# US 11,115,112 B2 · System for transmitting commands and a video stream between a remote controlled machine such as a drone and a ground station > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,115,112 B2 - Document ID: US11115112B2 - Status: Granted - Kind: B2 - Application number: 15/554,912 - Filed: 2016-03-02 - Published: 2018-03-29 - Granted: 2021-09-07 - Earliest claimed: 2015-03-02 - Assignees: Uavia - Applicants: Uavia - Inventors: Clément Christomanos - Web page: https://patentgrep.com/patent/US11115112B2 ## CPC - H04B 7/18506: {Communications with or from aircraft, i.e. aeronautical mobile service} - G05D 1/0022: {characterised by the communication link (data switching networks in general H04L12/00)} - G05D 1/2247: {providing the operator with simple or augmented images from one or more cameras} - G05D 1/226: Communication links with the remote-control arrangements - G08C 17/02: using a radio link - H04L 43/0882: Utilisation of link capacity - H04N 7/185: {from a mobile camera, e.g. for remote control} - H04N 19/115: Selection of the code volume for a coding unit prior to coding - H04N 19/164: Feedback from the receiver or from the transmission channel - H04W 8/04: Registration at HLR or HSS [Home Subscriber Server] - B64U 2101/30: for imaging, photography or videography - B64U 2201/20: Remote controls - G05D 2109/254: {Flying platforms, e.g. multicopters} - G08C 2201/50: Receiving or transmitting feedback, e.g. replies, status updates, acknowledgements, from the controlled devices - G08C 2201/60: Security, fault tolerance - G08C 2201/93: Remote control using other portable devices, e.g. mobile phone, PDA, laptop - H04B: TRANSMISSION - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - G08C: TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS (fluid pressure transmitting systems F15B; mechanical means for transferring the output of a sensing member into a different variable G01D5/00; mechanical control systems G05G) - H04L: TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION (arrangements common to telegraphic and telephonic communication H04M) - H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION - H04W: WIRELESS COMMUNICATION NETWORKS (broadcast communication H04H; communication systems using wireless links for non-selective communication, e.g. wireless extensions H04M1/72) - B64U: UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR ## Abstract A system for transmitting commands and a video stream between a remote controlled machine such as a drone and a ground station comprises a two-way link between the machine and ground station, at least partially implementing a cellular communication network, said two-way link being provided by means of a cellular modem on the machine side and conveying a compressed video stream produced by a camera and a video encoding module, and information belonging to a group comprising movement control commands and flight data or operating characteristics of the remote controlled machine, the system further comprising means for managing the two-way link capable of ensuring said link is maintained, taking into account the variability in topology and performances of the link resulting from the implementation of the cellular communication network. Application to long-range drones. ## Claims ### Claim 1 A system for transmitting commands and a video stream between a remote-controlled drone and a ground station, the system comprising a bidirectional link between craft and ground station, at least partly implementing a commercial cellular communication network, said bidirectional link being ensured by means of a cellular modem on the craft side and conveying, on the one hand, a compressed video stream generated by a camera and a video encoding module, and, on the other hand, information belonging to a group comprising movement control commands and flight data or piloting characteristics of the remote-controlled drone, the system further comprising a network management module for managing the bidirectional link capable of (i) ensuring that said link is maintained while taking account of the variability of topology and of performance levels of the link induced by the implementation of the cellular communication network and (ii) performing an adaptation of the bit rate of the compressed video stream by reserving an incompressible portion of the bandwidth available for the routing of critical information. ### Claim 2 (depends on 1) The method as claimed in claim 1, in which the craft and the ground station communicate over the bidirectional link via a packet-based protocol. ### Claim 3 (depends on 1) The system of claim 1, in which the adaptation of the bit rate of the compressed video stream is performed by adjusting the encoding parameters of the video stream as a function of a measurement of the bandwidth of the bidirectional link from the craft to the station. ### Claim 4 (depends on 3) The system of claim 3, wherein adaptation of the bit rate comprises, in the absence of a reliable measurement of the bandwidth: repeatedly varying the encoding parameters to progressively increase the bit rate of the compressed video stream; detecting when the bit rate causes a congestion phenomenon; and adjusting the encoding parameters to obtain a bit rate slightly lower than a rate which causes a congestion phenomenon. ### Claim 5 (depends on 1) The system as claimed in claim 1, in which the critical information belong to a group comprising flight data, characteristics of the piloting of the remote-controlled craft and piloting or mission instructions. ### Claim 6 (depends on 1) The system of claim 1, in which said link management means are capable of calculating a score of quality of the bidirectional link at least from the station to the craft, and neutralizing flight instructions received in the case where said score is below a threshold. ### Claim 7 (depends on 6) The system of claim 6, in which said score is established as a function of at least two measurements of characteristics of the link among the latency, the rate of packets received in disorder, the rate of packets not received and the rate of packets and the rate of packets received incomplete. ### Claim 8 (depends on 1) The system of claim 1, in which said bidirectional link management means comprise the implementation of at least one session establishment protocol and of at least one NAT traversal or bypass protocol. ### Claim 9 (depends on 8) The system as claimed in claim 8, in which the link management means are capable of including in the messages of the session establishment protocol information relating to the type of point connected, namely craft or ground station. ### Claim 10 (depends on 9) The system as claimed in claim 9, in which the link management means are capable of including in the messages of the session establishment protocol information relating to rights of a ground station over a craft. ### Claim 11 (depends on 10) The system as claimed in claim 10, in which said rights comprise rights to control the movement of the craft and rights to control the camera of the craft. ### Claim 12 (depends on 1) An assembly of a remote-controlled drone, a ground station, and a system as claimed in claim 1. ### Claim 13 (depends on 12) The set as claimed in claim 12, which further comprises at least one second ground station, one second bidirectional link between craft and ground station, at least partly implementing a cellular communication network, and second means for managing the second bidirectional link between the second ground station and the craft. ### Claim 14 (depends on 13) The set as claimed in claim 13, in which the first and second bidirectional link management means are capable of conveying information on respective rights of the two ground stations with respect to said craft. ### Claim 15 (depends on 13) The set as claimed in claim 13, in which the first and second bidirectional link management means are capable of routing critical instructions from the ground to the craft via the first bidirectional link or the second bidirectional link as a function of a type of criticality, namely temporal criticality or routing criticality. ### Claim 16 (depends on 1) An assembly of a remote-controlled drone, a first ground station a second ground station, a first system as claimed in claim 1 operative between the remote-controlled drone and the first ground station, and a second system as claimed in claim 1 operative between the remote-controlled drone and the second ground station, in which the first and second bidirectional link management means of the first and second systems are capable of conveying information on respective rights of the two ground stations with respect to said craft, said rights being different and including at least one among rights to control the drone and rights to control a drone camera. ### Claim 17 (depends on 1) An assembly of a remote-controlled drone, a first ground station a second ground station, a first system as claimed in claim 1 operative between the remote-controlled drone and the first ground station, and a second system as claimed in claim 1 operative between the remote-controlled drone and the second ground station, in which the first and second bidirectional link management means of the first and second systems are capable of selectively conveying critical instructions from the ground to the drone via the communications link of the first system or via the communications link of the second system, as a function of a type of criticality, namely temporal criticality or routing criticality.