# US 9,443,436 B2 · System for testing of autonomy in complex environments > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 9,443,436 B2 - Document ID: US9443436B2 - Status: Granted - Kind: B2 - Application number: 14/133,748 - Filed: 2013-12-19 - Published: 2016-03-03 - Granted: 2016-09-13 - Earliest claimed: 2012-12-20 - Assignees: The Johns Hopkins University - Applicants: The Johns Hopkins University - Inventors: David H. Scheidt - Web page: https://patentgrep.com/patent/US9443436B2 ## CPC - G08G 5/55: for a single aircraft - G01R 31/00: Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere ({measuring superconductive properties G01R33/1238;} testing line transmission systems H04B3/46; testing or measuring semiconductors or solid state devices during manufacture {H10P74/00}) - G05B 19/0428: {Safety, monitoring (G05B19/0423 takes precedence)} - G05B 23/00: Testing or monitoring of control systems or parts thereof (monitoring of program-control systems G05B19/048, G05B19/406) - G08G 5/57: for unmanned aircraft - G09B 9/08: for teaching control of aircraft, e.g. Link trainer - B64U 2201/10: autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS] - G05B 2219/24182: Redundancy - 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}) - G01R: MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES (indicating correct tuning of resonant circuits H03J3/12) - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) - G09B: EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS (devices for psychotechnics or for testing reaction times A61B5/16; games, sports, amusements A63; projectors, projector screens G03B) - B64U: UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR ## Abstract A monitoring apparatus for deployment on an AUV may include navigation equipment operable independent of guidance and control equipment of the AUV and usable for determining AUV navigation information during deployment of the AUV, radio equipment operable independent of a radio module of the AUV and for providing a communication link to a ground station for communication with testing staff, and a watchdog module comprising processing circuitry configured to monitor at least the AUV navigation information relative to operational guidance to determine whether a constraint defined in the operational guidance is violated. ## Claims ### Claim 1 A monitoring apparatus for deployment on an autonomous unmanned vehicle (AUV), the monitoring apparatus comprising: navigation equipment operable independent of guidance and control equipment of the AUV, the navigation equipment determining AUV navigation information during deployment of the AUV; radio equipment operable independent of a radio module of the AUV, the radio equipment providing a communication link to a ground station for communication with testing staff; and a watchdog module comprising processing circuitry configured to monitor at least the AUV navigation information relative to operational guidance to determine whether a constraint defined in the operational guidance is violated. ### Claim 2 (depends on 1) The monitoring apparatus of claim 1, wherein the watchdog module is configured to monitor AUV response to violating the constraint and determine whether the AUV response conforms to the operational guidance. ### Claim 3 (depends on 1) The monitoring apparatus of claim 1, wherein the watchdog module is configured to take over control of operation of the AUV in response to the constraint being violated. ### Claim 4 (depends on 1) The monitoring apparatus of claim 1, wherein the watchdog module is configured to record the AUV navigation information in memory of the monitoring apparatus. ### Claim 5 (depends on 1) The monitoring apparatus of claim 1, wherein the watchdog module is configured to communicate the AUV navigation information to the ground station via the radio equipment. ### Claim 6 (depends on 5) The monitoring apparatus of claim 5, wherein the watchdog module is configured to communicate the AUV navigation information to the ground station in real-time. ### Claim 7 (depends on 1) The monitoring apparatus of claim 1, wherein the monitoring apparatus is configured to interface with an autonomy engine of the AUV to provide data descriptive of a scenario involving interaction between the AUV and at least one external entity to the autonomy engine. ### Claim 8 (depends on 7) The monitoring apparatus of claim 7, wherein the data descriptive of the scenario is provided via the ground station. ### Claim 9 (depends on 7) The monitoring apparatus of claim 7, wherein the data descriptive of the scenario is provided at least in part by a high fidelity data stimulator located at the monitoring apparatus. ### Claim 10 (depends on 7) The monitoring apparatus of claim 7, wherein the data descriptive of the scenario is provided at least in part by a low fidelity data stimulator located at the ground station. ### Claim 11 (depends on 7) The monitoring apparatus of claim 7, wherein the data descriptive of the scenario includes data associated with actions of live entities in a vicinity of the AUV. ### Claim 12 A system comprising: an autonomous unmanned vehicle (AUV) including at least a guidance and control module to monitor AUV navigation information, an autonomy engine configured to direct autonomous operation of the AUV, and a radio module capable of establishing a communication link with an operator; a monitoring apparatus deployed on the AUV, the monitoring apparatus comprising: navigation equipment operable independent of the guidance and control equipment, the navigation equipment separately determining AUV navigation information during deployment of the AUV; radio equipment operable independent of a radio module of the AUV, the radio equipment providing a communication link for communication with testing staff; and a watchdog module comprising processing circuitry configured to monitor at least the AUV navigation information provided by the navigation equipment relative to operational guidance to determine whether a constraint defined in the operational guidance is violated; and a ground station including radio equipment configured to establish the communication link with the radio equipment of the monitoring apparatus to enable testing staff to interact with the monitoring equipment during deployment of the AUV. ### Claim 13 (depends on 12) The system of claim 12, wherein the watchdog module is configured to monitor AUV response to violating the constraint and determine whether the AUV response conforms to the operational guidance. ### Claim 14 (depends on 12) The system of claim 12, wherein the watchdog module is configured to take over control of operation of the AUV in response to the constraint being violated. ### Claim 15 (depends on 12) The system of claim 12, wherein the watchdog module is configured to record the AUV navigation information in memory of the monitoring apparatus. ### Claim 16 (depends on 12) The system of claim 12, wherein the watchdog module is configured to communicate the AUV navigation information to the ground station via the radio equipment. ### Claim 17 (depends on 12) The system of claim 12, wherein the monitoring apparatus is configured to interface with the autonomy engine to provide data descriptive of a scenario involving interaction between the AUV and at least one external entity to the autonomy engine. ### Claim 18 (depends on 17) The system of claim 17, wherein the data descriptive of the scenario is provided via the ground station. ### Claim 19 (depends on 18) The system of claim 18, wherein the data descriptive of the scenario is provided at least in part by a high fidelity data stimulator located at the monitoring apparatus. ### Claim 20 (depends on 18) The system of claim 18, wherein the data descriptive of the scenario is provided at least in part by a low fidelity data stimulator located at the ground station.