# US 11,897,607 B2 · Unmanned aerial vehicle beyond visual line of sight control > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,897,607 B2 - Document ID: US11897607B2 - Status: Granted - Kind: B2 - Application number: 17/559,670 - Filed: 2021-12-22 - Published: 2022-06-16 - Granted: 2024-02-13 - Earliest claimed: 2016-06-13 - Assignees: Skydio, Inc. - Applicants: Skydio, Inc. - Inventors: Bernard J. Michini; Logan Kaminski; Edward Dale Steakley - Web page: https://patentgrep.com/patent/US11897607B2 ## CPC - B64C 39/024: {of the remote controlled vehicle type, i.e. RPV} - G05D 1/0022: {characterised by the communication link (data switching networks in general H04L12/00)} - G05D 1/0033: {by having the operator tracking the vehicle either by direct line of sight or via one or more cameras located remotely from the vehicle} - G05D 1/106: {Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones} - G05D 1/222: operated by humans - G05D 1/226: Communication links with the remote-control arrangements - G05D 1/606: Compensating for or utilising external environmental conditions, e.g. wind or water currents (station keeping G05D1/611) - B64U 10/10: Rotorcrafts - B64U 10/20: Vertical take-off and landing [VTOL] aircraft (flying platforms B64U10/13; helicopters B64U10/17) - B64U 10/25: Fixed-wing aircraft (VTOL aircraft B64U10/20) - B64U 10/30: Lighter-than-air aircraft, e.g. aerostatic aircraft - B64U 30/10: Wings - B64U 30/20: Rotors; Rotor supports - B64U 50/19: using electrically powered motors - B64U 70/83: using parachutes, balloons or the like - B64U 2101/26: for manufacturing, inspections or repairs - B64U 2101/30: for imaging, photography or videography - 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 - B64C: AEROPLANES; HELICOPTERS - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - B64U: UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR ## Abstract Methods, systems and apparatus, including computer programs encoded on computer storage media for unmanned aerial vehicle beyond visual line of sight (BVLOS) flight operations. In an embodiment, a flight planning system of an unmanned aerial vehicle (UAV) can identify handoff zones along a UAV flight corridor for transferring control of the UAV between ground control stations. The start of the handoff zones can be determined prior to a flight or while the UAV is in flight. For handoff zones determined prior to flight, the flight planning system can identify suitable locations to place a ground control station (GCS). The handoff zone can be based on a threshold visual line of sight range between a controlling GCS and the UAV. For determining handoff zones while in flight, the UAV can monitor RF signals from each GCS participating in the handoff to determine the start of a handoff period. ## Claims ### Claim 1 A method, comprising: receiving radio frequency signals associated with a first ground control station and a second ground control station while an unmanned aerial vehicle navigates under control of the first ground control station; predicting, based on the radio frequency signals, a time at which a visual line of sight event associated with one or more of the first ground control station or the second ground control station is expected; determining a handoff period for transferring control of the unmanned aerial vehicle to the second ground control station based on the predicted time; and initiating transfer of control of the unmanned aerial vehicle from the first ground control station to the second ground control station during the handoff period. ### Claim 2 (depends on 1) The method of claim 1, wherein the visual line of sight event corresponds to the unmanned aerial vehicle navigating beyond a visual line of sight of the first ground control station. ### Claim 3 (depends on 1) The method of claim 1, wherein the visual line of sight event corresponds to the unmanned aerial vehicle navigating within a visual line of sight of the second ground control station. ### Claim 4 (depends on 1) The method of claim 1, wherein the prediction is based on one or more of a motion of the unmanned aerial vehicle, a flight parameter of the unmanned aerial vehicle, a location of the first ground control station, or a location of the second ground control station. ### Claim 5 (depends on 4) The method of claim 4, wherein the prediction is performed by the unmanned aerial vehicle. ### Claim 6 (depends on 4) The method of claim 4, wherein the prediction is performed by one or more of the first ground control station of the second ground control station. ### Claim 7 (depends on 1) The method of claim 1, wherein predicting the time at which the visual line of sight event is expected comprises: determining, based on a three-dimensional terrain model of an environment in which the unmanned aerial vehicle is navigating, a physical structure along a predicted flight path that is expected to cause the visual line of sight event. ### Claim 8 (depends on 7) The method of claim 7, wherein the three-dimensional terrain model is produced by modeling geometric characteristics and radio frequency characteristics of the environment. ### Claim 9 An apparatus, comprising: a memory; and a processor configured to execute instructions stored in the memory to: while an unmanned aerial vehicle navigates under control of a first ground control station, predict a time at a visual line of sight event associated with one or more of the first ground control station or a second ground control station is expected; determine a handoff period for transferring control of the unmanned aerial vehicle to a second ground control station based on the predicted time; and initiate transfer of control of the unmanned aerial vehicle from the first ground control station to the second ground control station during the handoff period. ### Claim 10 (depends on 9) The apparatus of claim 9, wherein the prediction is based on radio frequency signals associated with the first ground control station and a second ground control station. ### Claim 11 (depends on 10) The apparatus of claim 10, wherein the radio frequency signals are monitored by the unmanned aerial vehicle while the unmanned aerial vehicle navigates under control of the first ground control station. ### Claim 12 (depends on 9) The apparatus of claim 9, wherein predicting the time at which the unmanned aerial vehicle is expected to navigate beyond the visual line of sight of the first ground control station comprises: determining, based on a three-dimensional terrain model of an environment in which the unmanned aerial vehicle is navigating, a physical structure along a predicted flight path that is expected to cause the unmanned aerial vehicle to navigate beyond the visual line of sight of the first ground control station. ### Claim 13 (depends on 9) The apparatus of claim 9, wherein the visual line of sight event corresponds to one or both of the unmanned aerial vehicle navigating beyond a visual line of sight of the first ground control station or the unmanned aerial vehicle navigating within a visual line of sight of the second ground control station. ### Claim 14 (depends on 9) The apparatus of claim 9, wherein the prediction is performed by the unmanned aerial vehicle and one or more of the first ground control station of the second ground control station. ### Claim 15 (depends on 9) The apparatus of claim 9, wherein the instructions include instructions to: responsive to the transfer of control, navigate the unmanned aerial vehicle under control of the second ground control station. ### Claim 16 A non-transitory computer storage medium including instructions that, when executed by one or more processors, cause the one or more processors to perform operations comprising: predicting a time at which a visual line of sight event associated with an unmanned aerial vehicle and one or more of a first ground control station or a second ground control station is expected based on radio frequency signals associated with the first ground control station and the second ground control station; determining a handoff period for transferring control of the unmanned aerial vehicle from the first ground control station to the second ground control station based on the predicted time; and initiating transfer of control of the unmanned aerial vehicle from the first ground control station to the second ground control station during the handoff period. ### Claim 17 (depends on 16) The non-transitory computer storage medium of claim 16, wherein the visual line of sight event corresponds to the unmanned aerial vehicle navigating beyond a visual line of sight of the first ground control station, and wherein the operations for predicting the time at which the visual line of sight event is expected comprise: predicting the time based on a radio frequency signal received from the first ground control station. ### Claim 18 (depends on 16) The non-transitory computer storage medium of claim 16, wherein the visual line of sight event corresponds to the unmanned aerial vehicle navigating within a visual line of sight of the second ground control station and wherein the operations for predicting the time at which the visual line of sight event is expected comprise: predicting the time based on a radio frequency signal received from the second ground control station. ### Claim 19 (depends on 16) The non-transitory computer storage medium of claim 16, wherein the radio frequency signals are received by the unmanned aerial vehicle while the unmanned aerial vehicle navigates under control of the first ground control station. ### Claim 20 (depends on 16) The non-transitory computer storage medium of claim 16, the operations comprising: performing, by the unmanned aerial vehicle, one or more actions based on contingency conditions arising during the handoff period.