Joint remote vital signs sensing communications and pnt based drone swarm

Abstract

Embodiments of a method of operating a drone swarm system of a swarm of unmanned arial vehicles (UAVs) are disclosed. In some embodiments, a search of a geographic area is performed based on one or more first radar signals from at least one of the UAVs. Additionally, it is determined whether at least one obstruction of the geographic area is found in response to performing the search. A radar operation mode for each of the UAVs is determined based on whether at least one obstruction is detected. One or more living entities are detected in the geographic area based on one or more second radar signals transmitted in accordance with the determined radar operation mode.

Description

JOINT REMOTE VITAL SIGNS SENSING COMMUNICATIONS AND PNT BASED DRONE SWARMRelated Applications

[0001] This application claims the benefit of provisional patent application serial number 63 / 540,987, filed September 28, 2023, the disclosure of which is hereby incorporated herein by reference in its entirety.Field of the Disclosure

[0002] This disclosure relates generally to systems and methods for operating one or more unmanned arial vehicles (UAVs).Background

[0003] Emergency situations, such as catastrophic weather and geological events, often require an enormous amount of emergency personnel to survey a disaster scene. These disaster scenes can encompass a large geographic area, sometimes as large as an entire city. Furthermore, the use of emergency personnel is often not efficient. Emergency personnel often treat victims on an as-found basis, not on the degree that the current medical conditions present on the life of a person found. These inefficiencies are due to the inability of emergency personnel to get a good grasp of the conditions of different victims throughout a geographic area encompassing the disaster scene. Furthermore, victims in critical condition often are not found by emergency personnel if they are hidden in rubble or other obstructions. Consequently, more efficient mechanisms for searching for victims in a disaster scene are needed.

[0004] In some embodiments, a method of operating a drone swarm system of a swarm of unmanned arial vehicles (UAVs) includes: performing a search of a geographic area based on one or more first radar signals from at least one UAV of the swarm of UAVs; detecting whether there is at least one obstruction of the geographic area in response to performing the search; determining a radaroperation mode for each UAV of the swarm of UAVs based on whether the at least one obstruction is detected; and detecting one or more living entities in the geographic area based on one or more second radar signals transmitted in accordance with the determined radar operation mode. In some embodiments, the method further includes: determining vital sign data describing vital signs of the one or more living entities based on the one or more second radar signals; and transmitting the vital sign data to a ground control station in response to determining the vital sign data. In some embodiments, the method further includes: transmitting the vital sign data from the ground control station to at least one user device of emergency personnel. In some embodiments, detecting the one or more living entities in the geographic area based the one or more second radar signals transmitted in accordance with the determined radar operation mode includes: determining a vital signs pattern based on the one or more second radar signals; determining whether the vital signs pattern is within a range of a known vital signs pattern; and detecting the one or more living entities in response to the vital signs pattern being within the range of the known vital signs pattern. In some embodiments, determining the radar operation mode for the each UAV of the swarm of UAVs is based on whether the at least one obstruction that is detected includes: for the each UAV of the swarm of UAVs where the at least one obstruction is detected, operating a radar of the UAV in a non-line of sight mode; and for the each UAV of the swarm of UAVs where the at least one obstruction is not detected, operating the radar of the UAV in a line of sight mode. In some embodiments, the method further includes setting a swarm flight protocol for the swarm of UAVs prior to performing the search of the geographic area.

[0005] In some embodiments, a radar and communication system for a UAV configured to: perform a search of a geographic area based on one or more first radar signals; detect whether there is at least one obstruction of the geographic area in response to performing the search; determine a radar operation mode for the UAV based on whether the at least one obstruction is detected; and detect one or more living entities in the geographic area based on one or more secondradar signals transmitted in accordance with the determined radar operation mode. In some embodiments, the radar and communication system is further configured to: determine vital sign data describing vital signs of the one or more living entities based on the one or more second radar signals; and transmit the vital sign data to a ground control station in response to determining the vital sign data. In some embodiments, the radar and communication system is further configured to: transmit the vital sign data from the ground control station to at least one user device of emergency personnel. In some embodiments, the radar and communication system is configured to detect the one or more living entities in the geographic area based the one or more second radar signals transmitted in accordance with the determined radar operation mode by: determining a vital signs pattern based on the one or more second radar signals; determining whether the vital signs pattern is within a range of a known vital signs pattern; and detecting the one or more living entities in response to the vital signs pattern being within the range of the known vital signs pattern. In some embodiments, the radar and communication system is configured to determine the radar operation mode for the UAV based on: if the UAV detects the at least one obstruction, operating a radar of the UAV in a non-line of sight mode; and if the UAV does not detect the at least one obstruction, operating the radar of the UAV in a line of sight mode. In some embodiments, the radar and communication system is further configured to set a swarm flight protocol for the UAV prior to performing the search of the geographic area.

[0006] In another aspect, any of the foregoing aspects individually or together, and / or various separate aspects and features as described herein, may be combined for additional advantage. Any of the various features and elements as disclosed herein may be combined with one or more other disclosed features and elements unless indicated to the contrary herein.

[0007] Those skilled in the art will appreciate the scope of the present disclosure and realize additional aspects thereof after reading the following detailed description of the preferred embodiments in association with the accompanying drawing figures.Brief Description of the Drawing Figures

[0008] The accompanying drawing figures incorporated in and forming a part of this specification illustrate several aspects of the disclosure, and together with the description serve to explain the principles of the disclosure.

[0009] FIG. 1 illustrates a geographic area and a drone swarm system operable to detect living beings with vital signs (e.g., humans) in a geographic area, in accordance with some embodiments;

[0010] FIG. 2 is a flow diagram illustrating a method of operating a drone swarm system of a swarm of unmanned arial vehicles (UAVs), in accordance with some embodiments;

[0011] FIG. 3A illustrates transmitter block operations where a communication system, a radar system, and a position, navigation, and timing (PNT) system all utilize the same transmit waveform, in accordance with some embodiments;

[0012] FIG. 3B illustrates receiver block operations where a communication system, a radar system, and a PNT system all utilize a same wireless signal, in accordance with some embodiments;

[0013] FIG. 4 illustrates operations of a UAV in surveillance mode, in accordance with some embodiments;

[0014] FIG. 5A and FIG. 5B illustrate a detection of vital signs as a result of a UAV performing hovering maneuvers, in accordance with some embodiments;

[0015] FIG. 6A and FIG. 6B illustrate a detection of vital signs as a result of a UAV performing fly-by maneuvers, in accordance with some embodiments;

[0016] FIG. 7A illustrates a synthetic aperture radar (SAR) image on a UAV of a human subject near a corner reflector, in accordance with some embodiments;

[0017] FIG. 7B illustrates a SAR image that is more focused on a human target, in accordance with some embodiments;

[0018] FIG. 70 illustrates a SAR image after vital sign data (VSD) processing to identify a human micro-Doppler breathing pattern, in accordance with some embodiments;

[0019] FIG. 8A illustrates a transmitter block of a UAV, in accordance with some embodiments;

[0020] FIG. 8B illustrates a receiver block of a UAV, in accordance with some embodiments; and

[0021] FIG. 9 is a flow diagram illustrating a method of operating a drone swarm system of a swarm of UAVs, in accordance with some embodiments.Detailed Description

[0022] The embodiments set forth below represent the necessary information to enable those skilled in the art to practice the embodiments and illustrate the best mode of practicing the embodiments. Upon reading the following description in light of the accompanying drawing figures, those skilled in the art will understand the concepts of the disclosure and will recognize applications of these concepts not particularly addressed herein. It should be understood that these concepts and applications fall within the scope of the disclosure and the accompanying claims.

[0023] It should be understood that, although the terms first, second, etc. may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element, without departing from the scope of the present disclosure. As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0024] It should also be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may be present. In contrast, when an element is referred to as being "directly connected" or "directly coupled" to another element, there are no intervening elements present.

[0025] It should be understood that, although the terms “upper,” “lower,” “bottom,” “intermediate,” “middle,” “top,” and the like may be used herein todescribe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, a first element could be termed an “upper” element and, similarly, a second element could be termed an “upper” element depending on the relative orientations of these elements, without departing from the scope of the present disclosure.

[0026] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. As used herein, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises," "comprising," "includes," and / or "including" when used herein specify the presence of stated features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0027] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs. It will be further understood that terms used herein should be interpreted as having meanings that are consistent with their meanings in the context of this specification and the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

[0028] Embodiments are described herein with reference to schematic illustrations of embodiments of the disclosure. As such, the actual dimensions of the layers and elements can be different, and variations from the shapes of the illustrations as a result, for example, of manufacturing techniques and / or tolerances, are expected. For example, a region illustrated or described as square or rectangular can have rounded or curved features, and regions shown as straight lines may have some irregularity. Thus, the regions illustrated in the figures are schematic and their shapes are not intended to illustrate the precise shape of a region of a device and are not intended to limit the scope of thedisclosure. Additionally, sizes of structures or regions may be exaggerated relative to other structures or regions for illustrative purposes and, thus, are provided to illustrate the general structures of the present subject matter and may or may not be drawn to scale. Common elements between figures may be shown herein with common element numbers and may not be subsequently redescribed.

[0029] FIG. 1 illustrates a geographic area 102 and a drone swarm system 100 operable to detect living beings 103 with vital signs (e.g., humans) in a geographic area, in accordance with some embodiments.

[0030] The geographic area 102 may be any geographic area and may include any type of obstruction, such as buildings, trees, infrastructure, debris, rocks, earth, canyons, and / or the like. For example, in some embodiments, the geographic area 102 may be a disaster area in an urbanized or semi-urbanized region after a natural disaster. The drone swarm system 100 is operable to detect living beings 103 (e.g., humans) along with the vital signs of those living beings 103, in accordance with some embodiments.

[0031] The drone swarm system 100 includes a swarm of unmanned ariel vehicles (UAVs) 104 that utilize wireless signals 106, 108 to detect living beings 103 and obtain the vital signals of the living beings 103. In FIG. 1 , each of the UAVs 104 includes a radar system 110, a transmit antenna 1 12, a receive antenna 114, and a controller 1 16. The controller 116 is configured to operate the radar system 110 in order to transmit the wireless signal 106 from the transmit antenna 112 as a radar signal. In response to the wireless signal 106 reflecting from an object in the geographic area 102, the wireless signal 108 is received as the radar signal 108 at the receive antenna 1 14. The radar system 1 10 may then employ different techniques to obtain information about the objects in the geographic area 102 in order to identify the objects or to identify relevant objects (i.e., identify the living beings 103). For example, the radar system 110 may generate radar images that are then provided to the controller 116. The controller 116 may include algorithms that are used to identify relevant objects, such as the living beings 103, or an object that is possibly one of the living beings103. In this manner, the drone swarm system 100 is configured to perform a search of the geographic area 102 based on one or more first radar signals from at least one of the UAVs 104.

[0032] In some embodiments, the UAVs 104 utilize the wireless signals 106, 108 as radar signals to detect whether there is at least one obstruction of the geographic area 102 in response to performing the search. For example, once one or more of the UAVs 104 detects an object in the geographic area 102 that is a possible one of the living beings 103, one or more of the UAVs 104 may approach the object that is the possible living being 103. As shown in FIG. 1 , the UAVs 104 include a communication system 118. The controller 1 16 is configured to operate the communication system 1 18 such that the wireless signal 106 that is transmitted from the transmit antenna 1 12 and the wireless signal 108 that is received from the receive antenna 1 14 are both communication signals. The communication system 118 may be a radio frequency (RF) communication system (i.e., 4G, 5G communication system), a specialized military communication system, or any other communication system that is functional with the UAVs 104.

[0033] The UAVs 104 communicate with one another and with a ground control station (GCS) 124 in order to organize themselves to implement swarm protocols. It should be noted that, in some embodiments, the radar functionality and the wireless communication functionality of the UAVs 104 are performed with the same wireless signals 106, 108 (i.e., the radar signals and the communication signals are the same signals) or are performed with different wireless signals 106, 108 (i.e., the radar signals and the communication signals are different signals). The UAVs 104 include a positioning, navigation, and timing (PNT) system 120 (e.g., a Global Positioning System (GPS)) that operates with the controller 1 16 and the communication system 1 18 so that the UAVs 104 can determine their locations and communicate with one another in order to implement the swarm protocols. Furthermore, the GPS / PNT system 120 is utilized so that the UAVs 104 can determine their location and the location of the object in the geographic area 102. Swarm search protocols may include swarmsearch protocols that direct the UAVs 104 to patrol an area or circularly search an area, that direct an area / perimeter of search, or that direct an area / unit time (how fast the search should be - this dictates the individual speed of the swarm and a distance from the ground / structure).

[0034] Furthermore, it should be noted that, while the UAVs 104 in FIG. 1 all have the same functionality, in different embodiments, the UAVs 104 may have different functionalities. For example, some of the UAVs 104 may be equipped only to perform a search for objects of interest. Once the objects of interest are located, other ones of the UAVs 104 with more specialized detection radar may be commanded to approach the object to make more sophisticated determinations and obtain vital signs. These and other implementations would be apparent to one of ordinary skill in the art in light of this disclosure.

[0035] In response to one or more of the UAVs 104 detecting an object that is possibly one of the living beings 103, the UAV 104 may approach the object (i.e., reduce the displacement between the object and the particular UAV 104). The controller 116 is configured to operate the radar system 110 in order to transmit and receive the wireless signals 106, 108 as radar signals once the UAVs 104 are near the object. The controller 116 is then configured to detect whether there is at least one obstruction of the geographic area 102 in response to performing the search. For example, the controller 1 16 may obtain radar images from the radar system 110 to determine if the object is not obstructed or if there is a wall, debris, and / or some other obstruction between the UAVs 104 and the object. In some embodiments, the radar system 110 may include a continuous wave (CW) radar, a monopulse radar, a synthetic aperture radar (SAR), a light detection and ranging radar, and / or the like.

[0036] The controller 116 may then determine a radar operation mode for each of the UAVs 104 based on whether the at least one obstruction is detected. For example, in response to no obstruction being detected, the controller 116 may determine to utilize the radar system 110 such that the wireless signals 106, 108 operate at a higher frequency and, thus, make higher resolution radar images (i.e., line of sight (LOS) mode). However, in response to an obstructionbeing detected, the controller 1 16 may determine to utilize the radar system 1 10 such that the wireless signals 106, 108 operate at a lower frequency and, thus, make it easier for the wireless signals 106, 108 to penetrate through the obstruction (i.e., non-line of sight (nLOS) mode). The controller 116 is configured to detect one or more of the living beings 103 in the geographic area 102 based on one or more second radar signals transmitted in accordance with the determined radar operation mode.

[0037] In response to the living beings 103 being detected, the controller 116 may determine to utilize the radar system 110 such that the wireless signals 106, 108 are radar signals. In this manner, the controller 1 16 is configured to determine vital sign data (VSD) that describes vital signs of the one or more living beings 103 based on the one or more second radar signals. An example of how this is performed is discussed in International Patent Application Publication No. WO 2020 / 191142 titled “Radar Cardiography: A Precise Cardiac Data Reconstruction Method” published September 24, 2020, which is incorporated herein by reference in its entirety. The VSD may include different vital signs, such as respiratory measurement data, cardiac data (i.e., heart rate and / or electrocardiogram (ECG)-like heartbeat waveform signals), blood pressure data, stroke volume, and / or the like. The controller 1 16 is configured to operate the communication system 118 such that the VSD and a location associated with the living beings 103 are communicated to the GCS 124, where the GCS 124 may transmit the VSD to at least one user device of emergency personnel.

[0038] It should be noted that the UAVs 104 further include a flight controller 122 that is operable with the controller 116. The flight controller 122 is configured to receive commands from the controller 116 in order to navigate the UAVs 104. In this manner, the controller 116 controls the UAVs 104 so that the UAVs 104 can navigate throughout the geographic area 102.

[0039] FIG. 2 is a flow diagram 200 illustrating a method of operating a drone swarm system of a swarm of UAVs, in accordance with some embodiments.

[0040] In some embodiments, the drone swarm system is the drone swarm system 100 shown in FIG. 1.

[0041] Initially, one or more UAVs in the drone swarm system may operate in a surveillance mode 202. During the surveillance mode 202, the UAVs utilize their PNT system (e.g., GPS system) to determine their location as the UAVs scan a geographic area. The UAVs generate location data that indicate their locations and transmit that location data to each other and to a GCS. During the surveillance mode 202, the UAVs are configured to transmit wireless signals (e.g., radar signals) in order to detect objects that may possibly be living beings (e.g., humans). To do this, the GCS may set an initial swarm protocol for each of the UAVs. The swarm search protocol may be set based on a perimeter of operation. For example, search loads may be divided and distributed amongst different individual UAVs based on an area / perimeter of search. The geographic area may initially be scanned with radar signals and / or other sensors, such as infra-red (IR) sensors. In this manner, the UAVs each perform a search of a geographic area based on one or more first radar signals to detect at least one object that is possibly a living being. Furthermore, in the surveillance mode 202, the UAV may operate so as to maximize the search area that can be scanned. This can be done by spacing out the UAVs across the search area in order to maximize how much area can be scanned at any point in time. Furthermore, the sensing modality of the radar systems and other sensors of the UAVs may be configured to maximize the amount of area scanned at any point in time.

[0042] In response to detecting at least one object that is possibly a living being, one or more of the UAVs may then approach the object. The UAVs may then determine the radar operation mode 204. To determine the radar operation mode 204, the UAVs may transmit radar signals and, in response, detect that an obstruction is blocking the object. The UAVs may also detect an obstruction based on other sensors, such as signals from an IR sensor or a camera. In response to detecting that there is an obstruction blocking the object, the UAVs are configured to operate the radar in the nLOS mode. Otherwise, the UAVs are configured to operate the radar in the LOS mode. The UAVs may also transmit location data indicating a position of the object to other UAVs and to the GCS.

[0043] Once the radar operation mode 204 has been selected, the UAVs may then operate in detection mode 206. The UAVs may then perform some initial radar operations that will allow the UAVs to attempt to get some preliminary vital sign data form the object in the detection mode 206. In some embodiments, one or more of the UAVs may be operated in a small area search protocol to scan the area to see if a living being is detected. For example, in some embodiments, the UAVs may transmit radar signals to determine whether a breathing pattern can be detected in radar images generated from the radar signals. The UAVs operate to detect the living beings based on the radar signals in accordance with the selected radar operation mode 204. In some embodiments, the UAVs detect the vital signals (e.g., heart rates, breathing patterns) and compare them to known vital sign patterns. When the measured vital signs are within a range of the known vital sign pattern for a particular living being (e.g., human heart rates, human breathing patterns), the UAVs are configured to identify the living being. Other types of vital signs may be detected based on radar signals or other sensors, such as IR sensors (i.e., body temperature) or a camera (i.e., human pattern detection in one or more camera images). The UAVs may also transmit location data indicating a position of the object to other UAVs and to the GCS. If not living being is detected, then the UAVs may again be operated in the surveillance mode 202. However, in response to the living entity being detected, the UAVs may then be configured to operate in the physiological measurement mode 208.

[0044] In the physiological measurement mode 208, the UAVs are configured to perform more sophisticated operations in order to obtain more accurate reading of the vital signs. For example, the UAVs may be configured to transmit radar signals and detect the heart rate of the living being, ECG waveforms, breathing patterns, blood pressure, pictures of the living being’s organs or skeletal system based on the radar signals. Other sensors, such as the IR sensors and / or the camera may also be obtained. The UAVs may then generate VSD that indicates the vital signs of the living being.

[0045] The UAVs may then report the physiologic data in the physiological measurement mode 208. For example, the VSD may be transmitted to other UAVs. In other embodiments, the UAVs may transmit the VSD to the GCS, which then forwards the VSD to user equipment operated by emergency personnel. The GCS utilizes the vital signs to determine the condition of the living being and determine whether emergency services are needed. If emergency services are needed, the GCS transmits signals to user devices associated with emergency personnel indicating an emergency situation, the vital signs of the living being, and the location of the living being.

[0046] The UAVs may then begin operating in a report the physiological data mode 210 (which is an operational mode). In this mode, the UAVs may transmit vital sign data to each other and the GCS. If an emergency is taking place, the GCS may transmit an alert to the emergency personnel.

[0047] It should be noted that, with a swarm of UAVs, at any time, different UAVs may be operating in different modes of operation 202, 204, 206, 208, 210. Furthermore, it should be noted that, in some embodiments, some of the UAVs may have different capabilities. For example, in a case where the UAVs have different capabilities, some of the UAVs may be configured to operate in the surveillance mode 202 and the detection mode 206 in order to scan the geographic area and detect a living entity. Once a living entity is detected, the UAVs may transmit location data to other UAVs, with more sophisticated detection radar and other sensors. The more sophisticated UAVs may then approach the location to operate in the physiological measurement mode 206 and operate in the report the psychological data mode 210.

[0048] FIG. 3A and FIG. 3B illustrate operations of a communication system, radar system, and PNT system that utilize the same wireless signals.

[0049] FIG. 3A illustrates transmitter block operations 300 where the communication system, the radar system, and the PNT system all utilize the same transmit waveform 302, in accordance with some embodiments.

[0050] As shown in FIG. 3A, in a transmitter operation 304, a UAV is configured to transmit a vital sign sensing waveform and a communication signalin the transmit waveform 302 through a transmit antenna 306. A wireless signal 308 that results from the transmit waveform 302 is then received at a receive antenna 310. The UAV may then extract VSD from the wireless signal 308 at operation 312, generate a communication waveform at operation 314, and generate positioning sequences related to the position of the UAV at operation 316. The UAV may then transmit the VSD, the positioning sequences, and other communication data in order to provide them in the transmit waveform 302.

[0051] FIG. 3B illustrates receiver block operations 301 where the communication system, the radar system, and the PNT system all utilize the same wireless signal 308.

[0052] At operation 318, a receiver of a UAV performs signal acquisition to extract a communication signal and a positioning signal from the wireless signal 308 (as shown in FIG. 3A) that is received at the receive antenna 310 (as shown in FIG. 3A). At operation 320, the receiver performs frequency correction on the extracted communication signal. At operation 322, the receiver performs equalization on the communication signal. At operation 324, the receiver decodes the communication signal and extracts VSD, communication data, and other environmental data from the communication signal.

[0053] At operation 326, the receiver performs a frequency correction on the positioning signal. At operation 328, the receiver performs a massive correlation on the positioning signal in order to obtain time of flight data.

[0054] FIG. 4 illustrates operations of a UAV 400 in surveillance mode, in accordance with some embodiments.

[0055] In some embodiments, the UAV 400 is provided in the same manner as one or more of the UAVs 104 shown in FIG. 1 . In some embodiments, the UAV 400 is configured to operate in accordance with the operation modes 202, 204, 206, 208, 210 shown in FIG. 2. In some embodiments, the UAV 400 is configured to perform the operations 304, 312, 314, 316, 318, 320, 322, 324, 326, 328 shown in FIG. 3A and FIG. 3B.

[0056] The UAV 400 includes a transmit antenna 402, a receive antenna 404, a controller 406, a radar system 408, a communication system 410, a PNTsystem 412, other sensing system(s) 414, a flight controller 416, and a propulsion system 418.

[0057] In FIG. 4, the controller 406 includes one or more processor(s) 420 and a non-transitory computer readable medium 422 (e.g., one or more memory systems). The non-transitory computer readable medium 422 stores computer executable instructions (CEI) 424. In response to executing the CEI 424, the processor(s) 420 are configured to operate with the radar system 408, the communication system 410, the PNT system 412, the other sensing system(s) 414, and the flight controller 416 to perform the operations described throughout this disclosure.

[0058] The transmit antenna 402 is configured to transmit a wireless signal 426 while the receive antenna 404 is configured to receive a wireless signal 428. The controller 406 is configured to operate the radar system 408, the communication system 410, and the other sensing system(s) 414 in order to generate the wireless signal 426 and to receive and process the wireless signal 428. In some embodiments, the radar system 408 is configured to generate the wireless signal 426 and process the wireless signal 428 as a radar signal. In some embodiments, the communication system 410 is configured to generate the wireless signal 426 and process the wireless signal 428 as a separate communication signal. In some embodiments, the PNT system 412 is configured to generate the wireless signal 426 and process the wireless signal 428 as a separate positioning signal. However, as described by the operations in FIG. 3A and FIG. 3B, the radar system 408, the communication system 410, and the PNT system 412 are configured to generate the wireless signal 426 and process the wireless signal 428, all using the same wireless signals.

[0059] In FIG. 4, the UAV 400 may have a single radar system 408 or multiple radar systems 408. For example, different types of the radar systems 408 may generate different waveform types (e.g., pulsed, Frequency Modulated Continuous Wave (FMCW), etc.), different bandwidths (e.g., ultrawide band (UWB)), different operating frequencies (e.g., lower frequencies for penetration, higher frequencies for LoS vital sign monitoring). The UAV 400 may have asingle communication system 410 or multiple communication systems 410. The communication system 410 may include a Long Term Evolution (LTE), a Fifth Generation (5G), or any other type of system that is configured on a custom communications standard. The UAV 400 may include one or more other sensing systems 414, including an IR system, a camera, a microphone, and / or a tachymeter.

[0060] As described above, the controller 406 may operate with the radar system 408 to transmit the wireless signal 426 and to obtain radar data (RD) 429 from the wireless signal 428. The controller 406 is configured to extract VSD 430 from the RD 429, as described in this disclosure. The other sensing system(s) 414 may also be utilized to extract the VSD 430. The VSD 430 may be stored in the non-transitory computer readable medium 422 in order for the UAV 400 to perform the operations described in this disclosure.

[0061] The controller 406 is configured to operate with the PNT system 412 to transmit the wireless signal 426 and to obtain location data (LD) 432 from the wireless signal 428. The LD 432 identifies a location of the UAV 400. The LD 432 may be stored in the non-transitory computer readable medium 422 in order for the UAV 400 to perform the operations described in this disclosure. The PNT system 412 may be a GPS system, a vision-based location system, or a triangulation system.

[0062] The UAV 400 includes the flight controller 416, which is configured to operate the propulsion system 418 of the UAV 400. The propulsion system 418 may include an electric motor, an internal combustion engine, a jet engine, and / or the like that is used to propel the UAV 400 throughout a geographic area. The controller 406 may operate with the flight controller 416 in order to move the UAV 400 throughout the geographic area. In some embodiments, the controller 406 operates the flight controller 416 so that the UAV 400 operates in accordance to a swarm protocol. The non-transitory computer readable medium 422 may store flight control data (FCD) 434 associated with the flight controller 416. For example, the FCD 434 may include flight commands, positioning history, engine performance parameters, gyroscope readings, barometric data,magnetometer readings, state estimation data, waypoint coordinates, battery and / or current readings, engine status, geofencing boundaries, and / or the like.

[0063] FIG. 5A and FIG. 5B illustrate a detection of vital signs as a result of a LIAV performing hovering maneuvers, in accordance with some embodiments.

[0064] More specifically, FIG. 5A illustrates doppler phases of a breathing pattern of a human being that is detected by radar signals transmitted by the UAV. FIG. 5B illustrates that a heartbeat (i.e., vital spectra) has been detected by the radar signals transmitted by the UAV. The dashed lines in FIG. 5B denote the breathing and heartbeat references in beats per minute (BPM). As shown by FIG. 5A and FIG. 5B, both the breathing pattern and the heartbeat is detected.

[0065] FIG. 6A and FIG. 6B illustrate a detection of vital signs as a result of a UAV performing fly-by maneuvers, in accordance with some embodiments.

[0066] More specifically, FIG. 6A illustrates doppler phases of a breathing pattern of a human being that is detected by radar signals transmitted by the UAV. FIG. 6B illustrates that a heartbeat (i.e., vital spectra) has been detected by the radar signals transmitted by the UAV. The dashed lines in FIG. 6B denote the breathing and heart beat references in BPM. As shown by FIG. 6A and FIG. 6B, the breathing pattern is detected but the heartbeat is not detected. FIG. 5A, FIG. 5B, FIG. 6A, and FIG. 6B thus demonstrate that, in some embodiments, the UAV should first use the radar signals to detect a possible human being through a breathing pattern and then approach and check for more sophisticated vital signs while hovering.

[0067] FIG. 7A illustrates a SAR image on a UAV of a human subject near a corner reflector, in accordance with some embodiments. FIG. 7B illustrates a SAR image that is more focused on the human target, in accordance with some embodiments. The human target is identified on a dashed line. FIG. 7C illustrates a SAR image after VSD processing to identify a human micro-Doppler breathing pattern, in accordance with some embodiments. As shown by FIGs. 7A - 7C, SAR imaging can be used to both identify a human and determine their VSD.

[0068] FIG. 8A illustrates a radar image taken by radar signals of an ultrawide band IR radar system operating at 4 Gigahertz (GHz) with a 1 .5 GHz bandwidth, in accordance with some embodiments. The radar image illustrates the detection of an obstruction, which, in this case, is a wall. Based on the detection of the wall in the radar image, the UAV may be operable to operate the radar in nLOS mode. FIG. 8B is a radar image taken by the ultrawide band IR radar system in which the breathing pattern of a human is detected. As shown, a portion of the radar image illustrates that the wall has been detected along with the breathing pattern of the human.

[0069] FIG. 9 is a flow diagram 900 illustrating a method of operating a drone swarm system of a swarm of UAVs, in accordance with some embodiments.

[0070] Exemplary UAVs are the UAVs 104 shown in FIG. 1 and the UAV 400 shown in FIG. 4. The flow diagram 900 includes blocks 901 -914. Flow beings at block 901 .

[0071] At block 901 , a swarm flight protocol is set from the swarm of UAVs prior to performing the search of the geographic area. For example, the swarm flight protocol may be set by a GCS (such as the GCS 124 shown in FIG. 1 ), set internally by one or more of the UAVs, or based on a message received by another UAV. The swarm flight protocol may set the UAV to operate the UAVs so as to maximize the search area that can be scanned. This can be done by spacing out the UAVs across the search area in order to maximize how much area can be scanned at any point in time. Furthermore, the sensing modality of the radar systems and other sensors of the UAV may be configured to maximize the amount of area scanned at any point in time. Flow then proceeds to block 902.

[0072] At block 902, a search of a geographic area is performed based on one or more radar signals from at least one UAV of the swarm of UAVs. In some embodiments, the search is performed by the radar system 1 10 shown in FIG. 1 and the radar system 408 shown in FIG. 4. In some embodiments, exemplary radar images and graphs from this search are shown in FIG. 6A and FIG. 7A.Block 902 may occur during the surveillance mode 202 shown in FIG. 2. Flow then proceeds to block 904.

[0073] At block 904, at least one obstruction of the geographic area is detected in response to performing the search. An example of this is shown in FIG. 8A where the wall is detected. Block 904 may occur during the surveillance mode 202 shown in FIG. 2. Flow then proceeds to block 906.

[0074] At block 906, a radar operation mode is determined for each UAV of the swarm of UAVs based on whether the at least one obstruction is detected. The radar operation mode may be set internally by each UAV, may be set by UAVs external to the UAV, or may be set from the GCS. Block 906 may occur in the radar operation mode 204 shown in FIG. 2. In some embodiments, the radar operation mode may be the LOS mode or the nLOS mode, depending on whether an obstruction is detected. Flow then proceeds to block 908.

[0075] At block 908, one or more living entities are detected in the geographic area based on one or more second radar signals transmitted in accordance with the determined radar operation mode. This is shown in FIG. 5A, FIG. 6A, FIG. 7B, and FIG. 8A. This may be performed in the detection mode 206 shown in FIG. 2. Flow then proceeds to block 910.

[0076] At block 910, VSD describing vital signs of the one or more living entities is determined based on the one or more second radar signals. This is shown in FIG. 5B, FIG. 6B, FIG. 7C, AND FIG. 8B. Block 910 may be performed in the physiological measurement mode 208 shown in FIG. 2. Flow then proceeds to block 912.

[0077] At block 912, the VSD is transmitted to a GCS in response to determining the VSD. In some embodiments, the GCS is the GCS 124 shown in FIG. 1 . Block 912 is performed in the report physiological data mode 210 shown in FIG. 2, in accordance with some embodiments. Flow then proceeds to block 914.

[0078] At block 914, the VSD is transmitted from the GCS to at least one user device of emergency personnel. Block 914 is also performed in the reportphysiological data mode 210 shown in FIG. 2, in accordance with some embodiments.

[0079] It is contemplated that any of the foregoing aspects, and / or various separate aspects and features as described herein, may be combined for additional advantage. Any of the various embodiments as disclosed herein may be combined with one or more other disclosed embodiments unless indicated to the contrary herein.

[0080] Those skilled in the art will recognize improvements and modifications to the preferred embodiments of the present disclosure. All such improvements and modifications are considered within the scope of the concepts disclosed herein and the claims that follow.

Claims

ClaimsWhat is claimed is:1 . A method of operating a drone swarm system of a swarm of unmanned arial vehicles (UAVs), comprising: performing a search of a geographic area based on one or more first radar signals from at least one UAV of the swarm of UAVs; detecting whether there is at least one obstruction of the geographic area in response to performing the search; determining a radar operation mode for each UAV of the swarm of UAVs based on whether the at least one obstruction is detected; and detecting one or more living entities in the geographic area based on one or more second radar signals transmitted in accordance with the determined radar operation mode.

2. The method of claim 1 , further comprising: determining vital sign data describing vital signs of the one or more living entities based on the one or more second radar signals; and transmitting the vital sign data to a ground control station in response to determining the vital sign data.

3. The method of claim 2, further comprising: transmitting the vital sign data from the ground control station to at least one user device of emergency personnel.

4. The method of claim 1 , wherein detecting the one or more living entities in the geographic area based on the one or more second radar signals transmitted in accordance with the determined radar operation mode further comprises: determining a vital signs pattern based on the one or more second radar signals;determining whether the vital signs pattern is within a range of a known vital signs pattern; and detecting the one or more living entities in response to the vital signs pattern being within the range of the known vital signs pattern.

5. The method of claim 1 , wherein determining the radar operation mode for the each UAV of the swarm of UAVs is based on whether the at least one obstruction is detected further comprises: for the each UAV of the swarm of UAVs where the at least one obstruction is detected, operating a radar of the each UAV in a non-line of sight mode; and for the each UAV of the swarm of UAVs where the at least one obstruction is not detected, operating the radar of the each UAV in a line of sight mode.

6. The method of claim 1 , further comprising setting a swarm flight protocol for the swarm of UAVs prior to performing the search of the geographic area.

7. A radar and communication system for an unmanned arial vehicle (UAV) configured to: perform a search of a geographic area based on one or more first radar signals; detect whether there is at least one obstruction of the geographic area in response to performing the search; determine a radar operation mode for the UAV based on whether the at least one obstruction is detected; and detect one or more living entities in the geographic area based on one or more second radar signals transmitted in accordance with the determined radar operation mode.

8. The radar and communication system of claim 7, further configured to: determine vital sign data describing vital signs of the one or more living entities based on the one or more second radar signals; andtransmit the vital sign data to a ground control station in response to determining the vital sign data.

9. The radar and communication system of claim 8, further configured to: transmit the vital sign data from the ground control station to at least one user device of emergency personnel.

10. The radar and communication system of claim 7, wherein the radar and communication system is configured to detect the one or more living entities in the geographic area based on the one or more second radar signals transmitted in accordance with the determined radar operation mode by: determining a vital signs pattern based on the one or more second radar signals; determining whether the vital signs pattern is within a range of a known vital signs pattern; and detecting the one or more living entities in response to the vital signs pattern being within the range of the known vital signs pattern.1 1 . The radar and communication system of claim 7, wherein the radar and communication system is configured to determine the radar operation mode for the UAV based on whether the at least one obstruction is detected by: if the UAV detects the at least one obstruction, operating a radar of the UAV in a non-line of sight mode; and if the UAV does not detect the at least one obstruction, operating the radar of the UAV in a line of sight mode.

12. The radar and communication system of claim 7, further configured to set a swarm flight protocol for the UAV prior to performing the search of the geographic area.

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