Classifications

• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
  • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
  • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
  • G05D1/0022—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the communication link

Definitions

• This invention relates to control systems for controlling unmanned vehicles. BACKGROUND OF THE INVENTION
• Unmanned vehicles which are predominantly used for military and special operation applications, are becoming today increasingly popular in civilian applications. UxVs are used in a large variety of applications including for example, traffic monitoring, remote sensing and reconnaissance, transportation, search and rescue, domestic policing, electronic warfare and decoys, and more.
• Unmanned vehicles include various types, such as for example Unmanned Aerial Vehicles (UAVs also known as Unmanned Aerial systems), Unmanned Ground Vehicles (UGVs), Unmanned Marine Vehicles (UMVs), etc.
• UAVs Unmanned Aerial Vehicles
• UAVs Unmanned Aerial systems
• UAVs Unmanned Ground Vehicles
• UUVs Unmanned Marine Vehicles
• a UxV The operation of a UxV throughout its mission is controlled by a control station which is manned by a controi station operator. For example, a UAV is controlled and monitored from takeoff, through flight and mission performance and until landing.
• a UxV control system configured to enable handover of control over a UxV from a first operator console to a second operator console, the UxV control system being operationally connected to the UxV;
• the UxV control system comprising at least an application servers unit and a Vehicle Specific Module (VSM) and configured to communicate with the UxV via at least one Ground Data Terminal (GDT);
• VSM Vehicle Specific Module
• GDT Ground Data Terminal
• the application servers unit being operatively connectibie to a first operator console having control over the UxV;
• the application servers unit comprising a processing unit is configured, responsive to a request to hand over control of the UxV from the first operator console to a second operator console, to execute a handover process, wherein the UxV remains constantly connected to the UxV control system during the handover process;
• the processing unit is configured for the handover process to: connect the second operator console to the application servers unit; hand over control of the UxV from the first operator console to the second operator console; and disconnect the second operator console.
• system may comprise the additional features (i-vii) enumerated below in any combination and/or permutation.
• communication between the respective GDT and the ADT in the UxV can be based on one or more of: line of sight communication, and beyond line of sight communication.
• the UxV control system is simultaneously connected to a plurality of operator consoles, each operator console enabling to control and/or monitor the UxV and/or one or more onboard payioad systems.
• first operator console and the second operator console communicate with the UxV control system by a remote wireless communication network.
• UxV is any one of: unmanned aerial vehicle, unmanned ground vehicle, unmanned marine vehicle, and unmanned submarine vehicle.
• the UxV control system comprising at least an application servers unit and a Vehicle Specific Module (VSM) and is configured to communicate with the UxV via at least one Ground Data Terminal (GDT);
• VSM Vehicle Specific Module
• GDT Ground Data Terminal
• the handover process comprising:
• a machine-readable non -transitory memory tangibly embodying a program of instructions executable by the machine for executing a method of handover of control over a UxV from a first operator console to a second operator console, the UxV being operationally connected to a UxV control system;
• the UxV control system comprising at least an application servers unit and a Vehicle Specific Module (VSM) and configured to communicate with the UxV via at least one Ground Data Terminal (GDT); the method comprising:
• the handover process comprising:
• a computer program product implemented on a non-transitory computer useable medium having computer readable program code embodied therein for handover of control over a UxV from a first operator console to a second operator console, the UxV being operationally connected to a UxV control system; the UxV control system comprising at least an application servers unit and a Vehicle Specific Module (VSM) and is configured to communicate with the UxV via at least one Ground Data Terminal (GDT);
• VSM Vehicle Specific Module
• GDT Ground Data Terminal
• the handover process comprising: connecting the second operator console to the application servers unit; handing over control of the UxV from the first operator console to the second operator console; disconnecting the second operator console.
• a UxV control system configured to enable to monitor and/or control a respective UxV and/or one or more payload systems onboard the respective UAV, the UxV control system comprising:
• VSM Vehicle Specific Module
• the application servers unit being operatively connectibie to a first operator console having control over the UxV;
• the application servers unit comprising a processing unit configured, responsive to a request to hand over control over the UxV from the first operator console to a second operator console, to execute a handover process, wherein the UxV remains constantly connected to the UxV contro! system during the handover process;
• the processing unit is configured, for the handover process, to: connect the second operator console to the application servers unit; hand over control of the UxV from the first operator console to the second operator console; and disconnect the second operator console.
• a computerized method of controlling a UxV comprising: providing a UxV control system comprising at least an application servers unit and a Vehicle Specific Module (VSM);
• VSM Vehicle Specific Module
• the UxV control systems assigning the UxV control systems to a respective UxV; the UxV control systems configured to communicate with the respective UxV via at least one Ground Data Terminal (GDT);
• GDT Ground Data Terminal
• the handover process comprising:
• Fig. 1 is a functional block diagram illustrating a basic architecture of a UAV control system as known in the art
• Fig, 2 is a functional block diagram schematically illustrating a handover process, as known in the art.
• Fig. 3 is a functional block diagram of a UAV control system, in accordance with the presently disclosed subject matter
• Fig. 4 is a functional block diagram schematically illustrating a handover process, according to the presently disclosed subject matter.
• Fig. 5 is a flowchart illustrating an example of a sequence of operations performed during handover process, in accordance with the presently disclosed subject matter.
• processor e.g. digital signal processor (DSP), microcontroller, field programmable circuit (ASIC), etc
• DSP digital signal processor
• ASIC field programmable circuit
• a device which comprises or is operatively connected to one or more computer processors including by way of non-limiting example, a personal computer, server, laptop computer, computing system, a communication device and/or any combination thereof.
• the phrase “for example,” “such as”, “for instance” and variants thereof describe non-limiting embodiments of the presently disclosed subject matter.
• Reference in the specification to “one case”, “some cases”, “other cases” or variants thereof means that a particular feature, structure or characteristic described in connection with the embodiment(s) is included in at least one embodiment of the presently disclosed subject matter.
• the appearance of the phrase “one case”, “some cases”, “other cases” or variants thereof does not necessarily refer to the same embodiment(s).
• Fig. 3 and Fig. 4 illustrate a schematic of the system architecture in accordance with embodiments of the presently disclosed subject matter.
• the modules in Fig. 3 and Fig. 4 may be centralized in one location or dispersed over more than one location.
• the system may comprise fewer, more and/or different modules than those shown in Fig. 3 and Fig. 4.
• FIG. 1 schematically illustrates UAV control system 120 which communicates with onboard control system 110 onboard UAV 100.
• UAV control system 120 (located remotely from the UAV e.g. on the ground) comprises client module (operator console 121) connected to application servers unit 123, vehicle specific module (VS 125) and primary B ⁇ LOS ground data terminal (Primary B ⁇ LOS GDT 127).
• Operator console 121 can be configured to enable an operator to monitor and control the operation of a respective UAV connected to control system 120.
• Operator console 121 can be implemented on various types of computerized devices including by way of non-limiting example, PC or laptop computers or any other computerized device which comprises computer memory (e.g. volatile and nonvolatile) and one or more computer processors configured with the required processing capabilities.
• Operator console 121 is used by an operator to control the UAV while on the ground and in the air.
• information provided by the UAV (“UAV data") can be displayed on a display (e.g. LCD or LED screen) being part of the operator console.
• UAV data can include for example information indicative of UAV situation awareness, information with respect to the operational conditions of the UAV systems, information with respect to mission progress etc.
• Control of the UAV can include both control over the operation of the UAV itself, as well as control over the operation of various payloads which are installed on the UAV.
• Application servers unit 123 comprises one or more computerized devices (e.g. computer servers) configured to enable the execution of various tasks.
• Each server is a computerized device with appropriate computer memory and one or more computer processors providing the required data processing capabilities.
• Application servers unit 123 can include by way of non-limiting example: flight control server configured for controlling the UAV's flight; various data acquisition servers operatively connected to a respective data acquisition device (e.g. camera, radar, communication intelligence device, etc.) installed on the UAV.
• a respective data acquisition device e.g. camera, radar, communication intelligence device, etc.
• an image acquisition server which is operatively connected to an image acquisition device, such as a camera installed on the UAV and configured to control the camera for obtaining information with respect to a surveyed scene
• data analysis server configured for analyzing UAV data which is retrieved by the data acquisition _g_
• radar application servers configured for interfacing with a radar system installed on the UAV and providing the acquired information, and so forth.
• Vehicle specific primary module (VSM PR 125) is operativeiy connected to application servers unit 123 and to ground data terminal (B/LOS GDT 127) and is configured to receive data link interface (DLI) from the application servers unit 123 and to translate the data link to a protocol which is compatible with the onboard control system 110.
• VSM 125 is further configured to translate data which is received from the UAV (via GDT) to a format which is compatible with core UAV control system 120.
• B/LOS GDT 127 is configured to communicate with the UAV via a respective aerial data terminal (B/LOS ADT 111) which is part of the onboard control system 110.
• Communication between GDT and ADT can be line of sight communication (LOS) or satellite based, beyond line of sight communication (B-LOS).
• Primary flight computer 113 represents a computer located onboard the UAV configured to execute various operations including for example, flight operations and various missions.
• Primary flight computer 113 can be implemented by multiple computer processing devices.
• the functional elements in UAV control system 120 are configured as a single operational channel for enabling communication and control with a UAV.
• a respective UAV control system is assigned to the UAV for controlling and monitoring operation of the UAV.
• a first operator is responsible for controlling the UAV during takeoff and landing
• a second operator is responsible for controlling the UAV throughout the actual mission.
• a handover process is performed between the first and second operator consoles.
• control over a given UAV is transferred from one operator to another operator. Since the UAV control system 120 is configured as single unified operational channel, during a handover process, a first UAV control system 120, currently connected to the UAV, is disconnected from the UAV, and a second UAV control system 120 is connected to the UAV instead.
• Fig, 2 is a functional block diagram schematically illustrating a handover process as performed in accordance with the previously known art.
• the UAV (100) is disconnected from one UAV control system 120 a and connected to a different UAV control system 120 b -
• the disconnection of the UAV from one UAV control system and reconnection of the UAV to the other UAV control system involves a period of time, albeit generally short, when the UAV is disconnected from both UAV control systems.
• the handover process presents a risk of loss of connection with the UAV. This poses a risk of complete loss of connection with the UAV. it is desirable to avoid any connection loss, whether it is a short period connection loss or a complete connection loss.
• Fig. 3 is a functional block diagram of a UAV control system, in accordance with the presently disclosed subject matter.
• UAV control system 220 depicted in Fig. 3 comprises similar functional elements to those described above with reference to Fig. 1. However, unlike the architecture of the prior art, UAV control system 220 comprises a respective GDT, VSM and an application servers unit, while the operator console does not form an integral part of core UAV control system 220.
• core UAV control system 220 is configured to be connectable to one or more user terminals 121 which are provided as functional elements external to UAV control system 220.
• GDT is not considered an integral part of the UAV control system, but is rather externally connected to the UAV control system to enable communication with a respective UAV.
• the operator console device can be configured to assume control or relinquish control on a UAV and/or any of its payload systems. Communication between the operator console and the UAV control system can be realized by any type of communication network, including for example some type of wireless communication networks.
• each UAV can be assigned with a specific UAV control system 220 which remains connected to the UAV throughout operation of the UAV.
• a Primary GDT in a UAV control system communicates with a respective Primary ADT of a respective UAV.
• the UAV control system and the UAV control module 110 form together a unified operational channel 230 which remains connected during operation of the UAV.
• Fig. 4 is a functional block diagram schematically illustrating a handover process according to the presently disclosed subject matter. Unlike the handover process described above with reference to Fig. 2 the presently disclosed handover process does not include disconnection of a UAV's ADT from a respective GDT of a UAV control system followed by reconnection of the ADT to a different GDT of a different UAV control system.
• the handover is executed at the application servers level, while the UAV's ADT remains constantly connected to the GDT of its assigned UAV control system 220.
• each UAV can be assigned with a designated UAV control system 220 comprising a respective application servers unit and a respective VS .
• the handover is performed by connecting a different operator console to the UAV operational channel of the UAV while the onboard control system (110) remains connected to its designated UAV control system throughout the entire process.
• An application servers unit can comprise, for example, an application server comprising a handover processing unit (HO processing unit 129) configured to execute a handover process.
• Handover processing unit 129 is configured to connect to more than one operator console simultaneously and to synchronize the connection and disconnection of the operator consoles.
• a handover processing unit 129 in a given UAV control system 220, which is connected to a first operator console can be configured, responsive to a request, to connect to a second operator console and only then disconnect from the first operator console, and thus enable handover of the control over a respective UAV from the first operator console to the second operator console.
• the UAV's ADT remains connected to the GDT of the assigned UAV control system the entire time.
• the operator console in accordance with the presently disclosed subject matter is configured to establish a communication link with a given UAV control system and communicate with the system over some type of communication network.
• control over the UAV is transferred from operator console 121 a to operator console 121 b .
• the UAV control system 220 is transferred as a complete unit from operator console 121 3 to operator console 21 maintaining the operation channel 230 intact throughout the process. This enables a smooth handover process and reduces the risk of disconnection between the control station and the UAV.
• UAV operator consoles can be located at locations which are geographically remote from the UAV control system.
• the operator consoles can remotely connect to a UAV control system and assume command on a UAV assigned to the UAV control system.
• a UAV control system located in Haifa (Israel), which is assigned to a UAV currently flying over the Mediterranean Sea (e.g. some lOths of KM off the shore) for a search and rescue mission.
• the UAV can be controlled by an operator console located anywhere on the globe (e.g. on a ship in the Mediterranean Sea, on the Italian coast, or in Tel Aviv), while the operator console communicates with the UAV control system via a remote communication network.
• control over the UAV can be transmitted from one operator to another, each operator located in a geographically remote location from one another and from the location of the UAV control system (e.g. control can be transferred from an operator onboard a ship in the Mediterranean Sea to an operator console located on the Italian coast).
• a UAV control system can be equipped with application servers required for the pay!oad installed on the UAV for completing these missions. This approach enables to equip each UAV control system only with the application servers which are actually needed for the missions assigned to the specific UAV.
• an application servers unit in a UAV control system assigned to a UAV which is used for a mission which requires radar surveillance may be equipped with an application server for operating and controlling a radar, while an application servers unit in a UAV control system assigned to a different UAV, which is involved in other missions which do not require radar, may not be equipped with the same application servers.
• each UAV control system can comprise only the application servers which are actually needed for the missions assigned to a respective assigned UAV.
• the UAV control system remains connected to the UAV and only the operator console changes; the new operator is provided with all the application servers needed for operating the payloads onboard the UAV. This approach enables to reduce the cost of core UAV control systems 220.
• Fig. 5 is a flowchart illustrating an example of a sequence of operations performed during handover process, in accordance with the presently disclosed subject matter. Operations described with reference to Fig. 5 can be executed by a core UAV control system (e.g. with the help of handover processing unit 129) as described above with reference to Figs. 3 and 4.
• a UAV control system operativeiy connected to a given UAV (100) and to a first (controlling) operator console receives a request (e.g. from an operator console) to band over UAV control to a second operator console (herein "handover request"). Handover of control of a UAV from one operator console to another can be done in two modes of operation.
• the first mode is a voluntary handover, where the controlling operator console relinquishes control over the respective UAV to another operator console.
• the second mode is a takeover, where a receiving operator console enforces the transfer of control from the relinquishing operator console, which is currently controlling the UAV.
• the request can be initiated, for example by the controlling operator console, requesting to hand over control to the second operator console, or by the second operator console requesting to assume control over the UAV.
• the request can be initiated by one of the operator consoles and transmitted to the application servers unit in the UAV control system of the respective UAV.
• an application servers unit in the respective UAV control system which is currently connected to the controlling operator console, establishes connection with the second operator console (block 503).
• both the first and the second operator consoles are connected to the same UAV control system and respective UAV.
• the UAV remains continuously connected to its assigned operational channel and thus the risk of connection loss with the UAV is avoided (block 505).
• the second operator console assumes control over the UAV control system, becoming the new controlling operator console.
• the first operator console can be disconnected from UAV control system (block 509).
• the second operator console may not be necessary to connect the second operator console to the UAV control system before disconnecting the first operator console.
• the second operator console is connected only after the first operator console is disconnected (i.e. operation in block 509 is performed before the operation in block 503). Since the UAV remains connected to the UAV control system during the handover process, the UAV is protected from communication breakdown, even though it is not connected to an operator console.
• the presently disclosed subject matter contemplates a computer program implemented on a non-transitory computer useable medium being readable by a computer for executing the method of the presently disclosed subject matter.
• the presently disclosed subject matter further contemplates a machine-readable non- transitory computer memory tangibly embodying a program of instructions executable by the machine for executing the method of the presently disclosed subject matter.
• non-transitory is used herein to exclude transitory, propagating signals, but to otherwise include any volatile or non-volatile computer memory technology suitable to the application.

Landscapes

• Engineering & Computer Science (AREA)
• Aviation & Aerospace Engineering (AREA)
• Radar, Positioning & Navigation (AREA)
• Remote Sensing (AREA)
• Physics & Mathematics (AREA)
• General Physics & Mathematics (AREA)
• Automation & Control Theory (AREA)
• Mobile Radio Communication Systems (AREA)

Priority Applications (1)

Applications Claiming Priority (2)

Publications (1)

Family

ID=51418123

Family Applications (1)

Country Status (3)

Cited By (6)

• 2014
  • 2014-03-17 IL IL231555A patent/IL231555A/he active IP Right Grant
• 2015
  • 2015-03-16 WO PCT/IL2015/050280 patent/WO2015140795A1/en active Application Filing
  • 2015-03-16 SG SG11201607192RA patent/SG11201607192RA/en unknown

Non-Patent Citations (2)

Also Published As

Similar Documents

Legal Events