Flight management of autonomous aircraft

Abstract

This application discloses flight management of autonomous aircraft. Methods, apparatus, devices, and computer program products for managing autonomous aircraft. A copy of a mission plan is stored in a mission job queue. The mission plan is located in an autonomous aircraft and includes mission elements that define jobs performed by the autonomous aircraft. A change to a mission element in the copy of the mission plan in the mission job queue is received to form a modified mission element in the copy of the mission plan. A determination is made as to whether the autonomous aircraft is capable of executing the copy of the mission plan including the modified mission element. The copy of the mission plan including the modified mission element is synchronized with the mission plan in the autonomous aircraft such that the mission plan includes the modified mission element. The autonomous aircraft executes the mission plan.

Description

Technical Field

[0001] This disclosure relates generally to an aircraft, and more specifically, to the operation of an autonomous aircraft. Background Technology

[0002] Autonomous aircraft can include drones and large aircraft carrying passengers and cargo. Different degrees of autonomy may exist when operating an autonomous aircraft. An autonomous aircraft is capable of performing a mission from its starting point to its destination. This mission can be performed without human operator input. Although an autonomous aircraft does not require instructions or commands from a human operator to perform a mission, the human operator can provide input to change parameters of the mission performed by the autonomous aircraft. This input can include changes such as changing the destination location, approach (entering the target), or altitude.

[0003] Currently, autonomous aircraft are managed by human operators. Human operators are able to perform tasks related to the operation of autonomous aircraft as required by government regulations. Some actions performed by autonomous aircraft require explicit input from human operators to enable them to execute these actions.

[0004] For example, human operators managing autonomous aircraft can request taxi routes from air traffic controllers. Government regulations may require flight permits. The workload from these, along with other functions performed by human operators, limits the number of autonomous aircraft that a human operator can manage.

[0005] Therefore, it is desirable to provide methods and apparatus that take into account at least some of the problems discussed above, as well as other possible problems. For example, it is desirable to provide methods and apparatus for overcoming the technical problems of managing missions involving multiple autonomous aircraft. Summary of the Invention

[0006] Embodiments of this disclosure provide an autonomous aircraft management system including a computer system and a task manager within the computer system. The task manager is configured to store copies of task plans in a task job queue, wherein the task plans reside within the autonomous aircraft and include task elements defining the jobs to be performed by the autonomous aircraft. The task manager is configured to receive changes to the task elements in the copy of the task plan in the task job queue, to form modified task elements in the copy of the task plan in the task job queue. A transportation manager is configured to determine whether the autonomous aircraft is capable of executing the copy of the task plan including the modified task elements. The transportation manager is configured to synchronize the copy of the task plan including the modified task elements with the task plan in the autonomous aircraft, such that the task plan includes the modified task elements.

[0007] Another embodiment of this disclosure provides an autonomous aircraft system, including a computer system located within the autonomous aircraft and a vehicle manager located within the computer system. The vehicle manager is configured to execute a mission plan for the autonomous aircraft, wherein the mission plan includes mission elements. The vehicle manager is configured to receive modified mission elements via a communication link. The vehicle manager is configured to determine which modified mission elements can be executed in a new mission plan that includes the original mission elements and the modified mission elements. The vehicle manager is configured to execute the new mission plan.

[0008] Another embodiment of this disclosure provides a method for managing an autonomous aircraft. A computer system stores a copy of a mission plan in a mission job queue. The mission plan resides within the autonomous aircraft and includes mission elements defining the tasks to be performed by the autonomous aircraft. The computer system receives changes to the mission elements in the copy of the mission plan in the mission job queue to form modified mission elements in the copy of the mission plan in the mission job queue. The computer system determines that the autonomous aircraft is capable of executing the copy of the mission plan including the modified mission elements. The computer system synchronizes the copy of the mission plan including the modified mission elements with the mission plan in the autonomous aircraft, such that the mission plan includes the modified mission elements. The autonomous aircraft executes the mission plan including the modified mission elements.

[0009] Another embodiment of this disclosure provides a computer program product for managing an autonomous aircraft. The computer program product includes a computer-readable storage medium on which first program code, second program code, third program code, and fourth program code are stored. The first program code is executable by a computer system such that the computer system stores a copy of a mission plan in a mission job queue, wherein the mission plan is located in the autonomous aircraft and includes mission elements defining the tasks to be performed by the autonomous aircraft. The second program code is executable by the computer system such that the computer system receives changes to the mission elements in the copy of the mission plan in the mission job queue to form modified mission elements in the copy of the mission plan in the mission job queue. The third program code is executable by the computer system such that the computer system determines that the copy of the mission plan including the modified mission elements can be performed by the autonomous aircraft. The fourth program code is executable by the computer system such that the computer system synchronizes the copy of the mission plan including the modified mission elements with the mission plan in the autonomous aircraft, such that the mission plan includes the modified mission elements. The autonomous aircraft executes the mission plan including the modified mission elements.

[0010] The features and functions can be implemented independently in the various embodiments of this disclosure or can be combined in some other embodiments, wherein further details can be seen by referring to the following description and drawings. Attached Figure Description

[0011] The novel features that are considered characteristic of this illustrative embodiment are set forth in the appended claims. However, the illustrative embodiments, preferred modes of use, other objectives, and features can be best understood by referring to the following detailed description of the illustrative embodiments of this disclosure when read in conjunction with the accompanying drawings, wherein:

[0012] Figure 1 It is a graphical representation of a network that enables the implementation of the illustrative embodiments of the data processing system;

[0013] Figure 2 This is a block diagram of an autonomous aircraft environment according to an illustrative embodiment;

[0014] Figure 3 It is an illustration of a graphical user interface for displaying information about managing an unmanned aerial vehicle using a human-machine interface according to an illustrative embodiment;

[0015] Figure 4 It is an illustration of a graphical user interface used by a human operator at a ground station according to an illustrative embodiment;

[0016] Figure 5 According to the illustrative embodiments Figure 4 A diagram of the task queue in the system;

[0017] Figure 6 This is an illustration of an editing window according to an illustrative embodiment;

[0018] Figure 7 This is an example of an editing window for takeoff mission elements according to an illustrative embodiment;

[0019] Figure 8 This is an illustration of a message flow diagram for modifying the mission plan of an autonomous aircraft according to an illustrative embodiment;

[0020] Figure 9 This is an illustration of a message flow diagram for modifying the mission plan of an autonomous aircraft according to an illustrative embodiment;

[0021] Figure 10 This is a diagram of task elements and work items according to an illustrative embodiment;

[0022] Figure 11 An illustration showing a flowchart of a process for managing an autonomous aircraft according to an illustrative embodiment;

[0023] Figure 12 This is a flowchart illustration of a process for managing an autonomous aircraft according to an illustrative embodiment;

[0024] Figure 13This is a flowchart illustrating the process of synchronizing a copy of the mission plan with the mission plan in an autonomous aircraft according to an illustrative embodiment.

[0025] Figure 14 This is another illustration of a flowchart illustrating the process of synchronizing a copy of the mission plan with the mission plan in an autonomous aircraft according to an illustrative embodiment.

[0026] Figure 15 This is yet another illustration of a flowchart illustrating the process of synchronizing a copy of a mission plan with a mission plan in an autonomous aircraft, according to an illustrative embodiment.

[0027] Figure 16 This is yet another illustration of a flowchart illustrating the process of synchronizing a copy of the mission plan with the mission plan in the autonomous aircraft, according to an illustrative embodiment.

[0028] Figure 17 This is an illustration of a flowchart showing a process for managing an autonomous aircraft, according to an illustrative embodiment.

[0029] Figure 18 This is an illustration of a flowchart showing a process for managing an autonomous aircraft, according to an illustrative embodiment.

[0030] Figure 19 This is a flowchart illustrating a process for modifying task elements using a vehicle for processing a task plan, according to an illustrative embodiment.

[0031] Figure 20 This is a flowchart illustration of a process for managing an autonomous aircraft according to an illustrative embodiment;

[0032] Figure 21 This is an illustration of a block diagram of a data processing system according to an illustrative embodiment;

[0033] Figure 22 These are illustrations of an aircraft manufacturing and maintenance method according to an illustrative embodiment; and

[0034] Figure 23 This is an illustration of a block diagram of an aircraft in which illustrative embodiments can be implemented. Specific Implementation

[0035] The illustrative embodiments recognize and consider one or more different considerations. In addition to tasks requiring action by a human operator, the illustrative embodiments recognize and consider various (e.g., unpredictable) events that may occur and are beyond the control of the autonomous aircraft. The illustrative embodiments recognize and consider the need for a human operator to respond to these types of events.

[0036] The illustrative embodiments recognize and consider the management of autonomous aircraft by human operators using ground stations. The illustrative embodiments recognize and consider that each ground station of the autonomous aircraft is capable of monitoring the aircraft's instruments and providing the human operator with the information needed to monitor and perform actions related to the management of the autonomous aircraft. The illustrative embodiments recognize and consider that the representation of this type of information to the human operator limits the number of autonomous aircraft that the human operator can operate without exceeding an undesirable workload.

[0037] Furthermore, the illustrative embodiments also recognize and consider the need for managing autonomous aircraft to maintain a constant real-time communication link for exchanging and receiving information between the ground station and the autonomous aircraft.

[0038] The illustrative embodiments recognize and consider that reliable communication links may not be available forever. Therefore, the illustrative embodiments provide methods, apparatus, systems, and computer program products for managing the operation of autonomous aircraft without relying on constant real-time data related to the autonomous aircraft. In one illustrative embodiment, a mission plan is pre-programmed for the autonomous aircraft so that even if the communication link is lost, a human operator can know what mission the autonomous aircraft is performing. In one illustrative embodiment, a graphical user interface is provided to the human operator that does not rely on displaying cockpit instruments to monitor the progress of commands within the autonomous aircraft. In the illustrative embodiments, information is displayed in a manner that enhances the human operator's awareness of at least one mission to be performed by the human operator or a mission performed by the autonomous aircraft.

[0039] As used in this article, when used with a series of items, the phrase "at least one" means that different combinations of one or more of the listed items can be used, and that only one item from the list may be required. In other words, "at least one" means any combination of items and that multiple items from the list can be used, but not all items in the list are required. Items can be specific objects, things, or categories.

[0040] For example, but not limited to, "at least one of item A, item B, or item C" may include item A, item A and item B, or item B. This example may also include item A, item B, and item C, or item B and item C. Of course, any combination of these items is possible. In some illustrative examples, such as, but not limited to, "at least one" may be two items A, one item B, and ten items C, four items B and seven items C, or other suitable combinations.

[0041] Therefore, this illustrative embodiment provides a method, apparatus, system, and computer program product for managing an autonomous aircraft. In one illustrative example, a method manages an autonomous aircraft. A copy of a mission plan is stored in a mission job queue by a computer system. The mission plan resides in the autonomous aircraft and includes mission elements that define the tasks performed by the autonomous aircraft. The computer system receives changes to the mission elements in the copy of the mission plan in the mission job queue to form modified mission elements in the copy of the mission plan in the mission job queue. The computer system determines whether the autonomous aircraft is capable of executing the copy of the mission plan including the modified mission elements. The computer system synchronizes the copy of the mission plan including the modified mission elements with the mission plan in the autonomous aircraft such that the mission plan includes the modified mission elements. The autonomous aircraft executes the mission plan including the modified mission elements.

[0042] Now refer to the attached drawings, and specifically, refer to Figure 1 This document describes a graphical representation of a network of a data processing system in which illustrative embodiments can be implemented. The network data processing system 100 is a computer network in which the illustrative embodiments can be implemented. The network data processing system 100 includes a network 102, which is a medium for providing communication links between various devices and computers connected within the network data processing system 100. The network 102 may include connections such as wired, wireless communication links, or fiber optic cables.

[0043] In the described embodiment, server computers 104 and 106 are connected to network 102 along with storage unit 108. Additionally, client device 110 is connected to network 102. As described, client device 110 includes autonomous aerial vehicle (AAV) 112, autonomous aerial vehicle (AAV) 114, client computer 116, and autonomous aerial vehicle (AAV) 118. For example, client device 110 can be a computer, workstation, network computer, vehicle, aircraft, autonomous unmanned aerial vehicle, satellite, or other client device capable of processing information. In the described embodiment, server computer 104 provides information such as boot files, operating system images, and applications to client device 110. Furthermore, client device 110 can also include other types of client devices such as tablet computer 120 and smart glasses 122. In this illustrative embodiment, server computer 104, server computer 106, storage unit 108, and client device 110 are network devices connected to network 102, where network 102 is the communication medium for these network devices. Some or all of the client devices 110 can form an Internet of Things (IoT), in which these physical devices are able to connect to network 102 and exchange information with each other through network 102.

[0044] In this example, client device 110 is a client of server computer 104. Network data processing system 100 may include additional server computers, client computers, and other devices not shown. Client device 110 connects to network 102 using at least one of wired, fiber optic, or wireless connections. For example, when operating on the ground or in the air, autonomous aircraft (AAV) 112, autonomous aircraft (AAV) 114, and autonomous aircraft (AAV) 118 can connect to network 102 using a wireless connection.

[0045] The program code located in the network data processing system 100 can be stored on a computer-readable storage medium and downloaded to the data processing system or other devices for use. For example, the program code can be stored on a computer-readable storage medium of the server computer 104 and downloaded to the client device 110 via the network 102 for use on the client device 110.

[0046] In the described example, network data processing system 100 is the Internet, where network 102 represents a global collection of networks and gateways that communicate with each other using the Transmission Control Protocol / Internet Protocol (TCP / IP) protocol suite. The core of the Internet is a backbone network of high-speed data communication lines between master nodes or host computers, consisting of thousands of commercial, governmental, educational, and other computer systems that route data and messages. Of course, network data processing system 100 can also be implemented using various different types of networks. For example, network 102 can include at least one of the following: the Internet, intranet, local area network (LAN), metropolitan area network (MAN), or wide area network (WAN). Figure 1 This is intended as an example and is not intended to be used as an architectural limitation for different illustrative embodiments.

[0047] As used here, when referring to a term, "several" refers to one or more items. For example, "several different types of networks" refers to one or more different types of networks.

[0048] In this illustrative example, the ground station operator (GSO) 130 is a human-operated client computer 116. In this illustrative example, the ground station operator (GSO) 130 interacts with a graphical user interface (GUI) 132 in the task manager 134 of the client computer 116 to manage the operation of the autonomous flight vehicle (AAV) 112.

[0049] In this illustrative example, information displayed in a graphical user interface (GUI) 152 of a browser 154 can be generated via a task manager 143 running on a client computer 116. In this illustrative example, an active mission plan 136 resides in an autonomous aircraft (AAV) 112. As described, the active mission plan 136 includes time-ordered mission elements 138. Mission elements 138 can be executed by the autonomous aircraft (AAV) 112 to perform a mission.

[0050] In this illustrative example, mission elements 138 in active mission plan 136 form a complete mission plan. In other words, active mission plan 136 includes all necessary operations from the originating position to the destination position. For example, active mission plan 136 can be considered complete when it includes a planned air traffic control unobstructed route, an airport where the aircraft can land at the end of the route plan, and the selected approach procedure and runway for landing at the airport.

[0051] Therefore, even if communication with the autonomous aerial vehicle (AAV) 112 is lost during operation, the AAV 112 can still fly from its origin to its destination. In this way, even if communication with the AAV 112 is lost, all operations to be performed by the AAV 112 can always be known.

[0052] As described, local task schedule 140 is managed by Task Manager 134. In this illustrative example, local task schedule 140 is a copy of active task schedule 136. As described, task element 142 is a copy of task element 138 in active task schedule 136.

[0053] In this illustrative example, the local mission plan 140 is displayed in the graphical user interface (GUI) 132 by the mission manager 134. The ground station operator (GSO) 130 is able to use the mission manager 134 to update or change the active mission plan 136 in the autonomous aircraft (AAV) 112.

[0054] For example, although the active mission plan 136 is a complete mission plan, it includes parameters for taxi routes, landing runways, takeoff runways, or other parameters that may exist but have not been approved by air traffic controllers (ATC). In other words, the active mission plan 136 may include this information, but the information may not have been approved or certified by air traffic controllers.

[0055] Therefore, the Ground Station Operator (GSO) 130 can update the mission element 138 in the Autonomous Aircraft (AAV) 112 as needed. For example, when receiving a taxi route from, for example, an Air Traffic Controller (ATC), the GSO 130 can interact with the graphical user interface (GUI) 132 in the Mission Manager 134 to modify the mission element 142 to the received specified taxi route. This taxi route may differ from the current taxi route of mission element 138 in the Active Mission Plan 136. In this way, the modified mission element 144 is generated with the correct taxi route.

[0056] As described, the task manager 134 sends the modified task element 144 to the autonomous aircraft (AAV) 112 via network 102. The modified task element 144 may replace the task element in task element 138 or may be an additional task element in task element 138.

[0057] In this illustrative example, the autonomous aircraft (AAV) 112 returns a response indicating that the modified mission element 144 has been received. This confirmation can be used to ensure which mission elements 142 have been synchronized with mission element 138. If the response from the autonomous aircraft (AAV) 112 indicates that the modified mission element 144 has not been received, then the modified mission element 144 in the local mission plan 140 is not updated.

[0058] Further updates can be made based on approvals or information received from air traffic controllers. As another example, weather conditions may necessitate the selection of a new landing destination compared to the current destination in the active mission plan 136. This change can be made in a similar manner to modifying a mission element in mission element 142 of the local mission plan 140.

[0059] This type of update to the active mission plan 136 does not require continuous real-time communication between the mission manager 134 and the autonomous aircraft (AAV) 112. For example, if the modified mission element 144 is not received by the autonomous aircraft (AAV) 112, the autonomous aircraft (AAV) 112 can continue to operate using the active mission plan 136 with the current mission element.

[0060] Furthermore, the task manager 134 is also capable of making various determinations regarding whether the changes to the task element 142 are valid and can make various determinations before sending the modified task element to the autonomous aircraft (AAV) 112. For example, these determinations can include verification or consistency checks.

[0061] For example, Task Manager 134 can execute Figure 2The simulation 234 of the local task plan 140, which includes the modified task element 144, determines whether a change can be made to a task element in task element 142. In this illustrative example, Figure 2 Simulation 234 in the model can be used to determine whether it is possible to perform the operation at at least one of the required security level, the required performance level, or a combination of both. Figure 2 Modification of Task Plan 220 in the middle.

[0062] In this illustrative example, Figure 2 The simulation 234 in the middle is able to Figure 2 The autonomous flight vehicle 210 has the capability for actual use in real-world environments. Figure 2 Modify task element 232 in Figure 2 Task plan 220 is executed. This environment can include information about... Figure 2 Status information of autonomous aircraft 210 in the middle, Figure 2 The environmental conditions surrounding the autonomous aircraft 210, and other suitable information.

[0063] Able to consider various factors in execution Figure 2 The simulation 234 in the example. For example, these factors can include at least one of the following: the performance limitations of the autonomous aircraft 210, whether it is legally performing a specific mission in accordance with government regulations, the possibility of obtaining approval from air traffic control (ATC) to modify the mission plan, whether different mission elements are connected sequentially, or other considerations.

[0064] For example, it can be executed Figure 2 Simulation 234 in the simulation determines whether the current fuel on the autonomous aircraft (AAV) 112 is sufficient based on the fuel required when using the modified mission element 144 in the mission element 142 of the local mission plan 140. If the local mission plan 140 with the modified mission element 144 can be executed, the modified mission element 144 is sent to the autonomous aircraft (AAV) 112 via network 102.

[0065] Similarly, the autonomous aircraft (AAV) 112 can perform its own checks to determine whether the active mission plan 136 with modified mission elements 144 can be executed. If the active mission plan 136 can be executed, the AAV 112 updates the active mission plan 136 with the modified mission elements 144 and executes the active mission plan 136 in the form of its update. If the active mission plan 136 with modified mission elements 144 cannot be executed, the AAV 112 continues to execute the active mission plan 136 without any changes.

[0066] In this illustrative example, the use of mission elements for mission planning can reduce problems arising from the loss of communication with the autonomous aircraft (AAV) 112. In this illustrative example, the mission manager 134 operates to manage the autonomous aircraft (AAV) 112 without relying on continuous real-time communication.

[0067] As another safety feature, upon receiving a response commanding the Autonomous Air Vehicle (AAV) 112 to execute the Active Mission Plan 136 using the modified mission element 144, the system can send a command to the AAV 112 to execute the Active Mission Plan 136 using the modified mission element 144. Furthermore, the system can receive a response from the AAV 112 confirming that the Active Mission Plan 136 is being executed using the modified mission element 144.

[0068] Furthermore, the Task Manager 134 can reduce the workload of the Ground Station Operator (GSO) 130 by increasing the number of autonomous aircraft managed by the GSO 130. For example, the Task Manager 134 can display task items 146 in the graphical user interface (GUI) 132. Task items 146 are ordered by time and represent tasks performed by the GSO 130. These tasks may include, for example, entering the taxiway, checking runway accessibility, entering the departure route, changing communication frequencies, or other appropriate tasks.

[0069] In this illustrative example, task item 146 can be displayed in the graphical user interface (GUI) 132 in a way that indicates when a specific task item is performed by the ground station operator (GSO) 130. For example, task item 146 can be displayed along a timeline to indicate when task item 146 is performed. Task item 146 can also include graphical information indicating the duration of the task item 146.

[0070] In this way, compared to current systems that replicate instruments on autonomous aircraft, the ground station operator (GSO) 130 can manage multiple autonomous aircraft with a lower workload. For example, in addition to autonomous aircraft (AAV) 112, the GSO 130 can also manage at least one of autonomous aircraft (AAV) 114 or autonomous aircraft (AAV) 118 using task manager 134. Furthermore, the modification and synchronization of mission elements of autonomous aircraft (AAV) 112 reduces or eliminates the need for constant real-time communication with autonomous aircraft (AAV) 112. In this illustrative example, this type of communication is not required.

[0071] In another illustrative example, a ground station operator 148 is able to use a tablet computer 120 to manage the operation of an autonomous flight vehicle (AAV) 118. In this example, a task manager 150 is located on a server computer 104 and a graphical user interface 152 is displayed in a browser 154 on the tablet computer 120.

[0072] For reference Figure 2 This describes a block diagram of an autonomous aircraft environment based on an illustrative example. In this illustrative example, the autonomous aircraft environment 200 includes components that can be implemented in hardware, such as... Figure 1 The hardware shown in the network data processing system 100, etc.

[0073] In this illustrative example, the autonomous aircraft management system 202 is capable of operating to manage the operation of aircraft such as autonomous aircraft 204. Autonomous aircraft 204 is capable of operating without a pilot or onboard human operator. In other words, autonomous aircraft 204 can fly from its origin to its destination without input from a pilot.

[0074] The autonomous aircraft 204 can take many different forms. For example, the autonomous aircraft 204 can be selected from at least one of the following: a passenger aircraft (PAV), a vertical takeoff and landing vehicle, a rotorcraft, a drone, or some other suitable form.

[0075] In this illustrative example, the autonomous aircraft management system 202 includes several different components. As described, the autonomous aircraft management system 202 includes a computer system 206 and a task manager 208. The task manager 208 is located within the computer system 206.

[0076] Task Manager 208 can be implemented in software, hardware, firmware, or a combination thereof. When software is used, the operations performed by Task Manager 208 can be implemented in program code configured to run on hardware (such as a processor unit). When firmware is used, the operations performed by Task Manager 208 can be implemented in program code and data stored in persistent memory to run on a processor unit. When hardware is used, the hardware can include circuitry for operating to perform the operations in Task Manager 208.

[0077] In the illustrative examples, the hardware can take the form of at least one of the following: a circuit system, an integrated circuit, an application-specific integrated circuit (ASIC), a programmable logic device, or some other suitable type of hardware configured to perform multiple operations. Using a programmable logic device, the device can be configured to perform multiple operations. The device can be reconfigured at a later time or can be permanently configured to perform multiple operations. For example, programmable logic devices include programmable logic arrays, programmable gate arrays, field-programmable logic arrays, field-programmable gate arrays, and other suitable hardware devices. Furthermore, the process can be implemented in an organic component integrated with inorganic components and can completely include organic components excluding human intervention. For example, the process can be implemented as a circuit in an organic semiconductor.

[0078] Computer system 206 refers to a physical hardware system and includes one or more data processing systems. When more than one data processing system exists in computer system 206, these data processing systems communicate with each other using a communication medium. The communication medium may be a network. The data processing system can be selected from at least one of a computer, a server computer, a tablet computer, or some other suitable data processing system.

[0079] In an illustrative example, task manager 208 is operable to store information for managing the operations of autonomous aircraft 210 within autonomous aircraft 204 in task job queue 212. Task job queue 212 may include queues such as task element queue 214 and operator job queue 216.

[0080] As described, Task Manager 208 is able to store a copy 218 of Task Schedule 220 in Task Element Queue 214 of Task Job Queue 212.

[0081] As described, mission plan 220 is located within autonomous vehicle 210 and includes mission elements 222. A mission element is one or more tasks performed by autonomous vehicle 210 during its operation. Mission elements 222 are arranged in a chronological order based on when tasks 228 of mission element 222 are performed. In the illustrative example, chronological order refers to the temporal sequence in which autonomous vehicle 210 performs mission elements 222 of mission plan 220.

[0082] In the illustrative example, mission plan 220 can contain zero to n mission elements 222 at any given time. If the mission has been completed, there may be zero mission elements. Each autonomous vehicle can have a queue of mission elements.

[0083] The order of mission elements 222 can be based on the flight phase of the autonomous aircraft 210. In one example, mission elements such as taxiing can include the waypoint order of the taxiing route.

[0084] In this illustrative example, mission plan 220 is uploaded to autonomous aircraft 210 via communication link 224 before autonomous aircraft 210 executes mission plan 220. Therefore, autonomous aircraft 210 is able to execute mission plan 220 in its current form to travel from the originating position to the destination position.

[0085] In this illustrative example, communication link 224 can take many different forms. For example, communication link 224 can be implemented using at least one of the following: a satellite link, an encrypted satellite link, a radio frequency communication link, or other suitable types of wireless communication links.

[0086] Thus, the mission manager 208 and the autonomous aircraft 210 can rely on the autonomous aircraft 210, which has a complete mission plan. The mission plan 220 is a complete mission plan when it has sufficient information in the mission elements 222 to provide the required level of safety when operating the autonomous aircraft 210.

[0087] In other words, the autonomous aircraft 210 does not require user input or additional information to travel from its originating location to its destination location. For example, mission element 222 in mission plan 220 can provide the information needed for the autonomous aircraft 210 to travel from the gate of the originating airport to the gate of the destination airport.

[0088] For example, if communication link 224 is lost, autonomous aircraft 210 can still operate without user input from human operator 26. A communication link can be considered lost if information or data cannot be transmitted to autonomous aircraft 210. For example, communication link 224 can also be considered lost if the error and / or delay in information transmission is greater than the required error and / or delay. For example, the level of error in transmitting information might make it impossible to obtain the information needed for autonomous aircraft 210 to fly in response to different events. In the illustrative example, one of the events is turbulence, adverse weather conditions along the flight path, lightning strikes, restricted space changes, and changes in wind direction.

[0089] As described, mission element 222 defines an operation 228 performed by the autonomous aircraft 210. Each mission element in mission element 222 can include one or more operations 228. In the illustrative example, mission element 222 is selected from at least one of pre-flight, taxiing, queuing, takeoff, departure, en route cruise, arrival, landing, taxiing in, parking, or certain other suitable types of mission elements.

[0090] As described, operator task queue 216 contains task 217. In this illustrative example, task 217 includes task 225 to be performed by human operator 226. Human operator 226 is able to perform task 225 during autonomous flight missions of autonomous aircraft 210. Non-limiting examples of task 217 may include performing a pre-flight checklist, entering the taxiway exit route, checking runway accessibility, initiating takeoff, entering the takeoff route, submitting an initial flight plan, updating the flight plan, changing frequencies, contacting the destination, entering the arrival route, initiating landing, entering the taxiway entry route, or performing a post-flight checklist, or at least one of some other suitable tasks performed by human operator 226.

[0091] The tasks 217 in the operator task queue 216 are ordered in chronological order, and in this example, in chronological order of execution by the human operator 226, to support the mission of the autonomous aircraft 210. In this example, there may be more than zero tasks 217 in the operator task queue 216.

[0092] Job item 217 in operator job queue 216 is for autonomous aircraft 210. Each autonomous aircraft may have a job queue.

[0093] In this example, a task item in task 217 may or may not refer to a single task item within task 217. Furthermore, multiple task items in task 217 may refer to task elements. In this example, task plan 220 can have a one-to-one relationship with a given operator task queue 216 of an autonomous aircraft.

[0094] Task Manager 208 is capable of receiving changes 230 to task elements 222 in a copy 218 of the task schedule 220 in the task element queue 214 of the task job queue 212. As described, changes 230 can be one or more task elements 222 in the copy 218.

[0095] In this illustrative example, a human-machine interface (HMI) 244 can be used to receive changes 230 ...

[0096] Human operator 226 refers to a person capable of interacting with graphical user interface 250 via user input 252 generated by input system 248 for computer system 206. Input system 248 refers to a physical hardware system and is capable of selecting at least one of a mouse, keyboard, trackball, touchscreen, stylus, motion sensing input device, gesture detection device, web glove, or certain other suitable type of input device.

[0097] In this illustrative example, task manager 208 can receive changes 230 via user input 252 generated by human operator 226 using human-machine interface 244. Human operator 226 can generate changes 230 while performing one of the tasks in task 217 to manage autonomous aircraft 210.

[0098] In this illustrative example, change 230 can modify task element 222 in several different ways. For example, change 230 can modify a task element 222. In another illustrative example, change 230 can add a new task element to task element 222. In this illustrative example, the task element 222 with change 230 forms the modified task element 232 in a copy 218 of task plan 220 in task element queue 214 of task job queue 212.

[0099] Furthermore, the mission manager 208 can determine whether the autonomous aircraft 210 is capable of executing a copy 218 of the mission plan 220, which includes modified mission elements 232. For example, before sending the modified mission elements 232 to the autonomous aircraft 210, the mission manager 208 can execute a simulation 234 using the copy 218 of the mission plan 220 with the modified mission elements 232. The simulation 234 can indicate that a particular speed variation cannot provide the required fuel efficiency or a sufficient amount of stored fuel to reach the destination airport.

[0100] Determination can be made using mechanisms other than simulation 234. For example, the modified task element 232 could be a change in the destination airport. Determination can be made using consistency checks, mechanisms other than simulation 234. In an illustrative example, consistency checks can be a process of evaluating and ensuring that all task elements in a task plan meet the required dependencies between and across elements of a feasible task plan that can be executed to complete the task.

[0101] It can perform consistency checks to determine if there are conflicting elements in the task plan. It can perform consistency checks using simulation 234, strategies that include rules defining when elements of the task plan are considered consistent with each other, or other suitable mechanisms.

[0102] For example, changing the destination airport without changing the approach to that airport could cause a conflict between the approach and destination airports in the mission plan, resulting in the mission plan failing the consistency check. As another example, a modified mission element that selects a different runway for landing instead of one matching the chosen arrival procedure in the mission plan could cause the mission plan with the modified mission element to fail the consistency check. Ending a mission plan at an airport different from the airport defined as the destination airport could also cause the mission plan to fail the consistency check. As yet another example, a mission plan that ends taxiing at a runway different from the runway specified for departure could also cause the mission plan to fail the consistency check.

[0103] When the destination airport changes, a consistency check can be performed using a strategy that includes a set of rules to determine whether task element 222 (such as determining the arrival at the airport) is for the correct airport.

[0104] In this illustrative example, simulation 234 can simulate the flight of autonomous aircraft 210 using current status and performance information, environmental information, and other suitable information from autonomous aircraft 210. Task manager 208 can determine whether a copy 218 of mission plan 220, including modified mission elements 232, can be executed using a consistency check, and indicates an error when autonomous aircraft 210 cannot execute the copy 218 of mission plan 220 including modified mission elements 232. In this illustrative example, current status and performance information can, for example, include remaining fuel, fuel utilization, speed, altitude, weather conditions, and other suitable information. The simulation can be used to determine whether using modified mission elements 232 with mission elements 222 can cause autonomous aircraft 210 to operate at the required safety level. The simulation can also determine whether autonomous aircraft 210 can maintain performance parameters such as required arrival time, fuel utilization, passenger comfort, and other parameters.

[0105] In this illustrative example, the task manager 208 is able to synchronize a copy 218 of the task plan 220, which includes the modified task element 232, with the task plan 220 in the autonomous aircraft 210, so that the task plan 220 includes the modified task element 232.

[0106] Synchronization can occur in several different ways. For example, task manager 208 can send modified task elements 232 to autonomous aircraft 210 via communication link 224 to form a new task plan 236 located in autonomous aircraft 210. Furthermore, when autonomous aircraft 210 returns confirmation 240 that the new task plan 236 has been received, task manager 208 can send command 238 to autonomous aircraft 210 to execute the new task plan 236.

[0107] In another illustrative example, in synchronized copy 218, task manager 208 can send modified task elements 232 to autonomous aircraft 210 via communication link 224 to form a new task plan 236 located in autonomous aircraft 210. When autonomous aircraft 210 returns confirmation 240 that the new task plan 236 can be executed by autonomous aircraft 210, task manager 208 can send command 238 to autonomous aircraft 210 to execute the new task plan 236.

[0108] In yet another illustrative example, the task manager 208 can send modified task elements 232 to the autonomous aircraft 210 via communication link 224 to form a new task plan 236 located in the autonomous aircraft 210. The task manager 208 can receive confirmation 240 that the new task plan 236 has been received by the autonomous aircraft 210 as part of the synchronization process.

[0109] In another illustrative example of synchronized copy 218, task manager 208 can send modified task element 232 to autonomous aircraft 210 via communication link 224 to form a new mission plan 236 located in autonomous aircraft 210. Task manager 208 can generate a notification 242 indicating that the modified task element 232 has not yet been received. This notification can be generated when no confirmation 240 of acceptance of the new mission plan 236 from autonomous aircraft 210 is received within a certain period of time.

[0110] Then turn Figure 3 This illustration depicts a graphical user interface (GUI) for displaying information about managing an unmanned aerial vehicle (UAV) according to an illustrative embodiment. In this illustrative example, the same reference numerals may be used in more than one figure. This repetition of reference numerals in different figures indicates the same elements in different figures.

[0111] This illustrative example shows an example of graphical elements 300 that can be displayed in a graphical user interface 250 to manage the operation of the autonomous aircraft 210. In this example, Figure 2 The human-machine interface 244 in the middle is configured to be in Figure 2 Operate under the command of Task Manager 208 in order to... Figure 2 The graphical user interface 250 is displayed in the display system 246.

[0112] As described, a task queue 302 is displayed in the graphical user interface 250. As described, an operator queue 304 and a task element queue 306 are displayed in the task queue 302 of the graphical user interface 250. These different graphical elements refer to visual representations such as... Figure 2The graphical elements 300 of the data and data structures, such as the task queue 212, task element queue 214, and operator queue 216, are included.

[0113] In this illustrative example, job items 308 are displayed in the operator job queue 304 in chronological order relative to timeline 312. Task elements 310 are also displayed in the task job queue 302 in chronological order relative to timeline 312. In other words, job items 308 and task elements 310 are displayed in the order in which they are executed.

[0114] In this illustrative example, timeline 312 provides an indication of the time required to perform these different items. Furthermore, job item 308 and task element 310 can be displayed parallel to each other relative to timeline 312. In this way, Figure 2 The human operator 226 can see when to execute task item 308 relative to the time of task element 310.

[0115] Furthermore, a graphical indicator 314 with a size 316 representing the duration 318 can be used to display the job item 308 and task element 310. For example, when the timeline 312 extends vertically in the graphical user interface 250, the size 316 can be a vertical size. In another example, when the timeline 312 extends horizontally in the graphical user interface 250, the size 316 can be a horizontal size.

[0116] For example, when the timeline 312 extends vertically in the graphical user interface 250, when items are represented by shapes such as rectangles in the graphical user interface 250, the top edge of the rectangle indicates the start time. The bottom edge of the rectangle indicates the end time.

[0117] In this illustrative example, these items are aligned with timeline 312 based on the start time of each item that should be executed or run. In the described example, the start time can be the earliest start time when a set of jobs for an item begins. The end time can be the latest end time when a set of jobs for an item is completed.

[0118] In this illustrative example, the duration 318 can be estimated from the relative vertical size of the work item 308 and the items in the task element 310 that are different from each other. Further, the estimation of the duration 318 can be determined based on a comparison of the size 316 of the work item 308 and the task element 310 with the timeline 312. In this example, the timeline 312 can be scaled to provide an indication of the time required to estimate the duration 318.

[0119] In this illustrative example, the "Execute Now" graphical indicator 320 is a graphical element in the graphical element 300 used to indicate the time for executing work item 308 and task element 310. In this illustrative example, work item 308 and task element 310 can move relative to the "Execute Now" graphical indicator 320. In this illustrative example, the "Execute Now" graphical indicator 320 takes a linear form. In other illustrative examples, the "Execute Now" graphical indicator 320 may also be at least one of the following: a color change, text, animation, or other type of graphical indicator that indicates a specific item being executed now, such as a work item that should be executed now or a task element that is currently being executed.

[0120] As described, the graphical elements 300 displayed in the graphical user interface 250 for the task queue 302 can be used to manage the autonomous aircraft. This type of display replaces the instrument displays currently used for managing autonomous aircraft. Using this type of display, by observing the task items 308 displayed in chronological order relative to the timeline 312, a human operator can more easily determine when and which task items need to be performed. Furthermore, by displaying the task elements 310 ordered in chronological order relative to the timeline 312, a human operator can more easily determine when to focus on the different tasks being performed by the autonomous aircraft.

[0121] A determination can be made by observing the task item 308 displayed relative to task element 310, wherein the task item 308 can indicate the task to be performed relative to the corresponding task element. The task item 308 may also include other tasks that are about to be performed but may not be related to task element 310.

[0122] Using the graphical elements 300 for the task queue 302, a human operator can manage multiple autonomous aircraft. Compared to the displays currently used by autonomous aircraft, managing multiple autonomous aircraft can be performed more easily with a lower workload.

[0123] Figure 4 and Figure 5 yes Figure 2 and Figure 3 Another example of an implementation of the graphical user interface 250 in the example. Utilizing Figure 4 and Figure 5 The graphical user interface 250 allows one or more human operators at one or more ground stations to simultaneously monitor, command, and manage multiple autonomous aircraft.

[0124] First, refer to Figure 4This illustration depicts a graphical user interface used by a human operator located at a ground station, according to an illustrative embodiment. In the example described, the graphical user interface 250 includes status information 400, a map view 402, and a task queue 404.

[0125] In this illustrative example, status information 400 is the area in the graphical user interface 250 that displays the autonomous aircraft's status information 400 to a human operator. For example, status information 400 may include information about the autonomous aircraft and its mission plan. This information may include, for example, flight phases, estimated times of arrival, or other suitable information.

[0126] Map view 402 is an area where information about the environment surrounding the autonomous aircraft can be displayed. For example, map view 402 may include information such as aircraft symbols, cultural maps, attitude, speed, altitude, direction, route, weather, NOTAMs, airport information, and other suitable information.

[0127] In this illustrative example, task queue 404 refers to Figure 2 Task queue 212 and Figure 3 Example of task queue 302. In this example, task queue 404 refers to the area containing information used by human operators to manage autonomous aircraft. In this example, task queue 404 for a single autonomous aircraft is displayed at any given time. This type of display avoids confusion or incorrect commands being sent to the wrong autonomous aircraft.

[0128] Then turn Figure 5 It describes the illustrative example. Figure 4 A diagram of the task queue in the system. The diagram shows... Figure 4 An example of an implementation of the 404 task queue.

[0129] As described, job items 500 and task elements 502 are displayed in parallel to each other in task queue 404. Although not graphically shown in this example, job item 500 is part of the operator job queue, and task element 502 is part of the task element queue.

[0130] In this example, task item 500 includes task items 504, 506, and 508. In this described example, task element 502 includes task element 510 and task element 512. Additional task items and task elements may exist in the task queue 404 but are not yet displayed. In this example, these elements can be scrolled or dragged to display other task items and task elements that may be executed at future times for task scheduling.

[0131] Subsequently, task item 500 and task element 502 are displayed in chronological order relative to timeline 514. Timeline 514 may include periodic increments. For example, timeline 514 may include five-minute, ten-minute, or other time increments.

[0132] As can be seen in this illustrative example, task item 500 and task element 502 are aligned relative to timeline 514 based on their expected start times. Furthermore, the vertical size of task item 500 and task element 502 indicates the calculated or expected duration for these elements.

[0133] In this illustrative example, task item 500 and task element 502 can be linked to each other, but they can be executed at different times and do not necessarily have to be executed together. In other words, task items can be linked to task elements because task items are executed on task elements. For example, task item 504 can request a human operator to input a taxiway route before the autonomous aircraft can perform the taxiway in task element 510.

[0134] As described, the current execution line 516 is a graphical indicator that shows the current time on the timeline 514. The current execution line 516 can graphically indicate when job item 500 and task element 502 should be executed. In this illustrative example, job item 500 and task element 502 are moving relative to the current execution line 516 in the direction of arrow 518, where the current execution line 516 is fixed.

[0135] In this illustrative example, synchronization area 520 indicates when synchronization is required between a local copy of the mission plan and the illustrative plan located within the autonomous aircraft. In this illustrative example, synchronization area 520 can graphically indicate when synchronization is needed.

[0136] For example, synchronization may be necessary after task elements have been modified and the modified task elements have been checked to determine that they are executable machine elements. For example, graphical indicators for synchronization could be display colors, animations, blinking text, or other suitable graphical indicators. Synchronization area 520 can be selected when synchronization should be performed. Synchronization area 520 can also display information such as identifiers of one or more modified task elements that should be synchronized.

[0137] Next, refer to Figure 6 This describes an illustration of an editing window based on an illustrative example. In this example, editing window 600 is an example of a window that can be displayed in a graphical user interface in response to the selection of a task element for editing.

[0138] In this example, when a task element is selected, an editing window 600 with a task element title 601 is displayed to identify which task element has been selected for editing. As described, the editing window 600 displays delete 602 and edit 604, allowing a human operator to delete or edit the specific task element that has been selected.

[0139] In this illustrative example, status information 606 is the area where status information about the selected task element is displayed. Status information 606 may include information about the duration, execution status, or other suitable information about the task element.

[0140] As described, content area 608 is displayed and includes content that a human operator can view and edit. Descriptive text 610 is an area in the editing window 600 that provides information about content area 608 to the human operator. Descriptive text 610 may include information such as what input is required, what changes can be made, or other appropriate instructions.

[0141] As described, if a human operator enters incorrect user input, a warning 612 can be displayed or graphically highlighted. The human operator can choose to cancel 614 to undo the changes or choose to save 616 to save the changes made to the task elements in the editing window 600.

[0142] Now turning Figure 7 This describes an example of an editing window for takeoff mission elements according to an illustrative embodiment. In this illustrative example, editing window 700 is... Figure 6 The overall diagram shows an example of one implementation of the editing window 600.

[0143] As described, the editing window 700 displays "Takeoff" as the task element title 702 selected for editing. As shown in the figure, the editing window 700 includes controls such as delete 704, edit 706, cancel 708, and save 710.

[0144] In this example, status information 712 is "Waiting for input." In other words, this task element requires input from a human operator.

[0145] In the example described, descriptive text 714 includes instructions for control area 716: “After receiving takeoff clearance from ATC, type the runway ID.” Content area 716 provides a list of runway IDs that a human operator can select.

[0146] As described, the descriptive text 718 of content 720 provides the human operator with the instruction to "check that the runway is clear and unobstructed." In this example, content 720 is control over viewing a video stream from the autonomous aircraft. The selection of content 720 causes the video stream generated by the camera system on the autonomous aircraft to be displayed to the human operator.

[0147] The descriptive text 722 is “Permit to perform action?”, requesting user input for content 724. In this example description, content 724 includes a checkbox for receiving user input indicating that the autonomous aircraft may decide to perform takeoff.

[0148] This illustrative example demonstrates that the content in the edit window can take many forms. For instance, the content in the edit window could request selection or typed information. As another example, the content in the edit window could provide information such as a video stream from an autonomous aircraft.

[0149] In this illustrative example, after the runway ID has been entered and the human operator has determined that the runway is clear and unobstructed, user input can be made to select Save 710. If the human operator determines that the runway is not clear and unobstructed, the human operator can choose Cancel 708, or wait until the runway is clear and unobstructed before selecting Save 710.

[0150] supply Figure 6 Editing window 600 and Figure 7 The illustration of the editing window 700 serves as one way in which changes can be made to task elements and is not intended to limit the ways in which other illustrative examples can be implemented. For example, multiple content and descriptive text areas can be displayed in addition to the content area 608 and the descriptive text 610. Additional areas can be displayed to simplify or reduce workload and modify task elements.

[0151] Next, refer to Figure 8 This illustration depicts a message flow diagram for modifying a mission plan of an autonomous aircraft according to an illustrative embodiment. In this illustrative example, the message flow diagram includes message flows and steps for updating the mission plan in a vehicle manager 800. In this example, the vehicle manager 800 is a computer system in the autonomous aircraft 210. For example, the vehicle manager 800 may be at least one of an autopilot, an autonomous flight controller, an autonomous flight management system, or some other suitable system for controlling the operation of the autonomous aircraft 210.

[0152] The message flow used to update the mission plan can be made more secure by implementing multiple checks performed by human operator 226, mission manager 208 in computer system 206, and vehicle manager 800 in autonomous aircraft 210.

[0153] In the illustrative example, in this message flow diagram, the interaction between human operator 226 and computer system 206 uses, for example... Figure 2 The human-machine interface 244, etc., is used to display messages sent to the human operator 226 and generate user input such as messages or modifications related to task elements. Message exchange between the task manager 208 and the vehicle manager 800 is conducted using one or more wireless communication links.

[0154] In this illustrative example, human operator 226 modifies a task element in the local task plan of computer system 206 (message m1).

[0155] Task Manager 208 performs a consistency check to determine whether Autonomous Aircraft 210 can execute a local mission plan with modified mission elements (step m2). In step m2, the consistency check can be run based on the performance and environmental data of Autonomous Aircraft 210. In this illustrative example, a local copy of the Vehicle Manager 800 in Autonomous Aircraft 210 can be run by Task Manager 208 in computer system 206 to execute the local mission plan in a manner that takes into account actual performance and environment when simulating mission planning. Actual performance and environmental data can be obtained from Autonomous Aircraft 210, its sensor systems, and other sensor systems.

[0156] A local mission plan can be run to determine whether the mission plan with modified mission elements is consistent, complete, and operates in accordance with safety requirements. Safety requirements may also include margins for operating the autonomous aircraft 210. For example, margins may be the required fuel compared to the fuel on the autonomous aircraft 210. Additional fuel may be required as a margin to meet the safety requirements for operating the autonomous aircraft 210. These consistency checks can also be performed during the creation of the mission plan for the autonomous aircraft 210.

[0157] If the consistency check indicates that the local mission plan with modified mission elements can be executed, a response is returned to the human operator 226 via the mission manager 208, indicating that the modified local mission plan with modified mission elements can be synchronized with the autonomous aircraft 210 (message m3).

[0158] Then, human operator 226 can send a command (message m4) to synchronize the modified local mission plan in computer system 206 with the mission plan in autonomous aircraft 210. In response to receiving the synchronization command from human operator 226, mission manager 208 can send the modified mission elements to autonomous aircraft 210 (message m5). In this example, the message with the modified mission elements can be sent to autonomous aircraft 210 via a wireless communication link.

[0159] In this example, the vehicle manager 800 performs a consistency check (step m6) in response to receiving modified task elements from the task manager 208. The consistency check performed in step m6 is performed to determine whether the task plan with modified task elements can be executed in a manner that meets safety requirements.

[0160] Once the consistency check has passed, the vehicle manager 800 includes the modified mission elements in the mission plan to form a new mission plan. The autonomous aircraft 210 then executes the new mission plan. In this illustrative example, the vehicle manager 800 can execute the mission plan.

[0161] If the consistency check passes, the vehicle manager 800 returns a response to the task manager 208, indicating that the autonomous vehicle 210 can execute the mission plan with modified mission elements (message m7). In this way, the task manager 208 can include the modified mission elements in its local mission plan. In this example, the task manager 208 sends the response to the human operator 226 (message m8).

[0162] When human operator 226 receives a response from task manager 208, human operator 226 can send an execution command to task manager 208 to execute a new task plan that has been synchronized to include modified task elements (message m9). In response, task manager 208 forwards the execution command to vehicle manager 800 (message m10).

[0163] In response to receiving the execution command, the vehicle manager 800 replies with a command reception response (message m11). The command reception response in message m11 is received by the task manager 208. The task manager 208 then relays the command reception response to the human operator 226 (message m12).

[0164] If the vehicle manager 800 does not receive an execution command, it will not execute the new mission plan containing modified mission elements. Instead, the vehicle manager 800 will continue to operate the autonomous aircraft 210 by executing a mission plan without modified mission elements. If the autonomous aircraft 210 is on the ground, it may take no action.

[0165] Therefore, autonomous aircraft 210 can operate even if communication is interrupted. In this illustrative example, during the execution period when communication is interrupted, various actions specified in the mission elements of the mission plan, such as landing runways, may not be approved. However, even in the event of a communication interruption, vehicle manager 800 can continue operating autonomous aircraft 210 using the designated landing runway. Furthermore, the mission plan is also known to mission manager 208 and human operator 226. Therefore, it is predictable what actions autonomous aircraft 210 will perform. Actions include landing on a designated runway that has not yet been approved. In this example, other traffic can be modified to ensure that the runway is available for landing of autonomous aircraft 210.

[0166] The vehicle manager 800 executes a new task plan (step m13). When executing a new task plan, the vehicle manager 800 may send an execution notification that the task plan has started to be executed to the task manager 208 (message m14). In this example, the task manager 208 may send the execution notification to the human operator 226 (message m15).

[0167] By employing multiple steps to synchronize the local mission plan in computer system 206 with the mission plan in autonomous aircraft 210, steps with different checks can prevent human operator 226 from accidentally sending incorrect, inconsistent, or incomplete modified mission elements or commands to autonomous aircraft 210. In this illustrative example, only a single unmanned aerial vehicle can be commanded at any given time. This type of implementation prevents human operator 226 from sending modified mission elements or commands to the wrong autonomous aircraft.

[0168] Turn Figure 9 This illustration depicts a message flow diagram for modifying a mission plan of an autonomous aircraft according to an illustrative embodiment. In this illustrative example, the message flow diagram includes the message flow and steps used by the vehicle manager 800 in the autonomous aircraft 210 to add modified mission elements to the mission plan.

[0169] In the illustrative example, the interaction between human operator 226 and computer system 206 in this message flow diagram uses, for example... Figure 2The human-machine interface 244 and other human-machine interfaces are used. Message exchange between the task manager 208 and the vehicle manager 800 is conducted using one or more wireless communication links.

[0170] In some illustrative examples, the vehicle manager 800 can create modified mission elements to alter the mission plan during flight. In the example described, the vehicle manager 800 in the autonomous aircraft 210 creates modified mission elements (step o1). For example, the vehicle manager 800 can receive weather information or regular data indicating turbulence in severe weather. The vehicle manager 800 can modify the mission module to suggest changes to avoid turbulence. For example, modifying the mission module could change the altitude from 20,000 feet to 22,000 feet. As another example, in severe weather, the vehicle manager 800 can modify the mission module to suggest different routes to avoid severe weather.

[0171] In this example, the vehicle manager 800 sends the modified mission elements to the mission manager 208 in the computer system 206 (message o2). In this example, the mission manager 208 may perform a consistency check upon receiving the modified mission elements (step o3). A consistency check is performed on the local mission model using the modified mission elements received from the vehicle manager 800 in the autonomous aircraft 210.

[0172] If a mission can be performed using a modified mission element, the mission manager 208 sends a task to the human operator 226 requesting approval for the modified mission element (message o4). In message o4, the task can be displayed in the operator's task queue within the mission task queue displayed in the graphical user interface. The task requests human operator 226 to approve or disapprove the modified mission element of the autonomous aircraft 210. In this example, human operator 226 can make a decision or request approval from another source, such as air traffic control.

[0173] As described, when the mission plan of autonomous aircraft 210 is modified by approving the use of vehicle-modified mission elements, human operator 226 can return the execution command to mission manager 208 (message o5). Mission manager 208 then sends the execution command to vehicle manager 800 (message o6).

[0174] In response to receiving the execution command, the vehicle manager 800 executes the task plan with the modified vehicle elements (step o7). Furthermore, the vehicle manager 800 returns an execution notification to the task manager 208 (message o8).

[0175] In response to the execution notification received in message o8, task manager 208 can add the modified task elements of the vehicle to the task schedule stored locally by task manager 208 (step o9). Furthermore, in response to the execution notification received in message o8, task manager 208 sends an execution notification to human operator 226 (message o10).

[0176] Figure 8 and Figure 9 The diagram illustrating the message flow and steps is an example of how modified mission elements in the local mission plan can be synchronized with the mission plan in the autonomous aircraft. This diagram is not intended to limit the ways in which other message flows and steps can be performed. For example, in other illustrative examples, details may be omitted. Figure 8 The received response or in messages m11 and m12 Figure 8 The execution notification in messages m14 and m15.

[0177] As another example, it can be found Figure 9 Additional steps are performed in the message flow, whereby the vehicle manager 800 may also perform a consistency check before sending the modified task elements of the vehicle to the task manager 208.

[0178] In another example, a human operator commands the autonomous aircraft to begin executing a mission plan or mission element and sends another message to the autonomous aircraft. The autonomous aircraft can respond to "message received." If the message is not received from the autonomous aircraft within a certain period of time, the human operator can be notified.

[0179] As another example, when an autonomous aircraft begins executing a new mission plan and accordingly notifies the human operator, this notification could also imply that the autonomous aircraft continues with the next mission element of the original mission plan, which requires additional commands to initiate. Additional commands from the human operator may be required according to government regulations. For example, this additional command could be to enter hold mode, exit hold mode, continue queuing after a short hold, or other types of commands that the government or other regulatory or regulatory source may require.

[0180] In some cases, where feasible, this "additional" manual command can be circumvented by allowing "automatic execution." This action is an option that the human operator can choose.

[0181] In the event of an autonomous vehicle's communication failure in the air, assuming authorization (clear) and initiation of each step by air traffic control and human operators, the autonomous vehicle can continue to execute its mission plan. In this scenario, the communication failure is notified to air traffic control and human operators, who can then authorize traffic. If the autonomous vehicle is on the ground during the communication failure, it can cease executing its mission plan.

[0182] Next, refer to Figure 10 This describes a diagram of mission elements and tasks based on an illustrative example. In this illustrative example, Figure 1000 shows mission elements and tasks that can be performed on specific mission elements at different phases of flight.

[0183] In this illustrative example, Chart 1000 includes three columns: Flight Phase 1002, Mission Elements 1004, and Operation Items 1006. There is no one-to-one relationship between the rows of entries in Chart 1000. An entry in a row of one column may be associated with one or more entries in a row of another column.

[0184] For example, Departure 1008 in Flight Phase 1002 is associated with Takeoff 1010 and Departure (SID) 1012 in Mission Element 1004. In this example, Takeoff 1010 is associated with Initiating Takeoff 1014, and Departure (SID) 1012 is associated with Enter / Departure Route 1016 in Operation Item 1006.

[0185] As another example, cruise 1018 in flight phase column 1002 is associated with en route cruise 1020 in mission element column 1004. In this particular example, en route cruise 1020 is associated with the following task items in task item column 1006: submitting initial flight plan 1022, updating flight plan 1024, and changing frequency 1026.

[0186] Therefore, one or more illustrative examples overcome the problem of managing tasks for multiple autonomous aircraft. Thus, in one or more illustrative examples, human operators can be assigned to tasks for multiple autonomous aircraft. Compared to current technologies, in the illustrative examples, one or more illustrative examples can command unmanned aerial vehicles (UAVs) without requiring continuous communication with the UAVs. Furthermore, one or more illustrative examples can reduce the workload of human operators managing tasks for autonomous aircraft. Compared to current technologies for display instruments used in autonomous aircraft, one or more illustrative examples can provide a graphical user interface for displaying information while reducing the workload of human operators.

[0187] Figure 2 as well as Figure 8 and Figure 9 The computer system 206 can be configured to perform at least one of the steps, operations, or actions described in various illustrative examples using software, hardware, firmware, or a combination thereof. Therefore, the computer system 206 operates as a dedicated computer system, wherein... Figure 2 as well as Figure 8 and Figure 9 The task manager 208 in the computer system 206 can manage the autonomous aircraft. In particular, compared with currently available general-purpose computer systems that do not have a task manager 208, the task manager 208 transforms the computer system 206 into a dedicated computer system.

[0188] Figures 2 to 10 The illustrations of the autonomous aircraft environment 200 and its various components do not imply any physical or architectural limitations on how the illustrative examples can be implemented. Other components may be used in addition to or in place of those shown. Some components may be unnecessary. Furthermore, block diagrams are presented to illustrate some functional components. When implemented in the illustrative examples, one or more of these block diagrams may be combined, split, or combined and split into different block diagrams.

[0189] For example, in some illustrative examples, change 230 can modify more than one mission element. For instance, change 230 can modify one or more mission elements in mission element 222. In other illustrative examples, change 230 can move or delete a mission element from mission element 222. These and other types of changes can be made and communicated to autonomous vehicle 210 to form a new mission plan for autonomous vehicle 210.

[0190] Furthermore, the illustrative example can be implemented using an autonomous aircraft 204 with various levels of autonomy. This process can be performed by the autonomous aircraft in any one or more flight phases without user input.

[0191] For example, an autonomous aircraft management system 202 can be used to manage the cruise portion of the flight phase of an autonomous aircraft 210. In another example, departure, cruise, and arrival portions of a mission can be managed, as well as taxiing out and taxiing in portions outside of a mission. This reduction in autonomy may be a result of at least one of the capabilities of the autonomous aircraft 210, government regulations, rules, or other constraints on the autonomous aircraft 210 performing fully autonomous missions.

[0192] As another example, different processes in the task manager 208 can be operated by the operator or owner of the autonomous aircraft 210. In some illustrative examples, the task manager 208 may be provided as a service to the operator or owner of the autonomous aircraft 210.

[0193] Then turn Figure 11 It is a diagram illustrating a flowchart of a process for managing an autonomous aircraft, based on an illustrative example. Figure 11 The process can be implemented in hardware, software, or both. When implemented in software, the process can take the form of program code being executed by one or more processor units located in one or more hardware devices of one or more computer systems. For example, it can be implemented in... Figure 2 The process is implemented in the Task Manager 208 of the computer system 206.

[0194] The process begins by storing a copy of the mission plan in a mission job queue, wherein the mission plan resides within the autonomous aircraft and includes mission elements that define the tasks to be performed by the autonomous aircraft (operation 1100). The process receives changes to the mission elements in the copy of the mission plan in the mission job queue to form modified mission elements in the copy of the mission plan in the mission job queue (operation 1102).

[0195] The process determines whether the autonomous vehicle can execute a copy of the mission plan that includes the modified mission elements (operation 1104). The process synchronizes the copy of the mission plan, including the modified mission elements, with the mission plan in the autonomous vehicle so that the mission plan includes the modified mission elements (operation 1106). The process then terminates. The autonomous vehicle executes the mission plan that includes the modified mission elements.

[0196] refer to Figure 12 It is a diagram illustrating a flowchart of a process for managing an autonomous aircraft, based on an illustrative example. Figure 12 The flowchart in the document describes what can be used Figure 11 The operations performed within.

[0197] Before the autonomous aircraft executes the mission plan, the process uploads the mission plan to the autonomous aircraft via a communication link (Operation 1200). Afterward, the process terminates.

[0198] Turn Figure 13 This diagram illustrates a flowchart, based on an illustrative example, of a process for synchronizing a copy of a mission plan with the mission plan of an autonomous aircraft. The process shown in the flowchart is... Figure 11 An example of an implementation of operation 1106 in the example.

[0199] The process begins by sending modified mission elements to the autonomous vehicle via a communication link to form a new mission plan located within the autonomous vehicle (Operation 1300). When the autonomous vehicle returns confirmation that the new mission plan has been received, the process sends a command to the autonomous vehicle to execute the new mission plan (Operation 1302). The process then terminates.

[0200] For reference Figure 14 This is a flowchart illustrating a process for synchronizing a copy of a mission plan with a mission plan in an autonomous aircraft, based on an illustrative example. The process shown in the flowchart is... Figure 11 Another example of how operation 1106 is implemented.

[0201] The process begins by sending modified mission elements to the autonomous vehicle via a communication link to form a new mission plan located within the autonomous vehicle (Operation 1400). When the autonomous vehicle returns confirmation that the new mission plan can be executed by the autonomous vehicle, the process sends a command to the autonomous vehicle to execute the new mission plan (Operation 1402). The process then terminates.

[0202] Then turn Figure 15 This is a flowchart illustrating a process for synchronizing a copy of a mission plan with a mission plan in an autonomous aircraft, based on an illustrative example. The process shown in the flowchart is... Figure 11 Another example of how operation 1106 is implemented.

[0203] The process begins with the transmission of modified mission elements to the autonomous aircraft via a communication link to create a new mission plan within the autonomous aircraft (Operation 1500). The process receives confirmation that the modified mission elements have been received by the autonomous aircraft (Operation 1502). Afterward, the process terminates.

[0204] exist Figure 16 The diagram illustrates a flowchart, based on an illustrative example, of a process for synchronizing a copy of a mission plan with a mission plan in an autonomous aircraft. The process shown in the flowchart is... Figure 11 This is another example of how operation 1106 is implemented. The flowchart illustrates when synchronization failure occurs.

[0205] The process begins by sending modified mission elements to the autonomous vehicle via a communication link to form a new mission plan located within the autonomous vehicle (Operation 1600). If no confirmation of receipt of the modified mission elements by the autonomous vehicle is received within a certain period, the process generates a notification that the modified mission elements have not been received (Operation 1602). The process then terminates.

[0206] Turn Figure 17 This document describes a flowchart illustrating a process used to display a graphical user interface for managing an autonomous aircraft, based on an illustrative example. It can be implemented in hardware, software, or both. Figure 17The process in the process. When implemented in software, a process can take the form of program code executed by one or more processor units located in one or more hardware devices of one or more computer systems. For example, a process can be implemented in the task manager 208 of computer system 206 to... Figure 2 The graphical user interface 250 is displayed in the display system 246 of the human-machine interface 244.

[0207] The process begins by displaying the graphical user interface (Operation 1700). The process then displays the task queue in the graphical user interface (Operation 1702). Finally, the process displays the task elements in the task queue in chronological order relative to the timeline (Operation 1704).

[0208] The process displays the tasks (operations 1706) to be executed by the human operator in the task queue in chronological order relative to the timeline. The process then terminates.

[0209] In operations 1704 and 1706, task elements and work items can be displayed using graphical indicators with a vertical size representing duration and aligned with the timeline based on the start time. Furthermore, task elements and work items are displayed in parallel relative to the timeline.

[0210] Turn Figure 18 This document describes a flowchart illustrating a process used to display a graphical user interface for managing an autonomous aircraft, based on an illustrative example. The processes in the flowchart are shown in the accompanying diagram. Figure 17 The additional operations that can be performed during the process described in the flowchart.

[0211] The process displays a current execution graphical indicator showing when task elements and work items are executed, with the task elements and work items moving relative to the current execution graphical indicator (Operation 1800). The process then terminates.

[0212] Turn Figure 19 This is a flowchart illustrating the process of modifying task elements using a vehicle for processing task planning, based on an illustrative example. It can be implemented in hardware, software, or both. Figure 19 The process in the program. When implemented in software, a process can take the form of program code that runs on one or more processor units located in one or more hardware devices of one or more computer systems. For example, it can be... Figure 2 The process is implemented in the Task Manager 208 of the computer system 206.

[0213] The process begins by receiving the vehicle-modified mission element from the autonomous aircraft (Operation 1900). The process displays new job items within the task queue in chronological order relative to the timeline of the task queue, where the position of the new job item is based on the importance of the vehicle-modified mission element, and where the new job item is the job used to determine whether to approve the use of the vehicle-modified mission element (Operation 1902). In Operation 1902, a display may be performed after a consistency check, and the result indicates that the mission plan can be executed using the vehicle-modified mission element. In this example, these consistency checks may be performed by one or both of the vehicle manager and the task manager.

[0214] When the vehicle-modified mission elements are approved, the process sends a command to the autonomous aircraft to execute the mission plan with the vehicle-modified mission elements (Operation 1904). Once the autonomous aircraft has received confirmation, the process displays the vehicle-modified mission elements in the mission queue (Operation 1906). The process then terminates.

[0215] Then turn Figure 20 This is a diagram illustrating a flowchart for managing an autonomous aircraft based on an illustrative example. It can be implemented in hardware, software, or both. Figure 20 The process in the program. When implemented in software, a process can take the form of program code that runs on one or more processor units located in one or more hardware devices of one or more computer systems. For example, it can be... Figure 2 The computer system 206's Task Manager 208 and Figure 8 and Figure 9 The process is implemented in the vehicle manager 800 of the autonomous aircraft 210. In this example, it can be achieved by using... Figure 2 The human-computer interface 244 interacts between the human operator 226 and the task manager 208 to complete different operations performed by the human operator 226.

[0216] The process begins with a human operator creating or editing a local task plan (Operation 2000). The human operator saves the local task plan (Operation 2002).

[0217] Task Manager performs a consistency check on the saved local task schedule (Operation 2004). Task Manager then determines whether the local task schedule can be executed (Operation 2006). If the local task schedule cannot be executed, the process returns to Operation 2000, where the human operator edits the local task schedule.

[0218] Otherwise, the process synchronizes the local mission plan with the autonomous aircraft (Operation 2008). In Operation 2008, synchronization is performed by the mission manager located at the ground station and the vehicle manager in the autonomous aircraft. The mission manager stores a copy of the mission plan located in the autonomous aircraft.

[0219] The vehicle manager in the autonomous aircraft performs a consistency check (Operation 2010). The consistency check in Operation 2010 provides enhanced security for creating and updating mission plans for autonomous aircraft.

[0220] The vehicle manager determines whether the mission plan can be executed (Operation 2012). If the mission plan cannot be executed, the vehicle manager rejects it and sends a notification to the human operator (Operation 2014). For example, if changes are made to the destination airport and the approach no longer matches the destination airport, consistency is lacking. In this case, the mission plan cannot be executed and is rejected. In this way, the vehicle manager in the aircraft can perform a similarity check on consistency using its own data source. The process then returns to Operation 2000 to allow the human operator to edit the mission plan.

[0221] Otherwise, the vehicle manager accepts the mission plan and sends a notification to the human operator (Operation 2016). The human operator commands the UAV to execute the synchronized mission plan (Operation 2018). In Operation 2018, the command is associated with the UAV via the mission manager.

[0222] Make a determination as to whether a start command is needed to execute the mission plan (Operation 2020). If no start command is needed, the Vehicle Manager executes the mission plan to operate the autonomous aircraft (Operation 2022). The process then terminates.

[0223] Referring again to Operation 2020, if additional start commands are required, the human operator sends additional start commands to execute the task schedule (Operation 2024). Then, the process proceeds to Operation 2022.

[0224] The flowcharts and block diagrams in the various examples described illustrate the architecture, functionality, and operation of some possible implementations of the apparatus and methods in the illustrative examples. Therefore, each block diagram in the flowchart or block diagram may represent at least one of a module, segment, function, or part of an operation or step. For example, one or more block diagrams may be implemented as program code, hardware, or a combination of program code and hardware. For example, when implemented in hardware, the hardware may take the form of an integrated circuit manufactured or configured to perform one or more operations in the flowchart or block diagram. When implemented as a combination of program code and hardware, the implementation may take the form of firmware. Each block diagram in the flowchart or block diagram may be implemented using a dedicated hardware system performing different operations or a combination of dedicated hardware and program code executed by the dedicated hardware.

[0225] In some alternative implementations of the illustrative examples, one or more functions marked in the block diagrams may not follow the order shown in the diagrams. For example, in some cases, depending on the functions involved, two block diagrams shown consecutively may be executed approximately simultaneously, or sometimes they may be executed in reverse order. Furthermore, additional block diagrams may be added besides those shown in the flowcharts or block diagrams.

[0226] Now turning Figure 21 This describes a block diagram of a data processing system based on an illustrative example. It can be implemented using data processing system 2100. Figure 1 The system includes server computer 104, server computer 106, and client device 110. Alternatively, a data processing system 2100 can be used. Figure 2 The computer system 206 and the autonomous flight vehicle 204 are included. In this illustrative example, the data processing system 2100 includes a communication architecture 2102 that provides communication between the processor unit 2104, memory 2106, persistent storage 2108, communication unit 2110, input / output (I / O) unit 2112, and display 2114. In this example, the communication architecture 2102 takes the form of a bus system.

[0227] Processor unit 2104 is used to execute software instructions loaded into memory 2106. Processor unit 2104 includes one or more processors. For example, processor unit 2104 may be selected from at least one of a multi-core processor, a central processing unit (CPU), a graphics processing unit (GPU), a physical processing unit (PPU), a digital signal processor (DSP), a network processor, or some other suitable type of processor. Further, processor unit 2104 may be implemented using one or more heterogeneous processor systems, in which the main processor and secondary processors reside on a single chip. As another illustrative example, processor unit 2104 may be a symmetric multiprocessor system containing multiple processors of the same type located on a single chip.

[0228] Memory 2106 and persistent memory 2108 are examples of storage device 2116. A storage device is any hardware capable of storing information such as, but not limited to, data, program code in the form of functions, or at least other suitable information based on temporary, permanent, or both temporary and permanent conditions. In these illustrative examples, storage device 2116 may also be referred to as a computer-readable storage device. In these examples, for example, memory 2106 may be random access memory or any other suitable volatile or non-volatile storage device. Persistent memory 2108 may take various forms depending on the specific implementation.

[0229] For example, persistent storage 2108 may include one or more components or devices. For example, persistent storage 2108 may be a hard drive, a solid-state drive (SSD), flash memory, a rewritable optical disc, a rewritable magnetic tape, or a combination thereof. The media used by persistent storage 2108 may also be removable. For example, a removable hard drive may be used for persistent storage 2108.

[0230] In these illustrative examples, communication unit 2110 provides communication with other data processing systems or devices. In these illustrative examples, communication unit 2110 is a network interface card.

[0231] Input / output unit 2112 allows data input and output to other devices that can be connected to data processing system 2100. For example, input / output unit 2112 can provide connectivity for user input via at least one of a keyboard, mouse, or some other suitable input device. Furthermore, input / output unit 2112 can send output to a printer. Display 2114 provides a mechanism for displaying information to the user.

[0232] Instructions concerning at least one of the operating system, applications, or programs can be located in storage device 2116, which communicates with processor unit 2104 via communication architecture 2102. Processor unit 2104 can use a computer to implement different examples of the process of executing instructions using memory such as memory 2106.

[0233] These instructions are referred to as program code, computer-usable program code, or computer-readable program code, which can be read and executed by the processor in processor unit 2104. The program code in different examples may be embodied in different physical or computer-readable storage media, such as memory 2106 or persistent storage 2108.

[0234] Program code 2118 is located on computer-readable medium 2120 in the form of a function. Computer-readable medium 2120 is optionally removable, and program code 2118 can be loaded into or transferred to data processing system 2100 for execution by processor unit 2104. In these illustrative examples, program code 2118 and computer-readable medium 2120 constitute computer program product 2122. In these illustrative examples, computer-readable medium 2120 is computer-readable storage medium 2124.

[0235] In these illustrative examples, computer-readable storage medium 2114 is a physical or tangible storage device for storing program code 2118, and not a medium for propagating or transmitting program code 2118. As used herein, computer-readable storage medium 2114 should not be considered as a transient signal itself, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (e.g., light pulses passing through fiber optic cables), or electrical signals transmitted through wires, etc.

[0236] Alternatively, program code 2118 can be transmitted to data processing system 2100 using a computer-readable signal medium. For example, the computer-readable signal medium can be a propagated data signal containing program code 2118. For example, the computer-readable signal medium can be at least one of electromagnetic signals, optical signals, or any other suitable type of signal. These signals can be transmitted via connections such as wireless connections, fiber optic cables, coaxial cables, wires, or any other suitable type of connection.

[0237] Furthermore, as used herein, "computer-readable medium 2120" can be singular or plural. For example, program code 2118 may reside in a single storage device or system-type computer-readable medium 2120. In another example, program code 2118 may reside in computer-readable media 2120 distributed across multiple data processing systems. In other words, some instructions in program code 2118 may reside in one data processing system, while other instructions in program code 2118 may reside in a data processing system. For example, a portion of program code 2118 may reside in a computer-readable medium 2120 on a server computer, while another portion of program code 2118 may reside in computer-readable media 2120 on a set of client computers.

[0238] The different components shown for data processing system 2100 do not imply any architectural limitation on how different examples can be implemented therein. In some illustrative examples, one or more components may be integrated into or otherwise formed as part of another component. For example, in some illustrative examples, memory 2106 or a portion thereof may be integrated into processor unit 2104. Different illustrative examples may be implemented in data processing systems that include components other than those shown for data processing system 2100. Figure 21 Other components shown may differ from the illustrative example. Different examples can be implemented using any hardware device or system capable of running program code 2118.

[0239] It is possible Figure 22 The aircraft manufacturing and maintenance method 2200 shown herein and Figure 23 The illustrative examples of this disclosure are described in the context of the aircraft 2300 shown. First turn to... Figure 22 The illustration depicts an aircraft manufacturing and maintenance method according to an illustrative example. During the pre-production process, the aircraft manufacturing and maintenance method 2200 may include... Figure 23 Specifications and design of aircraft 2300 2202 and material procurement 2204.

[0240] During the production process, Figure 23 The manufacturing of components and sub-components of the aircraft 2300, 2206, and system integration, 2208, follow. Figure 23 The aircraft 2300 can proceed to certification and delivery 2210 for deployment 2212. Arrangements will be made when the customer deploys 2212. Figure 23 The aircraft 2300 is subjected to routine maintenance and repair 2214, which may include refurbishment, reconfiguration, overhaul, and other maintenance and repair.

[0241] The various processes of aircraft manufacturing and maintenance method 2200 can be performed or completed by a system integrator, a third party, an operator, or a combination thereof. In these examples, the operator may be the customer. For the purposes of this description, the system integrator may include, but is not limited to, any number of aircraft manufacturers and main system subcontractors; the third party may include, but is not limited to, any number of retailers, subcontractors, and suppliers; and the operator may be an airline, leasing company, military enterprise, service organization, etc.

[0242] For reference Figure 23 The illustration depicts an aircraft that can be used to implement an illustrative example. In this example, aircraft 2300 is... Figure 22 The aircraft manufacturing and maintenance method 2200 described herein produces an autonomous aircraft and may include a fuselage 2302 having multiple systems 2304 and an interior 2306. Examples of systems 2304 include one or more propulsion systems 2308, electrical systems 2310, hydraulic systems 2312, and environmental systems 2314. Any number of other systems may be included. Although an aerospace example is shown, different illustrative examples may be applied to other industries such as the automotive industry.

[0243] exist Figure 22 The apparatus and methods shown herein may be used in at least one stage of the aircraft manufacturing and maintenance method 2200.

[0244] In an illustrative example, it can be done by... Figure 22 The components or sub-components produced when the aircraft 2300 was put into service 2212 were manufactured or produced in a similar manner. Figure 22 The components and subcomponents in 2206 are manufactured as components or subcomponents. As yet another example, they can be manufactured in, for example... Figure 22 During the production phases of component and sub-component manufacturing 2206 and system integration 2208, one or more device embodiments, method embodiments, or combinations thereof are utilized. When the aircraft 2300 is put into service 2212, in... Figure 22 During the maintenance and repair of 2214, or both, one or more apparatus examples, method examples, or combinations thereof may be utilized. Using multiple different illustrative examples can sufficiently accelerate the assembly of aircraft 2300, reduce the cost of aircraft 2300, or both accelerate the assembly of aircraft 2300 and reduce the cost of aircraft 2300.

[0245] For example, software and hardware components in aircraft 2300 can be implemented during at least one of system integration 2208 or maintenance and repair 2214. These components can be used during the operation 2212 of aircraft 2300 to reduce the workload of human operators at ground stations. This reduction in workload can also increase the number of autonomous aircraft managed by one or more human operators.

[0246] Therefore, illustrative examples provide methods, apparatus, systems, and computer program products for managing autonomous aircraft. In one illustrative example, a method manages an autonomous aircraft. A computer system stores a copy of a mission plan in a mission job queue. The mission plan resides in the autonomous aircraft and includes mission elements that define the tasks performed by the autonomous aircraft. The computer system may receive changes to the mission elements in the copy of the mission plan in the mission job queue to form modified mission elements in the copy of the mission plan in the mission job queue. The computer system may determine that the autonomous aircraft can execute the copy of the mission plan including the modified mission elements. The computer system may synchronize the copy of the mission plan including the modified mission elements with the mission plan in the autonomous aircraft such that the mission plan includes the modified mission elements. The autonomous aircraft can execute the mission plan including the modified mission elements.

[0247] One or more illustrative examples overcome the problem of managing multiple autonomous aerial vehicles (AAVs). Therefore, in one or more illustrative examples, a human operator can manage the tasks of multiple AAVs. Compared to current technologies, in these illustrative examples, one or more illustrative examples can command the AAVs without requiring continuous communication with them. Furthermore, one or more illustrative examples can reduce the workload of the human operator in managing the tasks of the AAVs. Compared to current technologies for display instruments used in AAVs, one or more illustrative examples provide a graphical user interface for displaying information in a way that reduces the workload of the human operator.

[0248] The description includes illustrative examples based on the following:

[0249] Item 1. An autonomous flight vehicle management system (202), comprising:

[0250] Computer system (206); and

[0251] Task Manager (134,150,208) is located in computer system (206), and Task Manager (134,150,208) is configured as follows:

[0252] A copy (218) of the mission plan (220) is stored in the mission job queues (212, 302, 404), wherein the mission plan (220) is located in the autonomous aircraft (112, 114, 118, 210) and includes mission elements (138, 142, 222, 310, 502) that define the jobs (225, 228) performed by the autonomous aircraft (112, 114, 118, 210);

[0253] Receive changes (230) to the task elements (138,142,222,310,502) in the copy (218) of the task plan (220) in the task job queue (212,302,404) to form the modified task elements (144,232) in the copy (218) of the task plan (220) in the task job queue (212,302,404);

[0254] Determine whether the autonomous aircraft (112, 114, 118, 210) can execute a copy (218) of the mission plan (220) including the modified mission elements (144, 232); and

[0255] A copy (218) of the mission plan (220) including the modified mission elements (144,232) is synchronized with the mission plan (220) in the autonomous aircraft (112,114,118,210) so that the mission plan (220) includes the modified mission elements (144,232).

[0256] Item 2. According to the autonomous flight management system (202) in Item 1, the task manager (134, 150, 208) is configured as follows:

[0257] Before the autonomous aircraft (112,114,118,210) executes the mission plan (220), the mission plan (220) is uploaded to the autonomous aircraft (112,114,118,210) via the communication link (224).

[0258] Item 3. According to Item 1 or Item 2, the autonomous aircraft management system (202) wherein, when synchronizing a copy (218) of the mission plan (220) including the modified mission elements (144, 232) with the mission plan (220) in the autonomous aircraft (112, 114, 118, 210), the mission manager (134, 150, 208) is configured as follows:

[0259] The modified mission elements (144, 232) are transmitted to the autonomous aircraft (112, 114, 118, 210) via communication link (224) to form a new mission plan (236) located in the autonomous aircraft (112, 114, 118, 210); and

[0260] When the autonomous aircraft (112,114,118,210) returns confirmation (240) that the modified mission element (144,232) has been received by the autonomous aircraft (112,114,118,210), a command (238) to execute the new mission plan (236) is sent to the autonomous aircraft (112,114,118,210).

[0261] Item 4. The autonomous aircraft management system (202) according to any one of items 1 to 3, wherein, when synchronizing a copy (218) of the mission plan (220) including the modified mission elements (144, 232) with the mission plan (220) in the autonomous aircraft (112, 114, 118, 210), the mission manager (134, 150, 208) is configured as follows:

[0262] The modified mission elements (144, 232) are transmitted to the autonomous aircraft (112, 114, 118, 210) via communication link (224) to form a new mission plan (236) located in the autonomous aircraft (112, 114, 118, 210); and

[0263] When the autonomous aircraft (112,114,118,210) returns a confirmation (240) that the new mission plan (236) can be executed by the autonomous aircraft (112,114,118,210), the command (238) to execute the new mission plan (236) will be sent to the autonomous aircraft (112,114,118,210).

[0264] Item 5. The autonomous aircraft management system (202) according to any one of items 1 to 4, wherein, when synchronizing a copy (218) of the mission plan (220) including the modified mission elements (144, 232) with the mission plan (220) in the autonomous aircraft (112, 114, 118, 210), the mission manager (134, 150, 208) is configured as follows:

[0265] The modified mission elements (144, 232) are transmitted to the autonomous aircraft (112, 114, 118, 210) via communication link (224) to form a new mission plan (236) located in the autonomous aircraft (112, 114, 118, 210); and

[0266] The confirmation (240) that the modified mission element (144,232) has been received by the autonomous aircraft (112,114,118,210) has been received.

[0267] Item 6. The autonomous aircraft management system (202) according to any one of items 1 to 5, wherein, when synchronizing a copy (218) of the mission plan (220) including the modified mission elements (144, 232) with the mission plan (220) in the autonomous aircraft (112, 114, 118, 210), the mission manager (134, 150, 208) is configured as follows:

[0268] The modified mission elements (144, 232) are transmitted to the autonomous aircraft (112, 114, 118, 210) via communication link (224) to form a new mission plan (236) located in the autonomous aircraft (112, 114, 118, 210); and

[0269] If no confirmation (240) is received from the autonomous aircraft (112,114,118,210) that the modified mission element (144,232) has been received within a certain period of time, a notification (242) is generated that the modified mission element (144,232) has not been received.

[0270] Item 7. The autonomous aircraft management system (202) according to any one of items 1 to 6, wherein, when determining whether a copy (218) of the mission plan (220) including modified mission elements (144, 232) can be executed by the autonomous aircraft (112, 114, 118, 210), the mission manager (134, 150, 208) is configured as follows:

[0271] A consistency check is performed on the mission plan (220) including the modified mission elements (144, 232) to determine whether a copy (218) of the mission plan (220) including the modified mission elements (144, 232) can be executed by the autonomous aircraft (112, 114, 118, 210); and

[0272] The Task Manager (134,150,208) is configured as follows:

[0273] An error is indicated when a copy (218) of the mission plan (220) including the modified mission elements (144,232) cannot be executed by the autonomous aircraft (112,114,118,210).

[0274] Item 8. The autonomous flight management system (202) according to any one of items 1 through 7 further includes:

[0275] The human-machine interface (244) is configured as follows:

[0276] Display the graphical user interface (132, 152, 250);

[0277] Display the task queue (212,302,404) in the graphical user interface (132,152,250);

[0278] The task elements (138, 142, 222, 310, 502) in the task queue (212, 302, 404) are displayed in chronological order relative to the timeline (312, 514); and

[0279] The tasks to be performed by the human operator are displayed in the task queue (212, 302, 404) in chronological order relative to the timeline (312, 514) (146, 217, 308, 500).

[0280] Item 9. According to the autonomous aircraft management system (202) in Item 8, mission elements (138, 142, 222, 310, 502) and task items (146, 217, 308, 500) are displayed in parallel with respect to the timeline (312, 514).

[0281] Item 10. An autonomous aircraft management system (202) according to Item 8 or Item 9, wherein job items (146,217,308,500) and task elements (138,142,222,310,502) are displayed using a graphic indicator (314) with a vertical size representing the duration and the job items (146,217,308,500) and task elements (138,142,222,310,502) are aligned with the timeline (312,514) based on the start time.

[0282] Item 11. An autonomous flight management system (202) according to any one of items 8 to 10, wherein the human-machine interface (244) is configured as follows:

[0283] A current execution graphic indicator (320) displays the time for executing task elements (138,142,222,310,502) and work items (146,217,308,500), wherein the task elements (138,142,222,310,502) and work items (146,217,308,500) move relative to the current execution graphic indicator (320).

[0284] Item 12. The autonomous flight management system (202) according to any one of items 8 to 11, wherein the task manager (134, 150, 208) is configured as follows:

[0285] The mission elements of the vehicle modification are received from the mission plan (220) of the autonomous aircraft (112, 114, 118, 210);

[0286] New task items are displayed in the task queue (212, 302, 404) at a specific position within task items (146, 217, 308, 500) according to their chronological order relative to the timeline (312, 514) within the task queue (212, 302, 404). The position of the new task item is based on the importance of the task element modified by the vehicle. Furthermore, a new task item refers to the task used to determine whether to approve the modification of the task element using the vehicle.

[0287] When the mission element modified using the vehicle is approved, a confirmation (240) is sent to the autonomous aircraft (112, 114, 118, 210) to execute the mission plan (220) with the mission element modified using the vehicle; and

[0288] Once the autonomous aircraft (112,114,118,210) has received confirmation (240), display the modified mission elements of the vehicle in the mission task queue (212,302,404).

[0289] Item 13. An autonomous aircraft management system (202) according to any one of items 1 to 12, wherein a human operator (226) who manages the autonomous aircraft (112, 114, 118, 210) from executing job items receives changes (230) of task elements (138, 142, 222, 310, 502) in a copy (218) of the task plan (220) in the task job queue (212, 302, 404) as user input (252).

[0290] Item 14. An autonomous aircraft management system (202) based on any one of items 8 to 12, wherein the operation item (146, 217, 308, 500) is selected from at least one of the following: performing a pre-flight checklist, entering the taxiway exit route, checking runway accessibility, initiating takeoff, entering the takeoff route, submitting an initial flight plan, updating the flight plan, changing the frequency, contacting the destination, entering the arrival route, initiating landing, entering the taxiway entry route, or performing a post-flight checklist.

[0291] Item 15. An autonomous aircraft management system (202) according to any one of items 1 to 14, wherein a mission element is selected from at least one of pre-flight, taxiing, queuing, takeoff, departure, en route cruise, arrival, landing, taxiing in, or parking (138, 142, 222, 310, 502).

[0292] Item 16. An autonomous flight vehicle (112, 114, 118, 210) system, comprising:

[0293] Computer system (206), located within autonomous aircraft (112, 114, 118, 210); and

[0294] A vehicle manager (800) is located in the computer system (206), wherein the vehicle manager (800) is configured as follows:

[0295] Execute a mission plan (220) for the autonomous aircraft (112,114,118,210), wherein the mission plan (220) includes mission elements (138,142,222,310,502);

[0296] The modified task elements (144, 232) are received via the communication link (224);

[0297] Determine whether the modified task element (144,232) in the new task plan (236) that includes task elements (138,142,222,310,502) and the modified task element (144,232) can be executed; and

[0298] Execute the new mission plan (236).

[0299] Item 17. According to the autonomous flight vehicle (112, 114, 118, 210) system of Item 16, wherein the vehicle manager (800) is configured as follows:

[0300] When the modified task elements (144,232) in the new task plan (236) cannot be executed, continue to execute the task plan (220) with task elements (138,142,222,310,502).

[0301] Item 18. According to Item 16 or Item 17, the autonomous flight vehicle (112, 114, 118, 210) system, wherein, when executing a new mission plan (236), the vehicle manager (800) is configured as follows:

[0302] Receive the command (238) to execute the new task plan (236); and

[0303] When command (238) is received, execute the new task plan (236).

[0304] Item 19. An autonomous flight vehicle (112, 114, 118, 210) system according to any one of items 16 to 18, wherein the vehicle manager (800) is configured as follows:

[0305] When an event occurs, generate a vehicle modification task element that can be executed together with the task elements (138, 142, 222, 310, 502) in the task plan (220);

[0306] Send the modified mission elements of the transportation to the ground station; and

[0307] When a response is received from the ground station approving the modification of the mission elements of the vehicle, the mission plan (220) is modified to include the modified mission elements of the vehicle to form a new mission plan (236), in which the autonomous aircraft (112, 114, 118, 210) executes the new mission plan (236).

[0308] Item 20. According to Item 19, the autonomous flight vehicle (112, 114, 118, 210) system, where the event refers to one of the following: turbulence, adverse weather conditions along the flight path, lightning strike, restricted space changes, and changes in wind direction.

[0309] Item 21. An autonomous flight vehicle (112, 114, 118, 210) system according to any one of Items 16 to 19, wherein a computer system (206) is selected from at least one of an autopilot, an autonomous flight controller, or an autonomous flight management system.

[0310] Item 22. A method for managing autonomous aircraft (112, 114, 118, 210), the method comprising:

[0311] A copy (218) of the mission plan (220) is stored (1100) in the mission job queue (212, 302, 404) by the computer system (206), wherein the mission plan (220) is located in the autonomous aircraft (112, 114, 118, 210) and includes mission elements (138, 142, 222, 310, 502) that define the jobs (225, 228) performed by the autonomous aircraft (112, 114, 118, 210);

[0312] The computer system (206) receives (1102) changes (230) to the task elements (138, 142, 222, 310, 502) in the copy (218) of the task plan (220) in the task job queue (212, 302, 404) to form the modified task elements (144, 232) in the copy (218) of the task plan (220) in the task job queue (212, 302, 404);

[0313] The computer system (206) determines (1104) whether the autonomous aircraft (112, 114, 118, 210) can execute a copy (218) of the mission plan (220) including modified mission elements (144, 232); and

[0314] The computer system (206) synchronizes (1106) a copy (218) of the mission plan (220) including the modified mission elements (144, 232) with the mission plan (220) in the autonomous vehicle (112, 114, 118, 210) so that the mission plan (220) includes the modified mission elements (144, 232), wherein the autonomous vehicle (112, 114, 118, 210) executes the mission plan (220) including the modified mission elements (144, 232).

[0315] Item 23. Further comprising, according to the method of Item 22:

[0316] Before the autonomous aircraft (112,114,118,210) executes the mission plan (220), the computer system (206) uploads (1200) the mission plan (220) to the autonomous aircraft (112,114,118,210) via the communication link (224).

[0317] Item 24. According to the method of Item 22 or Item 23, wherein synchronizing a copy (218) of a mission plan (220) including modified mission elements (144, 232) with the mission plan (220) in the autonomous aircraft (112, 114, 118, 210) by a computer system (206) comprises:

[0318] The computer system (206) sends (1300) the modified mission elements (144, 232) to the autonomous aircraft (112, 114, 118, 210) via the communication link (224) to form a new mission plan (236) in the autonomous aircraft (112, 114, 118, 210); and

[0319] When the autonomous aircraft (112,114,118,210) returns confirmation (240) that the modified mission element (144,232) has been received by the autonomous aircraft (112,114,118,210), the computer system (206) sends (1302) a command (238) to execute the new mission plan (236) to the autonomous aircraft (112,114,118,210).

[0320] Item 25. According to the method of Item 22 or Item 23, wherein synchronizing a copy (218) of the mission plan (220) including the modified mission elements (144, 232) with the mission plan (220) in the autonomous aircraft (112, 114, 118, 210) includes:

[0321] The computer system (206) sends (1400) the modified mission elements (144, 232) to the autonomous aircraft (112, 114, 118, 210) via the communication link (224) to form a new mission plan (236) in the autonomous aircraft (112, 114, 118, 210); and

[0322] When the autonomous aircraft (112,114,118,210) returns a confirmation (240) that the new mission plan (236) can be executed by the autonomous aircraft (112,114,118,210), the computer system (206) sends (1402) a command (238) to execute the new mission plan (236) to the autonomous aircraft (112,114,118,210).

[0323] Item 26. According to the method of Item 22 or Item 23, wherein synchronizing a copy (218) of the mission plan (220) including the modified mission elements (144, 232) with the mission plan (220) in the autonomous aircraft (112, 114, 118, 210) includes:

[0324] The computer system (206) sends (1500) the modified mission elements (144, 232) to the autonomous aircraft (112, 114, 118, 210) via the communication link (224) to form a new mission plan (236) in the autonomous aircraft (112, 114, 118, 210); and

[0325] The mission elements (144, 232) modified by the computer system (206) have been received (1502) by the autonomous aircraft (112, 114, 118, 210) (240).

[0326] Item 27. According to the method of Item 22 or Item 23, wherein synchronizing a copy (218) of the mission plan (220) including the modified mission elements (144, 232) with the mission plan (220) in the autonomous aircraft (112, 114, 118, 210) includes:

[0327] The computer system (206) sends (1600) the modified mission elements (144, 232) to the autonomous aircraft (112, 114, 118, 210) via the communication link (224) to form a new mission plan (236) in the autonomous aircraft (112, 114, 118, 210); and

[0328] If no confirmation (240) is received from the autonomous aircraft (112,114,118,210) that the modified mission element (144,232) has been received within a certain period of time, the computer system (206) generates (1602) a notification (242) that the modified mission element (144,232) has not been received.

[0329] Item 28. The method according to any one of items 22 through 27 further includes:

[0330] When a copy (218) of the mission plan, which includes the modified mission elements (144, 232), cannot be executed by the autonomous aircraft (112, 114, 118, 210), the computer system (206) indicates an error.

[0331] Item 29. Further comprising the method according to any one of items 22 through 28:

[0332] A graphical user interface (132, 152, 250) is displayed (1700) by a computer system (206);

[0333] The computer system (206) displays (1702) the task job queue (212, 302, 404) in the graphical user interface (132, 152, 250);

[0334] The computer system (206) displays (1704) the task elements (138, 142, 222, 310, 502) in the task queue (212, 302, 404) in chronological order relative to the timeline (312, 514); and

[0335] The computer system (206) displays (1706) the task queue (212, 302, 404) of the task items (146, 217, 308, 500) to be executed by the human operator (226) in chronological order relative to the timeline (312, 514).

[0336] Item 30. According to the method of Item 29, the task elements (138, 142, 222, 310, 502) and the work items (146, 217, 308, 500) are displayed in parallel with respect to the timeline (312, 514).

[0337] Item 31. According to the method of Item 29 or Item 30, wherein task elements (138, 142, 222, 310, 502) and work items (146, 217, 308, 500) are displayed using a graphic indicator (314) with a vertical size representing the duration and aligned with the timeline (312, 514) based on the start time.

[0338] Item 32. Further comprising the method according to any one of items 29 through 31:

[0339] The computer system (206) displays (1800) an indication of the time to execute task elements (138,142,222,310,502) and work items (146,217,308,500) as a current execution graphic indicator (320), wherein the task elements (138,142,222,310,502) and work items (146,217,308,500) move relative to the current execution graphic indicator (320).

[0340] Item 33. Further comprising the method according to any one of items 29 through 32:

[0341] The mission elements modified by the vehicle are received (1900) from the mission plan (220) by the computer system (206) from the autonomous aircraft (112, 114, 118, 210);

[0342] The computer system (206) displays (1902) a new task item located at a certain position within task items (146, 217, 308, 500) in the task task queue (212, 302, 404) according to the timeline (312, 514) relative to the task task queue (212, 302, 404), wherein the position of the new task item is based on the importance of the task element modified by the vehicle, and wherein the new task item refers to a task (225, 228) used to determine whether to approve the use of the task element modified by the vehicle;

[0343] When the mission elements modified by the vehicle are approved, the computer system (206) sends (1904) an order to the autonomous aircraft (112, 114, 118, 210) to execute the mission plan (220) with the modified mission elements; and

[0344] When the autonomous aircraft (112,114,118,210) has received confirmation (240), the computer system (206) displays (1906) the modified mission elements of the vehicles in the mission job queue (212,302,404).

[0345] Item 34. According to the method of Item 22, wherein the human operator (226) who manages the autonomous aircraft (112, 114, 118, 210) from the execution of the task items receives changes (230) of the task elements (138, 142, 222, 310, 502) in a copy (218) of the task plan (220) in the task task queue (212, 302, 404) as user input (252).

[0346] Item 35. According to the method of Item 29, the operation item is selected from at least one of the following (146,217,308,500): performing the pre-flight checklist, entering the taxiway, checking the runway for clear, initiating takeoff, entering the takeoff route, submitting the initial flight plan, updating the flight plan, changing the frequency, contacting the destination, entering the arrival route, initiating landing, entering the taxiway, or performing the post-flight checklist.

[0347] Item 36. According to the method of Item 22, wherein the mission element is selected from at least one of pre-flight, taxiing, queuing, takeoff, departure, en route cruise, arrival, landing, taxiing in, or parking (138, 142, 222, 310, 502).

[0348] Item 37. A computer program product (2122) for managing autonomous aircraft (112, 114, 118, 210), the computer program product (2122) comprising:

[0349] Computer-readable storage medium (2124);

[0350] First program code, stored on a computer-readable storage medium (2124), is executable by a computer system (206) such that the computer system (206) stores a copy (218) of a mission plan (220) in a mission job queue (212, 302, 404), wherein the mission plan (220) is located in the autonomous aircraft (112, 114, 118, 210) and includes mission elements (138, 142, 222, 310, 502) that define the jobs (225, 228) performed by the autonomous aircraft (112, 114, 118, 210);

[0351] The second program code, stored on a computer-readable storage medium (2124), is executable by a computer system (206) such that the computer system (206) receives changes (230) to task elements (138,142,222,310,502) in a copy (218) of a task plan (220) in a task job queue (212,302,404) to form modified task elements (144,232) in a copy (218) of a task plan (220) in a task job queue (212,302,404);

[0352] The third program code, stored on a computer-readable storage medium (2124), is executable by a computer system (206) such that the computer system (206) determines whether the autonomous aircraft (112, 114, 118, 210) can execute a copy (218) of a mission plan (220) including modified mission elements (144, 232); and

[0353] The fourth program code, stored on a computer-readable storage medium (2124), is executable by a computer system (206) such that the computer system (206) synchronizes a copy (218) of a mission plan (220) including modified mission elements (144, 232) with the mission plan (220) in the autonomous aircraft (112, 114, 118, 210) such that the mission plan (220) includes the modified mission elements (144, 232), wherein the autonomous aircraft (112, 114, 118, 210) executes the mission plan (220) including the modified mission elements (144, 232).

[0354] Descriptions of various illustrative embodiments have been presented for purposes of illustration and description, and such description is not intended to be exhaustive or limiting to the embodiments of the disclosed forms. The various illustrative examples describe components that perform actions or operations. In the illustrated embodiments, components may be configured to perform the described actions or operations. For example, a component may have a configuration or design that provides the component with the ability to perform the actions or operations described in the illustrative examples performed by the component. Further, the terms “includes,” “including,” “having,” “comprising,” and variations thereof, as used herein, are intended to include forms similar to the term “comprises” as open-ended transitional terms without excluding any additional or other elements.

[0355] Many modifications and variations will be apparent to those skilled in the art. Furthermore, different illustrative embodiments may provide different features compared to other desired embodiments. One or more examples have been selected and described as best suited to the principles of the examples, their practical application, and various embodiments with different modifications suitable for the particular intended use, so that those skilled in the art may understand this disclosure.

Claims

1. An autonomous flight vehicle management system, comprising: Computer systems; and A task manager, located in the computer system, wherein the task manager is configured as follows: A copy of the mission plan is stored in the mission job queue, wherein the mission plan is located in the autonomous aircraft and includes mission elements that define the jobs to be performed by the autonomous aircraft; Receive changes to the task elements in the copy of the task plan in the task job queue to form modified task elements in the copy of the task plan in the task job queue; Determine whether the autonomous aircraft is capable of executing the copy of the mission plan, including the modified mission elements; and The copy of the mission plan, including the modified mission elements, is synchronized with the mission plan in the autonomous aircraft such that the mission plan includes the modified mission elements. The human-computer interface is configured as follows: Display a graphical user interface; The task queue is displayed in the graphical user interface; The task elements in the task queue are displayed in chronological order relative to the timeline; and The tasks to be performed by human operators in the task queue are displayed in chronological order relative to the timeline. The task manager is configured as follows: The autonomous aircraft receives the vehicle-modified mission elements of the mission plan. New tasks are displayed in the task queue in chronological order relative to the timeline, at specific positions within the task list. The position of the new task is based on the importance of the task element modified by the vehicle, and the new task is the task within the task that determines whether to approve the modification of the task element using the vehicle. When the modified mission elements using the aforementioned vehicle are approved, a confirmation will be sent to the autonomous aircraft to execute the mission plan with the modified mission elements; and When the autonomous aircraft has received the confirmation, the modified mission elements of the vehicle in the mission task queue are displayed.

2. The autonomous flight vehicle management system according to claim 1, wherein, The task manager is configured as follows: Before the autonomous aircraft executes the mission plan, the mission plan is uploaded to the autonomous aircraft via a communication link.

3. The autonomous flight vehicle management system according to claim 1, wherein, The task elements and work items are displayed in parallel with respect to the timeline.

4. The autonomous flight vehicle management system according to claim 1, wherein, The task items and task elements are displayed using a graphical indicator with a vertical size representing the duration, and the task items and task elements are aligned with the timeline based on the start time.

5. The autonomous flight vehicle management system according to claim 1 or 2, wherein, The human operator managing the autonomous aircraft from the execution of job items receives changes to the task elements in the copy of the task plan in the task job queue as user input.

6. An autonomous flight vehicle system, comprising: The computer system is located inside the autonomous flight vehicle; and A vehicle manager, located in the computer system, wherein the vehicle manager is configured as follows: Execute a mission plan for the autonomous aircraft, wherein the mission plan includes mission elements; Receive modified task elements via the communication link; Determine whether the modified task element in a new task plan, which includes the task element and the modified task element, can be executed; Synchronize a copy of the mission plan, including the modified mission elements, with the mission plan in the autonomous aircraft, such that the mission plan includes the modified mission elements. Execute the new task plan. The human-computer interface is configured as follows: Display a graphical user interface; The task queue is displayed in the graphical user interface; The task elements in the task queue are displayed in chronological order relative to the timeline; and The tasks to be performed by human operators in the task queue are displayed in chronological order relative to the timeline. The vehicle manager is configured as follows: The autonomous aircraft receives the vehicle-modified mission elements of the mission plan. New tasks are displayed in the task queue in chronological order relative to the timeline, at specific positions within the task list. The position of the new task is based on the importance of the task element modified by the vehicle, and the new task is the task within the task that determines whether to approve the modification of the task element using the vehicle. When the modified mission elements using the aforementioned vehicle are approved, a confirmation will be sent to the autonomous aircraft to execute the mission plan with the modified mission elements; and When the autonomous aircraft has received the confirmation, the modified mission elements of the vehicle in the mission task queue are displayed.

7. The autonomous flight vehicle system according to claim 6, wherein, The vehicle manager is configured as follows: If the modified task elements in the new task plan cannot be executed, the task plan with the modified task elements shall continue to be executed.

8. The autonomous flight system according to claim 6 or 7, wherein, When executing the new task plan, the vehicle manager is configured as follows: Receive the command to execute the new task plan; and When the command is received, the new task plan is executed.

9. The autonomous flight system according to claim 6 or 7, wherein, The vehicle manager is configured as follows: When an event occurs, generate a vehicle modification task element that can be executed together with the task element in the task plan; Send the modified mission elements of the vehicle to the ground station; and When a response approving the modification of the mission elements of the vehicle is received from the ground station, the mission plan is modified to include the modified mission elements of the vehicle to form the new mission plan, wherein the autonomous aircraft executes the new mission plan.

10. The autonomous flight system according to claim 6 or 7, wherein, The computer system is selected from at least one of an autopilot, an autonomous flight controller, and an autonomous flight management system.

11. A method for managing an autonomous aircraft, the method comprising: A copy of the mission plan is stored in a mission job queue by a computer system, wherein the mission plan is located in the autonomous aircraft and includes mission elements that define the tasks to be performed by the autonomous aircraft; The computer system receives changes to the task elements in the copy of the task plan in the task job queue to form modified task elements in the copy of the task plan in the task job queue. The computer system determines whether the autonomous aircraft is capable of executing the copy of the mission plan, including the modified mission elements; and The computer system synchronizes a copy of the mission plan, including the modified mission elements, with the mission plan in the autonomous aircraft, such that the mission plan includes the modified mission elements, wherein the autonomous aircraft executes the mission plan including the modified mission elements. The computer system displays a graphical user interface; The computer system displays the task queue in the graphical user interface; The computer system displays the task elements in the task queue in chronological order relative to the timeline; and The computer system displays the tasks to be performed by human operators in the task queue in chronological order relative to the timeline. The computer system receives the vehicle-modified mission elements of the mission plan from the autonomous aircraft. The computer system displays new task items at a certain position within the task items in the task queue according to the chronological order relative to the timeline of the task queue, wherein the position of the new task item is based on the importance of the task element modified by the vehicle, and wherein the new task item refers to a task in the task queue used to determine whether to approve the use of the task element modified by the vehicle. When the modified mission elements of the vehicle are approved, the computer system sends a confirmation to the autonomous aircraft to execute the mission plan with the modified mission elements of the vehicle; and Once the autonomous aircraft has received the confirmation, the computer system displays the modified mission elements of the vehicle in the mission queue.

12. The method of claim 11, further comprising: Before the autonomous aircraft executes the mission plan, the computer system uploads the mission plan to the autonomous aircraft via a communication link.

13. The method according to claim 11 or 12, wherein, Synchronizing the copy of the mission plan, including the modified mission elements, with the mission plan in the autonomous aircraft via the computer system includes: The computer system transmits the modified mission elements to the autonomous aircraft via a communication link to form a new mission plan located within the autonomous aircraft; and When the autonomous aircraft returns confirmation that the modified mission elements have been received by the autonomous aircraft, the computer system sends a command to the autonomous aircraft to execute the new mission plan.

14. The method according to claim 11 or 12, wherein, Synchronizing the copy of the mission plan, including the modified mission elements, with the mission plan in the autonomous aircraft includes: The computer system transmits the modified mission elements to the autonomous aircraft via a communication link to form a new mission plan located within the autonomous aircraft; and When the autonomous aircraft returns confirmation that the new mission plan can be executed by the autonomous aircraft, the computer system sends a command to execute the new mission plan to the autonomous aircraft.

15. The method according to claim 11 or 12, wherein, Synchronizing the copy of the mission plan, including the modified mission elements, with the mission plan in the autonomous aircraft includes: The computer system transmits the modified mission elements to the autonomous aircraft via a communication link to form a new mission plan located within the autonomous aircraft; and The computer system receives confirmation that the modified mission elements have been received by the autonomous aircraft.

16. The method according to claim 11 or 12, wherein, Synchronizing the copy of the mission plan, including the modified mission elements, with the mission plan in the autonomous aircraft includes: The computer system transmits the modified mission elements to the autonomous aircraft via a communication link to form a new mission plan located within the autonomous aircraft; and If no confirmation is received from the autonomous aircraft that the modified mission element has been received within a certain period of time, the computer system generates a notification that the modified mission element has not been received.

17. The method according to claim 11 or 12, further comprising: When the copy of the mission plan, including the modified mission elements, cannot be executed by the autonomous aircraft, the computer system indicates an error.

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