# US 10,319,246 B2 · Unmanned aerial vehicle and method for safely landing an unmanned aerial vehicle > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,319,246 B2 - Document ID: US10319246B2 - Status: Granted - Kind: B2 - Application number: 15/280,436 - Filed: 2016-09-29 - Published: 2017-03-30 - Granted: 2019-06-11 - Earliest claimed: 2015-09-29 - Assignees: Airbus Defence and Space GmbH - Applicants: Airbus Defence and Space GmbH - Inventors: Manfred Hiebl - Web page: https://patentgrep.com/patent/US10319246B2 ## CPC - G08G 5/55: for a single aircraft - G05D 1/0022: {characterised by the communication link (data switching networks in general H04L12/00)} - G05D 1/0676: {specially adapted for landing} - G08G 5/26: Transmission of traffic-related information between aircraft and ground stations - G08G 5/30: Flight plan management - G08G 5/34: for flight plan modification - G08G 5/51: for control when on the ground, e.g. taxiing or rolling - G08G 5/54: for approach or landing - G08G 5/57: for unmanned aircraft - G08G 5/58: for emergency situations, e.g. hijacking or bird strikes - G08G 5/76: for monitoring atmospheric conditions - B64U 2201/00: UAVs characterised by their flight controls - H04B 7/155: Ground-based stations (H04B7/204 takes precedence) - H04L 67/12: specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks - G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93}) - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - B64U: UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR - H04B: TRANSMISSION - H04L: TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION (arrangements common to telegraphic and telephonic communication H04M) ## Abstract An unmanned aerial vehicle with lift and propulsion system and a flight control system and method. The flight control system has a flight control unit, a navigation system, a communication system and an actuator system. The flight control unit can calculate, based on data from the navigation system and/or data of a ground control station, control commands which can be fed to the actuator system for actuating the lift and propulsion system. The ground control station is configured to control and/or monitor the aerial vehicle. The aerial vehicle has a monitoring unit to monitor the communication system to determine whether all the communication links are interrupted. The monitoring unit can cause the flight control unit to land the aerial vehicle safely at a suitable landing site based on stored data relating to current flight conditions and nearby landing sites. ## Claims ### Claim 1 An unmanned aerial vehicle, comprising: a lift and propulsion system; and a flight control system with: a flight control unit; a navigation system; a communication system; and an actuator system; wherein the flight control unit is configured for calculating, based on data from the navigation system and/or data of a ground control station configured to control and/or monitor the aerial vehicle, control commands and supplying the control commands to the actuator system for actuating the lift and propulsion system; further comprising a monitoring unit configured to monitor the communication system to determine whether all communication links of a multiplicity of communication links between the aerial vehicle and the ground control station are interrupted; and wherein the monitoring unit is configured to select, in response to determining an interruption on all communication links of the multiplicity of communication links, a suitable landing site based on stored data and in accordance with defined rules for landing site selection, wherein the stored data includes current flight conditions data and nearby landing sites data, and wherein the stored data and the defined rules for landing site selection are mirrored on the ground control station, and wherein the monitoring unit is configured to cause the flight control unit to land the aerial vehicle safely at the selected landing site, and wherein the flight control unit is configured for determining a flight route to the selected landing site, wherein determination of the flight route is carried out according to defined rules for flight route determination, and wherein the defined rules for flight route determination are mirrored on the ground control station with the stored data and the defined rules for landing site selection and the ground control station is configured determine the same flight route and the same selected landing site as determined by the unmanned aerial vehicle in response to determining an interruption on all communication links of the multiplicity of communication links. ### Claim 2 (depends on 1) The unmanned aerial vehicle as claimed in claim 1, wherein the navigation system has a memory in which at least the nearby landing sites data and current wind data and weather data relating to the immediate surroundings of the aerial vehicle and the nearby landing sites are stored. ### Claim 3 (depends on 2) The unmanned aerial vehicle as claimed in claim 2, wherein the flight control unit is also configured for determining, for each nearby landing site of a plurality of nearby landing sites, an expected arrival time at the nearby landing site and weather data for the nearby landing site at the expected arrival time, and the flight control unit is configured for selecting a suitable landing site from the nearby landing sites based on the weather data determined for each expected arrival time at each nearby landing site. ### Claim 4 (depends on 3) The unmanned aerial vehicle as claimed in claim 3, wherein the flight control unit is configured for determining a suitable landing threshold of the at least two possible landing thresholds of the selected landing site. ### Claim 5 (depends on 3) The unmanned aerial vehicle as claimed in claim 3, wherein the flight control system also has a distance-measuring device configured to determine regularly a distance from a runway during landing approach, in order to correct the determined flight route in case of deviations. ### Claim 6 (depends on 3) The unmanned aerial vehicle as claimed in claim 3, wherein the flight control unit is also provided for safely landing the aerial vehicle by taking regular cross bearings by GNSS measurements with respect to stored objects at the selected landing site. ### Claim 7 (depends on 3) The unmanned aerial vehicle as claimed in claim 3, wherein the flight control unit is also provided for directing the aerial vehicle to a safe parking position after landing has taken place at the selected landing site, based on stored information about the local conditions. ### Claim 8 (depends on 1) The unmanned aerial vehicle as claimed in claim 1, wherein the determination of the flight route is carried out by compound navigation. ### Claim 9 (depends on 8) The unmanned aerial vehicle as claimed in claim 8, wherein the determined flight route can be corrected continuously by taking regular cross bearings with respect to stored local destinations. ### Claim 10 (depends on 8) The unmanned aerial vehicle as claimed in claim 8, wherein changes in direction and/or course are carried out by defined standard curves at locations defined by an airfield traffic pattern at the selected landing site. ### Claim 11 A method for safely landing an unmanned aerial vehicle, comprising: determining that all communication links of a multiplicity of communication links between the aerial vehicle and a ground control station, configured for controlling and/or monitoring the aerial vehicle, are interrupted; in response to determining that all communication links of the multiplicity of communication links are interrupted, selecting a suitable landing site based on stored data and in accordance with defined rules for landing site selection, wherein the stored data includes current flight conditions data and nearby landing sites data, and wherein the stored data and the defined rules for landing site selection are mirrored on the ground control station; determining a flight route to the selected landing site, wherein determination of the flight route is carried out according to defined rules for flight route determination, and wherein the defined rules for flight route determination are mirrored on the ground control station with the stored data and the defined rules for landing site selection and the ground control station is configured determine the same flight route and the same selected landing site as determined by the unmanned aerial vehicle in response to determining an interruption on all communication links of the multiplicity of communication links; and landing the aerial vehicle at the selected landing site. ### Claim 12 (depends on 11) The method as claimed in claim 11, further comprising: determining by the ground control station whether all the communication links of the multiplicity of communication links between the aerial vehicle and the ground control station are interrupted, and transmitting information about interruption to an air traffic control center. ### Claim 13 (depends on 12) The method as claimed in claim 12, wherein the air traffic control center also closes at least part of an available airspace and a suitable landing site for safe landing of the aerial vehicle; wherein the aerial vehicle selects an identical suitable landing site for landing, in accordance with rules defined by an air traffic control center. ### Claim 14 A ground control station for controlling and/or monitoring at least one unmanned aerial vehicle, comprising: a communication system, configured for communicating with the unmanned aerial vehicle and for communicating with an air traffic control system, having a multiplicity of communication links; and a monitoring device, configured for monitoring the multiplicity of communication links of the ground control station with the aerial vehicle and the air traffic control system; wherein the monitoring device is configured to determine that all the communication links of the multiplicity of communication links between the ground control station and the aerial vehicle are interrupted, and in response to determining that all the communication links of the multiplicity of communication links between the ground control station and the aerial vehicle are interrupted, determine a predicted landing site for the aerial vehicle based on stored data and in accordance with defined rules for landing site selection and transmit the predicted landing site to the air traffic control system, wherein the stored data includes current flight conditions data and nearby landing sites data, and wherein the stored data and the defined rules for landing site selection are mirrored on the aerial vehicle; and wherein the monitoring device is configured for determining a flight route to the selected landing site, wherein the determination of the flight route is carried out according to defined rules for flight route determination, and wherein the defined rules for flight route determination are mirrored on aerial vehicle with the stored data and the defined rules for landing site selection and the aerial vehicle is configured determine the same flight route and the same selected landing site as determined by the monitoring device in response to determining an interruption on all communication links of the multiplicity of communication links.