# US 11,906,962 B2 · Unmanned aerial vehicle tracking and control > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,906,962 B2 - Document ID: US11906962B2 - Status: Granted - Kind: B2 - Application number: 17/182,917 - Filed: 2021-02-23 - Published: 2021-11-11 - Granted: 2024-02-20 - Earliest claimed: 2020-03-11 - Assignees: Apple Inc. - Applicants: Apple Inc. - Inventors: Han Pu; Alosious Pradeep Prabhakar; Krisztian Kiss; Srinivasan Nimmala; Vijay Venkataraman; Yip Pong Herbert Wong - Web page: https://patentgrep.com/patent/US11906962B2 ## CPC - G05D 1/0022: {characterised by the communication link (data switching networks in general H04L12/00)} - G08G 5/26: Transmission of traffic-related information between aircraft and ground stations - G01S 19/42: Determining position - G05D 1/101: {specially adapted for aircraft} - G05D 1/226: Communication links with the remote-control arrangements - G05D 1/692: involving a plurality of disparate vehicles - G08G 5/00: Traffic control systems for aircraft - G08G 5/22: located on the ground - G08G 5/53: for cruising - G08G 5/55: for a single aircraft - G08G 5/56: for two or more aircraft - G08G 5/727: {from a ground station} - H04W 4/025: {using location based information parameters} - H04W 4/40: for vehicles, e.g. vehicle-to-pedestrians [V2P] - B64U 2201/20: Remote controls - G08G 5/57: for unmanned aircraft - H04W 4/027: {using movement velocity, acceleration information} - H04W 60/005: {Multiple registrations, e.g. multihoming} - H04W 84/042: {Public Land Mobile systems, e.g. cellular systems} - 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}) - G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES - 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 Apparatuses, systems, and methods for tracking and/or controlling unmanned aerial vehicles (UAVs) as well as tracking UAV controllers (UACs) within a cellular network. A UAV/UAC may provide a cellular network with tracking information such as speed, orientation, altitude, C2 communication quality, C2 communication mode change request, measurement report, RRC status, cell ID, TAC ID, current location of the UAV, and destination of the UAV. The network may forward this information to an unmanned aerial system (UAS) traffic management system (UTM). The UTM may determine, based in part on the tracking information, whether to transfer control of the UAV from the UAC to the UTM. In some embodiments, the UAV/UAC may trigger the UTM to transfer control of the UAV form the UAC to the UTM. ## Claims ### Claim 1 A non-transitory computer readable memory medium storing program instructions executable by processing circuitry to cause a processor to: receive, from a network entity, tracking information associated with an unmanned aerial vehicle (UAV) and/or a UAV controller (UAC) associated with the UAV, wherein the UAV is in a Network-Assisted control mode, and wherein the tracking information includes at least one of a UAV identifier (UAV ID) associated with the UAV or a UAC identifier (UAC ID) associated with the UAC; determine, based on the tracking information associated with the UAV, to switch the UAV from the Network-Assisted control mode to a UTM-Navigated control mode; and send, to the network entity, a control mode change request, wherein the control mode change request includes a cause code and at least one of the UAV ID or UAC ID. ### Claim 2 (depends on 1) The non-transitory memory medium of claim 1, wherein, to determine to switch the UAV from the Network-Assisted control mode to the UTM-Navigated control mode, the program instructions are further executable to: send, based on a prior request, the tracking information associated with the UAV to a Third-Party Authorized Entity (TPAE); and receive, from the TPAE, the control mode change request. ### Claim 3 (depends on 1) The non-transitory memory medium of claim 1, wherein the control mode change request includes an indication of a cause or reason for the control mode change request. ### Claim 4 (depends on 1) The non-transitory memory medium of claim 1, wherein, to determine, based on the tracking information associated with the UAV, to switch the UAV from the Network-Assisted control mode to the UTM-Navigated control mode, the program instructions are further executable to: determine that the UAV is entering a designated area, wherein UTM-Navigated control mode is required while in the designated area, and wherein the designated area is specified by at least one of an air traffic control policy or a government policy. ### Claim 5 (depends on 1) The non-transitory memory medium of claim 1, wherein, to determine, based on the tracking information associated with the UAV, to switch the UAV from the Network-Assisted control mode to the UTM-Navigated control mode, the program instructions are further executable to: determine at least one of: that the UAC is unable to communicate with the UAV; that the UAC is initiating the switch based on at least one of a UAC control release cause code or a UAC control suspend cause code; or that the UAV is initiating the switch based on a UAC lost cause code. ### Claim 6 (depends on 1) The non-transitory memory medium of claim 1, wherein the tracking information is at least one of periodic tracking information or event tracking information. ### Claim 7 (depends on 6) The non-transitory memory medium of claim 6, wherein periodic tracking information includes at least one of: UAV navigational properties; a cell identifier associated with the UAV; a tracking area code (TAC) identifier associated with the UAV; global positioning system (GPS) information associated with the UAV; a C2 link communication quality as reported by one of the UAV or UAC; a radio frequency measurement report as measured by one of the UAV or UAC; or radio resource control (RRC) status of the UAC. ### Claim 8 (depends on 7) The non-transitory memory medium of claim 7, wherein UAV navigational properties includes one or more of: UAV speed; UAV orientation; or UAV altitude; and wherein GPS information includes one or more of: a current position or location of the UAV; or a destination location or destination coordinates of the UAV. ### Claim 9 (depends on 6) The non-transitory memory medium of claim 6, wherein event tracking information includes: a C2 communication mode change request; and a cause code associated with the C2 communication mode change request; and wherein the cause code includes at least one of: a UAC control release cause code; a UAC control suspend cause code; a UAC control resume cause code; or a UAC lost cause code. ### Claim 10 An apparatus, comprising: a memory; and a processing element in communication with the memory, wherein the processing element is configured to: receive, from a network entity, tracking information associated with an unmanned aerial vehicle (UAV) and/or a UAV controller (UAC) associated with the UAV, wherein the UAV is in a first control mode supported by communications between the UAV and the UAC via a radio access network, and wherein the tracking information includes at least one of a UAV identifier (UAV ID) associated with the UAV or a UAC identifier (UAC ID) associated with the UAC; determine, based on the tracking information associated with the UAV, to switch the UAV from the first control mode to a second control mode, wherein the second control mode is supported by communications between the UAV and the apparatus; and send, to the network entity, a control mode change request, wherein the control mode change request includes a cause code for the control mode change request and at least one of the UAV ID or UAC ID, and wherein the cause code is associated with a power level of the UAC dropping below a threshold. ### Claim 11 (depends on 10) The apparatus of claim 10, wherein the cause code is a first cause code, wherein a second cause code is associated with the UAC detecting or determining entry of the UAV into a designated area, wherein a third cause code is associated with the UAC detecting or determining exiting of the UAV from a designated area, and wherein a fourth cause code is associated with the UAV not receiving any C2 commands from the UAC within a specified period of time. ### Claim 12 (depends on 10) The apparatus of claim 10, wherein the tracking information is at least one of periodic tracking information or event tracking information. ### Claim 13 (depends on 12) The apparatus of claim 12, wherein periodic tracking information includes at least one of: UAV navigational properties; a cell identifier associated with the UAV; a tracking area code (TAC) identifier associated with the UAV; global positioning system (GPS) information associated with the UAV; a C2 link communication quality as reported by one of the UAV or UAC; a radio frequency measurement report as measured by one of the UAV or UAC; or radio resource control (RRC) status of the UAC; and wherein event tracking information includes: a C2 communication mode change request; and a cause code associated with the C2 communication mode change request. ### Claim 14 (depends on 13) The apparatus of claim 13, wherein UAV navigational properties includes one or more of: UAV speed; UAV orientation; or UAV altitude; and wherein GPS information includes one or more of: a current position or location of the UAV; or a destination location or destination coordinates of the UAV. ### Claim 15 A unmanned aerial vehicle (UAV), comprising: one or more antennas; one or more radios, wherein each of the one or more radios is configured to perform cellular communication using at least one radio access technology (RAT); one or more processors coupled to the one or more radios, wherein the one or more processors and the one or more radios are configured to perform voice and/or data communications; wherein the one or more processors are configured to cause the UAV to: send, to a network entity, tracking information associated with the UAV and/or a UAV controller (UAC) associated with the UAV, wherein the UAV is in a Network-Assisted control mode, and wherein the tracking information includes at least one of a UAV identifier (UAV ID) associated with the UAV or a UAC identifier (UAC ID) associated with the UAC; receive, from the network entity, a control mode change request indicating a switch of the UAV from the Network-Assisted control mode to a UTM-Navigated control mode, wherein the control mode change request includes at least one of the UAV ID or UAC ID; and send, to the network entity, a control mode change confirmation, wherein the control mode change request includes a cause code for the control mode change request and at least one of the UAV ID or UAC ID, and wherein the cause code is associated with the UAV not receiving any command and control (C2) communications from the UAC within a specified period of time. ### Claim 16 (depends on 15) The UAV of claim 15, wherein the tracking information includes event-based tracking information, and wherein the event-based tracking information includes: a C2 communication mode change request; and a cause code associated with the C2 communication mode change request; and wherein the cause code includes at least one of: a UAC control release cause code; a UAC control suspend cause code; a UAC control resume cause code; or a UAC lost cause code. ### Claim 17 (depends on 16) The UAV of claim 16, wherein the UAC control release cause code is associated with a power level of the UAC dropping below a threshold; wherein the UAC control suspend cause code is associated with the UAC detecting or determining entry of the UAV into a designated area, wherein UTM-Navigated control mode is required while in the designated area; wherein the UAC control resume cause code is associated with the UAC detecting or determining exiting of the UAV from a designated area, wherein UTM-Navigated control mode is required while in the designated area; wherein the UAC lost cause code is associated with the UAV not receiving any C2 commands from the UAC within a specified period of time; and wherein the designated area is specified by at least one of an air traffic control policy or a government policy. ### Claim 18 (depends on 15) The UAV of claim 15, wherein the tracking information includes periodic tracking information, and wherein the periodic tracking information includes at least one of: UAV navigational properties; a cell identifier associated with the UAV; a tracking area code (TAC) identifier associated with the UAV; global positioning system (GPS) information associated with the UAV; a C2 link communication quality as reported by one of the UAV or UAC; a radio frequency measurement report as measured by one of the UAV or UAC; or radio resource control (RRC) status of the UAC. ### Claim 19 (depends on 18) The UAV of claim 18, wherein UAV navigational properties includes one or more of: UAV speed; UAV orientation; or UAV altitude. ### Claim 20 (depends on 15) The UAV of claim 15, wherein GPS information includes one or more of: a current position or location of the UAV; or a destination location or destination coordinates of the UAV.