UAV Flight Control With Shared Time-Scale Plan Switching
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Solution Overview
Problem
Existing control systems for unmanned aircraft face issues with imperfect coordination between planning modules and control units, leading to aircraft position discrepancies and delayed planning specifications that can result in unsuitable flight operations.
Innovation Solution
Implementing a control method where the control unit and planning module operate on a common time scale, using planning specifications with parameter settings for multiple time points, allowing seamless transitions between specifications and incorporating real-time data to ensure accurate and stable flight parameters.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the control unit and planning module operate with different time scales or without synchronized timing, then the system can be more flexible in implementation, but position discrepancies and coordination problems occur between the planning module and control unit
Solution Approach 1:
The planning specification is segmented into multiple parameter specifications, each associated with a specific point in time on the common time scale. This segmentation allows the control unit to process and implement individual parameter specifications at their designated times, ensuring precise coordination between the planning module and control unit without requiring complex continuous synchronization mechanisms.
Solution Approach 2:
The patent merges the time scales of the control unit and planning module into a single common time scale. By using the same time reference for both components, the system eliminates timing discrepancies and coordination problems while avoiding the need for complex time synchronization protocols, thus improving reliability without significantly increasing complexity.
2Reliability
If the control unit waits for complete planning specifications before execution, then positioning accuracy improves, but response time and adaptability to changing conditions deteriorate
Solution Approach 1:
The planning module calculates multiple parameter specifications for multiple future points in time on the common time scale before the control unit executes them. This preliminary calculation allows the control unit to immediately execute the first parameter specification without waiting for subsequent specifications, improving response time while maintaining positioning accuracy through the pre-calculated time-stamped parameters.
Solution Approach 2:
The system dynamically transitions from executing one parameter specification to the next based on the current time reaching the associated point in time on the common time scale. This dynamic execution approach allows the control unit to adapt to changing conditions while maintaining accurate positioning by following the pre-calculated time-stamped parameter specifications.
3Measurement precision
If planning specifications are transmitted frequently to maintain real-time control, then control precision improves, but communication load and system complexity increase
Solution Approach 1:
The planning module calculates parameter specifications for multiple future points in time, providing more control data than immediately needed. The control unit executes only the current parameter specification while the others remain in the queue, reducing communication load while maintaining control precision through the pre-calculated time-stamped parameters.
4Ease of operation
If the aircraft operates according to a single planning specification until completion, then control simplicity is maintained, but adaptability to new information and changing conditions decreases
Solution Approach 1:
The control unit dynamically transitions between multiple parameter specifications as time progresses on the common time scale. Each parameter specification can be independently calculated based on current conditions, allowing the system to adapt to new information while maintaining simple execution of the current active specification. The dynamic switching is automated based on time triggers, preserving operational simplicity.
Data Source
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AI summary
A method for controlling an unmanned aircraft (14), in which control components (18) of the aircraft (14) are controlled using control commands sent from a control unit (26) to the control components (18). The control unit (26) determines the control commands based on planning specifications (37, 38). The planning specifications (37, 38) are calculated in a planning module (24). The control unit (26) and the planning module (24) are operated using a common time scale (29, 32). With each planning specification (37, 38), parameter specifications (37a, 37b, 37c, 38a, 38b, 38c) for flight parameters of the aircraft (14) are set for a plurality of points in time, wherein in a first control phase (43) the aircraft (14) is operated according to a first planning specification (37), wherein the first planning specification (37) sets parameter specifications (37a, 37b, 37c) for points in time between a first start time (T1A) and a first end time (T1E),wherein a second planning specification (38) sets parameter specifications (38a, 38b, 38c) for times between a second start time (T2A) and a second end time (T2E), the second start time (T2A) being before the first end time (T1E), wherein at a transition time (TS) that lies between the second start time (T2A) and the first end time (T1E), the control unit (26) switches from the first planning specification (37) to the second planning specification (38), so that in a second control phase (44), the aircraft (14) is operated according to the parameter specifications (38a, 38b, 38c) of the second planning specification (38). The invention also relates to a control system for an unmanned aircraft and a computer program product.