Dynamic navigation of UAVs using three dimensional network coverage information

Patent metadata

Field	Value
Publication number	US-9818303-B2
Application number	US-201514741357-A
Country	US
Kind code	B2
Filing date	Jun 16, 2015
Priority date	Jun 16, 2015
Publication date	Nov 14, 2017
Grant date	Nov 14, 2017

Abstract

Flight path determination for unmanned aerial vehicles (UAVs) in which three-dimensional coverage information, corresponding to a wireless network, is used to optimize the flight path to ensure that the UAVs maintain network coverage throughout the flight. The flight path information may be provided as a service to UAV operators. In one implementation, network coverage for a cellular network may be mapped in a three-dimensional manner. That is, the radio signal strength of the network may be mapped at various heights that correspond to heights at which UAVs are likely to fly.

First claim

What is claimed is:

1. A method comprising:
receiving, by one or more computing devices, a request from an entity associated with navigation of an unmanned aerial vehicle (UAV), for a flight path for the UAV, the request including an indication of a starting location and ending location of the flight path;
mapping three-dimensional wireless signal strength, by the one or more computing devices, to obtain three-dimensional network coverage information that provides a three-dimensional indication of wireless signal strength for a cellular wireless network to which the UAV is to connect when traversing the flight path, the mapping being performed based on measurements of signal strength, and corresponding three-dimensional indications of location from a plurality of in-flight UAVs, the measurements of signal strength being obtained by radio transceivers of the plurality of UAVs;
generating, by the one or more computing devices and in response to the request, the requested flight path based on a plurality of factors, the plurality of factors including the starting and ending location of the flight path and the three-dimensional network coverage information, the determined flight path indicating altitudes at which the UAV should fly to optimize connectivity to the cellular wireless network when the UAV is traversing the flight path, the flight path including a series of three-dimensional waypoints; and
transmitting, by the one or more computing devices, the determined flight path to the entity associated with navigation of the UAV.

2. The method of claim 1 , wherein each of the waypoints includes an indication of a geographical location and an altitude.

3. The method of claim 1 , wherein the plurality of factors additionally include one or more of:
areas that are restricted fly zones; or
areas that correspond to areas of high pedestrian density.

4. The method of claim 1 , wherein the three-dimensional coverage information includes, for various locations, estimates of the wireless signal strength between heights of approximately 100 to 400 feet above ground level.

5. The method of claim 1 , wherein obtaining the three-dimensional network coverage information further includes:
estimating signal strength, associated with the cellular wireless network, based on power radiation formulas applied to transceivers in the cellular wireless network.

6. The method of claim 5 , wherein estimating the signal strength further includes estimating the signal strength, at various altitudes, based on geographic topology and network topology of the wireless cellular network.

7. The method of claim 1 , wherein the determined flight path includes indications of flight segments, along the flight path, at which network connectivity to the cellular wireless network is not present.

8. The method of claim 1 , further comprising:
dynamically updating flight altitudes associated with the determined flight path based on changes in the three-dimensional network coverage information; and
transmitting the updated flight altitudes to the entity associated with navigation of the UAV.

9. The method of claim 1 , wherein the measurements of signal strength include a Received Signal Strength Indicator (RSSI) value.

10. One or more computing devices including:
a non-transitory computer-readable medium containing program instructions; and
processing circuitry to execute the program instructions to:
receive a request from an entity associated with navigation of an unmanned aerial vehicle (UAV), for a flight path for the UAV, the request including an indication of a starting location and ending location of the flight path;
mapping three-dimensional wireless signal strength to obtain three-dimensional network coverage information that provides a three-dimensional indication of wireless signal strength for a cellular wireless network to which the UAV is to connect when traversing the flight path, the mapping being performed based on measurements of signal strength, and corresponding three-dimensional indications of location from a plurality of in-flight UAVs, the measurements of signal strength being obtained by radio transceivers of the plurality of UAVs;
generate, in response to the request, the requested flight path based on a plurality of factors, the plurality of factors including the starting and ending location of the flight path and the three-dimensional network coverage information, the determined flight path indicating altitudes at which the UAV should fly to optimize connectivity to the cellular wireless network when the UAV is traversing the flight path, the flight path including a series of three-dimensional waypoints; and
transmit the determined flight path to the entity associated with navigation of the UAV.

11. The one or more computing devices of claim 10 , wherein the plurality of factors additionally include one or more of:
areas that are restricted fly zones; or
areas that correspond to areas of high pedestrian density.

12. The one or more computing devices of claim 10 , wherein the processing circuitry, when obtaining the three-dimensional network coverage, is additionally to:
estimate signal strength, associated with the cellular wireless network, based on power radiation formulas applied to transceivers in the cellular wireless network.

13. The one or more computing devices of claim 12 , wherein estimating the signal strength further includes estimating the signal strength, at various altitudes, based on geographic topology and network topology of the wireless cellular network.

14. The one or more computing devices of claim 10 , wherein the determined flight path includes indications of flight segments, along the flight path, at which network connectivity to the cellular wireless network is not present.

15. The one or more computing devices of claim 10 , wherein the measurements of signal strength include a Received Signal Strength Indicator (RSSI) value.

16. A system comprising:
a network coverage component to maintain a network coverage map that includes estimates of signal strength for a cellular wireless network, the estimates of signal strength being maintained on a three-dimensional basis, wherein, for a particular location, a plurality of signal strength estimates, corresponding to different altitudes, are maintained, wherein at least some of the plurality of signal strength estimates are obtained based on measurements of signal strength, obtained by radio transceivers associated with a plurality of unmanned aerial vehicles (UAVs) while the UAVs are in-flight; and
an UAV navigation component to provide flight paths for UAVs, the UAV navigation component determining a particular flight path, for a particular UAV, based at least on the network coverage map such that the flight path includes indications of altitudes at which the particular UAV should fly to optimize connectivity to the cellular wireless network when the UAV is traversing the flight path.

17. The system of claim 16 , wherein the flight path is determined as a plurality of waypoints, in which each of the plurality of waypoints includes an indication of a geographical location and an altitude.

18. The system of claim 16 , wherein the network coverage component, in maintaining the network coverage map, is additionally to estimate signal strength, associated with the cellular wireless network, based on power radiation formulas applied to transceivers in the cellular wireless network.

19. The system of claim 18 , wherein the network coverage component, when estimating the signal

Assignees

• Verizon Patent & Licensing Inc

Inventors

• Kotecha Lalit R

Classifications

• B64U2201/00

  UAVs characterised by their flight controls · CPC title

• G01C21/20

  Instruments for performing navigational calculations (G01C21/24, G01C21/26 take precedence) · CPC title

• H04B7/18506

  Communications with or from aircraft, i.e. aeronautical mobile service · CPC title

• G06Q10/047

  Optimisation of routes or paths, e.g. travelling salesman problem · CPC title

• G01C21/005

  with correlation of navigation data from several sources, e.g. map or contour matching (G01C21/30 takes precedence) · CPC title