Stratospheric vehicle and related methods
The stratospheric vehicle addresses the limitations of existing earth-observation technologies by optimizing imaging and steering configurations, achieving high-resolution and continuous coverage over large areas with reduced bandwidth needs.
Patent Information
- Authority / Receiving Office
- WO · WO
- Patent Type
- Applications
- Filing Date
- 2025-12-15
- Publication Date
- 2026-07-09
Smart Images
Figure EP2025087067_09072026_PF_FP_ABST
Abstract
Description
[0001] STRATOSPHERIC VEHICLE AND RELATED METHODS
[0002] The present disclosure relates to a stratospheric vehicle and methods related to steering the stratospheric vehicle.
[0003] BACKGROUND
[0004] Earth-observation and monitoring via geostationary and other orbiting satellites is well-known. Further, with the development of drone technology, earth-observation with higher image resolution is now available, however with highly limited area and time coverage.
[0005] SUMMARY
[0006] Accordingly, there is a need for methods and apparatus with improved earth-observation capabilities which mitigate, alleviate or address the shortcomings existing technologies and provide flexible and efficient earth-monitoring.
[0007] A stratospheric vehicle is disclosed, the stratospheric vehicle comprising a levitation assembly optionally including a balloon; a steering system; a sensor system; an imaging system; one or more of a ground interface and a satellite interface; and an electronic device connected to the steering system, the sensor system, the imaging system, and the ground interface and / or the satellite interface. The electronic device comprises processing circuitry and an interface, the processing circuitry configured to obtain vehicle sensor data from the sensor system, the vehicle sensor data including first sensor data from a first sensor of the sensor system; obtain, via the ground interface and / or the satellite interface, input control data; determine a vehicle configuration comprising one or both of an imaging configuration and a steering configuration, the vehicle configuration, such as the imaging configuration and / or the steering configuration, based on the vehicle sensor data and / or the input control data; and control the vehicle according to the vehicle configuration, such as according to the imaging configuration and / or according to the steering configuration.
[0008] Further, a method of operating a stratospheric vehicle comprising an electronic device comprising processing circuitry and an interface is disclosed, the method comprising obtaining, e.g. via the interface, vehicle sensor data from a sensor system, the vehicle sensor data optionally including first sensor data from a first sensor of the sensor system; obtaining, e.g. via the interface, input control data from a ground interface; determining a vehicle configuration, the vehicle configuration optionally comprising one or both of an imaging configuration and a steering configuration, the vehicle configuration based on thevehicle sensor data and / or the input control data; and operating, such as controlling, the vehicle according to the vehicle configuration, such as according to the imaging configuration and / or according to the steering configuration.
[0009] It is an important advantage of the present disclosure that earth-observation with improved, such as higher, spatial resolution over a large area is provided.
[0010] Further, continuous earth-observation of a large area over a long time-span is provided.
[0011] The present disclosure allows for improved acquisition, quality and time-on-target of raw image data from image sensors collected over an area of interest, by optimizing vehicle configurations optionally comprising one or both imaging and steering configurations.
[0012] Further, the present disclosure enables multimodal imaging configurations comprising several active and / or passive Earth Observation payloads for Earth Observation operating off unit stratospheric vehicles. Multimodal imaging may comprise several diverse imaging configurations, which through the present disclosure, are used to optimise vehicle operation.
[0013] Further, a high degree of autonomy in the stratospheric vehicle is provided, in turn reducing bandwidth requirements between the vehicle and the ground control.
[0014] BRIEF DESCRIPTION OF THE DRAWINGS
[0015] The above and other features and advantages of the present invention will become readily apparent to those skilled in the art by the following detailed description of exemplary embodiments thereof with reference to the attached drawings, in which:
[0016] Fig. 1 schematically illustrates an exemplary stratospheric vehicle,
[0017] Fig. 2 shows a block diagram of an example platform of the stratospheric vehicle,
[0018] Fig. 3 shows a block diagram of an example electronic device of the stratospheric vehicle,
[0019] Fig. 4 is a flow diagram of an exemplary method according to the present disclosure,
[0020] Fig. 5 shows a block diagram of an example electronic device of the stratospheric vehicle,Fig. 6 illustrates an example scenario of the present disclosure,
[0021] Fig. 7 illustrates an example scenario of the present disclosure, and
[0022] Fig. 8 illustrates an example scenario of the present disclosure.
[0023] DETAILED DESCRIPTION
[0024] Various exemplary embodiments and details are described hereinafter, with reference to the figures when relevant. It should be noted that the figures may or may not be drawn to scale and that elements of similar structures or functions are represented by like reference numerals throughout the figures. It should also be noted that the figures are only intended to facilitate the description of the embodiments. They are not intended as an exhaustive description of the invention or as a limitation on the scope of the invention. In addition, an illustrated embodiment needs not have all the aspects or advantages shown. An aspect or an advantage described in conjunction with a particular embodiment is not necessarily limited to that embodiment and can be practiced in any other embodiments even if not so illustrated, or if not so explicitly described.
[0025] A stratospheric vehicle is disclosed. A stratospheric vehicle is a vehicle able to operate in the stratosphere of the Earth and at altitudes up to 50 km, such as in the range from 10 km to 45 km, e.g. in the range from 20 km to 40 km.
[0026] The stratospheric vehicle is configured to operate at a temperature less than -50°C. The stratospheric vehicle is configured to operate at a temperature larger than 30°C. The stratospheric vehicle may be configured to operate at temperatures in the range from -60 °C to 45 °C.
[0027] The stratospheric vehicle is configured to operate at pressures less than 20 kPa. The stratospheric vehicle is configured to operate at pressures higher than 101 kPa. The stratospheric vehicle may be configured to operate at pressures in the range from 10 kPa to 110 kPa.
[0028] The stratospheric vehicle comprises one or more of a levitation assembly; a steering system; a sensor system; an imaging system; a ground interface, a satellite interface; and an electronic device.
[0029] The levitation assembly may comprise a balloon.The steering system may comprise a steering controller, e.g. configured to receive the steering configuration. The steering controller is configured to control other components of the steering system, such as one or more steering devices, such as one or more pumps, actuators, heating elements, sails, fins, and / or propellers. The steering controller may be configured to control, e.g. via one or more steering devices, an altitude of the stratospheric vehicle and / or a lateral drift e.g. based on an altitude control signal and / or a lateral drift control signal as steering control signals from the electronic device. In other words, the steering controller is configured to control one or more steering devices of the steering system e.g. based on the steering configuration from the electronic device.
[0030] The sensor system comprises one or more sensors and sensor controller connected to the sensor(s). The sensor system is configured to provide vehicle sensor data to the electronic device. The sensor system may comprise a first sensor, such as a wind sensor, for provision of first sensor data D_S_1 (wind speed data). The sensor system may comprise a second sensor, such as an external thermometer, for provision of second sensor data D_S_2 (temperature data). The sensor system may comprise a third sensor, such as an altitude sensor, e.g. a barometer, for provision of third sensor data D_S_3. The sensor system may comprise a fourth sensor, such as a direction or heading sensor, e.g. a compass, for provision of fourth sensor data D_S_4. The sensor system may comprise a fifth sensor, such as a primary inertial measurement unit (IMU), for provision of fifth sensor data D_S_5. The sensor system may comprise a sixth sensor, such as a secondary inertial measurement unit (IMU), for provision of sixth sensor data D_S_6. The sensor system may comprise a seventh sensor, such as a primary Global Navigation Satellite System (GNSS) sensor, for provision of seventh sensor data D_S_7. The sensor system may comprise an eighth sensor, such as a secondary Global Navigation Satellite System (GNSS) sensor, for provision of eighth sensor data D_S_8.
[0031] The imaging system may be denoted camera system and may comprise one or more cameras, such as a plurality of cameras and / or other active / passive imagers, including a first camera / imager and / or a second camera / imager. The imaging system optionally comprises a third camera / imager. The imaging system is configured to output or provide image data. The image data may comprise one or more of first image data l_D_1 associated with or from the first camera / imager, second image data l_D_2 associated with or from the second camera / imager, and third image data l_D_2 associated with or from the third camera / imager.The first camera / imager may be an RGB camera, an InfraRed (IR), such as a Near InfraRed (NIR), camera, a hyperspectral camera, a radar imager, a thermal camera, or a lidar imager.
[0032] The second camera / imager may be an RGB camera, an InfraRed (IR), such as a Near InfraRed (NIR), camera, a hyperspectral camera, a radar imager, a thermal camera, or a lidar imager. The second camera may be of a different type than the first camera / imager.
[0033] The third camera / imager may be an RGB camera, an InfraRed (IR), such as a Near InfraRed (NIR), camera, a hyperspectral camera, a radar imager, a thermal camera, or a lidar imager. The third camera may be of a different type than the first camera / imager and / or the second camera / imager.
[0034] In one or more examples, the first camera and the second camera are RGB cameras.
[0035] In one or more examples, the first camera is an RGB camera, and the second camera is a hyperspectral camera. In one or more examples, the first camera is an RGB camera, and the second camera is a radar imager.
[0036] In one or more examples, the first camera is an RGB camera, the second camera is a hyperspectral camera, and the third camera is a radar imager.
[0037] Different camera / imager types may allow for a wider range of imaging solutions and / or improved image quality over a large range of weather conditions and / or over longer periods of time.
[0038] The imaging system may comprise an image controller, e.g. configured to receive the imaging configuration. The image controller is configured to control other components of the imaging system, such as one or more cameras or imagers. The image controller may be configured to control one or more operating parameters of one or more cameras / imagers of the imaging system, such as the first camera / imager and / or the second camera / imager. In other words, the imaging controller is configured to control one or more imagers of the imaging system e.g. based on the imaging configuration from the electronic device.
[0039] The ground interface may be configured to communicate with a ground system, such as a ground control center, i.e. configured to receive input control data from the ground control center. The ground interface may comprise one or more antennas, such as a groundantenna, and a ground transceiver. The ground antenna may be configured to operate at a ground frequency, such as e.g. in the range from 430 MHz to 440 MHz or in the range from 863 MHz to 870 MHz. The ground transceiver may be a SiK telemetry radio. The ground transceiver may be a LoRa-supporting telemetry radio. The ground transceiver may be other telemetry radios.
[0040] The satellite interface may be a SatCom interface. In other words, the stratospheric vehicle may be configured to communicate with, e.g. transmitting and / or receiving satellite data to / from and / or transmitting image data to, one or more satellites, such as one or more SatCom satellites. The satellite interface may comprise one or more antennas, such as a satellite antenna, and a satellite transceiver. The satellite antenna may be configured to operate at a satellite frequency, e.g. different from the ground frequency. The satellite frequency may be in the L-band (1-2 GHz), the S-band (2-4GHz), the C-band (4-8 GHz), the X-band (8-12 GHz), the Ku-band (12-18 GHz), the Ka-band (26-40 GHz), the V-band (40-75 GHz), or the W-band (75-110 GHz).
[0041] The electronic device is connected to one or more of the steering system, the sensor system, the camera / imager system, the ground interface, and the satellite interface.
[0042] The electronic device comprises processing circuitry, memory, and an interface connected to the processing circuitry. The interface of the electronic device is configured to connect the electronic device to one or more sub-systems of the stratospheric vehicle e.g. for receiving input signals / input data and / or for providing output signals / output data, such as control signals.
[0043] The electronic device / processing circuitry is configured to obtain vehicle sensor data also denoted VSD from the sensor system. The vehicle sensor data optionally includes first sensor data from the first sensor and / or second sensor data from the second sensor.
[0044] The electronic device / processing circuitry may be configured to obtain, e.g. via the ground interface and / or the satellite interface, input control data also denoted ICD. The input control data ICD may comprise one or more input control signals.
[0045] The electronic device / processing circuitry is configured to determine a vehicle configuration also denoted V_conf comprising one or both of an imaging configuration also denoted l_conf and a steering configuration also denoted S_conf. The vehicleconfiguration, such as the imaging configuration and / or the steering configuration, is based on the vehicle sensor data and / or the input control data.
[0046] The electronic device / processing circuitry is configured to operate or control the vehicle, such as one or more of the steering system, the sensor system, and the imaging system according to the vehicle configuration, such as according to the imaging configuration and / or according to the steering configuration, e.g. by outputting steering control signals, sensor control signals and / or image control signals to the steering system, the sensor system, and the imaging system, respectively. Thus, the processing circuitry may be configured to operate or control the steering system according to the steering configuration, e.g. by outputting steering control signals also denoted SCS to the steering system and / or the processing circuitry may be configured to operate or control the imaging system according to the imaging configuration, e.g. by outputting image control signals also denoted IMCS to the imaging system.
[0047] The steering system is configured to operate according to the steering configuration. In other words, the steering configuration is used to control the steering system of the stratospheric vehicle.
[0048] The imaging system is configured to operate according to the imaging configuration. In other words, the imaging configuration is used to control the imaging system, such as one or more imagers / cameras, of the stratospheric vehicle.
[0049] The processing circuitry may comprise a main controller. The main controller is configured to determine and output steering control signals and / or image control signals, e.g. based on the imaging configuration and / or the steering configuration. The steering control signals and / or image control signals may be based on vehicle sensor data. The imaging configuration may be used as image control signals. The steering configuration may be used as steering control signals.
[0050] In one or more examples, a stratospheric vehicle comprising a levitation assembly including a balloon; a steering system; a sensor system; an imaging system; one or more of a ground interface and a satellite interface; and an electronic device connected to the steering system, the sensor system, the imaging system, and the ground interface is disclosed, wherein the electronic device comprises processing circuitry and an interface, the processing circuitry configured to obtain vehicle sensor data from the sensor system, the vehicle sensor data including first sensor data from a first sensor of the sensorsystem; obtain, via the ground interface, input control data; determine a vehicle configuration comprising one or both of an imaging configuration and a steering configuration, the vehicle configuration based on the vehicle sensor data and the input control data; and control the vehicle according to the vehicle configuration.
[0051] The imaging configuration may comprise one or more imaging settings including a first imaging setting and / or a second imaging setting. The first imaging setting may be for a first camera of the imaging system / camera system. The second imaging setting may be for a second camera of the imaging system / camera system. To control the vehicle according to the vehicle configuration may comprise to control the imaging system, such as the first camera according to the first imaging setting and / or the second camera according to the second imaging setting. In other words, the processing circuitry may output the imaging configuration to the imaging system, wherein the imaging system, such as the image controller, is configured to operate one or more cameras, such as the first camera and / or the second camera, according to the imaging configuration. For example, the image controller may be configured to operate the first camera according to the first imaging setting and / or the second camera according to the second imaging setting. The first imaging setting may comprise a first camera trajectory and / or the second imaging setting may comprise a second camera trajectory. A camera trajectory is indicative of camera position, such as camera pan and / or tilt and / or roll, as a function of time. To control the vehicle according to the vehicle configuration may comprise to control the first camera according to the first camera trajectory and / or the second camera according to the second camera trajectory.
[0052] An imaging setting may comprise zoom of the camera / imager, e.g. as a function of time. In other words, the first imaging setting may comprise a first zoom for the first camera as a function of time. The second imaging setting may comprise a second zoom for the second camera as a function of time.
[0053] In one or more examples, the imaging configuration comprises imaging settings, wherein to determine a vehicle configuration comprises to determine the imaging configuration including a first imaging setting of the imaging settings, and to control the vehicle according to the vehicle configuration comprises to control the imaging system, such as the first camera, according to the first imaging setting.
[0054] Thus, the imaging settings may include a second imaging setting, i.e. to determine imaging settings may comprise to determine a second imaging setting. The secondimaging setting may be for a second camera of the imaging system / camera system. To control the vehicle according to the vehicle configuration may comprise to control the imaging system, such as the second camera, according to the second imaging setting. For example, the image controller may be configured to operate the second camera according to the second imaging setting.
[0055] The imaging settings may include a third imaging setting. Thus, to determine imaging settings may comprise to determine a third imaging setting. The third imaging setting may be for a third camera of the imaging system / camera system. To control the vehicle according to the vehicle configuration may comprise to control the imaging system, such as the third camera, according to the third imaging setting. For example, the image controller may be configured to operate the third camera according to the third imaging setting.
[0056] An imaging setting, such as one or more of the first imaging setting, the second imaging setting, and the third imaging setting, may comprise one or more operating parameters, e.g. as a function of time and / or position. A primary operating parameter of an imaging setting may be a camera angle and / or direction, such as pan and / or tilt and / or roll, e.g. as a function of time and / or position. In other words, a primary operating parameter may be a camera trajectory. A secondary operating parameter of an imaging setting may be a camera focus, zoom, and / or magnification, e.g. as a function of time and / or position. A tertiary operating parameter of an imaging setting may be a camera resolution, e.g. as a function of time and / or position. A quaternary operating parameter of an imaging setting may be a frame frequency, e.g. as a function of time and / or position. A quinary operating parameter of an imaging setting may be a frame duration, e.g. as a function of time and / or position. A senary operating parameter of an imaging setting may be an exposure time, e.g. as a function of time and / or position. An septenary operating parameter of an imaging setting may be a shutter speed, e.g. as a function of time and / or position.
[0057] One or more operating parameters of an imaging setting may be radar operating parameter(s).An octonary operating parameter of an imaging setting may be a radar operating parameter, e.g. as a function of time and / or position. The radar operating parameter may comprise one or more of active signal frequency, sampling frequency, polarization, azimuth, elevation, pulse width, power, e.g. as a function of time and / or position.One or more operating parameters of an imaging setting may be lidar operating parameter(s). A nonary operating parameter of an imaging setting may be a lidar operating parameter, e.g. as a function of time and / or position. The lidar operating parameter may comprise one or more of the light source wavelength, field of view, number of illuminating beams, detection range, scan pattern, detection rate, pan and / or tilt and / or roll of illumination and / or detection assemblies e.g. as a function of time and / or position.
[0058] One or more operating parameters of an imaging setting may be multispectral or hyperspectral operating parameter(s). A denary operating parameter of an imaging setting may be a multispectral and / or hyperspectral imaging operating parameter, e.g. as a function of time and / or position. The multispectral and / or hyperspectral operating parameter may comprise one or more of the spectral resolution, number of collected bands, bandwidth of collected bands, wavelength range covered, exposure time, shutter speed, frame duration, frame frequency, camera resolution, magnification, pan and / or tilt and / or roll.
[0059] The steering configuration may comprise one or more steering settings including a first steering setting. The first steering setting may be or comprise a first vehicle trajectory. To control the vehicle according to the vehicle configuration may comprise to control the steering system, such as one or more steering devices, according to the first steering setting. In other words, the processing circuitry, such as the main controller, may output steering control signals according to the steering configuration, or the steering configuration to the steering system, wherein the steering system, such as the steering controller, is configured to operate one or more steering devices according to the steering control signals or steering configuration. For example, the steering controller may be configured to operate the first steering device according to the first steering setting.
[0060] In one or more examples, the steering configuration comprises one or more vehicle trajectories, wherein to determine a vehicle configuration comprises to determine a first vehicle trajectory of the steering configuration, and to control the vehicle according to the vehicle configuration comprises to control the steering system according to the first vehicle trajectory.
[0061] In one or more examples, the processing circuitry is configured to obtain secondary vehicle sensor data from a secondary stratospheric vehicle, and wherein to determine avehicle configuration, such as the imaging configuration and / or the steering configuration, is based on the secondary vehicle sensor data.
[0062] In one or more examples, first sensor data being wind data indicative of one or more of wind speed and wind direction, e.g. within a vicinity of the stratospheric vehicle, wherein to determine a vehicle configuration is based on the wind data.
[0063] In one or more examples, the input control data comprises one or more of a vehicle position; a target vehicle position, a vehicle trajectory, and steering instructions, and wherein to determine a vehicle configuration, such as the imaging configuration and / or the steering configuration, is based on one or more of vehicle position; target vehicle position, vehicle trajectory, and steering instructions of the input control data.
[0064] The input control data may indicate a geographical area and / or position for which images / image data are required, also denoted target image position. In other words, the input control data may comprise a target image position, and to determine a vehicle configuration, such as the imaging configuration and / or the steering configuration, may be based on the target image position.
[0065] In one or more examples, the input control data comprises target imaging parameters and wherein to determine a vehicle configuration, such as the imaging configuration and / or the steering configuration, is based on the target imaging parameters. Target imaging parameters may be indicative of minimum imaging parameters, such as one or more of minimum spatial resolution, minimum spectral resolution, and minimum imaging area.
[0066] In one or more examples, the input control data comprises satellite data and wherein to determine a vehicle configuration is based on the satellite data.
[0067] In one or more examples, the input control data and / or the satellite data comprises meteorological data and wherein to determine a vehicle configuration, such as the imaging configuration and / or the steering configuration, is based on the meteorological data. The meteorological data may comprise one or more of wind distribution, pressure distribution, temperature distribution, and cloud distribution.
[0068] In one or more examples, the vehicle sensor data includes second sensor data from a second sensor of the sensor system, wherein to determine a vehicle configuration, such as the imaging configuration and / or the steering configuration, is based on the second sensor data.In one or more examples, the second sensor data is indicative of temperature, pressure, visibility, humidity, and / or cloud cover.
[0069] In one or more examples, the imaging configuration comprises one or more imaging settings including one or more of camera position, camera trajectory, image resolution, frame frequency, frame duration, exposure time, shutter speed, and one or more radar operating parameters, e.g. as a function of time and / or vehicle position.
[0070] In one or more examples, to determine a vehicle configuration comprises applying one or more machine learning models to the vehicle sensor data and / or the input control data. The machine learning models and / or outputs from machine learning models may be constrained by other configurations and / or target parameters, such as target imaging parameters and / or target vehicle parameters.
[0071] In one or more examples, the imaging system is configured to capture raw image sensor data, and the processing circuitry is configured to transmit, via the ground interface and / or the satellite interface, image data based on the raw image sensor data.
[0072] In one or more examples, the processing circuitry is configured to transmit image data, e.g. via the ground interface and / or the satellite interface. Thus, control of the stratospheric vehicle may be performed via the ground interface and image data transmission may be performed via the satellite interface, which may allow for a secure control via the ground interface while taking advantage of a higher bandwidth via the satellite interface.
[0073] Fig. 1 shows an example stratospheric vehicle 2. The stratospheric vehicle 2 is configured to operate in the stratosphere of the Earth, e.g. at altitudes higher than 18 km, such as up to 50 km. The stratospheric vehicle may also be configured to operate below 18 km, such as 5 km altitude, for instance, resulting from a vehicle configuration and / or while transiting from launch site to stratosphere or back.
[0074] The stratospheric vehicle 2 comprises a levitation assembly 4 comprising a balloon 4A; a steering system 6; a sensor system 8; an imaging system 10 comprising a first camera 10A, a second camera 10B, and optional third camera 10D; a ground interface 12 comprising a ground antenna 12A and a ground transceiver 12B; a satellite interface 14 comprising a satellite antenna 14A and a satellite transceiver 14B; and an electronic device 16.The stratospheric vehicle 2 optionally comprises a platform 18 having a frame structure carrying or having mounted thereon other components, such as one or more of sensor system 8; imaging system 10; ground interface 12; satellite interface 14; and electronic device 16.
[0075] The stratospheric vehicle 2 typically comprises a parachute assembly 20, e.g. used for landing.
[0076] Fig. 2 is a block diagram of a part of the stratospheric vehicle 2. The sensor assembly 8 is configured to provide vehicle sensor data VSD to the electronic device 16 and comprises a plurality of sensors including one or more, such as all of, a first sensor 8A (wind sensor) for provision of first sensor data D_S_1 , a second sensor 8B (external thermometer) for provision of second sensor data D_S_2, a third sensor 8C (altitude sensor) for provision of third sensor data D_S_3, a fourth sensor 8D (direction sensor) for provision of fourth sensor data D_S_4, a fifth sensor 8E (primary IMU) for provision of fifth sensor data D_S_5, a sixth sensor 8F (secondary IMU) for provision of sixth sensor data D_S_6, a seventh sensor (primary GNSS sensor) for provision of seventh sensor data D_S_7, an eighth sensor 8G (secondary GNSS sensor) for provision of eighth sensor data D_S_8 (secondary GNSS data). The eighth sensor 8G may be directly connected to the satellite interface 14, e.g. for providing secondary GNSS data to the ground control center via a satellite connection. This allows for recovery of the stratospheric vehicle 2 e.g. in case of malfunction of the electronic device 16. The sensor data D_S_1-D_S_8 may be fed to the sensor controller 9, e.g. configured to control data collection from the sensors and / or sensor data transmission to the electronic device 16. The sensor data D_S_1-D_S_8 may be fed directly to the electronic device 16. In other words, the sensor controller 9 may be implemented as part of the electronic device 16.
[0077] The imaging system 10 comprises a first camera 10A, a second camera 10B and an image controller 10C connected to the first camera 10A and the second camera 10B. The camera, such as the first camera 10A, such as the second camera 10B, may be one or several active / passive imagers, such as optical RGB cameras, radar, multispectral, hyperspectral cameras, lidars. The imaging system 10 may comprise a third camera 10D. The imaging system is configured to output or provide image data ID to the electronic device 16, the image data ID optionally based on one or more of first image data ID_1 from the first camera 10A, second image data ID_2 from the second camera 10B, and third image data ID_3 from the third camera 10D.The ground interface 12 is configured to communicate with a ground system (not shown), such as a ground control center, and thus configured to receive input control data from the ground control center for controlling the stratospheric vehicle 2 from the ground control center. The ground interface 12 comprises a ground antenna 12A and a ground transceiver 12B, wherein the ground antenna 12A is configured to operate at a ground frequency, such as e.g. in the range from 430 MHz to 440 MHz, e.g. in the range from 863 MHz to 870 MHz, and the ground transceiver 12B optionally is a SiK telemetry radio, and / or optionally is a LoRa radio.
[0078] The satellite interface 14 may be a SATCOM interface. In other words, the stratospheric vehicle may be configured to communicate, e.g. transmitting and / or receiving satellite data, with one or more satellites, such as one or more SATCOM satellites. The satellite interface 14 comprises a satellite antenna 14A and a satellite transceiver 14B, wherein the satellite antenna is configured to operate at a satellite frequency different from the ground frequency. The satellite frequency may be in the the L-band (1-2 GHz), the S-band (2-4GHz), the C-band (4-8 GHz), the X-band (8-12 GHz), the Ku-band (12-18 GHz), the Ka-band (26-40 GHz), the V-band (40-75 GHz), or the W-band (75-110 GHz). For instance, the satellite interface 14 may operate in the Ku-band region, to communicate for SatCom with satellites in geostationary orbit.
[0079] Fig. 3 shows an example block diagram of an example electronic device according to the present disclosure. The electronic device 16 comprises processing circuitry 30 such as one or more processors, memory 32, and an interface 34 connected to the processing circuitry 30. The interface 34 is connected to sub-systems / assemblies of the stratospheric vehicle 2 for receiving input signals / input data including input control data ICD, vehicle sensor data VSD, and image data ID and / or for providing output signals / output data, such as steering control signals SCS indicative of the steering configuration, and image control signals IMCS indicative of the imaging configuration.
[0080] Thus, the processing circuitry is configured to obtain vehicle sensor data VSD from the sensor system, the vehicle sensor data comprising one or more of S_D_1-S_D_8. The first sensor data S_D_1 may be indicative of wind speed and / or wind direction, e.g. within a vicinity of the stratospheric vehicle. In other words, the first sensor data may be a wind distribution, such as comprising wind speed and / or direction as a function of altitude. The vehicle configuration may be based on wind data, such as a wind distribution.Further, the processing circuitry 30 is configured to obtain, e.g. via the ground interface 14 and the interface 34, input control data ICD. The input control data ICD comprises one or more of a vehicle position VP; a target vehicle position TVP, a vehicle trajectory VT, target image position, and steering instructions SI, and wherein to determine a vehicle configuration is based on one or more of vehicle position VP; target vehicle position TVP, vehicle trajectory VT, target image position, and steering instructions SI of the input control data.
[0081] The input control data ICD optionally comprises target imaging parameters TIP and to determine a vehicle configuration may be based on the target imaging parameters TIP. To determine a vehicle configuration, such as steering configuration and / or imaging configuration, may be based on the satellite data SD, e.g. received via the satellite interface 14 and / or as part of the input control data.
[0082] The input control data and / or the satellite data may comprise meteorological data MD. To determine a vehicle configuration, such as the imaging configuration and / or the steering configuration, is optionally based on the meteorological data MD. Thereby, a more accurate steering configuration and / or imaging configuration may be provided for.
[0083] The processing circuitry 30 is configured to determine a vehicle configuration comprising one or both of an imaging configuration l_Conf and a steering configuration S_Conf. Thus, the processing circuitry may comprise a vehicle configurator 36 comprising an imaging configurator 38 for provision of the imaging configuration, and / or a steering configurator 40 for provision of the steering configuration. The processing circuitry 30 comprises a main controller 50 receiving imaging configuration l_Conf and / or steering configuration S_Conf and providing steering control signals STS and imaging control signal IMCS accordingly. Thus, the processing circuitry 16 outputs steering control signals STS to the steering system in accordance with the steering configuration, and outputs imaging control signals IMCS in accordance with the imaging configuration. The imaging control signals IMCS may include activation and / or deactivation of one or more cameras e.g. at different points in time. For example, the first camera may be turned off or deactivated during a first time period and / or the second camera may be turned off or deactivated during a second time period.
[0084] The steering configuration comprises one or more vehicle trajectories, wherein to determine a vehicle configuration comprises to determine a first vehicle trajectory of thesteering configuration, and to control the vehicle according to the vehicle configuration comprises to control the steering system according to the first vehicle trajectory.
[0085] To determine a vehicle configuration optionally comprises applying one or more machine learning models to the vehicle sensor data and / or the input control data. Thus, the vehicle configurator 36, such as imaging configurator 38 and / or steering configurator 40 may comprise a machine learning model 38A, 40A, where VSD and ICD are fed to imaging ML 38A and steering ML 40A. In other words, the imaging configurator 38 is configured to determine an imaging configuration, such a first camera trajectory and / or a second camera trajectory, e.g. based on ICD, such as TIP, VSD, and optionally the steering configuration, such as a first vehicle trajectory. The steering configurator 40 is configured to determine a steering configuration, such as a first vehicle trajectory, e.g. based on ICD, such as TVP, VSD, and optionally MD provided as part of ICD and / or SD.
[0086] The imaging system 10 is configured to capture raw image sensor data, such as ID_1 , ID_2 and / or ID_3 and provide image data ID based on I D_1 , ID_2 and / or I D_3, e.g. in accordance with the imaging configuration, and the processing circuitry 16 is configured to transmit, via the ground interface 12 and / or the satellite interface 14, the image data ID.
[0087] Fig. 4 is a flow diagram of an example method according to the present disclosure. The method 100 is a method of operating a stratospheric vehicle comprising an electronic device comprising processing circuitry and an interface, the method 100 comprising obtaining S102, via the interface, vehicle sensor data VSD from a sensor system, the vehicle sensor data VSD including first sensor data from a first sensor of the sensor system; obtaining S104, via the interface, input control data from a ground interface and / or a satellite interface; determining S106 a vehicle configuration comprising one or both of an imaging configuration and a steering configuration, the vehicle configuration based on the vehicle sensor data and / or the input control data; and operating, such as controlling S108, the vehicle according to the vehicle configuration.
[0088] Fig. 5 shows a block diagram of an example processing circuitry 30 comprising imaging configurator 38 and steering configurator 40 connected to main controller 50. The main controller 50 comprise controls for steering configuration signals SCS and imaging control signals IMCS.
[0089] In one or more examples of processing circuitry 30, input control data ICD is obtained from ground control center via ground interface 12 or satellite interface 14 connected tointerface 34. The input control data ICD comprises a Target Vehicle Position TVP, Target Imaging Parameters TIP and Meteorological Data MD. The input control data ICD is passed to the processing circuitry 30 and the vehicle configurator 36. Vehicle sensor data VSD is available to the imaging configurator 38, steering configurator 40 and main controller 50. The vehicle sensor data VSD comprises first sensor data indicative of wind speed, second sensor data indicative of temperature, third sensor data indicative of pressured / altitude, optionally fourth sensor data indicative of direction, fifth sensor data and sixth sensor data indicative of indicative of movement / acceleration based on IMUs, and seventh sensor data indicative of GNSS-based position. The first camera 10A is an RGB camera and 10B is a hyperspectral snapshot camera. The steering configurator 40 determines the steering configuration S_Conf necessary to provide one or both of TVP subject to TIP and MD constraints. The imaging configurator 38 determines, e.g via imaging ML 38A, an imaging configuration l_conf necessary to provide data with TIP characteristics for each of cameras 10A and 10B, respectively. The imaging configuration l_Conf may be based on the steering configuration S_Conf. In other words, the steering configuration S_Conf from steering configurator 40, such as a first steering setting / first vehicle trajectory, may be fed as input to the imaging configurator 38. The configurations l_Conf and S_Conf are passed to main controller 50, which determines the necessary steering control signals SCS and imaging control signals IMCS. Because cameras 10A and 10B are both optical snapshot cameras, steering control signals SCS entail a single overpass over the target vehicle position TVP, at an unconstrained horizontal velocity, however optionally subject to a maximum altitude constrained by the target imaging parameters TIP relating to resolution and / or ground sampling distance. The imaging control and steering controls are actuated according to IMCS and SCS in respective steering system and imaging system. Discrepancies in the planned vehicle trajectory and the actual vehicle trajectory may be mitigated / minimized / corrected by the main controller 50, which may output modified imaging control signals IMCS to compensate for altered course, however still such that target imaging parameters are met. Optionally, an updated vehicle configuration including imaging configuration and steering configuration may, e.g. if discrepancies or errors are significant, be calculated through the same mechanism as in the first instance.
[0090] In one or more examples of processing circuitry 30, input control data ICD is obtained from ground control center via ground interface 12 or satellite interface 14 connected to interface 34. The input control data ICD comprises a Target Vehicle Position TVP, Target Imaging Parameters TIP, and Meteorological Data MD. The input control data ICD ispassed through interface 34 to the processing circuitry 30 and the vehicle configurator 36. Vehicle sensor data VSD is available to the imaging configurator 38, steering configurator 40 and main controller 50. The first camera 10A is an RGB camera and 10B is a synthetic aperture radar payload. The imaging configurator 38 determines, e.g. via imaging ML 38A, the imaging configuration l_conf necessary to provide data with TIP characteristics for each of camera 10A and synthetic aperture radar 10B. Similarly, the steering configurator determines, e.g. via steering ML 40A, the steering configuration S_conf necessary to provide one or both of TVP subject to TIP and MD constraints. The configurations l_Conf and S_Conf are passed to main controller 50, which determines the necessary steering control signals SCS and imaging control signals IMCS. Because the imaging configurations and target imaging parameters differ between the two imaging payloads, the steering configuration S_Conf / steering control signal SCS will entail a complex planned vehicle trajectory, where the steering configuration firstly executes a calculated fly-by maneuver offset from the target vehicle position and with a minimum horizontal velocity and constant altitude contrained by target imaging parameters TIP, to collect synthetic aperture radar raw image data. Subsequent steering control signals according to the steering configuration relate to planned trajectories for a single overpass over the target vehicle position, at an unconstrained horizontal velocity, however subject to a maximum altitude constrained by the target imaging parameters TIP relating to resolution and / or ground sampling distance, to collect the optical imagery. Discrepancies in the planned vehicle trajectory and the actual vehicle trajectory may be mitigated / minimized / corrected by the main controller 50, which may output modified imaging control signals IMCS to compensate for altered course, however still such that target imaging parameters are met. Optionally, an updated vehicle configuration including imaging configuration and / or steering configuration may, e.g. if discrepancies or errors are significant, be calculated through the same mechanism as in the first instance.
[0091] In one or more examples being a variation to the previous, all else equal, the target imaging parameters TIP permit off-nadir or alternate look-angles and / or azimuths for the optical payload exemplified first camera. In turn, the steering configuration may only need to execute steering related to the fly-by maneuver offset from the target vehicle position for the synthetic aperture radar data acquisition, as the target imaging parameters for the first camera can be met simply by issuing a new set of imaging control signals enabling data acquisition from the offset vehicle position.In one or more examples, the image data is stored onboard and / or the image data is downlinked to ground via satellite interface 14. In this example, satellite interface 14 and its components operate in the Ku-band, exploiting high bandwidth to transmit the large imaging data to ground.
[0092] Fig. 6 illustrates an example scenario of the present disclosure. In the illustrated scenario, the imaging system comprises a first camera being an RGB camera, a second camera being a multispectral camera, and optionally a third camera being a hyperspectral camera. Fig. 6 demonstrates the relationship between steering configuration S_conf and imaging configuration l_conf, where the target vehicle position TVP enables acquisition with target imaging parameters TIP, a target vehicle position TVP which is achievable from the planned first vehicle trajectory described by the steering configuration S_conf and monitored by main controller 50. In this exemplary schematic, a nadir-viewing configuration was described by the target imaging parameters for all cameras, and hence the target vehicle position and subsequent steering configuration S_conf and imaging configuration l_conf are constrained / optimized / selected such that a nadir-viewing configuration can be achieved given a set of meteorological data MD and vehicle sensor data VSD.
[0093] Fig.7 is an example schematic of the scenario of Fig. 6 except that an angled look or view is permitted by the target imaging parameters TIP. In this instance, a different steering configuration S_Conf is determined and optimized to deliver faster TIP through a different first vehicle trajectory of the steering configuration S_Conf and target vehicle position TVP. The joint optimization of steering configuration S_Conf and imaging configuration l_Conf, can entail e.g. faster and / or more durable image delivery, less energy consumption during flight, increased data quality, increased safety of operations, and may be a key advantage of the present disclosure.
[0094] Fig. 8 is an example scenario where the imaging system comprises a first camera being a optical camera with target imaging parameters TIP allowing for angled looks, and optionally a second camera being a radar imager, such as a synthetic aperture radar. Because the imaging configurations of the two cameras are constrained by the second camera target imaging parameters, but the first camera target imaging parameters allow angled looks within the imaging configurations of second camera, the steering configuration S_Conf is determined such that a series of target vehicle positions are met at a relatively high horizontal velocity and at similar altitude. The first image data collectedby the first camera can be collected simultaneously as the imaging configuration l_Conf is within the target imaging parameters set for the second camera.
[0095] It should be noted that a target vehicle position may be represented by one or more target vehicle positions over time, and that target imaging parameters can be represented by one or more separate target imaging parameters for each of the first camera, second camera, and optionally third camera.
[0096] The use of the terms “first”, “second”, “third” and “fourth”, “primary”, “secondary”, “tertiary” etc. does not imply any particular order, but are included to identify individual elements. Moreover, the use of the terms “first”, “second”, “third” and “fourth”, “primary”, “secondary”, “tertiary” etc. does not denote any order or importance, but rather the terms “first”, “second”, “third” and “fourth”, “primary”, “secondary”, “tertiary” etc. are used to distinguish one element from another. Note that the words “first”, “second”, “third” and “fourth”, “primary”, “secondary”, “tertiary” etc. are used here and elsewhere for labelling purposes only and are not intended to denote any specific spatial or temporal ordering.
[0097] Furthermore, the labelling of a first element does not imply the presence of a second element and vice versa.
[0098] It may be appreciated that the figures comprise some components, circuitries, or operations which are illustrated with a solid line and some which are illustrated with a dashed line. Dashed lines are generally used to provide context and / or to depict further details or aspects not otherwise apparent from a 2D schematic. The depiction of solid or dashed lines, and the relationship to the various described embodiments, is to be understood in view of the corresponding description. Some connections between components are described but not depicted; the skilled person will recognize the interconnected or interoperability between components. It should be appreciated that these operations need not be performed in order presented. Furthermore, it should be appreciated that not all of the operations need to be performed. The example operations may be performed in any order and in any combination.
[0099] It is to be noted that the word "comprising" does not necessarily exclude the presence of other elements or steps than those listed.
[0100] It is to be noted that the words "a" or "an" preceding an element do not exclude the presence of a plurality of such elements.It is to be noted that the term "indicative of" may be seen as “associated with”, “related to”, “descriptive of”, “characterizing”, and / or “defining”. The terms “indicative of”, “associated with”, “related to”, “descriptive of”, “characterizing”, and “defining” can be used interchangeably. The term “indicative of” can be seen as indicating a relation. For example, weight data indicative of weight may comprise one or more weight parameters.
[0101] It is to be noted that the word "based on" may be seen as “as a function of” and / or “derived from”. The terms “based on” and “as a function of” can be used interchangeably. For example, a parameter determined “based on” a data set can be seen as a parameter determined “as a function of” the data set. In other words, the parameter may be an output of one or more functions with the data set as an input.
[0102] A list in the form of “A, B, or C, or any combination therefore” should be understood to mean “A”, or “B”, or “C”, or “A and B”, or “A and C”, or “B and C”, or “A and B and C”.
[0103] A function may be characterizing a relation between an input and an output, such as mathematical relation, a database relation, a hardware relation, logical relation, and / or other suitable relations.
[0104] It should further be noted that any reference signs do not limit the scope of the claims, that the example embodiments may be implemented at least in part by means of both hardware and software, and that several "means", "units" or "devices" may be represented by the same item of hardware.
[0105] The various example methods, devices, nodes and systems described herein are described in the general context of method steps or processes, which may be implemented in one aspect by a computer program product, embodied in a computer-readable medium, including computer-executable instructions, such as program code, executed by computers in networked environments. A computer-readable medium may include removable and non-removable storage devices including, but not limited to, Read Only Memory (ROM), Random Access Memory (RAM), compact discs (CDs), digital versatile discs (DVD), etc. Generally, program circuitries may include routines, programs, objects, components, data structures, etc. that perform specified tasks or implement specific abstract data types. Computer-executable instructions, associated data structures, and program circuitries represent examples of program code for executing steps of the methods disclosed herein. The particular sequence of such executableinstructions or associated data structures represents examples of corresponding acts for implementing the functions described in such steps or processes.
[0106] Although features have been shown and described, it will be understood that they are not intended to limit the claimed disclosure, and it will be made obvious to those skilled in the art that various changes and modifications may be made without departing from the scope of the claimed disclosure. The specification and drawings are, accordingly, to be regarded in an illustrative rather than restrictive sense. The claimed disclosure is intended to cover all alternatives, modifications, and equivalents.LIST OF REFERENCES 2 stratospheric vehicle 4 levitation assembly 4A balloon
[0107] 6 steering system
[0108] 8 sensor system
[0109] 8A first sensor
[0110] 8B second sensor 8C third sensor
[0111] 8D fourth sensor
[0112] 8E fifth sensor
[0113] 8F sixth sensor
[0114] 8G seventh sensor 8H eighth sensor
[0115] 10 imaging system 10A first camera
[0116] 10B second camera 10C image controller 10D third camera
[0117] 12 ground interface 12A ground antenna 12B ground transceiver14 satellite interface
[0118] 14A satellite antenna
[0119] 14B satellite transceiver
[0120] 16 electronic device
[0121] 18 platform
[0122] 20 parachute
[0123] 30 processing circuitry
[0124] 32 memory
[0125] 34 interface
[0126] 36 vehicle configurator
[0127] 38 imaging configurator
[0128] 38A imaging ML
[0129] 40 steering configurator
[0130] 40A steering ML
[0131] 50 main controller
[0132] 100 method of operating a stratospheric vehicle
[0133] S102 obtaining, via the interface, vehicle sensor data from a sensor system
[0134] S104 obtaining, via the interface, input control data
[0135] S106 determining a vehicle configuration comprising one or both of an imaging configuration and a steering configuration
[0136] S108 controlling the vehicle according to the vehicle configuration
[0137] ICD input control dataIMCS imaging control signals
[0138] ID image data
[0139] ID_1 first image data
[0140] ID_2 second image data
[0141] ID_3 third image data
[0142] l_Conf imaging configuration
[0143] SCS steering control signals SI steering instructions S_Conf steering configuration TIP target imaging parameters TVP target vehicle position
[0144] VP vehicle position
[0145] VSD vehicle sensor data
[0146] VT vehicle trajectory
[0147] V_Conf vehicle configuration
Claims
CLAIMS1. A stratospheric vehicle comprising:a levitation assembly including a balloon;a steering system;a sensor system;an imaging system;one or more of a ground interface and a satellite interface; andan electronic device connected to the steering system, the sensor system, the imaging system, and the ground interface and / or the satellite interface,wherein the electronic device comprises processing circuitry and an interface, the processing circuitry configured to:obtain vehicle sensor data from the sensor system, the vehicle sensor data including first sensor data from a first sensor of the sensor system;obtain, via the ground interface or the satellite interface, input control data;determine a vehicle configuration comprising one or both of an imaging configuration and a steering configuration, the vehicle configuration based on the vehicle sensor data and the input control data; andcontrol the vehicle according to the vehicle configuration.
2. Stratospheric vehicle according to claim 1, the imaging configuration comprising imaging settings, wherein to determine a vehicle configuration comprises to determine the imaging configuration including a first imaging setting of the imaging settings, and to control the vehicle according to the vehicle configuration comprises to control the imaging system according to the first imaging setting.
3. Stratospheric vehicle according to any one of claims 1-2, the steering configuration comprising one or more vehicle trajectories, wherein to determine a vehicle configuration comprises to determine a first vehicle trajectory of the steering configuration, and tocontrol the vehicle according to the vehicle configuration comprises to control the steering system according to the first vehicle trajectory.
4. Stratospheric vehicle according to any one of claims 1-3, wherein the processing circuitry is configured to obtain secondary vehicle sensor data from a secondary stratospheric vehicle, and wherein to determine a vehicle configuration is based on the secondary vehicle sensor data.
5. Stratospheric vehicle according to any one of claims 1-4, the first sensor data being wind data indicative of one or more of wind speed and wind direction within a vicinity of the stratospheric vehicle, wherein to determine a vehicle configuration is based on the wind data.
6. Stratospheric vehicle according to any one of claims 1-5, wherein the input control data comprises one or more of a vehicle position; a target vehicle position, a vehicle trajectory, and steering instructions, and wherein to determine a vehicle configuration is based on one or more of vehicle position; target vehicle position, vehicle trajectory, and steering instructions of the input control data.
7. Stratospheric vehicle according to any one of claims 1-6, wherein the input control data comprises target imaging parameters and wherein to determine a vehicle configuration is based on the target imaging parameters.
8. Stratospheric vehicle according to any one of claims 1-7, wherein the input control data comprises satellite data and wherein to determine a vehicle configuration is based on the satellite data.
9. Stratospheric vehicle according to any one of claims 1-8, wherein the input control data comprises meteorological data and wherein to determine a vehicle configuration is based on the meteorological data.
10. Stratospheric vehicle according to any one of claims 1-9, the vehicle sensor data including second sensor data from a second sensor of the sensor system, wherein to determine a vehicle configuration is based on the second sensor data.
11. Stratospheric vehicle according to any one of claims 1-10, wherein the second sensor data is indicative of temperature, pressure, visibility, humidity, cloud cover.
12. Stratospheric vehicle according to any one of claims 1-11, wherein the imaging configuration comprises one or more imaging settings including one or more of camera position, camera trajectory, image resolution, frame frequency, frame duration, exposure time, shutter speed, and one or more radar operating parameters.
13. Stratospheric vehicle according to any one of claims 1-12, wherein to determine a vehicle configuration comprises applying one or more machine learning models to the vehicle sensor data and / or the input control data.
14. Stratospheric vehicle according to any one of claims 1-13, wherein the imaging system is configured to capture raw image sensor data, and the processing circuitry is configured to transmit, via the ground interface and / or the satellite interface, image data based on the raw image sensor data.
15. Method of operating a stratospheric vehicle comprising an electronic device comprising processing circuitry and an interface, the method comprising:obtaining, via the interface, vehicle sensor data from a sensor system, the vehicle sensor data including first sensor data from a first sensor of the sensor system;obtaining, via the interface, input control data from a ground interface;determining a vehicle configuration comprising one or both of an imaging configuration and a steering configuration, the vehicle configuration based on the vehicle sensor data and the input control data; andoperating the vehicle according to the vehicle configuration.