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1. 发明申请

WO2021245573A1 NAVIGATION CONTROL SYSTEM FOR STATIONARY OBSTACLE AVOIDANCE 审中-公开
公开(公告)号：WO2021245573A1
公开(公告)日：2021-12-09
申请号：PCT/IB2021/054837
申请日：2021-06-02
申请人： EVERSEEN LIMITED
发明人： O'HERLIHY, Alan , IBBOTSON, Mark , CIUBOTARU, Bogdan , PESCARU, Dan , DAVID, Ciprian , CERNAZANU-GLAVAN, Cosmin , GUI, Vasile
IPC分类号： G05D1/00 , B25J13/089 , B25J9/12 , B64C2201/141 , B64C39/02 , B64C39/024 , B64D27/24 , G01C21/20 , G05D1/0011 , G05D1/0088 , G05D1/106 , G05D1/1064 , G05D2201/0207 , G06T2207/10028 , G06T2207/10032 , G06T3/0087 , G06T7/155 , G06T7/579 , G06V10/44 , G06V20/13 , G08G5/0013 , G08G5/0021 , G08G5/0052 , G08G5/0069 , G08G5/0091 , G08G5/045
摘要： A navigation control system for an aerial robotic device suspended from a carrier device in an aerial movement volume of an aerial module. The navigation control system is configured to detect one or more stationary obstacles located in corresponding Aerial Movement Volume, create a 3D map representing the Aerial Movement Volume together with one or more bounding boxes enclosing each stationary obstacle in the Aerial Movement Volume, use an optimisation algorithm to compute an optimal route for the aerial robotic device, determine control parameters for a plurality of electric stepper motors driving the carrier device and the aerial robotic device based on the computed optimal route for the aerial robotic device, and navigate the aerial robotic device in accordance with the computed optimal route to enable the aerial robotic device to reach the required destination while avoiding intervening stationary obstacles.

2. 发明申请

WO2021191149A1 DISPOSITIF AVIONIQUE D'ASSISTANCE AU CONTRÔLE D'AU MOINS UN SYSTÈME AUTOMATISÉ D'AÉRONEF 审中-公开
公开(公告)号：WO2021191149A1
公开(公告)日：2021-09-30
申请号：PCT/EP2021/057272
申请日：2021-03-22
申请人： THALES
发明人： LE ROUX, Yannick , LACOSTE, Jean-Marc
IPC分类号： G01C23/00 , G08G5/00 , G05D1/10 , G08G5/0021 , G08G5/0052 , G08G5/0086
摘要： L'invention concerne un dispositif avionique (12) d'assistance au contrôle d'au moins un système automatisé (A1, A2, A3, …, Ai, …AN) d'aéronef (10), le dispositif (12) étant connectable, via un réseau, audit au moins un système automatisé et à une pluralité de sources distinctes du système automatisé. Selon l'invention ledit dispositif (12) est configuré pour : - collecter des données avioniques fournies par la pluralité de sources et fournies par ledit au moins un système automatisé, - classer et analyser les données collectées en fonction de chaque propriété prédéterminée à restituer dudit au moins un système automatisé, - déterminer, à partir des données classées et analysées et à partir d'un état courant de l'aéronef (10), si une consigne avionique, saisie manuellement au sein dudit dispositif, est atteignable au moyen dudit au moins un système automatisé.

3. 发明申请

WO2023059380A1 AUTONOMOUS AIR TAXI SEPARATION SYSTEM AND METHOD 审中-公开
公开(公告)号：WO2023059380A1
公开(公告)日：2023-04-13
申请号：PCT/US2022/038003
申请日：2022-07-22
申请人： AIRSPEED SYSTEMS LLC
发明人： WATSON, Craig M.
IPC分类号： G08G5/00 , G08G5/0008 , G08G5/0013 , G08G5/0021 , G08G5/0026 , G08G5/0039 , G08G5/0043 , G08G5/0052 , G08G5/045
摘要： An autonomous airspace system for urban air mobility monitors flight separation for compliance with a safe separation distance. A reference formation airspace is established for a reference air taxi based on minimum longitudinal, lateral and vertical parameters. When penetration of the reference formation airspace is detected, a penetration airspace is established based on a deformation of the reference formation airspace caused by the penetrating air taxis. A centroid of the penetration airspace is determined and a target separation to the centroid is supplied to the air taxi to reestablish safe separation. The extent of separation is also safely contained by the presence of virtual air taxis whose positions on the periphery of the penetrated airspace serve to limit potential penetration of surrounding air taxi air spaces.

4. 发明申请

WO2023057434A1 METHOD AND FLIGHT DATA ANALYZER FOR IDENTIFYING ANOMALOUS FLIGHT DATA AND METHOD OF MAINTAINING AN AIRCRAFT 审中-公开
公开(公告)号：WO2023057434A1
公开(公告)日：2023-04-13
申请号：PCT/EP2022/077542
申请日：2022-10-04
申请人： UNIVERSITY OF MALTA
发明人： CAMILLERI, Robert , VALENTINO, Gianluca , MUSCAT, Alan , JASRA, Sameer Kumar
IPC分类号： G08G5/00 , G06F17/17 , G06F17/175 , G08G5/0013 , G08G5/0026 , G08G5/0043 , G08G5/0052 , G08G5/0082
摘要： A computer implemented method of identifying anomalous flight data is provided. The method comprises: receiving a plurality of flight data units in a time series from each of a plurality of different flights, wherein each flight data unit comprises a value for each of a plurality of flight parameters at the same time point; mapping the flight data units as respective data points to a multi-dimensional space, wherein the dimensions of the multi- dimensional space comprise a dimension for each of the plurality of flight parameters; and identifying one or more anomalous flight data units in the received plurality of flight data units by applying a local outlier factor algorithm to the mapped flight data units. A method of maintaining an aircraft, a flight data analyzer, a computer program and a computer- readable storage medium is also provided.

5. 发明申请

WO2023282977A2 FILTER AUGMENTED RECEIVER AUTONOMOUS INTEGRITY MONITORING IN AIRCRAFT 审中-公开
公开(公告)号：WO2023282977A2
公开(公告)日：2023-01-12
申请号：PCT/US2022/029337
申请日：2022-05-14
申请人： RELIABLE ROBOTICS CORPORATION
发明人： ROSE, Robert, W. , PULLEN, Samuel, P. , NEHRENZ, Matthew, T.
IPC分类号： G01S19/49 , G01S19/47 , G01S19/45 , G01S19/48 , G01S19/20 , G01S13/86 , G01S13/882 , G01S13/935 , G01S19/07 , G01S19/40 , G01S19/41 , G01S19/425 , G08G5/0021 , G08G5/0052 , G08G5/0086 , G08G5/045
摘要： An aircraft receives pseudorange input from a plurality of satellites of an augmentation system. Each pseudorange input includes a precise position solution and error data. The aircraft receives a high frequency measurement from an inertial navigation system. The aircraft applies the precise position solution, error data, and high frequency measurement to a set of parallel Schmidt extended Kalman filters to produce a corrected position solution and integrity data. The aircraft applies the integrity data to a receiver autonomous integrity monitoring system to produce a protection level for the corrected position solution. The aircraft performs an aircraft operation using the corrected position solution and protection level.

6. 发明申请

WO2023080947A2 ADVANCED FLIGHT PROCESSING SYSTEM AND/OR METHOD 审中-公开
公开(公告)号：WO2023080947A2
公开(公告)日：2023-05-11
申请号：PCT/US2022/040919
申请日：2022-08-19
申请人： MERLIN LABS, INC.
发明人： NAIMAN, Alexander , COMER, Cynthia , CONNOLLY, Molly
IPC分类号： G01S13/933 , G01S17/933 , G05D1/0088 , G05D1/101 , G06F3/167 , G08G5/0013 , G08G5/0021 , G08G5/0052 , G08G5/045 , G10L15/16 , G10L15/1822 , G10L15/19 , G10L15/22 , G10L2015/223
摘要： The method can include: determining sensor information with an aircraft sensor suite; based on the sensor information, determining a flight command using a set of models; validating the flight command S130; and facilitating execution of a validated flight command. The method can optionally include generating a trained model. However, the method S100 can additionally or alternatively include any other suitable elements. The method can function to facilitate aircraft control based on autonomously generated flight commands. The method can additionally or alternatively function to achieve human-in-the-loop autonomous aircraft control, and/or can function t0 generate a trained neural network based on validation of autonomously generated aircraft flight commands.

7. 发明申请

WO2022098438A2 METHODS AND SYSTEMS FOR UNMANNED AERIAL VEHICLES TO DETECT AND AVOID OTHER FLYING MACHINES 审中-公开
公开(公告)号：WO2022098438A2
公开(公告)日：2022-05-12
申请号：PCT/US2021/050963
申请日：2021-09-17
申请人： KUTTA TECHNOLOGIES, INC.
发明人： VALLELONGA, Robert , LIMBAUGH, Douglas V.
IPC分类号： G08G5/00 , G01S13/933 , G08G5/04 , B64C2201/12 , B64C2201/14 , B64C2201/146 , B64C39/024 , G01S13/878 , G01S7/003 , G01S7/41 , G05D1/0022 , G05D1/0027 , G05D1/104 , G05D1/106 , G08G5/0008 , G08G5/0013 , G08G5/0026 , G08G5/003 , G08G5/0052 , G08G5/0069 , G08G5/0078 , G08G5/0082 , G08G5/045
摘要： Methods and systems for unmanned aerial vehicles are provided. One method includes receiving, by a control system, sensor data from a mobile ground-based platform and sensor data from a ground-based radar surveillance system, the control system configured to communicate with a first UAV and a second UAV; detecting, by the control system, an object likely to impede the second UAV flight within a flight path, the object detected based on the sensor data received from the mobile ground-based platform, the ground-based radar surveillance system or both the ground-based radar surveillance system and the mobile ground-based platform; generating, by the control system, an indicator indicating an object in the flight path; and transmitting, by the control system, the indicator to the first UAV.

8. 发明申请

WO2021198043A1 UNMANNED VEHICLE AND METHOD FOR A FIRST UNMANNED VEHICLE FOR AVOIDING A CONFLICT WITH A SECOND UNMANNED VEHICLE 审中-公开
公开(公告)号：WO2021198043A1
公开(公告)日：2021-10-07
申请号：PCT/EP2021/057848
申请日：2021-03-25
申请人： SONY GROUP CORPORATION , SONY EUROPE B.V.
发明人： BECKER, Florian , WANG, Bi
IPC分类号： G05D1/10 , G05D1/104 , G08G5/0008 , G08G5/0021 , G08G5/0052 , G08G5/0069 , G08G5/0078 , G08G5/045
摘要： A decentralized method for a first Unmanned Vehicle, UV, for avoiding a conflict with a second UV is provided. The method includes determining, based on a current movement plan of the first UV and a current movement plan of the second UV received from the second UV, whether a conflict with the second UV is likely to occur. If it is determined that a conflict with the second UV is likely to occur, the method further includes performing at least one iteration of the following steps: a) determining a candidate movement plan of the first UV and receiving, from the second UV, a candidate movement plan of the second UV; b) determining first cost values for different combinations of one of the current movement plan and the candidate movement plan of the first UV with one of the current movement plan and the candidate movement plan of the second UV using a first cost function; c) receiving, from the second UV, second cost values for the different combinations, wherein the second cost values are calculated by the second UV using a second cost function; d) combining the first cost values and the second cost values in order to determine third cost values for the different combinations; and e) updating the current movement plan of the first UV to the movement plan of the first UV that is included in the combination exhibiting the best third cost value among the different combinations.

9. 发明申请

WO2021122324A1 DISPOSITIF ET PROCEDE DE PROPOSITION AUTOMATIQUE DE RESOLUTION DE CONFLITS AERIENS 审中-公开
公开(公告)号：WO2021122324A1
公开(公告)日：2021-06-24
申请号：PCT/EP2020/085588
申请日：2020-12-10
申请人： THALES
发明人： MARTIN, Nicolas , TESSIER, Maxime , LEBLANC, Isabelle
IPC分类号： G08G5/00 , G08G5/04 , G08G5/0026 , G08G5/0052 , G08G5/045
摘要： Procédé de proposition automatique de résolution de conflit aérien, le procédé comprenant une étape (100) consistant à recevoir des données de conflit aérien et de situation aérienne à un instant où un conflit aérien est détecté, le procédé comprenant les étapes consistant à : - déterminer (101) une catégorie de conflit associée audit conflit aérien détecté en fonction desdites données de conflit; - déterminer (102) un degré de pertinence de proposer une résolution dudit conflit aérien en fonction de ladite catégorie et de ladite situation aérienne; - déterminer (111) un ou plusieurs types de résolution à appliquer pour résoudre ledit conflit aérien détecté en fonction dudit degré de pertinence; - déterminer (112) un ensemble de trajectoires alternatives correspondant audit un ou plusieurs types de résolution; - déterminer (113) un ensemble de trajectoires candidates parmi l'ensemble de trajectoires alternatives, une trajectoire candidate étant une trajectoire alternative n'engendrant pas un conflit aérien; - sélectionner (114), parmi les trajectoires candidates, une trajectoire candidate qui remplit un critère de sélection relatif à la pertinence opérationnelle des trajectoires candidates et à l'acceptabilité des trajectoires candidates par le système de gestion de plans de vols; - retourner (118) ladite trajectoire candidate, ladite trajectoire candidate étant sauvegardée et réévaluée tant qu'elle n'engendre pas un conflit aérien ou qu'elle n'a pas été acceptée par un contrôleur aérien.

10. 发明申请

WO2022067278A2 UNMANNED AERIAL VEHICLE WITH IMMUNUTY TO HIJACKING, JAMMING, AND SPOOFING ATTACKS 审中-公开
公开(公告)号：WO2022067278A2
公开(公告)日：2022-03-31
申请号：PCT/US2021/070965
申请日：2021-07-27
申请人： DROBOTICS, LLC
发明人： STEIN, Eyal
IPC分类号： B64C39/02 , B64D47/00 , B64C2201/027 , B64C2201/127 , B64C2201/141 , B64C2201/146 , B64C39/024 , B64D47/08 , G05B13/027 , G05D1/0094 , G05D1/101 , G08G5/0004 , G08G5/0008 , G08G5/0013 , G08G5/0021 , G08G5/0039 , G08G5/0052 , G08G5/0069 , G08G5/0086 , G08G5/0091 , G08G5/04 , G08G5/045
摘要： An unmanned aerial vehicle (UAV) or "drone" executes a neural network to assist with detecting and responding to attacks. The neural network may monitor, in real time, the data stream from a plurality of onboard sensors during navigation and may communicate with a high-altitude pseudosatellite ("HAPS") platform. For example, if the neural network detects a cyber-attack but determines that it does not interfere with external communications, it may shift navigation control of the drone to the HAPS.

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