Aerial vehicle

Abstract

A system for guiding an unmanned aerial vehicle (UAV) to a target includes a map module and a path generation module. The map module obtains a map including a geographic region of interest. The path generation module receives a launch location and a target area and generates a flight path from the launch location to the target area based on the map. The UAV comprises a propulsion system and a sensor array. The sensor array includes at least one of a primary Global Navigation Satellite System (GNSS) receiver or a secondary Controlled Reception Pattern (CRPA) GNSS receiver. A path following module guides the UAV along the generated flight path. A path modifying module monitors input from the sensor array for a trigger event and modifies the flight path in response to detecting the trigger event.

Description

AERIAL VEHICLEINCORPORATION BY REFERENCE TO ANY PRIORITY APPLICATIONS

[0001] This application claims benefit of U.S. Provisional Patent Application No. 63 / 704223, filed October 7, 2024, and titled “AUTONOMOUS UNMANNED AERIAL VEHICLE AND PATHING SYSTEM,” U.S. Provisional Patent Application No. 63 / 704225, filed October 7, 2024, and titled “UNIVERSAL ELECTRONIC SAFE ARM AND FIRE SYSTEM FOR UNMANNED AERIAL VEHICLE,” and U.S. Provisional Patent Application No. 63 / 704230, filed October 7, 2024, and titled “PNEUMATIC LAUNCHING SYSTEM AND METHOD FOR UNMANNED AERIAL VEHICLES.” The entire disclosure of each of the above items is hereby made part of this specification as if set forth fully herein and incorporated by reference for all purposes, for all that it contains.

[0002] Any and all applications for which a foreign or domestic priority claim is identified in the Application Data Sheet as filed with the present application are hereby incorporated by reference under 37 CFR 1.57 for all purposes and for all that they contain.BACKGROUND

[0003] The present disclosure generally relates to unmanned aerial vehicles (UAVs). More specifically, the disclosure pertains to navigation and guidance systems for long-range autonomous UAVs capable of operating in challenging environments, adaptable UAV systems capable of operating in diverse environments and launch scenarios, and systems for launching UAVs.BRIEF DESCRIPTION OF THE DRAWINGS

[0004] Implementations of various inventive features are described with reference to the following drawings. Throughout the drawings, reference numbers are re-used to indicate correspondence between referenced elements. The drawings are provided to illustrate example implementations described herein and are not intended to limit the scope of the disclosure.

[0005] FIGS. 1A-1 C illustrate an autonomous unmanned aerial vehicle (UAV) with deployable components in multiple configurations, according to various implementations of the present disclosure;

[0006] FIG. 1 D illustrates a block diagram of an autonomous unmanned aerial vehicle in an operating environment, according to various implementations of the present disclosure;

[0007] FIG. 2 is a flow chart of a method for providing a layered hierarchical GNSS reception at an autonomous unmanned aerial vehicle, according to various implementations of the present disclosure;

[0008] FIG. 3 is a flow chart of a method for providing autonomous pathing and navigation of unmanned aerial vehicles, according to various implementations of the present disclosure;

[0009] FIG. 4 shows an autonomous unmanned aerial vehicle, according to various implementations of the present disclosure;

[0010] FIG. 5 illustrates a block diagram of an operating environment, according to various implementations of the present disclosure;

[0011] FIG. 6 shows an internal view of a portion of a UAV including environmental sensors, according to various implementations of the present disclosure;

[0012] FIG. 7 is a flow chart of a method for providing a universal action initiation system for a UAV, according to various implementations of the present disclosure;

[0013] FIG. 8 is a block diagram of a system including a computing device for performing various methods and functionality, according to various implementations of the present disclosure.

[0014] FIG. 9 illustrates a pneumatic launching system for a UAV, according to various implementations of the present disclosure;

[0015] FIG. 10 illustrates another pneumatic launching system for a UAV, according to various implementations of the present disclosure;

[0016] FIG. 11 is a schematic view of a launch tube and pneumatic launching assembly for use in the pneumatic launching system, shown with the pneumatic launch assembly in the loading position, according to various implementations of the present disclosure;

[0017] FIG. 12 illustrates a method for loading a launching tube of a pneumatic launching system, according to various implementations of the present disclosure; and

[0018] FIG. 13 is a flow chart of a method for providing the pneumatic launching system for a UAV, according to various implementations of the present disclosure.DETAILED DESCRIPTION

[0019] Although certain implementations and examples are disclosed below, inventive subject matter extends beyond the specifically disclosed implementations to other alternative implementations and / or uses and to modifications and equivalents thereof. Thus, the scope of the claims appended hereto is not limited by any of the particular implementations described below. For example, in any method or process disclosed herein, the acts or operations of the method or process are optionally and variously performed in any suitable sequence and are not necessarily limited to any particular disclosed sequence. Various operations are described as multiple discrete operations in turn, in a manner that is helpful in understanding certain implementations; however, the order of description should not be construed to imply that these operations are order dependent. Additionally, the structures, systems, and / or devices described herein are optionally embodied as integrated components or as separate components. For purposes of comparing various implementations, certain aspects and advantages of these implementations are described. Not necessarily all such aspects or advantages are achieved by any particular implementation. Thus, for example, various implementations are carried out in a manner that achieves or optimizes one advantage or group of advantages as taught herein without necessarily achieving other aspects or advantages as also taught or suggested herein.Example Autonomous Unmanned Aerial Vehicle (UAV) Features

[0020] Various aspects, features, and functionality related to autonomous unmanned aerial vehicles (UAVs) are disclosed. These include, for example, UAVs with deployable components, navigation and guidance systems for long-range autonomous UAVs capable of operating in challenging environments, adaptable UAV systems capable of operating in diverse environments and launch scenarios, and systems for launching UAVs. While manyaspects and features relate to, and are described in, the context of unmanned aerial vehicles, implementations of the present disclosure are not limited to use only in this context. For example, implementations of the present disclosure are employable on manned and unmanned aerial vehicles.

[0021] According to various implementations, a UAV includes deployable components. Various aspects of the UAV lead to improvements over conventional unmanned aerial vehicles, including, but not limited to, for example, improved portability, deployment, post-deployment transition to flight control, aerodynamic efficiency and flight endurance, payload capacity, and maximized mission capability over conventional unmanned aerial vehicles. According to various implementations, the UAV includes a number of features that lead to the aforementioned improvements, including, but not limited to, for example, trailing-edge hinged ailerons, deployable stabilizers, gearbox, fairing, and sweeping and telescoping wing implementations.

[0022] According to various implementations, the UAV is configurable in a plurality of arrangements and / or configurations. For example, a first configuration is a compact arrangement suitable for storage and launching, a second configuration is a deployed arrangement suitable for launch recovery and flight, and a third configuration is an expanded configuration suitable for high-endurance flight. In various implementations, the UAV is functional and operable in intermediary configurations between these three configurations to provide some of the advantages of the improved UAV at higher airspeeds.

[0023] FIG. 1A illustrates an example UAV 102 of the present disclosure, according to various implementations. The UAV 102 is illustrated in FIG. 1A in a first configuration, e.g., a compact arrangement. The compact arrangement enables convenient storage and transportation of the UAV. In addition, the compact arrangement enables certain launch methods, such as a launch from, for example, a launching tube or a release from, for example, an aircraft’s weapons / bomb bay or wing attachment.

[0024] The UAV is deployable after launch into a deployed arrangement that is suitable to survive the high aerodynamic loads of launch recovery and high-speed flight. During the flight, the UAV is further deployable into and expanded arrangement that is suitable for efficient, long-endurance flight. It should be understood that the term “deploy” and “deployment” refers to the deployable components moving from one UAV configuration to another.

[0025] FIG. 1 B illustrates an example UAV 104 of the present disclosure, according to various implementations. The UAV 104 is the UAV 102 of FIG. 1 A, but now illustrated in a second configuration, e.g., deployed arrangement. The deployed arrangement enables sustaining the higher aerodynamics loads associated with flight at a high airspeed or high-g pull-up maneuvers. In this way, at least one of the intermediary configurations (e.g., the deployed arrangement) is usable in a launch recovery, wherein the UAV has been launched and has not slowed to an airspeed that a third configuration (described below) can sustain. Furthermore, the deployed arrangement can sustain high-speed flight more efficiently than the expanded arrangement.

[0026] FIG. 1C illustrates an example UAV 105 of the present disclosure, according to various implementations. The UAV 105 is the UAV 102 of FIG. 1A and the UAV 104 of FIG. 1 B, but now illustrated in a third configuration, e.g., an expanded arrangement. The expanded arrangement enables achieving an increased level of aerodynamic efficiency (e.g., flight endurance) as well as an increased payload weight capacity. In various embodiments, the second configuration (e.g., deployed arrangement) and the third configuration (e.g., expandedarrangement) are referred to as a common arrangement, but having wingspans that depend on the extent of the telescoped displacement of the wings.

[0027] During transformation from the compact arrangement to the expanded arrangement, a UAV consistent with implementations of the present disclosure includes, but is not limited to, at least one of the following: wings 110 (e.g., configured to sweep and / or telescope), one or more trailing-edge hinged control surfaces 120 that enable roll control (“ailerons”), one or more fold-away actuating stabilizers 125, one or more flexible aerodynamic fairings 130, one or more propulsion mechanisms (e.g., fold-away propeller 135), a fuselage 106, and a modular payload and / or sensors 140. Further examples, details, features, and functionality of the UAV, according to various implementations of the present disclosure, are described in U.S. Patent No. 9,580,165, issued February 28, 2017, which is hereby made part of this specification as if set forth fully herein and incorporated by reference for all purposes, for all that it contains.Example Features Related to Navigation and Guidance

[0028] In some situations, unmanned aerial vehicles (UAVs) are used for reconnaissance or surveillance missions in areas that are remote and / or hazardous. For example, UAVs are deployed to gather intelligence or monitor activities in regions where human presence could be dangerous or impractical. The conventional strategy is to equip UAVs with cameras and sensors to collect data from a safe distance. This often causes problems because the conventional strategy does not provide capabilities beyond passive observation. For example, if a time-sensitive target of interest is identified during a UAV mission, additional assets need to be scrambled to take an action associated with that target, potentially missing the window of opportunity.

[0029] Moreover, UAVs encounter challenges related to signal reception or jamming in remote or contested environments. For example, adversaries attempt to disrupt geolocation signals or radio communications to make it difficult to determine an exact location, thereby impeding operations. One way to combat this is to rely on preprogrammed waypoints or direct radio control for navigation and mission execution. This leads to issues because the conventional strategy does not provide resilience against signal interference or allow for adaptive behavior when communications are disrupted. For example, a UAV deviates from an intended flight path or loses the ability to transmit data back to operators if geolocation system or radio links are compromised.

[0030] An autonomous unmanned aerial vehicle (UAV) is provided to overcome various of the challenges described herein, according to various implementations. In various implementations, the UAV comprises a propulsion system to allow the UAV to travel along a flight path. A map module of the UAV is optionally configured to obtain a map including a geographic region of interest. The UAV optionally includes a path generation module configured to receive a launch location and a target area, and to generate a flight path from the launch location to the target area based on the map. A sensor array comprising at least one of a primary Global Navigation Satellite System (GNSS) receiver that provides positioning, navigation, and timing (PNT), such as a Global Positioning System (GPS) receiver, or a secondary Controlled Reception Pattern (CRPA) GNSS receiver is optionally disposed on the UAV for data collection along the flight path. The UAV optionally includes a path following module configured to guide the UAV along the generated flight path, and a path modifying module configured to monitor input from the sensor array for a trigger event and, in response to detecting the trigger event, modify the flight path.

[0031] In some examples, a method is provided for causing a UAV to move to a target. In various implementations, the method comprises obtaining a map including a geographic region of interest. In some examples, the UAV receives a launch location and a target area and generate a flight path from the launch location to the target area based on the map. In various implementations, the method includes launching the UAV from the launch location. The UAV is autonomously guidable along the generated flight path. During flight, the UAV, for example, monitors data from the sensor array for a trigger event. In response to detecting the trigger event, in various implementations, the UAV modifies the flight path.

[0032] In some examples, an onboard system for guiding a UAV to a target in a GNSS-denied environment comprises a map module configured to obtain a map including a geographic region of interest and locations of poor GNSS signal. In various implementations, the system includes a path generation module configured to receive a launch location and a target area, and to generate a flight path from the launch location to the target area based on the map. In some examples, the system includes a UAV having a navigation system with a primary GNSS receiver and a secondary GNSS receiver. In various implementations, the UAV includes a downward-facing camera. A path following module of the UAV is configurable to guide the UAV along the generated flight path. The UAV, for example, includes a path modifying module configured to monitor for a loss of GNSS signal. In various examples, the path modifying module, in response to detecting the loss of GNSS signal, causes the UAV to switch from the primary GNSS receiver to the secondary GNSS receiver. If GNSS signal is not reacquired by the secondary GNSS receiver, in various implementations, the UAV determines a location based at least in part on information from the downwardfacing camera.Platform Overview

[0033] In various implementations, the system includes an autonomous Unmanned Aerial Vehicle (UAV) (and as further described in reference to FIG. 1 D herein) having a navigation module configured to determine a flight path for the UAV. The navigation module receives input data including a launch location, a target location, and map data of the geographic region. The map data includes topographic information and locations of potential GNSS signal interference.

[0034] Based on the input data, the navigation module generates a flight path from the launch location to the target location. The flight path includes GPS, GNSS, and / or other geolocation coordinates for the path as well as elevation values for flight altitude. In some embodiments, the flight path utilizes terrain masking and avoid areas of known GNSS interference.

[0035] In various implementations, the UAV includes a sensor array comprising one or more navigation and / or targeting sensors. In some examples, the sensor array includes, as non-limiting examples, a GNSS receiver, a Controlled Reception Pattern (CRPA) antenna, and / or additional sensors such as (but not limited to) a semi-active laser seeker, a long-wave infrared camera, an electro-optical / infrared camera, and / or an RF seeker.

[0036] During flight, a path following module works to keep the UAV on the planned flight path by comparing actual GNSS coordinates and altitude to the planned path. The UAV utilizes a downward-facing camera and image matching algorithms to determine its location relative to stored satellite imagery of the region.

[0037] A path modifying module detects deviations from the planned path and / or other trigger events based at least in part on data from the sensor array. Responsive to the triggering event, the path modifying modulecauses the UAV to take action. As one example, if a GNSS signal is lost at a primary GNSS receiver, the UAV switches to the CRPA antenna or enter a “coasting” (e.g., dead reckoning) mode that uses inertial navigation. As another example, the path is dynamically adjusted based on sensor inputs, such as detecting a laser designator or identifying a new target via computer vision algorithms. There are many different types of triggering events and corresponding actions.

[0038] As the UAV approaches the target area, terminal guidance algorithms is optionally employed to home in on the specific target location. In some examples, the UAV is configured to approach the target (e.g., to gather intelligence regarding the target, to photograph the target, to deliver a payload to the target, etc.). The UAV adjusts its flight path to achieve a desired approach angle, which, in some examples, is up to 45 degrees or steeper.

[0039] As illustrated in FIG. 1 D, embodiments of the present disclosure comprise an autonomous UAV 150 (e.g., which is similar to or the same as UAV 102) including at least one of the following:A. A Mapping Module 152B. A Path Generation Module 156C. A Sensor Array 158D. A Path Following Module 160E. A Path Modifying Module 162

[0040] Details with regards to each module are provided herein. Although modules are disclosed with specific functionality, it should be understood that functionality is optionally shared between modules, with some functions split between modules, while other functions duplicated by the modules. Furthermore, the name of each module should not be construed as limiting upon the functionality of the module. Moreover, each component disclosed within each module is to be considered independently, without the context of the other components within the same module or different modules. Each component contains functionality that is optionally defined in other portions of this specification. In some examples, each component disclosed for one module is mixed with the functionality of other modules. In the present disclosure, each component is claimable claimed on its own and / or interchangeably with other components of other modules.

[0041] The following depicts example methods of a plurality of methods that are performable by at least one of the aforementioned modules, or components thereof. Various hardware components are used at the various stages of the operations disclosed with reference to each module. For example, although some methods are described to be performed by a single computing device, it should be understood that, in some embodiments, different operations are performed by different networked elements in operative communication with the computing device. For example, at least one computing device 800 (e.g., as described in further detail herein in reference to FIG. 8) is employed in the performance of some or all of the stages disclosed with regard to the methods. Similarly, an apparatus is optionally employed in the performance of some or all of the stages of the methods. As such, In various implementations the apparatus comprises at least those architectural components as found in computing device 800.

[0042] Furthermore, although the stages of the following example methods are disclosed in a particular order, it should be understood that the order is disclosed for illustrative purposes only. In some examples, stages are combined, separated, reordered, and various intermediary stages exist. Accordingly, it should be understood that the various stages, in various embodiments, are performed in orders that differ from the ones disclosed below. Moreover,various stages are added or removed without altering or departing from the fundamental scope of the depicted methods and systems disclosed herein.

[0043] Consistent with embodiments of the present disclosure, a method is performed by at least one of the modules disclosed herein. The method is embodied as, for example, but not limited to, computer instructions which, when executed, perform the method. The method comprises the following stages:A. Receive designation of launch locationB. Receive designation of target areaC. Obtain map dataD. Determine path from launch location to target area based on the map dataE. Launch UAV at launch locationF. UAV follows pathG. UAV monitors sensor array for Trigger Event a. T rigger designates new target? i. If YES - adjust path to travel to new target ii. If NO - GNSS anomaly rely on alternate location determination to retain pathH. Travel to target (original or new) - optionally provide payload at target location

[0044] Although the aforementioned method has been described as being performed by the UAV 150, it should be understood that computing device 800 is optionally used to perform the various stages of the method. Furthermore, in some embodiments, different operations are performed by different networked elements in operative communication with computing device 800. For example, In various implementations a plurality of computing devices are employed in the performance of some or all of the stages in the aforementioned method. Moreover, optionally a plurality of computing devices are configured much like a single computing device 800. Similarly, optionally an apparatus is employed in the performance of some or all stages in the method. The apparatus is optionally configured much like computing device 800.

[0045] Both the foregoing overview and the following detailed description provide examples and are explanatory only. Accordingly, the foregoing overview and the following detailed description should not be considered to be restrictive. Further, features or variations are provided in addition to those set forth herein. For example, various embodiments are directed to various feature combinations and sub-combinations described in the detailed description.Platform Configuration

[0046] As shown in at least FIGS. 1 D and 4, embodiments of the present disclosure provide an autonomous UAV 150 including hardware and / or software modules. As shown in FIG. 4, in some implementations the autonomous UAV 400 (e.g., which is similar to or the same as UAV 102 and / or UAV 150) comprises a propulsion system for providing thrust to the vehicle. In some cases, the propulsion system includes one or more electric motors coupled to propellers. In some embodiments, the UAV utilizes a brushless gearmotor with a large diameter propeller for enhanced propulsive efficiency.

[0047] In some examples, the UAV has a wingspan of approximately 100 inches (2.5 meters) when fully deployed. The wings are optionally designed with a high aspect ratio to provide greater lift-to-drag ratio and aerodynamic efficiency. In some embodiments, the wings are foldable or collapsible to allow for compact storage andtransport. In various implementations, the airframe of the UAV is constructed by using composite materials such as carbon fiber, Kevlar, glass fiber, and / or the like. This construction provides a lightweight yet strong structure.

[0048] In various implementations, the UAV is capable of operating at cruise speeds of approximately 58 knots indicated airspeed (KIAS). In some embodiments, the UAV has a dash speed capability of up to 100 KIAS for rapid transit to a target area when needed. Ini some examples, the endurance of the UAV is approximately 90 minutes at cruise speed.

[0049] In some embodiments, the UAV incorporates a battery system configured to provide power to the various UAV components. The battery system includes cells capable of providing power for extended flight times.

[0050] In some embodiments, the UAV is designed to operate in extreme environmental conditions. For example, the UAV is optionally capable of functioning in temperatures ranging from -46°C to 71°C. The system is optionally designed to withstand high vibration environments (e.g., during transport and / or launch operations).

[0051] In some embodiments, the UAV includes an autopilot system configured to control speed, roll, pitch, and / or yaw of the UAV. The autopilot system is optionally configured to receive input from various other components to control the operation of the UAV.

[0052] In some embodiments, the UAV is optionally configured to retain a payload. The UAV is configured to deliver the payload to the target area.Mapping Module

[0053] In some examples, the autonomous UAV 150 includes or otherwise is in communication with the mapping module 152. The mapping module includes hardware and / or software configured to obtain or generate a map of a geographic region of interest. In some embodiments, obtaining a map comprises, for example, retrieving at least a portion of the map from a data repository 154 (which may be located on or off the UAV 150). Additionally or alternatively, obtaining the map comprises generating at least a portion of the map.

[0054] The obtained map includes topographic information representing terrain features and / or structures (e.g., buildings, towers, and / or other man-made structures) within the region. In some implementations, the map module accesses existing map databases to retrieve relevant topographic data. In some implementations, the mapping module processes satellite imagery, aerial photography, and / or other remote sensing data to generate the topographic data. The mapping module optionally generates a three-dimensional terrain model of the region based on the topographic data.

[0055] In some implementations, the mapping module is further configured to identify and / or annotate areas of potential GNSS signal interference or degradation within the mapped region. This optionally includes marking locations where tall buildings, mountains, or other terrain features occlude GNSS satellite signals. The module also optionally incorporates data on known GNSS jamming or spoofing activities in the area of interest.

[0056] In some embodiments, the mapping module optionally interfaces with external data sources to obtain real-time or near-real-time updates on environmental conditions that could affect GNSS performance and / or UAV operations. This includes (as non-limiting examples) current weather data, temporary or permanent flight restrictions, and / or reports of new signal interference.

[0057] In some examples, the map data generated or obtained by the mapping module is stored in computer-readable memory associated with the module. The stored map data is accessed by other components of the system, such as the path generation module, to support mission planning and execution.

[0058] In some embodiments, the mapping module includes visualization capabilities to render two dimensional and / or three dimensional representations of the mapped region for operator situational awareness. This allows human operators to review terrain features, potential hazards, and / or other relevant details prior to UAV deployment.

[0059] The mapping module is implemented with one or more processors executing software instructions stored in non-transitory computer-readable media. In some embodiments, the mapping module is a standalone component. In other embodiments, the mapping module is integrated with other system components such as the ground control station.Path Generation Module

[0060] In some embodiments, the autonomous UAV 150 includes or otherwise is in communication with the path generation module 156. The path generation module includes hardware and / or software configured to generate path data for use by a UAV. The path generation module receives, as inputs, designations of a launch location and a target area. The module generates a flight path from the launch location to the target area based at least in part on the map obtained by the mapping module. The flight path includes GNSS coordinates for the path along the surface of the earth and / or elevation values indicating flight altitude.

[0061] In generating the flight path, the path generation module takes into account various factors from the map data. For example, the module optionally analyzes the topographic information to plot a path that avoids terrain obstacles. In some embodiments, the module generates a flight path that maintains a relatively low altitude profile. In some embodiments, the module considers energy requirements of the proposed path. For example, a path requiring prolonged and / or steep altitude increases requires additional power from the UAV. Additionally or alternatively, the module considers areas of poor GNSS signal identified in the map, and routes the path to avoid extended flight through such areas where possible.

[0062] In some examples, the generated flight path includes one or more waypoints. The waypoints are optionally disposed at regular intervals and / or at turning points along the path. Each waypoint specifies a geolocation (e.g., a latitude and longitude, a GNSS location, etc.) and an altitude for the UAV to navigate to. In some embodiments, the UAV is capable of interpolating the path between waypoints during flight.

[0063] In some examples, the path generation module employs various path planning algorithms to determine an optimal route. This optionally includes considerations such as minimizing total distance traveled, maintaining terrain masking, avoiding known danger areas, and / or managing energy consumption. The module optionally generates multiple candidate paths and score them based on mission parameters before selecting a final path.

[0064] In some implementations, the path generation module dynamically updates the flight path during the mission based on new information. For example, if updated threat data is received, the module recalculates portions of the path to avoid newly identified danger areas. The module also optionally generates alternate paths to be used as contingencies if the primary path becomes compromised.

[0065] In some implementations, the path data generated by the module is provided to the UAV's path following module for execution during flight. The path generation module also optionally provides the path data to a ground control station for monitoring of the planned route. In some cases, an operator reviews the generated path. The module allows the operator to manually adjust the path before approving it for use.Sensor Array

[0066] In some examples, the autonomous UAV 150 includes the sensor array 158. The sensor array includes one or more components to enable navigation and / or target location capabilities in various environments. In various examples, the sensor array includes a primary GNSS receiver to provide standard satellite-based navigation. This receiver is capable of receiving signals from multiple GNSS constellations and on multiple frequency bands for improved accuracy and reliability.

[0067] In some implementations, to enhance GNSS performance in contested environments, the sensor array incorporates a secondary Controlled Reception Pattern Antenna (CRPA) GNSS receiver. The CRPA utilizes multiple antenna elements to adaptively filter out jamming signals and improve reception of authentic GNSS signals. In some examples, this secondary GNSS receiver provides resilience against jammers and / or naturally occurring interference.

[0068] In some embodiments, the sensor array includes an inertial measurement unit (IMU) to enable “coasting” or dead reckoning navigation when GNSS signals are unavailable. The IMU comprises accelerometers and / or gyroscopes to track the UAV's movement and orientation. In some embodiments, the coasting mode causes the UAV to maintain a directional heading.

[0069] In some implementations, for visual navigation and targeting, the sensor array optionally incorporates one or more cameras, such as an electro-optical / infrared (EO / IR) camera, a long wave infrared camera, a visible spectrum camera, and / or the like. These cameras provide visual, infra-red, and / or thermal imaging capabilities. In various implementations, the one or more cameras are stationary, or are mounted on a gimbaled turret to allow for rotation. The cameras optionally feature a wide field of view to increase data collection. In some embodiments, the one or more cameras are used as an input to a computer vision system to automatically identify objects in the field of view of the camera. Additionally or alternatively, the one or more cameras provide a signal to a remote operator to allow for human identification of objects in the field of view of the camera.

[0070] In some examples, to enable laser-guided targeting, the sensor array includes a semi-active laser seeker. This seeker detects laser energy reflected off a target that has been designated by a separate laser designator system.

[0071] In some embodiments, the sensor array incorporates an RF seeker for detection of radio frequency (RF) emissions. The RF seeker is used to home in on sources of electromagnetic radiation, such as radar systems, communications systems, GNSS jammers or GNSS spoofing systems, and / or any other sources of RF emissions.

[0072] A downward-facing camera is optionally included in the sensor array to enable terrain recognition and matching against map data. This provides an additional means of navigation when GNSS is degraded or unavailable. Additionally or alternatively, the downward facing camera is used to photograph a target or area of interest as the UAV flies above.

[0073] In some examples, the various sensors in the array are integrated through a central processing unit that fuses data from multiple sources to determine the UAV's position, track targets, and guide the vehicle along its intended flight path. The processing unit is optionally configured to dynamically switch between different navigation modes based on the availability and quality of sensor data. In some embodiments, the sensor array is used to enable vison-based navigation and / or optical flow algorithm processing.Path Following Module

[0074] In some implementations, the autonomous UAV 150 includes the path following module 160. The path following module includes hardware and / or software configured to guide the UAV along the generated flight path. In some embodiments, the path following module receives the generated flight path from the path generation module. The path following module periodically compare a current position and heading of the UAV to the generated flight path. Based on this comparison, the path following module generates control signals to adjust the UAV's flight controls to maintain the desired path.

[0075] In some implementations, the path following module utilizes data from one or more sensors in the sensor array to determine the UAV's current position and heading. For example, the path following module receives coordinates from the primary GNSS receiver and / or secondary GNSS receiver to determine an absolute position. Additionally or alternatively, the path following module utilizes data from the inertial measurement unit (IMU) and / or information from the downward facing camera to determine relative position changes and heading.

[0076] In some examples, the path following module continuously or periodically updates the UAV's position along the flight path. In some embodiments, the path following module divides the flight path into a series of waypoints. As each waypoint is reached, the path following module updates the UAV's next target waypoint. The path following module calculates course corrections as needed to guide the UAV to each successive waypoint.

[0077] In some implementations, in environments where a GNSS signal is degraded or otherwise unable to be received, the path following module use other navigation sensors to determine position. For example, the path following module optionally utilizes visual odometry techniques with the downward-facing camera to estimate position changes. Additionally or alternatively, the path following module also enters a dead reckoning mode, integrating data from the IMU to estimate position changes when GNSS is unavailable.

[0078] In some examples, the path following module interfaces with the UAV's autopilot system to execute the desired flight path. Control signals are sent to adjust parameters such as throttle, pitch, roll, and yaw to maintain the specified flight path. In some embodiments, the path following module manages the UAV's altitude profile based on the terrain data provided in the generated flight path.

[0079] In some implementations, the path following module includes obstacle avoidance capabilities. The module utilizes sensor data, such as from cameras or radar, to detect obstacles in the flight path. Responsive to detecting an obstacle, the path following module generates localized path adjustments to avoid detected obstacles while still maintaining the overall flight path.Path Modifying Module

[0080] In some examples, the autonomous UAV 150 includes the path modifying module 162. The path modifying module of the UAV is implementable by one or more processors and / or memory configured to executeinstructions for modifying the flight path of the UAV in response to detected trigger events. The path modifying module monitors inputs from the sensor array to determine occurrence of a trigger event.

[0081] In some implementations, upon detecting a trigger event, the UAV causes the UAV to take an action. As examples, the action includes adjusting sensor array inputs and / or modifying the path of the UAV. As one particular example, FIG. 2 shows a method 200 for adjusting sensor inputs and flight path based on GNSS signals. As shown in the method 200, at block 202, once the UAV begins a mission with good GNSS, at block 204 the sensor array utilizes a primary GNSS receiver to receive GNSS signals to, at block 206, continue the mission. If the primary GNSS receiver loses its GNSS signal, at block 208 the path modifying module activates or collect signals from the secondary GNSS receiver to, at block 210, continue the mission until, at block 212, the primary CPS receiver regains its signal reception. If the secondary GNSS receiver also loses GNSS connectivity, at block 214 the path modifying module causes the UAV to enter a “coast” or dead reckoning mode (e.g., by using the IMU), maintaining a substantially constant heading and altitude. At block 216, if GNSS connectivity is recovered within a predetermined time period, the path modifying module determines the location of the UAV and, at block 220, cause the UAV to return to the flight path, allowing, at block 206, the mission to continue. Alternatively, if GNSS connectivity is not regained within the predetermined time period, at block 218 the mission is terminated.

[0082] As another non-limiting example, for a UAV equipped with a semi-active laser seeker, the path modifying module detects a designating laser via the laser seeker. In particular, the laser seeker detects a reflection of the designating laser, reflected off a target object. Responsive to detecting the designating laser reflection, the path modifying module adjusts the flight path to travel towards the designated target object.

[0083] As yet another example, for variants with EO / IR cameras, the path modifying module receives, from the one or more cameras, an indication of a new target identified in the field of view of the camera. Responsive to detecting the new target, the path modifying module adjusts the flight path to travel towards the new target.

[0084] As still another example, where the UAV sensor array includes an RF seeker, the path modifying module monitors the RF seeker for RF signals having a power exceeding a threshold magnitude. Responsive to identifying a signal that exceeds the threshold magnitude, the path modifying module adjusts the path to cause the UAV to fly towards the source of the signal. This allows the UAV to approach the RF signal source, even when no GNSS data is available.

[0085] In some examples, the path modifying module interfaces with the path following module to periodically or continuously compare the current position of the UAV to the planned flight path and generate control signals to maintain or adjust the path as needed. The module interfaces with the UAV autopilot system to execute flight control commands. The module also performs obstacle avoidance by using data from forward-looking sensors.

[0086] In some implementations, in GNSS-denied environments, the path modifying module relies more heavily on terrain matching techniques, comparing imagery from a downward-facing camera to stored terrain models. Additionally or alternatively, the path modifying module also increase reliance on dead reckoning navigation by using IMU data.

[0087] In some examples, the path modifying module is capable of dynamically altering mission parameters, such as adjusting waypoints or modifying the approach profile as the UAV nears the target, based at leastin part on updated information and / or changing mission objectives (e.g., when a new mission objective is received from a ground control station or human operator).Platform Operation

[0088] Embodiments of the present disclosure provide autonomous UAV operative by a set of methods and computer-readable media comprising instructions configured to operate the aforementioned modules and computing elements in accordance with the methods. The following depicts an example of at least one method of a plurality of methods that are performed by at least one of the aforementioned modules. Various hardware components are used at the various stages of operations disclosed with reference to each module.

[0089] For example, although methods are described as being performed by a single computing device, it should be understood that, in some embodiments, different operations are performed by different networked elements in operative communication with the computing device. For example, at least one computing device 800 (e.g., as described in further detail herein in reference to FIG. 8) is employed in the performance of some or all of the stages disclosed with regard to the methods. Similarly, an apparatus is optionally employed in the performance of some or all of the stages of the methods. As such, in various implementations the apparatus comprises at least those architectural components as found in computing device 800.

[0090] Furthermore, although the stages of the following example methods are disclosed in a particular order, it should be understood that the order is disclosed for illustrative purposes only. In some examples, stages are combined, separated, reordered, and various intermediary stages exist. Accordingly, it should be understood that the various stages, in various embodiments, are performed in orders that differ from the ones disclosed below. Moreover, various stages are added or removed without altering or departing from the fundamental scope of the depicted methods and systems disclosed herein.Example Methods

[0091] Consistent with embodiments of the present disclosure, FIG. 3 illustrates an example method 300 that is performed by at least one of the aforementioned modules. The method is embodied as, for example, but not limited to, computer instructions, which, when executed, perform the method. The method comprises the following stages, as described in reference to FIG. 3.

[0092] At block 302, block 304, and block 306: The UAV obtains a map including a geographic region of interest. The map includes topographic information for terrain and buildings. The map also includes locations of poor GNSS signal and / or other environmental hazards. The UAV further receives a launch location and a target area. At block 308: A flight path is generated from the launch location to the target area based on the map.

[0093] At block 310: A UAV is launched from the launch location. At block 312: The method includes guiding the UAV along the generated flight path. This involves using a path following module to compare the UAV's actual position to the planned path coordinates. At block 314: The UAV monitors for occurrence of a trigger event. This monitoring is performed by one or more sensors in the UAV's sensor array. Trigger events include, as non-limiting examples, loss of GNSS signal, detection of a laser designator, or identification of a new target.

[0094] At block 316: In response to detecting a trigger event, the method optionally includes modifying the flight path. For example, if GNSS signal is lost, the method comprises switching from a primary GNSS receiver toa secondary GNSS receiver. At block 320, if GNSS signal is still not acquired by using the secondary receiver, the UAV enters a coast or dead reckoning mode.

[0095] At block 316: If the trigger event designates a new target (e.g., if a laser designator is detected or a new target is identified via a camera), at block 318 the UAV modifies the flight path to travel to a location of the new target. If a new target is identified via a camera sensor, the path is adjusted to travel to the new target location.

[0096] The method 300 optionally includes delivering a payload to the target (e.g., the original target or the new target).Example Features Related to Adaptable UAV

[0097] UAVs are used for various applications in both civilian and commercial sectors. Such applications include aerial photography, package delivery, infrastructure inspection, and agricultural monitoring. In certain circumstances, UAVs are launched from various locations, including ground-based locations, water-based locations, and even aerial locations. In some examples, long-range surveillance operations optionally require UAVs to be launched from a aircraft and loiter in an area of interest for extended periods. However, current UAV systems are limited in their ability to operate effectively in environments with unreliable navigation signals.

[0098] Many existing UAV platforms monitor environmental factors to determine when the UAV has been successfully launched. In some cases, an action is taken following the successful launch, which is optionally identified upon certain pre-conditions being fulfilled. These pre-conditions are often different depending on whether the UAV was launched form the ground, water, or air. Accordingly, it is necessary to know where the launch will occur to set the appropriate pre-conditions for action. Accordingly, there is a need for a set of universal preconditions that are usable no matter where the UAV is being launched from.

[0099] An unmanned aerial vehicle (UAV) is provided to overcome various of the challenges described herein, according to various implementations. In various implementations. In some examples, the UAV comprises a fuselage including one or more deployable flight surfaces coupled to the fuselage. The UAV optionally includes one or more environmental sensors disposed on the fuselage. In some implementations, the UAV includes an action initiation system configured to perform an action, the action initiation system including a controller. In some examples, the controller is configured to receive sensor data from at least one of the one or more environmental sensors on the UAV. The controller determines, based on the sensor data, whether one or more pre-defined environmental conditions are satisfied. The controller, responsive to a determination that the one or more pre-defined environmental conditions are satisfied, causes the action initiation system to perform the action.

[0100] In some implementations, a method of causing a UAV to perform an action comprises receiving, by a controller on the UAV, sensor data from one or more sensors on the UAV. In some examples, the method includes determining, by the controller and based at least in part on the sensor data, whether one or more pre-defined environmental conditions are satisfied. In some implementations, the method includes, responsive to the one or more pre-defined environmental conditions being satisfied, sending, by the controller, a signal to an action initiation system of the UAV to perform the action.Platform Overview

[0101] In various implementations, the UAV (and as further described in reference to, for example, FIGS. 1A-1C herein) includes one or more deployable components that are configured in a variety of arrangements. In some examples, the UAV includes deployable wings, which are configured in a plurality of arrangements. For example, in a first (compact) arrangement, the UAV comprises the at least one wing stowed against the fuselage and the at least one stabilizer stowed against the fuselage. In a second (deployed) arrangement, the UAV comprises the at least one wing deployed from the fuselage and the least one stabilizer deployed from the fuselage. In a third (expanded) arrangement, the UAV comprises the at least one wing telescoped to increase a wingspan of the deployed arrangement. As another example, the UAV includes one or more deployable control surfaces (e.g., stabilizers), which are configured in either a first arrangement at a first deployment angle stowed against the fuselage, or a second arrangement deployed for flight at a second deployment angle. As described herein, in various examples the deployable wings are referred to as configurable wings.

[0102] In some examples, the unmanned aerial vehicle (UAV) (and as further described in reference to FIG. 5 herein) includes an action initiation system. The action initiation system is operable for readying for and performance of any action by the system and / or UAV. The action initiation system compares sensor data to one or more pre-conditions to determine whether to perform an action. The action initiation system optionally uses one or more environmental variables as the pre-conditions. Sensors on the UAV feed data to a controller to determine whether the environmental variables meet the pre-conditions.

[0103] In some examples, the action initiation system is used for multiple UAV launch modalities. The launch modalities include, as non-limiting examples, land-based, water-based, and / or air-based launches. In some implementations, environmental variables for the pre-conditions include air speed, G-force / acceleration, launch tube exit, deployment of components of the UAV, disconnect from a carrier vessel (e.g., an aircraft wing), and / or the like.

[0104] In some examples, the UAV include various sensors. As non-limiting examples, a pitot tube measures airspeed at the UAV based on air pressure; an accelerometer measures G-Force applied to the UAV; a physical switch on an exterior portion of the UAV is used to determine whether the UAV has exited a launch tube; and one or more switches within the UAV are triggered when UAV components are deployed.

[0105] In some examples, and as illustrated in FIG. 5, embodiments of the present disclosure comprise methods, systems, and a computer-readable medium comprising, but not limited to, at least one of the following:A. An Unmanned Aerial Vehicle 500B. A Sensor Array 558C. An Action Initiation System 580

[0106] In various implementations, the UAV 500 is similar to or the same as UAV 102 and / or UAV 150. Details with regards to each module are provided herein. Although modules are disclosed with specific functionality, it should be understood that functionality is optionally shared between modules, with some functions split between modules, while other functions duplicated by the modules. Furthermore, the name of each module should not be construed as limiting upon the functionality of the module. Moreover, each component disclosed within each module is to be considered independently, without the context of the other components within the same module or different modules. Each component contains functionality that is optionally defined in other portions of this specification. In someexamples, each component disclosed for one module is mixed with the functionality of other modules. In the present disclosure, each component is claimable claimed on its own and / or interchangeably with other components of other modules.

[0107] The following depicts example methods of a plurality of methods that are performable by at least one of the aforementioned modules, or components thereof. Various hardware components are used at the various stages of the operations disclosed with reference to each module. For example, although some methods are described to be performed by a single computing device, it should be understood that, in some embodiments, different operations are performed by different networked elements in operative communication with the computing device. For example, at least one computing device 800 (e.g., as described in further detail herein in reference to FIG. 8) is employed in the performance of some or all of the stages disclosed with regard to the methods. Similarly, an apparatus is optionally employed in the performance of some or all of the stages of the methods. As such, in various implementations the apparatus comprises at least those architectural components as found in computing device 800.

[0108] Furthermore, although the stages of the following example methods are disclosed in a particular order, it should be understood that the order is disclosed for illustrative purposes only. In some examples, stages are combined, separated, reordered, and various intermediary stages exist. Accordingly, it should be understood that the various stages, in various embodiments, are performed in orders that differ from the ones disclosed below. Moreover, various stages are added or removed without altering or departing from the fundamental scope of the depicted methods and systems disclosed herein.

[0109] Consistent with embodiments of the present disclosure, a method is performed by at least one of the modules disclosed herein. The method is embodied as, for example, but not limited to, computer instructions which, when executed, perform the method. The method comprises the following stages:• receiving, by a controller on the UAV, sensor data from one or more sensors on the UAV;• determining, by the controller and based on the sensor data, whether one or more pre-defined environmental conditions are satisfied; and• responsive to the one or more pre-defined environmental conditions being satisfied, sending, by the controller, a signal to an action initiation system of the UAV to perform the action.

[0110] Although the aforementioned method has been described as being performed by the UAV 500, it should be understood that computing device 800 is optionally used to perform the various stages of the method. Furthermore, in some embodiments, different operations are performed by different networked elements in operative communication with computing device 800. For example, In various implementations a plurality of computing devices are employed in the performance of some or all of the stages in the aforementioned method. Moreover, optionally a plurality of computing devices are configured much like a single computing device 800. Similarly, optionally an apparatus is employed in the performance of some or all stages in the method. The apparatus is optionally configured much like computing device 800.

[0111] Both the foregoing overview and the following detailed description provide examples and are explanatory only. Accordingly, the foregoing overview and the following detailed description should not be considered to be restrictive. Further, features or variations are provided in addition to those set forth herein. For example, various embodiments are directed to various feature combinations and sub-combinations described in the detailed description.Platform Configuration

[0112] As shown in at least FIGS. 5 and 6, embodiments of the present disclosure provide a software and hardware platform comprised of a distributed set of computing elements, including, but not limited to one or more of the following components (and as described in further detail below): UAV 500, sensor array 558, and action initiation system 580.Unmanned Aerial Vehicle

[0113] In some examples, the platform includes the Unmanned Aerial Vehicle (UAV) 500. For example, the UAV is an unmanned aerial vehicle with deployable components (UAVDC). In some implementations, the UAVDC comprises a fuselage, at least one wing, and at least one stabilizer. In some embodiments, the UAVDC further comprises a propulsion means and / or a modular payload. In some implementations, the UAVDC is configured in a plurality of arrangements. For example, in a compact arrangement, the UAVDC comprises the at least one wing stowed against the fuselage and the at least one stabilizer stowed against the fuselage. In a deployed arrangement, for example, the UAVDC comprises the at least one wing deployed from the fuselage and the least one stabilizer deployed from the fuselage. In an expanded arrangement, for example, the UAVDC comprises the at least one wing telescoped to increase a wingspan of the deployed arrangement. Further details regarding the UAVDC are described herein including in reference to FIGS. 1A-1C.

[0114] In various embodiments, a UAVDC with a telescoping wing system is provided. In some examples, the telescoping wing system comprises a first wing section comprising a substantially hollow interior, a second wing section configured to be stowed within the interior of the first wing section. In some implementations, the second wing section comprises an actuator configured to drive a belt coupled to the internal surface of the first wing section such that, upon actuation, a displacement of the attached segment of the belt causes the first wing section to traverse at least a portion of a length of the second wing section.

[0115] In one configuration, the first wing section and the second wing section form a first wingspan in a first (deployed) arrangement, the first arrangement comprising the second wing section stowed within the interior of the first wing section. In a second configuration, the first wing section and the second wing section form a second wingspan in a second (expanded) arrangement, the second arrangement comprising the first wing section displaced along at least a portion of the length of the second wing section.

[0116] In some examples, embodiments of the present disclosure further comprise at least one control surface (e.g., a stabilizer) configured to deploy from a first stabilizer configuration at a first deployment angle stowed against the fuselage to a second stabilizer configuration deployed for flight at a second deployment angle.

[0117] In various embodiments, the UAV is designed to operate in extreme environmental conditions. For example, the UAV is capable of functioning in temperatures ranging from -46°C to 71 °C. The system is also designed to withstand high vibration environments (e.g., during transport and / or launch operations).

[0118] In some embodiments, the UAV is optionally be configured to retain a payload. The payload is optionally configurable. For example, the payload receives electronic signals from the UAV, and is placed in different modes based at least in part on the received signals. As one non-limiting example, the payload is configurable between a standby mode and an active mode. As described herein, in various examples the payload is referred to as a configurable payload.

[0119] In some example, the UAV is configured for various launch types. For example, the UAV is fired from a tube, launched from a craft (e.g., an aircraft, watercraft, or land-based vehicle), or dropped from a carrier aerial vehicle. In some implementations, the compact arrangement of the UAV first configuration enable the UAV to be tube- launched. In some embodiments, once dropped from a carrier aerial vehicle, the UAV is aerodynamically designed and with such a weight distribution that it self-orients from a tumbling drop into a dive.Sensor Array

[0120] As shown in FIGS. 5 and 6, in some examples, the UAV 500 includes the sensor array 558 having one or more environmental sensors. In various implementations, the sensor array 558 is similar to or the same as sensor array 158 (e.g., as described in reference to FIG. 1 D). FIG. 6 illustrates an example implementation of various sensors of the sensor array 558 disposed in a nose portion 600 (e.g., the modular payload and / or sensors 140 as shown in FIGS. 1A-1C) of the UAV 500. In some embodiments, at least one of the one or more sensors are disposed on a fuselage of the UAV and / or configured to monitor conditions of the external environment. Additionally or alternatively, in some examples, at least one of the one or more environmental sensors is internal to the UAV, e.g., configured to monitor conditions of the UAV itself.

[0121] In some embodiments, the one or more environmental sensors include an airspeed sensor. The airspeed sensor, in some examples, determines an airspeed of the UAV. One example airspeed sensor is a pitot tube. In some implementations, the pitot tube is mounted on an exterior surface of the fuselage and is oriented to face into the airflow as the UAV moves through the air. The pitot tube comprises a forward-facing opening that allows air to enter the tube as the UAV moves. This opening is referred to as the impact port or stagnation port. As air enters the impact port, it slows down and create an area of increased pressure inside the pitot tube. The pitot tube also includes one or more static ports positioned perpendicular to the airflow. These static ports measure the ambient air pressure outside the moving UAV. Inside the pitot tube, the difference between the higher pressure at the impact port and the lower ambient pressure at the static ports is measured. This pressure differential increases as the UAV's airspeed increases. In some examples, the pressure differential is converted to an airspeed measurement by using Bernoulli's principle and / or other calibrated formulas. In some embodiments, the pitot tube is in communication with to pressure sensors and processing electronics that perform this conversion and output an airspeed value. In some embodiments, the pitot tube is heated to prevent ice formation that could block one or more of the ports and affect measurements. In some embodiments, the heating element is activated based on temperature sensors and / or other criteria. In some embodiments, multiple pitot tubes are included on the UAV for redundancy and / or to measure airspeed at different locations on the airframe. In various examples, the pitot tube design and / or placement is varied based on specific aerodynamic properties of the UAV.

[0122] In some embodiments, the environmental sensors include an accelerometer configured to measure acceleration experienced by the UAV. In some examples, the accelerometer is mounted internally within the fuselage to detect changes in velocity and orientation of the UAV. In some embodiments, the accelerometer is configured to measure acceleration in absolute terms. Additionally or alternatively, the accelerometer is configured to measure changes in acceleration (e.g., jerk or jolt). In some embodiments, the environmental sensors includes a gyroscope. The gyroscope is used for measuring acceleration and / or for determining an orientation of the UAV. In some embodiments, the gyroscope is used in place of or in addition to the accelerometer.

[0123] Some embodiments utilize a physical switch as an environmental sensor. For example, a physical switch is optionally configured to detect deployment of the UAV from a launch tube. In some examples, a switch is held in a first position when the UAV is contained within the launch tube (e.g., the launch tube is sized so that it is not possible for the switch to move from the first position to a second position); and the switch moves to the second position upon exiting the launch tube (e.g., when the tube itself is no longer present to retain the switch in the first position), thereby indicating tube exit.

[0124] In some embodiments, a physical switch is used to detect deployment of one or more deployable flight surfaces of the UAV, such as wings or control surfaces. The switch is triggered when the flight surfaces move from a stowed position to a deployed position.

[0125] While specific example environmental sensors have been described, more and / or different environmental sensors are useful for sensing environmental data. For example, FIG. 6 shows a Global Navigation Satellite System (GNSS) receiver (e.g., the GPS receiver) that determines, in some implementations, location data. This is useful when a specific action is to be taken only when the UAV reaches a particular geolocation.Action Initation System

[0126] In some examples, the UAV includes the action initiation system 580. As discussed previously, the action initiation system is operable for readying for and performance of any action by the system and / or UAV.

[0127] In some embodiments, the action initiation system includes a controller 582 configured to receive sensor data from one or more environmental sensors on the UAV. In some implementations, the controller is further configured to determine, based on the sensor data, whether one or more pre-defined environmental conditions are satisfied. In some implementations, responsive to a determination that the one or more pre-defined environmental conditions are satisfied, the controller causes the action initiation system to perform an action.

[0128] In some embodiments, where the one or more pre-conditions include a threshold airspeed, the controller receives sensor data from an airspeed sensor, such as a pitot tube configured to measure airspeed of the UAV. In some examples the controller compares the airspeed of the UAV to a threshold airspeed to determine if the airspeed precondition is satisfied.

[0129] Additionally or alternatively, where the one or more pre-conditions include a threshold acceleration and / or a particular orientation of the UAV. In some examples, the controller receive sensor data from an accelerometer configured to measure acceleration experienced by the UAV and / or a gyroscope for determining an orientation of the UAV. The accelerometer and / or gyroscope is optionally disposed within the UAV fuselage. Based on acceleration data, in some examples, the controller determines whether the acceleration meets a specified pre-condition. In some embodiments, the pre-condition is an absolute acceleration. For example, when a UAV is being launched via a modality that typically doesn’t experience large accelerations (e.g., on land or water), the only high-acceleration event experienced by the UAV is a launch event; in contrast, when a UAV is mounted on an aircraft, the UAV experiences larger changes in acceleration prior to launch (e.g., at aircraft takeoff and / or during aircraft maneuvering).

[0130] In some examples, the controller uses the accelerometer data to measure a change in acceleration over time (e.g., jerk or jolt). For example, this measurement is provided directly by an accelerometer, or computed at the controller by using sequential acceleration values from the accelerometer. In some embodiments, the change value is useful in situations where the UAV undergoes high-acceleration periods that are not related to launch of the UAV. Insome embodiments, the controller is able to determine if the acceleration value and / or the change in acceleration are consistent with a UAV launch profile.

[0131] In some embodiments, the sensor data includes one or more physical switches. As a first example, a physical switch is configured to detect deployment of the UAV from a launch tube. Additionally or alternatively, a physical switch is disposed within the UAV fuselage and is triggered when the deployable flight surfaces move from a stowed position to a deployed position. In some implementations, the controller is configured to monitor the positions of one or more physical switches as an indicator of deployment or launch.

[0132] In some implementations, the one or more pre-defined environmental conditions include, as nonlimiting examples, the UAV reaching a threshold airspeed, the UAV experiencing a threshold acceleration, the UAV experiencing a threshold change in rate of acceleration, the UAV deploying from a launch tube, or the one or more deployable flight surfaces of the UAV being deployed. Additionally or alternatively, other environmental variable are measured and used to determine if the pro-conditions are met.

[0133] In some embodiments, the controller is configured to select a subset of preconditions from among the environmental preconditions measured by the sensors. For example, the subset of preconditions is optionally based at least in part on the launch modality (e.g., whether the launch is from the ground, from the water, or from the air). In some embodiments, the launch modality is selected automatically. For example, one or more sensor readings from the environmental sensors are optionally used to determine the launch modality. Thereafter, the controller selects a subset of pre-conditions to monitor based at least in part on the selected launch modality. In some embodiments, the set of pre-conditions selected to be monitored is a set that is useful for determining launch across all modalities.

[0134] In some examples, responsive to determining that the measured environmental variables meet or satisfy the pre-conditions, the controller is configured to cause an action to be performed by the UAV. In some examples, the action is related to the UAV itself (e.g., adjusting one or more UAV controls or UAV settings), or is related to a payload within the UAV. As one example, the payload is configurable, and the action involve setting a payload configuration.

[0135] As another example, the UAV has a wing arrangement comprised of a single wing with two wing sections. The wing arrangement are segmented in a left wing section and a right wing section to enable variable sweep at approximately a lateral plane of symmetry between the left wing section and the right wing section. In some embodiments, the wing sections are a left wing and a right wing. Still consistent with embodiments of the present disclosure, however, the wing arrangement are a single wing comprised of the two wing sections. In various examples, the wing arrangement are configurable in a first (compact) arrangement (e.g., where the left wing section and the right wing section are stowed against the fuselage at a first sweep deployment angle), a second (deployed) arrangement (e.g., where the left wing section and the right wing section fully deployed for flight at a second sweep deployment angle), and a third (extended) arrangement (e.g., where the left wing section and the rightwing section are extended). In some examples, the controller causes the wing sections to move from one configuration to another configuration (e.g., from the compact configuration to the deployed configuration, or from the deployed configuration to the expanded configuration).

[0136] As yet another example, the controller causes the stabilizer to move from the first configuration to the second configuration. The stabilizers move into the flight configuration (e.g., from the first configuration to thesecond configuration) by pivoting around an axis. In this way, the axis is constant relative to the fuselage in transition from the first configuration to the second configuration.Platform Operation

[0137] Embodiments of the present disclosure provide a hardware and software platform (including a UAV) operative by a set of methods and computer-readable media comprising instructions configured to operate the aforementioned modules and computing elements in accordance with the methods. The following depicts an example of at least one method of a plurality of methods that are performed by at least one of the aforementioned modules. Various hardware components are used at the various stages of operations disclosed with reference to each module.

[0138] For example, although methods are described as being performed by a single computing device, it should be understood that, in some embodiments, different operations are performed by different networked elements in operative communication with the computing device. For example, at least one computing device 800 (e.g., as described in further detail herein in reference to FIG. 8) is employed in the performance of some or all of the stages disclosed with regard to the methods. Similarly, an apparatus is optionally employed in the performance of some or all of the stages of the methods. As such, in various implementations the apparatus comprises at least those architectural components as found in computing device 800.

[0139] Furthermore, although the stages of the following example methods are disclosed in a particular order, it should be understood that the order is disclosed for illustrative purposes only. In some examples, stages are combined, separated, reordered, and various intermediary stages exist. Accordingly, it should be understood that the various stages, in various embodiments, are performed in orders that differ from the ones disclosed below. Moreover, various stages are added or removed without altering or departing from the fundamental scope of the depicted methods and systems disclosed herein.Example Methods

[0140] FIG. 7 is a flow chart setting forth the general stages involved in a method 700 consistent with an embodiment of the disclosure for a modality-agnostic action initiation system for an unmanned aerial vehicle. Method 700 is implemented with a computing device 800 or any other component associated with the platform and / or UAV 500 as described herein (including in reference to FIG. 8). Consistent with embodiments of the present disclosure, a method is performed by at least one of the aforementioned modules. The method is embodied as, for example, but not limited to, computer instructions, which, when executed, perform the method. In some examples, the method 700 comprises the following stages, as described in reference to FIG. 7.

[0141] The method 700 optionally begins at block 710 with receiving, by a controller on the UAV, sensor data from one or more sensors on the UAV. In some embodiments, the one or more sensors include at least one of: a pitot tube configured to measure airspeed, an accelerometer configured to measure acceleration, a physical switch configured to detect deployment from a launch tube, or a physical switch configured to detect deployment of one or more deployable flight surfaces of the UAV.

[0142] In some embodiments, the method 700, at block 720, further comprises determining, by the controller, a launch modality of the UAV. In some examples, the launch modality comprises at least one of: a ground- based launch, a water-based launch, and / or an air-based launch. The method 700 then optionally proceeds toselecting, by the controller, the one or more pre-defined environmental conditions based on the determined launch modality. In some embodiments, the launch modality selected automatically. For example, one or more sensor readings from the environmental sensors are used to determine the launch modality. Thereafter, in some implementations, the controller selects a subset of pre-conditions to monitor based on the selected launch modality. For example, a higher threshold airspeed is used when the launch modality is via aircraft, since the UAV is already moving at aircraft speed when deployed.

[0143] The platform (including, for example, UAV 500), in some implementations, determines, by using the controller and based on the sensor data, whether one or more pre-defined environmental conditions are satisfied. The one or more pre-defined environmental conditions optionally include, as non-limiting examples: the UAV reaching a threshold airspeed, the UAV experiencing a threshold acceleration, the UAV experiencing a threshold change in acceleration, the UAV deploying from a launch tube, and / or the one or more deployable flight surfaces of the UAV being deployed.

[0144] In some embodiments, at block 730 of the method 700, responsive to the one or more pre-defined environmental conditions being satisfied, the controller sends a signal to an action initiation system of the UAV to perform an action. As a non-limiting example, the action performed by the action initiation system optionally comprises configuring a payload of the UAV. Additionally or alternatively, the action includes adjusting one or more settings of the UAV itself.

[0145] As one example, the controller (e.g., on-board computing-device) automatically engages actuators and the wing deployment mechanisms upon launch or after a set amount of time has passed since the launch. In other embodiments, engagement occurs upon (and / or launch is determined by) certain readings from on-board sensors. For example, wing deployment and / or extension is dependent on certain in-flight factors such as, for example, velocity, acceleration, and / or leveling of the UAVDC. In some examples, the action initiation system and / or controller is configured to trigger deployment of various components upon the satisfaction of certain pre-set conditions.

[0146] As another example, in some embodiments where deployable, a payload may be deployed or reconfigured from a first arrangement to a second arrangement. For example, the payload may comprise a plurality of sensing devices better situated for performance at a deployed position (e.g., an extended boom). Such deployment may occur upon the post-launch stabilization segment of the UAV.Example Features Related to Launching Systems

[0147] In some situations, unmanned aerial vehicles (UAVs) are deployed for various operations. For example, UAVs are utilized in surveillance, reconnaissance, or data collection missions across diverse environments. Thus, the conventional strategy is to launch UAVs from fixed ground stations or larger aircraft carriers. This often causes problems because the conventional strategy does not allow for rapid deployment in remote or challenging terrains. For example, transporting large launch equipment to mountainous regions or dense urban areas is difficult and time-consuming.

[0148] UAV launch systems face several challenges in field operations. The launch equipment needs to be compact and portable for ease of transport. However, reducing the size and weight of launch systems limits their capabilities or the size of UAVs they can deploy. Additionally, launch systems need to operate in various environmental conditions, including extreme temperatures, high altitudes, or areas with limited infrastructure.

[0149] Another consideration for UAV launch systems is the method of propulsion used to achieve initial lift and acceleration. Traditional catapult or pneumatic systems require significant power sources or compressed gas supplies, which can be logistically challenging in remote locations. Furthermore, the launch process needs to be quick and efficient to minimize the time the launch crew is exposed in potentially hostile environments. Accordingly, there is a need for a UAV launching system that is relatively compact and easy to transport. Moreover, there is a need for UAV launching systems that are operable across a wide range of environments.

[0150] A pneumatic launcher for unmanned aerial vehicles (UAVs) is provided, according to various implementations, and as described herein in reference to, for example, FIGS. 9-13. In some examples, the pneumatic launcher comprises a mounting bed. In some implementations, one or more sets of wheels are coupled to the mounting bed. In some implementations, one or more support legs are coupled to the mounting bed. The one or more support legs are movable between a travel position and a support position. In some implementations, a hitch is configured to couple the mounting bed to a vehicle. In some implementations, a controller is configured to facilitate launch of a UAV. In some implementations, a compressed gas storage tank may be included. In some implementations, a launch frame may be coupled to the mounting bed. The launch frame is configured to hold one or more launching tubes. At least one launching tube has a forward end and a rear end. In some implementations, the launching tube is sized to receive a UAV. In some implementations, the at least one launching tube comprises a data connection configured to link the UAV to the controller. In some implementations, a pneumatic section is hingedly coupled or attached to the rear end of the launching tube. In some implementations, the pneumatic section is in fluid communication with the compressed gas storage tank. In some implementations, the pneumatic section is in data communication with the controller. In some implementations, the pneumatic section is configured to selectively propel a UAV out of the forward end of the launching tube.

[0151] In some examples, a dismounted tactical launcher for UAVs comprises a launching tube sized to receive a UAV. In some implementations, two support legs are coupled to the launching tube. The two support legs are optionally movable between a travel position and a support position. In some implementations, a controller is configured to facilitate launch of a UAV. In some implementations, an inflator launcher may comprise an airbag inflator. In some implementations, a data connection (e.g., wired or wireless) is configured to link the UAV to the controller. In some implementations, a pneumatic section is hingedly coupled or attached to a rear end of the launching tube. In some implementations, a base plate is coupled to the rear end of the launching tube. The base plate is configured to stabilize the launching tube. In various implementations, the dismounted tactical launcher is a weight that optimizes portability and / or use of the launcher. In various examples, the dismounted tactical launcher is less than 150 pounds, less than 100 pounds, less than 50 pounds, less than 25 pounds, and / or another weight.

[0152] In some examples, a method of launching a UAV comprises an unhinging a pneumatic section from a rear end of the launcher tube. In some implementations, the method comprises inserting a UAV into the launcher tube. In some implementations, the method comprises connecting the UAV to a controller via a data connection (e.g., wired or wireless). In some implementations, the method comprises closing and locking the pneumatic section. In some implementations, the method comprises coupling the launcher tube to a power source. In some implementations, the method comprises performing a built-in test (BIT) check to ensure working order of the launcher tube. In someimplementations, the method comprises powering down the launcher tube. In some implementations, the method comprises initiating a launch sequence for the UAV.

[0153] In some examples, a pneumatic launcher for UAVs comprises a mounting structure. In some implementations, one or more launching tubes are coupled to the mounting structure. Each launching tube is configured to receive a UAV and has a forward end and a rear end. In some implementations, a compressed gas source is included. In some implementations, a pneumatic section is hingedly coupled or attached to the rear end of each launching tube. The pneumatic section is in fluid communication with the compressed gas source and is configured to selectively propel a UAV out of the forward end of the launching tube. In some implementations, a controller is in data communication with the pneumatic section and is configured to control launch of UAVs from the one or more launching tubes.

[0154] In some examples, a pneumatic launch tube for launch of an unmanned aerial vehicle (UAV) comprises a generally cylindrical tube having a forward opening and a rear opening, the tube has an internal diameter sized to receive the UAV. In some implementations, a pneumatic section is in fluid communication with a compressed gas source, and is in data communication with a controller, the pneumatic section is configured to selectively propel the UAV out of the forward end of the launching tube in response to a command from the controller. In some implementations, a hinge mechanism is configured to couple the pneumatic section to be adjacent to the rear opening, allowing the pneumatic section to pivot between an active position in which the pneumatic section is approximately coaxial with the tube and may substantially cover the rear opening, and a loading position where an axis of the pneumatic section may be rotated at least ninety degrees in a direction orthogonal to the axis of the tube, such that the UAV may be inserted into the launch tube via the rear opening. In some implementations, a locking mechanism is configured to selectively lock the pneumatic section in the active position, wherein the pneumatic section forms a substantially air-tight seal with the tube when locked in the active position.Platform Overview

[0155] In some examples, and as generally illustrated in FIGS. 9-12, a pneumatic launching system for UAVs is provided, and optionally includes a mounting structure. In some implementations, one or more launching tubes are coupled to the mounting structure. Each launching tube is configured to receive a UAV and has a forward end and a rear end. In some implementations, a compressed gas source is included. In some implementations, a pneumatic section is hingedly coupled or attached to the rear end of each launching tube. In some implementations, the pneumatic section is in fluid communication with the compressed gas source and is configured to selectively propel a UAV out of the forward end of the launching tube. In some implementations, a controller is in data communication with the pneumatic section and is configured to control launch of UAVs from the one or more launching tubes. The pneumatic launcher optionally allows for breech loading (e.g., from the rear end of the launch tube), providing improve access to the launch tube internals. This greatly eases the loading and reloading processes, providing a commensurate reduction in the time required to load and reload the launcher.

[0156] Embodiments of the present disclosure include components or modules comprising, but not limited to, at least one of the following:A. A Launch Tube;B. A Pneumatic Launch Assembly;C. A Compressed Gas Source; andD. A Controller.

[0157] In some embodiments, the present disclosure may provide an additional set of modules or components. The additional set of modules or components may comprise, but not be limited to, one or more of:E. A Mounting Bed; andF. A Dismounted Support.

[0158] Example, details with regards to each module are provided herein. Although modules are disclosed with specific functionality, it should be understood that functionality is optionally sharable between modules, with some functions split between modules, while other functions duplicated by the modules. Furthermore, the name of each module should not be construed as limiting upon the functionality of the module. Moreover, each component disclosed within each module, according to various implementations, is considered independently, without the context of the other components within the same module or different modules. For example, in some implementations, each component contains functionality defined in other portions of this specification. Each component disclosed for one module is optionally mixed with the functionality of other modules. In the present disclosure, each component can be claimed on its own and / or interchangeably with other components of other modules.

[0159] The following depicts an example of a method of a plurality of methods that is performed, for example, by at least one of the aforementioned modules, or components thereof. Various hardware components are used at the various stages of the operations disclosed with reference to each module.

[0160] Furthermore, although the stages of the following example method are disclosed in a particular order, it should be understood that the order is disclosed for illustrative purposes only. In various implementations, the stages are combined, separated, reordered, and / or various intermediary stages exist. Accordingly, it should be understood that the various stages, in various embodiments, are performed in orders that differ from the ones disclosed below. Moreover, optionally various stages are added or removed without altering or departing from the fundamental scope of the depicted methods and systems disclosed herein.

[0161] Consistent with embodiments of the present disclosure, a method is performed by at least one of the modules disclosed herein. In an implementation, the method comprises the following stages:• Unhinge pneumatic section from rear of tube• Insert UAV• Connect / couple UAV to controller• Close / lock hinged pneumatic section• Plug launcher in to power box• Perform BIT check to ensure working order• Power down

[0162] Both the foregoing overview and the following detailed description provide examples and are explanatory only. Accordingly, the foregoing overview and the following detailed description should not be considered to be restrictive. Further, features or variations are provided in addition to those set forth herein. For example, various embodiments are be directed to various feature combinations and sub-combinations described in the detailed description.Platform Configuration

[0163] As shown in FIGS. 9-12, embodiments of the present disclosure provide a pneumatic launcher 900 for UAVs comprised of a set of elements, including, but not limited to: a launch tube, a pneumatic launch assembly, a compressed gas source, a controller, a mounting bed, and / or a dismounted support. Further details and example features of these elements / components are provided herein. In various implementations, FIGS. 10, 11, and 12 illustrate additional example implementations and features of a UAV launcher, including as illustrated launcher 1000, launcher 1100, and launcher 1200, respectively. Launcher 1000 of FIG. 10, launcher 1100 of FIG. 11, and launcher 1200 of FIG. 12, include various similar features to those described herein in reference to the implementations of FIG. 9.Launch Tube

[0164] In various embodiments, the pneumatic launching system 900 (also referred to herein as the pneumatic launcher) includes a launch tube 910. In various implementations, the launch tube 910 comprises a generally cylindrical structure having an internal diameter sized to receive and house a UAV (e.g., a UAV configured to be launched into operation). In some embodiments, the launch tube has a forward end or opening, and a rear end or opening. The forward end is configured as an exit aperture through which the UAV may be propelled during launch. The rear end is adapted to interface with other components of the launching system.

[0165] In certain implementations, the launch tube 910 is fabricated from lightweight, durable materials such as aluminum alloys, composite materials, and / or high- strength polymers. In various implementations, the inner surface of the launch tube 910 is smooth to minimize friction during UAV ejection. In some variants, the inner surface includes guide rails or grooves to assist in aligning and stabilizing the UAV during launch.

[0166] In various implementations, the launch tube 910 incorporates mounting points or coupling interfaces along its exterior surface. These mounting may allow the tube to be securely fastened to a launch frame or other support structure. In some embodiments, the mounting interfaces are adjustable to permit variation in the launch angle facilitated by the launch tube.

[0167] In various implementations, near the rear end of the launch tube 910, a hinge and / or locking mechanism 920 is incorporated. This hinge allows a pneumatic launch assembly 930 to be hingedly or pivotably coupled to the rear end of the tube 910. The hinge mechanism 920 comprise materials capable of withstanding repeated opening and closing cycles. The hi nge920 incorporates a locking mechanism to securely close the rear end during launch operations.

[0168] In various implementations, the launch tube 910 includes a data connection port which, in some embodiments, is, as a non-limiting example, a Lemo connector, or other connector that is easily coupled to and detached from the UAV. This data connection port is positionable to allow communication between the UAV and an external controller when the UAV is loaded in the launch tube. The positioning of this port is selected to maintain connectivity while minimizing interference with the launch process. In some examples, the data connection is provided as a wireless connection.

[0169] In some implementations, the launch tube 910 incorporates sensors to detect the presence and / or proper seating of a UAV. In various implementations, these sensors provide feedback to a launch control system regarding the readiness of the tube (and the UAV therein) for launch. Additionally or alternatively, the tube 910 includes markings or indicators to assist operators in properly orienting and inserting UAVs.

[0170] In some embodiments, the dimensions of the launch tube 910 is engineered to accommodate a specific UAV intended for use with the system. The length of the tube 910 selected to provide sufficient acceleration distance for the UAV while maintaining overall system compactness. In various implementations, the internal diameter of the tube 910 is matched to the external dimensions of the UAV to help ensure a snug fit and / or proper alignment during launch.

[0171] In some embodiments, the launch tube 910 incorporates features to manage high-pressure gas used for propulsion. In various implementations, these features include, as non-limiting examples, reinforced walls to withstand launch pressures and / or a pressure relief mechanism to prevent over-pressurization within the launch tube. The interface between the tube and the pneumatic launching assembly is designed to create an effective seal when in a closed position, substantially minimizing or preventing gas leakage during the launch sequence.

[0172] In various implementations, the forward end of the launch tube 910 includes a removable cap or cover to protect the interior from environmental contaminants when not in use. The cap os designed for quick removal prior to launch operations. In some variants, the forward end incorporates a break-wire or other launch detection mechanism to precisely record the moment of UAV ejection.

[0173] In various implementations, the exterior surface of the launch tube 910 is treated or coated to enhance durability and / or corrosion resistance. In some examples, this surface treatment incorporates various patterns and / or non-reflective finishes to reduce a visual signature of the launch tube. In some embodiments, the exterior surface includes coupling or attachment points for additional equipment such as environmental sensors or auxiliary power supplies.Pneumatic Launch Assembly

[0174] In various implementations, the pneumatic launcher 900 includes a pneumatic launch assembly 930. In various examples, the pneumatic launch assembly 930 is hingedly coupled or attached to the rear end of the launch tube 910 via the hinge and / or locking mechanism 920. This hinged coupling allows the pneumatic launch assembly 930 to be opened for loading and unloading of UAVs into the launch tube. In particular, the hinge 920 allows the pneumatic launch assembly 930 to pivot between an active position in which the pneumatic launch assembly 930 is approximately coaxial with the tube 910 and substantially covers the rear opening, and a loading position in which an axis of the pneumatic launch assembly 930 is rotated at least approximately ninety degrees (or more) in a direction orthogonal to the axis of the tube 910, such that a UAV may be inserted into the launch tube via the rear opening.

[0175] In various embodiments, the locking mechanism 920 is configured to selectively lock the pneumatic launching assembly 930 in at least the active position. In some embodiments, the locking mechanism 920 also selectively locks the pneumatic launching assembly 930 in the loading position. The pneumatic launch assembly930 and / or the rear opening of the launch tube 910 optionally includes a seal that, when the pneumatic launch assembly is locked in the active position, forms an airtight seal between the pneumatic launch assembly and the launch tube, allowing for pneumatic launch of the UAV.

[0176] In some embodiments, the locking mechanism 920 is a quick-release locking mechanism. For example, the locking mechanism 920 optionally comprises one or more latches, clamps, or other fastening devices that can be quickly engaged and / or disengaged by an operator.

[0177] In various examples, the pneumatic launch assembly 930 is in fluid communication with a compressed gas source. This fluid communication is optionally achieved through one or more conduits or hoses connecting or coupling the compressed gas source to the pneumatic launch assembly. The conduits are optionally flexible to accommodate the hinged movement of the pneumatic launch assembly.

[0178] In some embodiments, the pneumatic launch assembly 930 includes one or more valves to control the flow of compressed gas from the source into the launch tube. In various examples, the valves comprise one or more electrically or mechanically actuated valves that can rapidly open to release a burst of compressed gas for launching the UAV.

[0179] The pneumatic launch assembly 930 is configured to propel the UAV out of the forward end of the launch tube. In various examples, this propulsion is achieved by rapidly releasing a controlled volume of compressed gas into the rear of the launch tube, behind the loaded UAV. The sudden expansion of the compressed gas creates a pressure differential that accelerates the UAV along the length of the launch tube and out of the forward end.

[0180] In various implementations, the pneumatic launch assembly 930 is in data communication with the controller. This data communication, for example, allows the controller to monitor the status of the pneumatic assembly, actuate valves, and receive sensor data. The data connection is optionally wired or wireless, and may utilize standard communication protocols.

[0181] In some embodiments, the pneumatic launch assembly 930 includes a pressure regulator to set launch characteristics based at least in part on a particular UAV to be launched and / or one or more environmental conditions. The pressure regulator allows fine-tuning of the launch pressure to achieve a desired velocity for the UAV when leaving the launching system 900.

[0182] In various implementations, the pneumatic launch assembly 930 is designed to withstand the high pressures involved in launching UAVs. It is optionally constructed from high-strength materials such as steel alloys or reinforced composites. The assembly also optionally includes safety features such as pressure relief valves to prevent over-pressurization.

[0183] In some embodiments, the pneumatic launch assembly 930 includes a muffler or sound suppression system to reduce the noise generated during launch. This helps maintain a lower acoustic signature for the launcher during operation.Compressed Gas Source

[0184] In various implementations, the pneumatic launcher 900 includes a compressed gas source to provide the propulsive force for launching the UAV. In some embodiments, the compressed gas source comprises a compressed gas storage tank. The compressed gas storage tank is configured to store a pressurized gas, such as air, nitrogen gas, or another suitable propellant gas.

[0185] In some embodiments, the compressed gas source includes an air compressor. The air compressor is used to replenish the compressed gas storage tank, allowing for multiple launches without the need for external gas resupply. The air compressor is optionally electrically powered, drawing power from (as an example) the same source as other electrical components of the launcher system. The air compressor is optionally configured to automatically maintain a predetermined pressure level in the storage tank.

[0186] Additionally or alternatively, the compressed gas source includes materials such as sodium azide which, when ignited (e.g., by a spark) produce nitrogen gas in amounts sufficient to launch the UAV. This avoids the need for relatively large tanks used for storing compressed gas. The compressed gas source optionally further includes additional chemicals, such as potassium nitrate and / or silicon dioxide, which may be used to reduce or eliminate formation of sodium metal during the ignition process, which can react with moisture to form sodium hydroxide.

[0187] In various examples, the compressed gas source is equipped with a control interface that integrates with the launcher's main control system. This interface allows for remote monitoring of gas pressure and temperature, control of valves, activation of the air compressor, and / or ignition of the compressed gas source. The control interface also optionally incorporates safety interlocks to prevent accidental discharge of the compressed gas.

[0188] In certain implementations, the compressed gas source includes a gas flow regulator. This regulator is used to control the rate at which gas is released from the storage tank during a launch sequence. By precisely controlling the gas flow, the system is able to optimize the launch characteristics for different types of UAVs or different mission profiles.Controller

[0189] In various implementations, the controller is in data communication with the pneumatic launch assembly, the UAV, sensors in the launch tube itself, and / or any other portion of the launcher 900. This data communication allow the controller to monitor and control various aspects of the pneumatic launcher.

[0190] In some embodiments, the controller comprises a processor, and / or is implemented by one or more processors. The processor is configured to execute instructions stored in a memory to control the operation of the pneumatic launcher.

[0191] The controller optionally includes a user interface. The user interface is configurable to allow an operator to input commands and receive status information about the pneumatic launcher.

[0192] In some embodiments, the controller is configured to perform pre-launch checks. In various examples, these pre-launch checks include one or more of verifying the proper seating of the UAV in the launch tube, checking pneumatic pressure levels, and / or confirming data link connectivity with the UAV.

[0193] The controller is optionally programmed with launch parameters. In various examples, these launch parameters include one or more of desired exit velocity, launch angle, and / or timing sequences for valve actuation.

[0194] In some embodiments, the controller includes environmental sensors. These environmental sensors measure conditions such as temperature, humidity, and wind speed. The controller optionally uses data from these sensors to adjust launch parameters.

[0195] In various examples, the controller is configured to communicate with external systems. This communication optionally allows for remote launch authorization or integration with broader command and control networks.

[0196] In some embodiments, the controller includes a data logging function. This data logging function optionally includes recording launch events, system performance metrics, and / or maintenance activities.Mounting Bed

[0197] In various implementations, and as shown in the example of FIG. 9, the launcher 900 includes a mounting bed 940. The mounting bed provide a stable platform for supporting and transporting the various components of the pneumatic launcher system 900. In some embodiments, the mounting bed is constructed from durable, lightweight materials such as aluminum alloys or composite materials to enhance portability while maintaining structural integrity.

[0198] In various examples, the mounting bed comprises a substantially flat surface with reinforced edges to provide rigidity. In certain implementations, the mounting bed includes integrated tie- down points or attachment fixtures distributed across its surface. These attachment points allow for secure fastening of a launch frame, compressed gas storage tank, controller housing, and other system components to the mounting bed.

[0199] In some embodiments, the mounting bed has a modular design, allowing for customization and reconfiguration of the launching system to fit a particular environment or launch location. The mounting bed optionally includes pre-drilled holes or standardized mounting interfaces to facilitate the addition, removal, and / or re-arrangement of components based on operative requirements or desires of the operator.

[0200] In various examples, the mounting bed is equipped with one or more sets of wheels coupled to its underside. The wheels enable easy transportation of the launcher system over various terrains. The wheels are optionally pneumatic (e.g., gas-filled) or solid rubber.

[0201] In some embodiments, the mounting bed incorporates one or more support legs. These support legs are optionally movable between a retracted travel position and an extended support position. When in the travel position, the support legs are stowed to allow for ample ground clearance. When deployed in the support position, the support legs provide stability to the launcher system during operation. In some embodiments, the support legs are adjustable in length to allow for leveling of the mounting bed on uneven terrain.

[0202] In various examples, the mounting bed includes a hitch configured to couple the launching system to a towing vehicle. This hitch is positioned at one end of the mounting bed and is designed to be compatible with standard vehicle towing interfaces. In some implementations, the hitch is removable or foldable to reduce the overall footprint of the system when not in transport mode. In some embodiments, the hitch includes electrical wiring allowing operation of the launching system by using a power source of the towing vehicle.

[0203] In certain embodiments, the mounting bed incorporates built-in storage compartments or cabinets. These storage areas are usable to house tools, spare parts, or additional equipment required for the operation and maintenance of the launcher system. The storage compartments are optionally weather-sealed to protect contents from environmental factors.

[0204] The surface of the mounting bed is optionally treated with anti-slip coatings or textures to enhance safety during loading and maintenance operations. Additionally, the mounting bed optionally incorporates drainage features to prevent water accumulation during outdoor use or storage.Dismounted Support

[0205] In some embodiments, the pneumatic launcher 900 comprises one or more support legs 1050 (as illustrated in FIG. 10) for use in a dismounted configuration. The dismounted support legs 1050 are couplable to the launching tube and may be movable between a travel position and a support position.

[0206] The dismounted support legs are configured to provide stability to the launcher when deployed in the support position. When in the travel position, the support legs are folded or retracted to reduce the overall profile of the launcher for transportation or storage.

[0207] In certain implementations, the dismounted support legs are adjustable in length. This adjustability allows the operator to level the launcher on uneven terrain, helping to ensure proper alignment for launch operations. Additionally or alternatively, the adjustability allows for adjustment of a launch angle to the UAV. The legs optionally incorporate telescoping sections, threaded adjustment mechanisms, and / or other suitable means for length adjustment.

[0208] In various examples, the dismounted support legs are constructed from lightweight, durable materials such as aluminum alloys, reinforced composites, and / or the like. The materials are optionally selected to help minimize overall weight of the launcher while providing sufficient strength to support the launcher and resist launch forces.

[0209] In some embodiments, the dismounted support legs include locking mechanisms to secure them in either a travel position or a support position. In various examples, these locking mechanisms comprise spring-loaded pins, detents, or other suitable locking devices that can be quickly engaged or disengaged by the operator.

[0210] The interface between the dismounted support legs and the launching tube is optionally designed to distribute launch forces evenly. In various examples, this interface incorporates reinforced mounting points or brackets to provide structural integrity during launch operations.

[0211] In certain implementations, the dismounted support legs are equipped with adjustable feet or pads at their distal ends. These feet are designed to provide stable contact with various ground surfaces. In some embodiments, the feet incorporate features such as spikes for soft terrain or rubber pads for hard surfaces.

[0212] In various implementations, the dismounted support legs are configured in various geometries to provide optimal stability. For example, in some embodiments, two support legs are employed in a bipod configuration. Alternatively, three or more legs are used in a tripod or multipod arrangement for enhanced stability. As shown in FIG. 10, a launcher 1000 includes two adjustable support legs 1050, and a base plate the stabilize the rear end of the launching tube on the ground. In various implementations, the launcher 1000 of FIG. 10 includes various similar features to those described herein in reference to the implementations of FIG. 9.

[0213] In some embodiments, the dismounted support legs incorporate a level or other alignment indicator. The alignment indicator assists the operator in achieving proper orientation of the launcher prior to launch operations.

[0214] In various implementations, the dismounted support legs are designed for quick deployment and / or stowage. In certain implementations, they incorporate spring-assisted deployment mechanisms and / or other features to facilitate rapid setup and breakdown of the launcher system.

[0215] In some embodiments, the dismounted support legs are removable from the launching tube. This feature allows for modular configuration of the launcher system, enabling the use of different leg sets optimized for various operational environments, launching angles, and / or mission requirements.

[0216] The coupling points between the dismounted support legs and the launching tube are optionally reinforced to withstand repeated deployment and stowage cycles. These coupling points optionally incorporate wearresistant materials or replaceable components to ensure long-term durability of the system.Platform Operation

[0217] Embodiments of the present disclosure provide pneumatic launcher for a UAV operative by a set of methods. The following depicts an example of at least one method of a plurality of methods that is performable by the launcher or using the launcher. In various examples, various components of the launcher are used at the various stages of operations.

[0218] Furthermore, although the stages of the following example methods are disclosed in a particular order, it should be understood that the order is disclosed for illustrative purposes only. In some examples, stages are combined, separated, reordered, and various intermediary stages exist. Accordingly, it should be understood that the various stages, in various embodiments, are performed in orders that differ from the ones disclosed below. Moreover, various stages are added or removed without altering or departing from the fundamental scope of the depicted methods and systems disclosed herein.Example Methods

[0219] Consistent with embodiments of the present disclosure, FIG. 13 shows an example method 1300 that is performed by at least one of the aforementioned modules, and / or by or using the launcher.

[0220] The method includes setup of a launch tube. For example, at block 1302, the tube is removed from a storage case or shipping case.

[0221] Once the tube is removed from the case, at block 1304 the pneumatic launching assembly is rotated to an open position, allowing access to a rear end of the launch tube, as shown in FIG. 12.

[0222] In some embodiments, at block 1306 the method further comprises removing a “spent” UAV from the launcher tube prior to, at block 1308, inserting a UAV to be launched. In various examples, the spent UAV includes components or debris in the tube after launching a prior UAV and / or a dummy UAV used for testing or training purposes, or for transport purposes. Removal of the spent UAV optionally involves grasping the spent UAV, and extracting it from the rear end of the launcher tube.

[0223] Again, at block 1308 a new UAV (e.g., UAV 1210, as illustrated in FIG. 12) is inserted into the launch tube via the rear end of the tube (e.g., as illustrated in FIG. 12). Inserting the UAV into the launcher tube optionally involves aligning the UAV with any guide rails or positioning features inside the launch tube. The UAV is slid into place by the operator until it is seated at the rear of the launcher tube. In some embodiments, the launcher tube includes sensors to detect and / or indicate proper seating of the UAV.

[0224] At block 1310, the UAV is connected to the controller. Connecting the UAV to the controller via the data connection optionally involves plugging a cable into a port on the UAV. In some embodiments, the data connection comprises a connector, such as a Lemo connector. The connector provides a secure, weather-resistant connection between the UAV and the launcher controller. The data connection optionally allows for pre-launch checks and programming of the UAV. As mentioned above, in some implementations the controller connection is wireless.

[0225] Once connected, at block 1312, the pneumatic launcher assembly is rotated about the hinged coupling to close the launcher tube, and the launcher assembly is locked in place. Closing and locking the pneumatic launcher assembly involves pivoting the hinged pneumatic section upwards to mate with the rear of the launcher tube. A locking mechanism, which optionally includes latches, clamps, or other fasteners, is engaged to secure the pneumatic section in the closed position. The locking mechanism optionally creates a substantially airtight seal between the pneumatic section and launcher tube.

[0226] At block 1314, the launch tube is coupled to a power source, such as a battery pack, vehicle power system, or other suitable electrical supply. Powering the launcher enables operation of the controller, sensors, and / or pneumatic systems.

[0227] Once powered, at block 1316 the launcher optionally performs a built-in test (BIT). The BIT check involves running an automated diagnostic routine through the launcher controller. The BIT check optionally verifys proper functioning of launcher subsystems such as the pneumatic system, data connections, sensors, and safety interlocks. Results of the BIT check are optionally displayed to the operator via a user interface on the controller.

[0228] After the BIT check is performed, at block 1318 the launcher is optionally powered down to, at block 1320, enable mounting of the launch tube to a mounting bed or coupling of dismounted supports to the launch tube. Powering down the launcher tube after the BIT check helps conserve battery life and reduce electromagnetic emissions prior to launch. The launcher remains in a standby state, ready for rapid power-up when launch is imminent.

[0229] In some embodiments, the method further comprises loading the launcher tube onto a launch frame or setting up a dismounted launcher prior to initiating the launch sequence. For vehicle-mounted applications, this involves securing the launcher tube to a launch frame integrated with a vehicle. For dismounted operations, this involves deploying support legs and stabilizing the launcher on the ground.

[0230] In various examples, initiating the launch sequence for the UAV involves powering up the launcher, performing final checks, and executing the launch command through the controller interface. In some implementations, the pneumatic system rapidly releases compressed gas to propel the UAV out of the launcher tube. As the UAV exits the tube, its flight surfaces deploy and its propulsion system activates to begin autonomous flight.

[0231] In various examples, various of the blocks and features of the example methods significantly reduces loading and launch preparation time compared to previous systems. In some examples, total time from beginning to load the UAV until launch readiness is on the order of 30 seconds, compared to previous systems requiring 30 minutes or more. This rapid deployment capability provides tactical advantages in time- sensitive situations.Example Features Related to Hardware Architecture

[0232] Embodiments of the present disclosure provide an autonomous UAV (e.g., UAV 102, UAV 104, UAV 105, UAV 150, UAV 400, and / or UAV 500) operative as a distributed system of modules and computing elements. In various implementations, the autonomous UAV is provided at least in part as a computing device, as described herein, including in reference to FIG. 8.

[0233] In various implementations, the system includes or is embodied as, for example, but not be limited to, a website, a web application, a desktop application, a backend application, and / or a mobile application compatible with a computing device (e.g., computing device 800, as described herein). In various implementations, computing device 800 comprises, but not be limited to, the following: a mobile computing device (such as, for example, a laptop,a tablet, a smartphone, a drone, a wearable, an embedded device, a handheld device, an Arduino, an industrial device, a remotely operable recording device, and / or the like); a supercomputer (including, for example, an exascale supercomputer, a mainframe, or a quantum computer, and / or the like); a minicomputer (such as, for example, an IBM AS400 / iSeries / System I, A DEC VAX / PDP, an HP3000, a Honeywell-Bull DPS, a Texas Instruments TI-990, a Wang Laboratories VS Series, and / or the like); a microcomputer (such as, for example, a server, wherein a server is rack-mounted, a workstation, an industrial device, a raspberry pi, a desktop, an embedded device, and / or the like); and / or the like.

[0234] The system and / or platform, in various implementations, is hosted on a centralized server or a cloud computing service. Although a method has been described to be performed by a computing device 800, it should be understood that, in some embodiments, different operations are performed by a plurality of computing devices 800 in operative communication on at least one network.

[0235] Embodiments of the present disclosure comprise a system having a central processing unit (CPU) 820, a bus 830, a memory unit 840, a power supply unit (PSU) 850, and one or more Input / Output (I / O) units. The CPU 820 coupled to the memory unit 840 and the plurality of I / O units 860 via the bus 830, all of which are powered by the PSU 850. In some embodiments, each disclosed unit is a plurality of such units for redundancy, high availability, and / or performance purposes. The combination of the presently disclosed units is configured to perform the stages of any method disclosed herein.

[0236] FIG. 8 is a block diagram of a system including computing device 800. Consistent with various embodiments of the disclosure, the aforementioned CPU 820, the bus 830, the memory unit 840, a PSU 850, and the plurality of I / O units 860 are implemented in a computing device, such as computing device 800 of FIG. 8. Any suitable combination of hardware, software, or firmware may be used to implement the aforementioned units. For example, the CPU 820, the bus 830, and the memory unit 840 are implementable with computing device 800 or any of other computing devices 800, in combination with computing device 800. The aforementioned system, device, and components are examples and other systems, devices, and components may comprise the aforementioned CPU 820, the bus 830, and the memory unit 840, consistent with embodiments of the disclosure.

[0237] In various implementations, at least one computing device 800 is embodied as any of the computing elements illustrated in all of the attached figures or described above. A computing device 800 does not need to be electronic, nor even have a CPU 820, nor bus 830, nor memory unit 840. The definition of the computing device 800 to a person having ordinary skill in the art is “A device that computes, especially a programmable [usually] electronic machine that performs high-speed mathematical or logical operations or that assembles, stores, correlates, or otherwise processes information.” Any device which processes information qualifies as a computing device 800, especially if the processing is purposeful.

[0238] With reference to FIG. 8, a system consistent with an embodiment of the disclosure includes a computing device, such as computing device 800. In some configurations, the computing device 800 includes at least one clock module 810, at least one CPU 820, at least one bus 830, and at least one memory unit 840, at least one PSU 850, and at least one I / O 860 module, wherein I / O module is comprised of, but not limited to a non-volatile storage sub-module 861, a communication sub-module 862, a sensors sub-module 863, or a peripherals sub-module 864.

[0239] In a system consistent with an embodiment of the disclosure, the computing device 800 includes the clock module 810, known to a person having ordinary skill in the art as a clock generator, which produces clock signals. Clock signals oscillate between a high state and a low state at a controllable rate, and are be used to synchronize or coordinate actions of digital circuits. Most integrated circuits (ICs) of sufficient complexity use a clock signal in order to synchronize different parts of the circuit, cycling at a rate slower than the worst-case internal propagation delays. One well-known example of the aforementioned integrated circuit is the CPU 820, the central component of modern computers, which relies on a clock signal. The clock 810 is implementable as a plurality of embodiments, such as, but not limited to, a single-phase clock which transmits all clock signals on effectively 1 wire, a two-phase clock which distributes clock signals on two wires, each with non-overlapping pulses, or a four-phase clock which distributes clock signals on 4 wires.

[0240] Many computing devices 800 use a “clock multiplier” which multiplies a lower frequency external clock to the appropriate clock rate of the CPU 820. This allows the CPU 820 to operate at a much higher frequency than the rest of the computing device 800, which affords performance gains in situations where the CPU 820 does not need to wait on an external factor (like memory 840 or input / output 860). Some embodiments of the clock 810 include dynamic frequency change, where the time between clock edges can vary widely from one edge to the next and back again.

[0241] In a system consistent with various embodiments of the disclosure, the computing device 800 includes the CPU 820 comprising at least one CPU Core 821. In other embodiments, the CPU 820 includes a plurality of identical CPU cores 821, such as, but not limited to, homogeneous multi-core systems. It is also possible for the plurality of CPU cores 821 to comprise different CPU cores 821, such as, but not limited to, heterogeneous multi-core systems, big. LITTLE systems and some AMD accelerated processing units (APU). The CPU 820 reads and executes program instructions which may be used across many application domains, for example, but not limited to, general purpose computing, embedded computing, network computing, digital signal processing (DSP), graphics processing (GPU), and / or the like. In various implementations, the CPU 820 runs multiple instructions on separate CPU cores 821 simultaneously. In various implementations, the CPU 820 is integrated into at least one of: a single integrated circuit die, or multiple dies in a single chip package. The single integrated circuit die and / or the multiple dies in a single chip package contain a plurality of other elements of the computing device 800, for example, but not limited to, the clock 810, the bus 830, the memory 840, and I / O 860.

[0242] In various implementations, the CPU 820 contains cache 825 such as but not limited to a level 1 cache, a level 2 cache, a level 3 cache, or combinations thereof. The cache 825 is sharable amongst a plurality of CPU cores 821. The cache 825 sharing comprises at least one of message passing and inter-core communication methods used for the at least one CPU Core 821 to communicate with the cache 825. The inter-core communication methods comprise, but are not be limited to, bus, ring, two-dimensional mesh, and crossbar. In various implementations, the aforementioned CPU 820 employs symmetric multiprocessing (SMP) design.

[0243] In various implementations, the one or more CPU cores 821 comprise soft microprocessor cores on a single field programmable gate array (FPGA), such as semiconductor intellectual property cores (IP Core). In various implementations, the architectures of the one or more CPU cores 821 are based on at least one of, but not limited to, Complex Instruction Set Computing (CISC), Zero Instruction Set Computing (ZISC), and Reduced InstructionSet Computing (RISC). At least one performance-enhancing method is employable by one or more of the CPU cores 821, for example, but not limited to Instruction-level parallelism (ILP) such as, but not limited to, superscalar pipelining, and Thread-level parallelism (TLP).

[0244] Consistent with the embodiments of the present disclosure, the aforementioned computing device 800 employs a communication system that transfers data between components inside the computing device 800, and / or the plurality of computing devices 800. The aforementioned communication system will be known to a person having ordinary skill in the art as a bus 830. The bus 830 embodies internal and / or external hardware and software components, for example, but not limited to a wire, an optical fiber, various communication protocols, and / or any physical arrangement that provides the same logical function as a parallel electrical bus. In various implementations, the bus 830 comprises at least one of a parallel bus, wherein the parallel bus carries data words in parallel on multiple wires; and a serial bus, wherein the serial bus carries data in bit-wise serial form. In various implementations, the bus 830 embodies at least one of a plurality of topologies, for example, but not limited to, a multidrop / electrical parallel topology, a daisy chain topology, and connected by switched hubs, such as a USB bus. The bus 830 comprises one or more embodiments, for example, but not limited to:• Internal data bus (data bus) 831 1 Memory bus• Control bus 832• Address bus 833• System Management Bus (SMBus)• Front-Side-Bus (FSB)• External Bus Interface (EBI)• Local bus• Expansion bus• Lightning bus• Controller Area Network (CAN bus)• Camera Link• ExpressCard• Advanced Technology management Attachment (ATA), including embodiments and derivatives such as, but not limited to, Integrated Drive Electronics (IDE) / Enhanced IDE (EIDE), ATA Packet Interface (ATAPI), Ultra-Direct Memory Access (UDMA), Ultra ATA (UATA) / Parallel ATA (PATA) / Serial ATA (SATA), CompactFlash (CF) interface, Consumer Electronics ATA (CE-ATA) / Fiber Attached Technology Adapted (FATA), Advanced Host Controller Interface (AHCI), SATA Express (SATAe) / External SATA (eSATA), including the powered embodiment eSATAp / Mini-SATA (mSATA), and Next Generation Form Factor (NGFF) / M.2.• Small Computer System Interface (SCSI) I Serial Attached SCSI (SAS)• HyperTransport• InfiniBand• RapidlOMobile Industry Processor Interface (MIPI)Coherent Processor Interface (CAPI) Plug-n-play• 1-Wire• Peripheral Component Interconnect (PCI), including embodiments such as but not limited to, Accelerated Graphics Port (AGP), Peripheral Component Interconnect extended (PCI-X), Peripheral Component Interconnect Express (PCI-e) (e.g., PCI Express Mini Card, PCI Express M.2 [Mini PCIe v2], PCI Express External Cabling [ePCIe], and PCI Express OCuLink [Optical Copper{Cu} Link]), Express Card, AdvancedTCA, AMC, Universal IO, Thunderbolt / Mini DisplayPort, Mobile PCIe (M-PCIe), U.2, and Non-Volatile Memory Express (NVMe) / Non-Volatile Memory Host Controller Interface Specification (NVMHCIS).• Industry Standard Architecture (ISA), including embodiments such as, but not limited to Extended ISA (EISA), PC / XT-bus / PC / AT-bus / PC / 104 bus (e.g., PC / 104-Plus, PCI / 104-Express, PCI / 104, and PCI- 104), and Low Pin Count (LPC).• Music Instrument Digital Interface (MIDI)• Universal Serial Bus (USB), including embodiments such as, but not limited to, Media Transfer Protocol (MTP) / Mobile High-Definition Link (MHL), Device Firmware Upgrade (DFU), wireless USB, InterChip USB, IEEE 1394 Interface / Firewire, Thunderbolt, and extensible Host Controller Interface (xHCI).

[0245] Consistent with the embodiments of the present disclosure, the aforementioned computing device 800 may employ hardware integrated circuits that store information for immediate use in the computing device 800, known to persons having ordinary skill in the art as primary storage or memory 840. The memory 840 operates at high speed, distinguishing it from the non-volatile storage sub-module 861 , which may be referred to as secondary or tertiary storage, which provides relatively slower-access to information but offers higher storage capacity. The data contained in memory 840, may be transferred to secondary storage via techniques such as, but not limited to, virtual memory and swap. The memory 840 may be associated with addressable semiconductor memory, such as integrated circuits consisting of silicon-based transistors, that may be used as primary storage or for other purposes in the computing device 800. The memory 840 may comprise a plurality of embodiments, such as, but not limited to volatile memory, non-volatile memory, and semi-volatile memory. It should be understood by a person having ordinary skill in the art that the following are non-limiting examples of the aforementioned memory:• Volatile memory, which requires power to maintain stored information, for example, but not limited to, Dynamic Random-Access Memory (DRAM) 841, Static Random-Access Memory (SRAM) 842, CPU Cache memory 825, Advanced Random-Access Memory (A-RAM), and other types of primary storage such as Random-Access Memory (RAM).• Non-volatile memory, which can retain stored information even after power is removed, for example, but not limited to, Read-Only Memory (ROM) 843, Programmable ROM (PROM) 844, Erasable PROM (EPROM) 845, Electrically Erasable PROM (EEPROM) 846 (e.g., flash memory and Electrically Alterable PROM [EAPROM]), Mask ROM (MROM), One Time Programmable (OTP) ROM / Write Once Read Many (WORM),Ferroelectric RAM (FeRAM), Parallel Random-Access Machine (PRAM), Split-Transfer Torque RAM (STT- RAM), Silicon Oxime Nitride Oxide Silicon (SONOS), Resistive RAM (RRAM), Nano RAM (NRAM), 3DXPoint, Domain-Wall Memory (DWM), and millipede memory.• Semi-volatile memory may have limited non-volatile duration after power is removed but may lose data after said duration has passed. Semi-volatile memory provides high performance, durability, and other valuable characteristics typically associated with volatile memory, while providing some benefits of true non-volatile memory. The semi-volatile memory may comprise volatile and non-volatile memory, and / or volatile memory with a battery to provide power after power is removed. The semi-volatile memory may comprise, but is not limited to, spin-transfer torque RAM (STT-RAM).

[0246] Consistent with the embodiments of the present disclosure, the aforementioned computing device 800 employs a communication system between an information processing system, such as the computing device 800, and the outside world, for example, but not limited to, human, environment, and another computing device 800. The aforementioned communication system is known to a person having ordinary skill in the art as an Input / Output (I / O) module 860. The I / O module 860 regulates a plurality of inputs and outputs with regard to the computing device 800, wherein the inputs are a plurality of signals and data received by the computing device 800, and the outputs are the plurality of signals and data sent from the computing device 800. The I / O module 860 interfaces with a plurality of hardware, such as, but not limited to, non-volatile storage 861, communication devices 862, sensors 863, and peripherals 864. The plurality of hardware is used by at least one of, but not limited to, humans, the environment, and another computing device 800 to communicate with the present computing device 800. The I / O module 860 comprises one or more of a plurality of forms, for example, but not limited to channel I / O, port mapped I / O, asynchronous I / O, and Direct Memory Access (DMA).

[0247] Consistent with the embodiments of the present disclosure, the aforementioned computing device 800 may employs a non-volatile storage sub-module 861, which is referred to by a person having ordinary skill in the art as one of secondary storage, external memory, tertiary storage, off-line storage, and / or auxiliary storage. The nonvolatile storage sub-module 861 may not be accessed directly by the CPU 820 without using an intermediate area in the memory 840. The non-volatile storage sub-module 861 may not lose data when power is removed and may be orders of magnitude less costly than storage used in memory 840. Further, the non-volatile storage sub-module 861 may have a slower speed and higher latency than in other areas of the computing device 800. The non-volatile storage sub-module 861 comprises one or more of a plurality of forms, such as, but not limited to, Direct Attached Storage (DAS), Network Attached Storage (NAS), Storage Area Network (SAN), nearline storage, Massive Array of Idle Disks (MAID), Redundant Array of Independent Disks (RAID), device mirroring, off-line storage, and robotic storage. The non-volatile storage sub-module (861) comprise one or more of a plurality of embodiments, such as, but not limited to:• Optical storage, for example, but not limited to, Compact Disk (CD) (CD-ROM / CD-R / CD-RW), Digital Versatile Disk (DVD) (DVD-ROM / DVD-R / DVD+R / DVD-RW / DVD+RW / DVD±RW / DVD+R DL / DVD- RAM / HD-DVD), Blu-ray Disk (BD) (BD-ROM / BD-R / BD-RE / BD-R DL / BD-RE DL), and Ultra-Density Optical (UDO).• Semiconductor storage, for example, but not limited to, flash memory, such as, but not limited to, USB flash drive, Memory card, Subscriber Identity Module (SIM) card, Secure Digital (SD) card, Smart Card, CompactFlash (CF) card, Solid-State Drive (SSD) and memristor.• Magnetic storage such as, but not limited to, Hard Disk Drive (HDD), tape drive, carousel memory, and Card Random-Access Memory (CRAM).• Phase-change memory• Holographic data storage such as Holographic Versatile Disk (HVD).• Molecular Memory• Deoxyribonucleic Acid (DNA) digital data storage

[0248] Consistent with the embodiments of the present disclosure, the computing device 800 employs a communication sub-module 862 as a subset of the I / O module 860, which is referred to by a person having ordinary skill in the art as at least one of, but not limited to, a computer network, a data network, and / or a network. The network allows computing devices 800 to exchange data by using connections, which is also be known to a person having ordinary skill in the art as data links, which includes data links between network nodes. The nodes comprise, for example, networked computer devices 800 that may be configured to originate, route, and / or terminate data. The nodes are identifiable by network addresses and include a plurality of hosts consistent with the embodiments of a computing device 800. Examples of computing devices that include a communication sub-module 862 include, but are not limited to, personal computers, phones, servers, drones, and networking devices such as, but not limited to, hubs, switches, routers, modems, and firewalls.

[0249] Two nodes are considered networked together when one computing device 800 is operable to exchange information with the other computing device 800, regardless of any direct connection between the two computing devices 800. The communication sub-module 862 supports a plurality of applications and services, such as, but not limited to World Wide Web (WWW), digital video and audio, shared use of application and storage computing devices 800, printers / scanners / fax machines, email / online chat / instant messaging, remote control, distributed computing, etc. The network comprises, for example, one or more transmission mediums, such as, but not limited to conductive wire, fiber optics, and wireless signals. The network comprises one or more communications protocols to organize network traffic, wherein application-specific communications protocols are optionally layered, and are known to a person having ordinary skill in the art as being improved for carrying a specific type of payload, when compared with other more general communications protocols. The plurality of communications protocols generally comprise one or more of, but are not limited to, IEEE 802, ethernet, Wireless LAN (WLAN / Wi-Fi), Internet Protocol (IP) suite (e.g., TCP / IP, UDP, Internet Protocol version 4 [IPv4], and Internet Protocol version 6 [IPv6]), Synchronous Optical Networking (SONET) / Synchronous Digital Hierarchy (SDH), Asynchronous Transfer Mode (ATM), and cellular standards (e.g., Global System for Mobile Communications [GSM], General Packet Radio Service [GPRS], Code- Division Multiple Access [CDMA], Integrated Digital Enhanced Network [IDEN], Long Term Evolution [LTE], LTE- Advanced [LTE-A], and fifth generation [5G] communication protocols).

[0250] The communication sub-module 862 generally comprises a plurality of size, topology, traffic control mechanisms and organizational intent policies, and / or the like. The communication sub-module 862 comprises one or more of a plurality of embodiments, such as, but not limited to:• Wired communications, such as, but not limited to, coaxial cable, phone lines, twisted pair cables (ethernet), and InfiniBand.• Wireless communications, such as, but not limited to, communications satellites, cellular systems, radio frequency / spread spectrum technologies, IEEE 802.11 Wi-Fi, Bluetooth, NFC, free-space optical communications, terrestrial microwave, and Infrared (IR) communications. Wherein cellular systems embody technologies such as, but not limited to, 3G,4G (such as WiMAX and LTE), and 5G (short and long wavelength).• Parallel communications, such as, but not limited to, LPT ports.• Serial communications, such as, but not limited to, RS-232 and USB.• Fiber Optic communications, such as, but not limited to, Single-mode optical fiber (SMF) and Multi-mode optical fiber (MMF).• Power Line communications

[0251] The aforementioned network generally comprises one or more of a plurality of layouts, such as, but not limited to, bus networks such as Ethernet, star networks such as Wi-Fi, ring networks, mesh networks, fully connected networks, and tree networks. The network is characterized by its physical capacity or its organizational purpose. Use of the network, including user authorization and access rights, optionally differs according to the layout of the network. The characterization includes, for example,, but is not limited to a nanoscale network, a Personal Area Network (PAN), a Local Area Network (LAN), a Home Area Network (HAN), a Storage Area Network (SAN), a Campus Area Network (CAN), a backbone network, a Metropolitan Area Network (MAN), a Wide Area Network (WAN), an enterprise private network, a Virtual Private Network (VPN), and a Global Area Network (GAN).

[0252] Consistent with the embodiments of the present disclosure, the aforementioned computing device 800 employs a sensors sub-module 863 as a subset of the I / O 860. The sensors sub-module 863 comprises at least one of the device, module, or subsystem whose purpose is to detect events or changes in its environment and send the information to the computing device 800. Sensors generally are sensitive to the property they are configured to measure, are not sensitive to any property not measured be encountered in its application, and do not significantly influence the measured property. In various implementations, the sensors sub-module 863 comprises a plurality of digital devices and analog devices, wherein if an analog device is used, an Analog to Digital (A-to-D) converter is employed to interface the said device with the computing device 800. The sensors are generally subject to a plurality of deviations that limit sensor accuracy. In various implementations, the sensors sub-module 863 comprise one or more of a plurality of embodiments, such as, but not limited to, chemical sensors, automotive sensors, acoustic / sound / vibration sensors, electric current / electric potential / magnetic / radio sensors, environmental / weather / moisture / humidity sensors, flow / fluid velocity sensors, ionizing radiation / particle sensors, navigation sensors, position / angle / displacement / distance / speed / acceleration sensors, imaging / optical / light sensors, pressure sensors, force / density / level sensors, thermal / temperature sensors, and proximity / presence sensors. It should be understood by a person having ordinary skill in the art that the ensuing are non-limiting examples of the aforementioned sensors:• Chemical sensors, such as, but not limited to, breathalyzer, carbon dioxide sensor, carbon monoxide / smoke detector, catalytic bead sensor, chemical field-effect transistor, chemiresistor, electrochemical gas sensor, electronic nose, electrolyte- insulator-semiconductor sensor, energy-dispersive X-ray spectroscopy,fluorescent chloride sensors, holographic sensor, hydrocarbon dew point analyzer, hydrogen sensor, hydrogen sulfide sensor, infrared point sensor, ion-selective electrode, nondispersive infrared sensor, microwave chemistry sensor, nitrogen oxide sensor, olfactometer, optode, oxygen sensor, ozone monitor, pellistor, pH glass electrode, potentiometric sensor, redox electrode, zinc oxide nanorod sensor, and biosensors (such as nanosensors).• Automotive sensors, such as, but not limited to, air flow meter / mass airflow sensor, air-fuel ratio meter, AFR sensor, blind spot monitor, engine coolant / exhaust gas / cylinder head / transmission fluid temperature sensor, hall effect sensor, wheel / automatic transmission / turbine / vehicle speed sensor, airbag sensors, brake fluid / engine crankcase / fuel / oil / tire pressure sensor, camshaft / crankshaft / throttle position sensor, fuel / oil level sensor, knock sensor, light sensor, MAP sensor, oxygen sensor (o2), parking sensor, radar sensor, torque sensor, variable reluctance sensor, and water-in-fuel sensor.• Acoustic, sound and vibration sensors, such as, but not limited to, microphone, lace sensors such as a guitar pickup, seismometer, sound locator, geophone, and hydrophone.• Electric current, electric potential, magnetic, and radio sensors, such as, but not limited to, current sensor, Daly detector, electroscope, electron multiplier, faraday cup, galvanometer, hall effect sensor, hall probe, magnetic anomaly detector, magnetometer, magnetoresistance, MEMS magnetic field sensor, metal detector, planar hall sensor, radio direction finder, and voltage detector.• Environmental, weather, moisture, and humidity sensors, such as, but not limited to, actinometer, air pollution sensor, moisture alarm, ceilometer, dew warning, electrochemical gas sensor, fish counter, frequency domain sensor, gas detector, hook gauge evaporimeter, humistor, hygrometer, leaf sensor, lysimeter, pyranometer, pyrgeometer, psychrometer, rain gauge, rain sensor, seismometers, SNOTEL, snow gauge, soil moisture sensor, stream gauge, and tide gauge.• Flow and fluid velocity sensors, such as, but not limited to, air flow meter, anemometer, flow sensor, gas meter, mass flow sensor, and water meter.• Ionizing radiation and particle sensors, such as, but not limited to, cloud chamber, Geiger counter, Geiger- Muller tube, ionization chamber, neutron detection, proportional counter, scintillation counter, semiconductor detector, and thermoluminescent dosimeter.• Navigation sensors, such as, but not limited to, airspeed indicator, altimeter, attitude indicator, depth gauge, fluxgate compass, gyroscope, inertial navigation system, inertial reference unit, magnetic compass, MHD sensor, ring laser gyroscope, turn coordinator, variometer, vibrating structure gyroscope, and yaw rate sensor.• Position, angle, displacement, distance, speed, and acceleration sensors, such as but not limited to, accelerometer, displacement sensor, flex sensor, free-fall sensor, gravimeter, impact sensor, laser rangefinder, LIDAR, odometer, photoelectric sensor, position sensor such as, but not limited to: Global Navigation Satellite System (GNSS), GPS, Glonass, angular rate sensor, shock detector, ultrasonic sensor, tilt sensor, tachometer, ultra-wideband radar, variable reluctance sensor, and velocity receiver.• Imaging, optical and light sensors, such as, but not limited to, CMOS sensor, colorimeter, contact image sensor, electro-optical sensor, infra-red sensor, kinetic inductance detector, LED configured as a light sensor, light-addressable potentiometric sensor, Nichols radiometer, fiber-optic sensors, optical position sensor,thermopile laser sensor, photodetector, photodiode, photomultiplier tubes, phototransistor, photoelectric sensor, photoionization detector, photomultiplier, photoresistor, photoswitch, phototube, scintillometer, Shack-Hartmann, single-photon avalanche diode, superconducting nanowire single-photon detector, transition edge sensor, visible light photon counter, and wavefront sensor.• Pressure sensors, such as, but not limited to, barograph, barometer, boost gauge, bourdon gauge, hot filament ionization gauge, ionization gauge, McLeod gauge, Oscillating U-tube, permanent downhole gauge, piezometer, Pirani gauge, pressure sensor, pressure gauge, tactile sensor, and time pressure gauge.• Force, Density, and Level sensors, such as, but not limited to, bhangmeter, hydrometer, force gauge or force sensor, level sensor, load cell, magnetic level or nuclear density sensor or strain gauge, piezocapacitive pressure sensor, piezoelectric sensor, torque sensor, and viscometer.• Thermal and temperature sensors, such as, but not limited to, bolometer, bimetallic strip, calorimeter, exhaust gas temperature gauge, flame detection / pyrometer, Gardon gauge, Golay cell, heat flux sensor, microbolometer, microwave radiometer, net radiometer, infrared / quartz / resistance thermometer, silicon bandgap temperature sensor, thermistor, and thermocouple.• Proximity and presence sensors, such as, but not limited to, alarm sensor, doppler radar, motion detector, occupancy sensor, proximity sensor, passive infrared sensor, reed switch, stud finder, triangulation sensor, touch switch, and wired glove.

[0253] Consistent with the embodiments of the present disclosure, the aforementioned computing device 800may employs a peripherals sub-module 864 as a subset of the I / O 860. The peripheral sub-module 864 comprises ancillary devices used to put information into and get information out of the computing device 800. There are 3 categories of devices comprising the peripheral sub-module 864, which exist based on their relationship with the computing device 800, input devices, output devices, and input / output devices. Input devices send at least one of data and instructions to the computing device 800. Input devices can be categorized based on, but not limited to:• Modality of input, such as, but not limited to, mechanical motion, audio, visual, and tactile.• Whether the input is discrete, such as but not limited to, pressing a key, or continuous such as, but not limited to the position of a mouse.• The number of degrees of freedom involved, such as, but not limited to, two-dimensional mice and three- dimensional mice used for Computer-Aided Design (CAD) applications.

[0254] Output devices provide output from the computing device 800. Output devices convert electronically generated information into a form that can be presented to humans. Input / output devices perform that perform both input and output functions. It should be understood by a person having ordinary skill in the art that the ensuing are non-limiting embodiments of the aforementioned peripheral sub-module 864:• Input Devices o Human Interface Devices (HID), such as, but not limited to, pointing device (e.g., mouse, touchpad, joystick, touchscreen, game controller / gamepad, remote, light pen, light gun, infrared remote, jog dial, shuttle, and knob), keyboard, graphics tablet, digital pen, gesture recognition devices, magnetic ink character recognition, Sip-and-Puff (SNP) device, and Language Acquisition Device (LAD).o High degree of freedom devices, that require up to six degrees of freedom such as, but not limited to, camera gimbals, Cave Automatic Virtual Environment (CAVE), and virtual reality systems. o Video Input devices are used to digitize images or video from the outside world into the computing device 800. The information can be stored in a multitude of formats depending on the user's requirement. Examples of types of video input devices include, but are not limited to, digital camera, digital camcorder, portable media player, webcam, Microsoft Kinect, image scanner, fingerprint scanner, barcode reader, 3D scanner, laser rangefinder, eye gaze tracker, computed tomography, magnetic resonance imaging, positron emission tomography, medical ultrasonography, TV tuner, and iris scanner. o Audio input devices are used to capture sound. In some cases, an audio output device can be used as an input device to capture produced sound. Audio input devices allow a user to send audio signals to the computing device 800 for at least one of processing, recording, and carrying out commands. Devices such as microphones allow users to speak to the computer to record a voice message or navigate software. Aside from recording, audio input devices are also used with speech recognition software. Examples of types of audio input devices include, but not limited to microphone, Musical Instrumental Digital Interface (MIDI) devices such as, but not limited to a keyboard, and headset. o Data AcQuisition (DAQ) devices convert at least one of analog signals and physical parameters to digital values for processing by the computing device 800. Examples of DAQ devices may include, but not limited to, Analog to Digital Converter (ADC), data logger, signal conditioning circuitry, multiplexer, and Time to Digital Converter (TDC).• Output Devices may further comprise, but not be limited to: o Display devices may convert electrical information into visual form, such as, but not limited to, monitor, TV, projector, and Computer Output Microfilm (COM). Display devices can use a plurality of underlying technologies, such as, but not limited to, Cathode-Ray Tube (CRT), Thin-Film Transistor (TFT), Liquid Crystal Display (LCD), Organic Light-Emitting Diode (OLED), MicroLED, E Ink Display (ePaper) and Refreshable Braille Display (Braille Terminal). o Printers, such as, but not limited to, inkjet printers, laser printers, 3D printers, solid ink printers, and plotters. o Audio and Video (AV) devices, such as, but not limited to, speakers, headphones, amplifiers, and lights, which include lamps, strobes, DJ lighting, stage lighting, architectural lighting, special effect lighting, and lasers. o Other devices such as Digital to Analog Converter (DAC)• Input / Output Devices may further comprise, but not be limited to, touchscreens, networking devices (e.g., devices disclosed in network sub-module 862), data storage devices (non-volatile storage 861), facsimile (FAX), and graphics / sound cards.Additional Implementation Details and Embodiments

[0255] Various implementations of the present disclosure comprise one or more systems, methods, computer-readable storage mediums, and / or computer program products at any possible technical detail level of integration. In various implementations, a computer program product (or products) includes one or more computer- readable storage mediums. The computer-readable storage medium(s), according to various implementations, comprise, are configured to store, and / or store computer-readable program instructions that are executable to cause a processor to carry out aspects of the present disclosure.

[0256] For example, various of the functionality described herein, in some implementations, is performed as software instructions that are executed by, and / or in response to software instructions being executed by, one or more hardware processors and / or any other suitable computing devices. The software instructions and / or other executable code may be read from one or more computer-readable storage mediums.

[0257] The computer-readable storage medium(s) is a tangible device that retains and stores data and / or instructions for use by an instruction execution device, e.g., a processor. The computer-readable storage medium may be, for example, but is not limited to, an electronic storage device (including any volatile and / or non-volatile electronic storage devices), a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. A non-exhaustive list of more specific examples of the computer-readable storage medium includes the following: a portable computer diskette, a hard disk, a solid state drive, a random access memory (RAM), a read-only memory (ROM), an erasable programmable readonly memory (EPROM or Flash memory), a static random access memory (SRAM), a portable compact disc read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanically encoded device such as punch-cards or raised structures in a groove having instructions recorded thereon, and any suitable combination of the foregoing. A computer-readable storage medium, as used herein, is not to be construed as being transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through a waveguide or other transmission media (e.g., light pulses passing through a fiber-optic cable), or electrical signals transmitted through a wire.

[0258] Computer-readable program instructions described herein, according to some implementations, are downloaded to respective computing / processing devices from a computer-readable storage medium or to an external computer or external storage device via a network, for example, the Internet, a local area network, a wide area network and / or a wireless network. The network may comprise copper transmission cables, optical transmission fibers, wireless transmission, routers, firewalls, switches, gateway computers, and / or edge servers. In some implementations, a network adapter card or network interface in each computing / processing device receives computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in a computer- readable storage medium within the respective computing / processing device.

[0259] Computer-readable program instructions (as also referred to herein as, for example, “code,” “instructions,” “module,” “application,” “software application,” and / or the like) for carrying out operations of the present disclosure may be assembler instructions, instruction-set-architecture (ISA) instructions, machine instructions, machine dependent instructions, microcode, firmware instructions, state-setting data, configuration data for integrated circuitry, or either source code or object code written in any combination of one or more programming languages, including anobject oriented programming language such as Java, C++, or the like, and procedural programming languages, such as the “C” programming language or similar programming languages. Computer-readable program instructions may be callable from other instructions or from itself, and / or may be invoked in response to detected events or interrupts. Computer-readable program instructions configured for execution on computing devices may be provided on a computer-readable storage medium, and / or as a digital download (and may be originally stored in a compressed or installable format that requires installation, decompression or decryption prior to execution) that may then be stored on a computer-readable storage medium. Such computer-readable program instructions may be stored, partially or fully, on a memory device (e.g., a computer-readable storage medium) of the executing computing device, for execution by the computing device. According to various implementations, computer-readable program instructions execute entirely on a user’s computer (e.g., the executing computing device), partly on the user’s computer as a stand-alone software package, partly on the user’s computer and partly on a remote computer, or entirely on the remote computer or server. In the latter scenario, the remote computer may be connected to the user’s computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet Service Provider). In some implementations, electronic circuitry including, for example, programmable logic circuitry, field-programmable gate arrays (FPGA), or programmable logic arrays (PLA) executes the computer-readable program instructions by utilizing state information of the computer-readable program instructions to personalize the electronic circuitry, in order to perform aspects of the present disclosure.

[0260] Aspects of the present disclosure are described herein with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the disclosure. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, are implementable by computer-readable program instructions.

[0261] These computer-readable program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks. These computer-readable program instructions may also be stored in a computer-readable storage medium that can direct a computer, a programmable data processing apparatus, and / or other devices to function in a particular manner, such that the computer-readable storage medium having instructions stored therein comprises an article of manufacture including instructions which implement aspects of the function / act specified in the flowchart(s) and / or block diagram(s) block or blocks.

[0262] The computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable apparatus or other device to produce a computer-implemented process, such that the instructions which execute on the computer, other programmable apparatus, or other device implement the functions / acts specified in the flowchart and / or block diagram block or blocks. For example, the instructions may initially be carried on a magnetic disk or solid-state drive of a remote computer. The remote computer may load the instructionsand / or modules into its dynamic memory and send the instructions over a telephone, cable, or optical line using a modem. A modem local to a server computing system may receive the data on the telephone / cable / optical line and use a converter device including the appropriate circuitry to place the data on a bus. The bus may carry the data to a memory, from which a processor may retrieve and execute the instructions. The instructions received by the memory may optionally be stored on a storage device (e.g., a solid-state drive) either before or after execution by the computer processor.

[0263] The flowchart and block diagrams in the Figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer-program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the blocks occur out of the order noted in the Figures. For example, two blocks shown in succession may be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. In addition, certain blocks may be omitted in some implementations. The methods and processes described herein are also not limited to any particular sequence, and the blocks or states relating thereto can be performed in other sequences that are appropriate.

[0264] It will also be noted that each block of the block diagrams and / or flowchart illustration, and combinations of blocks in the block diagrams and / or flowchart illustration, are implementable by special purpose hardware-based systems that perform the specified functions or acts or carry out combinations of special purpose hardware and computer instructions. For example, any of the processes, methods, algorithms, elements, blocks, applications, or other functionality (or portions of functionality) described herein may be embodied in, and / or fully or partially automated via, electronic hardware such application-specific processors (e.g., application-specific integrated circuits (ASICs)), programmable processors (e.g., field programmable gate arrays (FPGAs)), application-specific circuitry, and / or the like (any of which may also combine custom hard-wired logic, logic circuits, ASICs, FPGAs, etc. with custom programming / execution of software instructions to accomplish the techniques).

[0265] Any of the above-mentioned processors, and / or devices incorporating any of the above-mentioned processors, may be referred to herein as, for example, “computers,” “computer devices,” “computing devices,” “hardware computing devices,” “hardware processors,” “processing units,” and / or the like. Computing devices of the implementations of the present disclosure may generally (but not necessarily) be controlled and / or coordinated by operating system software, such as Mac OS, iOS, Android, Chrome OS, Windows OS (e.g., Windows XP, Windows Vista, Windows 7, Windows 8, Windows 10, Windows 11, Windows Server, etc.), Windows CE, Unix, Linux, SunOS, Solaris, Blackberry OS, VxWorks, or other suitable operating systems. In other embodiments, the computing devices are controlled by a proprietary operating system, or a combination of proprietary and / or other operation systems. Conventional operating systems control and schedule computer processes for execution, perform memory management, provide file system, networking, I / O services, and provide a user interface functionality, such as a graphical user interface (“GUI”), among other things.

[0266] In various implementations certain functionality is accessible by a user through a web-based viewer (such as a web browser), or other suitable software program. In some implementations, the user interface(and / or user interface data usable for rending a user interface) is generated by a server computing system and transmitted to a web browser of the user (e.g., running on the user’s computing system). Alternatively, data (e.g., user interface data) necessary for generating the user interface is provided by the server computing system to the browser, where the user interface is generated (e.g., the user interface data may be executed by a browser accessing a web service and may be configured to render the user interfaces based on the user interface data). The user may then interact with the user interface through the web-browser. User interfaces of certain implementations may be accessible through one or more dedicated software applications. In certain embodiments, one or more of the computing devices and / or systems of the disclosure include mobile computing devices, and user interfaces may be accessible through such mobile computing devices (for example, smartphones, tablets, virtual and / or augmented reality glasses, and / or the like).

[0267] While certain implementations of the inventions have been described, these implementations have been presented by way of example only, and are not intended to limit the scope of the disclosure. Indeed, the novel methods and systems described herein are implementable in a variety of other forms. Furthermore, various omissions, substitutions and changes in the systems and methods described herein are implementable without departing from the spirit of the disclosure. The accompanying claims and their equivalents are intended to cover such forms or modifications as would fall within the scope and spirit of the disclosure. Accordingly, the scope of the present inventions is defined only by reference to the appended claims.

[0268] Features, materials, characteristics, or groups described in conjunction with a particular aspect, implementation, or example are to be understood to be applicable to any other aspect, implementation or example described in this section or elsewhere in this specification unless incompatible therewith. All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and / or all of the steps or blocks of any method or process so disclosed, are combined in any combination, except combinations where at least some of such features and / or steps are mutually exclusive. The protection is not restricted to the details of any foregoing implementations. The protection extends to any novel one, or any novel combination, of the features disclosed in this specification (including any accompanying claims, abstract and drawings), or to any novel one, or any novel combination, of the steps or blocks of any method or process so disclosed.

[0269] Furthermore, certain features that are described in this disclosure in the context of separate implementations are also implementable in combination in a single implementation. Conversely, various features that are described in the context of a single implementation are also implementable in multiple implementations separately or in any suitable subcombination. Moreover, although features are described above as acting in certain combinations, one or more features from a claimed combination are, in some cases, excised from the combination, and the combination is claimable as a subcombination or variation of a subcombination.

[0270] Moreover, while operations are depicted in the drawings or described in the specification in a particular order, such operations need not be performed in the particular order shown or in sequential order, or that all operations be performed, to achieve desirable results. Other operations that are not depicted or described are incorporated in the example methods and processes. For example, one or more additional operations are performable before, after, simultaneously, or between any of the described operations. Further, in various implementations, the operations are rearranged or reordered in other implementations. Those skilled in the art will appreciate that in some-M-implementations, the actual steps taken in the processes illustrated and / or disclosed differ from those shown in the figures. Depending on the implementation, certain of the steps described above are removed, and / or others are added. Furthermore, the features and attributes of the specific implementations disclosed above are, in various implementations, combined in different ways to form additional implementations, all of which fall within the scope of the present disclosure. Also, the separation of various system components in the implementations described above should not be understood as requiring such separation in all implementations, and it should be understood that the described components and systems are, in some implementations, integrated together in a single product or packaged into multiple products.

[0271] For purposes of this disclosure, certain aspects, advantages, and novel features are described herein. Not necessarily all such advantages are achieved in accordance with any particular implementation. Thus, for example, those skilled in the art will recognize that the disclosure, in various implementations, is embodied or carried out in a manner that achieves one advantage or a group of advantages as taught herein without necessarily achieving other advantages as are taught or suggested herein.

[0272] Conditional language, such as “can,” “could,” “might,” or “may,” unless specifically stated otherwise, or otherwise understood within the context as used, is intended to convey that certain implementations include, while other implementations do not include, certain features, elements, and / or steps. Thus, such conditional language is not intended to imply that features, elements, and / or steps are in any way required for one or more implementations or that one or more implementations necessarily include logic for deciding, with or without user input or prompting, whether these features, elements, and / or steps are included or are to be performed in any particular implementation.

[0273] Conjunctive language such as the phrase “at least one of X, Y, and Z,” or “at least one of X, Y, or Z,” unless specifically stated otherwise, is to be understood with the context as used in general to convey that an item, term, and / or the like is either X, Y, or Z, or a combination thereof. For example, the term “or” is used in its inclusive sense (and not in its exclusive sense) so that when used, for example, to provide a list of elements, the term “or” means one, some, or all of the elements in the list. Thus, such conjunctive language is not generally intended to imply that certain implementations require at least one of X, at least one of Y, and at least one of Z to each be present.

[0274] The term “a” as used herein should be given an inclusive rather than exclusive interpretation. For example, unless specifically noted, the term “a” should not be understood to mean “exactly one” or “one and only one”; instead, the term “a” means “one or more” or “at least one,” whether used in the claims or elsewhere in the specification and regardless of uses of quantifiers such as “at least one,” “one or more,” or “a plurality” elsewhere in the claims or specification.

[0275] The term “comprising” as used herein should be given an inclusive rather than exclusive interpretation. For example, a general-purpose computer comprising one or more processors should not be interpreted as excluding other computer components, and possibly includes such components as memory, input / output devices, and / or network interfaces, among others.

[0276] Language of degree used herein, such as the terms “approximately,” “about,” “generally,” and “substantially,” represent a value, amount, or characteristic close to the stated value, amount, or characteristic that still performs a desired function or achieves a desired result. For example, the terms “approximately”, “about”, “generally,”and “substantially,” according to various implementations, refer to an amount that is within less than 10% of, within less than 5% of, within less than 1% of, within less than 0.1% of, and within less than 0.01% of the stated amount. As another example, in certain implementations, the terms “generally parallel” and “substantially parallel” refer to a value, amount, or characteristic that departs from exactly parallel by less than or equal to 15 degrees, 10 degrees, 5 degrees, 3 degrees, 1 degree, or 0.1 degree.

[0277] The scope of the present disclosure is not intended to be limited by the specific disclosures of preferred implementations in this section or elsewhere in this specification, and are defined by claims as presented in this section or elsewhere in this specification or as presented in the future. The language of the claims is to be interpreted broadly based on the language employed in the claims and not limited to the examples described in the present specification or during the prosecution of the application, which examples are to be construed as non-exdusive.

[0278] Of course, the foregoing description is that of certain features, aspects and advantages of the present invention, to which various changes and modifications can be made without departing from the spirit and scope of the present invention. Moreover, the devices described herein need not feature all of the objects, advantages, features and aspects discussed above. Thus, for example, those of skill in the art will recognize that the invention can be embodied or carried out in a manner that achieves or optimizes one advantage or a group of advantages as taught herein without necessarily achieving other objects or advantages as may be taught or suggested herein. In addition, while a number of variations of the invention have been shown and described in detail, other modifications and methods of use, which are within the scope of this invention, will be readily apparent to those of skill in the art based upon this disclosure. It is contemplated that various combinations or subcombinations of these specific features and aspects of implementations are made and still fall within the scope of the invention. Accordingly, it should be understood that various features and aspects of the disclosed implementations are combinable with or substitutable for one another in order to form varying modes of the discussed devices.

[0279] All rights, including copyrights in the code included herein, are vested in and the property of the Applicant. The Applicant retains and reserves all rights in the code included herein, and grants permission to reproduce the material only in connection with the reproduction of the granted patent and for no other purpose.Example Aspects or Clauses

[0280] Examples of the implementations of the present disclosure can be described in view of the following example clauses. The features recited in the below example implementations can be combined with additional features disclosed herein. Furthermore, additional inventive combinations of features are disclosed herein, which are not specifically recited in the below example implementations, and which do not include the same features as the specific implementations below. For sake of brevity, the below example implementations do not identify every inventive aspect of this disclosure. The below example implementations are not intended to identify key features or essential features of any subject matter described herein. Any of the example clauses below, or any features of the example clauses, can be combined with any one or more other example clauses, or features of the example clauses or other features of the present disclosure.

[0281] Clause 1. An autonomous unmanned aerial vehicle (UAV), comprising: a propulsion system, a map module configured to obtain a map including a geographic region of interest; a path generation module configured to: receive a launch location and a target area, and generate a flight path from the launch location to the target areabased on the map; a sensor array comprising at least one of a primary Global Navigation Satellite System (GNSS) receiver, or a secondary Controlled Reception Pattern (CRPA) GNSS receiver, a path following module configured to guide the UAV along the generated flight path, and a path modifying module configured to monitor input from the sensor array for a trigger event and, in response to detecting the trigger event, modify the flight path.

[0282] Clause 2. The autonomous UAV of Clause 1, wherein the map includes topographic information for terrain and buildings.

[0283] Clause 3. The autonomous UAV of Clause 1, wherein the map includes locations of poor GNSS signal.

[0284] Clause 4. The autonomous UAV of Clause 1, wherein the sensor array further comprises a semiactive laser seeker.

[0285] Clause 5. The autonomous UAV of Clause 1, wherein the sensor array further comprises an electro-optical / infrared (EO / IR) camera.

[0286] Clause 6. The autonomous UAV of Clause 1, wherein the sensor array further comprises a radio frequency (RF) seeker.

[0287] Clause 7. The autonomous UAV of Clause 1, the UAV further comprising a downward-facing camera.

[0288] Clause 8. The autonomous UAV of Clause 1 , wherein the trigger event comprises a loss of GNSS signal.

[0289] Clause 9. The autonomous UAV of Clause 8, wherein modifying the flight path comprises: switching from the primary GNSS receiver to the secondary GNSS receiver; and if the GNSS signal is not reacquired by the secondary GNSS receiver, entering a dead reckoning mode.

[0290] Clause 10. The autonomous UAV of Clause 4, wherein the trigger event comprises detecting a designating laser, and wherein modifying the flight path comprises adjusting the flight path to travel to a location designated by the designating laser.

[0291] Clause 11. The autonomous UAV of Clause 5, wherein the trigger event comprises identifying a new target, and wherein modifying the flight path comprises adjusting the flight path to travel to the new target.

[0292] Clause 12. A method for causing an autonomous unmanned aerial vehicle (UAV) to move to a target, the method comprising: obtaining a map including a geographic region of interest; receiving a launch location and a target area; generating a flight path from the launch location to the target area based on the map; launching the UAV from the launch location; guiding the UAV along the generated flight path; monitoring for a trigger event; and in response to detecting the trigger event, modifying the flight path.

[0293] Clause 13. The method of Clause 12, wherein the map includes topographic information for terrain and buildings.

[0294] Clause 14. The method of Clause 12, wherein the map includes locations of poor GNSS signal.

[0295] Clause 15. The method of Clause 12, wherein the trigger event comprises a loss of GNSS signal, and wherein modifying the flight path comprises: switching from a primary GNSS receiver to a secondary GNSS receiver; and if GNSS signal is not reacquired by using the secondary GNSS receiver, entering a dead reckoning mode.

[0296] Clause 16. The method of Clause 12, wherein the trigger event comprises detecting a designating laser, and wherein modifying the flight path comprises adjusting the flight path to travel to a location designated by the designating laser.

[0297] Clause 17. The method of Clause 12, wherein the trigger event comprises identifying a new target via a camera sensor, and wherein modifying the flight path comprises adjusting the flight path to travel to the new target.

[0298] Clause 18. An unmanned aerial vehicle (UAV) comprising: a fuselage including one or more deployable flight surfaces coupled to the fuselage; one or more environmental sensors disposed on the fuselage; and an action initiation system configured to perform an action, the action initiation system including a controller, wherein the controller is configured to: receive sensor data from at least one of the one or more environmental sensors on the UAV; determine, based on the sensor data, whether one or more pre-defined environmental conditions are satisfied; and responsive to a determination that the one or more pre-defined environmental conditions are satisfied, cause the action initiation system to perform the action.

[0299] Clause 19. The UAV of Clause 18, wherein the one or more environmental sensors comprise at least one of: a pitot tube configured to measure airspeed; an accelerometer configured to measure acceleration; a physical switch configured to detect deployment from a launch tube, or a physical switch configured to detect deployment of one or more deployable flight surfaces of the UAV.

[0300] Clause 20. The UAV of Clause 19, wherein the one or more pre-defined environmental conditions comprise at least one of: the UAV reaching a threshold airspeed; the UAV experiencing a threshold acceleration; the UAV experiencing a threshold change in rate of acceleration; the UAV deploying from a launch tube; or the one or more deployable flight surfaces of the UAV being deployed.

[0301] Clause 21. The UAV of Clause 18, wherein the controller is further configured to: determine a launch modality of the UAV; and select the one or more pre-defined environmental conditions based on the determined launch modality.

[0302] Clause 22. The UAV of Clause 21, wherein the launch modality comprises at least one of: a ground-based launch; a water-based launch; or an air-based launch.

[0303] Clause 23. The UAV of Clause 18, further comprising a configurable payload, and wherein the action performed by the action initiation system comprises configuring the payload.

[0304] Clause 24. A method of causing an unmanned aerial vehicle (UAV) to perform an action, the method comprising: receiving, by a controller on the UAV, sensor data from one or more sensors on the UAV; determining, by the controller and based on the sensor data, whether one or more pre-defined environmental conditions are satisfied; and responsive to the one or more pre-defined environmental conditions being satisfied, sending, by the controller, a signal to an action initiation system of the UAV to perform the action.

[0305] Clause 25. The method of Clause 24, further comprising: determining, by the controller, a launch modality of the UAV; and selecting, by the controller, the one or more pre-defined environmental conditions based on the determined launch modality.

[0306] Clause 26. The method of Clause 25, wherein the launch modality comprises at least one of: a ground-based launch; a water-based launch; or an air-based launch.

[0307] Clause 27. The method of Clause 24, wherein the one or more sensors comprise at least one of: a pitot tube configured to measure airspeed; an accelerometer configured to measure acceleration; a physical switch configured to detect deployment from a launch tube; or a physical switch configured to detect deployment of one or more deployable flight surfaces of the UAV.

[0308] Clause 28. The method of Clause 27, wherein the one or more pre-defined environmental conditions comprise at least one of: the UAV reaching a threshold airspeed; the UAV experiencing a threshold acceleration; the UAV deploying from a launch tube; or the one or more deployable flight surfaces of the UAV being deployed.

[0309] Clause 29. The method of Clause 24, wherein the UAV comprises a configurable payload, and wherein the action performed by the action initiation system comprises configuring the payload.

[0310] Clause 30. An unmanned aerial vehicle (UAV) for tube launch, comprising: a fuselage including one or more deployable flight surfaces coupled to the fuselage; at least one configurable wing, the at least one configurable wing being configured to be selectively arranged in: a compact arrangement wherein the at least one configurable wing is deployed at a first deployment angle against the fuselage, a deployed arrangement wherein the at least one configurable wing is deployed at a second deployment angle for flight, or an extended configuration wherein an extendable portion of the at least one configurable wing is extended; at least one configurable control surface, the control surface being configured to be arranged in: a compact arrangement wherein the at least one control surface is deployed at a first deployment angle against the fuselage, or a deployed arrangement the at least one control surface is deployed at a second deployment angle for flight; one or more environmental sensors disposed on the fuselage; and an action initiation system configured to perform an action, the action initiation system including a controller, wherein the controller is configured to: receive sensor data from at least one of the one or more environmental sensors on the UAV; determine, based on the sensor data, whether one or more pre-defined environmental conditions are satisfied; and responsive to a determination that the one or more pre-defined environmental conditions are satisfied, cause the action initiation system to perform the action, wherein the action comprises at least one of: causing the at least one configurable wing to transition from the compact arrangement to the deployed arrangement, causing the at least one configurable wing to transition from the deployed arrangement to the extended arrangement, causing the at least one configurable wing to transition from the extended arrangement to the deployed arrangement, or causing the at least one configurable control surface to transition from the compact arrangement to the deployed arrangement.

[0311] Clause 31. The UAV of Clause 30, wherein the UAV further comprises a configurable payload, and wherein the action performed by the action initiation system comprises configuring the payload.

[0312] Clause 32. The UAV of Clause 30, wherein the UAV is configured to be launch from a tube via a land-based craft.

[0313] Clause 33. The UAV of Clause 30, wherein the UAV is configured to be launch from a tube via a watercraft.

[0314] Clause 34. The UAV of Clause 30, wherein the UAV is configured to be launch from a tube via an aircraft.

[0315] Clause 35. A pneumatic launcher for unmanned aerial vehicles (UAVs), comprising: a mounting bed; one or more sets of wheels coupled to the mounting bed; one or more support legs coupled to the mounting bed,the one or more support legs movable between a travel position and a support position; a hitch configured to connect the mounting bed to a vehicle; a controller configured to facilitate launch of a UAV; a compressed gas storage tank; a launch frame coupled to the mounting bed, the launch frame configured to hold one or more launching tubes; and at least one launching tube having a forward end and a rear end, the launching tube being sized to receive a UAV, the at least one launching tube comprising: a data connection configured to link the UAV to the controller; and a pneumatic section hingedly coupled to the rear end of the launching tube, in fluid communication with the compressed gas storage tank, and in data communication with the controller, the pneumatic section being configured to selectively propel a UAV out of the forward end of the launching tube.

[0316] Clause 36. The pneumatic launcher of Clause 35, wherein the one or more support legs are adjustable.

[0317] Clause 37. The pneumatic launcher of Clause 35, wherein the launch frame is configured to adjust a launch angle of the one or more launching tubes.

[0318] Clause 38. The pneumatic launcher of Clause 35, further comprising an air compressor configured to supply compressed gas to the compressed gas storage tank.

[0319] Clause 39. The pneumatic launcher of Clause 35, wherein the data connection comprises a Lemo connector.

[0320] Clause 40. A dismounted tactical launcher for unmanned aerial vehicles (UAVs), comprising: a launching tube sized to receive a UAV; two support legs coupled to the launching tube, the two support legs movable between a travel position and a support position; a controller configured to facilitate launch of a UAV; an inflator launcher comprising an airbag inflator; a data connection configured to link the UAV to the controller; a pneumatic section hingedly coupled to a rear end of the launching tube; and a base plate coupled to the rear end of the launching tube, the base plate configured to stabilize the launching tube.

[0321] Clause 41. The dismounted tactical launcher of Clause 40, wherein the two support legs are adjustable.

[0322] Clause 42. The dismounted tactical launcher of Clause 40, wherein the airbag inflator uses black powder for energetics.

[0323] Clause 43. The dismounted tactical launcher of Clause 40, further comprising an air compressor configured to supply compressed gas to the inflator launcher.

[0324] Clause 44. The dismounted tactical launcher of Clause 40, wherein the data connection comprises a Lemo connector.

[0325] Clause 45. The dismounted tactical launcher of Clause 40, wherein a total weight of the dismounted tactical launcher is less than 50 pounds.

[0326] Clause 46. A method of launching an unmanned aerial vehicle (UAV), comprising: unhinging a pneumatic section from a rear end of a launcher tube; inserting a UAV into the launcher tube; connecting the UAV to a controller via a data connection; closing and locking the pneumatic section; connecting the launcher tube to a power source; performing a built-in test (BIT) check to ensure working order of the launcher tube; powering down the launcher tube; and initiating a launch sequence for the UAV.

[0327] Clause 47. The method of Clause 46, further comprising removing a spent UAV from the launcher tube prior to inserting the UAV.

[0328] Clause 48. The method of Clause 46, wherein the data connection comprises a Lemo connector.

[0329] Clause 49. The method of Clause 46, further comprising loading the launcher tube onto a launch frame or setting up a dismounted launcher prior to initiating the launch sequence.

[0330] Clause 50. A pneumatic launcher for unmanned aerial vehicles (UAVs), comprising: a mounting structure; one or more launching tubes coupled to the mounting structure, each launching tube configured to receive a UAV and having a forward end and a rear end; a compressed gas source; a pneumatic section hingedly coupled to the rear end of each launching tube, the pneumatic section in fluid communication with the compressed gas source and configured to selectively propel a UAV out of the forward end of the launching tube; and a controller in data communication with the pneumatic section and configured to control launch of UAVs from the one or more launching tubes.

[0331] Clause 51 . The pneumatic launcher of Clause 50, further comprising: one or more sets of wheels coupled to the mounting structure; and one or more support legs coupled to the mounting structure, the one or more support legs movable between a retracted position and an extended support position.

[0332] Clause 52. The pneumatic launcher of Clause 51 , further comprising: a hitch configured to connect the mounting structure to a vehicle.

[0333] Clause 53. The pneumatic launcher of Clause 50, wherein each launching tube comprises: a data connection configured to link a UAV in the launching tube to the controller.

[0334] Clause 54. The pneumatic launcher of Clause 50, wherein the mounting structure comprises: a launch frame configured to adjust a launch angle of the one or more launching tubes.

[0335] Clause 55. A pneumatic launch tube for launch of an unmanned aerial vehicle (UAV), comprising: a generally cylindrical tube having a forward opening and a rear opening, the tube having an internal diameter sized to receive the UAV; a pneumatic section in fluid communication with a compressed gas source, and in data communication with a controller, the pneumatic section being configured to selectively propel the UAV out of the forward opening of the launching tube in response to a command from the controller; a hinge mechanism configured to connect the pneumatic section to be adjacent to the rear opening, allowing the pneumatic section to pivot between: an active position in which the pneumatic section is approximately coaxial with the tube and substantially covers the rear opening, and a loading position where an axis of the pneumatic section is rotated at least ninety degrees in a direction orthogonal to the axis of the tube, such that the UAV may be inserted into the launch tube via the rear opening; and a locking mechanism configured to selectively lock the pneumatic section in the active position, wherein the pneumatic section forms a substantially air-tight seal with the tube when locked in the active position.

Claims

WHAT IS CLAIMED IS:

1. An autonomous unmanned aerial vehicle (UAV) comprising: a propulsion system, a map module configured to obtain a map including a geographic region of interest; a path generation module configured to: receive a launch location and a target area, and generate a flight path from the launch location to the target area based on the map; a sensor array comprising at least one of a primary Global Navigation Satellite System (GNSS) receiver, or a secondary Controlled Reception Pattern (CRPA) GNSS receiver, a path following module configured to guide the UAV along the generated flight path, and a path modifying module configured to monitor input from the sensor array for a trigger event and, in response to detecting the trigger event, modify the flight path.

2. The autonomous UAV of Claim 1, wherein the map includes topographic information for terrain and buildings.

3. The autonomous UAV of Claim 1, wherein the map includes locations of poor GNSS signal.

4. The autonomous UAV of Claim 1, wherein the sensor array further comprises a semi-active laser seeker.

5. The autonomous UAV of Claim 1 , wherein the sensor array further comprises an electro- optical / infrared (EO / IR) camera.

6. The autonomous UAV of Claim 1, wherein the sensor array further comprises a radio frequency (RF) seeker.

7. The autonomous UAV of Claim 1 , the UAV further comprising a downward-facing camera.

8. The autonomous UAV of Claim 1, wherein the trigger event comprises a loss of GNSS signal.

9. The autonomous UAV of Claim 8, wherein modifying the flight path comprises: switching from the primary GNSS receiver to the secondary GNSS receiver; and if the GNSS signal is not reacquired by the secondary GNSS receiver, entering a dead reckoning mode.

10. The autonomous UAV of Claim 4, wherein the trigger event comprises detecting a designating laser, and wherein modifying the flight path comprises adjusting the flight path to travel to a location designated by the designating laser.

11. The autonomous UAV of Claim 5, wherein the trigger event comprises identifying a new target, and wherein modifying the flight path comprises adjusting the flight path to travel to the new target.

12. A method for causing an autonomous unmanned aerial vehicle (UAV) to move to a target, the method comprising: obtaining a map including a geographic region of interest; receiving a launch location and a target area; generating a flight path from the launch location to the target area based on the map;launching the UAV from the launch location; guiding the UAV along the generated flight path; monitoring for a trigger event; and in response to detecting the trigger event, modifying the flight path.

13. The method of Claim 12, wherein the map includes topographic information for terrain and buildings.

14. The method of Claim 12, wherein the map includes locations of poor GNSS signal.

15. The method of Claim 12, wherein the trigger event comprises a loss of GNSS signal, and wherein modifying the flight path comprises: switching from a primary GNSS receiver to a secondary GNSS receiver; and if GNSS signal is not reacquired by using the secondary GNSS receiver, entering a dead reckoning mode.

16. The method of Claim 12, wherein the trigger event comprises detecting a designating laser, and wherein modifying the flight path comprises adjusting the flight path to travel to a location designated by the designating laser.

17. The method of Claim 12, wherein the trigger event comprises identifying a new target via a camera sensor, and wherein modifying the flight path comprises adjusting the flight path to travel to the new target.

18. An unmanned aerial vehicle (UAV) comprising: a fuselage including one or more deployable flight surfaces coupled to the fuselage; one or more environmental sensors disposed on the fuselage; and an action initiation system configured to perform an action, the action initiation system including a controller, wherein the controller is configured to: receive sensor data from at least one of the one or more environmental sensors on the UAV; determine, based on the sensor data, whether one or more pre-defined environmental conditions are satisfied; and responsive to a determination that the one or more pre-defined environmental conditions are satisfied, cause the action initiation system to perform the action.

19. The UAV of Claim 18, wherein the one or more environmental sensors comprise at least one of: a pitot tube configured to measure airspeed; an accelerometer configured to measure acceleration; a physical switch configured to detect deployment from a launch tube, or a physical switch configured to detect deployment of one or more deployable flight surfaces of the UAV.

20. The UAV of Claim 19, wherein the one or more pre-defined environmental conditions comprise at least one of: the UAV reaching a threshold airspeed; the UAV experiencing a threshold acceleration;the UAV experiencing a threshold change in rate of acceleration; the UAV deploying from a launch tube; or the one or more deployable flight surfaces of the UAV being deployed.

21. The UAV of Claim 18, wherein the controller is further configured to: determine a launch modality of the UAV; and select the one or more pre-defined environmental conditions based on the determined launch modality.

22. The UAV of Claim 21, wherein the launch modality comprises at least one of: a ground-based launch; a water-based launch; or an air-based launch.

23. The UAV of Claim 18, further comprising a configurable payload, and wherein the action performed by the action initiation system comprises configuring the payload.

24. A method of causing an unmanned aerial vehicle (UAV) to perform an action, the method comprising: receiving, by a controller on the UAV, sensor data from one or more sensors on the UAV; determining, by the controller and based on the sensor data, whether one or more pre-defined environmental conditions are satisfied; and responsive to the one or more pre-defined environmental conditions being satisfied, sending, by the controller, a signal to an action initiation system of the UAV to perform the action.

25. The method of Claim 24, further comprising: determining, by the controller, a launch modality of the UAV; and selecting, by the controller, the one or more pre-defined environmental conditions based on the determined launch modality.

26. The method of Claim 25, wherein the launch modality comprises at least one of: a ground-based launch; a water-based launch; or an air-based launch.

27. The method of Claim 24, wherein the one or more sensors comprise at least one of: a pitot tube configured to measure airspeed; an accelerometer configured to measure acceleration; a physical switch configured to detect deployment from a launch tube; or a physical switch configured to detect deployment of one or more deployable flight surfaces of the UAV.

28. The method of Claim 27, wherein the one or more pre-defined environmental conditions comprise at least one of: the UAV reaching a threshold airspeed; the UAV experiencing a threshold acceleration;the UAV deploying from a launch tube; or the one or more deployable flight surfaces of the UAV being deployed.

29. The method of Claim 24, wherein the UAV comprises a configurable payload, and wherein the action performed by the action initiation system comprises configuring the payload.

30. An unmanned aerial vehicle (UAV) for tube launch, the UAV comprising: a fuselage including one or more deployable flight surfaces coupled to the fuselage; at least one configurable wing, the at least one configurable wing being configured to be selectively arranged in: a compact arrangement wherein the at least one configurable wing is deployed at a first deployment angle against the fuselage, a deployed arrangement wherein the at least one configurable wing is deployed at a second deployment angle for flight, or an extended configuration wherein an extendable portion of the at least one configurable wing is extended; at least one configurable control surface, the control surface being configured to be arranged in: a compact arrangement wherein the at least one control surface is deployed at a first deployment angle against the fuselage, or a deployed arrangement the at least one control surface is deployed at a second deployment angle for flight; one or more environmental sensors disposed on the fuselage; and an action initiation system configured to perform an action, the action initiation system including a controller, wherein the controller is configured to: receive sensor data from at least one of the one or more environmental sensors on the UAV; determine, based on the sensor data, whether one or more pre-defined environmental conditions are satisfied; and responsive to a determination that the one or more pre-defined environmental conditions are satisfied, cause the action initiation system to perform the action, wherein the action comprises at least one of: causing the at least one configurable wing to transition from the compact arrangement to the deployed arrangement, causing the at least one configurable wing to transition from the deployed arrangement to the extended arrangement, causing the at least one configurable wing to transition from the extended arrangement to the deployed arrangement, or causing the at least one configurable control surface to transition from the compact arrangement to the deployed arrangement.

31. The UAV of Claim 30, wherein the UAV further comprises a configurable payload, and wherein the action performed by the action initiation system comprises configuring the payload.

32. The UAV of Claim 30, wherein the UAV is configured to be launch from a tube via a land-based craft.

33. The UAV of Claim 30, wherein the UAV is configured to be launch from a tube via a watercraft.

34. The UAV of Claim 30, wherein the UAV is configured to be launch from a tube via an aircraft.

35. A pneumatic launcher for unmanned aerial vehicles (UAVs) comprising: a mounting bed; one or more sets of wheels coupled to the mounting bed; one or more support legs coupled to the mounting bed, the one or more support legs movable between a travel position and a support position; a hitch configured to connect the mounting bed to a vehicle; a controller configured to facilitate launch of a UAV; a compressed gas storage tank; a launch frame coupled to the mounting bed, the launch frame configured to hold one or more launching tubes; and at least one launching tube having a forward end and a rear end, the launching tube being sized to receive a UAV, the at least one launching tube comprising: a data connection configured to link the UAV to the controller; and a pneumatic section hingedly coupled to the rear end of the launching tube, in fluid communication with the compressed gas storage tank, and in data communication with the controller, the pneumatic section being configured to selectively propel a UAV out of the forward end of the launching tube.

36. The pneumatic launcher of Claim 35, wherein the one or more support legs are adjustable.

37. The pneumatic launcher of Claim 35, wherein the launch frame is configured to adjust a launch angle of the one or more launching tubes.

38. The pneumatic launcher of Claim 35, further comprising an air compressor configured to supply compressed gas to the compressed gas storage tank.

39. The pneumatic launcher of Claim 35, wherein the data connection comprises a Lemo connector.

40. A dismounted tactical launcher for unmanned aerial vehicles (UAVs) comprising: a launching tube sized to receive a UAV; two support legs coupled to the launching tube, the two support legs movable between a travel position and a support position; a controller configured to facilitate launch of a UAV; an inflator launcher comprising an airbag inflator; a data connection configured to link the UAV to the controller; a pneumatic section hingedly coupled to a rear end of the launching tube; anda base plate coupled to the rear end of the launching tube, the base plate configured to stabilize the launching tube.

41. The dismounted tactical launcher of Claim 40, wherein the two support legs are adjustable.

42. The dismounted tactical launcher of Claim 40, wherein the airbag inflator uses black powder for energetics.

43. The dismounted tactical launcher of Claim 40, further comprising an air compressor configured to supply compressed gas to the inflator launcher.

44. The dismounted tactical launcher of Claim 40, wherein the data connection comprises a Lemo connector.

45. The dismounted tactical launcher of Claim 40, wherein a total weight of the dismounted tactical launcher is less than 50 pounds.

46. A method of launching an unmanned aerial vehicle (UAV) comprising: unhinging a pneumatic section from a rear end of a launcher tube; inserting a UAV into the launcher tube; connecting the UAV to a controller via a data connection; closing and locking the pneumatic section; connecting the launcher tube to a power source; performing a built-in test (BIT) check to ensure working order of the launcher tube; powering down the launcher tube; and initiating a launch sequence for the UAV.

47. The method of Claim 46, further comprising removing a spent UAV from the launcher tube prior to inserting the UAV.

48. The method of Claim 46, wherein the data connection comprises a Lemo connector.

49. The method of Claim 46, further comprising loading the launcher tube onto a launch frame or setting up a dismounted launcher prior to initiating the launch sequence.

50. A pneumatic launcher for unmanned aerial vehicles (UAVs), comprising: a mounting structure; one or more launching tubes coupled to the mounting structure, each launching tube configured to receive a UAV and having a forward end and a rear end; a compressed gas source; a pneumatic section hingedly coupled to the rear end of each launching tube, the pneumatic section in fluid communication with the compressed gas source and configured to selectively propel a UAV out of the forward end of the launching tube; and a controller in data communication with the pneumatic section and configured to control launch of UAVs from the one or more launching tubes.

51. The pneumatic launcher of Claim 50, further comprising:one or more sets of wheels coupled to the mounting structure; and one or more support legs coupled to the mounting structure, the one or more support legs movable between a retracted position and an extended support position.

52. The pneumatic launcher of Claim 51 , further comprising: a hitch configured to connect the mounting structure to a vehicle.

53. The pneumatic launcher of Claim 50, wherein each launching tube comprises: a data connection configured to link a UAV in the launching tube to the controller.

54. The pneumatic launcher of Claim 50, wherein the mounting structure comprises: a launch frame configured to adjust a launch angle of the one or more launching tubes.

55. A pneumatic launch tube for launch of an unmanned aerial vehicle (UAV) comprising: a generally cylindrical tube having a forward opening and a rear opening, the tube having an internal diameter sized to receive the UAV; a pneumatic section in fluid communication with a compressed gas source, and in data communication with a controller, the pneumatic section being configured to selectively propel the UAV out of the forward opening of the launching tube in response to a command from the controller; a hinge mechanism configured to connect the pneumatic section to be adjacent to the rear opening, allowing the pneumatic section to pivot between: an active position in which the pneumatic section is approximately coaxial with the tube and substantially covers the rear opening, and a loading position where an axis of the pneumatic section is rotated at least ninety degrees in a direction orthogonal to the axis of the tube, such that the UAV may be inserted into the launch tube via the rear opening; and a locking mechanism configured to selectively lock the pneumatic section in the active position, wherein the pneumatic section forms a substantially air-tight seal with the tube when locked in the active position.

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