Ads-b receiver-based flight control method for unmanned aerial vehicle, unmanned aerial vehicle, and control terminal

Patent metadata

Field	Value
Publication number	US-2020184836-A1
Application number	US-202016789620-A
Country	US
Kind code	A1
Filing date	Feb 13, 2020
Priority date	Aug 15, 2017
Publication date	Jun 11, 2020
Grant date	—

Abstract

A method for controlling an unmanned aerial vehicle (UAV) includes obtaining flight status information of an aircraft detected by an automatic dependent surveillance-broadcast (ADS-B) receiver carried by the UAV, obtaining flight status information of the UAV, and controlling a flight status of the UAV according to the flight status information of the aircraft and the flight status information of the UAV.

First claim

What is claimed is:

1 . A method for controlling an unmanned aerial vehicle (UAV) comprising:
obtaining flight status information of an aircraft detected by an automatic dependent surveillance-broadcast (ADS-B) receiver carried by the UAV; obtaining flight status information of the UAV; and controlling a flight status of the UAV according to the flight status information of the aircraft and the flight status information of the UAV.

2 . The method of claim 1 , wherein:
the flight status information of the aircraft includes at least one of position information, altitude information, speed information, direction information, or an identification number of the aircraft; and the flight status information of the UAV includes at least one of position information, altitude information, speed information, direction information, or an identification number of the UAV.

3 . The method of claim 1 , wherein the flight status of the UAV includes a normal status, an early warning status, or an avoidance status.

4 . The method of claim 1 , wherein controlling the UAV flight status includes:
determining a collision risk factor of the UAV and the aircraft according to the flight status information of the aircraft and the flight status information of the UAV; and controlling the flight status of the UAV according to the collision risk factor.

5 . The method of claim 4 , wherein:
the collision risk factor includes a flight time of the aircraft; and determining the collision risk factor includes:
calculating a first flight trajectory according to the flight status information of the aircraft;
calculating a second flight trajectory according to the flight status information of the UAV;
calculating a flight trajectory intersection of the UAV and the aircraft according to the first flight trajectory and the second flight trajectory; and
calculating the flight time for the aircraft to reach the flight trajectory intersection according to speed information included in the flight status information of the aircraft.

6 . The method of claim 4 , wherein:
the collision risk factor includes a flight radius of the UAV; and determining the collision risk factor includes:
calculating a first flight trajectory according to the flight status information of the aircraft;
calculating a second flight trajectory according to the flight status information of the UAV;
calculating a flight trajectory intersection of the UAV and the aircraft according to the first flight trajectory and the second flight trajectory;
calculating a flight time for the aircraft to reach the flight trajectory intersection according to speed information included in the flight status information of the aircraft; and
calculating the flight radius of the UAV according to speed information of the UAV and the flight time of the aircraft.

7 . The method of claim 4 , wherein:
the collision risk factor includes a safe distance; and determining the collision risk factor includes:
calculating a first flight trajectory according to the flight status information of the aircraft;
calculating a second flight trajectory according to the flight status information of the UAV;
calculating a flight trajectory intersection of the UAV and the aircraft according to the first flight trajectory and the second flight trajectory;
calculating a flight time for the aircraft to reach the flight trajectory intersection according to speed information included in the flight status information of the aircraft;
calculating a flight radius of the UAV according to speed information of the UAV and the flight time of the aircraft;
calculating a distance from the UAV to the flight trajectory intersection according to position information in the flight status information of the UAV; and
calculating the safe distance according to the distance from the UAV to the flight trajectory intersection and the flight radius of the UAV.

8 . The method of claim 1 , wherein obtaining the flight status information of the aircraft includes receiving the flight status information of aircraft by the ADS-B receiver according to a pre-set frequency.

9 . The method of claim 1 , wherein obtaining the flight status information of the aircraft includes receiving the flight status information of the aircraft by the ADS-B receiver according to a frequency that is variable.

10 . The method of claim 9 , wherein receiving the flight status information of the aircraft includes adjusting the frequency according to a distance between the UAV and the aircraft.

11 . The method of claim 10 , further comprising, before adjusting the frequency:
obtaining position information in the flight status information of the aircraft and position information in the flight status information of the UAV; and calculating the distance between the UAV and the aircraft according to the position information of the aircraft and the position information of the UAV.

12 . The method of claim 10 , wherein the frequency is negatively correlated to the distance.

13 . The method of claim 1 , wherein controlling the flight status of the UAV includes:
obtaining an avoidance trajectory; and controlling the UAV to fly according to the avoidance trajectory.

14 . The method of claim 13 , wherein obtaining the avoidance trajectory includes:
obtaining a direction vector from a head of the UAV to the aircraft; and determining a reverse direction of the direction vector as the avoidance trajectory.

15 . The method of claim 13 , wherein obtaining the avoidance trajectory includes determining a vertical downward direction as the avoidance trajectory.

16 . The method of claim 1 , wherein controlling the flight status of the UAV includes:
controlling the UAV to be in an avoidance status; generating an avoidance message; and sending the avoidance message to a control terminal.

17 . The method of claim 1 , wherein controlling the flight status of the UAV includes:
controlling the UAV to be in an early warning status; generating an early warning message; and sending the early warning message to a control terminal.

18 . The method of claim 17 , further comprising:
obtaining a control command from the control terminal; and controlling the flight status of the UAV according to the control command.

19 . An unmanned aerial vehicle (UAV) control method comprising:
obtaining flight status information of a UAV and flight status information of an aircraft detected by an automatic dependent surveillance-broadcast (ADS-B) receiver carried by the UAV; and controlling a flight status of the UAV according to the flight status information of the aircraft and the flight status information of the UAV.

20 . An unmanned aerial vehicle (UAV), comprising:
a memory storing instructions; and a processor configured to read the instructions from the memory to:
obtain flight status information of an aircraft detected by an automatic dependent surveillance-broadcast (ADS-B) receiver carried by the UAV;
obtain flight status information of the UAV; and
control a flight status of the UAV according to the flight status information of the aircraft and the flight status information of the UAV.

Assignees

• Sz Dji Technology Co Ltd

Inventors

• Yang Liangliang
• Chen Ming
• Wang Naibo
• Zhang Zhipeng

Classifications

• G08G5/723

  from the aircraft · CPC title

• G08G5/80

  Anti-collision systems · CPC title

• G08G5/57

  for unmanned aircraft · CPC title

• G08G5/55

  for a single aircraft · CPC title

• G08G5/25

  Transmission of traffic-related information between aircraft · CPC title