# US 11,443,643 B2 · Control system for controlling unmanned aircraft systems > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,443,643 B2 - Document ID: US11443643B2 - Status: Granted - Kind: B2 - Application number: 16/603,980 - Filed: 2018-12-13 - Published: 2021-06-17 - Granted: 2022-09-13 - Earliest claimed: 2018-12-13 - Assignees: 10757969 Canada Corporation - Applicants: 10757969 Canada Corporation - Inventors: Dae Sun Moon - Web page: https://patentgrep.com/patent/US11443643B2 ## CPC - G05D 1/0027: {involving a plurality of vehicles, e.g. fleet or convoy travelling (fleet control of land vehicles from a control room G05D1/0297; traffic control systems for road vehicles G08G1/00; for marine craft G08G3/00; for aircraft G08G5/00)} - G08G 5/55: for a single aircraft - G05D 1/104: {involving a plurality of aircrafts, e.g. formation flying (traffic control systems for aircraft G08G5/00)} - G08G 5/22: located on the ground - G08G 5/26: Transmission of traffic-related information between aircraft and ground stations - G08G 5/32: for flight plan preparation - G08G 5/34: for flight plan modification - G08G 5/57: for unmanned aircraft - G08G 5/59: in accordance with predefined flight zones, e.g. to avoid prohibited zones - G08G 5/80: Anti-collision systems - H04Q 11/04: for time-division multiplexing {(H04Q11/0001 takes precedence)} - H04W 4/021: Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences - H04W 4/024: Guidance services - B64U 2201/10: autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS] - B64U 2201/104: using satellite radio beacon positioning systems, e.g. GPS - B64U 2201/20: Remote controls - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - 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}) - H04Q: SELECTING (switches, relays, selectors H01H; wireless communication networks H04W) - 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 The present disclosure provides a control system for controlling unmanned aircraft systems (UAS). The control system comprises of an application user system 102 to operate the UAS, an operating system 103, a virtual road system (VRS) 109 and a virtual packet 501. The virtual packet 501 created as a boundary around the UAS defined by application user system 102 or VRS 109. The operating system 103 includes a machine learning processing unit (MLPU) 104 configured for positioning the UAS, detecting collision within path of the virtual packet 901. The VRS 109 configured to generate a virtual roadway 902 using architecture similar to Internet service provider architecture and modules for routing the UAS. The routing and controlling of UAS by the VRS 109 is based on request received from the MLPU 104, application zone packet parameters and actual position co-ordinates received from the MLPU 104. ## Claims ### Claim 1 A control system for controlling an unmanned aircraft system (UAS) that operates in an aerial environment with other unmanned aircraft systems tracked by a base station or air traffic control devices, the control system comprising: an operating system embedded into a UAS hardware layer residing on or coupled to the UAS to provide a plurality of control layers for controlling the operation of the UAS, the operating system or the base station or air traffic control devices configured for establishing a virtual packet defining a physical space established around the UAS as the UAS travels within the aerial environment, the virtual packet having zone packet parameters establishing a proximity boundary based on one or more characteristics of at least one of the UAS or obstructions determined within the physical space of the virtual packet, the proximity boundary of the virtual packet encapsulating a volume greater than a physical volume of the UAS, the operating system controlling the movement of the UAS within the proximity boundary of the virtual packet; wherein a representation of the virtual packet or a physical location of the UAS is transmitted to flail the base station or air traffic control devices corresponding to a present location of the UAS, the base station or air traffic control devices configured to route the UAS in conjunction with the other unmanned aircraft systems based on a virtual roadway map data structure having a plurality of traffic corridors for routing the unmanned aircraft systems, each of the UAS and the other unmanned aircraft systems tracked as simple two dimensional or three dimensional polygonal objects defined by the virtual packet travelling within the virtual roadway map data structure and the plurality of traffic corridors, such that control tasks are divided between (i) the base station or the air traffic devices controlling positioning of the virtual packet corresponding to the UAS along a path in the virtual roadway map data structure through routing instructions and (ii) the operating system controlling the movement of the UAS within the proximity boundary of the virtual packet; wherein the base station or the air traffic control devices apply time-division multiplexing computational algorithms to subdivide positions along the virtual roadway map data structure within the plurality of traffic corridors for routing the virtual packet and other virtual packets corresponding to other unmanned aircraft systems. ### Claim 2 (depends on 1) The control system of claim 1, wherein the proximity boundary of the virtual packet is defined based on speed capabilities of the UAS to define the physical space based at least on a safety multiple of a minimum safe distance to obstructions within a boundary of the virtual packet. ### Claim 3 (depends on 1) The control system of claim 1, wherein the proximity boundary of the virtual packet is defined based on a determination, by the operating system, of whether a visible line of sight (VLOS) is established between an operator of the UAS and the UAS. ### Claim 4 (depends on 3) The control system of claim 3, wherein the virtual roadway map data structure includes a plurality of different layers of corridors, each layer of corridors representing a different altitude upon which the UAS can travel within. ### Claim 5 (depends on 4) The control system of claim 4, wherein the proximity boundary of the virtual packet is defined based at least on which layer of corridors of the plurality of different layer of corridors the UAS is travelling within or an altitude level in which the UAS is travelling within. ### Claim 6 (depends on 4) The control system of claim 4, wherein the plurality of different layer of corridors the UAS are generated based on replicating a base layer of corridors. ### Claim 7 (depends on 1) The control system of claim 1, wherein the proximity boundary of the virtual packet is defined based on an ability of the UAS to stabilize in response to detected environmental characteristics, including at least one of wind speed, air pressure, presence of animals, or relative humidity. ### Claim 8 (depends on 1) The control system of claim 1, wherein the base station or the air traffic control devices transmit operating characteristics to the operating system that define parameters that modify the proximity boundary of the virtual packet. ### Claim 9 (depends on 8) The control system of claim 8, wherein the operating characteristics include at least one of UAS class types, zone-based jurisdictional modifiers, or user license type of an operator of the UAS. ### Claim 10 (depends on 1) The control system of claim 1 further comprising a processor configured for positioning the UAS within the virtual packet as the UAS travels along the path in accordance with routing instructions generated based at least on the routing of the virtual packet, the path generated by the processor to avoid objects within the virtual packet that do not block an entirety of a leading edge of the virtual packet. ### Claim 11 (depends on 10) The control system of claim 10, wherein the processor is a machine learning processor (MLP) that is configured for controlling operation of the UAS within the virtual packet by dynamically minimizing an error term based on a centroid of the virtual packet such that the UAS is biased to fly in the selected path within the virtual packet that is closest to the centroid of the virtual packet as the virtual packet is being routed in accordance with the virtual roadway map data structure, the centroid of the virtual packet representing a target position of the UAS. ### Claim 12 (depends on 10) The control system of claim 10, wherein the processor is a machine learning processor (MLP) configured for object recognition to determine whether an obstruction blocking the entirety of the leading edge of the virtual packet is a temporary obstruction or a permanent obstruction, and responsive to a determination that the obstruction is a permanent obstruction, generating a data message for transmission to the base station or the air traffic control devices to request updated routing instructions. ### Claim 13 (depends on 1) The control system of claim 1, wherein the base station or the air traffic control devices transmit data sets representing the virtual roadway map data structure having the plurality of traffic corridors and other unmanned aircraft systems operating within the virtual roadway map data structure, and the base station or the air traffic control devices are configured to provide a set of points for navigating the path between a source entry point in the virtual roadway map data structure and a destination exit point in the virtual roadway map data structure, and the operating system is configured to navigate the UAS along the path provided by the set of points. ### Claim 14 (depends on 1) The control system of claim 1, wherein the UAS is controlled in accordance with the base station or the air traffic control devices and the virtual roadway map data structure only when the UAS travels within an area defined by the virtual roadway map data structure. ### Claim 15 (depends on 14) The control system of claim 14, wherein one or more locations existing outside the area defined by the virtual roadway map data structure are defined as different application zones where operator control of routing of the UAS is possible, and available paths within the virtual roadway map data structure are established as paths between the different application zones; and wherein when the UAS is travelling within the area defined by the virtual roadway map data structure, the operator control of the routing of the UAS is disabled. ### Claim 16 (depends on 1) The control system of claim 1, wherein the subdivided positions along the virtual roadway map data structure within the plurality of corridors are discrete segments based at least on approximately a size of the virtual packet. ### Claim 17 (depends on 1) The control system of claim 1, wherein the operating system is configured to request a new path from the base station or the air traffic control devices within the virtual roadway map data structure when the operating system detects permanent obstruction blocking the path of the virtual packet within which the UAS will travel. ### Claim 18 (depends on 1) The control system of claim 1, wherein the virtual packet is dynamically resized as the UAS travels within the virtual roadway map data structure and the plurality of traffic corridors. ### Claim 19 (depends on 1) The control system of claim 1, wherein the virtual packet is dynamically resized responsive to altitude level changes when the UAS travels within the virtual roadway map data structure and the plurality of traffic corridors. ### Claim 20 (depends on 1) The control system of claim 1, wherein the virtual packet is dynamically resized responsive to weather conditions.