Uploading mission plans to remote vehicles

Abstract

The mission plan module generates a mission plan for the deployed remote vehicle. The mission plan comprises a plurality of commands for the deployed remote vehicle. The burst upload module receives the mission plan and selects a predetermined command subset from the plurality of commands. The burst mode module transmits the predetermined command subset to the data link interface (DLI) module over the network. The predetermined command subset is transmitted in a burst mode operation based on a burst rate parameter, causing the DLI module to transmit the predetermined command subset to the deployed remote vehicle via the ground communication element. The burst mode module receives a response message set from the remote vehicle in response to the predetermined command subset and selects a next command subset comprising the plurality of commands. The burst mode module transmits the next command subset to the DLI module over the network.

Description

[Technical Field]

[0001] The present disclosure relates to uploading a mission plan to a remote vehicle. [Background technology]

[0002] (Related Applications) This application claims priority from U.S. Patent Application Serial No. 18 / 149511, filed January 3, 2023, which is incorporated herein in its entirety.

[0003] (government interest) This invention was made under a government contract and, accordingly, the United States Government has rights in the invention as provided for in that contract.

[0004] An unmanned aerial vehicle (UAV), commonly known as a drone, is an aircraft without a human pilot, crew, or passengers. UAVs are a component of unmanned aircraft systems (UAS) and include additional communication systems between the UAV and a ground controller. UAVs may fly remotely under the control of a human pilot (remotely piloted aircraft, or RPA), with varying degrees of autopilot-assisted autonomy, or fully autonomous with no human piloting facilities.

[0005] "Burst mode" is a general electronics term and refers to a situation in which a device transmits data repeatedly without going through all the steps required to transmit each piece of data in a separate transaction. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] International Publication No. 2017 / 181512 Summary of the Invention [Problem to be solved by the invention]

[0007] In these situations, improvements in uploading mission plans to remote vehicles are desirable. [Means for solving the problem]

[0008] One embodiment relates to a non-transitory (non-transient) machine-readable medium having machine-executable instructions. The machine-executable instructions include a mission planning module that generates a mission plan for a deployed remote vehicle based on user input. The mission plan includes a plurality of commands for the deployed remote vehicle. The machine-executable instructions also include a burst upload module (burst mode module) that receives the mission plan. The burst upload module includes selecting a predetermined command subset from a plurality of commands for the deployed remote vehicle and transmitting the predetermined command subset to a data link interface (DLI) module over a network. The predetermined command subset is transmitted in a burst mode operation based on a burst rate parameter, causing the data link interface DLI module to transmit the predetermined command subset to the deployed remote vehicle via a ground communication element. The burst mode module includes receiving a set of response messages from the remote vehicle in response to the predetermined command subset and selecting a next command subset as a next command subset of the plurality of commands for the deployed vehicle. The burst mode module transmits the next command subset over the network to the data link interface DLI module if the response message indicates that each command in the predetermined command subset for a given subset of commands has been accepted for execution by the deployed remote vehicle. The burst mode module terminates transmitting the multiple commands if the response message indicates that a particular command in the predetermined command subset has been rejected for execution by the deployed remote vehicle.

[0009] Another embodiment relates to a system for uploading a mission plan to a deployed remote vehicle. The system includes a memory storing machine-executable instructions and a processor core that accesses the memory and executes the machine-executable instructions. The machine-executable instructions include a mission planning module that generates a mission plan for the deployed remote vehicle based on user input. The mission plan includes a plurality of commands for the deployed remote vehicle. The machine-executable instructions also include a burst upload module that receives the mission plan and selects a predetermined command subset of the plurality of commands for the deployed remote vehicle. The burst upload module transmits the predetermined command subset in a first stream of first protocol packets to a data link interface (DLI) module. The predetermined command subset is transmitted in a burst mode operation based on a burst rate parameter. The burst mode module receives a set of response messages from the remote vehicle in response to the predetermined command subset and selects a next command subset as a next command subset of the plurality of commands for the deployed remote vehicle. The burst mode module transmits a next command subset on a first stream of first protocol packets if the response message indicates that each command in the predetermined command subset is accepted for execution by the deployed remote vehicle. The burst mode module terminates transmitting the plurality of commands if the response message indicates that a particular command in the predetermined command subset is rejected for execution by the deployed remote vehicle. The system includes a data link interface DLI controller executing a data link interface DLI module. The data link interface DLI module converts the first stream of first protocol packets into a second stream of second protocol packets. The data link interface DLI module transmits the second stream of packets to a ground communication element GCE. The ground communication element GCE includes an antenna for wireless communication to the deployed remote vehicle. The antenna transmits the second stream of packets to the deployed remote vehicle and receives a set of response messages from the deployed remote vehicle.

[0010] Yet another embodiment relates to a method for transmitting a mission plan to a deployed remote vehicle, the method comprising receiving, by a burst upload module executing on a computing platform, a mission plan for the deployed remote vehicle. The mission plan comprises a plurality of commands for the deployed remote vehicle. The method comprises selecting, by the burst upload module, a predetermined subset of commands from among the plurality of commands for the deployed remote vehicle, and transmitting, by the burst upload module, the predetermined subset of commands to a data link interface DLI module over a network. The predetermined subset of commands is transmitted in a burst mode operation based on a burst rate parameter, causing the data link interface DLI module to transmit the predetermined subset of commands to the deployed remote vehicle via a ground communication element. The method comprises receiving, by the burst upload module, a set of response messages from the remote vehicle responsive to the predetermined subset of commands. The method includes transmitting, by the burst upload module, a next command subset as a next command subset of the plurality of commands over the network to the data link interface DLI module if the response message indicates that each command in the predetermined command subset is accepted for execution by the deployed remote vehicle, and terminating transmission of the plurality of commands if the response message indicates that a particular command in the predetermined command subset is rejected for execution by the deployed remote vehicle. [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 1 illustrates an example system for uploading a mission plan to a deployed remote vehicle using burst mode operation. [Figure 2A] FIG. 1 is a sequence diagram of operations for uploading a mission plan to a deployed remote vehicle using burst mode operation. [Figure 2B]FIG. 1 is a sequence diagram of operations for uploading a mission plan to a deployed remote vehicle using burst mode operation. [Figure 3] 4 is a flowchart of an exemplary method for uploading a mission plan to a deployed remote vehicle using burst mode operation. DETAILED DESCRIPTION OF THE INVENTION

[0012] This specification relates to a system and method for uploading a mission plan to a deployed remote vehicle, such as an unmanned aerial vehicle (UAV), where a mission plan can be uploaded to modify / replace a previously loaded mission plan.

[0013] The system includes a computing platform (e.g., a server) that executes a mission plan module that generates a mission plan for a deployed remote vehicle. The mission plan includes a plurality of commands for the deployed remote vehicle. The plurality of commands is an ordered set. The computing platform also executes a burst upload module that receives the mission plan.

[0014] The burst upload module (burst mode module) employs burst mode operation to upload a mission plan to a deployed remote vehicle. More specifically, during the mission plan upload, the burst upload module selects a first command subset as a first subset of commands in the mission plan based on burst mode parameters. The burst mode module transmits the first command subset to a data link interface (DLI) module in a first stream of packets in a first protocol (e.g., User Datagram Protocol (UDP)).

[0015] The data link interface DLI module executes on the data link interface DLI controller (or other hardware). The data link interface DLI module converts a first stream of packets of a first protocol into a second stream of packets of a second protocol (e.g., a protocol defined in the MIL-STD-1553 standard or the Institute of Electrical and Electronics Engineers (IEEE) 1394 standard). The data link interface DLI module transmits the second stream of packets to a ground communication element (GCE). The ground communication element GCE has an antenna for wireless communication to the deployed remote vehicle and transmits the second stream of packets to the deployed remote vehicle.

[0016] The deployed remote vehicle processes each command to either accept or reject it. In response to each such command, the deployed remote vehicle generates a response message indicating whether the corresponding command was accepted or rejected. The response message is provided to the ground communication element GCE in a second protocol. The ground communication element GCE forwards the response message in the second protocol to the data link interface DLI module. The data link interface DLI module converts the response message to the first protocol and transmits the response message in the first protocol to the burst upload module.

[0017] The burst mode module receives the generated response messages in response to the first subset of commands. The burst mode module can adjust burst mode parameters and select a second (next) set of commands to send to the deployed remote vehicle in a similar manner. After each command in the mission plan has been sent to the deployed remote vehicle, the burst upload operation terminates.

[0018] By employing the systems and methods described herein, the burst upload module transmits each subset of commands in the mission plan in bursts. That is, as opposed to the traditional approach where a system transmits individual commands and waits for a response to a given command before transmitting the next command, the burst upload module (indirectly) transmits a subset of commands to a deployed remote vehicle before waiting for a response message. In this manner, the time required to upload a mission plan to a deployed remote vehicle is reduced.

[0019] 1 illustrates an example system 100 for uploading a mission plan 104 to a deployed remote vehicle 108 using burst mode operation. The deployed remote vehicle 108 may be, for example, an unmanned aerial vehicle (UAV), such as a drone. Alternatively, the deployed remote vehicle 108 may be implemented as a terrestrial vehicle, such as an armed vehicle.

[0020] System 100 includes a mission planning server 112. Mission planning server 112 also includes a processor core 120 (or multiple processor cores) that executes machine-executable instructions by accessing non-transitory memory 116. Mission planning server 112 also includes a network interface 124 (e.g., a network interface card) for accessing a network 128. Network 128 may be implemented as a public network (e.g., the Internet), a private network (e.g., a local area network or proprietary network), or a combination thereof (e.g., a virtual private network).

[0021] The mission planning server 112 may be implemented in a computing cloud. In such a situation, features of the mission planning server 112, such as the processor cores 120, network interface 124, and non-transitory memory 116, may represent a single instance of hardware or multiple instances of hardware (e.g., computers, routers, memory, processors, or combinations thereof) with applications running across multiple instances (e.g., distributed) of hardware. Alternatively, the mission planning server 112 may be implemented on a single dedicated server.

[0022] The mission planning server 112 may include a mission planning module 132 that is enabled to generate and / or update the mission plan 104 in response to user input or in response to input from another computing platform (e.g., a computing platform running an artificial intelligence engine). In some examples, the mission planning module 132 may include a graphical user interface (GUI) to enable selection of specific mission parameters.

[0023] System 100 includes a data link interface DLI controller 136 (alternatively referred to as data link interface DLI hardware) that executes data link interface DLI module 150. That is, data link interface DLI controller 136 is enabled to execute embedded instructions (e.g., firmware) such as data link interface DLI module 150. Data link interface DLI controller 136 is coupled to network 128. System 100 further includes a ground communication element (GCE) 154 that includes an antenna for wireless communication to deployed remote vehicles 108.

[0024] Prior to deployment, the remote vehicle 108 is loaded with an initial mission plan, potentially generated by the mission planning module 132. However, after deployment, during execution of the mission plan, it may be desirable to modify the initial mission plan for a myriad of reasons. Such reasons may include, for example, changing weather patterns, a perceived hostile presence, traffic congestion (e.g., particularly with respect to unmanned aerial vehicles (UAVs)), etc. Additionally or alternatively, the deployed remote vehicle 108 may be enabled to reject certain commands if the command is not recognized (e.g., if it is in the wrong format or does not apply to the particular model of the deployed remote vehicle 108). In such a situation, the mission planning module 132 may be enabled to generate a new mission plan or modify the initial mission plan to provide the mission plan 104.

[0025] The mission plan 104 is an ordered set of instructions executable by the deployed remote vehicle 108. These instructions may include, but are not limited to, steering instructions (e.g., yaw, roll, and pitch control), maneuvering instructions (e.g., activate cameras, lights, and / or weapons), etc. In various embodiments, the ordered set of instructions may range from 2 instructions to 10,000 instructions (or more).

[0026] The system 100 includes a burst upload module 152 (e.g., a software algorithm) executing on the non-transitory memory 116. The burst upload module (burst mode module) 152 receives the mission plan 104 from the mission plan module 132. In response to the mission plan 104, the burst upload module 152 initiates an upload procedure for the mission plan 104. The upload procedure uploads the mission plan 104 to the deployed remote vehicle 108 using burst mode operation. During the upload procedure, the burst upload module 152 selects a first subset of commands for the mission plan 104 based on a burst parameter. The first subset of commands is alternatively referred to as a burst count set. Stated differently, the subset of commands comprises a set number of commands (in order) for the mission plan 104, with the number of commands in a particular subset being dictated by the burst parameter.

[0027] The first command subset is encapsulated in a first protocol packet, such as a User Datagram Protocol (UDP). The first protocol packet is repeatedly transmitted over network 128 to data link interface DLI controller 136. The delay between each command, called a wait interval, is set by the burst parameter. For example, assume there are five commands in each command subset (each burst count set), as specified by the burst parameter, and there is a 30 millisecond wait interval between each command (e.g., a 30 millisecond wait interval). In this situation, burst upload module 152 transmits (uploads) the first subset of commands, i.e., "Command 1" through "Command 5" of the first command set, in User Datagram Protocol UDP packets. Burst upload module 152 then provides "Command 1" through "Command 5" (the first through fifth commands) to burst upload module 152 over network 128. These packets are added to (or used to form) the first stream of packets provided from burst upload module 152 to data link interface DLI controller 136.

[0028] In response to the first stream of packets comprising the first command subset, the data link interface DLI module 150 converts the first protocol packets into second protocol packets, such as a protocol defined in the MIL-STD-1553 standard or the Institute of Electrical and Electronics Engineers (IEEE) 1394 standard. These packets of the second protocol encapsulate the first command subset (e.g., commands 1-5) and are provided as a second stream of packets to the ground communication element GCE 154. In response to the second stream of second protocol packets, the ground communication element GCE 154 wirelessly transmits the first command subset to the deployed remote vehicle 108. In some examples, error correction techniques (e.g., parity, forward error correction, etc.) ensure that the deployed remote vehicle 108 receives the first command subset. In other words, by transmitting the first command subset from the burst upload module to the data link interface DLI module 150, the data link interface DLI module 150 transmits the first command subset to the deployed remote vehicle 108 via the ground communication element GCE 154.

[0029] The deployed remote vehicle 108 accesses the second protocol packets to process the first command subset individually. For each such command, the deployed remote vehicle 108 either accepts the command or rejects the command. Acceptance of a command indicates that the deployed remote vehicle 108 will execute the command during execution of the mission plan. In some circumstances, a particular command may be rejected because it is disabled for execution. For example, a particular command may instruct the deployed remote vehicle 108 to descend to a particular altitude, but if that altitude is below ground level, the deployed remote vehicle 108 may be enabled to reject the command.

[0030] In response to each command in the first command subset (e.g., commands 1 through 5 of the mission plan 104), the deployed remote vehicle 108 wirelessly communicates a response message in the second protocol to the ground communication element GCE 154 indicating acceptance or rejection of the corresponding message. Each response message corresponds to a particular command in the first command subset. However, the order of the response commands may not match the order of the commands in the first command subset. In the above example, the first command subset provides the commands "1," "2," "3," "4," and "5," in that order. In such a situation, the deployed remote vehicle 108 is enabled to provide response messages to the commands in the order "3," "2," "5," "1," and "4" (as an example). That is, the order of the response messages may be the same as or different from the order of the command messages. The ground communication element GCE 154 provides the response message to the data link interface DLI module 150. In response to the response message, the data link interface DLI module 150 converts the response message, encapsulated in the second protocol, into a first protocol packet. These first protocol packets are provided from the data link interface DLI module 150 to the burst upload module 152 .

[0031] The burst upload module 152 de-encapsulates the first protocol packets to reveal the response messages. Each response message is analyzed. If the response message provided by the deployed remote vehicle 108 for the first command subset of the mission plan 104 is rejected, the burst upload module 152 “terminates” the upload of the mission plan 104 and provides an indication to the mission planning module 132 that the upload is complete. Additionally, in situations where the deployed remote vehicle 108 does not receive all of the command messages in the first command subset of the mission plan 104, the deployed remote vehicle 108 will provide fewer response messages than the command messages in the first command subset of the mission plan 104. In this situation, the burst upload module 152 also “terminates” the upload of the mission plan 104 and provides an indication to the mission planning module 132 that the upload is complete. In such situations, the user or AI engine can evaluate the mission plan 104 and update or replace it, allowing the upload to be retried.

[0032] Conversely, if each response message provided by the deployed remote vehicle 108 for the first command subset of the mission plan 104 is accepted (e.g., indicating that the deployed remote vehicle 108 is configured to execute the commands), the upload of the mission plan 104 is "continued." To continue uploading the mission plan 104, the burst upload module 152 determines whether to adjust (change) the burst parameters. Adjusting the burst parameters may include increasing or decreasing the number of commands in each command subset of the mission plan 104 and / or increasing or decreasing the wait interval of the burst parameters. More generally, adjusting the burst mode parameters may increase the number of commands in the next command subset as the next subset of commands in the mission plan 104 and / or decrease the time interval between transmissions of commands in the next command subset. The burst upload module 152 selects a second command subset of the mission plan 104 (next command subset) as specified by the burst parameters. Each command subset, including the first command subset and the second command subset, is a non-contiguous subset of the command set of the mission plan 104. The second command subset is transmitted to the deployed remote vehicle 108 in the same manner as the first command subset. In this manner, the second command subset is not transmitted to the deployed remote vehicle 108 until a "confirmation" (response message) indicates that the first command subset has been accepted by the deployed remote vehicle 108. This process continues for the third command subset, the fourth command subset, the fifth command subset, and so on, until the final subset of commands is provided to the deployed remote vehicle 108, thereby "completed," or until the deployed remote vehicle 108 rejects the commands, thereby "terminating" the upload process.

[0033] In a conventional approach, individual commands in a mission plan are provided to a deployed remote vehicle 108. In this situation, after each command is provided to the deployed remote vehicle 108, the deployed remote vehicle 108 generates a response message before any subsequent commands are sent. This creates a significant bottleneck that impacts the speed at which the deployed remote vehicle 108 can revise its mission plan. In contrast, the burst upload module 152 provides an entire burst of commands, i.e., a command subset, without waiting for a response. Furthermore, the burst upload module 152 adjusts the burst mode parameters after the response message for each command subset in the mission plan 104 has been received by the burst upload module 152. In this manner, the burst upload module 152 continuously adjusts the number of commands in a given command subset and the wait interval between sending each command in a given command subset. In this manner, the overall time required to upload a mission plan 104 to a deployed remote vehicle 108 is reduced. In particular, this approach, i.e., using burst mode to upload a subset of commands and adjusting burst mode parameters, ensures that the available bandwidth between the mission planning server 112 and the data link interface DLI controller 136 is fully (or nearly) leveraged during the upload of the mission plan 104.

[0034] 2A and 2B are sequence diagrams illustrating a system 200 (e.g., system 100) performing a method 300 of uploading a mission plan to a deployed remote vehicle 204 (e.g., deployed remote vehicle 108 of FIG. 1).

[0035] System 200 includes a mission planning server 208 (e.g., mission planning server 112 of FIG. 1 ). Mission planning server 208 executes a mission planning module 212 (e.g., mission planning module 132 of FIG. 1 ) and a burst upload module 216 (e.g., burst upload module 152 of FIG. 1 ). Mission planning server 208 communicates with a data link interface DLI controller 220 (e.g., data link interface DLI controller 136 of FIG. 1 ) via a network (e.g., network 128 of FIG. 1 , which is omitted from FIGS. 2A and 2B ).

[0036] Data link interface DLI controller 220 executes data link interface DLI module 224 (e.g., data link interface DLI module 150 of FIG. 1 ). System 200 also includes a ground communication element GCE 228 that communicates with data link interface DLI module 224 and deployed remote vehicle 204. More specifically, ground communication element GCE 228 includes an antenna that enables wireless communication between deployed remote vehicle 204 and ground communication element GCE 228.

[0037] 2A, in step 305, the mission plan module 212 generates (or updates) a mission plan (e.g., mission plan 104 of FIG. 1). The mission plan comprises an ordered set of commands, such as two or more commands (in some examples, 10,000 or more commands). In step 310, the mission plan is provided to the burst upload module 216.

[0038] In response to receiving the mission plan, method 300 proceeds with initiating and uploading the mission plan from node "A" to the deployed remote vehicle 204. At step 310, burst upload module 216 selects a subset of commands to upload to the deployed remote vehicle 204 in a burst mode operation. The number of commands in the command subset is based on burst mode parameters. In the illustrated example, there are K commands in the command subset, where "K" is one or more integers.

[0039] The burst upload module 216 encapsulates the command subset in a first protocol, such as the User Datagram Protocol (UDP). At step 320, the burst upload module 216 transmits K commands (labeled CMD1, ..., CMDK) in the command subset to the data link interface (DLI) module 224 as a set of packets in the first protocol. A wait time (e.g., burst rate) is added between each of the K commands. This wait time is specified by a burst mode parameter. That is, there is a wait time specified by the burst mode parameter between the first command CMD1 and the second command CMD2. The command subset is provided on the first data stream.

[0040] A data link interface DLI module 224 executing on the data link interface DLI controller 220 receives the command subset. At step 325, the data link interface DLI module 224 converts the command subset encapsulated by the first protocol into a second protocol (e.g., a protocol conforming to the MIL-STD-1553 standard or the IEEE 1394 standard). At step 330, the data link interface DLI module 224 buffers the command subset in the second protocol packets. At step 335, the data link interface DLI module 224 transmits the command subset in the second protocol packets to the ground communication element GCE 228 in a second data stream.

[0041] In response to the command subset, at step 338, ground communication element GCE 228 wirelessly transmits the command subset (K commands) to deployed remote vehicle 204. Continuing with method 300 of FIG. 2B , at step 340, deployed remote vehicle 204 processes the commands received from ground communication element GCE 228. Processing the commands includes de-encapsulating the commands from the second protocol packets and accepting or rejecting the commands. "Accepting" a given command indicates that the given command will be executed during the execution of the mission plan. "Rejecting" a given command indicates that the command will not be executed, so that the mission plan is not actually executed by deployed remote vehicle 204. However, the order of the M response messages does not necessarily match the order of the command messages within the command subset.

[0042] In step 345, the M response messages are encapsulated in second protocol packets and wirelessly transmitted by deployed remote vehicle 204 to ground communication element GCE 228. In response, in step 350, ground communication element GCE 228 forwards the M response messages to data link interface DLI module 224. In step 355, in response to the M response messages encapsulated in the second protocol packets, data link interface DLI module 224 converts the M response messages to the first protocol. In step 360, data link interface DLI module 224 transmits the M response messages to burst upload module 216.

[0043] In stage 365, the burst upload module 216 evaluates each of the M response messages to determine whether each of the K commands in the command subset has been "accepted". If one or more of the K commands have been "rejected" by the deployed remote vehicle 204, and / or if there are fewer response messages than the commands in the command subset indicating that the deployed remote vehicle 204 did not receive (receive) each of the K commands in the command subset (e.g., M is less than K (M < K)), the burst upload module 216 ends the upload of the mission plan. In stage 370, the burst upload module 216 provides a status indicator (status indicator) indicating that the upload of the mission plan has ended to the mission plan module 212.

[0044] If each of the M response messages indicates that each of the K commands has been "accepted" by the deployed remote vehicle 204, in stage 375, the burst upload module 216 is enabled to adjust the burst parameters, such as increasing or decreasing the number of commands in the next command subset, or increasing or decreasing the burst waiting time for the next command subset. In stage 380, method 300 returns to node "A" in FIG. 2A so that the commands in the next subset can be transmitted in a similar manner.

[0045] Method 300 continues until the commands are "rejected" by the deployed remote vehicle 204 or each command in the mission plan is "accepted" by the deployed remote vehicle 204 upon being transmitted.

[0046] In view of the structural and functional features described above, the exemplary method may be better understood by referring to Figure 3. For ease of explanation, the exemplary method of Figure 3 is shown and described as being performed sequentially, however, it is understood and appreciated that the present embodiment is not limited to the illustrated order, as in other embodiments, some operations may occur multiple times and / or simultaneously in a different order than that shown and described herein, and not all of the operations described need be performed to implement the method.

[0047] 3 illustrates a flowchart of an example method 400 for uploading a mission plan to a deployed remote vehicle (e.g., deployed remote vehicle 108 of FIG. 1) using burst mode operation. Method 400 is enabled to be performed by a burst upload module (e.g., burst upload module 152 of FIG. 1 and / or burst upload module 216 of FIGS. 2A and 2B) executing on a computing platform (e.g., mission planning server 112 of FIG. 1).

[0048] The burst upload module receives a mission plan from a mission plan module (e.g., mission plan module 132 of FIG. 1 ) executing on a computing platform (e.g., the same or a different computing platform). The mission plan comprises a plurality of commands for the deployed remote vehicle, which may alternatively be referred to as an ordered set of commands. In step 415, the burst mode module (burst upload module) selects a next command subset as the next subset of the plurality of commands for the deployed remote vehicle. The number of commands in the selected command subset (e.g., 3 to 10) is based on a burst parameter. In step 420, the burst upload module encapsulates the selected command subset in packets of a first protocol (e.g., User Datagram Protocol (UDP)). In step 425, the burst mode module transmits the selected command subset to a data link interface DLI module (e.g., data link interface DLI module 150 of FIG. 1 ) operating on a data link interface DLI controller (e.g., data link interface DLI controller 136 of FIG. 1 ). A delay, i.e., a burst rate specified by the burst rate parameter, is applied between transmission of each command in the command subset. In response, the data link interface DLI module and ground communication element GCE (e.g., ground communication element GCE 154 of FIG. 1) operating in cooperation provide the selected command subset of commands in packets of a second protocol (e.g., a protocol conforming to the MIL-STD-1553 standard or the IEEE 1394 standard) to the deployed remote vehicle in a manner described herein.

[0049] For each command in the command subset, the deployed remote vehicle generates a response message indicating whether the corresponding command was accepted or rejected. The response message is processed and returned to the burst upload module via the ground communication element (GCE) and the data link interface (DLI) module. There are an equal number of response messages as there are command messages in the selected message subset. In step 430, the burst upload module receives a predetermined one of the response messages (e.g., the next response message). In step 435, the burst upload module determines whether the predetermined response message indicates that the corresponding command message was “accepted.” If the determination in step 435 is negative (e.g., NO), indicating that the corresponding command was “rejected” by the deployed remote vehicle, method 400 proceeds to step 440. If the determination in step 435 is positive (e.g., YES), indicating that the corresponding command was “accepted” by the deployed remote vehicle, method 400 proceeds to step 445. In step 440, the method 400 "finishes" the mission plan upload. In some examples, the burst upload module provides notification of the completion to the mission plan module.

[0050] At step 445, a determination is made by the burst upload module as to whether a predetermined response message is received for each message for the selected command subset. In other words, at step 445, the burst upload module determines whether a response message has been received for each command in the selected command subset. If the determination at step 445 is negative (e.g., NO), method 400 proceeds to step 448. If the determination at step 445 is positive (e.g., YES), method 400 proceeds to step 450.

[0051] In step 448, the burst upload module determines whether the last response message has already been received (e.g., has the response message timeout expired without receiving another response message?). If the determination is affirmative (e.g., YES), the burst mode module determines that at least one command in the predetermined command subset has not been received by the deployed remote vehicle and method 400 proceeds to step 440. If the determination in step 448 is negative (e.g., NO), method 400 returns to step 430.

[0052] In step 450, the burst upload module makes a determination as to whether an "additional command" in the mission plan's command set needs to be sent to complete the mission plan upload to the deployed remote vehicle. If the determination in step 450 is negative (e.g., NO), method 400 proceeds to step 455. If the determination in step 450 is positive (e.g., YES), method 400 proceeds to step 460. Once the mission plan upload is "complete" in step 450, method 400 ends. In some examples, the burst mode module is enabled to provide an indication to the mission plan module that the mission plan upload is complete. Once the burst mode parameters are adjusted based on the response message in step 460, method 400 returns to step 415.

[0053] The foregoing are illustrative. It is, of course, impossible to describe every conceivable combination of components or methodologies, and those skilled in the art will recognize that many more combinations and permutations are possible. Accordingly, this disclosure is intended to embrace all such changes, modifications, and variations that fall within the scope of this application, including the appended claims. As used herein, the term "comprising" means including, but not limited to. "Based on" means based at least in part on. Furthermore, when this disclosure or claims recite "a," "an," "afirst," or "another" element, or the equivalent thereof, it should be construed as comprising one or more such elements, and does not require or exclude two or more such elements.

Claims

1. A non-transitory machine-readable medium having machine-executable instructions, the machine-executable instructions comprising: a mission planning module that generates a mission plan for a deployed remote vehicle based on user input, the mission plan comprising a plurality of commands for the deployed remote vehicle; a burst upload module; The burst upload module comprises: receiving the mission plan; selecting a predetermined subset of commands from a plurality of commands for the deployed remote vehicle; transmitting the predetermined subset of commands to a data link interface DLI module over a network, the predetermined subset of commands being transmitted in a burst mode operation based on a burst rate parameter, thereby causing the data link interface DLI module to transmit the predetermined subset of commands to the deployed remote vehicle via a ground communication element; receiving a set of response messages from the remote vehicles responsive to the predetermined subset of commands; and transmitting a next command subset as a subset of next commands over the network to the data link interface (DLI) module if the response message indicates that each command in the predetermined command subset has been accepted for execution by the deployed remote vehicle; and terminating transmission of the plurality of commands if the response message indicates that a particular command in the predetermined command subset has been rejected for execution by the deployed remote vehicle.

1. A machine-readable medium comprising:

2. the burst upload module further responsive to the response message indicating that each command in the predetermined command subset has been accepted by the deployed remote vehicle to adjust the burst rate parameter. The machine-readable medium of claim 1 .

3. The adjustment of the burst rate parameter includes: increasing the number of commands in the next command subset; decreasing the time interval between transmission of commands of the next command subset; At least one of The machine-readable medium of claim 2.

4. each response message in the set of response messages corresponds to a particular command in the predetermined command subset; The machine-readable medium of claim 1 .

5. the set of response messages are received for corresponding particular commands in an order different from the order in which the predetermined command subset is transmitted; 5. The machine-readable medium of claim 4.

6. the deployed remote vehicle is an unmanned aerial vehicle; The machine-readable medium of claim 1 .

7. the data link interface DLI module communicates the predetermined command subset to a ground communication element GCE which wirelessly transmits the predetermined command subset to the deployed remote vehicle via the ground communication element GCE; The machine-readable medium of claim 1 .

8. 1. A system for uploading a mission plan to a deployed remote vehicle, the system comprising: a non-transitory memory that stores machine-executable instructions; a processor core that executes the machine-executable instructions by accessing the non-transitory memory; a Data Link Interface DLI controller executing a Data Link Interface DLI module; wherein the machine executable instructions comprise: a mission planning module that generates the mission plan for the deployed remote vehicle based on user input, the mission plan comprising a plurality of commands for the deployed remote vehicle; a burst upload module; The burst upload module comprises: receiving the mission plan; selecting a predetermined subset of commands from a plurality of commands for the deployed remote vehicle; transmitting the predetermined command subset to the data link interface DLI module on a first stream of first protocol packets as packets of a first protocol, the predetermined command subset being transmitted in a burst mode operation based on a burst rate parameter; receiving a set of response messages from the remote vehicles responsive to the predetermined subset of commands; and transmitting a next command subset as a next subset of commands on the first stream of first protocol packets if the response message indicates that each command in the predetermined command subset has been accepted for execution by the deployed remote vehicle; and terminating transmission of the plurality of commands if the response message indicates that a particular command in the predetermined command subset has been rejected for execution by the deployed remote vehicle. is running, The data link interface (DLI) module comprises: converting the first stream of first protocol packets into a second stream of second protocol packets as packets of a second protocol; transmitting the second stream of second protocol packets to a Ground Communication Element (GCE); is running, said ground communication element GCE comprising an antenna, the antenna wirelessly communicates with the deployed remote vehicle to transmit the second stream of second protocol packets to the deployed remote vehicle and to receive the set of response messages from the deployed remote vehicle. system.

9. the burst upload module further responsive to the response message indicating that each command in the predetermined command subset has been accepted by the deployed remote vehicle to adjust the burst rate parameter. The system of claim 8.

10. The adjustment of the burst rate parameter includes: increasing the number of commands in the next command subset; and decreasing the time interval between transmissions of commands in the next command subset; perform at least one of the following: The system of claim 9.

11. each response message in the set of response messages corresponds to a particular command in the predetermined command subset; The system of claim 8.

12. the set of response messages are received in a sequence of corresponding specific commands that is different from the sequence in which the predetermined subset of commands is sent; The system of claim 11.

13. the deployed remote vehicle is an unmanned air vehicle; The system of claim 8.

14. the first protocol is User Datagram Protocol (UDP); the second protocol is defined in the MIL-STD-1553 standard or the Institute of Electrical and Electronic Engineers (IEEE) 1394 standard; The system of claim 8.

15. 1. A method for transmitting a mission plan to a deployed remote vehicle, the method comprising: receiving the mission plan for the deployed remote vehicle by a burst upload module executing on a computing platform, the mission plan comprising a plurality of commands for the deployed remote vehicle; transmitting, by the burst upload module, a predetermined subset of commands to a data link interface DLI module over a network, the predetermined subset of commands being transmitted in a burst mode operation based on a burst rate parameter, causing the data link interface DLI module to transmit the predetermined subset of commands to the deployed remote vehicle via a ground communication element GCE; receiving, by the burst upload module, a set of response messages from remote vehicles responsive to the predetermined subset of commands; transmitting, by the burst upload module, a next command subset of the plurality of commands over the network to the data link interface (DLI) module if the response message indicates that each command in the predetermined command subset has been accepted for execution by the deployed remote vehicle; and terminating transmission of the plurality of commands if the response message indicates that a particular command in the predetermined command subset has been rejected for execution by the deployed remote vehicle. The method comprises:

16. The method further includes adjusting the burst rate parameter by the burst upload module further in response to a response message indicating that each command in the predetermined command subset has been accepted by the deployed remote vehicle.

16. The method of claim 15.

17. The step of adjusting the burst rate parameter includes: increasing the number of commands in the next command subset; and decreasing the time interval between transmissions of commands in the next command subset; perform at least one of the following:

17. The method of claim 16.

18. each response message in the set of response messages corresponds to a particular command in the predetermined command subset; the set of response messages are received in a sequence of corresponding specific commands that is different from the sequence in which the predetermined subset of commands is sent; 16. The method of claim 15.

19. the deployed remote vehicle is an unmanned air vehicle; 16. The method of claim 15.

20. the data link interface DLI module communicates the predetermined command subset to a ground communication element GCE which wirelessly transmits the predetermined command subset to the deployed remote vehicle via the ground communication element GCE; 16. The method of claim 15.

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