Method and system for optimizing flight plans for high altitude, long endurance aircraft

Abstract

The system, device, and method includes at least one unmanned aerial vehicle (UAV) (101), at least one flight control computer (FCC) (110) associated with each UAV, the FCC controlling movement of each UAV, and at least one computing device (108) associated with a ground control station (104), wherein the at least one FCC maintains a first flight pattern (103) for each UAV of the at least one UAV above the ground control station, and the at least one computing device is configured to transmit a transition signal (168) to the at least one FCC to transition each UAV of the at least one UAV from the first flight pattern to a second flight pattern (105) in response to a wind speed exceeding a threshold set for a flight speed of the each UAV of the at least one UAV.

Description

[Technical field]

[0001] The present invention relates generally to unmanned aerial vehicles (UAVs), and more particularly to flight patterns for UAVs.

[0002] CROSS-REFERENCE TO RELATED APPLICATIONS This application claims priority to and the benefit of U.S. Provisional Patent Application No. 62 / 838,783, filed April 25, 2019, U.S. Provisional Patent Application No. 62 / 838,833, filed April 25, 2019, and U.S. Provisional Patent Application No. 62 / 854,738, filed May 30, 2019, the contents of all of which are incorporated herein by reference for all purposes. [Background technology]

[0003] Unmanned aerial vehicles (UAVs), such as high-altitude, long-endurance aircraft, are light aircraft capable of controlled, sustained flight. UAVs may be associated with a ground operator for two-way communications. Typically, UAVs can fly in a wide, arcing pattern above a ground station, taking advantage of wind patterns. Summary of the Invention

[0004] An embodiment of the system may include at least one unmanned aerial vehicle (UAV); at least one flight control computer (FCC) associated with each UAV of the at least one UAV, the at least one FCC controlling movement of each UAV of the at least one UAV; and at least one computing device associated with a ground control station, the at least one computing device in communication with the at least one FCC, wherein the at least one FCC may be configured to maintain a first flight pattern for each UAV of the at least one UAV above the ground control station, and wherein the at least one computing device may be configured to send a transition signal to the at least one FCC to transition the each UAV of the at least one UAV from the first flight pattern to a second flight pattern in response to a wind speed exceeding a threshold set for a flight speed of the each UAV of the at least one UAV.

[0005] In additional system embodiments, the FCC may be further configured to transition each UAV of the at least one UAV from the first flight pattern to the second flight pattern by generating a connecting flight path between the first flight pattern and the second flight pattern. In additional system embodiments, the connecting flight path enables a constant turn rate over a majority of the connecting flight path. In additional system embodiments, the connecting flight path enables a gradual bank flight over a majority of the connecting flight path.

[0006] In additional system embodiments, the first flight pattern and the second flight pattern may be a station keeping pattern above a ground control station. In additional system embodiments, the first flight pattern may be a D-loop flight pattern. In additional system embodiments, the second flight pattern may be a figure-of-eight flight pattern. In additional system embodiments, the transition signal includes a set of spatial coordinates for the FCC of each UAV of the at least one UAV to follow.

[0007] In additional system embodiments, the at least one computing device may be configured to transmit a termination command signal to the at least one FCC to transition the respective UAV of the at least one UAV from the second flight pattern to the first flight pattern in response to the wind speed decreasing below a threshold established for the flight speed of the respective UAV of the at least one UAV. In additional system embodiments, the termination command signal comprises a set of spatial coordinates for the FCC of the respective UAV of the at least one UAV to follow.

[0008] An embodiment of the method may include maintaining a first flight pattern above a ground control station by at least one flight control computer (FCC) associated with each UAV of one or more unmanned aerial vehicles (UAVs), wherein the FCC controls movement of each UAV of the at least one UAV; measuring a wind speed against a set threshold, the set threshold being for a flight speed of each UAV of the at least one UAV; sending a transition signal to the at least one FCC, by the at least one computing device associated with the ground control station, in response to the measured wind speed exceeding the set threshold; and transitioning each UAV from the first flight pattern to a second flight pattern, by the at least one FCC associated with each UAV of the one or more UAVs.

[0009] In additional method embodiments, transitioning each UAV from the first flight pattern to the second flight pattern further includes generating, by at least one FCC associated with each UAV of the one or more UAVs, a connecting flight path between the first flight pattern and the second flight pattern. In additional method embodiments, the connecting flight path allows for a constant turn rate over a majority of the connecting flight path. In additional method embodiments, the connecting flight path allows for a gentle bank flight over a majority of the connecting flight path.

[0010] In additional method embodiments, the first flight pattern and the second flight pattern may be a station keeping pattern above a ground control station. In additional method embodiments, the first flight pattern may be a D-loop flight pattern. In additional method embodiments, the second flight pattern may be a figure-eight flight pattern. In additional method embodiments, the transition signal includes a set of spatial coordinates for the FCC of each UAV of the at least one UAV to follow.

[0011] Additional method embodiments may further include, in response to the measured wind speed dropping below a set threshold, sending, by at least one computing device associated with the ground control station, a termination command signal to the at least one FCC, and transitioning, by the at least one FCC associated with each UAV of the one or more UAVs, the respective UAV from the second flight pattern to the first flight pattern. In additional method embodiments, the termination command signal includes a set of spatial coordinates for the FCC of each UAV of the at least one UAV to follow. [Brief description of the drawings]

[0012] The components in the drawings are not necessarily to scale, emphasis instead being placed upon illustrating the principles of the present invention. Like reference characters indicate corresponding parts throughout the various views. Embodiments are illustrated by way of example, and not by way of limitation, in the accompanying drawing figures. [Figure 1] FIG. 1 illustrates a system for an unmanned aerial vehicle flying a D-loop flight pattern according to one embodiment. [Diagram 2] FIG. 2 illustrates a top-level functional block diagram of a computing device associated with a ground station operator according to one embodiment. [Diagram 3] FIG. 3 illustrates a top-level functional block diagram of a computing device of the unmanned aerial vehicle of FIG. 1 according to one embodiment. [Figure 4]FIG. 4 illustrates a process for the unmanned aerial vehicle of FIG. 1 to transition from a D-loop flight pattern to a figure-eight flight pattern according to one embodiment. [Diagram 5] FIG. 5 illustrates an alternative process for the unmanned aerial vehicle of FIG. 1 to transition from a D-loop flight pattern to a figure-eight flight pattern according to one embodiment. [Figure 6] FIG. 6 illustrates a process for the unmanned aerial vehicle of FIG. 1 to transition from a figure-eight flight pattern to a D-loop flight pattern according to one embodiment. [Figure 7] FIG. 7 illustrates an alternative process for the unmanned aerial vehicle of FIG. 1 to transition from a figure-eight flight pattern to a D-loop flight pattern according to one embodiment. [Figure 8] FIG. 8 illustrates a flow diagram of a method for flight plan optimization for an unmanned aerial vehicle, according to one embodiment. [Figure 9] FIG. 9 illustrates a high-level block diagram and process of a computing system for implementing one embodiment of the system and process. [Figure 10] FIG. 10 illustrates a block diagram and process of an exemplary system in which an embodiment may be implemented. [Figure 11] FIG. 11 illustrates a cloud computing environment for implementing one embodiment of the systems and processes disclosed herein. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] The following description is made for the purpose of explaining the general principles of the embodiments disclosed herein and is not meant to limit the concepts disclosed herein. Moreover, specific features described herein can be used in combination with other described features in each of the various possible combinations and permutations. Unless otherwise specifically defined herein, all terms should be given their broadest possible interpretation, including the meaning implied from the description, as well as the meaning understood by a person skilled in the art and / or defined in dictionaries, treatises, etc.

[0014] The flight pattern of an unmanned aerial vehicle (UAV), such as a high altitude long endurance solar aircraft, can be a D-loop. In one example, the aircraft follows a circular or oval pattern, referred to as a "D-loop" pattern. A D-loop flight pattern is advantageous when wind speeds are low. As wind speeds increase, the size of the D-loop must also increase, making it more difficult for the UAV to stay close to the ground station while minimizing turn rate and bank angle. In a D-loop, the UAV flies into the wind until it needs to turn around. The pattern forms an approximate "D" shape, but other shapes such as a circle or ellipse are possible, as explained below. For example, when there is no wind, the D-loop will be circular. A D-loop flight pattern is advantageous when wind speeds are low, but as wind speeds increase, the size of the D-loop must also increase. If wind speeds continue to increase, it may be desirable to transition to a tighter flight pattern formation for station keeping.

[0015] In one embodiment, when the wind speed approaches approximately 40% of flight speed, the aircraft may transition into a figure-8 loop that allows the aircraft to remain in a compact flight pattern above the ground station, with the intersection of the figure-8 approximately above the ground control station.

[0016] As wind speeds increase, it is difficult to transition from a D-loop to a figure-8 loop. More specifically, a decision may be made about which type of loop to fly each time the UAV approaches or passes an intersection. During the transition, it may be desirable to minimize the bank angle since the payload may not be on the gimbal. So, as the aircraft tilts, the antenna beam tilts, requiring the aircraft beam to be redirected. Alternatively, the antenna beam can be designed to have a wider angle, which may reduce signal strength at the ground control station.

[0017] In one embodiment, as the UAV travels through light winds and follows a D-loop flight pattern, a portion of the D-loop flight pattern passes through a location that is an intersection of the figure eight pattern. If the wind speed is greater than or equal to about 40% of flight speed, the aircraft may bank out of the D-loop at the intersection and transition into the figure eight loop pattern. In another embodiment, the aircraft's D-loop flight pattern does not pass directly through the intersection of the figure eight flight pattern. Rather, if the wind is greater than or equal to 40% of flight speed, the aircraft may redirect from its D-shaped trajectory toward a point at the figure eight where the aircraft will fly directly into the wind. A potential advantage of this method is that it allows for gentle banked flight of the UAV as it transitions between flight patterns. In both embodiments, when the wind subsides, the aircraft may exit the figure eight loop and return to the D-loop.

[0018] Referring to FIG. 1, a system 100 flight plan optimization for an unmanned aerial vehicle (UAV) 101 is illustrated. A UAV is an aircraft without an on-board pilot and can fly autonomously or remotely. In one embodiment, the UAV 101 is a high altitude, long endurance aircraft. The UAV 101 can have 1-40 motors and a wingspan of 100 feet to 400 feet. In one embodiment, the UAV 101 can have a wingspan of approximately 260 feet and can be propelled by 10 electric motors powered by solar arrays covering at least a portion of the wing surface, thereby resulting in zero emissions. The UAV 101 is designed to fly at altitudes above the clouds, approximately 65,000 feet above sea level, and conduct continuous, long-term missions for up to several months without landing. In another embodiment, the UAV 101 can fly at 60,000 feet above sea level.

[0019] The UAV 101 functions optimally at high altitudes due at least in part to the UAV's light payload. The UAV 101 is capable of sustained flight for significant periods of time without resorting to landing. In one embodiment, the UAV 101 weighs approximately 3,000 pounds and includes wing panel sections and a center panel, which can be attached and detached from each other and / or from the center panel, providing efficient assembly and disassembly of the UAV 101.

[0020] The UAV 101 can take advantage of wind patterns at high altitudes to fly in a wide arcing stationary pattern in the stratospheric layer above at least one ground control station 104. In one embodiment, a D-loop flight pattern forms approximately the shape of a letter "D." A D-loop follows the shape of a "D" by flying directly into the wind and then performing a constant rate 360 ​​degree turn until the UAV 101 faces the wind again. In one embodiment, the flight pattern is a circular flight pattern when there is no wind. In one embodiment, there can be multiple ground control stations 104.

[0021] The ground control station 104 is the central hub for aircraft control. The UAV 101 is within the beamwidth of a terrestrial GPS receiver 134 associated with the ground control station 104. The GPS receiver 134 can be configured to provide the location of the ground control station 104 and the landing site to the operator 106 of the ground control station 104 and the UAV 101. Each UAV can include a dedicated GPS receiver for calculating the UAV's position and can communicate relevant position data to the ground control station 104 via a terrestrial RF receiver 132 that communicates with the ground control station 104.

[0022] The ground RF emitter 124 can emit signals to the UAV 101 so that the UAV 101 knows the location of the ground control station 104 and / or the landing site. Other emitters configured for ground communication with the UAV 101, such as the visible band emitter 122, may be included. In one embodiment, the ground RF emitter 124 can emit signals to the UAV 101 to typically communicate commands to the UAV 101. In some embodiments, the ground control station 104 can include a ground GPS receiver 134, a ground RF emitter 124, a ground RF receiver 132, and / or a visible band emitter 122. In other embodiments, the ground control station 104 can communicate with the ground GPS receiver 134, the ground RF emitter 124, the ground RF receiver 132, and / or the visible band emitter 122.

[0023] In one embodiment, one or more operators 106 are located at the ground control station 104 for optimizing the flight pattern of the UAV 101. Multiple operators are possible for optimizing the flight pattern of the UAV 101. The operators 106 can control the transition of the UAV 101 from one flight pattern to another via at least one processor of the ground control station 104 and / or at least one processor of the UAV 101. The transition between flight patterns can be primarily based on wind speed. In some embodiments, the transition between flight patterns can be automatically based on one or more criteria such as wind speed, the location of the UAV, etc.

[0024] At low wind speeds, e.g., zero to 30 knots, the UAV 101 may follow a "D-loop" shaped flight pattern 103. The D-loop flight pattern 103 is advantageous at low wind speeds. As wind speeds increase, the size of the D-loop must also increase, making it difficult for the UAV 101 to hold position. If the wind speed continues to increase, the operator 106 may transition the UAV 101 to a tighter flight pattern for position keeping, as described in more detail below. Additionally, the operator 106 may transition the UAV 101 back to the D-loop 103 when the ambient wind speed becomes lower or weakens.

[0025] Although operator 106 is described as a person, operator 106 may also be a processor having addressable memory, such as that shown in Figure 2. Control of UAV 101 and / or modification of flight pattern of UAV 101 may occur in some embodiments via operator 106. In other embodiments, control of UAV 101 and / or modification of flight pattern of UAV 101 may occur via ground control station 104, an autonomous or semi-autonomous system, or the like.

[0026] FIG. 2 illustrates an example of a top-level functional block diagram of a computing device 108 operated by an operator 106. The computing device 108 includes a processor 138, such as a central processing unit (CPU), an addressable memory 140, an external device interface 142, such as an optional USB port and associated processing, and / or an Ethernet port and associated processing, and an optional user interface 144, such as an array of status lights and one or more toggle switches, and / or a display, and / or a keyboard and / or a pointer-mouse system and / or a touch screen. Optionally, the addressable memory may be, for example, a flash memory, an EPROM and / or a disk drive or other hard drive. These elements may communicate with each other via a data bus 146. In some embodiments, the processor 138 may be configured to execute steps of a process to establish a communication channel via an operating system 148, such as supporting a web browser 150 and applications 152. For example, the processor 138 may communicate with the RF receiver 132 to process received position data of the UAV 101.

[0027] Since a UAV does not have an on-board pilot, the UAV's onboard Flight Control Computer (FCC) 110 is the central intelligence of the aircraft. The FCC 110 can partially or fully control much of the UAV's functionality, such as changing direction (e.g., flight pattern), based on commands received from an operator 106. The UAV's functions may also be fully or partially controlled by a ground control station.

[0028] 3 shows an example of a top-level functional block diagram of the FCC 110 of the UAV 101. The FCC 110 includes at least a processor 114, such as a central processing unit (CPU), an addressable memory 154, and an external device interface 156, such as an optional USB port and associated processing, and / or an Ethernet port and associated processing, and an optional user interface, such as an array of status lights, sensors, and one or more toggle switches. Optionally, the addressable memory may be, for example, a flash memory, an EPROM, and / or a disk drive or other hard drive. These elements may communicate with each other via a data bus 160. In one embodiment, the FCC 110 may have a series of sensors for measuring the current flight and health status of the aircraft.

[0029] In some embodiments, the processor 114, via the operating system 162, such as through the support of the application 164, may be configured to perform the steps of a process to establish a communication channel. For example, the processor 114 may be in communication with a receiver 112 configured to receive a command signal from the computing device 108. In one embodiment, the command signal is a transition command signal received by the receiver 112, and the processor performs the steps to transition the UAV 101 from a current flight pattern to a different flight pattern. In another embodiment, the command signal is an exit command signal received by the receiver 112, and the processor 114 performs the steps to transition the UAV 101 out of the new flight pattern and back to an original flight pattern, such as the original flight pattern 103.

[0030] The FCC 110 may further be connected to or in communication with a Global Positioning System (GPS) configured to receive position data from a constellation of satellites. Additionally, the FCC 110 may include a transmitter 116 for transmitting GPS correction information to the ground and / or transmitting the converted GPS position to the ground in a secondary frequency band to a terrestrial RF receiver 132.

[0031] FIG. 4 illustrates two exemplary flight patterns. In one embodiment, the UAV 101 may fly a first flight pattern 103. In one embodiment, the first flight pattern 103 may be a D-loop. More specifically, the UAV 101 may fly directly into the wind and then perform a constant rate 360 ​​degree turn until the UAV 101 faces the wind again, tracing the shape of a "D." The UAV 101 may fly the first flight pattern 103 when the wind speed is low. In another embodiment, the UAV 101 may fly the first flight pattern 103 in an opposite counterclockwise direction. The UAV 101 may be typically station-held by the ground control station 104 and may fly above the ground control station 104 at a high altitude, e.g., about 65,000 feet above sea level, as indicated by the z-vector. The center point of the D-loop 103 may be directly above the ground control station 104. The UAV 101 may also follow a second flight pattern 105, such as a figure-of-eight flight pattern, when the wind speed is greater than or equal to about 40% of the flight speed. As the wind speed increases to greater than or equal to about 40% of the flight speed, the size of the D-loop flight pattern 103 increases. Specifically, the portion of the D-loop flight pattern 103 that is nearly facing the wind and the portion of the D-loop flight pattern 103 that is nearly facing downwind increases, but the portion of the D-loop flight pattern 103 that is nearly perpendicular to the wind direction does not increase. Thus, rather than the D-loop flight pattern 103 becoming wider, the D-loop flight pattern 103 may become longer. The total distance that the UAV 101 travels away from a defined center point of the ground control station 104, such as the intersection point 165 described below, beyond 40% wind speed is minimized by using the figure-of-eight flight pattern 105. The figure-of-eight flight pattern 105 provides a tighter flight path for the UAV 101, thereby allowing the UAV 101 to typically get closer to the ground control station 104 than the D-loop pattern 103.

[0032] The figure-of-eight flight pattern 105 may have an intersection point 165 that the UAV 101 passes through each time the UAV 101 completes the second flight pattern 105. Additionally, the second flight pattern or the figure-of-eight flight pattern 105 allows the UAV 101 to travel in high wind speeds while minimizing the distance the UAV 101 travels from the intersection point 165. In one embodiment, the intersection point 165 is located approximately directly above the ground control station 104.

[0033] The arrows indicate the direction of the UAV 101 as it progresses through each flight pattern 103, 105. As the UAV 101 follows the first flight pattern 103, the first flight pattern 103 may pass through a junction 165. If the wind speed 101 increases to about 40% or more of the flight speed, the UAV 101 may bank out of the first flight pattern 103 at the junction 165 and transition to the figure-eight loop pattern 105, as indicated by numeral 180. In one embodiment, a transition command signal 166 may be sent from a computing device of the operator 106 or ground control station 104 to the FCC of the UAV 101 to change the trajectory of the UAV 101 to transition from the first flight pattern 103 to the second flight pattern or the figure-eight loop 105. In one embodiment, the transition command signal 166 may be a set of spatial coordinates to be followed by the FCC of the UAV 101.

[0034] The wind speed may be measured at the UAV 101 in some embodiments. In other embodiments, an external sensor may be used to measure the wind speed. In other embodiments, multiple UAVs may be used, and wind speed measurements at one or more UAVs may be recorded and transmitted to at least one other UAV of the multiple UAVs. The wind speed threshold may be based on an average wind speed, such as an average wind speed over the flight path of the UAV 101. The transition points between the different patterns 103, 105 may depend on several factors, as disclosed herein. The transitions between the different patterns 103, 105 may be commanded by a ground-based computer at a ground control station in some embodiments. In other embodiments, the transitions between the different patterns 103, 105 may be determined autonomously by a flight control computer of the UAV. The shape of the D-loop first flight pattern 103 may be based on the aircraft reference point and the wind. The D-loop first flight pattern 103 is shown for reference purposes only and is not drawn to scale or to shape. In one embodiment, the straight downwind portion of the D-loop first flight pattern 103 may be much shorter than the leg shown in the figure, or may not exist. In an embodiment in which the D-loop first flight pattern 103 includes a constant rate 360 ​​degree turn, there is no straight downwind leg because the flight path is a continuous long and narrow turn. In some embodiments, the D-loop first flight pattern 103 includes a straight leg, such as an into-wind leg, and a circling leg where the UAV 101 makes a long turn before returning to a straight leg.

[0035] In some embodiments, the transitions between patterns 103, 105 may be based on a desired proximity to a desired Reuter point. For example, a transition may be selected that will keep the UAV 101 from going outside a set threshold distance from a Reuter point or ground control station. In some embodiments, the transitions between patterns 103, 105 may be based on other aircraft or UAVs in the constellation. For example, the transitions may depend on the location of other UAVs, battery levels, etc., to prioritize transitions for aircraft with low battery levels and maintain a desired distance between the aircraft. In some embodiments, the transitions between patterns 103, 105 may be based on the time of day. For example, the transitions may be based on the position of the sun relative to the wind, especially if the particular flight pattern is close to sunrise and sunset, which may limit the absorption of solar energy. In some embodiments, the transitions between patterns 103, 105 may be based on the time of year. For example, in winter, there may be less time between sunrise and sunset for each UAV 101 to recharge, and the transition may take into account the angle of the sun relative to the desired pattern and / or transition so that the UAV 101 can continue to receive solar energy as needed. In some embodiments, the transition and / or selected pattern 103, 105 may take into account the solar energy that can be used to charge the UAV in each flight pattern 103, 105 compared to the additional energy required to fly a non-optimal flight pattern 103, 105.

[0036] The transition command signal 166 may be communicated from the processor of the ground control station 104 to the RF emitter 124. The RF emitter 124 transmits the signal 166 for reception by the UAV 101. The signal 166 may be a radio frequency signal. Additionally, as shown in FIG. 3, the receiver 112 of the FCC 110 may be tuned to the same frequency as the RF emitter 124. In one embodiment, the transition command signal 166 has a unique identifier code of the particular UAV conveying the transition command signal 166, such as the UAV 101, to prevent the signal from being transmitted to other UAVs if they are in the vicinity. Upon receiving the transition command signal 166 at the FCC 110 of the UAV 101, the FCC 110 alters the course of the UAV 101 into the figure-eight flight pattern 105 as the UAV 101 passes through the intersection 165.

[0037] 5 illustrates the first flight pattern 103 and the figure-8 flight pattern or second flight pattern 105 of FIG. 4, with the intersection 165 of the figure-8 loop 105 located approximately at the center of the D-loop 103. If the wind speed increases to about 40% or more of the flight speed, the operator 106 or the processor of the ground control station 104 sends a transition command signal 166 to cause the UAV 101 to gradually turn away from the D-loop 103 and follow a flight path shown by the connecting flight path 182. The UAV 101 passes the intersection 165 and follows the new figure-8 path 105. The gradual transition of the connecting flight path 182 allows for a constant turn rate throughout most of the D-loop 103 and allows for a more gradual banked flight as the UAV 101 transitions between flight patterns.

[0038] As discussed above with respect to FIG. 6, the figure-of-eight flight pattern 105 allows the UAV 101 to travel in high wind speeds while keeping station above the ground control station 104. Additionally, the figure-of-eight flight pattern or the second flight pattern 105 allows the UAV 101 to minimize the distance traveled from the node 165. If the wind speed 101 drops below about 40% of the flight speed, the UAV 101 can bank out of the figure-of-eight loop 103 at the node 165 and transition to the D-loop pattern 105 via the connecting flight path 184. In one embodiment, a termination command signal 168 is sent from the operator 106 or the processor of the ground control station 104 to the FCC of the UAV 101 to change the trajectory of the UAV 101 out of the figure-of-eight loop 105 and back to the D-loop 103. The termination command signal 168 may be a new set of spatial coordinates for the UAV 101 to follow.

[0039] The termination command signal 168 is communicated to the RF emitter 124, which emits the signal 168 for reception by the UAV 101. The termination command signal 168 may be a radio frequency signal. Additionally, the receiver 112 of the FCC 110 may be tuned to the same frequency as the RF emitter 124. In one embodiment, the termination command signal 168 has a unique identifier code of the particular aircraft with which it is communicating, such as the UAV 101, to prevent the signal from being transmitted to other aircraft if there are other UAVs in the vicinity. Upon receiving the termination command signal 168 at the FCC 110 of the UAV 101, the FCC 110 alters the course of the UAV 101 into a figure-of-eight flight pattern 105 as the UAV 101 passes through the intersection 165.

[0040] 7 illustrates the D-loop or first flight pattern 103 and the figure-of-eight or second flight pattern 105 of FIG. 5. In one embodiment, when the wind speed 101 drops below about 40% of the flight speed, the operator 106 or the processor 104 of the ground control station 104 transmits an exit command signal 168 to cause the UAV 101 to pass through the intersection 165 and follow the flight path indicated by the gradual transition of the connecting flight path 186 to follow the D-loop flight pattern 103. The gradual transition of the connecting flight path 186 allows for a constant turn rate over the majority of the D-loop 103 and allows for a more gradual bank flight as the UAV 101 transitions between flight patterns.

[0041] FIG. 8 illustrates a flow chart of a method 200 for flight plan optimization of an unmanned aerial vehicle (UAV). The UAV may follow a first flight pattern when the wind speed is less than about 40% of the UAV flight speed (step 202). In one embodiment, the UAV follows a "D" shape by flying directly into the wind and then performing a constant rate 360 ​​degree turn until the UAV faces the wind again. The UAV may fly this D-loop flight pattern when the wind speed is low. An operator or processor at the ground control station may send a transition command signal to change the trajectory of the UAV when the wind speed is greater than or equal to about 40% of the UAV flight speed (step 204). Although 40% of the UAV flight speed is used as an example, other set thresholds for the UAV flight speed are possible and contemplated. The set threshold amount may be based on the UAV's dimensions, available battery power, weather conditions, etc. A flight control computer (FCC) of the UAV may receive the transition command signal (step 206). The FCC may perform a step of transitioning the UAV from the first flight pattern (e.g., at the intersection) to a second flight pattern (step 208). In one embodiment, the second flight pattern is a figure-eight loop pattern. In one embodiment, the transition command signal may be a set of spatial coordinates for the UAV to follow. The figure-eight flight pattern allows the UAV to remain above the ground station even when traveling in high wind speeds.

[0042] An operator or processor may transmit a termination command signal to change the trajectory of the UAV when the wind speed is less than about 40% of the UAV flight speed (step 210). The FCC may receive the termination command signal (step 212). The FCC may perform steps to transition the UAV out of the second flight pattern and back to the first flight pattern based on the received termination command signal (step 214). In one embodiment, the termination command signal may be a new set of spatial coordinates for the UAV to follow. In one embodiment, the termination command signal is communicated by an operator to a radio frequency (RF) emitter, which emits a signal to be received by the FCC of the UAV.

[0043] In one embodiment, if the wind speed drops below about 40% of flight speed, the UAV can bank out of the figure eight loop at the intersection and gradually transition to a D-loop pattern via a connecting flight path. The gradual transition allows for a constant turn rate throughout the majority of the D-loop and allows for a more gentle banked flight as the UAV transitions between the first and second flight patterns.

[0044] 9 is a high-level block diagram 500 illustrating a computing system comprising a computer system useful for implementing an embodiment of the systems and processes disclosed herein. An embodiment of the system may be implemented in different computing environments. The computer system includes one or more processors 502, and may further include an electronic display device 504 (e.g., for displaying graphics, text, and other data), a main memory 506 (e.g., random access memory (RAM)), a storage device 508, a removable storage device 510 (e.g., a removable storage drive, a removable memory module, a magnetic tape drive, an optical disk drive, a computer-readable medium having computer software and / or data stored therein), a user interface device 511 (e.g., a keyboard, a touch screen, a keypad, a pointing device), and a communication interface 512 (e.g., a modem, a network interface (such as an Ethernet card), a communication port, or a PCMCIA slot and card). The communication interface 512 allows software and data to be transferred between the computer system and external devices. The system further includes a communication infrastructure 514 (eg, a communication bus, crossover bar, or network) to which the aforementioned devices / modules are connected as shown.

[0045] Information transferred through communications interface 514 may be in the form of signals, such as electronic, electromagnetic, optical or other signals, that may carry signals and be received by communications interface 514 via communications link 516, which may be implemented using wire or cable, optical fiber, telephone line, cellular / cell phone link, radio frequency (RF) link and / or other communications channel. The computer program instructions represented in the block diagrams and / or flowcharts herein may be loaded into a computer, programmable data processing device or processing device and cause it to perform a series of operations to generate a computer-implemented process.

[0046] The embodiments have been described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems) and computer program products according to the embodiments. Each block of such examples / diagrams, or combinations thereof, may be implemented by computer program instructions. The computer program instructions, when provided to a processor, generate a machine such that the instructions executing on the processor create means for implementing the functions / operations identified in the flowchart and / or block diagram. Each block of the flowchart / block diagram may represent hardware and / or software modules or logic for implementing the embodiments. In alternative implementations, the functions shown in the blocks may occur simultaneously out of the order shown in the figures.

[0047] Computer programs (i.e., computer control logic) are stored in the main memory and / or the secondary memory. Computer programs may also be received via the communications interface 512. Such computer programs, when executed, enable the computer system to perform features of the embodiments as discussed herein. In particular, the computer programs, when executed, enable the processor and / or multi-core processor to perform features of the computer system. Such computer programs represent the controller of the computer system.

[0048] FIG. 10 illustrates a block diagram of an exemplary system 600 in which an embodiment may be implemented. The system 600 includes one or more client devices 601, such as consumer electronic devices, connected to one or more server computing systems 630. The server 630 includes a bus 602 or other communication mechanism for communicating information and a processor (CPU) 604 coupled to the bus 602 for processing information. The server 630 also includes a main memory 606, such as a random access memory (RAM) or other dynamic storage device, coupled to the bus 602 for storing information and instructions to be executed by the processor 604. The main memory 606 may also be used to store temporary variables or other intermediate information during execution or instructions to be executed by the processor 604. The server computing system 630 further includes a read-only memory (ROM) 608 or other static storage device coupled to the bus 602 for storing static information and instructions for the processor 604. A storage device 610, such as a magnetic disk or optical disk, is provided and coupled to the bus 602 for storing information and instructions. The bus 602 may include, for example, 32 address lines for addressing a video memory or main memory 606. The bus 602 may also include, for example, a 32-bit data bus for transferring data between and among components such as the CPU 604, the main memory 606, the video memory and storage 610. Alternatively, multiplexed data / address lines may be used instead of separate data and address lines.

[0049] Server 630 may be coupled via bus 602 to a display 612 for displaying information to a computer user. An input device 614, including alphanumeric and other keys, is coupled to bus 602 for communicating information and command selections to processor 604. Another type or user input device includes a cursor control 616, such as a mouse, trackball, or cursor direction keys for communicating directional information and command selections to processor 604 and for controlling cursor movement on display 612.

[0050] According to one embodiment, functions are performed by processor 604 executing one or more sequences of one or more instructions contained in main memory 606. Such instructions may be read into main memory 606 from another computer-readable medium, such as storage device 610. Execution of the sequences of instructions contained in main memory 606 causes processor 604 to perform the process steps described herein. One or more processors in a multi-processing arrangement may be employed to execute the sequences of instructions contained in main memory 606. In alternative embodiments, hardwired circuitry may be used in place of or in combination with software instructions to implement embodiments. Thus, embodiments are not limited to any specific combination of hardware circuitry and software.

[0051] The terms "computer program medium", "computer usable medium", "computer readable medium" and "computer program product" are generally used to indicate media such as main memory, auxiliary memory, removable storage drive, hard disk installed in hard disk drive and signals. These computer program products are means for providing software to a computer system. The computer readable medium enables the computer system to read data, instructions, messages or message packets and other computer readable information from the computer readable medium. The computer readable medium may include non-volatile memory such as, for example, floppy disks, ROM, flash memory, disk drive memory, CD-ROM and other permanent storage. It is useful for transferring information such as, for example, data and computer instructions between computer systems. Furthermore, the computer readable medium may include computer readable information in a transitory state medium such as a network link and / or a network interface, including a wired or wireless network, that enables a computer to read such computer readable information. The computer program (also called computer control logic) is stored in the main memory and / or auxiliary memory. The computer program may also be received via a communication interface. Such computer programs, when executed, enable the computer system to perform the features of the embodiments as discussed herein. In particular, the computer programs, when executed, enable the processor multi-core processor to perform the features of the computer system. Thus, such computer programs represent controllers of the computer system.

[0052] In general, the term "computer-readable medium" as used herein refers to any medium that participates in providing instructions to processor 604 for execution. Such media may take many forms, including but not limited to non-volatile media, volatile media, and transmission media. Non-volatile media include, for example, optical or magnetic disks, such as storage device(s) 610. Volatile media include dynamic memory, such as main memory 606. Transmission media include coaxial cables, copper wire and fiber optics, including the wires that comprise bus 602. Transmission media may also take the form of acoustic or light waves, such as those generated during radio wave or infrared data communications.

[0053] Common forms of computer readable media include, for example, a floppy disk, a flexible disk, a hard disk, a magnetic tape or any other magnetic medium, a CD-ROM, any other optical medium, punch cards, paper tape, any other physical medium with a pattern of holes, RAM, PROM, EPROM, FLASH-EPROM, other memory chips or cartridges, a carrier wave as described below, or any other medium from which a computer can read.

[0054] Various forms of computer readable media may be involved in carrying one or more sequences of one or more instructions to the processor 604 for execution. For example, the instructions may initially be carried on a magnetic disk of a remote computer. The remote computer may load the instructions into a dynamic memory and send the instructions over a telephone line using a modem. A modem local to the server 630 may receive the data on the telephone line and use an infrared transmitter to convert the data to an infrared signal. An infrared detector coupled to the bus 602 may receive the data carried in the infrared signal and place the data on the bus 602. The bus 602 carries the data to main memory 606, from which the processor 604 retrieves and executes the instructions. The instructions received from main memory 606 may optionally be stored on storage device 610 either before or after execution by the processor 604.

[0055] The server 630 also includes a communication interface 618 coupled to bus 602. The communication interface 618 provides a two-way data communication coupling to a network link 620 that is connected to the worldwide packet data communication network now commonly referred to as the Internet 628. The Internet 628 uses electrical, electromagnetic or optical signals that carry digital data streams. The signals through the various networks and the signals on network link 620 and through communication interface 618 that carry the digital data to and from the server 630 are exemplary forms or carrier waves transporting the information.

[0056] In another embodiment of server 630, interface 618 is connected to network 622 via communications link 620. For example, communications interface 618 may be an Integrated Services Digital Network (ISDN) card or a modem to provide a data communications connection to a corresponding type of telephone line, which may form part of network link 620. As another example, communications interface 618 may be a Local Area Network (LAN) card to provide a data communications connection to a compatible LAN. A wireless link may also be implemented. In any such implementation, communications interface 618 sends and receives electrical, electromagnetic or optical signals that carry digital data streams representing various types of information.

[0057] Network link 620 typically provides data communication through one or more networks to other data devices. For example, network link 620 may provide a connection through local network 622 to a host computer 624 or to data equipment operated by an Internet Service Provider (ISP). The ISP then provides data communication services through the Internet 628. Local network 622 and Internet 628 both use electrical, electromagnetic or optical signals that carry digital data streams. The signals through the various networks and the signals on network link 620 and through communication interface 618, which carry the digital data to and from the server 630, are exemplary forms or carrier waves transporting the information.

[0058] Server 630 can send and receive messages and data, including e-mail, and program code through the network, network link 620, and communication interface 618. Additionally, communication interface 618 can comprise a USB / tuner, and network link 620 can be an antenna or cable for connecting server 630 to a cable provider, satellite provider, or other terrestrial transmission system for receiving messages, data, and program code from another source.

[0059] Exemplary versions of the embodiments described herein may be implemented as logical operations in a distributed processing system, such as system 600, which includes server 630. The logical operations of the embodiments may be implemented as a series of steps executed within server 630 and as interconnected machine modules within system 600. The implementation is a matter of choice and may depend on the capabilities of system 600 in which the embodiment is implemented. Accordingly, the logical operations making up the exemplary versions of the embodiments may be referred to as, for example, operations, steps or modules.

[0060] Similar to the server 630 described above, the client device 601 may include a processor, memory, storage devices, a display, input devices, and a communication interface (e.g., an email interface) for connecting the client device to the Internet 628, an ISP or a LAN 622 for communication with the server 630.

[0061] The system 600 may further include a computer (e.g., a personal computer, a computing node) 605 that operates in the same manner as the client device 601, and a user may utilize one or more computers 605 to manage data in the server 630.

[0062] 11, an exemplary cloud computing environment 50 is shown. As shown, the cloud computing environment 50 comprises one or more cloud computing nodes 10 with which local computing devices used by cloud consumers, such as, for example, personal digital assistants (PDAs), smartphones, smart watches, set-top boxes, video game systems, tablets, mobile computing devices or cell phones 54A, desktop computers 54B, laptop computers 54C, and / or automobile computer systems 54N, may communicate. The nodes 10 may communicate with each other. They may be physically or virtually grouped into one or more networks, such as the private, community, public, or hybrid clouds described above, or combinations thereof (not shown). This allows the cloud computing environment 50 to provide infrastructure, platforms, and / or software as a service without the cloud consumers having to maintain resources on their local computing devices. It will be understood that the types of computing devices 54A-N shown in FIG. 11 are intended to be exemplary only, and that the computing nodes 10 and the cloud computing environment 50 may communicate with any type of computerized device over any type of network and / or network addressable connection (e.g., using a web browser).

[0063] Various combinations and / or subcombinations of the specific features and aspects of the above-described embodiments may be made and are still considered to be within the scope of the present invention. It should therefore be understood that various features and aspects of the disclosed embodiments can be combined with or substituted for one another to form varying modes of the disclosed invention. Furthermore, it is intended that the scope of the invention disclosed herein by way of example should not be limited by the specific disclosed embodiments described above.

Claims

1. At least one unmanned aerial vehicle (UAV) (101); at least one Flight Control Computer (FCC) (110) associated with each UAV of the at least one UAV, the at least one FCC controlling movement of each UAV of the at least one UAV; at least one computing device (108) associated with a ground control station (104), the at least one computing device in communication with the at least one FCC; the at least one FCC maintains a first UAV flight pattern (103) for each of the at least one UAV over the ground control station; the at least one computing device is configured to, in response to a wind speed exceeding a threshold established for a flight speed of the respective UAV of the at least one UAV, transmit a transition signal (168) to the at least one FCC to transition the respective UAV of the at least one UAV from the first flight pattern to a second flight pattern (105); the second flight pattern is a figure-of-eight flight pattern; when the wind speed is less than 40% of the UAV flight speed, the first flight pattern is a D-loop flight pattern; The system, wherein the second flight pattern is the figure-eight loop pattern when wind speed is greater than or equal to 40% of UAV flight speed.

2. 2. The system of claim 1, the FCC is further configured to transition each UAV of the at least one UAV from the first flight pattern to the second flight pattern by generating a connecting flight path (182) between the first flight pattern and the second flight pattern.

3. 3. The system of claim 2, 11. The system of claim 10, wherein the connecting flight paths enable a constant turn rate over a majority of the connecting flight paths.

4. 3. The system of claim 2, 11. The system of claim 10, wherein the connecting flight path enables gentle bank flight over a majority of the connecting flight path.

5. 2. The system of claim 1, The system, wherein the first flight pattern and the second flight pattern are station keeping patterns above the ground control station.

6. 2. The system of claim 1, The system, wherein the first flight pattern is a D-loop flight pattern.

7. 2. The system of claim 1, The system, wherein the transition signal includes a set of spatial coordinates for the FCC of each of the at least one UAV to follow.

8. 2. The system of claim 1, The system, wherein the at least one computing device is configured to send an exit command signal (168) to the at least one FCC to transition each UAV of the at least one UAV from the second flight pattern to the first flight pattern in response to wind speed decreasing below a threshold set for the flight speed of each UAV of the at least one UAV.

9. 9. The system of claim 8, The system, wherein the termination command signal includes a set of spatial coordinates for the FCC of each of the at least one UAV to follow.

10. maintaining a first flight pattern (103) above a ground control station (104) with at least one Flight Control Computer (FCC) (110) associated with each UAV of one or more Unmanned Aerial Vehicles (UAVs) (101), the FCC controlling the movement of each UAV of the at least one UAV; measuring wind speed against an established threshold, the established threshold being for a UAV flight speed of each of the at least one UAV; transmitting, by at least one computing device (108) associated with said ground control station, a transition signal (168) to said at least one FCC in response to the measured wind speed exceeding said established threshold; and transitioning each UAV of the one or more UAVs from the first flight pattern to a second flight pattern (105) by the at least one FCC (110) associated with the respective UAV; the second flight pattern is a figure-of-eight flight pattern; when the wind speed is less than 40% of the UAV flight speed, the first flight pattern is a D-loop flight pattern; The method, wherein the second flight pattern is the figure-eight loop pattern when wind speed is greater than or equal to 40% of UAV flight speed.

11. 11. The method of claim 10, The method, wherein the step of transitioning each UAV from the first flight pattern to the second flight pattern further comprises the step of generating, by the at least one FCC associated with each UAV of the one or more UAVs, a connecting flight path (182) between the first flight pattern and the second flight pattern.

12. 12. The method of claim 11, The method, wherein the connecting flight paths enable a constant turn rate over a majority of the connecting flight paths.

13. 12. The method of claim 11, 20. The method of claim 19, wherein the connecting flight path enables gentle bank flight over a majority of the connecting flight path.

14. 11. The method of claim 10, The method, wherein the first flight pattern and the second flight pattern are station keeping patterns above the ground control station.

15. 11. The method of claim 10, The method of claim 1, wherein the first flight pattern is a D-loop flight pattern.

16. 11. The method of claim 10, The method, wherein the transition signal includes a set of spatial coordinates for the FCC of each of the at least one UAV to follow.

17. 11. The method of claim 10, transmitting, by the at least one computing device associated with the ground control station, a termination command signal (168) to the at least one FCC in response to the measured wind speed dropping below the established threshold; and transitioning each UAV of the one or more UAVs from the second flight pattern to the first flight pattern (105) by the at least one FCC associated with each UAV.

18. 18. The method of claim 17, The method, wherein the termination command signal includes a set of spatial coordinates for the FCC of each of the at least one UAV to follow.

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