# US 10,373,505 B2 · Method and system for fast upload of autonomous mission plans in unmanned aerial vehicles

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- Number: US 10,373,505 B2
- Document ID: US10373505B2
- Status: Granted
- Kind: B2
- Application number: 15/831,999
- Filed: 2017-12-05
- Published: 2019-06-06
- Granted: 2019-08-06
- Earliest claimed: 2017-12-05
- Assignees: Autel Robotics Co., Ltd.
- Applicants: Autel Robotics Co., Ltd.
- Inventors: Ken Argo
- Web page: https://patentgrep.com/patent/US10373505B2

## CPC

- G08G 5/32: for flight plan preparation
- G08G 5/22: located on the ground
- G08G 5/26: Transmission of traffic-related information between aircraft and ground stations
- G08G 5/34: for flight plan modification
- G08G 5/55: for a single aircraft
- G08G 5/57: for unmanned aircraft
- B64U 10/13: Flying platforms
- 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
- 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})
- B64U: UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR

## Abstract

A system and method for rapidly modifying flight mission plans for unmanned aerial vehicles (UAVs) is described. This includes a programming controller that requests the name of the existing flight mission in the UAV. When the requested name of the existing flight mission in the UAV is found to be the same name as that of the desired flight mission in the programming controller then the UAV is simply enabled by the programming controller to carry out the desired flight mission. When the requested name of the existing flight mission in the UAV is found not to be the same name as the modified flight mission in the programming controller then the programming controller creates and provides instructions to the UAV for rapidly updating the existing flight mission into the desired flight mission. These rapid updating instructions are similar to currently used ways of synchronizing personal computers in point-in-time procedures.

## Claims

### Claim 1

A method of programming an unmanned aerial vehicle (UAV) to perform autonomous flight operations, the method comprising:
preparing, at a programming controller (PC), an updated mission flight plan (UMFP) that comprises an updated mission identification (UMID), updated sequential destination operations (USDOs), and updated waypoint identifications (UWIDs);
querying from the PC to the UAV to output a stored mission identification (SMID), wherein the UAV comprises a stored mission flight plan (SMFP) that comprises the stored mission identification (SMID), stored sequential destination operations (SSDOs), and stored waypoint identifications (SWIDs);
outputting from the UAV to the PC the SMID;
generating instructions, at the PC, for modifying the SMFP to match that of the UMFP when the outputted SMID does not match that the UMID;
uploading the generated instructions to the UAV from the PC for modifying the SMFP in the UAV to matches the UMFP in the PC; and
enabling the UAV to perform autonomous flight operations in accordance to the SMFP when the PC determines that the outputted SMID matches that of the UMID.

### Claim 2 (depends on 1)

The method of claim 1, wherein the PC is selected from the group consisting of a desktop computer, a laptop computer, a tablet computer, and a cell phone, and remote controller.

### Claim 3 (depends on 1)

The method of claim 1, wherein each sequential destination operation (SDO) in the USDOs or SSDOs comprises latitude, longitude, altitude, and heading information.

### Claim 4 (depends on 1)

The method of claim 1, wherein the UAV and the PC are configured to communicate to each other via wireless communication.

### Claim 5 (depends on 1)

The method of claim 1, wherein the UAV is selected from the group consisting of a tricopter, a quadcopter, a hexcopter, an octacopter, and a fixed wing airplane.

### Claim 6

A system for programming an unmanned aerial vehicle (UAV) to perform autonomous flight operations, the system comprising:
a programming controller (PC); and
the UAV,
wherein the PC is configured to prepare an updated mission flight plan (UMFP) that comprises an updated mission identification (UMID), updated sequential destination operations (USDOs), and updated waypoint identifications (UWIDs);
the UAV is configured to output a stored mission identification (SMID), wherein the UAV comprises a stored mission flight plan (SMFP) that comprises the stored mission identification (SMID), stored sequential destination operations (SSDOs), and stored waypoint identifications (SWIDs);
the PC is also configured to generate instructions for modifying the SMFP to match that of the UMFP when the outputted SMID does not match that the UMID;
the PC is also configured to upload the generated instructions to the UAV;
the UAV is configured to modify the SMFP in the UAV to matches the UMFP in the PC in accordance to the uploaded instructions to the UAV; and
the UAV is configured to perform autonomous flight operations in accordance to the SMFP when the SMID is matches that of the UMID.

### Claim 7 (depends on 6)

The system according to claim 6, wherein the PC is selected from the group consisting of a desktop computer, a laptop computer, a tablet computer, and a cell phone, and remote controller.

### Claim 8 (depends on 6)

The system according to claim 6, wherein each sequential destination operation in the USDOs or SSDOs comprises latitude, longitude, altitude, and heading information.

### Claim 9 (depends on 6)

The system according to claim 6, wherein the UAV and the PC are configured to communicate to each other via wireless communication.

### Claim 10 (depends on 6)

The system according to claim 6, wherein the UAV is selected from the group consisting of a tricopter, a quadcopter, a hexcopter, an octacopter, and a fixed wing airplane.