fixed point. The destination may already consider the geofencing device. For example, the destination may be selected to a location that is not within the restricted area. A UAV may be able to travel from destination to destination. Adjustments may be made as needed if one or more restricted areas are encountered. If the destination does not consider geofencing equipment and one or more of the destinations are within the restricted area, the destination may be updated to an area outside the restricted range, The map information may be updated to reflect the information.

  Alternatively, the UAV may operate along a real time path. The local navigation map can track the location of the UAV relative to one or more geofencing devices. Adjustments may be made as necessary to change the UAV path if the UAV is deemed to be close to the flight limited range.

  In some cases, the local navigation map may be updated to reflect information about the UAV's approaching environment as the UAV crosses the environment. For example, as a UAV approaches a new part of the environment, the UAV's local navigation map can reflect information about the new part in the environment. In one embodiment, if the UAV leaves an earlier part of the environment, the local navigation map will no longer reflect information about the earlier part of the environment. In some cases, the local navigation map may be updated by the aviation control system. In another example, one or more geofencing devices can update the map. As the UAV approaches the geofencing device, the geofencing device may provide the UAV with information that may be used to update the local map. As the UAV encounters different geofencing devices during its mission, the UAV map may be updated with information from the various geofencing devices, geofencing devices local.

  Geofencing devices may impose limitations on the operation of UAVs. As mentioned above, one example may be UAV flight restrictions. For example, the UAV may not be allowed to fly within the boundaries of the geofencing device (ie, the flight restricted area). Other examples of flight restrictions imposed by the geofencing device may include the following. Load motion limitations, load location limitations, support limitations, supported object limitations, sensor limitations, communication limitations, navigation limitations, power usage limitations, or any other type of limitation. The UAV may engage in activities that are compliant or not compliant. The UAV's flight path may be affected by different types of limitations. Different ways of operating different types of flight restrictions may be provided.

  A UAV (e.g., UAVB 4210b) may be turning to a destination 4220. If the UAV goes along the most direct path (e.g., path B), the UAV will enter a range (e.g., GF4 4230d) within the boundaries of the geofencing device. Restrictions within the domain may relate to factors other than the presence of the UAV. For example, the limit may be the lower altitude limit. The UAV may be required to fly above at certain altitudes. If the UAV is able to reach this altitude, the UAV may be allowed to proceed along the path B to the destination. However, if it is not possible for the UAV to reach this altitude, or reaching this altitude, it will be larger from the flight path of the UAV than going around the area concerned (eg along the route C) If deviations occur, then the UAV may then be instructed to proceed (e.g., along path C) bypassing the region. In another case, the limitation may be the movement of the load (e.g., the taking of an image). If the UAV can turn off its camera or can not take any images with the UAV's camera, the UAV will keep its camera off while in that area. , Can travel along path B and then leave the area to turn on the UAV's camera. However, if the UAV does not (1) turn off that camera, (2) it is not possible to stop taking an image, or (3) it is not desirable for the UAV to turn off that camera, the UAV May bypass the area along the route C. Thus, depending on the restriction in the area, the UAV may be able to follow the original path or direction, or may bypass the area. If it is not possible to comply with the restriction while the UAV is within the area, or if it is more desirable for the UAV to comply with the restriction than to bypass the area, the UAV bypasses the area. obtain. For the UAV, one or more factors may be considered in determining whether it is not desirable to comply with the restriction while in the region of interest. Factors (such as environmental conditions, navigational requirements, energy efficiency, safety, or mission goals) are considered in determining whether the UAV should bypass the area or comply with the restrictions of the area It is also good.

  This may be true when flying a UAV-predetermined path, a pre-determined path, or a real-time path. For example, if the UAV is flying a predetermined route and if the predetermined route crosses the area, whether to continue the predetermined route or change the route as well You can make If the UAV is flying along a predetermined path towards the destination and a more direct path or trajectory traverses the area, continue the path along the direct path / trajectory, or Or you can make similar decisions, such as whether to change the route. If the UAV is flying according to real-time manual commands from the user, and if the user is guiding the UAV towards a certain area, will the user be able to guide the UAV into the area according to the user command Or you can make similar decisions, such as taking over control and changing the route.

Geo-fencing identification Geo-fencing devices may be uniquely identifiable. In one embodiment, the geofencing device may have its own unique geofencing device identifier. The geofence identifier can uniquely identify the geofencing device from other geofencing devices. A geofencing device can be differentiated from other geofencing devices by its own geofence identifier.

  FIG. 40 shows an example of a system with multiple geofencing devices, each having a corresponding geofence identifier. The first geofencing device 4010a may have a first geofence identifier (eg, geofence ID 1) and the second geofencing device 4010b may have a second geofence identifier (eg, geofence) The third geofencing device 4010 c may have a third geofence identifier (eg, geofence ID 3). One or more UAVs 4020a, 4020b may be in an environment, and geofencing devices may be provided in the environment. In certain embodiments, an aviation control system 4030 or other external device may be provided to provide a set of flight restrictions. Any other architecture, as described elsewhere, may be provided for the generation of flight restrictions. For example, flight restrictions may be generated or stored by an aviation control system, one or more UAVs, or one or more geofencing devices. The aviation control system is provided for illustrative purposes only and is not limiting.

  The geofencing device may have a geofence identifier (eg, geofence ID1, geofence ID2, geofence ID3, ...) identifying the geofencing device. The geofence identifier may be unique to the geofencing device. Other geofencing devices may have different identifiers than geofencing devices. The geofence identifier may be able to uniquely distinguish or distinguish the geofencing device from other individuals. Each geofencing device may be assigned only a single geofence identifier. Alternatively, the geofencing device may be able to register multiple geofence identifiers. In some cases, a single geofence identifier may be assigned only to a single geofencing device. Alternatively, a single geofence identifier may be shared by multiple geofencing devices. In a preferred embodiment, a one-to-one correspondence may be provided between the geofencing device and the corresponding geofence identification.

  Optionally, the geofencing device may be authenticated as being a geofencing device licensed for the geofence identifier. The authentication process may include verification of the identity of the geofencing device. An example of an authentication process is described in more detail elsewhere herein.

  In one embodiment, the authentication system's ID registration database can manage identification information about the geofencing device. The ID registration database can give each geofencing device a unique identifier. Optionally, the unique identifier may be a randomly generated alphanumeric string or any other type of identifier that may uniquely identify the geofencing device from other geofencing devices. A unique identifier may be generated by the ID registration database or may be selected from a list of possible identifiers that have not been granted. The identifier can be used to authenticate the geofencing device. The ID registration database may or may not communicate with one or more geofencing devices.

  A set of flight restrictions associated with the geofencing device may be generated based on the information regarding the geofencing device. The information regarding the geofencing device may include an identification of the information regarding the geofencing device. The identification of the information may include a geofence identifier or type of geofencing device. In one embodiment, the geofence identifier may indicate the type of geofencing device.

  The type of geofencing device may have any characteristic. For example, the type of geofencing device may indicate the following type: Geofencing device model, geofencing device performance, geofencing device range (eg, geofencing device range predetermined for detection or communication purposes), geofencing device boundaries, geofencing device power capability ( For example, battery life), geofencing equipment manufacturers, or limitations imposed by geofencing equipment. The geofence identifier can uniquely identify geofencing from other geofencing devices. The geofence identifier may be received from a geofencing device. In some cases, the geofencing device may have an identification module. The geofence identifier may be stored in the identification module. In some cases, the identification module is not changed or removed from the geofencing device. The geofencing identifier may be tamper resistant or tamper resistant.

  Aspects of the invention may be directed to a method of identifying a geofencing device. The method generates geofence identifiers based on (1) receiving geofence identifiers uniquely identifying geofencing devices from other geofencing devices, and (2) a set of flight restrictions for UAVs. And (3) operating the UAV according to the set of flight restrictions. A geofencing device identification system may be provided. The geofencing device identification system includes one or more processors. One or more processors, operable individually or collectively, (1) receive geofence identifiers uniquely identifying geofencing devices from other geofencing devices, and (2) a set of flight restrictions A set of flight restrictions for the UAV is generated based on the geofence identifier to allow the operation of the UAV in accordance. The system can further include one or more communication units, wherein the one or more processors are operably connected to the one or more communication units.

  FIG. 25 illustrates a process of generating a set of flight restrictions, according to an embodiment of the present invention. A geofencing device identifier may be received (2510). A set of flight restrictions may be provided 2520 based on the geofencing device identifier.

  The geofencing device identifier may be received by a device or system that may generate a set of flight restrictions. For example, the geofencing device identifier may be received by an aviation control system. Alternatively, the geofencing device identifier may be received by the UAV, one or more processors of the geofencing device, a user terminal, a storage device, or any other component or system. The geofencing device identifier may be received by one or more processors of any part or system. The same part or system may generate a set of flight restrictions. For example, one or more processors of an aviation control system, a UAV, a geofencing device, a user terminal, a storage device, or any other part or system generates a set of flight restrictions based on the geofencing device identifier It is also good.

  A set of flight restrictions may be generated based on the identity of the geofencing device. A set of flight restrictions may be generated based on the type of geofencing device. Other factors (eg, UAV information, user information, environmental conditions, or timing) may influence the generation of the set of flight restrictions.

  Any type of flight restriction may be provided, for example as described elsewhere herein. Flight restrictions may be applied to any aspect of the operation of the UAV. Flight restrictions may be tied to at least one of the location or boundary of the geofencing device. The set of flight restrictions may be applied to the particular geofencing device to be mapped. Another geofencing device may have a second set of flight restrictions that may be applicable. In one example, the set of flight restrictions determines that the UAV is to be maintained at least a predetermined distance from the geofencing device, or the set of flight restrictions at least a UAV within the predetermined distance of the geofencing device Decide to maintain. The flight restrictions set may be at the upper flight limit (the UAV can not fly above it) or the lower flight limit (the UAV may fly below it) while at a predetermined location relative to the geofencing device. Can not be included. The set of flight restrictions can include restrictions on the use of the UAV's load based on the location of the UAV relative to the position of the geofencing device, or the set of flight restrictions is based on the position of the geofencing device It may include restrictions on the use of the UAV's communication unit based on the location of the UAV.

  A set of flight restrictions may be generated for each geofencing device. For example, aviation control system 4030 can generate and / or provide a set of flight restrictions for various geofencing devices. For example, a set of flight restrictions for a first geofencing device (eg, geofence ID 14010a) may be provided to the UAV 4020a approaching the first geofencing device. The UAV can operate in accordance with a set of flight restrictions for the first geofencing device. The UAV can communicate with the aviation control system to receive the generated set of flight restrictions. In some cases, the UAV may notify the aviation control system that the UAV is approaching the first geofencing device. Alternatively, the geofencing device may notify the aviation control system that the UAV is approaching the geofencing device.

  The second UAV 4020b may approach another geofencing device (eg, geofence ID 3 4010c). A second set of flight restrictions for other geofencing devices may be provided to the second UAV. The UAV can operate in accordance with a second set of flight restrictions for other geofencing devices. The UAV can communicate with the aviation control system to receive the generated set of flight restrictions. In some cases, the UAV may notify the aviation control system that the UAV is approaching other geofencing devices. Alternatively, other geofencing devices may notify the aviation control system that the UAV is approaching other geofencing devices.

  The UAV can receive a set of flight restrictions that are applicable to the UAV. For example, if the UAV is within the range of the first geofencing device but not within the range of the second or third geofencing device, the UAV sets the flight restrictions for the first geofencing device Can only receive. In some cases, only a set of flight restrictions for the first geofencing device may be generated for the UAV. Similarly, if the second UAV is within the range of the third geofencing device but not within the range of the first or second geofencing device, the second UAV is of the third geofencing device. You can only receive a set of flight restrictions. In some cases, only a set of flight restrictions for the third geofencing device may be generated for the second UAV.

Geo-fencing authentication Geo-fencing device identification information may be authenticated. The identity of the geofencing device may be verified by going through an authentication process. The authentication process can use the geofence identifier to confirm that the geofencing device matches the geofencing device with which the geofence identifier is registered.

  Aspects of the invention may be directed to a method of authenticating a geo-fencing device. The method comprises: (1) authenticating the identity of the geofencing device, which is uniquely distinguishable from other geofencing devices, and (2) flight restrictions related to the location of the authenticated geofencing device. Providing the set of UAVs to the UAV, and (3) operating the UAV according to the set of flight restrictions. The geofencing device authentication system may include one or more processors. One or more processors, individually or collectively, (1) authenticate geofencing device identification information, which is uniquely distinguishable from other geofencing device identification information (2 2.) Generate a set of flight restrictions for the UAV related to the location of the geofencing device for which the flight restriction has been certified, to allow the UAV to operate according to the set of flight restrictions. The system can further include one or more communication modules, wherein the one or more processors are operatively connected to the one or more communication modules.

  FIG. 26 illustrates a process of authenticating a geo-fencing device according to an embodiment of the present invention. A geofencing device identifier may be received (2610). Geofencing device identification information may be authenticated (2620). A set of flight restrictions may be provided (2630).

  The geofencing device identifier may be received by a device or system that may generate a set of flight restrictions. For example, the geofencing device identifier may be received by an aviation control system. Alternatively, the geofencing device identifier may be received by the UAV, one or more processors of the geofencing device, a user terminal, a storage device, or any other component or system. The geofencing device identifier may be received by one or more processors of any part or system. The same part or system may generate a set of flight restrictions. For example, one or more processors of an aviation control system, a UAV, a geofencing device, a user terminal, a storage device, or any other part or system may generate a set of flight restrictions based on the geofencing device identifier. Good.

  A set of flight restrictions may be generated after the geofencing device identifier is received. A set of flight restrictions may be generated after the identity of the geofencing device has been authenticated. A set of flight restrictions may be generated based on the identity of the geofencing device. A set of flight restrictions may be generated independently of geofencing device identification information. Authentication of the geofencing device identification may be required before the set of flight restrictions is generated. Alternatively, a set of flight restrictions may be generated even though the geofencing device is not certified. In one embodiment, if the geofencing device is certified, the geofencing device may be granted the first set of flight restrictions, and if the geofencing device is not certified, the geofencing device may A set of two flight restrictions may be granted. The first and second sets of flight restrictions may be different. In some embodiments, the second set of flight restrictions may be more rigid or restrictive than the first set. A set of flight restrictions may be generated based on the type of geofencing device. Other factors (eg, UAV information, user information, environmental conditions, or timing) may influence the generation of the set of flight restrictions.

  An optional authentication process can be used to authenticate the geofencing device. Any of the techniques for authenticating other devices described elsewhere herein may be applied to the authentication of geofencing devices. For example, the process used to authenticate a user or UAV can be applied to a geofencing device. In one example, the geofencing device may be authenticated with the assistance of an onboard key to the geofencing device. The geofence key may not be moveable from the geofencing device. Optionally, the key can not be removed from the geofencing device without damaging the geofencing device. The key may be stored in the geofencing device identification module. In some cases, the identification module can not be removed from the geofencing device without damaging the geofencing device. The identification module may have any of the characteristics of any other type of identification module (eg, a UAV identification module) as described elsewhere herein.

Geo fencing authentication Geofence via authentication center An authenticated UAV can broadcast its location and IMSI via a wireless link and may have information with the content of the signature. In addition, the UAV and authentication center can negotiate to create a set of trusted CK1 and IK1 characterized as SCS1 (Security Communication Set).

  Geo fencing devices are similarly certified by the certification center. In particular, as with the UAV licensing, the geofencing device and authentication center can negotiate to create trusted CK2 and IK2 characterized as SCS2.

  A wireless channel for communication between the geofencing device and the UAV may be achieved by multiplexing the various channels for the multiple access arrangement, eg by time division, frequency division or code division. The wireless information sent by the UAV or by the geofencing device may be sent in the form of signature verification (eg as described in FIG. 16). By this, when a message (MSG) is sent, information is sent in the following format.

Equation 1
MSG1 | (((HASH (MSG 1) | SCR SCR () (+) SCR (IK)) IMS IMSI
Here, MSG1 = MSG || RAND || TIMESTAMP || GPS.

  In Equation 1 above, SCR () may be a general password generation function, and SCR (IK) may be a data mask extracted from IK. In addition, in this description, MSG is the original message, hash () is a hash function, RAND is a random number, timestamp is a current timestamp, and GPS is now to avoid replay attacks It is a place of

  Having received the aforementioned information of the UAV, the geo-fencing device can establish a network link with the authentication center and report to the UAV's IMSI. The certification center can inquire as to whether the UAV is allowed to appear within this range. If the query indicates that the UAV is barred from entering this range, or indicates that restriction information needs to be sent to the UAV, then the Certification Center can notify the geofencing device over the network , And geo-fencing devices send restriction information by signature authentication.

  The information sent by the geofencing device can be controlled by the authentication center without the risk of being forged. After receiving the information sent by the geofencing device, the UAV sends the encrypted transmission over at least one of the CK1-protected link established by the remote controller and / or the public communication network with the authentication center. Can be provided. In this way, the UAV can send geofencing information received by the UAV to the authentication center for authentication. After successfully verifying that the geofencing information is genuine and reliable, the UAV can interpret the content in the geofencing device. On the one hand, this may be reported to the user via the remote controller. In some instances, modifications to the flight course may be made by the user or the UAV itself.

  During flight, the UAV can announce its location or its destination. After the authentication center is notified of such information and finds that the UAV can not enter the corresponding range, it can send out the prohibition information requesting return to the UAV. The above process can be accomplished safely and can withstand various attacks. As the UAV continues to enter the restricted area, for example, the authentication center can record the intrusion of the UAV and report the intrusion to the relevant control department.

Do not pass through the authentication center The authenticated UAV may wirelessly broadcast relevant information (eg, its ID, its location, its course), and other such information having the characteristics of a digital signature. After receiving the above information from the UAV, the geofencing device can connect to the aviation control system via the network and report the IMSI of the UAV. The aviation control system can then determine if a UAV is present in this area. If it is determined that the UAV can not enter the area or needs to inform the UAV of any restriction information, the aviation control system can notify the geo-fencing device through the network, and the geo-fencing device can use signature authentication Can send restriction information. The information sent by the geofencing device can be controlled by the authentication center without the risk of being forged. The secure information channel from the certification center to the UAV is described below.

  Specific public key algorithms may be used in embodiments of the present invention. Password pairs can be selected according to the public key algorithm. The password pair consists of a public key and a secret key. Thus, two password pairs are provided. The geofencing device and the authentication center each control their own private keys. The secret key of the geofencing device controlled by the geofencing device is labeled KP and the corresponding public key is labeled KO. The authentication center private key controlled by the authentication center is denoted as CAP and the corresponding public key of the authentication center is denoted as CAO.

  In one example, when registering a geofencing device, a password pair KP (for the geofencing device private key) and KO (for the geofencing device public key) may be granted by the certification center and reported to the certification center . The geofencing device's secret key (KP) can not be read or replicated. In addition, the authentication center can encrypt the geo-fencing device public key (KO) using the authentication center's private key (CAP) to generate a certificate C. The aviation control system obtains the certificate C from the authentication center and sends it to the geofencing device. Furthermore, the MSG to be sent to the UAV can first be subjected to a hash function HASH to generate a digest D. The MSG can then be encrypted to form a signature S using the geofencing device's secret key (KP). Additionally, the geofencing device can send C, S, MSG to the UAV through the wireless channel.

  After the UAV receives C, S, MSG, it can decrypt C using the authenticator's known public key (CAO) to obtain the geofencing device's public key (KO), which is signed using KO S can also be decrypted to obtain a decrypted digest D1. Further, the UAV performs hash function HUSH with MSG, and obtains digest D. The UAV can compare the decrypted digest D1 with the digest D. If both are identical, the UAV can authenticate the MSG sent by the geofencing device. Thus, the UAV and the certificate can securely communicate with each other by the above-mentioned signature process.

  During flight, the UAV can announce its position or target. Upon receipt of the UAV's location, the authentication center can send restriction information and can request the UAV to backtrack if it is determined that the UAV is barred from entering the corresponding airspace. The aforementioned process can be performed safely and can withstand various attacks. If the UAV continues to enter, the Certification Center can record the non-compliant entry of the UAV and report it to the management agency.

  Alternatively, the geofencing device may continue to broadcast restriction information in one direction. Authentication of this information is similar to the process described above. The restriction information may indicate the flight permits of various types of UAVs in this area. Additionally, wireless channels for communication between the geofencing device and the UAV may be deployed in multiple access with channel multiplexing (eg, time division, frequency division, or code division).

  An aviation control system may push information actively. According to the locations of the flight prepared UAV and the flying UAV and the planned course, the aviation control system can determine in real time that geofencing may be affected. In this example, the aviation control system can prepare, for each UAV, a list of geofencing to be avoided. The geofences that each UAV should avoid may be affected by the UAV level, the UAV user, and the flight authority. Furthermore, the aviation control system can transmit the list to the UAV through the encrypted channel between the aviation control system and the UAV, and the list is then transferred to the user.

  Before and during flight, UAVs with electronic maps can accept information pushed by the aviation control system. Also, the UAV can receive, for example, information about the location of the UAV, the scope of the activity, the duration of the activity, and geofencing near the course of the UAV. The UAV can also send an explicit acknowledgment back to the aviation control system. The UAV can also actively obtain and update valid geofencing information close to the course and provide such information to the aviation control system. When actively providing such information, it may not be necessary for the UAV to send back an acknowledgment to the aviation control system.

  When the aviation control system pushes information and when the UAV actively obtains information, it can be used to ensure that the entity transmitting the information is not a fake and the information has not been tampered with . Communication security can be ensured using a secure communication connection established during the authentication process to push and obtain information. See the previous section for details on establishing the secure communication connection and security control.

Data Store Associated with Identifiers FIG. 27 illustrates another example of device information that may be stored in memory, in accordance with an embodiment of the present invention.

  A storage device 4710 may be provided. Information from at least one of the following may be provided. One or more users 4715a, 4715b, one or more user terminals 4720a, 4720b, one or more UAVs 4730a, 4730b or one or more geofencing devices 4750a, 4750b. The information may include at least one of the following: Any type of data (eg, one or more commands, environmental data), a data source (eg, an identifier of the device for which data is produced), an associated device identifier (eg, an associated user identifier, UAV identifier, associated geofencing device identifier), or any other associated timing information or other associated information. One or more sets of information 4740 may be stored.

  Storage 4710 may include one or more storage units. The storage device may include one or more databases that can store the information described herein. The storage device may include computer readable media. A storage device may have any of the properties of any other storage device described herein (eg, the storage device of FIG. 11). Storage devices may provide data at one location or may be distributed across multiple locations. In one embodiment, the storage may include a single storage unit or multiple storage units. Cloud computing infrastructure may be provided. In some cases, peer-to-peer (P2P) storage may be provided.

  A storage device may be provided off-board to the UAV. A storage device may be provided on an external device to the UAV. A storage device may be provided off board on the remote controller. The storage device may be provided on an external device on the remote controller. The storage may be offboard to the UAV and the remote controller. The storage device may be part of an authentication system. The storage device may be part of an aviation control system. The storage device may include one or more memory units, which may be one or more memory units of an authentication system (e.g., an aviation control system). Alternatively, the storage may be separate from the authentication system. The storage device may be owned or operated by the same entity as the authentication system. Alternatively, the storage device may be owned by an entity different from the authentication system or at least one of the operations performed.

  The communication system may include one or more recording devices. One or more recording devices may receive data communication from any device of the system. For example, one or more recording devices may receive data from one or more UAVs. One or more recording devices may receive data from at least one of one or more users or one or more remote controllers. One or more storage units may be provided on one or more recording devices. For example, one or more storage units may be provided on one or more recording devices that receive one or more messages from at least one of a UAV, a user, or a remote controller. The one or more recording devices may or may not have a limited range of receiving information. For example, the recording device can receive data from devices that are in the same physical area as the recording device. For example, when the UAV is in the first zone, the first recording device can receive information from the UAV, and when the UAV is in the second zone, the second recording device can receive information from the UAV. Alternatively, the recording device does not have a limited range and can receive information from the device (eg, UAV, remote controller, geofencing device) regardless of the device's location. The recording device may be at least one of a recording device unit or conveying information gathered in the recording device unit.

  Information from one or more data sources may be stored in memory. The data source may be any device or entity that is the source of the recorded data. For example, for data 1, the data source may be the first UAV (eg, UAV 1). For data 2, the data source may be a second UAV (eg, UAV 2). The data source may be a user, a user terminal (eg, a remote controller), a UAV, a geofencing device, a recording device, an external sensor, or any other type of device. The information may relate to a data source and may be stored in memory.

  For example, information regarding one or more users 4715a, 4715b can be stored in a storage device. User identification information may be included in the information. Examples of user identification information may include user identifiers (e.g., user ID1, user ID2, user ID3, ...). The user identifier may be unique to the user. In some cases, the information from the user may include information useful for at least one of identification or authentication of the user. The information from one or more users may include information about the users. The information from one or more users may include user generated data. In one example, the data may include one or more commands from a user. The one or more commands may include commands to perform operations of the UAV. Any other type of information may be provided by one or more users and may be stored on a storage device.

  In one embodiment, all user input may be stored as data on a storage device. Alternatively, only selected user input may be stored on the storage device. In some cases, only certain types of user input are stored in storage. For example, in one embodiment, only at least one of user identification input or command information is stored on the storage device.

  The user may optionally provide information to the storage device with the assistance of one or more user terminals 4720a, 4720b. The user terminal may be a device capable of communicating with the user. The user terminal may be able to communicate with the UAV. The user terminal may be a remote controller that sends one or more operation commands to the UAV. The user terminal may be a display that shows data based on the information received from the UAV. The user terminal may be able to both transmit information to the UAV and receive information from the UAV. In one embodiment, the user terminal may be a data source for data stored in storage. For example, the remote controller 1 may be a source of data 4.

  The user can provide information to the storage with the assistance of any other type of device. For example, one or more computers or other devices may be provided that may be able to receive user input. The device may be able to communicate user input to a memory storage device. The device does not have to communicate with the UAV.

  The user terminals 4720a and 4720b can provide data to the storage device. The user terminal can provide information about the user, user commands, or any other type of information. The user terminal can provide information about the user terminal itself. For example, user terminal identification may be provided. In some cases, at least one of a user identifier or a user terminal identifier may be provided. Optionally, at least one of a user key or a user terminal key may be provided. In one example, the user does not provide any input associated with the user key, but the user key information may be stored on the user terminal or may be accessible by the user terminal. In some cases, user key information may be stored on physical memory of the user terminal. Alternatively, the user key information may be stored off board (e.g., on the cloud) and may be accessible by the user terminal. In one embodiment, the user terminal can communicate at least one of a user identifier or an associated command.

  The UAVs 4730a, 4730b can provide information to the storage device. The UAV can provide information about the UAV. For example, UAV identification information may be provided. Examples of UAV identification information may include UAV identifiers (eg, UAVID1, UAVID2, UAVID3, ...). The UAV identifier may be unique to the UAV. In some cases, the information from the UAV may include information useful for at least one of identification or authentication of the UAV. The information from the one or more UAVs may include information about the UAVs. The information from the one or more UAVs may include any data (eg, data 1, data 2, data 3, ...) received by the UAV. The data may include commands to perform operations of the UAV. Any other type of information may be provided from one or more UAVs and may be stored on a storage device.

  The geofencing device 4750a, 4750b can provide information to the storage device. The geofencing device can provide information related to the geofencing device. For example, geo-fencing device identification information may be provided. Examples of geofencing device identification information may include a geofencing device identifier (e.g., geofencing device 1, geofencing device 2, ...). The geofencing device identifier may be unique to the geofencing device. In some cases, the information from the geofencing device may include information useful for at least one of identification or authentication of the geofencing device. The information from the one or more geofencing devices may include information regarding the geofencing device. The information from one or more UAVs may include any data (e.g., data 5, data 6, ...) received by the geofencing device. The data may include information related to the location of the geofencing device, the state or presence of the UAV detected, or flight restrictions. Any other type of information may be provided from one or more geofencing devices and may be stored on storage.

  All of the devices described herein may be authenticated prior to storing device related information in the storage device. For example, the user may be authenticated before the user related information is stored in the storage device. For example, the user may be authenticated at least one before the user identifier is obtained or stored by the storage device. Thus, in one embodiment, only the authenticated user identifier is stored on the storage device. Alternatively, the user does not need to be authenticated, and what is called a user identifier may be stored on the storage device prior to authentication. If the authentication passes, an indication may be made that the user identifier has been verified. If the authentication did not pass, an indication may be made that the user identifier has been flagged for suspicious activity or that an authentication attempt made using the user identifier has failed.

  Optionally, the UAV may be authenticated before the UAV related information is stored in the storage device. For example, the UAV may be authenticated at least one before the UAV identifier is obtained or stored by the storage device. Thus, in one embodiment, only the authenticated UAV identifier is stored on the storage device. Alternatively, the UAV does not need to be authenticated, and what is referred to as a UAV identifier may be stored on the storage device prior to authentication. If the authentication passes, an indication may be made that the UAV identifier has been verified. If the authentication fails, an indication may be made that the UAV identifier has been flagged for suspicious activity or that the authentication attempt made with the UAV identifier has failed.

  Similarly, the geofencing device may be authenticated before geofencing device related information is stored in the storage device. For example, the geofencing device may be authenticated before the geofencing device identifier is obtained or stored by the storage device. Thus, in one embodiment, only the authenticated geofencing device identifier is stored on the storage device. Alternatively, the geofencing device does not need to be authenticated, and what is referred to as a geofencing device identifier may be stored on storage prior to authentication. If the authentication passes, an indication may be made that the geo-fencing device identifier has been verified. If the authentication did not pass, an indication may be made that the geo-fencing device identifier has been flagged for suspicious activity or that the authentication attempt made with the geo-fencing device identifier has failed.

  In addition to the data source, associated device information associated with the corresponding data may be stored. For example, if a command is issued, the associated device may include the device that issued the command and / or the device that received the command. The data source may be the device that issued the command. In another case, data may be collected by sensors onboard the UAV. The data source may be a UAV. The UAV can communicate the detected data to a number of devices. This can include information about related devices, eg UAV 1 can detect data 3 and UAV 1 sends data to the user (eg user ID 3) and the geofencing device (eg geofencing device 2) it can. Associated device information may include a user, a user terminal (e.g., a remote controller), a UAV, a geofencing device, a recording device, an external sensor, or any other type of device.

  The storage unit can store one or more sets of information 4740. The set of information may include information from a user, a user terminal, a UAV, a geofencing device, a recording device, an external sensor, or any other type of device. The set of information may include information about one or more sets of data, data sources, related devices. In some cases, a single set of information may be provided with a single data item. Alternatively, multiple data items may be provided in a single set of information.

  A storage device can store a set of information regarding a particular communication between two devices. For example, during communication between two devices, multiple commands may be issued. Communication may be the execution of a mission. In some cases, the storage unit may store only information associated with a particular communication. Alternatively, the storage device can store information related to multiple communications between two devices. The storage device may optionally store the information according to the identifier of the particular device. Data bound to the same device (eg, the same UAV) may be stored together. Alternatively, the storage unit can store the information according to the device identifier. Data associated with a device or particular combination of devices may be stored together.

  Alternatively, the storage device can store a set of information related to communication between multiple devices or sets of devices. The storage device may be a data repository that collects information from multiple users, user terminals, UAVs, geofencing devices, or other devices. The storage may store information from multiple missions and may include at least one of different users, different user terminals, different UAVs, different geofencing devices, or different combinations thereof. In some cases, the information set in storage may be searchable or indexable. The information set is located according to any parameters (eg user identification information, user terminal identification information, UAV identification information, geofencing device identification information, time, combination of devices, data type, location or any other information) Can be indexed or indexed. The information set may be stored according to any parameter.

  In some cases, information in the storage device can be analyzed. The information set can be analyzed to detect one or more behavioral patterns. The information set can be analyzed to detect one or more characteristics that may be associated with an accident or an undesirable condition. An information set can be used to analyze air traffic. Statistical analysis can be performed on the information set in the storage unit. Such statistical analysis may be useful for identifying trends or correlated factors. For example, one UAV model may have an overall higher accident rate than other UAV models. In this way, the information in the storage may be analyzed as a whole to gather information about the operation of the UAV. Such a global analysis does not have to respond to specific events or cases.

  The storage may be updated in real time. For example, when data is sent or received, the information associated with the data may be recorded on storage along with information from any other information set. This may be done in real time. Less than 10 minutes, less than 5 minutes, less than 3 minutes, less than 2 minutes, less than 1 minute, less than 30 seconds, less than 15 seconds, less than 10 seconds, 5 minutes of sending or receiving data and information sets It may be stored in less than seconds, less than 3 seconds, less than 1 second, less than 0.5 seconds, or less than 0.1 seconds.

  In alternative embodiments, the storage may not need to be updated in real time. The storage may be periodically updated at regular or irregular time intervals. In some cases, a schedule to update may be provided, and may include regular or irregular update times. The update schedule may be fixed or changeable. The storage may be updated in response to a detected event or condition.

  The storage device can store the information set for any period of time. In some cases, the information set may be stored indefinitely until deleted. Deletion of the information set may or may not be permitted. In some cases, only the storage operator or administrator may be authorized to communicate with data stored in the storage. In some cases, only an operator of the authentication system (e.g., an aviation control system, an authentication center) may be authorized to communicate with data stored in the storage device.

  Optionally, the information set may be automatically deleted after a certain period of time. The period may be predetermined. For example, the information set may be automatically deleted after a predetermined period of time. Examples of the prescribed period are 20, 15, 12, 10, 7, 5, 4, 3, 3, 2, 2, 1, 9, 9, 6, 30, 30, 1. May include months, 4 weeks, 3 weeks, 2 weeks, 1 week, 4 days, 3 days, 2 days, 1 day, 18 hours, 12 hours, 6 hours, 3 hours, 1 hour, 30 minutes or 10 minutes However, it is not limited to these. In some cases, the information set may be manually deleted only after a predetermined period of time has elapsed.

Geofencing Limitations Based on Identification Information One or more sets of flight restrictions in the environment may correspond to one or more geofencing devices. Each flight restriction set may be associated with a geofencing device. In one embodiment, only a single set of flight restrictions is associated with the geofencing device. For example, the same set of flight restrictions may apply regardless of the number or type of UAVs that may communicate with the geofencing device. Alternatively, multiple sets of flight restrictions may be associated with the geofencing device. This may be done when multiple UAVs communicate with the geofencing device. Each of the multiple sets of UAVs may have their own set of flight restrictions. For example, a first UAV may have a first set of flight restrictions, and a second set of UAVs may have a second set of flight restrictions. The limitations provided by the first and second sets of flight restrictions may be different. In some cases, they may differ due to the identification of the UAV (eg, differences in the first UAV identification and the second UAV identification). It may differ due to the identity of the user (e.g. the difference in identity between the first user operating the first UAV and the second user operating the second UAV) ). It may differ due to any other factor (eg, time, environmental conditions, or any other factor). A set of flight restrictions can be associated with a single geofencing device.

  FIG. 28 illustrates a geo-fencing device 2810 that may provide different sets of flight restrictions at different times. Different sets of flight restrictions may have the same boundaries, or may have different boundaries 2820a, 2820b. Different UAVs 2830a, 2830b, 2840a, 2840b may receive different sets of flight restrictions.

  A geofencing device 2810 may be provided at a location in the environment. A set of flight restrictions may be provided to UAVs near the location of interest in the environment. If multiple UAVs are near locations in the environment, they can each receive a set of flight restrictions. The set of flight restrictions between multiple UAVs may be the same. The set of flight restrictions between multiple UAVs may be different. In one example, the differences in the set of flight restrictions may be based on the identification of the UAV. The differences in the set of flight restrictions may be based on the UAV type. For example, the first set of UAVs 2830a, 2830b may be a first UAV type and the second set of UAVs 2840a, 2840b may be a second UAV type. The first and second UAV types may be different. Any description of differences in the set of flight restrictions based on UAV type herein may be provided for illustrative purposes only and may apply to any other type of factor that may result in different sets of flight restrictions. . These may include user information (e.g., user identification information, user type), environmental conditions, timing, other UAV information, or any other type of factor as described elsewhere herein.

  The first set of UAVs can receive a first set of flight restrictions, and the second set of UAVs can receive a second set of flight restrictions. The first and second sets of flight restrictions may be different. For example, the first set of UAVs 2830a, 2830b can receive the first set of flight restrictions, and the second set of UAVs 2840a, 2830b can receive the second set of flight restrictions for the geofencing device 2810. . The boundaries between the first set of flight restrictions and the second set of flight restrictions may be different. As such, multiple sets of boundaries may be provided through multiple sets of flight restrictions for the same geofencing device. The first set of flight restrictions may have a first set of boundaries, and the second set of flight restrictions may have a second set of boundaries. In some cases, a single set of flight restrictions may have multiple sets of boundaries. For example, even if a single UAV receives a set of flight restrictions, whether it is multiple zones, different zones at different times, or different zones of different detected states, or any other factor, There may be multiple sets of boundaries. The first set of boundaries 2820a may be provided in a first set of restrictions for the first set of UAVs, and the second set of boundaries 2820b is a second set of restrictions for the second set of UAVs. May be provided. The boundaries may have different sizes or shapes. Boundaries may overlap.

  In the example provided, the boundary can limit the presence of the UAV. This is provided for illustrative purposes only and any other type of restriction can be applied to the boundaries. The first set of flight restrictions may limit the presence of the first type of UAV 2830a, 2830b from the area with the first set of boundaries 2820a. Thus, the first type of UAV can not enter the first set of boundaries. The second type of UAV 2840a, 2840b may not receive the first set of flight restrictions, and is not limited by limitations from the first set of flight restrictions. Thus, a second type of UAV may enter into the first set of boundaries (eg, UAV 2840b is entering into the first set of boundaries 2820a).

  The second set of flight restrictions may limit the presence of the second UAV types 2840a, 2840b from the area with the second set of boundaries 2820b. Thus, the second type of UAV can not enter the second set of boundaries. The first type of UAV 2830a, 2830b may not receive the second set of flight restrictions and may not be limited by a restriction from the second set of flight restrictions. Thus, a first type of UAV may enter a second set of boundaries (e.g., UAV 2830b is entering within a second set of boundaries 2820b).

  Thus, even a single geofencing device may have high flexibility. The geofencing device may be able to provide a reference point for different sets of flight restrictions for different UAVs that may approach the geofencing device in different situations. This may provide a high degree of control over the type of activity in the vicinity of the geofencing device without requiring any changes or updates to the geofencing device itself. In one embodiment, a set of flight restrictions can be generated offboard, whereby any updates or specific rules can be targeted to the geofencing device offboard and any changes to the geofencing device itself Can not even need. In some cases, the geofencing device itself may generate a set of flight restrictions onboard, but may receive parameters, algorithms, or data from the cloud that are used to generate the set of flight restrictions . The geofencing device does not need to receive any manual input when performing its function. Alternatively, the user may choose to provide a separate request or provide input to the geofencing device.

Temporal change of geofencing device As mentioned above, the set of flight restrictions may change with time. UAVs that encounter geofencing devices at different times may have different sets of flight restrictions. In one embodiment, the set of flight restrictions is applicable at a particular encounter or at a particular time. For example, if the UAV approaches the geofencing device for the first time, the UAV may receive a first set of flight restrictions. If the UAV flies elsewhere and then again encounters the geofencing device again, the UAV may receive a second set of flight restrictions. The first and second sets may be the same. Alternatively, they may be different. The set of flight restrictions may be changed based on time or other conditions (eg, detected environmental conditions). Thus, the UAV may be given a different set of flight conditions depending on the conditions (e.g. time, environmental conditions). The set of flight conditions itself need not include any conditions. In other embodiments, the set of flight restrictions may encompass different states, including timing. For example, the set of flight restrictions given to the UAV applies the first set of boundaries and restrictions before 3:00 pm, the second set of boundaries between 3:00 pm and 5:00 pm, and Applying the restriction may indicate applying the third set of boundaries and the restriction after 5:00 PM. Thus, the set of flight limits may include different sets of boundaries and limits for the UAV, depending on different conditions (eg, time, environmental conditions, etc.).

  However, although a set of flight restrictions is provided, the UAV may be subject to different restrictions on the geofencing device depending on conditions such as time or environmental conditions.

  FIG. 29 shows an example of a geo-fencing device with a set of flight restrictions that may change with time. Changes in regulation over time are provided for illustrative purposes only and may be applied to any other type of condition (eg, environmental conditions). For example, if changes in the first time, second time, third time, etc. are described in this example, then the example includes a set of first environmental conditions, a set of second environmental conditions, It may apply to a third set of environmental conditions, or any other set of conditions (eg, a first set of conditions, a second set of conditions, a third set of conditions).

  The geofencing device 2910 at different times (time = A, B, C, or D) may be described. Different conditions may be provided at different times or at different time locations. The UAV 2920 may be provided in the vicinity of the geofencing device. The UAVs described at different times may be the same UAV or may be different UAVs. The geofencing device may have a set of boundaries 2930a, 2930b, 2930c, 2930d.

  Boundaries can change with time. For example, the set of boundaries 2930a at a first time (eg, time = A) may be different than the set of boundaries 2930b at a second time (eg, time = B). This boundary can be changed in any way. For example, the horizontal portion of the boundary (eg, time = A at boundary 2930a, and time = C at boundary 2930c), or the vertical portion of boundary (eg, time = A at boundary 2930a, and time = B at boundary 2930b) Can change at least one of the In some cases, both the lateral and longitudinal portions of the boundary can be changed (eg, boundary 2930b at time = B, and boundary 2930c at time = C). At least one of the size or shape of the boundary may be varied. In some cases, the boundaries may remain the same at different times. For example, the set of boundaries 2930a at a first time (eg, time = A) may be the same as the set of boundaries 2930d at a second time (eg, time = D).

  The type of restriction imposed on this boundary may change with time. The type of restriction may vary, even if this set of boundaries remains the same. For example, at a first time (eg, time = A), boundary 2930a may be the same as boundary 2930d at a second time (eg, time = D). However, the first set of restrictions may be applied at the first time (e.g. the UAV 2920 may not be allowed to enter within the boundary 2930a at time = A), the second set of restrictions May be applied for a second time (e.g., at time = D, the UAV 2920 may be allowed to enter boundary 2930d, but optionally other such as not allowing motion loads Restrictions may be imposed). Even though the boundaries remain the same, the type of restriction may be different. Even though this boundary remains the same, and the type of restriction is the same, the level of restriction may be different (e.g. within a specific frequency range for not being allowed to use any wireless communication) Be allowed to use only wireless communication in

  In one embodiment, while this boundary changes with time, the type of restriction imposed on the boundary may be the same. For example, at a first time (eg, time = A), boundary 2930a can be changed relative to boundary 2930b at a second time (eg, time = B). The first set of limitations may be applied at a first time and the second set of limitations may be applied at a second time. The first set of limitations may be the same as the second set of limitations. For example, at time = A, UAV 2920 may be allowed to enter within boundary 2930a. At time = B, the UAV may not be allowed to enter within the boundary 2930b, but if the boundary may have changed, at least one of the following is possible. The ability of the UAV to enter an area where it has not been able to enter, or to prevent the UAV from entering an area where it has been able to enter so far. The area that may be UAV accessible may be changed as the boundaries change.

  Alternatively, the first set of restrictions may not be the same as the second set of restrictions. For example, at time = B, the UAV may not be allowed to enter boundary 2930b. At time = C, the UAV may be able to enter within boundary 2930c, but may not be able to emit any wireless communication while within the boundary. In this way, both the boundaries and the set of limitations may be changed. The set of limits may be changed as the type of limit changes. The set of limits may be the same as the type of limit, but may be changed so that the level of limits may vary.

  UAVs may encounter geofencing devices in various situations. Different situations may be provided in sequence (a UAV encounters a geofencing device at multiple points in time or under a number of different conditions) or may alternatively be provided (e.g. UAVs are theoretically Geofencing devices can be reached for the first time at different times, or under different sets of circumstances).

  In certain embodiments, a change in the set of flight restrictions may be made without requiring the geofencing device to have an indicator. For example, an aviation control system can know the location of geofencing devices and UAVs. An aviation control system can detect when the UAV is within a predetermined range of the geofencing device. The aviation control system can recognize the set of conditions (eg, current time, environmental conditions, UAV identification information or type, user identification information or type, etc.) when the UAV approaches the geofencing device. Based on the conditions, the aviation control system can provide the UAV with a set of flight restrictions. The UAV does not need to detect geofencing devices, nor does it need to detect indicators of the geofencing devices, but the UAV may do them as described elsewhere herein.

  In another case, the geofencing device may detect the presence of the UAV when the UAV approaches the geofencing device. The geofencing device may detect the UAV when the UAV reaches within a predetermined range of the geofencing device. The geofencing device can recognize a set of conditions (eg, current time, environmental conditions, UAV identification information or type, user identification information or type, etc.) when the UAV approaches the geofencing device. Based on the above conditions, the geofencing device can provide the UAV with a set of flight restrictions. The UAV does not need to detect geofencing devices, nor does it need to detect indicators of the geofencing devices, but the UAV may do them as described elsewhere herein.

  Additionally, the UAV can generate a set of flight restrictions on board. The UAV can detect the presence of geofencing devices. Alternatively, information may be provided to the UAV from the aviation control system or the geofencing device regarding the proximity of the UAV to the geofencing device. When the UAV approaches the geofencing device, the UAV can recognize a set of conditions (eg, current time, environmental conditions, UAV identification or type, user identification or type, etc.). Based on the above conditions, the UAV can generate a set of flight restrictions onboard the UAV. The UAV does not need to detect geofencing devices, nor does it need to detect indicators of the geofencing devices, but the UAV may do them as described elsewhere herein.

  In other embodiments, the geofencing device 2910 can include an indicator 2940. The indicator may be any type of indicator as described elsewhere herein. Although visual markers have been provided for purposes of illustration only, any other type of indicator (eg, wireless signal, thermal signal, acoustic signal, or any other type of indicator) may be used. The UAV may be capable of detecting an indicator of the geofencing device. The UAV may be able to detect the indicator when the UAV is close to the geofencing device (e.g., entering within a predetermined range of the geofencing device).

  The indicator may change with time. Changes in the indicator may reflect different conditions. The indicator may be changed periodically (e.g., regular or irregular time intervals) according to a preset schedule or in response to detected events or circumstances. The change of the indicator may be done spontaneously by the geofencing device. The geofencing device may have a set of instructions on which to provide the indicator. This instruction may be updated with information from an external device (e.g., cloud, aviation control system, UAV, other geofencing device, etc.). In some cases, changes to the indicator may incorporate data from one or more external devices. In one example, the aviation control system can instruct the geofencing device to change the indicator. In another case, another external device (e.g., a UAV, another geofencing device, or a remote controller of the geofencing device) can instruct the geofencing device to change the indicator. The indicator can change the characteristic. The property may be detectable by the UAV. For example, with respect to visual markers, changing the characteristic may include changing the visual appearance of the indicator. In another case, for the acoustic signal, the change of the property may include a change of a detectable sound property of the indicator. For wireless signals, the change in characteristics may include a change in the information transmitted by the indicator.

  For example, the indicator can change periodically. In one example, the indicator can change hourly. In another case, the indicator can change daily. The geofencing device may have an on-board clock that may allow for constant monitoring of time.

  The indicator can be changed according to a preset schedule. For example, according to the schedule, the indicator is changed from the first indicator characteristic to the second indicator characteristic at 9:00 am on Monday and from the second indicator characteristic to the third characteristic at 3:00 pm on Monday , May be changed from the third property to the first property at 1:00 am Tuesday, indicating that it should be changed from the first property to the second property at 10:00 am Tuesday. The schedule may be changeable. In some cases, the operator of the aviation control system may be able to change the schedule. In another case, the owner or operator of the geofencing device may be able to change the schedule. At least one of the geofencing device owner or operator may be able to enter or change the schedule by manually communicating with the geofencing device or remotely from a separate device. As a result, the geofencing equipment schedule can be updated.

  In another case, the indicator can change in response to a detected event or situation. For example, if the air traffic volume around the geofencing device reaches a certain threshold, then the indicator can be changed. If the climate around the geofencing device changes (such as when it starts raining or winds up), then the indicator can be changed. Optionally, the dynamic indicator can change in response to the presence of a detected UAV. For example, a UAV may be uniquely identified. The geofencing device can receive a UAV identifier that uniquely identifies the UAV from other UAVs. The parameters or characteristics of the indicator may be selected based on the UAV identifier. For example, the set of flight restrictions may depend on the UAV's identity or UAV type. In another case, the parameters or characteristics of the indicator may be selected based on the user identifier. For example, the set of flight restrictions may depend on the identity of the user or the user type.

  Changes to the indicator may reflect changes to the set of flight restrictions. For example, the UAV may be able to detect changes in the characteristics of the indicator to recognize that a different set of limits has been set. For example, the UAV can use a different set of flight restrictions when the indicator changes. Alternatively, the UAV can use the same set of flight restrictions but can use the same set of flight restrictions for different limits or boundaries for different indicators.

  For example, if the UAV detects an indicator 2940 (e.g., indicated by an "X") under the first set of characteristics, the UAV may set the first set of restrictions (e.g., the first set of boundaries 2930a, the first). It can be recognized that a set of restrictions) is being implemented. If the UAV detects an indicator 2940 (e.g., indicated by "O") under the second set of characteristics, then the UAV sets the second set of restrictions (e.g., second set of boundaries 2930b, second restriction) It can be recognized that a set of) has been implemented. If the UAV detects an indicator 2940 (e.g., indicated by "=") under the third set of characteristics, the UAV sets the third set of restrictions (e.g., the third set of boundaries 2930c, the third restriction) It can be recognized that a set of If the UAV detects an indicator 2940 (e.g., indicated by "+") under the fourth set of characteristics, the UAV sets the fourth set of restrictions (e.g., the fourth set of boundaries 2930d, the fourth restriction) It can be recognized that a set of

  The UAV can recognize that different regulations correspond to indicator characteristics based on the on-board local memory of the UAV. The UAV's onboard local memory may or may not be updated continuously, periodically, according to a schedule, or in response to a detected event or condition. In some cases, an external device (eg, an aviation control system) can recognize different regulations that correspond to different indicator characteristics. The UAV can send information about the detected indicator characteristics to the external device. The external device can generate a set of flight restrictions and then provide the UAV with a set of flight restrictions accordingly. Any other communication architecture may be used, eg, as described elsewhere herein.

  Aspects of the invention may be directed to geofencing devices. The geofencing device includes one or more storage units and a dynamic indicator. One or more storage units store a plurality of indicator parameters. The dynamic indicator changes with time to (1) follow the first indicator parameter so as to follow the second indicator parameter of the plurality of indicators, (2) by the UAV (a) during the flight of the UAV, (B) It can be detected when the UAV has entered within the predetermined geographical range of the geofencing device. It can provide a way to provide the UAV with a set of flight restrictions. The method comprises the steps of: storing a plurality of indicator parameters in one or more storage units of the geofencing device; and according to a first indicator parameter of the dynamic geofencing device indicator. Changing with time to follow the second indicator parameter of The dynamic indicator is detectable by the UAV: (a) the UAV is in flight, and (b) when the UAV enters within a predetermined geographic area of the geofencing device.

  As mentioned above, the indicator may be a dynamic indicator. The dynamic indicator may have one or more parameters / properties. In one embodiment, the dynamic indicator may be a visual marker that changes in appearance over time. A first appearance of the visual marker may be generated based on the first indicator parameter, and a second appearance of the visual marker different from the first appearance of the visual marker is based on the second indicator parameter It may be generated. In another case, the dynamic indicator may be a wireless signal whose characteristics change with time. The first characteristic of the wireless signal may be generated based on the first indicator parameter, and the second characteristic of the wireless signal different from the first characteristic of the wireless signal is based on the second indicator parameter It may be generated.

  The dynamic indicator can uniquely identify the geofencing device and distinguish the geofencing device from other geofencing devices. For example, different geofencing devices may have different indicators. The different dynamic indicators may be different from one another. Thus, if the UAV detects a dynamic indicator, the UAV can recognize not only the set of flight restrictions being implemented under that condition, but also the identity of the geofencing device. In other embodiments, the indicators need not be unique to each geofencing device. In some cases, the same type of geofencing device may be provided with the same indicator. The indicator may be specific to the type of geofencing device. If the UAV detects a dynamic indicator, the UAV can recognize not only the set of flight restrictions set under the conditions, but also the type of geofencing device. In other examples, the indicator need not be device specific. Different types of different geofencing devices may show the same indicator. The indicator may reflect a set of flight restrictions corresponding to the indicator, and the UAV need not uniquely identify the geofencing device or the type of geofencing device.

  The dynamic indicator may indicate a first set of flight restrictions when following the first indicator parameter and may indicate a second set of flight restrictions when following the second indicator parameter. As mentioned above, the set of flight restrictions may be generated and / or stored on any device within the UAV system. Any combination of communications may be performed to allow the UAV to operate according to the set of flight restrictions. In one example, the first set of flight restrictions and the second set of flight restrictions may be stored onboard the UAV, and the first set of flight restrictions and the second set of flight restrictions may be stored in the UAV. The first set of flight restrictions and the second set of flight restrictions may be stored onboard the geofencing device.

Geofence Overlap and Priorities FIG. 30 shows where a UAV may be provided in an area where multiple geofencing devices overlap. A plurality of geofencing devices 3010a, 3010b may be provided in the environment. The geofencing device may have corresponding boundaries 3020a, 3020b. One or more UAVs may be provided in the environment.

  The UAV 3030d may be outside the boundaries of both the first geofencing device 3010a and the second geofencing device 3010b. The UAV may optionally not be under the set of limitations from the first geofencing device or the second geofencing device. The UAV is free to operate in the environment without having the set of flight restrictions applied to the UAV.

  The UAV 3030a may be inside the boundary of the first geofencing device 3010a and outside the boundary of the second geofencing device 3010b. The UAV may be under the set of limitations from the first geofencing device, while it may not be under the set of limitations from the second geofencing device. The UAV may operate in accordance with a first set of flight restrictions associated with a first geofencing device.

  The UAV 3030c may be inside the boundary of the second geofencing device 3010b and outside the boundary of the first geofencing device 3010a. The UAV may be under the set of limitations from the second geofencing device, but may not be under the set of limitations from the first geofencing device. The UAV can operate in accordance with a second set of flight restrictions associated with a second geofencing device.

  The UAV 3030 d may be outside the boundaries of both the first geofencing device 3010 a and the second geo fencing device 3010 b. The UAV may be under a set of flight restrictions. UAVs within the scope of multiple geofencing devices may have different options. In the present specification, any of the options may be applied when describing overlapping zones.

  For example, one or more zones may be provided by different geofencing devices to overlap. For example, a first zone of the first boundary set 3020a of the first geofencing device may overlap a second zone in the second boundary set 3020b of the second geofencing device.

  If multiple zones overlap, you can continue to set rules from multiple zones. For example, both the first set of flight restrictions associated with the first geofencing device and the second set of flight restrictions associated with the second geofencing device continue to be implemented in the overlapping zones. May be In some cases, rules from multiple zones may continue to be implemented as long as they do not conflict with one another. For example, while the UAV is in the first zone, the first geofencing device may not allow the use of the UAV's load. While the UAV is in the second zone, the second geofencing device may not allow the use of the communication of the UAV. If the UAV 3030 d is in both zones, the UAV may not be authorized to operate the UAV's load and may not be authorized to use the communication unit.

  If there is a conflict between rules, various rule responses may be imposed. For example, the most restrictive set of rules may be applied. For example, if the first zone requires a flight where the UAV is below 400 feet and the second zone requires a flight where the UAV is below 200 feet, the UAVs overlap in overlapping zones When in zone, rules for flight below 200 feet may apply. This allows sets of rules to be combined and matched to form the most restrictive set. For example, if the first zone requires a UAV above 100 feet and below 400 feet and the second zone requires a UAV above 50 feet and below 200 feet, the UAV will overlap While in the zone, the flight may be made between 100 feet and 200 feet using the lower flight limit from the first zone and the upper flight limit from the second zone.

  In another case, zones may be provided with hierarchy. One or more priority levels may be provided in the hierarchy. Higher priority levels of geofencing devices (eg, higher tiers) may have rules that are valid for lower priority levels of geofencing devices (eg, lower tiers). This does not matter whether the rules associated with higher priority geofencing devices are somewhat more restrictive than those of lower priority geofencing devices. The priority level of the geofencing device may be pre-selected or pre-entered. In some cases, a user providing a set of rules in a zone can indicate which geofencing devices have a higher priority level than other geofencing devices. In some cases, the manufacturer of the geofencing device can preselect a hierarchy of geofencing devices. The preselected priority may or may not be changed. In other cases, the owner or operator of the geofencing device can enter the hierarchy level of the geofencing device. The owner or operator of the geofencing device may be able to change the priority level of the geofencing device. In some cases, the priority level of the geofencing device may be determined by an external device (e.g., an aviation control system, one or more UAVs, or other geofencing device). In some cases, an operator of the aviation control system may be able to view and confirm information regarding multiple geofencing devices and enter or adjust the priority level of the geofencing device. In some embodiments, some priority levels may be mandated by the jurisdiction. For example, certain jurisdictions may need to have government facilities or emergency services geofencing devices have a higher level of priority than privately owned or operated geofencing devices.

  In one embodiment of a set of priority promotion type rules for UAVs in overlapping zones, the first zone may need to fly below 400 feet UAV and turn off the load. The second zone may require UAV flight less than 200 feet and may have no loading restrictions. If the first zone can be associated with a higher priority geofencing device, rules from the first zone can be imposed without imposing any rules from the second zone. For example, the UAV may fly below 400 feet and turn off the load. If the second zone is associated with a higher priority geofencing device, rules from the second zone can be imposed without imposing any rules from the first zone. For example, a UAV may fly below 200 feet and have no loading restrictions.

  In some cases, where multiple zones overlap, multiple sets of flight restrictions may be provided. A master set of flight restrictions may be provided, which the UAV may conform to. As mentioned above, the master set of flight restrictions may (1) incorporate both the first and second set of flight restrictions if there is no competition, and (2) the first and second set of flight restrictions In the meantime, a more restrictive set of flight restrictions may be incorporated, (3) aspects of both the first and second set of flight restrictions may be incorporated in the most restrictive manner, or (4) higher priority A set of flight restrictions associated with the degree geofencing device may be incorporated.

  Aspects of the invention may include methods of operating a UAV. The method comprises the steps of: (1) determining the location of the UAV; and (2) each geofencing device identifies a plurality of geofencing devices indicating a set of UAV flight restrictions within the area covering the UAV location. And (3) prioritizing a master set of flight restrictions to be followed by the UAV, selected from the set of flight restrictions of multiple geofencing devices with the assistance of one or more processors (4) flight control. Operating the UAV according to the master set of regulations. Similarly, non-transitory computer readable media can be provided that include program instructions for operating the UAV. The computer readable medium comprises: (1) program instructions for determining the location of the UAV; and (2) a plurality of geofencings wherein each geofencing device indicates a set of UAV flight restrictions within the area covering the UAV location. Program instructions to identify the device and (3) a UAV selected according to the master set of flight restrictions to be followed by the UAV selected from the set of flight restrictions of multiple geofencing devices, according to the master set of flight restrictions Contains program instructions that allow the operation.

  In addition, the UAV's flight regulatory prioritization system individually or collectively determines (1) the UAV's location, and (2) UAV's flight within the area where each geofencing device covers the UAV's location. Identifying multiple geofencing devices, indicating a set of restrictions, and (3) selecting from the set of flight restrictions of multiple geofencing devices, prioritizing the master set of flight restrictions to be followed by the UAV, of the flight restrictions It may include one or more processors that allow the operation of the UAV according to the master set. The system can further include one or more communication modules, wherein the one or more processors are operatively connected to the one or more communication modules.

  FIG. 31 illustrates an example of different regulations of different geofencing devices according to aspects of the present invention. The plurality of geofencing devices 3110a, 3110b, 3110c may have at least one of a priority level or a set of one or more regulations. The set of restrictions may include one or more metrics. One or more regulatory values can be associated with one or more metrics. An example of a metric may include the type of restriction. For example, (1) the first metric may be applied to the lower limit lower limit, (2) the second metric may be applied to the operation limit of the mounted object, and (3) the third metric is wireless communication The limitation may be applied, (4) the fourth metric may be applied to the battery capacity limitation, (5) the fifth metric may be applied to the speed limitation, (6) the sixth metric May be applied to the maximum item support weight.

  In one embodiment, the geofencing device may have different priority levels. Any number of priority levels may be provided. For example, 1 or more, 2 or more, 3 or more, 4 or more, 5 or more, 7 or more, 8 or more, 9 or more, 10 or more, 15 or more, 20 or more, 25 or more, 30 or more, 40 or more, 50 or more Or 100 or more priority levels may be provided. The priority levels may be either qualitative or quantitative. For example, priority levels may be divided into low, medium and high. Geo fencing devices having high priority levels may be at a higher level than geo fencing devices having intermediate priority levels. For the priority level, any categorization may be made. For example, a priority level A, a priority level B, a priority level C, etc. may be provided. In some cases, the priority levels may have numerical values. For example, (1) geofencing device A3110a may have priority level 98, (2) geofencing device B3110b may have priority level 17, (3) geofencing device C3110c has priority You may have a level 54. In some cases, higher numerical priority levels may be higher hierarchy.

  Multiple geofencing devices may have different priority levels, and the set of flight restrictions from the highest priority geofencing device may be selected as the master set of flight restrictions. For example, if the UAV is in the area of overlapping zones of geofencing devices A, B, C, the UAV may have a master set of flight restrictions that use the restrictions associated with geofencing device A. This is because the geofencing device A has the highest priority level. If the UAV is in the area of overlapping zones of geofencing devices B and C, the UAV may have a set of flight restrictions that use the restrictions associated with geofencing device C. This is because geofencing device C has a higher priority level than geofencing device B. Thus, in this case, the UAV master set may include restrictions such as AVAL3 for metric A, BVAL3 for metric B, EVAL3 for metric E, FVAL3 for metric F. In some cases, different geofencing devices may have the same priority level. If the UAV overlaps with a geofencing device of equal priority level, other techniques may be used to determine the master set of UAV flight restrictions. For example, any other example described elsewhere herein may be used.

  In other cases, the master set of flight restrictions may include the strictest restriction selected from the set of flight restrictions. For example, if the UAV is in the range of overlapping zones of geofencing devices A, B, C, the most restrictive value can be selected from the various geofencing devices for each metric. For example, for metric A, the most restrictive value can be selected from AVAL1, AVAL2 or AVAL3. For example, if metric A is the lower altitude limit, AVAL1 = 400 feet, AVAL2 = 250 feet, AVAL3 = 300 feet, then AVAL1 can be selected. This is because AVAL1 provides the most restrictive lower altitude limit. For metric B, the most restrictive value can be selected from BVAL1 or BVAL3. Geofencing device B is inherently minimally limiting since the geofencing device does not have any limitations on metric B. If metric B is the load's operation limit and BVAL1 = power on the load can be turned on but any collected data can not be stored, and if BVAL 3 = power on the load can not be turned on , BVAL3 may be selected. This is because BVAL3 provides a more restrictive use of the load. For metric D, neither geofencing device A nor geofencing device C may have any limitations. Thus, DVAL2 may be selected as metric D because it is most restrictive at initialization. For each metric, you can select the most restrictive metric from the geofencing device.

  In other cases, the master set of flight restrictions may include restrictions from geofencing devices that have the most stringent flight restrictions overall. Overall, if geofencing device C has the most stringent regulations as compared to geofencing devices A and B, the master set may include the regulation of geofencing device C. Even though some of the metrics are more stringent in A and B, geofencing device D may be selected if the geofencing device is generally more restrictive.

  The master set of flight restrictions may include flight restrictions from a single set of flight restrictions. For example, the master set of flight controls may include only controls from geofencing device A, only controls from geofencing device B, or only controls from geofencing device C. The master set of flight restrictions includes flight restrictions from a set of flight restrictions. For example, the master set may include flight restrictions from two or more of geofencing devices A, B, C. Values from different geofencing devices may be selected for different metrics.

  In certain embodiments, a master set of flight restrictions may be prioritized based on UAV identification (eg, UAV identification or UAV type). A UAV identifier may be received. The UAV identifier can uniquely identify a UAV from other UAVs. The master set of flight restrictions may be based on unique UAV identification information. For example, the UAV identification may determine which set of geofencing device regulations will be used, or which combination of geofencing device regulations will be used. The UAV identification information makes it possible to determine which technique is to be used to determine the master set. The master set of flight restrictions may be based on the UAV type. For example, the UAV type can determine which set of geofencing device regulations will be used, or which combination of geofencing device regulations will be used. Depending on the UAV type, it can be determined which technique is to be used as the master set.

  In certain embodiments, a master set of flight restrictions may be prioritized based on user identification information (eg, a user identifier or user type). A user identifier may be received. The user identifier can uniquely identify the user from other users. The master set of flight restrictions may be based on unique user identification information. For example, the user identification may determine which set of geo-fencing device regulations will be used or which combination of geo-fencing device regulations will be used. Based on the user identification information, it can be determined which technique is to be used to determine the master set. The master set of flight restrictions may be based on user type. For example, the user type may determine which set of geofencing device regulations will be used, or which combination of geofencing device regulations will be used. Depending on the user type, it can be determined which technology is to be used to determine the master set.

  The plurality of geofencing devices having overlapping areas may be fixed geofencing devices. Alternatively, they may include one or more mobile geofencing devices. When a mobile geofencing device contacts a stationary geofencing device, overlapping ranges may be created. If the fixed geofencing device has boundaries that can change with time, overlapping ranges may be created or may disappear.

Mobile Geofencing Geofencing devices may be fixed or mobile. In some cases, the geofencing device may stay in the same place. In some cases, the geofencing device may remain at the same location unless moved by an individual. Within an environment, substantially stationary geofencing devices may be installed and may not be self-propelled. The stationary geofencing device may be affixed to or supported by the stationary structure. The user may manually move the stationary geofencing device from the first location to the second location.

  The geofencing device may be movable. Geofencing devices can be moved from place to place. The geofencing device can be moved without requiring the individual to move the geofencing device. Mobile geofencing devices may be self-propelled. A mobile geofencing device may be mounted to or supported by a moveable object (e.g., an airframe). The mobile geofencing device may have one or more propulsion units thereon that may allow the mobile geofencing device to be moved around the environment. Mobile geofencing devices may be attached to or supported by movable objects. The moveable object may have one or more propulsion units that may allow the moveable object to move around the environment with the moveable geofencing device.

  FIG. 32 illustrates an example of a mobile geofencing device according to an embodiment of the present invention. Mobile geofencing devices may be UAVs 3210a, 3210b. The mobile geofencing device may be an aircraft, a ground transport, a waterborne transport, or a transport in space, or any combination thereof. The UAV is provided for illustrative purposes only, and any description of the UAV herein may be applied to any other vehicle or movable object.

  Mobile geofencing devices 3210a, 3210b may change location with time. A distance d can be provided between mobile geofencing devices. The mobile geofencing device may have corresponding boundaries 3220a, 3220b. The boundaries may be the same or may change with time. As described elsewhere herein, this boundary may change in response to one or more detected conditions.

  Mobile geofencing devices can originate wireless communications. The wireless communication may be a message that may include information regarding the mobile geofencing device. Identification information (eg, geofencing device identifier or type of geofencing device) may be sent. The message may include a message signature. The message may include geofencing device key information. The message may include location information for the mobile geofencing device. For example, the message may include global coordinates for the geofencing device. The mobile geofencing device may have a GPS unit or other on-board location input device that can provide the location of the mobile geofencing device. The message may include information regarding the flight plan or course of the geofencing device. The message may include time information (eg, the time the message is sent). Time may be provided to the mobile geofencing device according to an on-board clock. The message may include flight control information. For example, the message may include information regarding at least one of the received flight command or the flight command being executed.

  If the mobile geofencing device is a UAV, messages may be sent and received from one another. For example, if the first mobile geofencing device 3210a is in proximity to the second mobile geofencing device 3210b, each can issue a message with any of the information described herein. The UAVs may be able to identify and / or detect each other based on the sent message. Alternatively, other detection or recognition techniques may be used, as described elsewhere herein.

  Messages from the UAV may be sent continuously. For example, messages may be broadcast continuously. The UAV can send messages regardless of whether the messages were detected with each other. Messages from the UAV may be emitted periodically (eg, at regular or irregular time intervals), according to a schedule, or in response to detected events or conditions. For example, when a UAV detects the presence of another UAV, it can send a message. In another case, the UAV can issue a message when instructed to issue a message by the aviation control system.

  In some cases, the message for the UAV may include the geofencing radius. The geofencing radius may be related to the maneuverability or mission of the corresponding UAV. For example, if the maneuverability of the UAV is higher, a smaller radius may be provided. If the maneuverability of the UAV is lower, a larger radius may be provided.

  For example, the first UAV 3210a may broadcast a first geofencing radius (eg, RA). Optionally, the second UAV 3210b can broadcast a second geo-fencing radius (eg, RB). The second UAV, upon receiving the radius from the first UAV, can calculate the distance d between the first UAV and the second UAV. If said distance d is smaller than RA or smaller than RB, the second UAV can modify the course or hover in situ while colliding with the first UAV We can notify the possibility. In this case, the first UAV may modify the course or hover on the fly.

  Similarly, in the flight process, the second UAV can broadcast the second geofencing radius (e.g., RB) simultaneously. Once the first UAV receives the radius from the second UAV, it can calculate the distance d between the first UAV and the second UAV. If said distance d is smaller than RA or smaller than RB, the first UAV may modify the course or hover in situ, while colliding with the second UAV We can notify the possibility. In this case, the second UAV may modify the course or hover on the fly.

  If both UAVs broadcast information, both UAVs can detect possible collisions and apply course corrections. In some cases, one UAV may continue its course, while other UAVs can take evasive action to avoid possible collisions. In other cases, both UAVs can take some form of evasive action to avoid possible collisions.

  In one embodiment, if there is a difference in priority between UAVs, only one UAV may take evasive action, while others do not. For example, higher priority level UAVs may not need to take evasive action, while lower priority level UAVs may be forced to take evasive action. In another case, calculations may be made as to which UAVs are easier to take evasive action. For example, if the first UAV is moving very quickly and the second UAV is moving very slowly, then the second UAV can not move off course in time. It may be easier to correct the course of. In another case, if the second UAV can deviate from the course in time, and the first UAV can spend more energy by taking evasive action, then modify the second UAV's course It can.

  As such, the UAV may be used as a mobile geofencing device, and may aid in UAV collision avoidance. For collision avoidance applications, a UAV can restrict other UAVs from entering within the boundaries of the UAV. For example, a first UAV can prevent another UAV (eg, a second UAV) from entering the boundary of the first UAV. Similarly, the second UAV can prevent the first UAV from entering the boundary of the second UAV. If one UAV enters another UAV boundary, flight response measures may be taken that may help to prevent a collision.

  Fixed and mobile geofencing devices may also be provided for similar collision avoidance applications. For example, if the first geofencing device is a stationary geofencing device installed on a stationary object (such as a building on the ground), the second mobile geofencing device (e.g., UAV) may be Geofencing equipment can help to prevent it from hitting stationary objects installed. The geofencing device may provide a substantial "force field" that may prevent unauthorized UAVs or other mobile geofencing devices from entering the boundary.

  In other embodiments, other types of restrictions may be provided within the boundaries of the geofencing device. For example, operation restrictions of the load may be provided. In one case, both UAVs are in progress, and each UAV has its own camera capable of taking an image. The first UAV may have flight restrictions that do not allow other UAVs to operate the camera within boundaries. The second UAV may have flight restrictions that allow the camera to operate with other UAVs within the boundaries but do not allow recording of images. Thus, when the second UAV enters the boundary of the first UAV, the second UAV may have to turn off the camera. If the camera can not be turned off, it may be forced to take evasive action to avoid the boundaries of the first UAV. When the first UAV enters the boundary of the second UAV, the camera may remain on, but recording must be interrupted. Similarly, if the recording can not be interrupted, it may be forced to take evasive action. This type of restriction is useful when geofencing device activity is not desired to be recorded or photographed on a camera. For example, for other UAVs, it may not be desirable to capture an image of the UAV while the UAV is performing its mission. Any other type of restriction may be used as described elsewhere herein.

  Aspects of the invention may include a method of identifying a mobile geofencing device. The method is a signal from a mobile geofencing device indicating (1) (a) the location of the mobile geofencing device and (b) one or more geofencing boundaries of the mobile geofencing device in the UAV. Receiving (2) calculating the distance between the UAV and the mobile geofencing device, and (3) the UAV is within one or more geofencing boundaries of the mobile geofencing device And (4) flight restrictions provided based on the mobile geofencing device if the UAV is within the area of one or more geofencing boundaries of the mobile geofencing device. Operating the UAV under a set of

  A UAV may include a communication unit and one or more processors. The communication unit receives signals from the mobile geofencing device (1) the location of the mobile geofencing device and (2) one or more geofencing boundaries of the mobile geofencing device. One or more processors are operatively connected to the communication unit and individually or collectively calculate (1) the distance between the UAV and the mobile geofencing device, and (2) the UAV is a mobile geof Determine if within the area of one or more geofencing boundaries of the fencing device based on the distance, and (3) if the UAV is within the area of one or more geofencing boundaries of the mobile geofencing device, Generate a signal to perform the operation of the UAV under a set of flight restrictions provided based on the mobile geofencing device.

  The one or more geofencing boundaries of the mobile geofencing device may be circular boundaries having a first radius centered on the geofencing device. The distance between the UAV and the mobile geofencing device may be compared to the first radius. Also, the UAV may be a geofencing device having a second set of one or more geofencing boundaries. The second set of one or more geofencing boundaries of the UAV may be circular boundaries having a second radius centered on the UAV. The distance between the UAV and the mobile geofencing device may be compared to a second radius. The mobile geofencing device may be another UAV.

  FIG. 33 shows an example of mobile geofencing devices in close proximity to one another according to an embodiment of the present invention. A first mobile geofencing device 3310a may be in proximity to a second mobile geofencing device 3310b. The second mobile geofencing device may be in proximity to the first mobile geofencing device. Geofencing devices may be in close proximity to one another. The mobile geofencing device may have a corresponding set of boundaries 3320a, 3320b. The mobile geofencing device may be moving along the corresponding track 3330a, 3330b.

  In one embodiment, at least one of the trajectory or boundaries of the mobile geofencing device may be analyzed to determine if the mobile geofencing devices may cross each other's boundaries. In some cases, mobile geofencing devices may be moving quickly, so it may be desirable to determine at an early stage if the device is on track towards a collision. Trajectories can be analyzed to predict the future location of mobile geofencing devices. The boundaries can be analyzed to determine the berths that mobile geofencing devices need to have to avoid each other. For example, if the boundaries are larger, mobile geofencing devices may need to hold wider bets as a result. The smaller the boundaries, the mobile geofencing devices may be able to hold smaller bets as a result.

  In some cases, tracks may be provided such that the mobile geofencing devices approach each other directly. Alternatively, one or more trajectories may be off. Also, in determining whether to take evasive action, at least one of the velocity or acceleration of the mobile geofencing device may be considered. In addition, (1) any mobile geofencing device needs to take evasive action, (2) which mobile geofencing device needs to take evasive action, or (3) both mobile types It is determined if the geofencing device needs to take evasive action. Similarly, the type of evasive action may be determined (whether to change the course, slow down, speed up, hover, or change any other geofencing device operating parameters) .

  FIG. 34 shows another example of a mobile geofencing device according to an embodiment of the present invention. Mobile geofencing device 3410 may be a moveable object or may be affixed to or supported by moveable object 3420. The movable object may be an airframe (e.g., a ground transport, a waterborne transport, an airborne transport, or a spacecraft transport). The mobile geofencing device may have a boundary 3430. Boundaries can move with mobile geofencing devices. The UAV 3440 may be near the geofencing device.

  The geofencing device 3410 may have any set of flight restrictions associated with the UAV 3440. In some cases, flight restrictions may require the UAV to stay within the geofencing boundary 3430 of the mobile geofencing device. UAVs can fly freely within the airspace surrounded by geofencing boundaries. As the mobile geofencing device moves, the boundaries can be moved with the mobile geofencing device. And UAVs can also be moved with mobile geofencing devices. This limitation may be useful where it may be desirable for the UAV to follow a moveable object. For example, the moveable object may be a ground transport, and it may be desirable for the UAV to fly above the ground transporter and capture an image of the surrounding environment that may be displayed above the ground transporter. . The UAV may remain in the vicinity of the ground transport, without requiring the user to operate the UAV actively. The UAV may remain within the boundary moving with the transporter and may follow the transporter.

  In another case, restrictions may cause the UAV to be kept outside the boundaries. The restriction can prevent the UAV from hitting or colliding with the ground transport. Even if the UAV is manually operated by the user, if the user commands the UAV to hit the transporter, the UAV may take flight response measures that may prevent a crash on the transporter. This is used for malicious UAV users who may inadvertently make a collision if they do not take flight response measures, or they may be attempting to deliberately crash a less experienced UAV user or transport May be Mobile geofencing devices can protect objects from malicious users who would otherwise cause UAVs to crash into nearby mobile geofencing devices.

  A further case is for load restrictions. For example, while the UAV is within the boundaries of a mobile geofencing device, the UAV may not be allowed to take images of the environment. Even while the mobile geofencing device moves around in the environment, the UAV may not be able to capture images of the mobile geofencing device and the movable object. This may be useful when it is desirable to prevent the UAV from collecting data (eg, image data) on mobile geofencing devices or movable objects.

  In another case, the restriction may prevent UAV's wireless communication while the UAV is within bounds. In one example, the restriction allows wireless communication but prevents communication that may interfere with the functionality of at least one of the movable object or the geofencing device. While the mobile geofencing device is moving, the UAV may not be able to use wireless communication that may interfere with the wireless communication of the geofencing device or at least one of the movable objects. This may be useful to prevent the UAV from randomly coming close to the moveable object and interfering with the communication of the moveable object or at least one of the moveable geofencing devices.

  Any other type of restriction, as described elsewhere herein, may apply to mobile geofencing devices.

User Interface The display may show information about one or more geofencing devices. The device may be a user terminal visible by a user. The user terminal can also function as a remote controller that can send one or more operation commands to the UAV. The remote controller can accept user input to perform UAV operations. Examples of UAV operations that may be controlled by the user are flight, on-board motion, on-board positioning, support motion, sensor motion, wireless communication, navigation, power usage, article transport, or any other It may include UAV operation. For example, the user can control flight of the UAV through the remote controller. The user terminal can receive data from the UAV. The UAV can capture data using one or more sensors (eg, cameras). Images from the camera may be provided to the user terminal, or data from any other sensor may be provided to the user terminal. The user terminal can also function as a remote controller that can send one or more commands to the geofencing device or can change the functionality of the geofencing device. The device may be a display on the geofencing device itself. The geofencing device can indicate information about the geofencing device and any surrounding geofencing devices. The apparatus may be a display of an operator (e.g., a manager) of the aviation control system. The device may be a display of at least one of a user of the jurisdiction (e.g. a government employee, an employee of a government agency) or a user of an emergency service (e.g. a police officer etc.). The device may be a display that can be viewed by any other individual involved in the UAV system.

  The display may include a screen or other type of display. The screen may also be at least one of an LCD screen, a CRT screen, a plasma screen, an LED screen, a touch screen, or any other technique for displaying information as is known in the art or later presented. Good.

  FIG. 35 shows an example of a user interface showing information about one or more geofencing devices according to an embodiment of the present invention. Display 3510 may have a screen or other portion that may show user interface 3520, which may show information regarding one or more geofencing devices. In one case, maps of geofencing devices 3530a, 3530b, 3530c can be displayed. The user interface can indicate the location of the geofencing devices relative to one another. The user interface may show corresponding boundaries 3540a, 3540b, 3540c of the geofencing device. The location 3550 of the UAV relative to the geofencing device can be displayed.

  The display device may be a remote device that may be used to allow the user to view geofencing device information. Information regarding the location of the geofencing device can be gathered from one or more geofencing devices. The remote device can receive information directly from one or more geofencing devices. For example, the geofencing device can send a signal regarding the location of the geofencing device. Alternatively, information from one or more geofencing devices may be provided indirectly to the display. In some cases, an aviation control system, other portions of an authentication system, or any other system may collect information regarding the geofencing device. For example, the aviation control system can receive information regarding the location of the geofencing device and can communicate information regarding the geofencing device to the remote device.

  The geofencing device can send information about the geofencing boundary to a remote device or another device or system (e.g., an aviation control system). The aviation control system can receive information about geofencing boundaries from the geofencing device and can send information to remote devices. In other embodiments, the geo-fencing device can transmit only location information, and an aviation control system or other system can provide information about boundaries. For example, the geofencing device can send the location of the geofencing device to the aviation control system, and the aviation control system can determine the boundaries of the geofencing device. The air control device can then transmit information about the boundary to the remote device along with the position information. In one embodiment, an aviation control system or other system can generate boundaries based on the location of the geofencing device. The location of the boundary may be determined in conjunction with the location of the geofencing device. The aviation control system may determine at least one of other factors (e.g., information about at least one of a UAV or a user near the geofencing device, environmental conditions, timing, or any other factor) when determining the geofencing boundary. ) May be considered.

  In one embodiment, the remote device may be a UAV remote controller. The UAV being controlled by the remote device may be in the vicinity of one or more geofencing devices. An aviation control system or geofencing device can detect that the UAV is within range of the geofencing device. The UAV can be determined to be within range near the geofencing device. A geofencing boundary may be generated based on information about the UAV or the user operating the UAV. The geofencing boundary may be generated at at least one of an aviation control system, a geofencing device, a UAV, or a remote controller. The remote device may display display information regarding the boundaries of the geofencing device, and may or may not be specifically tailored to the UAV.

  In some cases, once the boundary is indicated, the boundary may be adjusted to the remote device displaying the boundary. The boundaries may be adjusted based on information about the UAV (eg, UAV identifier, UAV type, UAV activity) and may be communicated to the remote device. One or more operations of the UAV may be controlled by commands from a remote device. The UAV can send information to the remote device regarding data collected by the UAV. For example, an image captured by an imaging device onboard the UAV may be transmitted to a remote device.

  When the boundary is adjusted to the remote device, the other remote devices may or may not recognize the same boundary as the remote device. For example, a first remote device may communicate with a first UAV that may be in the vicinity of one or more geofencing devices. The first remote device can display information regarding at least one of the location or boundary of the geofencing device. The position of the first UAV may be displayed in association with at least one of the position or the boundary of the geofencing device. The second remote device may communicate with a second UAV that may be in proximity to one or more geofencing devices. The second remote device can display information regarding at least one of the location or the boundary of the geofencing device. The position of the second UAV may be displayed in relation to at least one of the position or the boundary of the geofencing device. In some cases, information regarding the location of the geofencing device may be consistent between the first remote device and the second remote device. For example, the same geofencing device displayed on both the first and second remote devices may be given the same position. Boundary information regarding the geofencing device may or may not be consistent between the first remote device and the second remote device. For example, the boundaries can be shown as the same on the first and second remote devices. Alternatively, the boundaries can be shown as different on the first and second remote devices. In some cases, the boundaries of the geofencing device can be changed depending on the identification of the UAV. The boundaries of the geofencing device can vary depending on the UAV type. In this way, the first remote device and the second remote device can indicate different boundaries for the same geofencing device. All of the geofencing devices, part of the geofencing device, one geofencing device can indicate a different boundary between the first remote device and the second remote device, or None can show.

  The first remote device can indicate the position of the first UAV, and the second remote device can indicate the position of the second UAV. The positions of the first and second UAVs may be different from one another. The first remote device may or may not indicate the position of the second UAV. The second remote device may or may not indicate the position of the first UAV. The remote device can indicate the position of the UAV to which the remote device can correspond. The remote device may or may not indicate the location of other UAVs.

  One aspect of the invention is directed to a method of displaying geofencing information for a UAV. The method comprises receiving geofencing device data including (1) (a) at least one geofencing device location, and (b) one or more geofencing boundaries of the at least one geofencing device. (2) providing a display to display information to the user, (3) on the display (a) the location of the at least one geofencing device, and (b) one or more geos of the at least one geofencing device. Showing a map having a fencing boundary. The display may include a communication unit and a display. The communication unit receives geofencing device data including (1) at least one geofencing device location and (2) at least one geofencing device's one or more geofencing boundaries. The display displays the information to the user and shows a map having (1) the location of the at least one geofencing device and (2) one or more geofencing boundaries of the at least one geofencing device.

  The position of the object shown on the remote display may be updated in real time. For example, the position of the UAV indicated on the remote device may be updated in real time. The location of the UAV may be indicated in relation to at least one geofencing device. The position of the UAV may be updated continuously, periodically (eg, regular or irregular time intervals), in response to a schedule, or in response to detected events or circumstances. In some cases, the position of the UAV on the screen is less than 15 minutes, less than 10 minutes, less than 5 minutes, less than 3 minutes, less than 2 minutes, less than 1 minute, less than 30 seconds, less than 15 seconds, 10 seconds of movement of the UAV It may be updated within less than 5 seconds, less than 3 seconds, less than 2 seconds, less than 1 second, less than 0.5 seconds, less than 0.1 seconds, less than 0.05 seconds, or less than 0.01 seconds.

  In one embodiment, the geofencing device may be stationary. The location of the geofencing device does not need to be updated, or may be updated continuously, periodically, according to a schedule, or in response to a detected event or condition. In some cases, the user may move the stationary geofencing device. For example, the user can lift the geofencing device and move it to another location. The updated position may be indicated on the remote device.

  Alternatively, the geofencing device may be mobile. The position of the geofencing device may be changed. The position of one or more geofencing devices shown on the remote display may be updated in real time. The position of the one or more geofencing devices may be indicated at least one of relative to each other or relative to other features on the map. The location of the geofencing device may be updated continuously, periodically (eg, regular or irregular time intervals), in response to a schedule, or in response to detected events or circumstances. . In some cases, the location of the geofencing device on the screen is less than 15 minutes, less than 10 minutes, less than 5 minutes, less than 3 minutes, less than 2 minutes, less than 1 minute, less than 30 seconds, 15 seconds of movement of the geofencing device Less than 10 seconds less than 5 seconds less than 3 seconds less than 2 seconds less than 0.5 seconds less than 0.1 seconds less than 0.05 seconds less than 0.01 seconds May be

  The boundaries of the geofencing device may be substantially fixed. The display of the boundaries of the near fixed geofencing device need not be updated. Alternatively, the boundaries may be updated continuously, periodically, according to a schedule, or in response to detected events or circumstances.

  Optionally, the boundaries of the geofencing device may change with time. The position of the boundary shown on the remote display may be updated in real time. Locations of boundaries of one or more geofencing devices may be indicated at least one of relative to each other or relative to other features on the map. Geofencing device boundaries may be updated continuously, periodically (eg, regular or irregular time intervals), in response to a schedule, or in response to detected events or circumstances. . In some cases, the boundaries of the geofencing device shown on the screen are less than 15 minutes, less than 10 minutes, less than 5 minutes, less than 3 minutes, less than 2 minutes, less than 1 minute, 30 minutes of changing the boundaries of the geofencing device Less than seconds, less than 15 seconds, less than 10 seconds, less than 5 seconds, less than 3 seconds, less than 2 seconds, less than 1 second, less than 0.5 seconds, less than 0.1 seconds, less than 0.05 seconds, or 0.01 seconds It may be updated within less than. The boundaries of the geofencing device may be changed according to any number of factors (eg, as described elsewhere herein). For example, environmental conditions may cause boundary changes. Other factors (eg, UAV information, user information, or timing) may cause boundary changes.

  Optionally, the user interface may show visual indicators of the type of flight restrictions imposed by the at least one geofencing device. Different categories of flight restrictions may be imposed by the geofencing device. Examples of categories may include, but are not limited to, flight regulations, vehicle regulations, communications regulations, power usage / management regulations, regulations on supported items, navigation regulations, sensor regulations, or any other regulations. . Visual indicators can visually distinguish different types or categories of flight restrictions. Examples of types of visual indicators may include letters, numbers, symbols, icons, sizes, images, colors, patterns, highlighting, or any other visual indicator that can help distinguish between different types of flight restrictions. It is not limited to these. For example, different types of flight restrictions imposed by at least one geofencing device may be colored differently. For example, the first geofencing device or boundary may have a first color (eg, red) indicating a first type of flight restriction (eg, upper altitude limit) while the second geofencing device or boundary may be The fencing device or boundary may have a second color (e.g., green) indicating a second type of flight restriction (e.g., use of a load). In some cases, a single geofencing device may have more than one type of flight restriction. The visual indicator can indicate a large number of types of covering (e.g. red and green lines can be shown on the border to indicate the implementation of both high altitude and load usage restrictions). In certain embodiments, the area within the boundaries to which flight restrictions apply may be shaded or may have a color indicating a type of flight restriction. In some cases, if a restriction is applied to one or more out of bounds, the out bounded area may be shaded or colored. For example, the UAV may only be permitted to operate the load within the set of boundaries of the geofencing device. And, the out-of-bounds area may be shaded to indicate the use of the load outside the bounds of the geofencing device. Alternatively, the area within the boundary may be shaded to indicate that the type of restriction is within the boundary and only operation within the boundary is permitted.

  In one embodiment, the UAV may have a flight trajectory or direction. The trajectory or direction of the UAV may be indicated on the user interface. For example, an arrow or vector can point in the direction the UAV is traveling. A visual indicator of the direction or trajectory of the UAV may or may not indicate a factor of the velocity or other movement of the UAV. For example, the indicator may be able to visually distinguish whether the UAV is progressing faster or slower. In some cases, a numerical value of speed may be displayed. In another case, longer arrows or vectors may correspond to faster velocities than shorter arrows or vectors.

  Information related to the flight path of the UAV may be displayed on the user interface. Optionally, information regarding the flight path of the past UAV may be displayed. For example, the dotted line or other indicator of the route can indicate where the UAV has already navigated. The map can display a line or other indicator of the path the UAV has already traversed. In some cases, future flight paths may be displayed on the user interface. In some cases, the UAV may have a determined or semi-determined flight plan. The flight plan may include predicted future flight paths. The predicted flight path may be displayed on the user interface. For example, a line of paths or other indicator may indicate where the UAV is predicted to proceed. Future flight paths may be changed or updated in real time. Future flight paths may be updated and / or displayed continuously, periodically (eg, at regular or irregular intervals), according to a schedule. In some cases, the future flight path shown on the screen is less than 15 minutes, less than 10 minutes, less than 5 minutes, less than 3 minutes, less than 2 minutes, less than 1 minute, less than 30 seconds of changes in future flight paths Less than 15 seconds, less than 10 seconds, less than 5 seconds, less than 3 seconds, less than 2 seconds, less than 1 second, less than 0.5 seconds, less than 0.1 seconds, less than 0.05 seconds, or less than 0.01 seconds May be updated.

  The priority level of the geofencing device may be displayed on the user interface. A visual indicator may allow to visually distinguish between different levels of priority for the geofencing device. For example, the size or shape of the icon may indicate the priority level of the geofencing device. The color of the icon may indicate the priority level of the geofencing device. An indicator (eg, a letter or a number) may be provided by the geofencing device and may indicate a priority level of the geofencing device. In some cases, priority levels may not always be displayed visually. However, the information can be displayed when the user selects the geofencing device or moves the mouse over the geofencing device.

  The remote display may receive user input. In one case, the display may have a touch screen that can record user input as the user touches or swipes the screen. The device may have any other type of user interactive components (eg, buttons, mice, joysticks, trackballs, touch pads, pens, inertial sensors, imaging devices, motion capture devices, or microphones).

  User input can affect the operation of the UAV or geofencing device. Examples of UAV operations that may be affected by user input include UAV power on or off, UAV flight path, UAV takeoff, UAV landing, UAV destination or route fixed point, UAV flight mode (eg, autonomous) , Semi-autonomous or manual, or a predetermined route, a half-determined route, or a real-time route).

  User input can affect the operation of the geofencing device. User input may affect the location of the geofencing device or at least one of the boundaries of the geofencing device. User input may affect a set of flight restrictions associated with the geofencing device. For example, user input may affect one or more restrictions imposed by the geofencing device. User input can affect the priority level of the geofencing device.

  Aspects of the invention may be directed to a method of controlling a geofencing device. The method comprises the steps of: (1) receiving data associated with at least one geofencing device; and (2) displaying geofencing device information to a user based on received data associated with the at least one geofencing device. Providing at least one operation of the geofencing device according to the user input according to the user input with the steps of: providing (3) receiving user input affecting the at least one operation of the geofencing device; and (4) supporting the transmitter Transmitting one or more signals to be transmitted. The display device presents geofencing device information to the user based on (1) a receiver receiving data related to the at least one geofencing device and (2) received data related to the at least one geofencing device At least one of the geofencing devices according to the display, and (3) one or more processors that receive user input that individually or collectively affect at least one operation of the geofencing device, and (4) the user input A transmitter may be included that conveys one or more signals that affect operation.

  FIG. 43 provides an example of an apparatus capable of accepting user input to control one or more geofencing apparatus according to an embodiment of the present invention. The system can include one or more remote devices 4310. The system can further include one or more geofencing devices 4320a, 4320b, 4320c. The geo-fencing device can optionally communicate with the aviation control system 4330, another part of the authentication system, or any other system or device. Alternatively, the geofencing device can communicate directly with the remote device. The remote device may include a user interface on display 4315. The user interface can show information related to the geofencing device. In one case, map 4340 can indicate location information associated with the geofencing device. Optionally, a list format, a chart format, or any other format may be provided for the present invention. In some embodiments, one or more additional regions 4360 may be provided. This area may include tools or options associated with the control of one or more geofencing devices. In some cases, the user may control the geofencing device in direct communication with the user interface.

  In one embodiment, one-way or two-way communication may be provided between the geofencing device and an aviation control system or other system. For example, the geofencing device can provide the aviation control system with location information or other information regarding the geofencing device. The aviation control system can relay to the geofencing device one or more instructions (e.g., regarding location change, boundaries change, priority changes, flight restrictions change, etc.). An aviation control system, or other system, may have one-way or two-way communication with a remote display. Information regarding the geofencing device (e.g., location of the geofencing device, boundaries) may be sent from the aviation control system to the remote display device. In an embodiment, the aviation control system may be provided with information regarding one or more user inputs to the display. For example, the user can provide input that affects the operation of the geofencing device and can be sent to the aviation control system, which can then send instructions to the corresponding geofencing device. In other embodiments, direct communication can be provided between the geofencing device and the remote display device. The geofencing device may provide information directly on the geofencing device, at least a portion of which may be displayed on the remote display device. The remote display device may receive user input affecting at least one operation of the geofencing device and may communicate to the corresponding geofencing device an instruction affecting at least one operation of the geofencing device.

  User input can affect the operation of the geofencing device. User input can affect the location of the geofencing device. In one embodiment, the geofencing device may be a mobile geofencing device. The user can provide input that can affect the operation of the geofencing device. For example, user input can indicate that the mobile geofencing device is to be moved to a new location. User input may affect geofencing devices that are not currently working. Alternatively, user input may affect the geofencing device while the geofencing device is in operation. The user input may indicate the destination or route fixed point of the geofencing device. For example, the user can launch coordinates for a destination or navigation point of the geofencing device. In another case, the user can click and drag the geofencing device from the current location to the desired destination on the map. In another case, the user can use a finger swipe to pick up the geofencing device and move it to a new desired location on the map. The user input can indicate the path of the geofencing device. The user can pull out the desired path of the geofencing device by the user's finger. The user can enter one or more parameters of the geofencing device's route (eg, specify that the geofencing device should take the shortest route possible to the desired destination, or For any constraints (eg, specify whether there are altitude restrictions, non-flying zones, ground or water infrastructure to be followed by geofencing equipment). The user input may be a set of one or more parameters for the operation of the geofencing device. For example, the user input may indicate the translational velocity, angular velocity, translational acceleration, or angular acceleration of the geofencing device. Any type of maximum or minimum velocity, or maximum or minimum acceleration may be provided.

  User input can affect the boundaries of the geofencing device. One or more geofencing boundaries of the at least one geofencing device may be affected by user input. User input may affect at least one of the size or shape of the boundary of the geofencing device. In some cases, the user can launch at least one set of coordinates or geometric parameters (e.g., radius) for the desired geofencing device boundaries. The user can use the user's finger 4350 or pointer to pull out the desired geofencing device. The boundary drawer may be freehand or may use one or more shape templates. The user can select an existing border and drag and drop the border to resize the border. The user can drag and drop part of the boundary to stretch the boundary or change the shape of the boundary. Updated geo-fencing boundary information may be shown in real time. For example, updated boundary information may be shown on the display based on user input. In some cases, each geofencing device may have a default boundary. Alternatively, initially the boundaries may not be defined. The user may be able to change the default boundaries or enter new boundaries for boundaries that are not defined.

  User input may affect a set of flight restrictions associated with the geofencing device. For example, user input may affect one or more restrictions imposed by the geofencing device. In some cases, the user can communicate with map 4340 to enter or change flight restrictions. At other times, the user may communicate with one or more other ranges 4360 to enter or change flight restrictions. A geofencing device can be selected which the user desires to enter or change flight restrictions. In some cases, the user can select one or more flight restrictions from a plurality of available flight restrictions for the selected geofencing device. The user can enter one or more values that may be specified for flight restrictions. For example, the user can select that the flight limitation of the geofencing device includes an altitude lower limit and a maximum speed. The user can then enter the lower altitude limit and the maximum velocity value. In other cases, the user can specify or generate flight restrictions without selecting from existing options. In some cases, each geofencing device may have flight restrictions associated with it by default. Alternatively, initially, the set of flight restrictions may be initially undefined. The user may be able to change the set of default flight restrictions or enter new flight restrictions for undefined devices. In this way, the user may be able to program a set of one or more flight restrictions on the geofencing device from a remote location. The user may be able to update the set of flight restrictions for the geofencing device from a remote location. Users may be able to program in a set of flight restrictions for different geofencing devices for different conditions. For example, when a user encounters a geofencing device, the first type of UAV is given a first set of flight restrictions while the second type of UAV receives a second set of flight restrictions. It may be possible to specify that a set of A user is given a first set of flight restrictions when the UAV encounters a geofencing device under a first set of environmental conditions while a UAV encounters a geofencing device under a second set of environmental conditions May be programmed to be given a second set of flight restrictions. Also, when the UAV encounters a geofencing device at a first time, the user is given a first set of flight restrictions, while the UAV encountering a geofencing device at a second time receives It can also be programmed to give a set of 2 flight restrictions. The user may be able to program any type of condition or combination of conditions that can generate various flight restrictions.

  User input can affect the priority level of the geofencing device. For example, the user can specify that the geofencing device has high priority, medium priority, or low priority. The user can specify a priority level value for the device. Any other type of priority may be defined by the user, as described elsewhere herein. In some cases, the geofencing device may have an initial priority level. Alternatively, the priority level of the geofencing device may be initially undefined. The user may be able to change the default priority level or enter a new priority level for undefined devices. The user may be able to specify any available priority level for the geofencing device. Alternatively, the user may have limited flexibility or freedom to enter the priority level of the geofencing device. For example, certain levels of priority may be reserved for government or emergency service geofencing devices. Normal individual users may or may not be able to obtain the highest priority level for personal geofencing devices. In some cases, above the threshold priority, the aviation control system operator / administrator may need to approve a higher priority. For example, individual users may require a high level of priority. The aviation control system can approve or reject the request for the high level of priority. In some cases, government entities (eg, government agencies) may approve or reject requests for high levels of priority.

  In this way, the user can advantageously provide inputs that can control the operation of one or more geofencing devices. The user can provide input via the remote device. Thus, the user does not have to be physically present where the geofencing device is present to control the geofencing device. In some cases, the user may choose to be in close proximity to the geofencing device or may opt to leave the geofencing device. The user controlling the operation of the geofencing device may be the owner or operator of the geofencing device. The individual operating the geofencing device may be separate from the individual controlling the UAV that may encounter the geofencing device or may be the same user.

  In other embodiments, users can communicate directly with the geofencing device. The user can provide the geofencing device with manual input that can control the operation of the geofencing device. User input can also control the operation of other geofencing devices in the vicinity of the geofencing device. For example, the set of flight restrictions for the geofencing device may be manually updated using the geofencing device with an onboard user interface. The geofencing device and other operational features (e.g., geofencing device boundaries or geofencing device priority levels) may be manually updated using the on-board user interface on the geofencing device.

  Any functionality for controlling the operation of the geofencing device (eg, via a remote controller) described elsewhere herein may be applied to the on-board user interface of the geofencing device Good. Any description of the data presented by the user interface herein may also apply to the on-board user interface of the geofencing device. In some cases, the geofencing device may have at least one of a screen or button that may communicate with at least one of the user to control the operation of the geofencing device or to view local data .

Geofencing Device Software Applications Users may have devices that perform various functions. The device may already exist as the property of the user. For example, the device may be a computer (e.g., personal computer, laptop computer, server), mobile device (e.g., smart phone, cell phone, tablet, personal digital assistant), or any other type of device. The device may be a network device capable of communicating via a network. The apparatus may include one or more storage units, which may include non-transitory computer readable media capable of storing code, logic or instructions for performing one or more steps described elsewhere herein. Including. The apparatus may perform one or more steps individually or collectively according to the code, logic or instructions of the non-transitory computer readable medium as described herein, one or more It may include a processor. For example, a user can communicate using the device (e.g., make a phone call, send and receive images, video, or text, send and receive electronic mail). The device may have a browser that allows the user to access the internet or browse the web.

  The device may be a geofencing device if the device provides a reference point to the set of boundaries associated with the set of flight restrictions. In some cases, the device is geofencing if geofencing software or an application that can provide the location of the device as a reference point for the set of boundaries associated with the set of flight restrictions is running on the device It may be an apparatus. The device may have a position input device that can provide the position of the geofencing device. For example, the location of at least one of a smartphone, laptop, or tablet, or other mobile device can be determined. The device may be a relatively mobile device (eg, a smartphone, a cell phone, a tablet, a personal digital assistant, a laptop). Any description of a mobile device herein may apply to any other type of device.

  The geofencing application may be downloaded to the mobile device. The mobile device may make a request to the mobile device from the system. In some cases, the system may be an aviation control system, another part of an authentication system, or any other system. The system can provide mobile applications with mobile applications. The geofencing application can collect the location of the mobile device from the location input device of the mobile device. For example, if the smartphone already has a location input device, the geofencing application can use the information from the location input device of the smartphone to determine the location of the geofencing device. The application can provide the position of the mobile device to the aviation control system (or any other system). The application may optionally provide the UAV with the location of the geofencing device. The mobile device may be diverted by the geofencing application to a geofencing device (which may have any of the features or characteristics of the geofencing device described elsewhere herein). In some cases, the geofencing application may activate or operate to cause the mobile device to function as a geofencing device.

  Optionally, the mobile device may be registered with the geofencing system when the geofencing application is downloaded. For example, the mobile device may be registered as a geofencing device in the authentication system. The user may be able to specify at least one of a username or password, or other information that may be used later to authenticate the geofencing device or the user of the geofencing device. The mobile device may have a unique identifier that can distinguish the mobile device from other devices. The unique identifier may be received via the mobile application and / or generated by the mobile application. Any authentication procedure may be provided, as described elsewhere herein.

  In one embodiment, the system can receive the location of the geofencing device. The system may be an aviation control system or any other system. The system may be owned or operated by the same entity that may provide the mobile device with a geofencing mobile application. Alternatively, the system may be owned or operated by different entities that may provide the geofencing mobile application to the mobile device. Any description of the aviation control system herein may apply to any other entity described elsewhere herein. The location of the mobile device may be recognized and used to determine the boundaries that may be associated with the set of flight restrictions. The position of the mobile device may provide a reference to a set of flight restrictions. The location of the boundary can be used as a reference to the location of the mobile device. For example, if the mobile device was to be moved, the location of the boundary may be updated to move with the mobile device accordingly. The location of the mobile device can be leveraged to provide a reference point as a geofencing device.

  A set of flight restrictions may be generated onboard the aviation control system. A set of flight restrictions may be generated based on the location provided by the mobile device via the geofencing mobile application. When entering within the predetermined range of the mobile device, a set of flight restrictions may be generated. In one embodiment, the aviation control system can receive the location of the UAV. The location of the UAV can be compared to the location of the mobile device to determine if the UAV has entered within a predetermined range. A set of flight restrictions may be generated taking into account any factors or conditions (eg, UAV information, user information, environmental conditions, timing) as described elsewhere herein. The mobile device can provide information that can act as a factor or condition, or other external data sources may be provided. For example, information collected using other mobile applications of the mobile device may be leveraged to determine a set of flight restrictions. For example, the mobile device may have a weather application that is available for weather local to the mobile device and that can collect information. Such information may be provided to determine environmental conditions local to the mobile device. In another case, the mobile device may have a local clock that can determine the time. Similarly, the mobile device may have access to the user's calendar. The mobile device's user calendar may be taken into account when determining the set of flight restrictions.

  You can then send a set of flight restrictions to the UAV. The set of flight restrictions can be sent to the geofencing device, which can then send the set of flight restrictions to the UAV. The UAV can operate according to a set of flight restrictions.

  In one embodiment, a set of flight restrictions may be generated onboard the mobile device. A set of flight restrictions may be generated leveraging information from the mobile device (eg, location of the mobile device, information from other mobile applications of the mobile device). If the UAV is in a predetermined range of the mobile device, the mobile device can receive the information. For example, the mobile device can communicate with the UAV to receive the location of the UAV. The mobile device can compare the location of the UAV with the location of the mobile device to determine when the UAV is within a predetermined range of the mobile device. In other cases, the mobile device may receive the location of the UAV from the aviation control system. The aviation control system can track the location of various UAVs and send information to the mobile device. The aviation control system can also transmit UAVs or other information related to users of UAVs.

  The mobile device can or can not send a set of flight restrictions to the aviation control system. In some cases, the mobile device can send a set of flight restrictions directly to the UAV. A mobile device can communicate with at least one of an aviation control system or a UAV via a mobile application. If the geofencing device is a mobile device having a mobile application as described above, any combination of types of communication for the geofencing device, as described elsewhere herein, applies as well It may be done.

  The mobile application can also present the user interface of the device with the user. Users can communicate with the user interface. The user interface may show information regarding at least one of various geofencing devices or associated boundaries within the area, as described elsewhere herein. The user interface can indicate the location of the UAV. The user interface can indicate the path taken or to be taken by the UAV, or the trajectory. The user interface may show information regarding flight restrictions associated with the geofencing device. The mobile application user interface can show any information as described elsewhere herein.

  The user can control the operation of the geofencing device by communicating with the user interface provided by the mobile application. Any type of motion input may be provided, as described elsewhere herein. For example, the user can provide one or more parameters for a set of flight restrictions. The user can provide boundaries for the set of flight restrictions based on the location of the mobile device. The user can specify at least one of the type of flight restriction or the value of various flight restriction metrics. Users can specify geofencing mobile device priorities. In the generation of the set of flight restrictions, the parameter set by the user may be taken into account. The set of flight restrictions may be generated onboard the aeronautical control system or onboard the mobile device and may be generated based on parameters from the user. Thus, the mobile application that may be used to enable the mobile device to function as a geofencing device may provide information about the geofencing device or at least one of the other geofencing devices, or the geofencing device by the user And / or control of the operation of

Geo-fencing device network As mentioned earlier, geo-fencing devices can communicate with each other. In one embodiment, geo-fencing devices can communicate with one another via direct communication or via indirect communication. Various types of communication may be provided between the geofencing devices as described elsewhere herein.

  In one embodiment, the geofencing device may have information onboard the geofencing device. The geofencing device information may be at least one of the location of the geofencing device, the boundary of the geofencing device, the flight restriction associated with the geofencing device, the priority level of the geofencing device, or the identification information of the geofencing device (for example, , Type of geofencing device or geofencing device identifier). The geofencing device may collect data using one or more input elements. The input element may be a communication module, a sensor, or any other type of element that may be able to collect information. For example, the input element can detect UAVs that may be within a predetermined geographic range of the geofencing device. Information about the UAV can be ascertained through the input elements. For example, the geofencing device may include UAV location, UAV operation, UAV identification (eg, UAV type or UAV identifier), UAV physical characteristics, UAV power level, or any other information related to the UAV. Can be determined. In another case, the input element can collect environmental conditions (eg, environmental climate, environmental complexity, traffic, or population density). For example, the input element can collect information about local wind speed and direction, and local air traffic.

  Any information onboard the geofencing device may be shared with other geofencing devices. In one embodiment, the geo-fencing device can share at least one of information regarding the geo-fencing device or any collected information. The geofencing device can be shared with other geofencing devices within the physical range of the geofencing device. Alternatively, the geofencing device can share information with other geofencing devices regardless of the physical scope of the other geofencing devices. In addition to sending information to other geofencing devices, geofencing devices can receive information from other geofencing devices. In some cases, the geofencing device may receive information from other geofencing devices within the physical range of the geofencing device. Alternatively, the geofencing device can receive information from other geofencing devices regardless of the physical range of the other geofencing devices. A geofencing device can share information received from other geofencing devices with other geofencing devices. For example, the first geofencing device may share information received by the second geofencing device with the first geofencing device from the third geofencing device. Similarly, the first geofencing device may share information received by the third geofencing device with the first geofencing device from the second geofencing device. In this way, the information collected by the various geofencing devices can be leveraged by other geofencing devices. The knowledge collected by the multiple geofencing devices goes beyond the separate knowledge of the individual geofencing devices.

  In this way, the geofencing device can form a network that can share information with each other. The geofencing device is capable of at least one of creating or storing a local map of the geofencing device. The local map may include information regarding the location of the geofencing device. The local map may include information regarding the location of the geofencing device within the physical range of the geofencing device. Locations of other geofencing devices may be received by the geofencing device from other geofencing devices. The location of the geofencing device may be detected using one or more on-board input elements to the geofencing device. The local map may include information regarding the location of one or more UAVs within the physical range of the geofencing device. Information about the UAV may be collected using one or more input elements of the geofencing device, or may be received from the UAV or other geofencing device. The local map may include environmental conditions within the physical scope of the geofencing device. In some cases, each of the geofencing devices of the geofencing device network may have a local map. In certain embodiments, one or more of the geofencing devices may have a local map. Local map information from multiple geofencing devices may be shared or combined to form a larger and more complete map.

  Geofencing devices can share information. Geofencing devices can share information with each other directly (e.g., in a P2P manner) or with the assistance of additional entities. Additional entities may act as repositories for information. In certain embodiments, at least one of a storage device or an aviation control system may be used as a repository for information that may be shared between different geofencing devices.

  In one embodiment, the UAV can share information with the geofencing device, and vice versa. For example, the UAV can collect environmental condition information that can be shared with other geofencing devices. For example, the UAV can detect rainfall and local geofencing device information. Similarly, geofencing devices can share information with UAVs. For example, the geofencing device may collect environmental condition information that may be shared with the UAV. The geofencing device may collect information regarding local air traffic that the geofencing device may share with the UAV.

Geofencing Examples The following provides some examples of how a UAV system that may include at least one of an authentication system and a geofencing device may be utilized. These examples are some illustrations of how the system may be applied and are not limiting.

Example 1: Geofencing Device for Privacy As the number of UAVs in the airspace increases, individuals may wish to maintain control over their homes and maintain some privacy. If the UAV with camera is flying over a private home, the UAV may be able to capture images of the residence, which may include the user's private garden or roof. UAVs flying near residences can also cause noise pollution. In one embodiment, if a novice user is operating the UAV, there is a risk of the UAV crashing into the individual's residence or hitting a person at the user's residence, which may result in injury or damage.

  It may be desirable for an individual to be able to prevent a UAV from entering a controlled private space. For example, an individual may wish to exclude the UAV from his residence or premises. Individuals may wish to exclude UAVs from residences they own, rent or sublease. In general, (1) preventing entry in this way may be difficult if another person is flying a UAV, and (2) the individual's wishes may not be noticed Or (3) the UAV may not have sufficient proficiency to maintain control to prevent flying around the private residential airspace.

  An individual may be able to obtain a geofencing device that can prevent the UAV from entering the living space. In some cases, individuals may purchase geofencing equipment or receive them free of charge. Geofencing devices can be installed in areas where individuals want to eliminate UAVs.

  FIG. 44 provides an illustration of how geo-fencing devices can be used in private residences to limit the use of UAVs. For example, person 4410a may purchase geofencing device 4420a. Person A can install the geofencing device at any location within Person A's premises. For example, the geofencing device may be anchored to the residence of person A. The geofencing device can provide a geofencing boundary 4430a. The UAV can not fly inside the geofencing boundary 4430a. The boundary may be inside the premises of person A. The boundary may be at the site boundary of the person A. The boundary may be outside the premises of person A. The boundary may prevent the UAV from entering Person A's premises or flying over Person A's premises. The boundary can prevent all privately owned UAVs from entering Person A's airspace. Even if the UAV operator sends a command to the UAV to enter the airspace of person A, the UAV can not respond and can prevent the person A from entering the airspace. The flight path of the UAV is automatically changed to prevent the UAV from entering the airspace of the person A. Thus, Person A may be able to enjoy Person A's residence without worrying about whether the UAV will enter Person A's airspace.

  Some individuals may not have a local geofencing device. For example, person B may not care if the UAV enters person B's airspace. Person B may not have a geofencing device. Person B may not have any boundaries that may prevent the UAV from passing. Thus, UAV 4440 may be found in the airspace of person B.

  Person C may be concerned about privacy, but may not be aware that air traffic is on Person C's premises. Person C may obtain geofencing device 4420c. Person C may install the geofencing device anywhere within Person C's premises. For example, the geofencing device may be anchored to the residence of person C. The geofencing device may provide a geofencing boundary 4430c. Person C's geofencing device may allow the UAV to fly within the boundary, but may prevent camera operation within the boundary. The boundary may be within the premises of person C, the premises border of person C, or outside the premises of person C. The boundary can prevent all privately owned UAVs from taking pictures while in the airspace of person C. Even if the UAV operator sends a command to the UAV to record information about the residence of Person C using the on-board camera, the UAV's camera can be automatically powered off, or It can not be allowed to store or stream any images. In this way, person C may be able to enjoy the residence of person C from the premises of person C or the airspace of person C without worrying about whether to take an image.

  The geofencing device may be programmable such that individuals who own or operate the geofencing device may be able to change the restrictions associated with the geofencing device. If Person C later decides that the UAV does not want permission to fly over Person C's premises any more, Person C updates the geofencing device, as with Person A's device, and UAV It is possible to no longer allow flying over Person C's premises.

  Any number of private individuals may be able to obtain geofencing devices and exercise control over their residences. Residents can effectively stop UAVs from entering their airspace or performing certain functions within their airspace by providing geofencing equipment. In one example, the geofencing device may be affixed to the roof, wall, fence, ground, garage, or any other part of the residence of the individual. The geofencing device may be outside of the residence or inside it. The geofencing device may (1) be detectable by the UAV, (2) be able to detect the UAV when the UAV is approaching an individual's airspace, or (3) to an aviation control system. It may have a place where it can be communicated. Control over the UAV within the area can act to prevent the UAV from acting inconsistently with the set of flight restrictions associated with the geofencing device.

Example 2: Geofencing Device for Containment As the number of novice UAV users attempting to fly the UAV increases, the risk of UAV collisions or accidents may be greater. In one embodiment, a novice UAV user may be concerned about the UAV floating and falling out of control, causing a collision within the area where the user may not be able to recover the UAV. For example, if the UAV is in an area near the water area, the user may be concerned that approximately the UAV will float above the water area and collide and break within the water area. In another case, the user may cause the UAV to fly over the user's premises and cause the UAV to fly around, in the garden of the next house, or in other areas where the UAV may not be accessible. I can worry.

  It may be desirable for the user to be able to fly the UAV, but still be assured that the UAV remains within a certain area. For example, an individual may wish to practice flying a UAV manually, but may wish to not allow the UAV to go too far or fall out of sight. The user may desire to practice flying the UAV manually while wishing to reduce the risk of the UAV breaking or being in an unrecoverable area.

  The user may be able to obtain geofencing devices that may keep UAVs confined to known areas. In some cases, users may purchase geofencing devices or receive them free of charge. Individuals can install geofencing devices in areas where users want to include UAVs.

  FIG. 45 provides an illustration of how a geofencing device can be used to contain a UAV. Case A illustrates the situation where a UAV 4520a user 4510a may be at the user's residence. The geofencing device 4530a may be provided at the residence of the user. The geofencing device may have an associated boundary 4540a. The UAV may be restricted so that the UAV is only allowed to fly within the boundary. The user may be able to manually control the flight of the UAV within the boundary. When the UAV approaches the boundary, it can take over the flight of the UAV from the operator and prevent the UAV from leaving its range. Takeover allows the UAV to hover until the user provides an input signal to move the UAV away from the boundary, or the UAV can automatically turn or land the UAV within its range Or you can return to the starting point. The boundary can prevent the UAV from entering the site of the user's next house 4150b. In this way, the user does not have to worry about the UAV accidentally entering the garden of the next house, having to disturb the next house to take the UAV, or destroying things in the garden of the next house Eliminate the need to worry about the possibility of hurting your neighbors.

  Case B illustrates a situation where user 4510c may be flying UAV 4520c in an outdoor environment. A geofencing device 4530c may be provided in this environment. Associated boundaries 4540c may be provided around the geofencing device. In some cases, the geofencing device may be portable. For example, the user can take the geofencing device from his residence and take it to a park in the area where he wants to practice the UAV's flight. The geofencing device may be positioned such that one or more expected traps or obstacles may be out of bounds. For example, there may be water bodies 4550 or trees 4560 outside the boundaries. And, the user may be able to practice flying the UAV without worrying that the UAV hits the tree or falls in the water.

  In one embodiment, the geofencing device can be picked up by a user and supported from place to place. In another case, the user can wear the geofencing device or support the geofencing device in the user's pocket. In this way, the user can manipulate the UAV such that the UAV stays within the boundaries that may be around the user supporting the geofencing device. The user can walk around and fly the UAV. The geofencing device can be moved with the user when worn by the user or supported in the user's pocket. In this way, the boundaries of the UAV can progress with the user as the user walks around. The UAV can remain in the vicinity of the user, but can be moved with the user as the user walks around.

  The systems, devices, and methods described herein can be applied to a wide variety of objects, including moveable objects and stationary objects. As mentioned earlier, any description of the aircraft (e.g. UAV) herein may apply to any moveable object and may be used for any moveable object. Any description of aircraft herein may apply specifically to the UAV. The movable object of the present invention can be moved in any suitable environment. For example, in the air (eg, fixed wing aircraft, rotary wing aircraft, or an aircraft having neither fixed wings nor rotary wings), underwater (eg, ship or submarine), on the ground (eg, car, truck, bus, etc.) Mobile vehicles such as vans, motorcycles, bicycles, movable structures or frames such as sticks, fishing rods, etc., underground (for example, subway), in space (for example, space planes, satellites, or space probes), Or any combination of their environments etc. The movable object may be an airframe (eg, an airframe described elsewhere herein). In one embodiment, the movable object can be supported by a living organism or can be taken off from a living organism (eg, a human or an animal). Suitable animals may include birds, dogs, cats, horses, cattle, cattle, sheep, pigs, dolphins, rodents or insects.

  The moveable object may be freely moveable in the environment with respect to six degrees of freedom (eg, three degrees of freedom translation and three degrees of freedom rotation). Alternatively, the movement of the moveable object may be constrained with respect to one or more degrees of freedom (e.g., by a predetermined path, trajectory, or orientation). The movement can be actuated by any suitable actuation mechanism (e.g. engine or motor). The actuation mechanism of the moveable object may be powered by any suitable energy source. For example, electrical energy, magnetic energy, solar energy, wind energy, gravity energy, chemical energy, nuclear energy, or any suitable combination thereof. Movable objects may be self-propelled through a propulsion system as described elsewhere herein. The propulsion system may optionally be driven by an energy source such as: Electrical energy, magnetic energy, solar energy, wind energy, gravity energy, chemical energy, nuclear energy, or any suitable combination of these. Alternatively, the movable object may be supported by a living body.

  In some cases, the moveable object may be an aircraft. For example, the aircraft may be a fixed wing aircraft (eg, an airplane, a glider), a rotary wing aircraft (eg, a helicopter, a rotorcraft), an aircraft with both fixed and rotary wings, or an aircraft without both (eg, Good for airships, hot air balloons). The aircraft may be self-propelled (eg self-propelled via air). A self-propelled aircraft may utilize a propulsion system (e.g., a propulsion system including one or more engines, motors, wheels, shafts, magnets, rotors, propellers, blades, nozzles, or any suitable combination thereof). In some cases, the propulsion system may be used to enable at least one of the following. A movable object takes off from a surface, lands on a surface, maintains its current position or orientation (eg, hovers), changes orientation or changes position.

  The moveable object may be remotely controlled by the user or locally controlled by an occupant within or on the moveable object. Movable objects can be remotely controlled via occupants in separate aircraft. In one embodiment, the movable object is an unmanned movable object (eg, a UAV). An unmanned movable object (e.g., a UAV) may not have an onboard occupant on the movable object. The moveable object may be controlled by a human or an autonomous control system (e.g. a computer control system), or any suitable combination thereof. The movable object may be an autonomous or semi-autonomous robot (e.g. a robot with artificial intelligence).

  The moveable object may have at least one of any suitable size and dimensions. In one embodiment, the moveable object may be sized and / or sized to mount a human occupant in or on the airframe. Alternatively, the moveable object may be at least one smaller in size and / or size than the human occupant may be carried in or on the airframe. The moveable object may be at least one of a size and a size suitable for being lifted or supported by a human. Alternatively, the movable object may be larger than at least one of a size and dimension suitable for being lifted or supported by a human. In some cases, the movable object has a maximum dimension of about 2 cm or less, 5 cm or less, 10 cm or less, 50 cm or less, 1 m or less, 2 m or less, 5 m or less, or 10 m or less (eg, length, width, height, diameter, diagonal ). The maximum dimension may be about 2 cm or more, 5 cm or more, 10 cm or more, 50 cm or more, 1 m or more, 2 m or more, 5 m or more, or 10 m or more. For example, the distance between the shafts of the opposing rotors of the movable object may be about 2 cm or less, 5 cm or less, 10 cm or less, 50 cm or less, 1 m or less, 2 m or less, 5 m or less, or 10 m or less. Alternatively, the distance between the opposed rotor shafts may be about 2 cm or more, 5 cm or more, 10 cm or more, 50 cm or more, 1 m or more, 2 m or more, 5 m or more, or 10 m or more.

In certain embodiments, the movable object may have a volume of less than 100 cm × 100 cm × 100 cm, 50 cm × 50 cm × 30 cm, or less than 5 cm × 5 cm × 3 cm. The total volume of the movable object is about 1 cm ³ or less, 2 cm ³ or less, 5 cm ³ or less, 10 cm ³ or less, 20 cm ³ or less, 30 cm ³ or less, 40 cm ³ or less, 50 cm ³ or less, 60cm ³ below, 70cm ³ below, 80 cm ³ below, 90cm ³ below, 100cm ³ below, 150cm ³ below, 200cm ³ below, 300cm ³ below, 500cm ³ below, 750cm ³ below, 1000cm ³ below, 5000cm ³ below, 10,000cm ³ below, 100,000cm ³ below, It may be 1 m ³ or less, or 10 m ³ or less. Conversely, the total volume of the movable object is about 1 cm ³ or more, 2 cm ³ or more, 5 cm ³ or more, 10 cm ³ or more, 20 cm ³ or more, 30 cm ³ or more, 40 cm ³ or more, 50 cm ³ or more, 60 cm ³ or more, 70 cm ³ or more , 80cm ³ or more, 90cm ³ or more, 100cm ³ or more, 150cm ³ or more, 200cm ³ or more, 300cm ³ or more, 500cm ³ or more, 750cm ³ or more, 1000cm ³ or more, 5000cm ³ or more, 10,000cm ³ or more, 100,000cm ^It may be ³ or more, 1 m ³ or more, or 10 m ³ or more.

In some embodiments, the movable object is about 32,000Cm ² or less, 20,000 cm ² or less, 10,000 cm ² or less, 1,000 cm ² or less, 500 cm ² or less, 100 cm ² or less, 50 cm ² or less, 10 cm ² or less, Or it may have a base area of 5 cm ² or less (which may mean a transverse cross-sectional area encompassed by the movable object). Conversely, the bottom area is about 32,000Cm ² or more, 20,000 cm ² or more, 10,000 cm ² or more, 1,000 cm ² or more, 500 cm ² or more, 100 cm ² or more, 50 cm ² or more, 10 cm ² or more, or 5cm ^Two or more may be sufficient.

  In some cases, the movable object may weigh no more than 1000 kg. The weight of the movable object is about 1000 kg or less, 750 kg or less, 500 kg or less, 200 kg or less, 150 kg or less, 100 kg or less, 80 kg or less, 60 kg or less, 60 kg or less, 50 kg or less, 45 kg or less, 40 kg or less, 35 kg or less, 30 kg or less, 25 kg Below, 20 kg or less, 15 kg or less, 12 kg or less, 10 kg or less, 9 kg or less, 8 kg or less, 7 kg or less, 5 kg or less, 4 kg or less, 3 kg or less, 2 kg or less, 1 kg or less, 0.5 kg or less, 0.1 kg or less , 0.05 kg or less, or 0.01 kg or less. Conversely, the weight is about 1000 kg or more, 750 kg or more, 200 kg or more, 150 kg or more, 100 kg or more, 80 kg or more, 70 kg or more, 60 kg or more, 50 kg or more, 45 kg or more, 40 kg or more, 35 kg or more, 30 kg or more, 25 kg 20 kg or more, 15 kg or more, 12 kg or more, 10 kg or more, 9 kg or more, 8 kg or more, 7 kg or more, 5 kg or more, 4 kg or more, 3 kg or more, 2 kg or more, 1 kg or more, 0.5 kg or more, 0.1 kg or more , 0.05 kg or more, or 0.01 kg or more.

  In certain embodiments, the movable object may be small compared to the load capacity to support. The payload may include at least one of a load and a support mechanism, as described in more detail elsewhere herein. In an example, the ratio of the weight of the movable object to the load weight may be greater than, less than or equal to about 1: 1. In some cases, the ratio of weight of movable object to load weight may be greater than, less than or equal to about 1: 1. In some cases, the ratio of support mechanism weight to load weight may be greater than, less than, or equal to about 1: 1. If necessary, the ratio between the weight of the movable object and the load weight may be 1: 2 or less, 1: 3 or less, 1: 4 or less, 1: 5 or less, 1:10 or less, or even lower. . Conversely, the weight to load weight ratio of the movable object may be 2: 1 or more, 3: 1 or more, 4: 1 or more, 5: 1 or more, 10: 1 or more, or even more.

  In certain embodiments, movable objects may have low energy consumption. For example, the movable object uses an amount less than about 5 W / h, less than 4 W / h, less than 3 W / h, less than 2 W / h, less than 1 W / h, or less. In some cases, the support mechanism of the movable object may have a low energy consumption. For example, the support mechanism uses an amount less than about 5 W / h, less than 4 W / h, less than 3 W / h, less than 2 W / h, less than 1 W / h, or less. In some cases, the movable object mount has low energy consumption, such as less than 5 W / h, less than 4 W / h, less than 3 W / h, less than 2 W / h, less than 1 W / h, or the like obtain.

  FIG. 36 illustrates an unmanned aerial vehicle (UAV) 3600 according to an embodiment of the present invention. The UAV may be an example of a moveable object as described herein, and methods and apparatus for charging a battery assembly can be applied. The UAV 3600 can include a propulsion system having four rotors 3602, 3604, 3606, 3608. Any number (e.g., 1, 2, 3, 4, 5, 6 or more) rotors can be provided. The rotor, rotor assembly, or other propulsion system of the unmanned aerial vehicle may allow at least one of the unmanned aerial vehicle to hover / position, change orientation, or change location. The distance between the opposed rotor shafts can be any suitable length 3610. For example, the length 3610 can be 2 m or less and 5 m or less. In certain embodiments, the length 3610 can be in the range of 40 cm to 1 m, 10 cm to 2 m, or 5 cm to 5 m. Any description of UAV herein may apply to movable objects (eg, different types of movable objects) and vice versa. The UAV may use a system or method that assists with takeoff as described herein.

  In one embodiment, the movable object can support a load. The load may include one or more of passengers, cargo, equipment, instruments, and the like. The load may be provided inside the housing. The housing may be separate from the housing of the movable object or may be part of a housing for the movable object. Alternatively, if the movable object does not have a housing, the load may comprise the housing. Alternatively, part of the load or the entire load may not have the housing. The load may be rigidly fixed to the movable object. Optionally, the load may be moveable (e.g., translatable or rotatable relative to the moveable object) relative to the moveable object. The load may include at least one of a load or a support mechanism as described elsewhere herein.

  In certain embodiments, the movement of the moveable object, support mechanism, mount relative to a fixed reference frame (e.g., the surrounding environment), or at least one another, may be controlled by the terminal. The terminal may be a movable object, a support mechanism, or a remote control at a location remote from at least one of the loads. The terminal may be disposed on or affixed to a support. Alternatively, the terminal may be a handheld device or a wearable device. For example, the terminal can include a smartphone, a tablet, a laptop computer, glasses, gloves, a helmet, a microphone, or any suitable combination thereof. The terminal may include a user interface (eg, a keyboard, a mouse, a joystick, a touch screen, or a display). Any suitable user input may be used to communicate with the terminal. For example, manual input commands, voice control, gesture control, or position control (eg, due to movement, location or tilt of the terminal).

  The terminal may be used to control at least one of any suitable states of the moveable object, the support mechanism, or the load. For example, the terminal can be used to control at least one position or orientation of the moveable object, the support mechanism, or the load relative to at least one of the fixed reference from one another or the fixed reference to each other. In one embodiment, the terminal can be used to control at least one individual element of the moveable object, the support mechanism, or the load (e.g., an actuation assembly of the support mechanism, a sensor of the load, or an emitter of the load). The terminal may include a wireless communication device adapted to communicate with one or more of the moveable object, the support mechanism, or the load.

  The terminal may include a display unit suitable for viewing at least one piece of information of the movable object, the support mechanism or the load. For example, the terminal may display at least one information of the moveable object, the support mechanism, or the load regarding the position, translational velocity, translational acceleration, orientation, angular velocity, angular acceleration, or any suitable combination thereof. In one embodiment, the terminal can display the information provided by the load. For example, data provided by a functional vehicle (eg, an image recorded by a camera or other imaging device).

  Optionally, the same terminal can control the state of the moveable object, the support mechanism or the load, or the moveable object, the support mechanism or the load. Similarly, information from at least one of the movable object, the support mechanism or the load may be received and / or displayed. For example, the terminal may control the positioning of the load relative to the environment, and simultaneously display the image data captured by the load or information on the position of the load. Alternatively, different terminals may be used for different functions. For example, the first terminal may control the movement or state of the movable object, the support mechanism, or at least one of the loads on the load, while the second terminal may control the movable object, the support mechanism or load At least one of receiving or displaying information from at least one of the objects is possible. For example, the first terminal can be used to control the positioning of the load relative to the environment, while the second terminal displays the image data captured by the load. Use different communication modes between movable objects and integrated terminals that control movable objects and receive data, or between movable objects and multiple terminals that control movable objects and receive data You may For example, at least two different communication modes may be formed between the movable object and a terminal that controls the movable object to receive data from the movable object.

  FIG. 37 illustrates a moveable object 3700 including a support mechanism 3702 and a load 3704 according to an embodiment of the present invention. Although the moveable object 3700 is illustrated as an aircraft, this illustration is not intended to be limiting, and any suitable type of moveable object may be used as previously described herein. Those skilled in the art will appreciate that any of the embodiments described herein in the context of an aircraft system may apply to any suitable moveable object (e.g., a UAV). In some cases, the load 3704 may be provided on the movable object 3700 without the need for the support mechanism 3702. The movable object 3700 may include a propulsion mechanism 3706, a detection system 3708, and a communication system 3710.

  As mentioned above, the propulsion mechanism 3706 can include one or more of a rotor, propeller, blade, engine, motor, wheel, shaft, magnet, or nozzle. The movable object may have one or more, two or more, three or more, or four or more propulsion mechanisms. The propulsion mechanisms may all be of the same type. Alternatively, one or more propulsion mechanisms may be different types of propulsion mechanisms. The push mechanism 3706 may be attached to the moveable object 3700 using any suitable means, such as a support element (e.g., a drive shaft) as described elsewhere herein. The propulsion mechanism 3706 may be attached to any suitable portion of the moveable object 3700 (eg, top, bottom, front, rear, sides, or any suitable combination thereof).

  In an embodiment, the propulsion mechanism 3706 does not require any horizontal movement of the movable object 3700 (eg, does not require traveling the runway) and does the movable object 3700 take off vertically from the surface? It can be possible to land vertically on the surface. Optionally, the propulsion mechanism 3706 may be operable to allow the moveable object 3700 to hover at at least one of a particular position or orientation. One or more propulsion mechanisms 3700 may be controlled independently of the other propulsion mechanisms. Alternatively, the propulsion mechanism 3700 can be controlled simultaneously. For example, the moveable object 3700 may have a number of horizontally oriented rotors that can provide the moveable object with at least one of lift or thrust. A plurality of horizontally oriented rotors can be activated to provide movable object 3700 with vertical takeoff, vertical landing and hovering capabilities. In one embodiment, one or more of the horizontally oriented rotors can rotate in a clockwise direction, while one or more of the horizontal rotors can rotate in a counterclockwise direction. For example, the number of clockwise rotors may be equal to the number of counterclockwise rotors. The rotational speed of each horizontally oriented rotor can be varied individually to control at least one of the lift or thrust produced by each rotor. This adjusts at least one of the spatial arrangement, velocity, or acceleration of the moveable object 3700 (e.g., for up to three degrees of translation and up to three degrees of rotation).

  The detection system 3708 may include one or more sensors that may detect at least one of the spatial arrangement, velocity, or acceleration of the moveable object 3700 (eg, for up to three degrees of translation and for up to three degrees of rotation). The one or more sensors may include global positioning system (GPS) sensors, motion sensors, inertial sensors, proximity sensors, or image sensors. At least one of the spatial arrangement, velocity or orientation of the moveable object 3700 using detection data provided by the detection system 3708 (eg, at least one of a suitable processing unit or control module as described below Can be controlled). Alternatively, detection system 3708 can be used to provide data regarding the environment surrounding the moveable object (eg, weather conditions, possible obstacle proximity, geographical feature locations, artificial structure locations, etc.).

  Communication system 3710 can communicate with terminal 3712 having communication system 3714 via wireless signal 3716. Communication system 3710, 3714 may include at least one of any number of transmitters, receivers, or transceivers suitable for wireless communication. The communication may be one-way communication, which allows data to be transmitted in only one direction. For example, one-way communication may include only moveable object 3700 transmitting data to terminal 3712, and vice versa. Data may be transmitted from one or more transmitters of communication system 3710 to one or more receivers of communication system 3712 and vice versa. Alternatively, the communication may be bi-directional, whereby data may be transmitted in both directions between the movable object 3700 and the terminal 3712. Two-way communication can transmit data from one or more transmitters in communication system 3710 to one or more receivers in communication system 3714, and vice versa.

  In one embodiment, terminal 3712 provides control data to one or more of moveable object 3700, support mechanism 3702, and load 3704. Also, information is detected from one or more of the movable object 3700, the support mechanism 3702, and the load 3704 (for example, at least one of position information or motion information of at least one of the movable object, support mechanism or load) by the load Data can be received, eg, image data captured by the on-board camera. In some cases, control data from the terminal may include relative position, motion, instructions for actuation, or control of at least one of a movable object, a support mechanism or a load. For example, the control data may result in at least one of the position or orientation of the movable object (eg, via control of the propulsion mechanism 3706), or the movement of the load relative to the movable object (eg, via control of the support mechanism 3702) Can be corrected). Control data from the terminal may control the load as a result. For example, it may control the operation of a camera or other imaging device (eg taking still pictures or videos, zooming in or out, powering on or off, switching imaging modes, changing image resolution, changing focus, subject Change in depth of field, change in exposure time, change in viewing angle or field of view). In some cases, communication from at least one of the moveable object, support mechanism or mount may include information from one or more sensors (eg, of detection system 3708 or of mount 3704). The communication may include detected information from one or more different types of sensors (eg, GPS sensors, motion sensors, inertial sensors, proximity sensors, or image sensors). Such information may relate to at least one position (e.g. location, orientation), movement or acceleration of the moveable object, the support mechanism or the load. Such information from the load may include data captured by the load or a detected state of the load. Control data sent and provided by the terminal 3712 may control the state of one or more of the moveable object 3700, the support mechanism 3702, or the load 3704. Alternatively, or in combination, support mechanism 3702 and load 3704 can each further include a communication module in communication with terminal 3712. The terminal can thereby communicate and control separately with each of the movable object 3700, the support mechanism 3702 and the load 3704.

  In one embodiment, movable object 3700 can communicate with another remote device in addition to or instead of terminal 3712. Terminal 3712 may be capable of communicating with moveable object 3700 in addition to another remote device. For example, at least one of the movable object 3700 or the terminal 3712 may be in communication with another movable object or a support mechanism or load of another movable object. If desired, the remote device may be a second terminal or other computing device (eg, a computer, laptop, tablet, smartphone or other mobile device). The remote device can transmit data to movable object 3700, receive data from movable object 3700, transmit data to terminal 3712, or receive data from terminal 3712. Optionally, the remote device can connect to the Internet or other telecommunication network. Thereby, data received from at least one of movable object 3700 or terminal 3712 can be uploaded to a website or server.

  FIG. 38 is a schematic diagram according to a block diagram of a system 3800 for controlling movable objects according to an embodiment of the present invention. System 3800 may be used in combination with any of the preferred embodiments of the systems, apparatus, and methods disclosed herein. System 3800 can include a detection module 3802, a processing unit 3804, a non-transitory computer readable medium 3806, a control module 3808, and a communication module 3810.

  The detection module 3802 can utilize different types of sensors that collect information about movable objects in different ways. Different types of sensors can detect different types of signals or signals from different sources. For example, the sensor may include an inertial sensor, a GPS sensor, a proximity sensor (eg, a lidar), or an image / image sensor (eg, a camera). The detection module 3802 may be operatively connected to a processing unit 3804 having a plurality of processors. In one embodiment, the detection module may be operatively connected to a transmission module 3812 (eg, a Wi-Fi image transmission module) that transmits detection data directly to a suitable external device or system. For example, transmission module 3812 can be used to transmit to a remote terminal the image taken by the camera of detection module 3802.

  The processing unit 3804 may comprise one or more processors, such as a programmable processor (e.g., a central processing unit (CPU)). The processing unit 3804 may be operatively connected to a non-transitory computer readable medium 3806. Non-transitory computer readable medium 3806 can store at least one of logic, code or program instructions executable by processing unit 3804 to perform one or more steps. The non-transitory computer readable medium can include one or more memory units (eg, removable media or external storage, such as an SD card or random access memory (RAM)). In one embodiment, data from detection module 3802 may be conveyed and stored directly in a memory unit of non-transitory computer readable medium 3806. The memory unit of the non-transitory computer readable medium 3806 carries out at least one of the logic, code or program instructions executable by the processing unit 3804 in order to carry out any of the preferred embodiments of the method described herein. It can be stored. For example, processing unit 3804 can execute instructions that cause one or more processors of processing unit 3804 to analyze detection data generated by the detection module. The memory unit can store detection data from the detection module that is processed by the processing unit 3804. In one embodiment, a memory unit of the non-transitory computer readable medium 3806 can be used to store the processing result generated by the processing unit 3804.

  In one embodiment, the processing unit 3804 may be operatively connected to a control module 3808 that controls the state of the moveable object. For example, the control module 3808 can control the propulsion mechanism of the movable object to adjust at least one of the spatial arrangement, velocity, or acceleration of the movable object with respect to six degrees of freedom. Alternatively, or in combination, control module 3808 can control one or more of the status of the support mechanism, the load, or the detection module.

  The processing unit 3804 can be operatively connected to a communication module 3810 that transmits and / or receives data from one or more external devices (eg, terminals, displays, or other remote controllers). Any suitable communication means (e.g. wired communication or wireless communication) may be used. For example, communication module 3810 may utilize one or more of a local area network (LAN), wide area network (WAN), infrared, wireless, WiFi, point-to-point (P2P) network, telecommunications network, cloud communications, and the like. Optionally, relay stations (eg towers, satellites or mobile stations) may be used. Wireless communication may be proximity dependent or proximity independent. In certain embodiments, a line of sight for communication may or may not be required. The communication module 3810 can transmit and / or receive one or more of detection data from the detection module 3802, processing results generated by the processing unit 3804, predetermined control data, and user commands from a terminal or a remote controller. It is.

  The components of system 3800 may be arranged in any suitable configuration. For example, one or more of the components of system 3800 can be placed on a moveable object, support mechanism, load, terminal, detection system, or a further external device in communication with one or more of the above. Further, although FIG. 38 illustrates a single processing unit 3804 and a single non-transitory computer readable medium 3806, this is not intended to be limiting by one skilled in the art. It is understood that system 3800 may include at least one of multiple processing units and / or non-transitory computer readable media. In some embodiments, at least one of the plurality of processing units and / or non-transitory computer readable medium may communicate with one or more of the different locations (eg, movable object, support mechanism, load, terminal, detection module, one or more of the above) Or any suitable combination thereof. Thereby, any suitable aspect of at least one of the processing or memory functions performed by system 3800 can be performed at one or more of the aforementioned locations.

While preferred embodiments of the present invention have been shown and described herein, it will be apparent to those skilled in the art that such embodiments are provided for purposes of illustration only. Many modifications, variations and alternatives will occur to those skilled in the art without departing from the invention. It should be understood that various alternatives to the embodiments of the invention described herein may be used in practicing the invention. It is intended that the following claims define the scope of the present invention, and that methods and configurations within the scope of these claims and their equivalents be covered.
[Item 1]
A method of determining the position of an unmanned aerial vehicle (UAV), comprising
Receiving one or more messages from the UAV at a plurality of recording devices;
Timestamping the one or more messages from the UAV in the plurality of recording devices;
Calculating the position of the UAV based on the timestamps of the one or more messages with the assistance of one or more processors.
[Item 2]
The plurality of recording devices are distributed over an area larger than 1000 square meters,
The method according to item 1.
[Item 3]
At least two of the plurality of recording devices are located at least 100 meters apart from one another
The method according to item 1.
[Item 4]
The plurality of recording devices monitor the UAV based on the one or more messages from the UAV.
The method according to item 1.
[Item 5]
The one or more messages include a signature indicative of the UAV identification information.
The method according to item 4.
[Item 6]
The one or more messages include information regarding flight control commands, the location of the UAV, or time information.
The method according to item 4.
[Item 7]
The one or more processors are provided in an aviation control system,
The method according to item 1.
[Item 8]
The position of the recording device is known by the aviation control system,
The method according to item 7.
[Item 9]
The recording device has a predetermined position,
The method according to item 8.
[Item 10]
The recording device transmits a signal indicating the position of the recording device.
The method according to item 8.
[Item 11]
Each of the plurality of recording devices comprises a Global Positioning System (GPS) unit,
The method according to item 10.
[Item 12]
The one or more messages include the Global Positioning System (GPS) location of the UAV,
The method according to item 1.
[Item 13]
And comparing the calculated position of the UAV with the GPS position of the UAV.
The method according to item 12.
[Item 14]
The one or more messages include a UAV identifier that uniquely identifies the UAV from other UAVs,
The method according to item 1.
[Item 15]
The one or more messages include the time at which the one or more messages were sent according to the clock of the UAV.
The method according to item 1.
[Item 16]
The position of the UAV is calculated using triangulation techniques.
The method according to item 1.
[Item 17]
The position of the UAV is calculated using a hyperbola formed by the time difference determination and the position of the recording device
The method according to item 1.
[Item 18]
The distance between the UAV and each of the plurality of recording devices is calculated,
The method according to item 1.
[Item 19]
The distance is calculated through received signal strength indication (RSSI).
The method according to item 18.
[Item 20]
At least one recording device of the plurality of recording devices has multiple reception channels,
The method according to item 1.
[Item 21]
Processing the multiple signals received over the multiple receive channels to obtain the relative orientation of the UAV;
The method according to Item 20.
[Item 22]
The processing includes using beamforming to determine the relative orientation and position of the UAV.
The method according to item 21.
[Item 23]
Receiving the reported position of the UAV from the UAV;
Comparing the calculated position of the UAV to the reported position of the UAV;
Providing an alarm if the difference between the calculated position and the reported position exceeds a threshold.
The method according to item 1.
[Item 24]
A non-transitory computer readable medium comprising program instructions for determining the position of an unmanned aerial vehicle (UAV),
Program instructions for receiving one or more messages from the UAV in a plurality of recording devices;
Program instructions to time stamp the one or more messages from the UAV in the plurality of recording devices;
Program instructions to calculate the position of the UAV based on the time stamp of the one or more messages.
Non-transitory computer readable medium.
[Item 25]
The plurality of recording devices are distributed over an area larger than 1000 square meters,
Non-transitory computer readable medium according to item 24.
[Item 26]
At least two of said plurality of recording devices are located at least 100 meters apart from each other,
Non-transitory computer readable medium according to item 24.
[Item 27]
The plurality of recording devices monitor the UAV based on the one or more messages from the UAV.
Non-transitory computer readable medium according to item 24.
[Item 28]
The one or more messages include a signature indicative of the UAV identification information.
Non-transitory computer readable medium according to item 27.
[Item 29]
The one or more messages include information regarding flight control commands, the location of the UAV, or time information.
Non-transitory computer readable medium according to item 27.
[Item 30]
The one or more processors are provided in an aviation control system,
Non-transitory computer readable medium according to item 24.
[Item 31]
The position of the recording device is known by the aviation control system,
Non-transitory computer readable medium according to Item 30.
[Item 32]
The recording device has a predetermined position,
Non-transitory computer readable medium according to item 31.
[Item 33]
The recording device transmits a signal indicating the position of the recording device.
Non-transitory computer readable medium according to item 31.
[Item 34]
Each of the plurality of recording devices comprises a Global Positioning System (GPS) unit,
Non-transitory computer readable medium according to item 33.
[Item 35]
The one or more messages include the Global Positioning System (GPS) location of the UAV,
Non-transitory computer readable medium according to item 24.
[Item 36]
The method further includes program instructions to compare the calculated position of the UAV to the GPS position of the UAV.
Non-transitory computer readable medium according to item 35.
[Item 37]
The one or more messages include a UAV identifier that uniquely identifies the UAV from other UAVs,
Non-transitory computer readable medium according to item 24.
[Item 38]
The one or more messages include the time at which the one or more messages were sent according to the clock of the UAV.
Non-transitory computer readable medium according to item 24.
[Item 39]
The position of the UAV is calculated using triangulation techniques.
Non-transitory computer readable medium according to item 24.
[Item 40]
The position of the UAV is calculated using a hyperbola formed by the time difference determination and the position of the recording device
Non-transitory computer readable medium according to item 24.
[Item 41]
The distance between the UAV and each of the plurality of recording devices is calculated,
Non-transitory computer readable medium according to item 24.
[Item 42]
The distance is calculated through received signal strength indication (RSSI).
41. A non-transitory computer readable medium according to item 41.
[Item 43]
At least one recording device of the plurality of recording devices has multiple reception channels,
Non-transitory computer readable medium according to item 24.
[Item 44]
The method further comprises program instructions for processing multiple signals received through the multiple receive channels to obtain the relative orientation of the UAV.
43. A non-transitory computer readable medium according to item 43.
[Item 45]
The processing includes using beamforming to determine the relative orientation and position of the UAV.
Non-transitory computer readable medium according to item 44.
[Item 46]
Program instructions to receive the reported position of the UAV from the UAV;
A program instruction to compare the calculated position of the UAV to the reported position of the UAV;
Further comprising program instructions for providing an alert if the difference between the calculated position and the reported position exceeds a threshold.
Non-transitory computer readable medium according to item 24.
[Item 47]
Communication module,
And one or more processors,
The one or more processors, individually or collectively, are operatively connected to the communication module and are transmitted from an unmanned aerial vehicle (UAV) and received at a plurality of recording devices remote from the UAV 1 Calculate the location of the UAV based on the timestamps of one or more messages,
UAV communication position system.
[Item 48]
The plurality of recording devices are distributed over an area larger than 1000 square meters,
The system according to item 47.
[Item 49]
At least two of said plurality of recording devices are located at least 100 meters apart from each other,
The system according to item 47.
[Item 50]
The plurality of recording devices monitor the UAV based on the one or more messages from the UAV.
The system according to item 47.
[Item 51]
The one or more messages include a signature indicative of the UAV identification information.
The system according to item 50.
[Item 52]
The one or more messages include information regarding flight control commands, the location of the UAV, or time information.
The system according to item 50.
[Item 53]
The one or more processors are provided in an aviation control system,
The system according to item 47.
[Item 54]
The position of the recording device is known by the aviation control system,
The system according to item 53.
[Item 55]
The recording device has a predetermined position,
The system according to item 54.
[Item 56]
The recording device transmits a signal indicating the position of the recording device.
The system according to item 54.
[Item 57]
Each of the plurality of recording devices comprises a Global Positioning System (GPS) unit,
The system according to item 56.
[Item 58]
The one or more messages include the Global Positioning System (GPS) location of the UAV,
The system according to item 47.
[Item 59]
The one or more processors compare the calculated position of the UAV to the GPS position of the UAV.
The system according to item 58.
[Item 60]
The one or more messages include a UAV identifier that uniquely identifies the UAV from other UAVs,
The system according to item 47.
[Item 61]
The one or more messages include the time at which the one or more messages were sent according to the clock of the UAV.
The system according to item 47.
[Item 62]
The position of the UAV is calculated using triangulation techniques.
The system according to item 47.
[Item 63]
The position of the UAV is calculated using a hyperbola formed by the time difference determination and the position of the recording device
The system according to item 47.
[Item 64]
The distance between the UAV and each of the plurality of recording devices is calculated,
The system according to item 47.
[Item 65]
The distance is calculated through received signal strength indication (RSSI).
The system according to item 64.
[Item 66]
At least one recording device of the plurality of recording devices has multiple reception channels,
The system according to item 47.
[Item 67]
Multiple signals received over the multiple receive channels are processed to obtain the relative orientation of the UAV,
The system according to item 66.
[Item 68]
The processing includes using beamforming to determine the relative orientation and position of the UAV.
The system according to item 67.
[Item 69]
The reported position of the UAV is received from the UAV,
The one or more processors compare the calculated position of the UAV to the reported position of the UAV, and
Providing an alert if the difference between the calculated position and the reported position exceeds a threshold,
The system according to item 47.
[Item 70]
A method of recording the behavior of an unmanned aerial vehicle (UAV), comprising
Receiving a UAV identifier uniquely identifying the UAV from another UAV;
Receiving a user identifier uniquely identifying, from another user, the user providing one or more commands to perform the operation of the UAV via a remote controller;
The one or more commands, the user identifier associated with the one or more commands, and the UAV identifier associated with the one or more commands are recorded in one or more storage units And steps.
[Item 71]
The one or more storage units are offboard to the UAV and offboard to the remote controller.
The method according to Item 70.
[Item 72]
The one or more storage units are part of an aviation control system,
The method according to Item 70.
[Item 73]
The one or more storage units are distributed as part of a cloud computing infrastructure
The method according to Item 70.
[Item 74]
The one or more storage units are provided across one or more recording devices that receive one or more messages from the UAV.
The method according to Item 70.
[Item 75]
Accessing the one or more commands, the user identifier, and the UAV identifier from the one or more storage units to track personalized UAV activity;
The method according to Item 70.
[Item 76]
The UAV is authenticated prior to receiving the UAV identifier.
The method according to Item 70.
[Item 77]
The user is authenticated prior to receiving the user identifier.
The method according to Item 70.
[Item 78]
The one or more flight commands are permitted only when the user is authorized to operate the UAV.
The method according to Item 70.
[Item 79]
A non-transitory computer readable medium comprising program instructions for recording the behavior of an unmanned aerial vehicle (UAV),
Program instructions for associating one or more commands from a user with a user identifier uniquely identifying the user from other users, providing one or more commands for performing the operation of the UAV through a remote controller ,
Program instructions that uniquely identify the UAV from other UAVs, associating UAV identifiers with the one or more commands;
The one or more commands, the user identifier associated with the one or more commands, and the UAV identifier associated with the one or more commands are recorded in one or more storage units Program instructions, and
Non-transitory computer readable medium.
[Item 80]
The one or more storage units are offboard to the UAV and offboard to the remote controller.
The non-transitory computer readable medium according to Item 79.
[Item 81]
The one or more storage units are part of an aviation control system,
The non-transitory computer readable medium according to Item 79.
[Item 82]
The one or more storage units are distributed as part of a cloud computing infrastructure
The non-transitory computer readable medium according to Item 79.
[Item 83]
The one or more storage units are provided across one or more recording devices that receive one or more messages from the UAV.
The non-transitory computer readable medium according to Item 79.
[Item 84]
Further including program instructions for accessing from the one or more storage units, the one or more commands, the user identifier, and the UAV identifier to track personalized UAV activity;
The non-transitory computer readable medium according to Item 79.
[Item 85]
The UAV is authenticated prior to receiving the UAV identifier.
The non-transitory computer readable medium according to Item 79.
[Item 86]
The user is authenticated prior to receiving the user identifier.
The non-transitory computer readable medium according to Item 79.
[Item 87]
The one or more flight commands are permitted only when the user is authorized to operate the UAV.
The non-transitory computer readable medium according to Item 79.
[Item 88]
An unmanned aerial vehicle (UAV) behavior recording system,
One or more storage units,
And one or more processors,
The one or more processors are operatively connected to the one or more storage units, and individually or collectively,
(1) Receive a UAV identifier that uniquely identifies the UAV from other UAVs,
(2) receiving a user identifier uniquely identifying the user from other users, providing one or more commands to execute the operation of the UAV through a remote controller;
(3) The one or more storage units, the one or more commands, the user identifier associated with the one or more commands, and the UAV identifier associated with the one or more commands Record in,
UAV behavior recording system.
[Item 89]
The one or more storage units are offboard to the UAV and offboard to the remote controller.
The system according to item 88.
[Item 90]
The one or more storage units are part of an aviation control system,
The system according to item 88.
[Item 91]
The one or more storage units are distributed as part of a cloud computing infrastructure
The system according to item 88.
[Item 92]
The one or more storage units are provided across one or more recording devices that receive one or more messages from the UAV.
The system according to item 88.
[Item 93]
The one or more commands, the user identifier, and the UAV identifier are accessed from the one or more storage units to track personalized UAV activity.
The system according to item 88.
[Item 94]
The UAV is authenticated prior to receiving the UAV identifier.
The system according to item 88.
[Item 95]
The user is authenticated prior to receiving the user identifier.
The system according to item 88.
[Item 96]
The one or more flight commands are permitted only when the user is authorized to operate the UAV.
The system according to item 88.

Claims (17)

A method of determining the position of a first unmanned aerial vehicle (UAV) , which is a multi-rotor aircraft , comprising:
The first UAV wirelessly communicates one or more messages originated by the second UAV , including a UAV identifier identifying a second UAV that is a mobile geofencing device, having a predetermined geofencing boundary a step of receiving via, for detecting the second UAV,
Modifying the flight path of the first UAV or hovering the first UAV if the first UAV is inside the predetermined geofencing boundary;
Receiving the one or more messages from the first UAV via wireless communication in a plurality of recording devices after detecting the second UAV;
Timestamping the one or more messages from the first UAV in the plurality of recording devices;
Calculating the position of the first UAV based on a timestamp of the one or more messages. At least two of the plurality of recording devices are located apart from each other,
The method of claim 1. The plurality of recording devices monitor the UAV based on the one or more messages from the UAV.
A method according to claim 1 or claim 2. The one or more messages include a signature indicative of UAV identification information.
A method according to any one of the preceding claims. The one or more messages include information regarding flight control commands, the location of the UAV, or time information.
A method according to any one of the preceding claims. The position of the recording device is known by the aviation control system,
The method according to any one of the preceding claims. The recording device has a predetermined position,
A method according to any one of the preceding claims. The recording device transmits a signal indicating the position of the recording device.
A method according to any one of the preceding claims. Each of the plurality of recording devices comprises a Global Positioning System (GPS) unit,
A method according to any one of the preceding claims. The one or more messages include the Global Positioning System (GPS) location of the UAV,
A method according to any one of the preceding claims. And comparing the calculated position of the UAV with the GPS position of the UAV.
A method according to claim 10. The one or more messages include UAV identifiers that identify the UAV and other UAVs,
A method according to any one of the preceding claims.   13. A method according to any one of the preceding claims, wherein the one or more messages comprise the time at which the one or more messages were sent according to the clock of the UAV. The distance between the UAV and each of the plurality of recording devices is calculated,
A method according to any one of the preceding claims. Receiving the location of the UAV from the UAV;
Comparing the calculated position of the UAV to the position of the UAV;
Providing an alarm if the difference between the calculated position and the position of the UAV exceeds a threshold.
The method according to any one of the preceding claims. Modifying the flight path of the first UAV or hovering the first UAV if the first UAV is inside the predetermined geofencing boundary,
Measuring the distance between the first UAV and the second UAV, wherein the first UAV is inside the predetermined geofencing boundary or the second UAV is the first Modifying the flight path of the first UAV or replacing it with the step of hovering the first UAV if it is determined based on the distance that it is inside the geofencing boundary of the UAV.
A method according to any one of the preceding claims.   A system comprising a processor for performing the method according to any one of the preceding claims.

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