Apparatus to generate aircraft intent and related methods

Patent metadata

Field	Value
Publication number	US-10614723-B2
Application number	US-201815980377-A
Country	US
Kind code	B2
Filing date	May 15, 2018
Priority date	Sep 28, 2015
Publication date	Apr 7, 2020
Grant date	Apr 7, 2020

Abstract

Apparatus to generate aircraft intent and related methods are disclosed. An example apparatus includes one or more processors configured to determine a discrete automaton of a UAV by translating boundary constraint information into linear temporal logic (LTL), determine a maneuver automaton by calculating a set of motion primitives in aircraft intent description language (AIDL), combine the discrete automaton and the maneuver automaton to generate a product automaton corresponding to a motion plan to move the UAV from the first position to a second position different from the first position, determine whether the product automaton satisfies a trajectory specification threshold, produce a second aircraft intent description of the UAV in AIDL representative of second flight plan instructions different from the first flight plan instructions when the product automaton satisfies the trajectory specification threshold, and execute the second flight plan instructions with the UAV to move the UAV to the second position.

First claim

The invention claimed is:

1. An apparatus to provide an unmanned aerial vehicle (UAV) autonomous capability in executing a mission objective, the apparatus comprising:
one or more processors configured to:
determine a discrete automaton of the UAV by translating boundary constraint information including first flight plan instructions of the UAV into linear temporal logic (LTL);
determine a maneuver automaton by calculating a set of motion primitives in aircraft intent description language (AIDL) associated with a first aircraft intent description and a first position of the UAV, the set of motion primitives defining a flight trajectory of the UAV;
combine the discrete automaton and the maneuver automaton to generate a product automaton corresponding to a motion plan to move the UAV from the first position to a second position different from the first position;
determine whether the product automaton satisfies a trajectory specification threshold;
produce a second aircraft intent description of the UAV in AIDL representative of second flight plan instructions different from the first flight plan instructions when the product automaton satisfies the trajectory specification threshold; and
execute the second flight plan instructions with the UAV to move the UAV to the second position.

2. The apparatus of claim 1 , wherein the first and second aircraft intent descriptions represent three-dimensional positions of the UAV with respect to time corresponding to an intended motion and configuration of the UAV during flight.

3. The apparatus of claim 1 , wherein the set of motion primitives includes at least one of trim primitives or maneuvers, the trim primitives corresponding to steady-state motions or aircraft flight equilibria to maintain the UAV in a steady-state condition, the maneuvers corresponding to a trajectory that takes the UAV from one steady-state condition to another by joining two different trim primitives for a fixed duration.

4. The apparatus of claim 3 , wherein at least one of the first flight plan instructions or the second flight plan instructions include at least one of waypoint objectives, temporal objectives, or performance objectives, the boundary constraint information further including user preference indications and operational context indications, the user preference indications including decision criteria in view of at least one of flight alternatives or safety criteria, the operational context indications including at least one of no-fly-zones or general flight rules to be observed during flight.

5. The apparatus of claim 1 , wherein the one or more processors are configured to iteratively calculate the set of motion primitives based on the boundary constraint information until a subsequently determined set of motion primitives satisfies the trajectory specification threshold when the product automaton does not satisfy the trajectory specification threshold, the subsequently determined set of motion primitives determined using incrementally modified motion primitives.

6. The apparatus of claim 1 , wherein the one or more processors determine whether the product automaton satisfies the trajectory specification threshold by evaluating the product automaton by transforming and connecting combinations of motion primitives included in the set of motion primitives.

7. A non-transitory computer readable medium comprising instructions which, when executed, cause a machine to at least:
determine a discrete automaton of a UAV by translating boundary constraint information including first flight plan instructions of the UAV into linear temporal logic (LTL);
determine a maneuver automaton by calculating a set of motion primitives in aircraft intent description language (AIDL) associated with a first aircraft intent description and a first position of the UAV, the set of motion primitives defining a flight trajectory of the UAV;
combine the discrete automaton and the maneuver automaton to generate a product automaton corresponding to a motion plan to move the UAV from the first position to a second position different from the first position;
determine whether the product automaton satisfies a trajectory specification threshold;
produce a second aircraft intent description of the UAV in AIDL representative of second flight plan instructions different from the first flight plan instructions when the product automaton satisfies the trajectory specification threshold; and
execute the second flight plan instructions with the UAV to move the UAV to the second position.

8. The non-transitory computer readable medium of claim 7 , wherein the first and second aircraft intent descriptions represent three-dimensional positions of the UAV with respect to time corresponding to an intended motion and configuration of the UAV during flight.

9. The non-transitory computer readable medium of claim 7 , wherein the set of motion primitives includes trim primitives corresponding to steady-state motions or aircraft flight equilibria to maintain the UAV in a steady-state condition.

10. The non-transitory computer readable medium of claim 7 , wherein the set of motion primitives include maneuvers corresponding to a trajectory that takes the UAV from one steady-state condition to another by joining two different trim primitives for a fixed duration.

11. The non-transitory computer readable medium of claim 10 , wherein at least one of the first flight plan instructions or the second flight plan instructions include at least one of waypoint objectives, temporal objectives, or performance objectives, the boundary constraint information further including user preference indications and operational context indications, the user preference indications including decision criteria in view of at least one of flight alternatives or safety criteria, the operational context indications including at least one of no-fly-zones or general flight rules to be observed during flight.

12. The non-transitory computer readable medium of claim 7 , further including instructions which, when executed, cause the machine to at least iteratively calculate the set of motion primitives based on the boundary constraint information until a subsequently determined set of motion primitives satisfies the trajectory specification threshold when the product automaton does not satisfy the trajectory specification threshold, the subsequently determined set of motion primitives determined using incrementally modified motion primitives.

13. The non-transitory computer readable medium of claim 7 , further including instructions which, when executed, cause the machine to at least evaluate the product automaton by transforming and connecting combinations of motion primitives included in the set of motion primitives.

14. A method of providing an unmanned aerial vehicle (UAV) autonomous capability in performing a set of flight plan instructions, the method comprising:
determining a discrete automaton of the UAV by translating boundary constraint information including first flight plan instructions of the UAV into linear temporal logic (LTL);
determining a maneuver automaton by calculating a set of motion primitives in aircraft intent description language (AIDL) associated with a first aircraft intent description and a first position of the UAV, the set of motion primitives defining a flight trajectory of the UAV;
combining the discrete automaton and the maneuver automaton to generate a product automaton corresponding to a motion plan to move the UAV from the first position to a second position different from the first position;
determining whether the product automaton satisfies a trajectory

Assignees

• Boeing Co

Inventors

• Hardt Michael W
• Navarro Felix Francisco A

Classifications

• G08G5/003 Primary

  Physics · mapped topic

• G08G5/0017

  Physics · mapped topic

• G08G5/0095

  Physics · mapped topic

• G08G5/20

  Arrangements for acquiring, generating, sharing or displaying traffic information (arrangements for monitoring traffic G08G5/72) · CPC title

• G08G5/00 Primary

  Traffic control systems for aircraft · CPC title