Adaptive Obstacle Sensing and Avoidance for Non-Cooperative UAV Targets
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Solution Overview
Problem
Current flight control systems for UAVs are inadequate in detecting and avoiding obstacles, especially non-cooperative targets like birds and gliders, as they rely on cooperative transponders and costly radar arrays, which are not effective for all environments and altitudes.
Innovation Solution
An adaptive sense and avoid system that uses a processor coupled with flight controllers and multiple sensors to blend sensor data, set sensor modes based on vehicle and environmental conditions, and calculate avoidance trajectories, incorporating databases for legal airspace, terrain, and environmental factors to detect and navigate around both cooperative and non-cooperative obstacles.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If TCAS with transponders is used for obstacle detection, then cooperative aircraft can locate and avoid each other, but non-cooperative obstacles without transponders cannot be detected
Solution Approach 1:
The system employs multiple sensor types (cooperative sensors for transponder-equipped aircraft, non-cooperative sensors for obstacles without transponders) that can detect both cooperative and non-cooperative obstacles, making the detection system universal and adaptable to all obstacle types regardless of their equipment status
Solution Approach 2:
The patent introduces sensor data fusion as an intermediary process that combines information from multiple sensor sources (cooperative and non-cooperative sensors) to create a unified obstacle detection capability, allowing the system to overcome the limitations of individual sensor types
2Reliability
If radar arrays are used to detect non-cooperative obstacles, then detection capability is improved, but system cost increases significantly
Solution Approach 1:
The system replaces expensive radar arrays with lower-cost sensor alternatives (such as optical sensors, acoustic sensors, or simpler detection mechanisms) that can detect non-cooperative obstacles without requiring the high cost and complexity of traditional radar arrays
Solution Approach 2:
The patent substitutes mechanical/electromagnetic radar systems with alternative sensing mechanisms (optical, acoustic, or other non-radar sensors) that achieve similar detection functionality at reduced cost and complexity
3Measurement precision
If GPS and obstacle databases are used for obstacle avoidance, then navigation support is provided, but GPS accuracy varies widely and moving obstacles are not included
Solution Approach 1:
The system dynamically adapts sensor fusion parameters, weighting, and detection strategies based on environmental conditions (such as altitude, terrain type, weather, and obstacle density), allowing the system to optimize its performance for different operating environments rather than using fixed parameters
Solution Approach 2:
The patent segments the obstacle detection and avoidance system into multiple independent sensor modules and processing components, each optimized for specific conditions, allowing the system to selectively activate and weight different sensors based on the current environmental context
Data Source
AI summary
An adaptive sense and avoid system for use with an aerial vehicle in an environment, the adaptive sense and avoid system comprising a processor, a plurality of sensors, an obstacle detection circuit, and an avoidance trajectory circuit. The processor may be operatively coupled with a flight controller and a memory device, wherein the memory device comprises one or more databases. The plurality of sensors generates sensor data reflecting a position of an obstacle in the environment. The obstacle detection circuit, which is operatively coupled to the processor and the plurality of sensors, may be configured to identify obstacles based at least in part on the sensor data and to generate obstacle information that reflects a best estimate of a position of the obstacle in the environment. The obstacle detection circuit is configured to weigh the sensor data as a function of the aerial vehicle's state and its environment. The avoidance trajectory circuit, which is operatively coupled to the obstacle detection circuit and the processor, may be configured to calculate trajectory data as a function of the obstacle information and information from the one or more databases. The obstacle detection circuit is configured to communicate the trajectory data to the flight controller.