Visual collision avoidance system for unmanned aerial vehicles

A visual collision avoidance system for Unmanned Aerial Vehicles (UAV) comprising:

• a flight/mission computer means having programs for air data processing, flight data management, navigation support, and autopilot functioning,
• a data acquisition means for filtering, sampling, multiplexing, and converting the data from analog to digital form and data distribution means for converting digital signals to analog form, their de-multiplexing and filtering,
• sensor means for short-term attitude determination,
• a GPS receiver means for long-term navigation, an up-link and down-link means for communications with ground control station.
• an optional payload means for acquisition of surveillance or reconnaissance data,
• wherein a miniature CCD forward-looking TV camera with appropriate video circuitry is installed in the front section of the UAV, output of the camera is connected with an image processor, and the signals produced by this image processor are sent to the said flight/mission computer means, said forward-looking TV camera automatically locks an obstacle on course of the UAV flight and tracks it in real time, a point on the edge of the obstacle closest to the center of camera's field of view is searched, a distance from this point to the center of field of view is determined and used in said flight/mission computer means' program as a basis for autopilot commands generation for collision avoidance maneuver:
• said autopilot interrupts pre-programmed flight and manages to deflect the UAV in a direction from said center of field of view toward said point on the edge while the center of field of view is inside the obstacle, and in a direction opposite the direction from said center of field of view toward said point while said center of field of view is outside the obstacle;
• a level of threat and an amplitude of the command which are generated by the autopilot program are of maximum value while the center of field of view is inside the obstacle, and is inverse-proportional to said distance while the center of field of view is not inside the obstacle and outside an area adjacent to the center of the field of view;
• said flight/mission computer means manage the collision avoidance maneuver, and return to the interrupted pre-programmed flight when the threat is over.