# US 10,372,143 B2 · Automated air traffic control of unmanned air vehicles

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- Number: US 10,372,143 B2
- Document ID: US10372143B2
- Status: Granted
- Kind: B2
- Application number: 15/925,714
- Filed: 2018-03-19
- Published: 2018-09-20
- Granted: 2019-08-06
- Earliest claimed: 2017-03-20
- Assignees: Apium Inc.
- Applicants: Apium Inc.
- Inventors: Tyler MacCready; Alan Nise
- Web page: https://patentgrep.com/patent/US10372143B2

## CPC

- G05D 1/104: {involving a plurality of aircrafts, e.g. formation flying (traffic control systems for aircraft G08G5/00)}
- B64U 10/00: Type of UAV
- G05D 1/0044: {by providing the operator with a computer generated representation of the environment of the vehicle, e.g. virtual reality, maps (maps used for automatic navigation G05D1/0274; flight directors G01C23/005)}
- G08G 5/21: located onboard the aircraft
- G08G 5/25: Transmission of traffic-related information between aircraft
- G08G 5/55: for a single aircraft
- G08G 5/56: for two or more aircraft
- G08G 5/57: for unmanned aircraft
- G08G 5/723: {from the aircraft}
- G08G 5/80: Anti-collision systems
- B64U 2201/00: UAVs characterised by their flight controls
- B64U 2201/10: autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
- B64U 2201/20: Remote controls
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- B64U: UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- 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})

## Abstract

A method and system for automated air traffic management of unmanned vehicles that assures safety and continuous flow, even for vehicles of wide-ranging capabilities. Some embodiments include onboard equipment that distributes the burden of management across all the vehicles in a given airspace so that autonomous cooperation between vehicles creates useful group-level behavior. Vehicles carry definitions of rules of interaction on shared flyways. In conjunction with a means of exchanging location and velocity information with close neighbors, onboard algorithms calculate complementary navigation vectors that inform each vehicle's autopilot of a cooperative trajectory. The collective result of individual, autonomous decisions is cooperation at a group scale that manages traffic features such as density and spacing without the need for a ground-based communication infrastructure.

## Claims

### Claim 1

A method for controlling a plurality of unmanned air vehicles, the method comprising:
defining a first flyway, the first flyway being geographically located and having a central line and an inflow pattern;
acquiring, by each unmanned air vehicle, information on a position and velocity of one or more other unmanned air vehicles of the plurality of unmanned air vehicles;
adjusting, by each unmanned air vehicle, a direction of travel of the unmanned air vehicle, the adjusting being in accordance with:
a value of the inflow pattern at the position of the unmanned air vehicle; and
the position, or the velocity, or both the position and the velocity, of the one or more other unmanned air vehicles on the first flyway.

### Claim 2 (depends on 1)

The method of claim 1, wherein the central line is a straight line having an endpoint and a bearing toward that endpoint.

### Claim 3 (depends on 2)

The method of claim 2, further comprising, determining, by each unmanned air vehicle on the first flyway, whether it has passed a plane that contains the endpoint and is perpendicular to the bearing of the first flyway.

### Claim 4 (depends on 3)

The method of claim 3, further comprising:
defining a second flyway, the second flyway being geographically located and having a central line and an inflow pattern; and
after determining, by an unmanned air vehicle of the plurality of unmanned air vehicles, that it has passed the plane:
adjusting, by the unmanned air vehicle, a direction of travel of the unmanned air vehicle, the adjusting being in accordance with:
the value of the inflow pattern of the second flyway at the position of the unmanned air vehicle.

### Claim 5 (depends on 4)

The method of claim 4, further comprising acquiring, by the unmanned air vehicle, information on a position and velocity of one or more other unmanned air vehicles, of the plurality of unmanned air vehicles, on the second flyway,
wherein the adjusting is further in accordance with the position, or the velocity, or both the position and the velocity, of the one or more other unmanned air vehicles on the second flyway.

### Claim 6 (depends on 1)

The method of claim 1, wherein the central line is a curved line having:
an endpoint;
a constant radial distance from a center point;
a direction of travel along the central line; and
a bearing from the center point to the endpoint.

### Claim 7 (depends on 6)

The method of claim 6, further comprising, determining, by each unmanned air vehicle on the first flyway, whether it has passed a plane that contains the endpoint and is perpendicular to the first flyway bearing immediately preceding the endpoint.

### Claim 8 (depends on 1)

The method of claim 1, wherein the inflow pattern is defined by an equation and a single parameter.

### Claim 9 (depends on 1)

The method of claim 1, further comprising adjusting, by the unmanned air vehicle, a speed of the unmanned air vehicle in accordance with a target speed.

### Claim 10 (depends on 9)

The method of claim 9, wherein the adjusting is further in accordance with:
a separation, between each unmanned air vehicle and another unmanned air vehicle, of the plurality of unmanned air vehicles, ahead of the unmanned air vehicle;
a separation, between each unmanned air vehicle and another unmanned air vehicle, of the plurality of unmanned air vehicles, behind the unmanned air vehicle; and
a target fore-aft spacing.

### Claim 11 (depends on 1)

The method of claim 1, wherein the acquiring, by each unmanned air vehicle, of the information, comprises receiving the information from the one or more other unmanned air vehicles through a common radio channel.

### Claim 12 (depends on 1)

The method of claim 1, wherein:
the central line has an endpoint, and
the method further comprises acquiring, by each unmanned air vehicle, information on the linear distance from the endpoint, along the central line, of the one or more other unmanned air vehicles.

### Claim 13 (depends on 1)

The method of claim 1, wherein:
an unmanned air vehicle, of the one or more other unmanned air vehicles, is on a flyway having an identifier, and
the method further comprises acquiring, by another unmanned air vehicle of the plurality of unmanned air vehicles, the identifier.

### Claim 14 (depends on 1)

The method of claim 1, further comprising:
calculating, by a first unmanned air vehicle on the first flyway, of the plurality of unmanned air vehicles, a first local vehicle density;
calculating, by a second unmanned air vehicle on the first flyway, of the plurality of unmanned air vehicles, a second local vehicle density; and
acquiring, by a third unmanned air vehicle on the first flyway, of the plurality of unmanned air vehicles, the first local vehicle density and the second local vehicle density.

### Claim 15 (depends on 14)

The method of claim 14, further comprising:
calculating, by the third unmanned air vehicle, a density slope from the first local vehicle density and the second local vehicle density; and
adjusting, by the third unmanned air vehicle, a speed of the unmanned air vehicle, the adjusting being in accordance with the density slope.

### Claim 16 (depends on 1)

The method of claim 1, wherein the adjusting comprises:
determining, for each of a plurality of neighboring vehicles, of the one or more other unmanned air vehicles, for which an extrapolated nearness is less than a threshold, a collision avoidance yaw angle; and
forming a sum of the collision avoidance yaw angles.

### Claim 17 (depends on 16)

The method of claim 16, wherein the adjusting further comprises:
adding to the sum of the collision avoidance yaw angles an inflow field yaw angle, to form a total yaw angle; and
multiplying the total yaw angle by a set factor to form a target yaw rate.

### Claim 18 (depends on 16)

The method of claim 16, further comprising acquiring, by each unmanned air vehicle, an identifier of one or more respective flyways being used by the one or more other unmanned air vehicles,
wherein the forming of the sum of the collision avoidance yaw angles comprises forming a weighted sum of the collision avoidance yaw angles, the weighted sum having a smaller weight for an unmanned air vehicle on the first flyway as the unmanned air vehicle than for an unmanned air vehicle not on the first flyway.

### Claim 19 (depends on 18)

The method of claim 18, wherein the adjusting further comprises:
adding to the sum of the collision avoidance yaw angles an inflow field yaw angle, to form a total yaw angle;
multiplying the total yaw angle by a set factor to form a target yaw rate; and
reducing the magnitude of the target yaw rate to a maximum vehicle yaw rate, when the magnitude of the target yaw rate exceeds the maximum vehicle yaw rate.

### Claim 20 (depends on 1)

The method of claim 1, wherein the defining of the first flyway comprises defining the first flyway by a user device, the user device comprising a human machine interface and being configured to receive user input for parameters of the first flyway.

### Claim 21 (depends on 20)

The method of claim 20, wherein the user device includes a graphical user interface for:
displaying existing flyways to a user, and
receiving, from the user, parameters of flyways to be added.

### Claim 22 (depends on 21)

The method of claim 21, wherein the user device is configured:
to receive, from the user, a sequence of flyways, and
to determine whether the sequence is valid.

### Claim 23 (depends on 1)

The method of claim 1, wherein each unmanned air vehicle comprises:
an autopilot circuit for receiving guidance commands and controlling flight actuators of the unmanned air vehicle; and
a navigation circuit, the navigation circuit being in a peripheral device separate from the autopilot circuit,
wherein:
the acquiring of the information comprises acquiring the information by the navigation circuit, and
the adjusting of the direction comprises:
calculating the direction by the navigation circuit; and
sending the calculated direction to the autopilot circuit by the navigation circuit as part of a guidance command.