CN110015418A - For generating the Verification System and method of air traffic control - Google Patents
For generating the Verification System and method of air traffic control Download PDFInfo
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- CN110015418A CN110015418A CN201910302628.XA CN201910302628A CN110015418A CN 110015418 A CN110015418 A CN 110015418A CN 201910302628 A CN201910302628 A CN 201910302628A CN 110015418 A CN110015418 A CN 110015418A
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- unmanned vehicle
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- flight
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Classifications
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
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- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
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- G01S5/14—Determining absolute distances from a plurality of spaced points of known location
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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- G08G5/0017—Arrangements for implementing traffic-related aircraft activities, e.g. arrangements for generating, displaying, acquiring or managing traffic information
- G08G5/0026—Arrangements for implementing traffic-related aircraft activities, e.g. arrangements for generating, displaying, acquiring or managing traffic information located on the ground
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- G08G5/006—Navigation or guidance aids for a single aircraft in accordance with predefined flight zones, e.g. to avoid prohibited zones
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- G08G5/0091—Surveillance aids for monitoring atmospheric conditions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/20—UAVs specially adapted for particular uses or applications for use as communications relays, e.g. high-altitude platforms
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- B64—AIRCRAFT; AVIATION; COSMONAUTICS
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- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
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- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
- B64U2201/104—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS] using satellite radio beacon positioning systems, e.g. GPS
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- G01S2205/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S2205/01—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations specially adapted for specific applications
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- G06F2221/21—Indexing scheme relating to G06F21/00 and subgroups addressing additional information or applications relating to security arrangements for protecting computers, components thereof, programs or data against unauthorised activity
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- G08G—TRAFFIC CONTROL SYSTEMS
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- G08G5/0047—Navigation or guidance aids for a single aircraft
- G08G5/0056—Navigation or guidance aids for a single aircraft in an emergency situation, e.g. hijacking
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Security & Cryptography (AREA)
- Computer Networks & Wireless Communication (AREA)
- Electromagnetism (AREA)
- Theoretical Computer Science (AREA)
- Computer Hardware Design (AREA)
- Software Systems (AREA)
- General Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Atmospheric Sciences (AREA)
- Automation & Control Theory (AREA)
- Traffic Control Systems (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
System and method the present invention provides unmanned vehicle safety is directed to.Verification System can be used to confirm unmanned vehicle and/or user identity and provide the secure communication between user and unmanned vehicle.The unmanned vehicle can be operated according to one group of air traffic control.Described group of air traffic control can be associated with the geography fence device near the unmanned vehicle.
Description
Background technique
The unmanned apparatuss of transport such as unmanned vehicle (UAV) are developed to various fields, including consumer's application
And industrial application.For example, can manipulate unmanned vehicle for entertaining, photographic/camera, monitoring, delivering or other application.
Unmanned vehicle has expanded the aspect of personal lifestyle.However, as the use of unmanned vehicle becomes more widespread,
There is safety problem and challenge.For example, unmanned vehicle may forbidden flying when the flight of unmanned vehicle is unrestricted
Or the overlying regions flight of flight should be forbidden.This may be intentionally or accidentally to occur.In some cases, novice users can
The control to unmanned vehicle can be lost or be unfamiliar with aviation flight rule.There is also abduction or hacker attacks unmanned flights
The potential risk of the control of device.
Summary of the invention
Security system and method described herein improve the flight safety of unmanned vehicle (UAV).Flight can be provided
Control and Verification System and method, the system and method can contribute to the use of tracking unmanned vehicle.The system can
To uniquely identify out each side interacted (for example, user, remote controler, unmanned vehicle, geography fence device).Some
In the case of, verification process can occur and only have authorized party that can be allowed to operate the unmanned vehicle.Air traffic control can
To be applied in the operation of unmanned vehicle, and can manually controlling with override (override) user.In some cases,
Geography fence device may be used to provide the information about air traffic control or help the air traffic control process.
One aspect of the present invention is related to the system for controlling unmanned vehicle (UAV), the system comprises: first is logical
Believe module；And one or more processors, it is operably coupled to the first communication module and separately or together
Ground is configured for: the user's mark for indicating user type is received using the first communication module or second communication module
Know symbol；One group of air traffic control for the unmanned vehicle is generated based on the user identifier；And use described the
One communication module or the second communication module to transmit one group of air traffic control to the unmanned vehicle.
In addition, aspect of the invention can provide a kind of method for controlling unmanned vehicle (UAV), the method packet
It includes: receiving the user identifier for indicating user type；By means of one or more processors, based on the user identifier
Generate one group of air traffic control for being directed to the unmanned vehicle；And by means of communication module, the transmission of Xiang Suoshu unmanned vehicle
One group of air traffic control.
According to aspects of the present invention, can provide a kind of includes for controlling the program instruction of unmanned vehicle (UAV)
Non-transient computer-readable media, the computer-readable medium include: for receiving the user identifier for indicating user type
The program instruction of symbol；For generating the journey of one group of air traffic control for the unmanned vehicle based on the user identifier
Sequence instruction；And for generating signal to transmit one group of air traffic control to the unmanned vehicle by means of communication module
Program instruction.
In addition, aspect of the invention can be related to a kind of unmanned vehicle (UAV).The unmanned vehicle can include: one
A or multiple propulsion units, realize the flight of the unmanned vehicle；Communication module is configured for from remote user
Receive one or more flight orders；And flight control units, it is configured for generation and is pushed away to one or more of
The flight delivered into unit controls signal, wherein the flight control signal is flown according to one group for the unmanned vehicle
Row control and generate, wherein the air traffic control is the user identifier based on the user type for indicating the remote user
And generate.
Aspect of the invention can also include a kind of system for controlling unmanned vehicle (UAV), the system comprises:
First communication module；And one or more processors, it is operably coupled to the first communication module and individually
Or jointly it is configured for: indicates unmanned vehicle using the first communication module or second communication module to receive
The unmanned vehicle identifier of type；One group for the unmanned vehicle is generated based on the unmanned vehicle identifier
Air traffic control；And described one group is transmitted to the unmanned vehicle using the first communication module or second communication module
Air traffic control.
Further aspect according to the present invention can provide a kind of method for controlling unmanned vehicle (UAV), described
Method includes: to receive the unmanned vehicle identifier for indicating unmanned vehicle type；By means of one or more processors, base
One group of air traffic control for the unmanned vehicle is generated in the unmanned vehicle identifier；And by means of communicating mould
Block, Xiang Suoshu unmanned vehicle transmit one group of air traffic control.
Moreover, aspect of the invention can be related to a kind of including for controlling the program instruction of unmanned vehicle (UAV)
Non-transient computer-readable media, the computer-readable medium include: for receiving the nothing for indicating unmanned vehicle type
The program instruction of people's aircraft identifier；For being generated based on the unmanned vehicle identifier for the unmanned vehicle
One group of air traffic control program instruction；And for generating signal to be passed by means of communication module to the unmanned vehicle
The program instruction of defeated one group of air traffic control.
One aspect of the present invention can be related to a kind of unmanned vehicle (UAV), comprising: one or more propulsion units,
It realizes the flight of the unmanned vehicle；Communication module is configured for receiving one or more fly from remote user
Line command；And flight control units, it is configured for generating the flight delivered to one or more of propulsion units
Signal is controlled, wherein the flight control signal is generated according to one group of air traffic control for the unmanned vehicle,
Wherein the air traffic control be the unmanned vehicle identifier based on the unmanned vehicle type for indicating the remote user and
It generates.
Further aspect of the invention can be related to a kind of unmanned vehicle (UAV), comprising: flight control units, quilt
It is disposed for controlling the operation of the unmanned vehicle；And mark module, it is integrated into the flight control units,
Wherein the mark module uniquely identifies out the unmanned vehicle from other unmanned vehicles.
In addition, aspect of the invention can provide a kind of method for identifying unmanned vehicle (UAV), which comprises
The operation of the unmanned vehicle is controlled using flight control units；And it uses and is integrated into the flight control units
Mark module uniquely identifies out the unmanned vehicle from other unmanned vehicles.
According to certain aspects of the invention, unmanned vehicle (UAV) may include: flight control units, be configured to
For controlling the operation of the unmanned vehicle, wherein the flight control units include mark module and chip, wherein described
Mark module is configured for (1) and uniquely identifies out the unmanned vehicle from other unmanned vehicles, and (2) include pair
The original records of the chip, and (3) include to the original records of the chip after summarize letter about the chip
Breath, wherein the mark module is configured for experience self-check program, the self-check program will summarize about the chip
Information be compared with the original records to the chip, and wherein the mark module is configured for when being summarized
Information about the chip and it is inconsistent to the original records of the chip when warning is provided.
Aspect of the invention can also relate to a kind of method for identifying unmanned vehicle (UAV), which comprises use
Flight control units control the operation of the unmanned vehicle, wherein the flight control units include mark module and core
Piece；The unmanned vehicle is uniquely identified out from other unmanned vehicles using the mark module, wherein the mark
Knowing module includes the original records to the chip；Include to the original records of the chip after summarize about the chip
Information；Using the mark module, the information about the chip summarized is carried out with the original records to the chip
Compare, to undergo self-check program；And when the information about the chip summarized and the initial note to the chip
Warning is provided when recording inconsistent.
Further aspect according to the present invention can provide a kind of unmanned vehicle (UAV) payload control system.Institute
The system of stating may include: first communication module；And one or more processors, it is operably coupled to first module
And either individually or collectively it is configured for: is indicated using the first communication module or second communication module to receive
The payload for relying on position uses the signal of parameter；And it generates and realizes effective load using parameter in accordance with the payload
One or more unmanned vehicle operation signals of lotus operation.
In addition, aspect of the invention can be related to what one kind was used for constraining the payload of unmanned vehicle (UAV)
Method, which comprises receive the signal for indicating that the payload for relying on position uses parameter；And by means of one or
Multiple processors generate and abide by one or more unmanned flights that the payload realizes payload operation using parameter
Device operation signal.
Additional aspect of the invention can provide a kind of payload use comprising for constraining unmanned vehicle (UAV)
Program instruction non-transient computer-readable media, the computer-readable medium include: for receive indicate rely on position
The payload set uses the program instruction of the signal of parameter；And for generate abide by the payload using parameter reality
The program instruction of one or more unmanned vehicle operation signals of existing effect load operation.
According to an aspect of the present invention, a kind of unmanned vehicle (UAV) can be provided, the unmanned vehicle includes:
Payload；Communication module is configured for receiving one or more payload orders from remote user；And
Flight control units are configured for generating the carrier for being delivered to the payload or the support payload
Payload control signal, wherein the payload control signal be according to one or more unmanned vehicle operation signals and
It generates, wherein the unmanned vehicle operation signal is to be generated based on the payload for relying on position using parameter.
Aspect of the invention can be related to a kind of unmanned vehicle (UAV) communication control system, comprising: the first communication mould
Block；And one or more processors, be operably coupled to Hu first communication module and either individually or collectively by
It is disposed for: is received using the first communication module or second communication module and indicate that the communication for relying on position uses ginseng
Several signals；And one or more of the operation that the communication realizes unmanned vehicle communication unit using parameter is abided by generation
A unmanned vehicle operation signal.
Moreover, aspect of the invention may include a kind of method for constraining the wireless communication of unmanned vehicle (UAV),
The described method includes: receiving the signal for indicating that the communication for relying on position uses parameter；And it is handled by means of one or more
Device generates the one or more unmanned vehicles operation for abiding by the operation that the payload realizes communication unit using parameter
Signal.
Additional aspect according to the present invention can provide a kind of channel radio comprising for constraining unmanned vehicle (UAV)
The non-transient computer-readable media of the program instruction of letter, the computer-readable medium include: to indicate dependence for receiving
The communication of position uses the program instruction of the signal of parameter；And communication is realized using parameter in accordance with the communication for generating
The program instruction of one or more unmanned vehicle operation signals of the operation of unit.
Method of the invention can also relate to a kind of unmanned vehicle (UAV), comprising: communication unit is configured to use
It is wirelessly communicated in receiving or transmitting；And flight control units, it is configured for generation and is delivered to the communication unit
To realize the communications control signal of the operation of the communication unit, wherein the communications control signal is according to one or more nothings
People's aircraft operation signal and generate, wherein the unmanned vehicle operation signal be based on rely on position communication using ginseng
It is several and generation.
Further aspect of the invention can be related to a kind of method for operating unmanned vehicle (UAV), which comprises
Unmanned vehicle identifier is received, the unmanned vehicle identifier uniquely identifies out the nothing from other unmanned vehicles
People's aircraft；User identifier is received, the user identifier uniquely identifies out the user from other users；By means of
One or more processors, assess whether the user identified by the user identifier is authorized to operation by the unmanned vehicle
The unmanned vehicle of identifier mark；And when the user is authorized to and operates the unmanned vehicle, allow the user
The unmanned vehicle is operated.
According to aspects of the present invention, can provide a kind of includes for operating the program instruction of unmanned vehicle (UAV)
Non-transient computer-readable media.The computer-readable medium may include: for receiving from other unmanned vehicles only
One ground identifies the program instruction of the unmanned vehicle identifier of the unmanned vehicle；It is unique from other users for receiving
Ground identifies the program instruction of the user identifier of the user；For whether assessing the user identified by the user identifier
It is authorized to the program instruction for the unmanned vehicle that operation is identified by the unmanned vehicle identifier；And in the user
It is authorized to the program instruction for allowing the user to operate the unmanned vehicle when operating the unmanned vehicle.
One aspect of the present invention can provide a kind of unmanned vehicle (UAV) authoring system, comprising: at one or more
Manage device, be either individually or collectively configured for: receive unmanned vehicle identifier, the unmanned vehicle identifier from
The unmanned vehicle is uniquely identified out in other unmanned vehicles；Receive user identifier, the user identifier from its
The user is uniquely identified out in his user；Assess whether the user identified by the user identifier is authorized to operation by institute
State the unmanned vehicle of unmanned vehicle identifier mark；And when the user is authorized to and operates the unmanned vehicle,
Signal is transmitted to allow the user to operate the unmanned vehicle.
In addition, aspect of the invention can be related to a kind of method for operating unmanned vehicle (UAV), which comprises
The identity of unmanned vehicle is authenticated, wherein the identity of the unmanned vehicle can be uniquely regional with other unmanned vehicles
It separates；The identity of user is authenticated, wherein the identity of the user can uniquely be distinguished with other users；By means of one
A or multiple processors, assess whether the user is authorized to the operation unmanned vehicle；And when the user is authorized to
Operate the unmanned vehicle and the unmanned vehicle and the user all by certification when, allow the user to described
Unmanned vehicle is operated.
In addition, according to aspects of the present invention, can provide a kind of comprising referring to for operating the program of unmanned vehicle (UAV)
The non-transient computer-readable media of order, the computer-readable medium include: to recognize for the identity to unmanned vehicle
The program instruction of card, wherein the identity of the unmanned vehicle can uniquely be distinguished with other unmanned vehicles；For to
The program instruction that the identity at family is authenticated, wherein the identity of the user can uniquely be distinguished with other users；For borrowing
One or more processors are helped to assess the program instruction whether user is authorized to the operation unmanned vehicle；And it uses
In when the user is authorized to the operation unmanned vehicle and the unmanned vehicle and the user pass through certification
The program instruction for allowing the user to operate the unmanned vehicle.
One aspect of the present invention can also relate to a kind of unmanned vehicle (UAV) Verification System, comprising: one or more
Processor is either individually or collectively configured for: the identity of unmanned vehicle is authenticated, wherein it is described nobody fly
The identity of row device can uniquely be distinguished with other unmanned vehicles；The identity of user is authenticated, wherein the user
Identity can uniquely be distinguished with other users；Assess whether the user is authorized to the operation unmanned vehicle；And work as
The user is authorized to the operation unmanned vehicle and the unmanned vehicle and the user when certification by transmitting
Signal, to allow the user to operate the unmanned vehicle.
Moreover, aspect of the invention can be related to a kind of authentication level of the operation of determination for unmanned vehicle (UAV)
Method, which comprises receive context information about the unmanned vehicle；Use one or more processors, base
The certification degree to the user of the unmanned vehicle or the unmanned vehicle is assessed in the context information；According to described
Certification degree realizes the certification to the unmanned vehicle or the user；And allow when completing the certification of the degree
The user operates the unmanned vehicle.
According to aspects of the present invention, it can provide a kind of comprising for determining recognizing for operation unmanned vehicle (UAV)
The non-transient computer-readable media of horizontal program instruction is demonstrate,proved, the computer-readable medium includes: for receiving about institute
State the program instruction of the context information of unmanned vehicle；For being assessed based on the context information to the unmanned vehicle or
The program instruction of the certification degree of the user of the unmanned vehicle；For realized according to the certification degree to it is described nobody
The program instruction of the certification of aircraft or the user；And allow the use for providing when completing the certification of the degree
The program instruction for the signal that family operates the unmanned vehicle.
In addition, aspect of the invention can be related to a kind of unmanned vehicle (UAV) Verification System, comprising: one or more
Processor is either individually or collectively configured for: receiving the context information about the unmanned vehicle；Based on described
Context information and assess the certification degree to the user of the unmanned vehicle or the unmanned vehicle；And recognized according to described
Card degree realizes the certification to the unmanned vehicle or the user.
According to aspects of the present invention, a kind of air traffic control grade of operation for unmanned vehicle (UAV) can be provided
Method, which comprises use one or more processors, assess to the unmanned vehicle or the unmanned vehicle
User certification degree；The certification to the unmanned vehicle or the user is realized according to the certification degree；It is based on
The certification degree and generate one group of air traffic control；And it is realized according to one group of air traffic control to the unmanned vehicle
Operation.
Further aspect of the invention can be related to a kind of air traffic control etc. comprising for determining unmanned vehicle (UAV)
The non-transient computer-readable media of the program instruction of grade, the computer-readable medium include: for assessing to unmanned flight
The program instruction of the certification degree of the user of device or unmanned vehicle；For realized according to the certification degree to it is described nobody
The program instruction of the certification of aircraft or the user；For generating the program of one group of air traffic control based on the certification degree
Instruction；And allow to refer to the program for the signal that unmanned vehicle is operated according to one group of air traffic control for providing
It enables.
In addition, aspect of the invention can provide a kind of unmanned vehicle (UAV) Verification System, comprising: one or more
Processor is either individually or collectively configured for: assessing the use to the unmanned vehicle or the unmanned vehicle
The certification degree at family；The certification to the unmanned vehicle or the user is realized according to the certification degree；And it is based on
The certification degree and generate one group of air traffic control.
According to an aspect of the present invention, one kind can be provided when the operation to unmanned vehicle (UAV) is compromised
The method for alerting user.The method may include: user is authenticated to realize the operation to the unmanned vehicle；From
The remote controler for receiving user's input receives one or more orders to realize the operation to the unmanned vehicle；Detection interference comes
From the unwarranted communication of one or more orders of the user；And via the remote controler, about described without awarding
The communication of power and alert the user.
Aspect of the invention further includes a kind of comprising for the warning when the operation to unmanned vehicle (UAV) is compromised
The non-transient computer-readable media of the program instruction of user, the computer-readable medium include: for recognizing user
Demonstrate,prove the program instruction to realize the operation to the unmanned vehicle；For from receive user input remote controler receive one or
Multiple program instructions ordered to realize the operation to the unmanned vehicle；And for generate will via the remote controler and
It is supplied to the program instruction of the warning of the user, one alerted about detected, interference from the user
Or the unwarranted communication of multiple orders.
In addition, one aspect of the present invention can be related to a kind of unmanned vehicle (UAV) warning system, comprising: one or
Multiple processors, are either individually or collectively configured for: being authenticated user to realize to the unmanned vehicle
Operation；One or more orders are received from the remote controler that user inputs is received to realize the operation to the unmanned vehicle；
The unwarranted communication of one or more orders of the detection interference from the user；And signal is generated via described distant
Control device alerts the user about the unwarranted communication.
Additional aspect according to the present invention can provide a kind of method of flight deviation for detecting unmanned vehicle (UAV),
The described method includes: receiving the one or more flight orders provided by user from remote controler；It is handled by means of one or more
Device calculates the predicted position of the unmanned vehicle based on one or more of flight orders；By means of one or more
Sensor detects the physical location of the unmanned vehicle；The predicted position is compared with the physical location with true
Determine the deviation in unmanned vehicle behavior；And the unmanned vehicle is provided not based on the deviation in unmanned vehicle behavior
The risk instruction operated according to one or more of flight orders.
According to certain aspects of the invention, it can provide a kind of comprising inclined for detecting the flight of unmanned vehicle (UAV)
The non-transient computer-readable media of the program instruction of difference, the computer-readable medium include: for based on by user from distant
One or more flight orders that device provides are controlled to calculate the program instruction of the predicted position of the unmanned vehicle；For by
The program instruction of the physical location of the unmanned vehicle is detected in one or more sensors；For by the predicted position
And the physical location is compared the program instruction to determine the deviation in unmanned vehicle behavior；And for being based on nobody
Deviation in aircraft behavior and the wind that the unmanned vehicle is not operated according to one or more of flight orders is provided
The program instruction nearly indicated.
One aspect of the present invention can be related to a kind of unmanned vehicle (UAV) flight deviation detection system, comprising: one
Or multiple processors, it is either individually or collectively configured for: the one or more provided by user from remote controler is provided
Flight orders；The predicted position of the unmanned vehicle is calculated based on one or more of flight orders；By means of one
Or multiple sensors detect the physical location of the unmanned vehicle；The predicted position and the physical location are compared
Compared with to determine the deviation in unmanned vehicle behavior；And it generates signal and is provided described with being based on unmanned vehicle Deviant behavior
The risk instruction that unmanned vehicle is not operated according to one or more of flight orders.
Moreover, one aspect of the present invention can be related to a kind of method for recording unmanned vehicle (UAV) behavior, the side
Method includes: to receive unmanned vehicle identifier, and the unmanned vehicle identifier is uniquely identified from other unmanned vehicles
The unmanned vehicle out；User identifier is received, the user identifier uniquely identifies out the use from other users
Family, wherein the user provides one or more orders via remote controler to realize the operation to the unmanned vehicle；With
And recorded in one or more Memory Storage Units it is one or more of order, it is related to one or more of orders
The user identifier and the unmanned vehicle identifier associated with one or more of orders of connection.
According to aspects of the present invention, it can provide a kind of comprising referring to for recording the program of unmanned vehicle (UAV) behavior
The non-transient computer-readable media of order, the computer-readable medium include: for by user identifier with it is from the user
One or more orders associated program instructions, wherein the user identifier uniquely identified out from other users it is described
User, and wherein the user provides one or more orders via remote controler to realize the behaviour to the unmanned vehicle
Make；For by unmanned vehicle identifier program instruction associated with one or more of orders, wherein it is described nobody fly
Row device identifier uniquely identifies out the unmanned vehicle from other unmanned vehicles；And for being deposited in one or more
One or more of orders, the user identifier associated with one or more of orders are recorded in reservoir storage unit
The program instruction of symbol and the unmanned vehicle identifier associated with one or more of orders.
Aspect of the invention may include a kind of unmanned vehicle (UAV) behavior record system, comprising: one or more is deposited
Reservoir storage unit；And one or more processors, it is single to be operably coupled to one or more of memory storages
Member and be either individually or collectively configured for: receive unmanned vehicle identifier, the unmanned vehicle identifier from
The unmanned vehicle is uniquely identified out in other unmanned vehicles；Receive user identifier, the user identifier from its
The user is uniquely identified out in his user, wherein the user provides one or more orders via remote controler to realize
Operation to the unmanned vehicle；And one or more of lives are recorded in one or more Memory Storage Units
It enables, the user identifier associated with one or more of orders and associated with one or more of orders
The unmanned vehicle identifier.
According to aspects of the present invention, a kind of system for operating unmanned vehicle (UAV), the system packet can be provided
Include: identity registry database is configured for storage relative to each other and uniquely identifies out one of unmanned vehicle
Or multiple unmanned vehicle identifiers and the one or more user identifiers for uniquely identifying out user relative to each other；
Authentication center is configured for authenticating the identity of unmanned vehicle and the identity of user；And air traffic control system,
It is configured for receiving the unmanned vehicle identifier of authenticated unmanned vehicle and the user identifier of authenticated user entities, and
And it is based at least one of the following and one group of air traffic control is provided: certified unmanned vehicle identifier and authenticated
User identifier.
Further aspect of the invention can provide a kind of method of the position of determining unmanned vehicle (UAV), the side
Method includes: one or more message of the reception from the unmanned vehicle at multiple loggers；In the multiple logger
Place is that one or more of message from the unmanned vehicle stamp timestamp；And it is handled by means of one or more
Device, the timestamp based on one or more of message and the position for calculating the unmanned vehicle.
In some aspects of the invention, can provide a kind of includes for determining the position of unmanned vehicle (UAV)
The non-transient computer-readable media of program instruction, the computer-readable medium include: for receiving at multiple loggers
The program instruction of one or more message from the unmanned vehicle；For being from described at the multiple logger
One or more of message of unmanned vehicle stamp the program instruction of timestamp；And for based on one or more of
The timestamp of message and the program instruction for calculating the position of the unmanned vehicle.
Further aspect according to the present invention can provide a kind of unmanned vehicle (UAV) communication position system, the system
System includes: communication module；And one or more processors, be operably coupled to the communication module and individually or
Jointly be configured to based on from the unmanned vehicle send and far from the unmanned vehicle multiple loggers at connect
The timestamp of the one or more message received and the position for calculating the unmanned vehicle.
According to aspects of the present invention, the method that a kind of pair of unmanned vehicle (UAV) is authenticated, the method can be provided
It include: to receive the certification request from unmanned vehicle, wherein the certification request includes unmanned vehicle identifier；Retrieval pair
The information of unmanned vehicle identifier described in Ying Yu；Authentication vector is generated based on the information retrieved, wherein the certification
Vector includes at least authentication token；The authentication token and key evaluation criteria are transmitted to the unmanned vehicle, wherein described
Unmanned vehicle is based on message authentication code and authenticates to the authentication vector, and the message authentication code is based on the certification
It token, the key evaluation criteria and encodes key on the unmanned vehicle and generates；It receives and comes from the nothing
The response of people's aircraft, wherein the response is based on the key evaluation criteria and encodes close on the unmanned vehicle
Key；And the certification request is verified based on the response received from the unmanned vehicle.
Additional aspect of the invention can provide the system that a kind of pair of unmanned vehicle (UAV) is authenticated, the system
It include: authentication module；Communication module；And one or more processors, it is operably coupled to the authentication module and institute
It states communication module and is either individually or collectively configured for: receiving the certification request from unmanned vehicle, wherein institute
Stating certification request includes unmanned vehicle identifier；Retrieval corresponds to the information of the unmanned vehicle identifier；Based on being examined
Rope to information and generate authentication vector, wherein the authentication vector include at least authentication token；It is passed to the unmanned vehicle
The defeated authentication token and key evaluation criteria, wherein the unmanned vehicle is based on message authentication code and to the authentication vector
Authenticated, the message authentication code be based on the authentication token, the key evaluation criteria and coding it is described nobody
Carry-on key and generate；The response from the unmanned vehicle is received, wherein the response is based on the key
The key of evaluation criteria and coding on the unmanned vehicle；And it is right based on the response received from the unmanned vehicle
The certification request is verified.
In addition, aspect of the invention can be related to a kind of program comprising for being authenticated to unmanned vehicle (UAV)
The non-transient computer-readable media of instruction, the computer-readable medium include: for receiving recognizing from unmanned vehicle
The program instruction for demonstrate,proving request, wherein the certification request includes unmanned vehicle identifier；For retrieve correspond to it is described nobody
The program instruction of the information of aircraft identifier；For generating the program instruction of authentication vector based on the information retrieved,
Wherein the authentication vector includes at least authentication token；For being commented to the unmanned vehicle transmission authentication token and key
The program instruction of valence benchmark, wherein the unmanned vehicle is based on message authentication code and authenticates to the authentication vector, institute
It is close on the unmanned vehicle based on the authentication token, the key evaluation criteria and coding for stating message authentication code
Key and generate；For receiving the program instruction of the response from the unmanned vehicle, wherein the response is based on described close
The key of key evaluation criteria and coding on the unmanned vehicle；And for based on the sound received from the unmanned vehicle
The program instruction answered and the certification request is verified.
According to certain aspects of the invention, the method that a kind of pair of authentication center is authenticated, the method packet can be provided
It includes: providing the certification request from unmanned vehicle to authentication center, wherein the certification request includes unmanned vehicle mark
Symbol；The authentication vector from the authentication center is received, wherein the authentication vector includes authentication token and key evaluation criteria,
And wherein the authentication token be based on it is retrieving, corresponding to the unmanned vehicle identifier information and generate；
Identification sequences number are calculated based on the authentication token；Based on the key evaluation criteria and coding in the unmanned vehicle
On key and generate authentication key；Based on the authentication token, the identification sequences number and the authentication key, determination disappears
Cease authentication code；And based at least one of the identification sequences number and the message authentication code and to the authentication center into
Row certification, the message authentication code is the determination and authentication vector received from the authentication center.
According to aspects of the present invention, the system that a kind of pair of authentication center is authenticated can be provided, the system comprises: recognize
Demonstrate,prove module；Communication module；And one or more processors, it is operably coupled to the authentication module and the communication mould
It block and is either individually or collectively configured for: providing the certification request from the unmanned vehicle to authentication center,
Wherein the certification request includes unmanned vehicle identifier；Authentication vector is received from the authentication center, wherein the certification
Vector includes authentication token and key evaluation criteria, and wherein the authentication token be based on it is retrieving, correspond to it is described
The information of unmanned vehicle identifier and generate；Identification sequences number are calculated based on the authentication token；Based on the key
It evaluation criteria and encodes key on the unmanned vehicle and generates authentication key；Based on the authentication token, described
Identification sequences number and the authentication key and determine message authentication code；And based on the identification sequences number and the message authentication
Code at least one of and the authentication center is authenticated, the message authentication code is by received from the authentication center
The authentication vector and determination.
Aspect of the invention can also relate to a kind of non-wink of program instruction comprising for being authenticated to authentication center
State computer-readable medium, the computer-readable medium include: for providing to authentication center from the unmanned vehicle
Certification request program instruction, wherein the certification request includes unmanned vehicle identifier；For from the authentication center
The program instruction of authentication vector is received, wherein the authentication vector includes authentication token and key evaluation criteria, and wherein institute
State authentication token be based on it is retrieving, corresponding to the unmanned vehicle identifier information and generate；For based on institute
It states authentication token and calculates the program instruction of identification sequences number；For being based on the key evaluation criteria and coding in the nothing
The carry-on key of people and the program instruction for generating authentication key；For being based on the authentication token, the identification sequences number
The program instruction of message authentication code is determined with the authentication key；And for based on the identification sequences number and the message
At least one of authentication code and to the program instruction that the authentication center is authenticated, the message authentication code is to pass through reception
From the authentication vector of the authentication center and determination.
In addition, aspect of the invention can be related to a kind of warning when the operation to unmanned vehicle (UAV) is compromised
The method of user, which comprises user is authenticated to realize the operation to the unmanned vehicle；From reception user
The remote controler of input receives one or more orders to realize the operation to the unmanned vehicle；Detection interference comes from the use
The unwarranted communication of one or more orders at family；And make institute in response to the detection to the unwarranted communication
It states unmanned vehicle and flies while ignoring the unwarranted communication to scheduled and go home a little.
According to aspects of the present invention, it can provide a kind of comprising being endangered for working as to the operation of unmanned vehicle (UAV)
Evil when warning user program instruction non-transient computer-readable media, the computer-readable medium include: for
Family is authenticated the program instruction to realize the operation to the unmanned vehicle；For being connect from the remote controler for receiving user's input
One or more orders are received to realize the program instruction of the operation to the unmanned vehicle；And for respond to it is described without
The detection of the communication of authorization and so that the unmanned vehicle is flown while ignoring the unwarranted communication to predetermined and return
The program instruction of destination.
Further aspect according to the present invention can provide a kind of unmanned vehicle (UAV) warning system, comprising: one
Or multiple processors, it is either individually or collectively configured for: user is authenticated to realize to the unmanned flight
The operation of device；One or more orders are received from the remote controler that user inputs is received to realize the behaviour to the unmanned vehicle
Make；The unwarranted communication of one or more orders of the detection interference from the user；And in response to it is described without
The detection of the communication of authorization and so that the unmanned vehicle is flown while ignoring the unwarranted communication to scheduled
It goes home a little.
It should be understood that different aspect of the invention can be understood individually, jointly or in conjunction.It is retouched herein
The various aspects of the invention stated can be adapted for any specific application being set forth below or suitable for any other type
Loose impediment.Herein any mobile article is applicable to and is used for any description of the aircraft such as unmanned vehicle
Body, such as any apparatus of transport.In addition, disclosed system, device and side under the scene of movement in the sky herein (for example, flight)
Method can be applicable under the scene of other types movement, movement such as on the ground or on the water, sub-aqua sport or
Movement in space.
It will become obvious by investigating specification, claims and attached drawing, the other objects and features of the invention.
It quotes and is incorporated to
All publications, patents and patent applications mentioned in this specification are incorporated by reference into this, degree
Like specifically and individually pointing out to be incorporated by reference into each single publication, patent or patent application.
Detailed description of the invention
It has been specifically explained in the appended claims novel feature of the invention.By reference to using this wherein
The features as discussed above that the illustrated embodiment of inventive principle is illustrated, it will to the features and advantages of the present invention
It is better understood from；In the accompanying drawings:
Fig. 1 is shown between one or more users of embodiment according to the present invention and one or more unmanned vehicles
Interactive example.
Fig. 2 shows the examples of the Verification System of embodiment according to the present invention.
What Fig. 3 showed embodiment according to the present invention may participate in showing for the one or more factors for generating one group of air traffic control
Example.
Fig. 4 shows the example of the flight control units of embodiment according to the present invention.
Fig. 5 shows the additional example of the flight control units of embodiment according to the present invention.
Fig. 6 shows the flight control of the mark of the chip on the tracking flight control units of embodiment according to the present invention
The example of unit processed.
Fig. 7 shows the diagram of the scene for being associated with a plurality of types of air traffic control of embodiment according to the present invention.
Fig. 8 shows the process whether the considerations of embodiment according to the present invention user is authorized to operation unmanned vehicle.
Fig. 9 shows the process for determining whether user's operation unmanned vehicle of embodiment according to the present invention.
What Figure 10 showed embodiment according to the present invention can be by the diagram for the air traffic control grade that certification degree is influenced.
Figure 11 shows the example for storing device information in memory of embodiment according to the present invention.
The hijacker that Figure 12 shows embodiment according to the present invention attempts the diagram of the scene of adapter tube control unmanned vehicle.
Figure 13 shows the example of the unmanned vehicle flight deviation of embodiment according to the present invention.
Figure 14 shows the example of the monitoring system using one or more loggers of embodiment according to the present invention.
Figure 15 shows the diagram of two-way authentication between the unmanned vehicle and authentication center of embodiment according to the present invention.
Figure 16 shows the process for being used to send the message with ciphering signature of embodiment according to the present invention.
Figure 17 show embodiment according to the present invention for verifying another mistake of message by the way that signature is decrypted
Journey.
Figure 18 shows the example of the unmanned vehicle of embodiment and geography fence device according to the present invention.
Figure 19 shows the side of the geography fence device of embodiment according to the present invention, geography fence border and unmanned vehicle
View.
The device of geography fence wherein that Figure 20 shows embodiment according to the present invention, which is directly transmitted to unmanned vehicle, to be believed
The system of breath.
Figure 21 shows the system that can be communicated with geography fence device and/or unmanned vehicle in wherein air traffic control system.
Figure 22 shows the system in wherein unmanned vehicle detection geography fence device of embodiment according to the present invention.
Figure 23 shows the unmanned vehicle wherein and geography fence device of embodiment according to the present invention without straight each other
Connect the example of the unmanned vehicle system of letter.
Figure 24 shows the example that can have the geography fence device of multiple flight restricted areas.
Figure 25 shows the process for being used to generate one group of air traffic control of embodiment according to the present invention.
Figure 26 shows the process for being authenticated to geographical fence apparatus of embodiment according to the present invention.
Figure 27 shows another example of the device information of embodiment stored in memory according to the present invention.
The geography that different groups of flight restrictions can be provided in different scenes that Figure 28 shows embodiment according to the present invention encloses
Column device.
Figure 29 shows having for embodiment according to the present invention can the ground of multiple groups air traffic control that change over time
Manage the example of fence apparatus.
What Figure 30 showed embodiment according to the present invention can provide nothing in the overlapping area of multiple geography fence devices
The scene of people's aircraft.
Figure 31 shows the example of the different control for different geographical fence apparatus of one aspect according to the present invention.
Figure 32 shows the example of the mobile geographical fence apparatus of embodiment according to the present invention.
Figure 33 shows the example of the mobile geographical fence apparatus closer to each other of embodiment according to the present invention.
Figure 34 shows another example of the mobile geographical fence apparatus of embodiment according to the present invention.
Figure 35 shows the use for showing the information about one or more geography fence devices of embodiment according to the present invention
The example at family interface.
Figure 36 illustrates the unmanned vehicle of embodiment according to the present invention.
Figure 37 illustrates the loose impediment including carrier and payload of embodiment according to the present invention.
Figure 38 illustrates the system for controlling loose impediment of embodiment according to the present invention.
Figure 39 shows different types of logical between the unmanned vehicle of embodiment and geography fence device according to the present invention
Letter.
Figure 40 shows multiple geography fence devices that have of embodiment according to the present invention, and (it respectively has corresponding geography
Fence identifier) example.
Figure 41 shows the air traffic control system wherein Yu multiple unmanned vehicles and multiple geography of embodiment according to the present invention
The example for the unmanned vehicle system that fence apparatus interacts.
Figure 42 show with can traverse flight path the environment of unmanned vehicle and one in environment or
The example of multiple geography fence devices.
The user's input that can receive that Figure 43 provides embodiment according to the present invention is enclosed with controlling one or more geography
The example of the device of column device.
The geography fence device that Figure 44 provides embodiment according to the present invention how can be used together with private residence with
Limit the diagram of unmanned vehicle used.
How the geography fence device that Figure 45 provides embodiment according to the present invention can be used to block unmanned vehicle
Diagram.
Specific embodiment
The unmanned apparatuss of transport such as unmanned vehicle (UAV) can pacify according to the flight for improving unmanned apparatus of transport
Full security system and operate.Any kind of unmanned apparatus of transport can be adapted for any description of unmanned vehicle herein
(for example, apparatus of transport, apparatus of transport land based based on sky, the apparatus of transport based on water or carrying space-based
Tool).The flight control and Verification System and method for helping to monitor and control that unmanned vehicle uses can be provided.The system
System can uniquely identify out each side's (for example, user, remote controler, unmanned vehicle, geography fence device) interacted.?
Under some cases, verification process can occur and only have authorized party that can be allowed to operation unmanned vehicle.Air traffic control can
To be applied in the operation of unmanned vehicle, and can manually controlling with override user.Geography fence device can be used for mentioning
For the information about air traffic control or help air traffic control process.Geography fence device can be one or more geography fences
Boundary provides physical reference, and one or more of geography fence borders can be associated with corresponding one group of air traffic control.
Flight safety challenge during unmanned vehicle use can occur in many different forms.For example, traditional
On, the flight of unmanned vehicle is unrestricted (for example, unmanned vehicle may should fly at it above forbidden somewhere).
For example, unmanned vehicle may be flown without permission to sensitizing range (for example, airport, military base).In addition, unmanned flight
Device may fly without permission into the navigation channel of other aircraft.Unmanned vehicle may fly to enterprise without permission and lead
Ground or personal manor, cause noise pollution, personal injury and property loss.In some cases, unmanned vehicle may be without
Authorization ground flies to public domain, and may cause personal injury and property loss.System and method provided herein can be with
One group of air traffic control is provided, described group of air traffic control can apply necessary limitation to unmanned vehicle, and the limitation can be
Based on geographical, time-based and/or based on movable.Unmanned vehicle can be the case where being not necessarily to input from the user
It is lower to abide by air traffic control automatically.In some cases, can based on can the override air traffic control from the user being manually entered and
Generate the control to unmanned vehicle.
The flight of unmanned vehicle can be controlled by user by means of one or more remote controlers.In some cases,
The potential risk being held as a hostage in the presence of flight.Hijacker may interfere with instruction of the authorized user to unmanned vehicle.If nothing
People's aircraft receives and receives to forge instruction, then it may execute uncontrolled task and generate adverse consequences.It mentions herein
The system and method for confession can identify when to kidnap.When kidnapping, the system and method can alert user.Institute
Stating system and method can also make unmanned vehicle take movement in response to detected abduction, and can be kidnapped with override
The control of person.
Unmanned vehicle can carry the various sensors that can be used for obtaining data airbornely.Hacker may attempt to steal institute
The data of acquisition.For example, the data of unmanned vehicle may be trapped, or ground is transmitted to by remote wireless link
Data may be monitored.System and method provided herein can provide encryption and certification, so that only authorized use
Family can receive data.
In another example of unmanned vehicle flight safety challenge, unmanned vehicle may be abused.Traditionally, especially
It is to lack cautionary measure, identification measures when unmanned vehicle manipulator abuses unmanned vehicle intentionally or prevent violation measure.
For example, unmanned vehicle is possibly used for illegal advertisement, unwarranted attack or invasion of privacy (for example, unwarranted steal
It claps).System and method provided herein can monitor use, this can contribute to identify when that the indiscriminate of unmanned vehicle occurs
With.The data can be also used for the side of being related in judicial tracking abuse or any related data.Such system can also be provided
System and method: can warn user or other entities when abusing and/or any control of abuse can be supported with override
System.
When operated, unmanned vehicle can be wirelessly transferred or receive data.In some cases, unmanned vehicle may
Radio resource and/or aeronautical resources are abused, this may cause the waste of public resource.For example, unmanned vehicle may interfere with through
The communication of authorization, or bandwidth is stolen from other communications.System and method provided herein can identify when to occur in this way
Activity, and warning can be provided or such interference is prevented to occur.
In general, there is challenge in the operating aspect in supervision unmanned vehicle.With different types of unmanned vehicle
It is common in different types of use further, traditionally lacks the authoring system for unmanned vehicle flight.Distinguish improper fly
Capable and normal flight；Detect small-sized unmanned aircraft；The unmanned vehicle of visual detection night flying；It tracks and punishes anonymous fly
Row；And/or make unmanned vehicle flight with its user or owner in a manner of non-repudiation it is associated be difficult into
Capable.Systems and methods described herein can execute one or more of these targets.Mark data can be collected simultaneously
And one or more identifiers can be authenticated.Although traditionally may be due to lacking one or more of the following items
And it is difficult to provide security control: exit passageway, direct warning between control person and the owner or user of unmanned vehicle
Or aposematic mechanism, for control person take over control legitimate mechanisms, for unmanned vehicle distinguish control person and hijacker machine
System and the measure for forcing to stop the unlawful practice of unmanned vehicle, but system and method provided herein can provide these function
One or more of can.
Similarly, there are the needs of the performance for unmanned vehicle, the evaluation of ability and permission or classification mechanism.Also deposit
In the evaluation of operative skill and record for unmanned vehicle user or the needs of checking mechanism.System provided herein and side
Method can advantageously provide such evaluation.It is alternatively possible to generate and realize air traffic control according to the evaluation.
As previously mentioned, traditional unmanned vehicle system does not have the security mechanism about unmanned vehicle flight safety.
For example, lacking the alarm mechanisms of flight safety；Lack the information sharing mechanism of flight environment of vehicle；Or automatic rescue mechanism.It is described
Flight safety system and method can execute one or more of above-mentioned function.
System survey
Fig. 1 show one or more user 110a, 110b, 110c and one or more unmanned vehicle 120a, 120b,
The example of interaction between 120c.User can hand over by means of remote controler 115a, 115b, 115c with unmanned vehicle
Mutually.Verification System may include that can store to store 130 about the memory of the information of user, remote controler and/or unmanned vehicle.
User 110a, 110b, 110c can be individual associated with unmanned vehicle.The user can be nobody and fly
The manipulator of row device.The user can be the individual for being authorized to operation unmanned vehicle.The user can provide input with
Control unmanned vehicle.User can provide input to control unmanned vehicle using remote controler 115a, 115b, 115c.With
Family can provide the flight of control unmanned vehicle, the operation of the payload of unmanned vehicle, payload relative to nobody
The state of aircraft, the operation of the one or more sensors of unmanned vehicle, unmanned vehicle communication operation or nobody fly
The user of the other function of row device inputs.The user can receive data from unmanned vehicle.Use the one of unmanned vehicle
A or multiple sensors and the data obtained are provided to user, be optionally supplied to user via remote controler.User can
To be the owner of unmanned vehicle.The user can be the registration owner of unmanned vehicle.User can be registered as by
Authorized operation unmanned vehicle.The user can be mankind manipulator.The user can be adult or children.The user
It may or may not have the sight of unmanned vehicle when operating unmanned vehicle.Remote control can be used in the user
Device is directly communicated with unmanned vehicle.Alternatively, the user can be communicated indirectly with unmanned vehicle by network it is (optional
Ground uses remote controler).
User can have the user identifier for identifying the user (for example, User ID 1, User ID 2, user
ID3……).User identifier can be uniquely user.Other users can have the mark different from the user
Symbol.User and other individuals uniquely can be distinguished and/or be distinguished by user identifier.Each user can only be assigned single
One user identifier.Alternatively, user can register multiple user identifiers.In some cases, sole user's identifier
It can be only distributed to sole user.Alternatively, sole user's identifier can be by multiple user sharings.In the preferred embodiment,
It can provide and correspond between user and corresponding user identifier.
Optionally, user can be authenticated to be the authorized user of user identifier.Verification process may include to user's body
The verifying of part.In this paper, the example of verification process is described in further detail in other everywhere.
Unmanned vehicle 120a, 120b, 120c can be operable when being powered.Unmanned vehicle may be at flying
State may be at state of having landed.One or more sensors (optionally, payload can be used in unmanned vehicle
Can be sensor) collect data.Unmanned vehicle can be in response to control from the user (for example, manually by distant
Control device) and operate, automatically operation (for example, without user input) or semi-autonomous operate (for example, may include some users
It inputs but also may include the aspect independent of user's input).Unmanned vehicle can be able to respond from remote controler 115a,
The order of 115b, 115c.Remote controler can be not attached to unmanned vehicle, and the remote controler can be from certain distance and the nothing
People's aircraft wireless communication.Remote controler can receive and/or detect user's input.Unmanned vehicle can follow one group it is pre-
The instruction of programming.In some cases, unmanned vehicle can be and ordering in response to the one or more from remote controler
It operates, and otherwise automatically operates semi-autonomously.For example, one or more orders from remote controler can be according to one or more
A parameter and initiate by unmanned vehicle carry out a series of autonomous or semi-autonomous movement.Unmanned vehicle can grasped manually
Make, switch between autonomous operation and/or semi-autonomous operation.In some cases, the activity of unmanned vehicle can by one group or
Multiple groups air traffic control dominates.
Unmanned vehicle can have one or more sensors.Unmanned vehicle may include that one or more visions pass
Sensor, such as imaging sensor.For example, imaging sensor can be monocular camera, stereo vision camera, radar, sonar or red
Outer camera.Unmanned vehicle can also include the other sensors for being determined for the position of unmanned vehicle, such as global
Positioning system (GPS) sensor, a part that may be used as Inertial Measurement Unit (IMU) or separated inertial sensor
(for example, accelerometer, gyroscope, magnetometer), laser radar, ultrasonic sensor, sonic transducer, WiFI sensor.Sensor
Various examples can include but is not limited to position sensor (for example, global positioning system (GPS) sensor, support position three
The mobile device transmitter of angle), visual sensor is (for example, be able to detect the imaging of visible light, infrared light or ultraviolet light
Device, such as camera), distance or range sensor be (for example, ultrasonic sensor, laser radar, flight time (time-of-
Flight) camera or depth camera), it is inertial sensor (for example, accelerometer, gyroscope, Inertial Measurement Unit (IMU)), high
Sensor, attitude transducer (for example, compass), pressure sensor (for example, barometer), audio sensor are spent (for example, Mike
Wind) or field sensor (for example, magnetometer, electromagnetic sensor).Any suitable number and combined sensor can be used, such as
One, two, three, four, five or more sensor.
It is alternatively possible to be connect from the sensor of different type (for example, two kinds, three kinds, four kinds, five kinds or more types)
Receive data.Different types of sensor can measure different types of signal or information (for example, position, direction, speed, acceleration
Degree, distance, pressure etc.) and/or using different types of measuring technique obtain data.For example, sensor may include
Active sensor (for example, generating and measure the sensor from its respective energy of the energy) and passive sensor (for example,
Detect utilisable energy sensor) any suitable combination.In another example some sensors can be generated according to global coordinate system
And the absolute measurement data provided are (for example, the position data provided by GPS sensor, the posture provided by compass or magnetometer
Data), and the relative measurement data provided according to local coordinate system can be generated (for example, being mentioned by gyroscope in other sensors
The opposite angular speed supplied；The relative translation acceleration provided by accelerometer；The relative attitude information provided by visual sensor；
The relative distance information provided by ultrasonic sensor, laser radar or time-of-flight camera).On unmanned vehicle machine or outside machine
Sensor can collect information, the position of such as unmanned vehicle, the position of other objects, the direction of unmanned vehicle or environment
Information.Single-sensor can collect in the environment a complete group information or one group of sensor and can co-operate
To collect a complete group information in the environment.Sensor can be used for navigation between the mapping of position, position, barrier
Detection or the detection of target.Sensor can be used for the monitoring to environment or interested main body.Sensor can be used for identifying
Target object.Target object can be distinguished with the object of other in environment.
The unmanned vehicle can be aircraft.Unmanned vehicle, which can have, allows the unmanned vehicle in sky
In one or more propulsion units for moving around.One or more propulsion units can enable unmanned vehicle about one
It is a or multiple, two or more, three or more, four or more, five or more, six or more freely
Degree movement.In some cases, unmanned vehicle can be rotated around one, two, three or more rotation axis.
Rotation axis may be orthogonal to each other.Rotation axis can keep orthogonal in the entire flight course of unmanned vehicle.Rotation
Shaft axis may include pitch axis, roll axis and/or yaw axes.Unmanned vehicle can be along one or more
Dimension is mobile.For example, unmanned vehicle can be due to being moved up by one or more rotors lift generated.?
Under some cases, unmanned vehicle can along z axis (its can be relative to unmanned vehicle direction and it is upward
), X-axis line and/or Y-axis line (it can be lateral) it is mobile.Unmanned vehicle can be along one, two or three
Axis that can be orthogonal is mobile.
Unmanned vehicle can be gyroplane.In some cases, it may include multiple rotors that unmanned vehicle, which can be,
More gyroplanes.Multiple rotors, which can be capable of rotating such that, generates lift for unmanned vehicle.Rotor can be propulsion unit,
It can enable unmanned vehicle to move freely in the sky.Rotor can be rotated and/or can be given birth to by same rate
At the lift or thrust of equivalent.Rotor can optionally be rotated with the rate of variation, this can be generated the lift of inequality or pushes away
Power and/or permission unmanned vehicle rotate.In some cases, one, two, three can be provided on unmanned vehicle
A, four, five, six, seven, eight, nine, ten or more rotors.Rotor can be arranged so that their rotation
Shaft axis is parallel to each other.In some cases, rotor can have relative to each other into the rotation axis of any angle, this can be with
Influence the movement of unmanned vehicle.
Shown in unmanned vehicle can have multiple rotors.The rotor can connect to the fuselage of unmanned vehicle,
The fuselage may include control unit, one or more sensors, processor and power supply.Sensor may include visual sensing
Device and/or the other sensors that the information about unmanned vehicle environment can be collected.Information from sensor can be used for
Determine the position of unmanned vehicle.Rotor can be via the one or more arms or extension that can be separated from the central part of fuselage
And it is connected to the fuselage.For example, one or more arms can be radially extended from the center fuselage of unmanned vehicle, and in institute
State arm end or its nearby can have rotor.In another example, unmanned vehicle may include one or more arms, institute
Stating arm includes one or more additional supporting members, and the supporting member can have one, two, three being attached to thereon
A or more rotor.For example, the configuration of T shape frame can be used for supporting rotor.
By keeping and/or adjusting the output to one or more propulsion units of unmanned vehicle, can control described
The upright position of unmanned vehicle and/or speed.For example, the rotation speed for increasing one or more rotors of unmanned vehicle can
To help to make unmanned vehicle to increase height or increase height with faster rate.Increase the rotation of one or more of rotors
Rotary speed can increase the thrust of rotor.The rotation speed for reducing one or more rotors of unmanned vehicle can contribute to make
Unmanned vehicle reduces height or reduces height with faster rate.The rotation speed for reducing one or more of rotors can be with
Reduce the thrust of one or more rotors.When unmanned vehicle takes off, can will be provided to the output of propulsion unit from its
The previous state of landing increases.When unmanned vehicle landing, can be previous from it by the output for being supplied to propulsion unit
State of flight reduces.Unmanned vehicle can be configured to take off and/or land in a substantially vertical fashion.
By keeping and/or adjusting the output to one or more propulsion units of unmanned vehicle, nobody can control
The lateral position of aircraft and/or speed.The rotation of one or more rotors of the height and unmanned vehicle of unmanned vehicle
Speed can influence the transverse shifting of unmanned vehicle.For example, unmanned vehicle can favour specific direction described
It is moved on direction, and the speed of the rotor of unmanned vehicle can influence the speed and/or motion track of transverse shifting.It can be with
By changing or keeping the rotation speed of one or more rotors of unmanned vehicle to control the lateral position of unmanned vehicle
And/or speed.
Unmanned vehicle can have small size.Unmanned vehicle can be carried and/or be carried by the mankind.Nobody flies
Row device can be carried by mankind's one hand.
Unmanned vehicle can have the full-size no more than 100cm (for example, length, width, height, diagonal line, straight
Diameter).In some cases, the full-size can be less than or equal to 1mm, 5mm, 1cm, 3cm, 5cm, 10cm, 12cm,
15cm、20cm、25cm、30cm、35cm、40cm、45cm、50cm、55cm、60cm、65cm、70cm、75cm、80cm、85cm、
90cm、95cm、100cm、110cm、120cm、130cm、140cm、150cm、160cm、170cm、180cm、190cm、200cm、
220cm, 250cm or 300cm.Optionally, the full-size of unmanned vehicle can be greater than or equal to described herein any
Value.Unmanned vehicle can have the full-size fallen between any two value described herein.
Unmanned vehicle can be light-duty.For example, the weight of unmanned vehicle can be less than or equal to 1mg, 5mg,
10mg、50mg、100mg、500mg、1g、2g、3g、5g、7g、10g、12g、15g、20g、25g、30g、35g、40g、45g、50g、
60g、70g、80g、90g、100g、120g、150g、200g、250g、300g、350g、400g、450g、500g、600g、700g、
800g、900g、1kg、1.1kg、1.2kg、1.3kg、1.4kg、1.5kg、1.7kg、2kg、2.2kg、2.5kg、3kg、3.5kg、
4kg、4.5kg、5kg、5.5kg、6kg、6.5kg、7kg、7.5kg、8kg、8.5kg、9kg、9.5kg、10kg、11kg、12kg、
13kg, 14kg, 15kg, 17kg or 20kg.Unmanned vehicle can have the weight more than or equal to any value described herein
Amount.Unmanned vehicle can have the weight fallen between any two value described herein.
Unmanned vehicle can have the unmanned vehicle identifier for identifying the unmanned vehicle (for example, unmanned flight
Device ID1, unmanned vehicle ID2, unmanned vehicle ID3 ...).Unmanned vehicle identifier can be only unmanned vehicle
One.Other unmanned vehicles can have the identifier different from the unmanned vehicle.Unmanned vehicle identifier can be with
The unmanned vehicle is uniquely distinguished and/or distinguished with other unmanned vehicles.Each unmanned vehicle is only assigned
Single unmanned vehicle identifier.Alternatively, multiple unmanned vehicle identifiers can be registered for single unmanned vehicle.Some
In the case of, single unmanned vehicle identifier can be only distributed to single unmanned vehicle.Alternatively, single unmanned vehicle mark
Knowing symbol can be shared by multiple unmanned vehicles.It in the preferred embodiment, can be in unmanned vehicle and corresponding unmanned flight
It provides and corresponds between device identifier.
Optionally, unmanned vehicle can be authenticated to be the authorized unmanned vehicle of unmanned vehicle identifier.It authenticated
Journey may include the verifying to unmanned vehicle identity.In this paper, the example of verification process is described in further detail in other everywhere.
In some embodiments, remote controler can have the remote control identification symbol for identifying the remote controler.Remote controler mark
Knowing symbol can be uniquely remote controler.Other remote controlers can have the identifier different from the remote controler.Remote controler
The remote controler uniquely can be distinguished and/or be distinguished with other remote controlers by identifier.Each remote controler can only be divided
With single remote controller identifier.Alternatively, multiple remote control identification symbols can be distributed for single remote controller.In some cases, single
One remote control identification symbol can be only distributed to single remote controller.Alternatively, single remote controller identifier can be shared by multiple remote controlers.
In the preferred embodiment, it can provide and correspond between remote controler and corresponding remote control identification symbol.Remote controler mark
Knowing symbol can and can not be associated with corresponding user identifier.
Optionally, remote controler can be authenticated to be the authorized remote controler of remote control identification symbol.Verification process may include pair
The verifying of remote controler identity.In this paper, the example of verification process is described in further detail in other everywhere.
Remote controler can be any kind of device.Described device can be computer (for example, personal computer, above-knee
Type computer, server), mobile device (for example, smart phone, cellular phone, tablet computer, personal digital assistant) or appoint
What other kinds of device.Described device can be the network equipment that can be communicated by network.Described device includes one
Or multiple Memory Storage Units, the Memory Storage Unit may include non-transient computer-readable media, can store up
Deposit code, logic or the instruction for executing other described one or more steps everywhere herein.Described device can wrap
Include one or more processors, can according to the code of non-transient computer-readable media as described herein, logic or
It instructs and either individually or collectively executes one or more steps.Remote controler can be held.Remote controler can be via any user
Interaction mechanism and receive input from the user.In one example, described device can have touch screen, and the touch screen can
With record user's input when user touches screen or sliding screen.The user that described device can have any other type hands over
Mutual component, such as button, mouse, control stick, trackball, touch tablet, writing pencil, inertial sensor, image capture device, movement
Capture device or microphone.Described device can sense when described device tilts, this can influence the operation of unmanned vehicle.
Remote controler can be the single component for being configured for executing other each functions of described remote controler everywhere herein.Or
Person can provide remote controler as each function that can either individually or collectively execute such as other remote controlers provided everywhere of this paper
Multiple parts or component.
Verification System may include that can store to deposit about the memory of the information of user, remote controler and/or unmanned vehicle
Storage 130.The memory storage may include one or more Memory Storage Units.One or more of memory storages
Unit can be provided jointly or can be distributed on network and/or be distributed at different locations.In some cases, it stores
Device storage can be cloud storage system.The memory storage may include storing up stored one or more databases.
The information may include the identification information about user, remote controler and/or unmanned vehicle.For example, the mark
Knowledge may include user identifier (for example, User ID 1, User ID 2, User ID 3 ...) and/or unmanned vehicle identifier
(for example, unmanned vehicle ID1, unmanned vehicle ID2, unmanned vehicle ID3 ...).It equally can optionally storage of remote control
Identifier.The information can be stored in long term memory storage, or can only be stored in a short time.The information can quilt
It receives and buffers.
Fig. 1, which shows each user 110a, 110b, 110c, can control corresponding unmanned vehicle 120a, 120b, 120c
Scene.For example, the first unmanned vehicle 120a can be controlled by means of a remote control in the first user 110a.Second user 110b can
The second unmanned vehicle 120b is controlled by means of a remote control.Third can be controlled by means of a remote control in third user 110c
Unmanned vehicle 120c.User can be away from each other.Alternatively, user can operate unmanned vehicle in areal.User
Its corresponding unmanned vehicle can be operated simultaneously, or can operate them in different time.It can be overlapped using the time.With
Family and unmanned vehicle can be and can individually identify so that instruction from each user can only by it is corresponding nobody fly
Row device receives, without being received by other unmanned vehicles.This can be reduced in multiple unmanned vehicles while interference letter when operating
Number a possibility that.
Each user can control the unmanned vehicle of corresponding user.User can infuse unmanned vehicle in advance
Volume, so that only authorized user can control corresponding unmanned vehicle.Unmanned vehicle can be infused in advance
Volume, therefore user only can control authorized unmanned vehicle.Relationship between user and unmanned vehicle and/or be associated with can
To be known.Optionally, the relationship between user and unmanned vehicle and/or be associated with can be stored in memory storage 130
In.User identifier can be associated with the unmanned vehicle identifier of corresponding unmanned vehicle.
Memory Storage Unit can track order of the user to unmanned vehicle.Stored order can be with user's
The correspondence unmanned vehicle identifier of corresponding user identifier and/or unmanned vehicle is associated.Alternatively it is also possible to store pair
Answer the identifier of remote controler.
Can the identity of device or each side involved in the operation to unmanned vehicle authenticate.For example, can to
The identity at family is authenticated.User can be verified as user associated with user identifier.It can be to the body of unmanned vehicle
Part is authenticated.Unmanned vehicle can be verified as unmanned vehicle associated with unmanned vehicle identifier.It can be optional
Ground authenticates the identity of remote controler.Remote controler can be verified as remote controler associated with remote control identification symbol.
Fig. 2 shows the examples of the Verification System of embodiment according to the present invention.Verification System can be unmanned vehicle
Security system can be used as a part of unmanned vehicle security system and operate.Verification System can provide nobody of raising
Aircraft safety.Verification System can authenticate user, unmanned vehicle, remote controler and/or geography fence device.
Verification System may include mark (ID) registration database 210.ID registration database can be with 220 phase of authentication center
Communication.Verification System can be communicated with air traffic control system 230, and the air traffic control system may include flight supervision module 240, flight
Control module 242, traffic administration module 244, user access control module 246 and unmanned vehicle access control module 248.
ID registration database 210 can keep user 250a, 250b, 250c and unmanned vehicle 260a, 260b, 260c's
Identity information.ID registration database can distribute unique identifier (connection 1) for each user and each unmanned vehicle.Institute
Stating unique identifier can user can be uniquely identified out from other users or from other unmanned vehicles
Uniquely identify out the alpha-numeric string of unmanned vehicle generated at random or the identifier of any other type.It is described unique
Identifier can be generated by ID registration database or can be selected from the list for keeping unassigned possibility identifier.ID registration
Database can be optionally in geography fence device and/or remote controler or unmanned vehicle security system can be related to it is any
Other devices distribute unique identifier.Identifier can be used for recognizing user, unmanned vehicle and/or another device
Card.ID registration database can with or can not be handed over one or more users or one or more unmanned vehicle
Mutually.
Authentication center 220 can provide the body to user 250a, 250b, 250c or unmanned vehicle 260a, 260b, 260c
The certification of part.Authentication center can optionally provide is safely to geographical fence apparatus and/or remote controler or unmanned vehicle
The certification of the identity for any other device that can be related in system.Authentication center can be obtained from ID registration database 210 about
The information (connection 2) of user and unmanned vehicle (and/or any other device involved in unmanned vehicle security system).This
Literary other provide the further details about verification process everywhere.
Air traffic control system 230 can be interacted with authentication center 220.Air traffic control system can from authentication center obtain about with
The information (connection 4) at family and unmanned vehicle (and/or any other device involved in unmanned vehicle security system).It is described
Information may include user identifier and unmanned vehicle identifier.The information can be related to user identity and/or nobody flies
The confirmation or mark of row body part.Air traffic control system can be management cluster, and the management cluster may include one or more sons
System, such as flight supervision module 240, air traffic control module 242, traffic administration module 244, user access control module 246
Control module 248 is accessed with unmanned vehicle.One or more of subsystems can be used for flight control, air traffic control
System, associated authorization, user and unmanned vehicle access-in management and other function.
In one example, flight supervision module/subsystem 240 can be used for monitoring unmanned vehicle in assigned airspace
Interior flight.Flight supervision module may be configured for detecting when one or more unmanned vehicles deviate predetermined navigation channel.
Flight supervision module can detecte when one or more unmanned vehicles execute unwarranted movement or do not inputted by user
Movement.Flight supervision module can also detect when one or more unwarranted unmanned vehicles enter assigned sky
Domain.Flight supervision module can issue warning or warning to unwarranted unmanned vehicle.It can be unwarranted to operating
The remote controler of the user of unmanned vehicle provides warning.It can be given a warning with visual manner, audible means or tactile manner.
Flight supervision module can use the data collected by the one or more sensors on unmanned vehicle machine.Flight
Supervision module can use the data collected by the one or more sensors outside unmanned vehicle machine.Data can be by that can monitor
Unmanned vehicle or other movable radars, photoelectric sensor or sonic transducer in assigned airspace are collected.Data can be by one
At a or multiple base stations, stop, battery station, geography fence device or network collection.Data can be collected by stationary apparatus.It is static
Device is configured for or can not be configured for being interacted with unmanned vehicle physics (for example, flying for nobody
Row device restores energy, receives the delivering from unmanned vehicle or provide repairing for unmanned vehicle).Data can be from wired
Communication or wireless communication provide.
Air traffic control system may also include air traffic control module/subsystem 242.Air traffic control module may be configured for generating
With the one or more groups of air traffic control of storage.It can be based on one group of air traffic control come control air traffic control.The life of air traffic control
Air traffic control is created from the beginning at may include, or may include that one or more groups of flights are selected from multiple groups air traffic control
Control.The generation of air traffic control may include the selected multiple groups air traffic control of combination.
Unmanned vehicle can be operated according to the air traffic control of one or more groups of applications.Air traffic control can with control nobody
Any aspect of the operation of aircraft is (for example, flight, sensor, communication, payload, navigation, electricity use, entrained object
Product).For example, air traffic control may indicate that unmanned vehicle can wherein fly or cannot wherein fly.Tof tube
System may indicate that when unmanned vehicle cannot can fly in a specific area or in a specific area.Air traffic control can be with
Indicate when data can be collected by the one or more sensors on unmanned vehicle machine, transmitted and/or recorded.Air traffic control can
To indicate it is operable when payload can be.For example, payload can be image capture device, and air traffic control can
With indicate described image capture device can when and where capture image, transmission image and/or storage image.Tof tube
System may indicate that how communication can occur (it is, for example, possible to use channel or method) or can occur what type of logical
Letter.
Air traffic control module may include the one or more databases for storing the information about air traffic control.For example, institute
One or more positions that the flight of unmanned vehicle is limited can be stored by stating one or more databases.Air traffic control module can
To store the multiple groups air traffic control for being directed to multiple types unmanned vehicle, and the multiple groups air traffic control can be with specific nothing
People's aircraft is associated.Access one group of flight associated with the specific type unmanned vehicle in multiple types unmanned vehicle
Control can be possible.
One or more flight plans of unmanned vehicle can be ratified or be refused to air traffic control module.In some cases
Under, the flight plan including the proposed flight path for unmanned vehicle can be assigned.Can about unmanned vehicle and/or
Environment and flight path is provided.Flight path can be (the defining all the points along path) limited completely, half limit
(for example, may include one or more way points, but the path for reaching the way point can be it is variable) or less limit
It is fixed (for example, may include final destination or other parameters, but the path for reaching the final destination can be and not limit
).Air traffic control module can receive flight plan and can ratify or refuse flight plan.If flight plan be directed to
One group of air traffic control of unmanned vehicle contradicts, then air traffic control module can refuse the flight plan.Tof tube molding
Block can suggest that the modification to flight plan, the modification can make the flight plan abide by one group of air traffic control.Fly
Row control module can generate for unmanned vehicle or suggest one group of flight plan that can abide by one group of air traffic control.User
The one or more parameters or target for unmanned vehicle task can be inputted, and air traffic control module can be generated or suggest
One group can satisfy the flight plans of one or more of parameters while abiding by one group of air traffic control.For nobody
The parameter of aircraft task or the example of target may include destination, one or more way points, timing demands (for example, total
Body time restriction, will be in the time at certain positions), maximum speed, peak acceleration, the data type to be collected, to catch
Image type, any other parameter or the target caught.
Traffic administration module/subsystem 244 can be provided for air traffic control system.Traffic administration module may be configured for from
User receives the request to resource.The example of resource can include but is not limited to radio resource (for example, bandwidth, to communication device
Access), position or space (for example, position or space for being directed to flight plan), the time (for example, for flight plan when
Between), the access to base station, the access to bus stop, to the access at battery station, to the access of delivering point or pickup point or it is any its
The resource of his type.Traffic administration module may be configured for responding the request and planning the flight for being directed to unmanned vehicle
Navigation channel.Flight Path can use assigned resource.Traffic administration module may be configured for plan for unmanned flight
The task of device can optionally include Flight Path and any sensor or other devices on the unmanned vehicle machine
Operation.The task can use any assigned resource.
Traffic administration module can be configured to adjust task based on the condition detected in the airspace assigned.Example
Such as, traffic administration module can adjust predetermined flight path based on the condition detected.Adjustment flight path may include adjusting
The way point for the flight path that whole predetermined flight path, adjustment half limit or the destination for adjusting flight path.It is examined
The condition measured may include weather, can changing with the change in airspace, accident, the foundation of geography fence device or air traffic control
Become.Traffic administration module can inform adjustment of the user to task, such as to the adjustment of flight path.
User 250a, 250b, 250c can be individual associated with unmanned vehicle 260a, 260b, 260c, such as grasp
Make the individual of unmanned vehicle.Other describe the example of user and unmanned vehicle everywhere herein.Can user with it is corresponding
Unmanned vehicle between communication channel is provided, the communication channel can be used for controlling the operation (connection 3) of unmanned vehicle.
Control unmanned vehicle operation may include control unmanned vehicle flight or as herein other everywhere described in nothing
Any other part of people's aircraft.
Communication channel (connection 5) can be provided between unmanned vehicle and air traffic control system, because air traffic control system can be marked
Knowledge condition warns user and/or adapter tube unmanned vehicle about the condition to improve the condition.When user and/or nothing
When people's aircraft undergoes verification process, communication channel can also contribute to authentication.Optionally, communication channel can establish
Between air traffic control system and the remote controler of user, and some similar functionality can be provided.It is including geography fence device
In system, communication channel can be provided between geography fence device, for identify/authenticate and/or condition identity, warning and/
Or adapter tube.
Communication channel (connection 6) can be provided between user and air traffic control system because air traffic control system can with identification condition,
User and/or adapter tube unmanned vehicle are warned about the condition to improve the condition.When user and/or unmanned vehicle
When undergoing verification process, communication channel can also contribute to authentication.
Optionally, connection 1 can be logic channel.Connection 2 and connection 4 can be network connection.For example, connecting 2 and connecting
Connect 4 can by local area network (LAN), wide area network (WAN) (such as internet), telecommunication network, data network, cellular network or appoint
What other kinds of network provides.Connection 2 and connection 4 can pass through indirect communication (for example, the indirect communication for passing through network)
To provide.Alternatively, they can be provided by direct access communication channel.Connection 3, connection 5 and connection 6 can be via remote controler
Or earth station and provide network connection, mobile access network connection or any other type connection.They can be via
Indirect communication channel or direct access communication channel provide.
Authorized third party's (air traffic control system, geo-fencing system etc.) can be according to its unmanned vehicle identifier
(ID) corresponding unmanned vehicle is identified by authentication center, and obtain relevant information (configuration of such as unmanned vehicle,
Its ability rating and security level).Security system can be capable of handling different types of unmanned vehicle.It is different types of nobody
Aircraft can have different physical characteristics (for example, model, shape, size, engine power, distance, battery life, sensing
Device, performance, payload, payload grading or ability) or can be used for executing different tasks (for example, monitoring, taking the photograph
Picture, communication, delivering).Different types of unmanned vehicle can have different security level or priority.For example, inhomogeneity
The unmanned vehicle of type, which can be authorized to, executes different activities.For example, the unmanned vehicle with the first authorization type can quilt
Authorization enters the area that there is the unmanned vehicle of the second authorization type can not be authorized to entrance.Unmanned vehicle type can wrap
It includes by same manufacturer or designer or the different unmanned vehicle types created by different manufacturers or designer.
Authorized third party's (air traffic control system, geo-fencing system etc.) can pass through according to user identifier (ID)
Authentication center identifies corresponding user, and obtains relevant information.Security system can be capable of handling different types of user.
Different types of user can have different levels of skill, experience amount, with being associated with of different types of unmanned vehicle, authorize
Grade or different demographic informations.For example, the user with different levels of skill can be considered as different types of user.
User can undergo proof or test to verify user skill level.One or more other users can confirm or verify described
The level of skill of user.For example, the director of user can verify the level of skill of the user.User can be from rower
Know the level of skill of the user.User with different experience levels can be considered as different types of user.For example, user
Log recording or proving specific, operation unmanned vehicle hourage or flying using unmanned vehicle for task can be used
Number.The experience level of the user can be verified or be confirmed to other users.The user can be from the warp of user described in line identifier
The amount of testing.User type can indicate that the level of training of user.The level of skill and/or experience of user can for unmanned vehicle
To be general.Alternatively, the level of skill and/or experience of user can be specific to unmanned vehicle type.For example, user
It can have or rich experiences amount horizontal to the high professional qualification of the unmanned vehicle of the first kind, and to the unmanned flight of Second Type
Device has low level of skill or experience not very abundant.Different types of different user may include having different authorization types
User.Different authorization types, which may mean that, can apply one group of different air traffic control to different users.In some cases
Under, some users can have security level more higher than other users, this may mean that the user can be done it is less
Air traffic control or limitation.In some cases, common user can be different from management user, and the management user can
Control is taken over from common user.Common user can be different from controlled entity user (for example, the member of government organs, emergency
The member of service, such as law enforcement agency).In some embodiments, management user can be the area controlled entity user Huo Keyi
Not in controlled entity user.In another example, parent can take over flight control from the child of the parent, or refer to
The person of leading can take over flight control from student.User type can indicate that the one or more type unmanned vehicles of operation
User classification or type.Other users type information can be based on user's demographic statistics (for example, address, age
Deng).
Similarly, any other device or each side involved in security system can have the type of their own.For example, ground
Reason fence identifier can indicate that geography fence type of device or remote control identification symbol can indicate that remote unit type.
The unmanned vehicle operated in security system can be assigned unmanned vehicle ID and key.The ID and key
It can be distributed from ID registration database.The ID and key can be globally unique and can not optionally be replicated.Pacifying
The user of operation unmanned vehicle can be assigned User ID and key in total system.The ID and key can register number from ID
It is distributed according to library.The ID and key can be globally unique and can not optionally be replicated.
Unmanned vehicle and air traffic control system can have the mutual authentication using ID and key, to allow to operate the nothing
People's aircraft.In some cases, certification may include obtaining the license flown in confined area.User and air traffic control system can
To have the mutual authentication using ID and key, to allow unmanned vehicle described in user's operation.
Key can provide in a variety of manners.In some embodiments, can be can not be with for the key of unmanned vehicle
Unmanned vehicle is separated.It can be by key designs at preventing the key from stealing.Key can be by write-once and can not
The memory (for example, encryption chip) or realized by cured universal subscriber identity module (USlM) that outside is read.Some
In the case of, user key or remote controler key can be and can not separate with the remote controler of the user.Key can be by authenticating
Center is used to authenticate to unmanned vehicle, user and/or any other device.
Verification System as herein provided may include: identity registry database, and it is opposite to be configured for storage
In the one or more unmanned vehicle identifiers for uniquely identifying out unmanned vehicle each other and relative to each other and only
One ground identifies one or more user identifiers of user；Authentication center is configured for the body to unmanned vehicle
The identity of part and user authenticate；And air traffic control system, it is configured for receiving nobody of authenticated unmanned vehicle
The user identifier of aircraft identifier and authenticated user entities, and provide one group based at least one of the following and fly
Row control: certified unmanned vehicle identifier and certified user identifier.
Any hardware configuration that is as known in the art or developing later can be used or be arranged to realize Verification System.Example
Such as, one or more servers can be used either individually or collectively to operate ID registration database, authentication center and/or blank pipe
System.One or more servers can be used either individually or collectively to realize one or more subsystems of air traffic control system,
Such as flight supervision module, air traffic control module, traffic administration module, user access control module, unmanned vehicle access control
Molding block or any other module.It can be adapted for the device of any other type to any description of server.Described device
Computer (for example, personal computer, laptop computer, server), mobile device be can be (for example, smart phone, honeycomb
Phone, tablet computer, personal digital assistant) or any other type device.Described device, which can be, can pass through network
And the network equipment communicated.Described device includes one or more Memory Storage Units, and the Memory Storage Unit can be with
Including non-transient computer-readable media, can store for executing other described one or more steps everywhere herein
Code, logic or instruction.The apparatus may include one or more processors, the processor can be according to such as this paper institute
Code, logic or the instruction of the non-transient computer-readable media of description and either individually or collectively execute one or more steps
Suddenly.
It can realize at same position or at different locations that each component part, such as ID are registered on hardware
Database, authentication center and/or air traffic control system.Same device or multiple devices can be used to realize Verification System composition portion
Point.In some cases, cloud computing architecture may be implemented to provide Verification System.Optionally, Verification System can use
Reciprocity (P2P) relationship.
The component part can be provided in that unmanned vehicle machine is outer, on unmanned vehicle machine or some groups are closed.Institute
Stating component part can be provided in that remote controler machine is outer, on remote controler machine or some groups are closed.In some preferred embodiments,
The component part can be provided in that unmanned vehicle machine is outer or remote controler machine outside, and can with unmanned vehicle (and/or its
His unmanned vehicle) and remote controler (and/or other remote controlers) communicate.The component part can be direct with unmanned vehicle
Communication or indirect communication.In some cases, the communication can be relayed via another device.Another device can be distant
Control device or another unmanned vehicle.Air traffic control
The activity of unmanned vehicle can be dominated according to one group of air traffic control.One group of air traffic control may include one or
Multiple air traffic control.This document describes the various types of air traffic control and examples.
Air traffic control can dominate the physical layout of unmanned vehicle.For example, air traffic control can dominate unmanned vehicle
Flight, unmanned vehicle take off and/or the landing of unmanned vehicle.Air traffic control can indicate that unmanned vehicle can be with
The surface region or unmanned vehicle that can not perhaps fly above it above it can fly wherein or can be with
Not in the spatial volume wherein to fly.Air traffic control can be related to the position of unmanned vehicle (for example, unmanned vehicle is in space
In or underlying surface above position) and/or unmanned vehicle direction.In some instances, air traffic control can prevent
Unmanned vehicle is in the volume (for example, airspace) assigned and/or in the area (for example, lower section ground or water surface) assigned
Top flight.Air traffic control may include the one or more boundaries for not allowing unmanned vehicle to fly in it.Show at other
In example, air traffic control only allows unmanned vehicle to fly in the volume assigned and/or above the area assigned.Fly
Row control may include the one or more boundaries for allowing unmanned vehicle to fly in it.Optionally, air traffic control can be to prevent
Only unmanned vehicle limit in height on fly, what the upper height limit can be fixed or can be changed.In another case,
Air traffic control can prevent unmanned vehicle from flying under height lower limit, and the height lower limit can be fixed or can be changed
's.Unmanned vehicle can be required to fly in the height between height lower limit and upper height limit.In another example, nobody flies
Row device may not fly in one or more altitude ranges.For example, air traffic control can be only to allow in a certain range
Unmanned vehicle direction, or the unmanned vehicle direction in a certain range may not be allowed.The range of unmanned vehicle direction
It can be about one, two or three axis.The axis can be quadrature-axis, such as yaw axes, pitch axis or
Roll axis.
Air traffic control can dominate the movement of unmanned vehicle.For example, air traffic control can dominate the flat of unmanned vehicle
Move speed, the translational acceleration of unmanned vehicle, unmanned vehicle angular speed (for example, about one, two or three axis
Angular speed) or unmanned vehicle angular acceleration (for example, angular acceleration about one, two or three axis).Fly
Row control can for unmanned vehicle translational velocity, unmanned vehicle translational acceleration, unmanned vehicle angular speed or nobody fly
The limitation of row device set angular acceleration maximum.Therefore, one group of air traffic control may include limiting the flight speed of unmanned vehicle
Degree and/or Flight Acceleration.Air traffic control can for unmanned vehicle translational velocity, unmanned vehicle translational acceleration, nobody
Vehicle rate or unmanned vehicle set angular acceleration minimum threshold.Air traffic control can require unmanned vehicle in minimum
It is moved between threshold value and maximum limitation.Alternatively, air traffic control can prevent unmanned vehicle in one or more translational velocity models
It encloses, moved within the scope of translational acceleration range, angular velocity range or angular acceleration.In one example, unmanned vehicle may
It is not allowed to hover in the airspace of appointment.The unmanned vehicle can be required to fly more than the minimum translational velocity of 0mph
Row.In another example, unmanned vehicle may not be allowed to fly too fast (for example, the maximum speed limitation in 40mph is following
Flight).The movement of unmanned vehicle can be dominated about the volume assigned and/or above the area assigned.
Air traffic control can dominate unmanned vehicle take off and/or descent.For example, can permit unmanned vehicle
It flies in the area assigned, without dropping in the area.In another example, unmanned vehicle can only can be with
Certain mode is taken off with a certain speed from the area assigned.In another example, may not allow in the area assigned
It takes off or lands manually, and Autonomous landing or take-off process must be used.Air traffic control can dominate whether permission to take off, whether
Allow to land, take off or land any regular (for example, speed, acceleration, direction, direction, offline mode) for having to comply with.?
In some embodiments, the automation sequence that is only allowed for taking off and/or land manually lands or takes off without allowing, or
Vice versa by person.Can dominate about the volume assigned and/or above the area assigned unmanned vehicle take off and/
Or descent.
In some cases, air traffic control can dominate the operation of the payload of unmanned vehicle.Unmanned vehicle
Payload can be sensor, emitter or any other object that can be carried by unmanned vehicle.Payload can be with
It is powered or powers off.Payload can show as operable (for example, energization) or inoperable (for example, power-off).Flight
Control may include not allowing the condition of unmanned vehicle operation payload.For example, in the airspace assigned, air traffic control
Payload can be required to power off.Payload can issue signal and air traffic control can be with the property of dominant signal, signal
Amplitude, the range of signal, the direction of signal or any operation mode.For example, if payload is light source, air traffic control
The light that may be required in assigned airspace is brighter unlike threshold value light intensity.In another example, if payload is to be used for
The loudspeaker made a sound, then air traffic control can require the loudspeaker not transmit any noise outside the airspace assigned.
Payload can be the sensor for collecting information, and air traffic control can dominate the mode of information of collecting, on how to pre-
The mode of processing or processing information, what resolution ratio is information is collected with, information is collected with what frequency or sampling rate, from what
Scale collection information collects information from what direction.For example, payload can be image capture device.Picture catching dress
Still image (for example, static image) or dynamic image (for example, video) can be captured by setting.Air traffic control can be with dominating figure
Resolution ratio, the sampling rate of image capture device, image of zoom as capture device, the image by image capture device capture
The shutter speed of capture device, image capture device aperture, whether using flash of light, image capture device mode (for example, according to
Bright mode, color mode, static and video mode) or image capture device focus.In one example, camera may not be by
Permission captures image on the area assigned.In another example, camera can be allowed to the capture figure on the area assigned
As but sound can not be captured.In another example, camera can be only permitted to capture in the area assigned high-resolution
Photo and shoot low resolution picture the area assigned is outer.In another example, payload can be audio capture dress
It sets.Whether air traffic control can dominate allows audio capture device to be powered, the sensitivity of audio capture device, audio capture device
The directionality (for example, the directionality for being directed to paraboloid microphone) or audio of the decibel range, audio capture device that can pick up
Any other quality of capture device.In one example, audio capture device can be allowed to or may not be allowed in institute
Sound is captured in the area of assignment.In another example, audio capture device can be only permitted to capture in the area assigned
Sound in particular frequency range.Payload can be dominated about the volume assigned and/or above the area assigned
Operation.
Air traffic control can dominate information can be transmitted or be stored to payload whether.For example, if payload is figure
As capture device, then air traffic control can dominate whether image (static or dynamic) can be recorded.Air traffic control can prop up
Figure seems in the memory on the no machine carried memory that may be recorded in image capture device or unmanned vehicle machine.For example,
It can permit image capture device to be powered and captured image is shown in local display, but its record cannot be allowed
Any image.Air traffic control can seem no can flow out except image capture device or except unmanned vehicle with dominating figure.Example
Such as, air traffic control may indicate that the picture catching when unmanned vehicle is located in assigned airspace, on unmanned vehicle fills
Setting can be allowed to flow downwardly to video the terminal outside unmanned vehicle machine, and when unmanned vehicle be located at assigned airspace it
When outer, described image capture device can not be flowed downward out video.Similarly, if payload is audio capture dress
It sets, then air traffic control can dominate whether sound may be recorded in the machine carried memory or unmanned vehicle of audio capture device
In memory on machine.It is powered for example, can permit audio capture device and plays back captured sound on local loudspeaker
Sound, but it cannot be allowed to record any sound.Air traffic control can seem with dominating figure it is no can flow out audio capture device it
Except outer or any other payload.It can be received about the volume assigned and/or dominated above the area assigned
The storage and/or transmission of the data collected.
In some cases, payload can be the article carried by unmanned vehicle, and air traffic control can refer to
The characteristic of bright payload.The example of payload characteristic may include the size of payload (for example, height, width, length
Degree, diameter, diagonal line), the weight of payload, the stability of payload, the material of payload, payload it is frangible
The type of property or payload.For example, air traffic control may indicate that unmanned vehicle flies same above the area assigned
When can carry package no more than 3 Ibs.In another example, air traffic control can permit unmanned vehicle and only assigned
Volume in carry the package having greater than 1 foot of size.Another air traffic control can permit unmanned vehicle and carry 1
Ib or when bigger package, only fly 5 minutes in the volume assigned, and if unmanned vehicle in 5 minutes not yet from
Assigned volume is opened, then the unmanned vehicle can be made to land automatically.Limit to payload own type can be provided
System.For example, unstable or potential explosive payload possibly can not be carried by unmanned vehicle.Flight restriction can prevent by
Unmanned vehicle carries frangible object.Can about the volume assigned and/or above the area assigned control it is effective
The characteristic of load.
Air traffic control can also indicate the activity that can be executed about the article carried by unmanned vehicle.For example, flight
Whether control may indicate that can drop article in the area assigned.Similarly, whether can with for air traffic control if may indicate that
Article is picked up from the area assigned.Unmanned vehicle can have mechanical arm or can help to drop or pick up article
Other mechanical structures.Unmanned vehicle can have the carrying cabin of permissible unmanned vehicle belongings.It can be about dividing
The volume of group and/or the area assigned and control is related to the activity of payload.
Payload can be dominated relative to the positioning of unmanned vehicle by air traffic control.Payload flies relative to nobody
The position of row device can be adjustable.Payload is opposite relative to the translation position of unmanned vehicle and/or payload
It can be in the direction of unmanned vehicle adjustable.Translation position can be can about one, two or three quadrature-axis
Adjustment.The direction of payload can be about one, two or three quadrature-axis (for example, pitch axis, yaw axes
Or roll axis) adjustable.In some embodiments, payload can connect to the unmanned vehicle with carrier,
The carrier can control positioning of the payload relative to unmanned vehicle.Carrier can support effectively on unmanned vehicle
The weight of load.Carrier can allow payload relative to unmanned vehicle and about one, two or three
The holder of a axis rotation.One or more rack units and one that the adjustment positioned to payload can be achieved can be provided
A or multiple actuators.Air traffic control can control the position of carrier or any adjustment payload relative to unmanned vehicle
Other mechanisms.In one example, when flight is above the area assigned, air traffic control can be not allow for effect load
Direction downwards.For example, the area can have the sensitive data that may do not expect that payload captures.In another example
In, when being located in assigned airspace, air traffic control can be such that payload moves down relative to unmanned vehicle translation,
This can permit the broader visual field, such as panoramic image capture.It can be about the volume assigned and/or in the area assigned
The positioning of top domination payload.
Air traffic control can dominate the operation of the one or more sensors of unmanned vehicle.For example, air traffic control can be with
It dominates and whether opens or closes sensor (or which sensor opened or closed), the mode of collection information, on how to pre-
The mode of processing or processing information, what resolution ratio is information is collected with, information is collected with what frequency or sampling rate, from what
Scale collection information collects information from what direction.Air traffic control can dominate whether sensor can store or transmit letter
Breath.In one example, when unmanned vehicle is located in assigned volume, GPS sensor can be closed, view is opened simultaneously
Feel that sensor or inertial sensor are used for navigation purpose.It in another example, can be with when flight is above the area assigned
Close the audio sensor of unmanned vehicle.One can be dominated about the volume assigned and/or above the area assigned
The operation of a or multiple sensors.
The communication of unmanned vehicle can be controlled according to one or more groups of air traffic control.For example, unmanned vehicle can be with
It can be carried out telecommunication with one or more remote-control devices.The example of remote-control device may include controllable unmanned vehicle behaviour
The remote controler of work, payload, carrier, sensor or unmanned vehicle any other component, can show by unmanned vehicle
The display terminal of the information received, the database for collecting the information from unmanned vehicle or any other external dress
It sets.Telecommunication can be wireless communication.The communication can be the direct communication between unmanned vehicle and remote-control device.Directly
The example for connecting letter may include WiFi, WiMax, radio frequency, infrared, vision or other kinds of direct communication.The communication can
To be the indirect communication between unmanned vehicle and remote-control device, the remote-control device may include one or more intermediate devices
Or network.The example of indirect communication may include 3G, 4G, LTE, satellite or other kinds of communication.Air traffic control may indicate that
Whether telecommunication is opened or closed.Air traffic control may include not allowing unmanned vehicle under one or more radio conditions
The condition of communication.For example, can not allow to communicate when unmanned vehicle is in assigned airspace volume.Air traffic control can be with
Indicate the communication pattern that can be allowed to or can not be allowed to.For example, air traffic control may indicate that whether allow direct communication mode,
Whether allow indirect communication mode or whether between direct communication mode and indirect communication mode sets up preference.Show at one
In example, the volume assigned is interior only to allow direct communication.In another example, above the area assigned, as long as directly logical
Letter is available, so that it may and the preference to direct communication is set up, indirect communication otherwise can be used, and except the area assigned,
Any communication is not allowed.Air traffic control may indicate that the characteristic of communication, bandwidth such as used, frequency used, agreement used, used
It encrypts, the device of workable subsidiary communications.For example, air traffic control only may be used when unmanned vehicle is located in scheduled volume
Allow to communicate using existing network.Air traffic control can dominate unmanned vehicle about the volume assigned and/or divide
Communication on the area of group.
The other function of unmanned vehicle can be dominated according to air traffic control, such as navigation, electricity are used and monitored.Electricity
Measure the charge shape that the example that uses and monitor may include residual non-uniformity amount based on battery and electricity use information, battery
The surplus of state or the estimated distance based on battery and electricity use information.Assigned for example, air traffic control may be required in
Volume in the unmanned vehicle that operates there is at least 3 hours remaining power service life.In another example, air traffic control can be with
It is required that unmanned vehicle be located at assigned area except when at least 50% state of charge.It can be about being assigned
Volume and/or such additional function is dominated by air traffic control above the area assigned.
The volume assigned and/or the area assigned can be static state for one group of air traffic control.For example, for institute
The boundary in the volume of assignment and/or the area assigned can remain identical for one group of air traffic control.Alternatively, institute
Stating boundary can change over time.For example, the area assigned can be school, and for the side in assigned area
Boundary may include the school during the class period.After classes are over, the area that the boundary can reduce or be assigned can be moved
It removes.In a period of after classes are over, it can be participated in child and create the area assigned near after school activity at park.It closes
In the volume assigned and/or assigned area rule for one group of air traffic control can remain it is identical or
It can change over time.Change can be by a certain in some day sometime, in one week, one month in one day
Week, month, season, season, time or any other time correlation because usually indicating.(it can be mentioned information from clock
For in one day sometime, date or the relevant information of other times) can be used to implement the change on boundary or rule.One group
Air traffic control, which can have, is dynamically composed part in response to the other factors in addition to the time.The example of other factors can wrap
Include presence, environment complexity, the physics traffic of weather, temperature, detected illumination level, detected individual or machine
Flow (for example, the land magnitude of traffic flow, pedestrian traffic flow, aircraft traffic flow), is detected wireless or network traffic flow
Noise level, detected movement, detected temperature mark or any other factor arrived.
The volume assigned and/or the area assigned can with or can not be associated with geography fence device.Ground
Reason fence apparatus can be the reference point for the volume assigned and/or the area assigned.Herein other everywhere as described in,
Can the position based on geography fence device and assigned volume is provided and/or assigned area position.Alternatively, can be with
Assigned volume and/or area are provided in the presence of being not necessarily to geography fence device.For example, being enclosed without actual geographic
In the case that column device is in airport, the known coordinate on airport can be provided and be used as assigned volume and/or
The reference in the area assigned.Any combination of assigned volume and/or area can be provided, some of which can rely on
In geography fence device, some of which can be independent of described device.
Air traffic control can cause any kind of flight responsive measures of unmanned vehicle.For example, unmanned vehicle can
To bear away.Unmanned vehicle can be from manual mode automatically into autonomous or semi-autonomous flight control mode, or can be with
It is not responding to certain user's input.Unmanned vehicle can permit another user and take over the control unmanned vehicle.Unmanned flight
Device can land or take off automatically.Unmanned vehicle can send to user and alert.Unmanned vehicle can with automatic retarding or add
Speed.The adjustable payload of unmanned vehicle, carrier, sensor, communication unit, navigation elements, power adjustment unit behaviour
Make (it may include hang up or changes its operating parameter).Flight responsive measures can occur immediately, or can be
(for example, 1 minute, 3 minutes, 5 minutes, 10 minutes, 15 minutes, 30 minutes) occurs afterwards for a period of time.The period can be
For the grace period of user, to react and practice to some of unmanned vehicle before flight responsive measures come into effect
Control.For example, user can be cautioned and can change the boat of unmanned vehicle if user is close to flight restricted area
Road is to leave the flight restricted area.If the user does not make a response within the grace period, unmanned vehicle can be automatic
It drops in flight restricted area.Unmanned vehicle can the remote controler according to operated by from remote user one or more fly
Line command and normal operating.When one group of air traffic control and one or more of flight orders conflict, flight response is arranged
Applying can be with the one or more of flight orders of override.For example, if user command unmanned vehicle enters no-fly zone, nobody
Aircraft can change navigation channel automatically to avoid the no-fly zone.
One group of air traffic control may include the information about one or more of the following items: (1) being assigned,
The volume and/or area of one group of air traffic control can be applied above it, (2) one or more rules are (for example, unmanned flight
The operation of device, payload, carrier, sensor, communication module, navigation elements, power cell), (3) follow unmanned vehicle
One or more flight responsive measures of the rule are (for example, unmanned vehicle, payload, carrier, sensor, communication mould
The response of block, navigation elements, power cell), or (4) can influence assigned volume and/or area, it is described rule or it is described
The time of flight responsive measures or any other factor.One group of air traffic control may include single air traffic control, can wrap
Include the information about (1), (2), (3) and/or (4).One group of air traffic control may include multiple air traffic control, can respectively wrap
Include the information about (1), (2), (3) and/or (4).Any kind of air traffic control can be combined, and can be according to tof tube
It makes and any combination of flight responsive measures occurs.One or more bodies assigned can be provided for one group of air traffic control
Long-pending and/or area.For example, one group of air traffic control can be provided for unmanned vehicle, wherein one group of air traffic control is not
Allow unmanned vehicle fly in the first volume assigned, allow unmanned vehicle limit in height it is below, assigned
The second volume in flight but do not allow operate unmanned vehicle machine on camera, and only allow unmanned vehicle assigned
Third volume in recording audio evidence.Unmanned vehicle, which can have, can make the unmanned vehicle abide by flying for air traffic control
Row responsive measures.It can be with the manual operation of override unmanned vehicle so that the unmanned vehicle abides by the rule of air traffic control.
Being manually entered with override user can occur automatically for one or more flight responsive measures.
One group of air traffic control can be generated for unmanned vehicle.The generation of one group of air traffic control may include from
Head starts to create air traffic control.The generation of one group of air traffic control may include selecting one from available multiple groups air traffic control
Group air traffic control.The generation of one group of air traffic control may include the feature for combining one or more groups of air traffic control.For example, one
The generation of group air traffic control can include determining that element, such as to determine that the volume assigned and/or area, determining one or more
Rule determines that one or more flight responsive measures and/or determination can make any of any element dynamic element
Factor.These elements can be generated from the beginning or can be selected from one or more pre-existing element options.?
Under some cases, air traffic control can be manually selected by user.Alternatively, can be selected automatically by means of one or more processors
Air traffic control is selected, without user intervention.In some cases, some user's inputs, but one or more processing can be provided
Device can make the final of air traffic control determine that abiding by the user inputs.
Fig. 3 shows the example of the one or more factors for the generation that may participate in one group of air traffic control.For example, user information
310, unmanned vehicle information 320 and/or geography fence device information 330 can participate in the generation of one group of air traffic control 340.?
Under some cases, during generating one group of air traffic control, only considers user information, only considers unmanned vehicle letter
Breath only considers geography fence information, only considers remote information or considers any number or any combination of these factors.
It is contemplated that additive factor during generating one group of air traffic control.These factors may include about this
The information of ground environment (for example, environment complexity, city and rural area, traffic flow information, climatic information) comes from one or more
The information in third party source (for example, government sources, such as FAA), the information of time correlation, the preference of user's input or it is any its
His factor.
In some embodiments, one group about specific landform (for example, the volume assigned, the area assigned) flies
Row control can be it is identical, and with user information, unmanned vehicle information, geography fence device information or any other information
It is unrelated.For example, all users can receive identical one group of air traffic control.In another case, all unmanned vehicles can be with
Receive identical one group of air traffic control.
Alternatively, one group of air traffic control about specific landform (for example, the volume assigned, the area assigned) can be with base
It is different in user information, unmanned vehicle information and/or geography fence device information.User information may include specific to list
The information record of flight (for example, user's flying history, previous user) of a user and/or may include as herein other
The user type (for example, the users ' skills classification, user experience classification) everywhere.Unmanned vehicle information may include specific
In the information (for example, unmanned vehicle flying history, the record of maintenance or accident, unique sequence number) of single unmanned vehicle
And/or may include herein other everywhere as described in unmanned vehicle type (for example, unmanned vehicle model, spy
Property).
One group of air traffic control can be generated based on the user identifier for indicating user type.One kind can be provided to be used for
The system for controlling unmanned vehicle (UAV).The system may include: first communication module；One or more processors, can
It is operatively coupled to the first communication module and is either individually or collectively configured for: using the first communication mould
Block or second communication module receive the user identifier for indicating user type；It generates and is directed to based on the user identifier
One group of air traffic control of the unmanned vehicle；And using the first communication module or the second communication module come to institute
It states unmanned vehicle and transmits one group of air traffic control.
Method of the one kind for controlling unmanned vehicle (UAV) may include: to receive the user's mark for indicating user type
Know symbol；By means of one or more processors, one group for the unmanned vehicle is generated based on the user identifier
Air traffic control；And by means of communication module, Xiang Suoshu unmanned vehicle transmits one group of air traffic control.It similarly, can be with
A kind of non-transient computer-readable media comprising for controlling the program instruction of unmanned vehicle (UAV), the calculating are provided
Machine readable medium includes: the program instruction for receiving the user identifier for indicating user type；For being based on the user
Identifier and the program instruction for generating one group of air traffic control for the unmanned vehicle；And for generate signal with by
The program instruction of one group of air traffic control is transmitted to the unmanned vehicle in communication module.
A kind of unmanned vehicle may include: one or more propulsion units, realize the flight of the unmanned vehicle；
Communication module is configured for receiving one or more flight orders from remote user；And flight control units,
It is configured for generating the flight control signal delivered to one or more of propulsion units, wherein the flight controls
Signal is generated according to one group of air traffic control for the unmanned vehicle, wherein the air traffic control is based on instruction
Out the user identifier of the user type of the remote user and generate.
User type can have herein other everywhere as described in any characteristic.For example, user type can indicate that
Operate the level of training or proof of the experience level of the user of unmanned vehicle, the user for operating unmanned vehicle, or operation
The class of subscriber of the unmanned vehicle of one or more types.User identifier can uniquely identify out institute from other users
State user.User identifier can be received from the remote controler far from the unmanned vehicle.
Based on user identifier, described one group is generated and selecting one group of air traffic control from multiple groups air traffic control
Air traffic control.One group of air traffic control is generated by the air traffic control system outside unmanned vehicle machine.Unmanned vehicle can be via straight
It connects communication channel and is communicated with the air traffic control system.Unmanned vehicle can be by via operated by user or the user
Remote controler is then communicated with the air traffic control system in carrying out.Unmanned vehicle can by via it is one or more other nobody
Aircraft is then communicated with the air traffic control system in carrying out.
One group of air traffic control can be generated based on the unmanned vehicle identifier for indicating unmanned vehicle type.It can be with
System for controlling unmanned vehicle (UAV) is provided.The system may include: first communication module；At one or more
Device is managed, the first communication module is operably coupled to and is either individually or collectively configured for: described in use
First communication module or second communication module receive the unmanned vehicle identifier for indicating unmanned vehicle type；Based on institute
Unmanned vehicle identifier is stated, one group of air traffic control for being directed to the unmanned vehicle is generated；And it is communicated using described first
Module or second communication module transmit one group of air traffic control to the unmanned vehicle.
In some embodiments, a kind of method for controlling unmanned vehicle (UAV) may include: that reception indicates
The unmanned vehicle identifier of unmanned vehicle type；By means of one or more processors, it is based on the unmanned vehicle mark
Know symbol and generates one group of air traffic control for being directed to the unmanned vehicle；And by means of communication module, Xiang Suoshu unmanned flight
Device transmits one group of air traffic control.Similarly, a kind of non-wink comprising for controlling the program instruction of unmanned vehicle (UAV)
State computer-readable medium may include: the program for receiving the unmanned vehicle identifier for indicating unmanned vehicle type
Instruction；For generating the program of one group of air traffic control for the unmanned vehicle based on the unmanned vehicle identifier
Instruction；And for generating signal to transmit one group of air traffic control to the unmanned vehicle by means of communication module
Program instruction.
A kind of unmanned vehicle (UAV) can be provided, comprising: one or more propulsion units realize unmanned vehicle
Flight；Communication module is configured for receiving one or more flight orders from remote user；And flight control
Unit processed is configured for generating the flight control signal delivered to one or more of propulsion units, wherein described
Flight control signal is generated according to one group of air traffic control for the unmanned vehicle, wherein the air traffic control is
Unmanned vehicle identifier based on the unmanned vehicle type for indicating the remote user and generate.
Unmanned vehicle type can have herein other everywhere as described in any characteristic.For example, unmanned vehicle class
Type can indicate that the payload of the model of unmanned vehicle, the performance of unmanned vehicle or unmanned vehicle.Unmanned flight
Device identifier can uniquely identify out the unmanned vehicle from other unmanned vehicles.User identifier can be from separate
The remote controler of the unmanned vehicle receives.
It can be based on including one or more factor additive factors (such as herein other everywhere those described factors)
And generate one group of air traffic control.Such as, it may be considered that environmental condition.For example, can be provided more if environment complexity is high
Limitation, and if environment complexity is low, more less limitation can be provided.If the density of population is high, more limit can be provided
System, and if the density of population is low, less limitation can be provided.If there is higher magnitude of traffic flow degree (for example, aerial hand over
Through-current capacity or the magnitude of traffic flow based on surface), then more limitation can be provided, and if there is lower magnitude of traffic flow degree,
Less limitation can be then provided.In some embodiments, compared to amblent air temperature with temperature preferably, with less
Wind without precipitation or has a possibility that little or no lightning, if amblent air temperature with extreme temperature, have wind including
A possibility that precipitation or lightning, can then provide more limitations.
Based on unmanned vehicle identifier, institute is generated and selecting one group of air traffic control from multiple groups air traffic control
State one group of air traffic control.One group of air traffic control is generated by the air traffic control system outside unmanned vehicle machine.Unmanned vehicle can be with
It is communicated via direct access communication channel with the air traffic control system.Unmanned vehicle can be by via user or user institute
The remote controler of operation is then communicated with the air traffic control system in carrying out.Unmanned vehicle can by via it is one or more its
His unmanned vehicle is then communicated with the air traffic control system in carrying out.
As it was noted above, various types of air traffic control can be provided in one group of air traffic control.Air traffic control can be special
Due to unmanned vehicle or user or it is not necessarily to specific to unmanned vehicle and/or user.
Fig. 7 shows the diagram of the scene comprising multiple types air traffic control.Various areas can be provided.Boundary can be provided
To limit the area.One group of air traffic control can influence one or more areas (for example, the airspace of two-dimensional surface area top
Or airspace volume).One group of air traffic control may include one or more rules associated with one or more areas.
In one example, flight control area 710 can be provided, communication regulatory area 720 can be provided, and can provide
Payload regulatory area 730.Payload and communication regulatory area 750 and non-regulatory area 760 can be provided.The area can be with
Boundary with any shape or size.For example, area can have regular shape, such as round, oval, oval, square,
Rectangle, any kind of quadrangle, triangle, pentagon, hexagon, octagon, bar shaped, curved shape etc..Area can have not
Regular shape may include convex or spill component part.
Flight control area 710 can apply the layout about unmanned vehicle or the one or more rule of movement.Flight
Regulatory area can apply the flight responsive measures for the flight that can influence unmanned vehicle.For example, when being located in flight control area,
Unmanned vehicle can only can fly at the height between height lower limit and upper height limit, and not apply outside flight control area
Add flight restriction.
Payload regulatory area 720 can apply the operation of the payload about unmanned vehicle or one of positioning or
Multiple rules.Payload regulatory area can apply the flight responsive measures for the payload that can influence unmanned vehicle.For example,
When being located in payload regulatory area, unmanned vehicle can not capture figure using image capture device payload
Picture, and do not apply effective load limitation outside payload regulatory area.
Communication regulatory area 730 can apply the one or more rule of the operation of the communication unit about unmanned vehicle.
Communication regulatory area can exert one's influence unmanned vehicle communication unit operation flight responsive measures.For example, logical when being located at
When believing in regulatory area, unmanned vehicle may not transmit captured data, but can be allowed to receive flight control letter
Number, and do not apply communication limitation outside communication regulatory area.
Payload and communication regulatory area 750 can apply payload and unmanned vehicle about unmanned vehicle
The one or more rules of operation/positioning of communication unit.For example, when being located in payload and communication regulatory area, nobody
Aircraft may not store the image captured by the image capture device payload on unmanned vehicle machine, and
May not image be flow to or be transmitted to outside unmanned vehicle machine, and do not applied outside payload and communication area of control
Such limitation.
One or more non-regulatory areas can be provided.Non- regulatory area can be outside one or more boundaries, or can be
In one or more boundaries.When being located within non-regulatory area, user can ring without automatically initiating one or more flights
Retain the control to unmanned vehicle in the case where answering measure.User can in the physical limit of unmanned vehicle freely
Operate the unmanned vehicle.
One or more of described area can be overlapped.For example, flight control area can with communicate control area overlapping 715.
In another example communication regulatory area can be with payload control area overlapping 725.In another example flight control area can be with payload
Control area overlapping 735.In some cases, flight control area, communication regulatory area and payload regulatory area can be overlapped
740。
When multiple area overlappings, the rule from multiple areas can be held in place.For example, flight restriction and communication limitation are equal
It can be held in place in overlay region.In some cases, as long as the rule from multiple areas does not conflict with one another, they
It is held in place.
If there is conflict between the rule, various rule responses can be applied.It is most limited for example, can apply
Property one group rule.For example, if the firstth area requires unmanned vehicle to fly below 400 feet of height, and the secondth area wants
Ask unmanned vehicle to fly below 200 feet of height, then it, can be using about in 200 feet of height in overlay region
The rule flown below.This may include that be mixed and matched one group of rule one group most restrictive to be formed.For example, if
One area requires unmanned vehicle to fly at 100 feet or more and at 400 feet or less, and the secondth area requires unmanned vehicle to exist
It 50 feet or more and flies at 200 feet or less, then when unmanned vehicle is located in overlay region, can be used from the
The flight lower limit in one area and the flight upper limit from the secondth area, to fly between 100 feet and 200 feet.
In another case, rank can be provided for the area.Rule from the higher area of rank can be dominant, and
No matter whether it has more or fewer limitations for the rule from the lower area of rank.It can be according to control
Type indicates the rank.For example, the air traffic control of unmanned vehicle position can be than communicating the higher grade of control, it is described
Communicating control can be than the higher grade of payload control.In other cases, about whether not allowing unmanned vehicle to exist
The rule flown in given zone can surpass other control for the area.It can pre-select or pre-enter rank.?
Under some cases, the user provided for one group of rule in the area can indicate which area is higher than other areas in rank.
For example, the firstth area can require, unmanned vehicle flies at 400 feet or less and payload must shut off.Secondth area can be with
It is limited it is required that unmanned vehicle flies at 200 feet or less and do not have payload.If the rank in the firstth area is higher,
The rule from the firstth area can be applied, without applying any rule from the secondth area.For example, unmanned vehicle can be
400 feet or less are flown and close payload.If the rank in the secondth area is higher, can apply from the secondth area
Rule, without applying any rule from the firstth area.For example, unmanned vehicle can 200 feet or less flight and not
It is limited with any payload.
As it was noted above, one group of air traffic control can be to the unmanned flight when unmanned vehicle is located in an area
Device applies different types of rule.This may include the position based on unmanned vehicle and constrains payload use, Huo Zheji
Wireless communication is constrained in the position of unmanned vehicle.
Aspect of the invention can be related to a kind of unmanned vehicle payload control system, comprising: first communication module；
And one or more processors, it is operably coupled to first module and is either individually or collectively configured to use
In: it is received using the first communication module or second communication module and indicates that the payload for relying on position uses parameter
Signal；And it generates and abides by one or more unmanned vehicles that the payload realizes payload operation using parameter
Operation signal.
A method of the payload for constraining unmanned vehicle uses, which comprises reception indicate according to
The payload of position is relied to use the signal of parameter；And it by means of one or more processors, generates and abides by effective load
Lotus realizes one or more unmanned vehicle operation signals of payload operation using parameter.Similarly, one can be provided
Kind includes the non-transient computer-readable media for constraining the program instruction that the payload of unmanned vehicle uses, the meter
Calculation machine readable medium includes: to indicate that the payload for relying on position uses the program instruction of the signal of parameter for receiving；With
And for generating the one or more unmanned vehicles behaviour for realizing payload operation using parameter in accordance with the payload
Make the program instruction of signal.
According to the embodiment of this system, unmanned vehicle may include: payload；Communication module is configured to
For receiving one or more payload orders from remote user；And flight control units, it is configured for
The payload control signal for being delivered to the carrier of the payload or the support payload is generated, wherein described have
Effect load control signal is generated according to one or more unmanned vehicle operation signals, wherein the unmanned vehicle is grasped
It is to be generated based on the payload for relying on position using parameter as signal.
Payload is used using the payload that parameter can limit one or more pre-positions.Such as institute above
It states, payload can be image capture device, and payload can limit described image capture device one using parameter
The operation of a or multiple pre-positions.Payload may be limited to one or more pre-positions using parameter and use figure
One or more images are recorded as capture device.Payload may be limited to one or more pre-positions using parameter
One or more images are transmitted using image capture device.In other embodiments, payload can be audio capture
Device, and payload limits the audio capture device in the operation of one or more pre-positions using parameter.
Alternatively or in combination, payload can permit the payload of one or more pre-positions using parameter
It uses.When payload is image capture device, payload using parameter can permit image capture device at one or
The operation of multiple pre-positions.Payload can permit using parameter and be caught in one or more pre-positions using image
Device is caught to record one or more images.Payload can permit using parameter and use in one or more pre-positions
Image capture device transmits one or more images.Payload can be audio capture device, and payload uses ginseng
Number can permit the audio capture device in the operation of one or more pre-positions.
One or more processors can also be either individually or collectively configured for: use the first communication module
Or second communication module receives the signal of the position for indicating unmanned vehicle；And by the position of unmanned vehicle and dependence
The payload of position is compared using parameter, and determines whether unmanned vehicle is located at limitation or payload is allowed to operate
Position at.The position can be flight restricted area.Flight restricted area can be determined by control person.Flight restricted area can be
Away from airport, public gathering, government property, army's property, school, private residence, power plant or any be designated as flying
In the preset distance in other regions of restricted area.The position can remain static, or can change over time
Become.
The signal for indicating that the payload for relying on position uses parameter can be received from controlled entity.Controlled entity is pipe
Person, international organization or company processed or controlled entity such as other any other described types everywhere herein.Controlled entity
It can be the global institution, such as other described any mechanism and tissues everywhere herein.Controlled entity can be unmanned flight
Source outside device machine or on machine.Controlled entity can be the certification outside air traffic control system or unmanned vehicle machine outside unmanned vehicle machine
Any other part of system.Controlled entity can be database, and the database is stored in the memory of unmanned vehicle
Or it can be stored in outside unmanned vehicle machine.Database can be configured to renewable.Controlled entity can be transmitting device,
It can be positioned at limitation or the position for allowing payload to operate.In some cases, controlled entity can be as herein
Other described geography fence devices everywhere.It in some cases, can be based on the user for indicating the unmanned vehicle
User identifier and/or indicate the unmanned vehicle identifier of the unmanned vehicle type to send signal.
One aspect of the present invention can be related to a kind of unmanned vehicle communication control system, comprising: first communication module；
And one or more processors, it is operably coupled to first communication module and is either individually or collectively configured to use
In: the letter for indicating that the communication for relying on position uses parameter is received using the first communication module or second communication module
Number；And generate abide by the communication using parameter and the operation of realizing unmanned vehicle communication unit it is one or more nobody
Aircraft operation signal.
Further it is provided that the method for the wireless communication for constraining unmanned vehicle, comprising: reception, which indicates, relies on position
Communication use parameter signal；And it by means of one or more processors, generates in accordance with described communicate using parameter and reality
One or more unmanned vehicle operation signals of the operation of existing communication unit.Similarly, it can provide a kind of comprising for about
The non-transient computer-readable media of the program instruction of the wireless communication of beam unmanned vehicle (UAV), computer-readable Jie
Matter includes: to indicate that the communication for relying on position uses the program instruction of the signal of parameter for receiving；And it is abided by for generating
The program instruction of the one or more unmanned vehicle operation signals for the operation that the communication realizes communication unit using parameter.
Additional aspect of the invention may include a kind of unmanned vehicle, and the unmanned vehicle includes: communication unit,
It is configured for receiving or transmitting wireless communication；And flight control units, be configured for generate be delivered to it is logical
Letter unit to realize the communications control signal of the operation of the communication unit, wherein the communications control signal be according to one or
Multiple unmanned vehicle operation signals and generate, wherein the unmanned vehicle operation signal be based on rely on position communication
It is generated using parameter.
Communication is used using the wireless communication that parameter can limit one or more pre-positions.Wireless communication can be
Direct communication.Wireless communication may include radio communication, WiFi communication, bluetooth (Bluetooth) communication or infrared communication.Wirelessly
Communication can be indirect communication.Wireless communication may include 3G, 4G or LTE communication.It can be by not allowing any wireless communication
It is used to limit the communication.It can be by only allowing the wireless communication in selected frequency band to use using to limit the communication.
The wireless communication can be allowed to use by only when wireless communication, which uses, does not interfere higher priority to communicate, it is described to limit
Communication uses.In some cases, every other pre-existing wireless communication can be communicated than unmanned vehicle with higher
Priority.For example, the various wireless communications nearby occurred can be considered to have higher if unmanned vehicle nearby flies
Priority.In some cases, certain form of communication can be considered as the communication with higher priority --- for example, emergency
Communication for service, government or official's communication, medical device or communication for service etc..Alternatively or in combination, the communication uses parameter
The wireless communication that can permit one or more pre-positions uses.For example, can permit indirect communication in designated area,
Without allowing direct communication.
One or more processors can be also either individually or collectively configured for: using the first communication module or
Second communication module receives the signal of the position for indicating unmanned vehicle；And by the position of unmanned vehicle and rely on position
The communication set is compared using parameter and determines whether unmanned vehicle is located at limitation or allows the position of the operation of communication unit
Set place.The position can be communication restricted area.Communicating restricted area can determine by control person or by individual.Flight restricted area can
With away from private residence, airport, public gathering, government property, army's property, school, power plant or any be designated
In preset distance for other regions of flight restricted area.The position can remain static, or can push away at any time
It moves and changes.
The position can depend on existing wireless communication in area.For example, if the operation of communication unit can be interfered
The existing wireless communication of one or more in given area, then the area can be identified as to communicate limited area.In accordance with logical
The operation of the unmanned vehicle communication unit of courier's parameter can reduce electromagnetic interference or audio disturbances.For example, if
Electronic equipment around use, then certain operations of unmanned vehicle communication unit may interfere with them, for example, interfering theirs
Wireless signal.Interference can be reduced or eliminated using the operation of the unmanned vehicle communication unit of parameter in accordance with communication.For example, nothing
Operation of people's aircraft communication unit in limited frequency band can not interfere ambient electron device to operate or communicate.In another situation
Under, the operation suspension of unmanned vehicle communication unit can prevent the operation of interference ambient electron device or communication in area.
The signal for indicating that the communication for relying on position uses parameter can be received from controlled entity.Controlled entity is control
Person, international organization or company, or the controlled entity such as other any other described types everywhere herein.Controlled entity can
To be the global institution, such as other described any mechanism and tissues everywhere herein.Controlled entity can be unmanned vehicle
Source outside machine or on machine.Controlled entity can be the certification system outside air traffic control system or unmanned vehicle machine outside unmanned vehicle machine
Any other part of system.Controlled entity can be database, and the database can be stored in the memory of unmanned vehicle
In, or can be stored in outside unmanned vehicle machine.Database can be configured to renewable.Controlled entity can be transmission dress
It sets, is located at limitation or the position for allowing payload to operate.In some cases, controlled entity can be as herein its
His described geography fence device everywhere.It in some cases, can be based on the user's for indicating the unmanned vehicle
User identifier and/or the unmanned vehicle identifier of the unmanned vehicle type is indicated to send signal.
Mark module
Unmanned vehicle may include the one or more propulsion units that can promote the unmanned vehicle.In some feelings
Under condition, propulsion unit may include rotor assemblies, and the rotor assemblies may include driving the rotation of one or more rotor blades
The one or more motors turned.Unmanned vehicle can be may include multiple rotor assemblies more rotor unmanned aircrafts.Rotor
Blade can provide propulsive force, such as lift to unmanned vehicle when rotated.Each rotor blade of unmanned vehicle can
It is rotated with identical speed or with friction speed.The operation of rotor blade can be used for controlling the flight of unmanned vehicle.Rotor
The operation of blade can be used for controlling taking off and/or landing for unmanned vehicle.The operation of rotor blade can be used for controlling nothing
People's aircraft is motor-driven in airspace.
Unmanned vehicle may include flight control units.The behaviour of controllable rotor assemblies can be generated in flight control units
One or more signals of work.The one of the operation of one or more motors of control rotor assemblies can be generated in flight control units
A or multiple signals, the operation can transfer to influence the rotation speed of rotor blade.Flight control units, which can receive, to be come from
The data of one or more sensors.Data from sensor can be used for generating the one or more flight to rotor assemblies
Control signal.The example of sensor can include but is not limited to GPS unit, inertial sensor, visual sensor, ultrasonic sensing
Device, heat sensor, magnetometer or other kinds of sensor.Flight control units can receive the data from communication unit.
Data from communication unit may include order from the user.The order can be inputted via remote controler, can be by
It is transmitted to unmanned vehicle.Data from communication unit and/or sensor may include detection to geographical fence apparatus or
Person is transferred from the information of geography fence device.Data from communication unit can be used for generating one or more to rotor assemblies
A flight controls signal.
In some embodiments, flight control units can control the other function of unmanned vehicle, with substitution or it is attached
It is added on flight.Flight control units can control the operation of the payload on unmanned vehicle machine.For example, payload can be with
It is image capture device, and flight control units can control the operation of image capture device.Flight control units can control
The positioning of payload on unmanned vehicle machine.For example, carrier can support payload, such as image capture device.Fly
Row control unit can control the operation of carrier to control the positioning of payload.Flight control units can control unmanned flight
The operation of one or more sensors on device machine.This may include other described any sensors everywhere herein.Flight
Control unit can control the communication of unmanned vehicle, the navigation of unmanned vehicle, unmanned vehicle electricity use or nobody
Any other function on aircraft machine.
Fig. 4 shows the example of the flight control units of embodiment according to the present invention.Flight control modules 400 may include
Mark module 410, one or more processors 420 and one or more communication modules 430.In some embodiments, nothing
The flight control modules of people's aircraft can be circuit board, and the circuit board may include on one or more chips, and such as one
Or multiple identification chips, one or more processors chip and/or one or more communication chips.
Mark module 410 can be uniquely unmanned vehicle.Mark module can be from other unmanned flights
Device uniquely identifies and distinguishes the unmanned vehicle.Identity module may include unmanned vehicle identifier and unmanned flight
The key of device.
The unmanned vehicle identifier being stored in mark module can not be changed.The unmanned vehicle identifier can be with
Not modifiable state is stored in the mark module.Mark module can be hardware component, and the hardware component can be with
Prevent mode of user's change for unique unmanned vehicle identifier of the unmanned vehicle from storing the unique identification
Symbol.
Unmanned vehicle key may be configured for providing the authentication verification to unmanned vehicle.Unmanned vehicle key
Unmanned vehicle can be uniquely.Unmanned vehicle key can be alpha-numeric string, the alpha-numeric string for
Unmanned vehicle can be unique and can be stored in mark module.Unmanned vehicle key can generate at random.
Unmanned vehicle identifier and unmanned vehicle key can be used in combination, to recognize the unmanned vehicle
Demonstrate,prove and allow the operation of the unmanned vehicle.Authentication center can be used to come to unmanned vehicle identifier and unmanned vehicle
Key is authenticated.Authentication center can be outside unmanned vehicle machine.Authentication center can be as herein other everywhere described by
Verification System a part (for example, authentication center 220 in Fig. 2).
Unmanned vehicle identifier and unmanned vehicle key can be by other described ID log-on datas everywhere herein
It issues in library (for example, ID registration module 210 in Fig. 2).ID registration database can be outside unmanned vehicle machine.Mark module can
It is configured for receiving unmanned vehicle identifier and unmanned vehicle key is primary, and after being initially received no longer more
Change.Therefore, but unmanned vehicle identifier and unmanned vehicle key are once it has been determined that being can not change.At other
In the case of, unmanned vehicle identifier and key can be fixed after receipt, and can not again be written into.Alternatively, nobody
Aircraft identifier and unmanned vehicle key can only be modified by authorized party.The conventional manipulator of unmanned vehicle can cannot
Unmanned vehicle identifier and unmanned vehicle key in mark module is enough altered or modified.
In some cases, ID registration database can voluntarily issue mark module, and the mark module can be fabricated onto
In unmanned vehicle.ID registration database can issue identifier before or while the manufacture of unmanned vehicle.ID registers number
Identifier can be issued before unmanned vehicle is sold by or is distributed according to library.
Mark module can be used as USIM and realize.Mark module can be write-once type memory.Mark module can
External can not optionally read.
Mark module 410 can be and can not separate with flight control units 400.Mark module can not damage flight
It is removed in the case where the function of control unit from the rest part of flight control units.Manually mark module can not be controlled from flight
The rest part of unit processed removes.Individual cannot manually remove mark module from flight control units.
Unmanned vehicle may include flight control units, be configured for the operation of control unmanned vehicle；With
And mark module, be integrated into the flight control units, wherein the mark module from other unmanned vehicles only
One ground identifies the unmanned vehicle.A kind of method for identifying unmanned vehicle can be provided, which comprises using winged
Row control unit controls the operation of unmanned vehicle；And come using the mark module being integrated in the flight control units
The unmanned vehicle is uniquely identified out from other unmanned vehicles.
Mark module with physical associations or can be attached to flight control units.Mark module can integrate single to flight control
In member.For example, mark module can be welded onto the chip on the circuit board of flight control units.Various physics skills can be used
Art, to prevent mark module from separating from the rest part of flight control units.
System in package (SIP) technology can be used.For example, multiple functional chips (including processor, communication module and/
Or mark module) can integrate in a package, thereby executing complete function.If dividing mark module, encapsulate
In other modules will will receive destruction, it is unavailable so as to cause unmanned vehicle.
Fig. 5 shows the additional example of the flight control units 500 of embodiment according to the present invention.It illustrates and utilizes SIP skill
The possible configuration of art.Mark module 510 and processor 520 can be encapsulated in same chip.Mark module can not be with processing
Device separates, and will will lead to the removal or damage of processor to any trial for removing mark module, this will will lead to flight
The damage of control unit.Mark module can be integrated in same core together with one or more other components of flight control units
In one encapsulation of piece.In other examples, mark module can be encapsulated in same chip with communication module 530.Some
In the case of, mark module, processor and communication module can be encapsulated in a chip.
It can be encapsulated using chip on board (COB).Bare chip conduction or nonconductive adhesive can be adhered to interconnection
Substrate.Then lead bonding can be carried out to realize its electrical connection, also referred to as Soft Roll seals.Mark module can be soldered to flight
On the circuit board of control unit.After COB encapsulation, mark module is once soldered on circuit boards, just cannot be complete
It takes out on ground.The damage of other parts to circuit board or flight control units will be will lead to the trial of physical removal mark module
Evil.
Software can be used to ensure that mark module can not be with the rest part of the flight control units of unmanned vehicle point
It opens.For example, software version corresponding with its mark module has may be implemented in each unmanned vehicle.In other words, in software version
There may be correspond between mark module.Software version can be unmanned vehicle unique or substantially only
One.The normal operation of software may need to obtain the unmanned vehicle key being stored in mark module.Not corresponding
In the case where unmanned vehicle key, software version may not be run.If change removes mark module, unmanned vehicle
Software be not normally functioning.
In some embodiments, mark module can be issued by controlled entity.Controlled entity can be one setting of enforcement
The power of formula is used to identify unmanned vehicle or exercises unmanned vehicle any entity of the power of certain forms.In some feelings
Under condition, controlled entity can be government organs or the manipulator by government authorization.Government can be national government, state/provincial government,
Municipal government or any type of local government.Controlled entity can be government organs, such as US Federal Aviation Administration (FAA), beauty
Federal Trade Commission, state (FTC), Federal Communications Commission (FCC), American National telecommunications and Information Management Bureau (NTIA),
Department of Transportation (DoT) or U.S. Department of Defense (DoD).Controlled entity can be control person.Controlled entity can be country or state
Border tissue or company.Controlled entity can be the manufacturer of unmanned vehicle or the dealer of unmanned vehicle.
Fig. 6 shows the flight control units of the mark of chip on the tracking flight control units of embodiment according to the present invention
Example.Flight control units 600 can have mark module 610 and other one or more chips (for example, chip 1 620,
Chip 2 630 ...).Mark module can have unique unmanned vehicle identifier 612, chip record 614 and one or
Multiple processors 616.
Mark module 610 can be and can not separate with the rest part of flight control units 600.Alternatively, mark module
Can be can be from flight control units removal.Mark module can pass through unique unmanned vehicle identifier 612 from other
The unmanned vehicle is uniquely identified out in unmanned vehicle.
Mark module may include chip record 614, and the chip record can store one or more periphery chips
620,630 record.The example of other chips may include one or more processing chips, communication chip or any other type
Chip.Chip record can store any kind of data about one or more periphery chips, such as periphery chip
Type (for example, model), about the information of chip manufacturer, the sequence number of chip, performance characteristics of chip or about chip
Any other data.It is described record for certain chip can be uniquely, for the type of chip can be uniquely, with
And/or person may include for chip or chip type not necessarily unique parameter.Chip record can be memory cell.
When unmanned vehicle starting, mark module can star self-test, this can summarize the information about periphery chip
And the information summarized is compared with the information being stored in chip record.The one or more processors 616 of mark module
It can be used for executing the comparison.Mark module can check whether periphery chip and its internal chip record are consistent, thus
Differentiate whether the mark module is transplanted.For example, if the information being currently collected into during self-test and initial chip record
Match, then mark module is not transplanted probably.If the information being currently collected into during self-check program is not and initially
Chip record matches, then mark module has probably been transplanted.It can provide to user or another device to whether
A possibility that transplanting the instruction of mark module or transplanting.For example, when initial chip record not with periphery core when self-test
When piece information matches, warning can be sent to user apparatus or to controlled entity.
In some embodiments, chip record information can not change.Chip record information can be write-once type
Memory.Chip record may include for the first time open unmanned vehicle when be collected into, about periphery on one or more chips
Information.Information about periphery chip, which can be, to be hard wired in chip record.Information about periphery chip can be by
Manufacturer provides and can be built in chip record.In some cases, chip record can be and external can not read.
In the alternative, chip record information can change.It, can more new chip when occurring self-check program
Record information.For example, the information about periphery chip may be substituted for or supplement the existing record about periphery chip.It can be with
It is compared between the chip information summarized during initial chip record and self-test.If change is not detected, mould is identified
Block is probably not yet transplanted.If detecting change, mark module has probably been transplanted.Similarly, Ke Yiti
For the instruction to whether having transplanted.
For example, initial chip may include the record for showing two periphery chips, one of chip is Serial No.
The model X of ABCD123, and the other is the model Y of Serial No. DCBA321.Self-check program can occur.In the self-check program phase
Between, the information about periphery chip can be summarized, the information can show two chips, one of them is Serial No.
The model X of 12345FG, and the other is the model S of Serial No. HIJK987.Since data mismatch, mark can be provided
Know the relatively high likelihood that module has been transplanted.Originally will chip record in records series number be 12345FG model X and sequence
Row number is that the initial marking module of the model S of HIJK987 may be removed.Initial marking module can be by being derived from different nothings
The new logo module of people's aircraft replaces, wherein the chip that the flight control units of the different unmanned vehicle have is sequence
Row number is the model Y of the model X and Serial No. DCBA321 of ABCD123.Initial chip record may include flying to from nobody
The original manufacturer of row device or initial configuration or from unmanned vehicle prior operation, unmanned vehicle periphery chip
Record.In any case, difference can indicate that for from after initial manufacture or initial configuration or from after prior operation
Unmanned vehicle for, mark module has been transplanted.
It is, therefore, possible to provide a kind of unmanned vehicle, comprising: flight control units are configured for controlling nobody
The operation of aircraft, wherein the flight control units include mark module and chip, wherein the mark module is configured to
The unmanned vehicle is uniquely identified out from other unmanned vehicles for (1), (2) constitute the initial note of the chip
The information about the chip is summarized in record, and (3) after the original records for constituting the chip, wherein the mark module
Be configured for experience self-check program, the self-check program by summarize information about the chip and the chip just
Begin to record and be compared, and wherein the mark module is configured for working as the information summarized about the chip and institute
State chip original records it is inconsistent when warning is provided.
It is a kind of identify unmanned vehicle method may include: that the behaviour of unmanned vehicle is controlled using flight control units
Make, wherein the flight control units include mark module and chip；Using the mark module come from other unmanned vehicles
In uniquely identify out the unmanned vehicle, wherein the mark module constitutes the original records of the chip；Constituting institute
State the information summarized after the original records of chip about the chip；Using the mark module, will summarize about chip
Information be compared with the original records of the chip, to undergo self-check program；And when it is described summarize about chip
Information and the chip original records it is inconsistent when warning is provided.
Chip records the integral part that can be mark module.Chip record can be can not be with its remaining part of mark module
Divide separated.In some cases, chip record can not be in the rest part for not damaging mark module and/or flight control units
In the case where from the mark module remove.
Self-test can occur automatically in the case where no any user inputs.When unmanned vehicle is powered, self-test journey
Sequence can start automatically.Once self-check program can be carried out for example, unmanned vehicle is opened.When unmanned vehicle starts to fly
When row, self-check program can start automatically.When unmanned vehicle power-off, self-check program can start automatically.In unmanned flight
During the operation of device, self-check program can periodically start (for example, starting automatically with rule or irregular time interval) automatically.
It may also respond to the event detected or inputted in response to user and self-check program occurs.
In some embodiments, during issuing mark module, Verification System can be related to.Verification System can be with
It issues physical marking module or may be provided in the data in mark module.During issuing mark module, it can be related to
ID registration module and/or authentication center.During realizing Verification System, control mechanism can be related to.Issuing mark mould
During block, controlled entity can be related to.Controlled entity can be specific government organs or the manipulator by government authorization,
Or the controlled entity such as other any other described types everywhere herein.
Unmanned vehicle is by refitted vehicles (for example, having new mark module or new identifier), certification in order to prevent
System (for example, authentication center) can require to inspect periodically unmanned vehicle.Once unmanned vehicle is qualified and does not examine
It measures and distorts, verification process can continue.Verification process can uniquely identify out unmanned vehicle and confirm the nothing
People's aircraft is the practical unmanned vehicle identified by identifier.
Mark for operation
The user of unmanned vehicle can be uniquely identified.The use can be uniquely identified by means of user identifier
Family.User identifier can uniquely identify out the user and the user can be made to be different from other users.User can
To be the manipulator of unmanned vehicle.User can be the individual of control unmanned vehicle.User can control unmanned vehicle
Flight, control unmanned vehicle payload operation and/or placement, control unmanned vehicle communication, control nobody fly
The one or more sensors of row device, the navigation for controlling unmanned vehicle, the electricity use or control for controlling unmanned vehicle
Any other function of unmanned vehicle.
Unmanned vehicle can be uniquely identified.Nobody can be uniquely identified by means of unmanned vehicle identifier to fly
Row device.Unmanned vehicle identifier can uniquely identify out the unmanned vehicle and can make the unmanned vehicle area
Not in other unmanned vehicles.
In some cases, user can be authorized to operation unmanned vehicle.One or more individual consumers can operate
It may need to be identified before unmanned vehicle.In some cases, all users can be authorized to operation nothing when identified
People's aircraft.Optionally, one group of only selected user can be authorized to operation unmanned vehicle when identified.Some users can
Operation unmanned vehicle can not be authorized to.
Fig. 8, which is shown, considers whether the user is authorized to operation nothing before allowing user to operate unmanned vehicle
The process of people's aircraft.The process may include receiving user identifier 810 and reception unmanned vehicle identifier 820.It can
To make the determination whether user is authorized to operation unmanned vehicle 830.If the uncommitted operation unmanned flight of user
Device does not allow the user's operation unmanned vehicle 840 then.If the user is authorized to operation unmanned vehicle, allow
The user's operation unmanned vehicle 850.
It can receive user identifier 810.User identifier can be received from remote controler.It can input to receive from user and use
Family identifier.It can be inputted based on user and pull user identifier from memory.It can be optionally to remote controler or another
Device provides user's input.During providing user identifier, user can log in or undergo any authentication procedure.User
User identifier can be manually entered.User identifier can store on a user device.User identifier can be in memory
Middle storage is manually entered user identifier without user.
It can receive unmanned vehicle identifier 820.User identifier can be received from unmanned vehicle.It can be from user
Input receives unmanned vehicle identifier.It can be inputted based on user and pull unmanned vehicle identifier from memory.It can
Optionally to provide user's input to remote controler or another device.During unmanned vehicle identifier is provided, Yong Huke
To undergo verification process.Alternatively, unmanned vehicle can undergo tagging or Self-certified program automatically.Unmanned vehicle identifier
It can be stored on unmanned vehicle or user apparatus.Unmanned vehicle identifier can store in memory, without with
Family is manually entered unmanned vehicle identifier.Unmanned vehicle identifier can be stored in the mark module of unmanned vehicle.
For unmanned vehicle unmanned vehicle identifier can be optionally it is not modifiable.
Unmanned vehicle can broadcast unmanned vehicle identifier during operation.It can continue broadcast unmanned vehicle mark
Know symbol.Alternatively, the unmanned vehicle identifier can be broadcasted according to request.It can be according to outside the unmanned vehicle machine
Air traffic control system, the Verification System outside unmanned vehicle machine or any other device request and broadcast unmanned vehicle mark
Symbol.When the communication between unmanned vehicle and air traffic control system may be encrypted or authenticate, unmanned vehicle mark can be broadcasted
Symbol.In some cases, unmanned vehicle identifier can be broadcasted in response to event.For example, when unmanned vehicle is opened,
Unmanned vehicle identifier can be broadcasted automatically.Unmanned vehicle identifier can be broadcasted during initialization program.It can be
Unmanned vehicle identifier is broadcasted during authentication procedure.It is alternatively possible to via wireless signal (for example, radio signal, light are believed
Number or acoustical signal) broadcast unmanned vehicle identifier.Direct communication can be used to broadcast the identifier.Alternatively, can be with
The identifier is broadcasted using indirect communication.
User identifier and/or unmanned vehicle identifier can be received by Verification System.User identifier and/or nobody
Aircraft identifier can receive at the authentication center of Verification System or air traffic control system.User identifier and/or nobody fly
Row device identifier can be received by the remote controler of unmanned vehicle and/or unmanned vehicle.User identifier and/or unmanned flight
Device identifier can receive at one or more processors, one or more of processors can determine user whether by
Authorized operation unmanned vehicle.
It can be made by means of one or more processors to whether user is authorized to operation unmanned vehicle 830 really
It is fixed.Determination can be made on unmanned vehicle machine or outside unmanned vehicle machine.It can be on the remote controler of user or user
It is determined except remote controler.Determination can be made at the device separated with unmanned vehicle and/or remote controler.In some feelings
Under condition, determination can be made at the component part of Verification System.Can Verification System authentication center (for example, as in Fig. 2
The authentication center 220 of diagram) or the air traffic control system (for example, as illustrated in Figure 2 air traffic control system 230) of Verification System at make
It determines.
Determination can be made at the device or system for producing one or more groups of air traffic control.For example, can give birth to
Determination is made at the air traffic control system for the air traffic control that operate accordingly at one or more groups of unmanned vehicles.It is described one or more groups of
Air traffic control can depend on the position of unmanned vehicle or any other factor about the unmanned vehicle.It can be based on
User identifier and/or unmanned vehicle identifier and generate one or more groups of air traffic control.
When determining that user is authorized to operation unmanned vehicle, it may be considered that user identifier and unmanned vehicle mark
Symbol.In some cases, it can only consider user identifier and unmanned vehicle identifier.Or, it may be considered that additional information.
Information about user can be associated with user identifier.For example, about user type (for example, level of skill, experience water
Flat, proof, license, training) information can be associated with user identifier.The flying history of user is (for example, what user flew over
Whether unmanned vehicle type that place, user fly over, user encountered any accident) it can be associated with user identifier.
Information about unmanned vehicle can be associated with unmanned vehicle identifier.For example, the letter about unmanned vehicle type
Breath (for example, model, manufacturer, characteristic, performance parameter, operation difficulty level) can be associated with unmanned vehicle identifier.
The flying history of unmanned vehicle is (for example, the unmanned vehicle place flown over, the use that previously interacted with the unmanned vehicle
Family) it can also be associated with unmanned vehicle identifier.During determining whether user is authorized to operation unmanned vehicle,
Information associated with user identifier and/or unmanned vehicle identifier can be considered.In some cases, it may be considered that attached
Add factor, such as factor of geographic factor, time-giver, environmental factor or any other type.
Optionally, only sole user is authorized to the corresponding unmanned vehicle of operation.Can authorized user with it is corresponding
Unmanned vehicle between provide and correspond.Alternatively, multiple users can be authorized to operation unmanned vehicle.It can be through awarding
It is corresponding that many-one is provided between the user of power and corresponding unmanned vehicle.User can be only authorized to operate it is single it is corresponding nobody
Aircraft.Alternatively, user can be authorized to the multiple unmanned vehicles of operation.Can authorized user with it is multiple it is corresponding nobody
One-to-many correspondence is provided between aircraft.Multiple users can be authorized to the multiple corresponding unmanned vehicles of operation.It can be through awarding
It is corresponding that multi-to-multi is provided between the user of power and multiple corresponding unmanned vehicles.
In some cases, user can be registered in advance to operate unmanned vehicle.For example, only registered in advance with operation
The user of unmanned vehicle can be authorized to operation unmanned vehicle.User can be the registration owner of unmanned vehicle.When
When user's purchase or reception unmanned vehicle, user can be registered as the owner and/or manipulator of unmanned vehicle.Some
In the case of, multiple users can be registered as the owner and/or manipulator of unmanned vehicle.Alternatively, only sole user
It can be registered as the owner and/or manipulator of unmanned vehicle.The sole user can specify be allowed to
Operate one or more other users of unmanned vehicle.In some cases, only with user identifier, registered
Operation unmanned vehicle can be authorized to operate the user of unmanned vehicle.One or more registration databases can store pass
In the information for the registration user for being allowed to operation unmanned vehicle.Registration database can be on unmanned vehicle machine or nobody flies
Outside row device machine.User identifier can be compared with the information in registration database, and only when user identifier and note
When being associated with the user identifier of unmanned vehicle in volume database and matching, unmanned flight described in user's operation just can permit
Device.Registration database can be specific to unmanned vehicle.For example, the first user can operate unmanned vehicle 1 with registered in advance,
But registered in advance it cannot operate unmanned vehicle 2.Then it can permit the user's operation unmanned vehicle 1, but can not
To allow it to operate unmanned vehicle 2.In some cases, registration database can be specific to the type (example of unmanned vehicle
Such as, with all unmanned vehicles of specific model).
In other cases, registration database can be open, and unrelated with unmanned vehicle.For example, user can be with
Manipulator registered in advance for unmanned vehicle.As long as those specific unmanned vehicles are wanted for authorizing without any other
It asks, so that it may user be allowed to manipulate any unmanned vehicle.
Alternatively, unmanned vehicle, which can be defaulted, allows unmanned vehicle described in all user's operations.All users can be awarded
Power operates the unmanned vehicle.In some cases, all users not on " blacklist " can be authorized to the operation nothing
People's aircraft.Therefore, when being determined whether user is authorized to operation unmanned vehicle, as long as user is not on the blacklist,
The user can be authorized to the operation unmanned vehicle.One or more black list databases can be stored about not being allowed to
Operate the information of the user of unmanned vehicle.Black list database can store the user's for not being allowed to operation unmanned vehicle
User identifier.Black list database can be on unmanned vehicle machine or outside unmanned vehicle machine.User identifier can be with
Information in black list database compares, and only works as the user identifier in user identifier and black list database not
When matching, user's operation unmanned vehicle just can permit.Blacklist registration can specific to unmanned vehicle or nobody fly
The type of row device.For example, user can be included in the blacklist that cannot manipulate the first unmanned vehicle, but can not be arranged
In the blacklist for entering second unmanned vehicle that cannot fly.Blacklist registration can be specific to unmanned vehicle type.For example, can
Not allow user to manipulate the unmanned vehicle of specific model, and the user is allowed to manipulate the unmanned vehicles of other models.
Alternatively, blacklist registration is not necessarily to specific to unmanned vehicle or unmanned vehicle type.Blacklist registration can be applied to
All unmanned vehicles.For example, if forbidding any unmanned vehicle of user's operation, no matter unmanned vehicle identity or class
Type, the user can not be authorized to operation unmanned vehicle, and not allow to operate unmanned vehicle.
The registration of registered in advance or blacklist can be applicable to other than unmanned vehicle or unmanned vehicle type
Other factors.For example, the registration of registered in advance or blacklist can be adapted for specific position or administrative area.For example, user can be with
It is registered in advance to operate unmanned vehicle in the first administrative area, without registered in advance with operated in the second administrative area nobody fly
Row device.This may or may not be known for the identity or type of unmanned vehicle itself.In another example, in advance
First registration or blacklist registration can be adapted for specific weather conditions.For example, when wind speed is more than 30mph, it can be by user
Being included in cannot operate in the blacklist of unmanned vehicle.In another example, it may be considered that other environmental conditions, such as environment are multiple
Miscellaneous degree, the density of population or air traffic.
The additional consideration for whether being authorized to operation unmanned vehicle for user can depend on user type.For example,
During determining whether user is authorized to operation unmanned vehicle, it may be considered that the users ' skills or experience level.Such as user
Type etc. can be associated with user identifier about the information of user.Unmanned vehicle is operated when considering whether user is authorized to
When, it may be considered that the information about user such as user type.In one example, only when user has reached threshold value skill
When can be horizontal, the user can just be authorized to operation unmanned vehicle.For example, flying if user experienced for unmanned vehicle
Capable training, then the user can be authorized to operation unmanned vehicle.In another example having if user experienced to the user
The proof of certain airmanships, then the user can be authorized to operation unmanned vehicle.In another example, only when user
When being reached threshold value experience level, the user can just be authorized to operation unmanned vehicle.For example, if user's log recording
The flight time unit of at least certain threshold number, then the user can be authorized to operation unmanned vehicle.In some cases
Under, threshold number can be adapted for the flight time unit of any unmanned vehicle or be only applicable to have match it is described nobody
The flight time unit of the unmanned vehicle of the type of aircraft.Information about user may include the population system about user
Meter learns information.For example, the user can just be authorized to operation nothing only when user reaches threshold age (for example, being adult)
People's aircraft.During determining whether user is authorized to operation unmanned vehicle, it can pull and by means of one or more
A processor considers the information about user and/or unmanned vehicle.Determining whether user is authorized to operation unmanned flight
During device, one or more considerations can be made according to non-transient computer-readable media.
As it was noted above, during determining whether user is authorized to operation unmanned vehicle, it may be considered that it is additional because
Element, such as geographic factor, time factor or environmental factor.For example, only some users can be authorized to be night time operation nobody
Aircraft, and other users can be authorized to be only in day time operation unmanned vehicle.In one example, night flying is lived through
Trained user can be authorized on daytime and night time operation unmanned vehicle, and the user for not yet living through night-flying training can
It is only authorized in day time operation unmanned vehicle.
In some cases, the unmanned vehicle certification of different mode can be provided.For example, in mode registered in advance,
The user of mistake only registered in advance can be authorized to manipulation unmanned vehicle.In open mode, all users can be authorized to manipulation
Unmanned vehicle.In the mode based on technical ability, the user for only having shown a certain technical ability or experience level can be allowed to
Manipulate unmanned vehicle.In some cases, single-mode can be provided for user authentication.In other cases, user can be with
Switch between user operation mode.For example, the owner of unmanned vehicle can switch the certification of unmanned vehicle to be run
Mode.In some cases, the position of unmanned vehicle, time, air traffic level, environmental condition etc. other because
Element can determination to run the certification mode of unmanned vehicle.For example, if environmental condition is windy or is difficult to fly,
Unmanned vehicle automatically can only allow authorized user under technical ability mode to manipulate the unmanned vehicle.
When the uncommitted operation unmanned vehicle of user, the user's operation unmanned vehicle 840 is not allowed.Some
In the case of, this can cause unmanned vehicle to be not responsive to the order of the remote controler from user and/or user.User can not
Unmanned vehicle can be made to fly or control the flight of unmanned vehicle.User can not control any of unmanned vehicle
Other component, such as payload, carrier, sensor, communication unit, navigation elements or power cell.User can or
Person can not make unmanned vehicle be powered.In some cases, user can make unmanned vehicle be powered, but it is described nobody
Aircraft can be not responsive to the user.If user be it is unwarranted, unmanned vehicle can optionally power themselves down.
In some cases, the warning or message of its uncommitted operation unmanned vehicle can be provided a user.Can provide or
The uncommitted reason of user can not be provided.It is alternatively possible to provide the uncommitted operation institute of user to second user
It states unmanned vehicle or the user has attempted to the warning or message of operation unmanned vehicle.Second user can be nobody
The owner or manipulator of aircraft.Second user can be the individual for being authorized to operation unmanned vehicle.Second user can be with
It is the individual for exercising the control to unmanned vehicle.
It, can be only to allow the use when the uncommitted operation unmanned vehicle of user in some alternate embodiments
Family operates unmanned vehicle in a limited manner.This may include geographical limitation, time restriction, rate limitation, to one or more
The limitation that a additional component (for example, payload, carrier, sensor, communication unit, navigation elements, power cell etc.) uses.
This may include operation mode.In one example, when the uncommitted operation unmanned vehicle of user, the user can not be
Unmanned vehicle is operated at selected position.In another example, when the uncommitted operation unmanned vehicle of user, the use
Family can only operate unmanned vehicle at selected position.
When user is authorized to operation unmanned vehicle, the user's operation unmanned vehicle 850 can permit.Nobody flies
Row device can be in response to the order from user and/or the remote controler of user.User can control flying for unmanned vehicle
Any other capable or unmanned vehicle component.User can manually control nobody by user's input via remote controler
Aircraft.In some cases, unmanned vehicle override user can input automatically to abide by one group of air traffic control.Described one group
Air traffic control can be preestablishes, or can be and awing receive.In some cases, it is setting up or is providing
During one group of air traffic control, one or more geography fence devices can be used.
Aspect of the invention can be related to a kind of method for operating unmanned vehicle.The method may include: receive nothing
People's aircraft identifier, the unmanned vehicle identifier uniquely identify out the unmanned flight from other unmanned vehicles
Device；User identifier is received, the user identifier uniquely identifies out the user from other users；By means of one or
Multiple processors, assess whether the user identified by the user identifier is authorized to operation by the unmanned vehicle identifier
The unmanned vehicle of mark；And when the user is authorized to and operates the unmanned vehicle, allow the user to described
Unmanned vehicle is operated.Similarly, a kind of non-wink of program instruction comprising for operating unmanned vehicle can be provided
State computer-readable medium, the computer-readable medium include: to uniquely identify from other unmanned vehicles for receiving
The program instruction of the unmanned vehicle identifier of the unmanned vehicle out；It is uniquely identified out from other users for receiving
The program instruction of the user identifier of the user；For assessing whether the user identified by the user identifier is authorized to behaviour
Make the program instruction of the unmanned vehicle identified by the unmanned vehicle identifier；And for being authorized to behaviour in the user
Make the program instruction for allowing the user to operate the unmanned vehicle when unmanned vehicle.
Furthermore it is possible to provide a kind of unmanned vehicle authoring system, comprising: first communication module；And it is one or more
Processor is operably coupled to the first communication module and is either individually or collectively configured for: receiving nothing
People's aircraft identifier, the unmanned vehicle identifier uniquely identify out the unmanned flight from other unmanned vehicles
Device；User identifier is received, the user identifier uniquely identifies out the user from other users；Assessment is by the use
Whether the user of family identifier mark is authorized to the unmanned vehicle that operation is identified by the unmanned vehicle identifier；And work as
When the user is authorized to the operation unmanned vehicle, signal is transmitted to allow the user to carry out the unmanned vehicle
Operation.A kind of unmanned vehicle (UAV) authorization module may include: one or more processors, either individually or collectively by
Be disposed for: receive unmanned vehicle identifier, the unmanned vehicle identifier from other unmanned vehicles uniquely
Identify the unmanned vehicle；User identifier is received, the user identifier uniquely identifies out institute from other users
State user；Whether the user that assessment is identified by the user identifier is authorized to operation is identified by the unmanned vehicle identifier
Unmanned vehicle；And when the user is authorized to and operates the unmanned vehicle, signal is transmitted to allow the user
The unmanned vehicle is operated.
Second user can take over from the first user and control the unmanned vehicle.In some cases, it first uses
Family and second user can be authorized to the operation unmanned vehicle.Alternatively, only second user be authorized to operation it is described nobody
Aircraft.First user, which can be authorized to, operates unmanned vehicle in a manner of more limited for second user.Second
User, which can be authorized to, operates unmanned vehicle in more unrestricted mode for the first user.One or more can be provided
A operation grade.Higher operation grade can indicate that user can operate the priority of apparatus of transport.For example, in operation nothing
In terms of people's aircraft, the user in higher operation grade can be prior to the user in lower operation grade.In higher
The user for operating grade can take over control unmanned vehicle from the user in lower operation grade.In some cases
Under, second user can be in higher operation grade than the first user.Compared to the user in lower operation grade, it is in
The user of higher operation grade, which can optionally be authorized to, operates unmanned vehicle in more unrestricted mode.Compared in compared with
The user of height operation grade, the user in lower operation grade, which can optionally be authorized to, operates nothing in a manner of more limited
People's aircraft.When second user is authorized to operation unmanned vehicle and has operation grade more higher than the first user, institute
Operation to unmanned vehicle can be taken over from first user by stating second user.
When unmanned vehicle, which authenticates the second user, operates the privilege of the unmanned vehicle, can permit by second
User operates unmanned vehicle.The certification can occur by means of digital signature and/or digital certificate, the number
Word signature and/or digital certificate verify the identity of the second user.Certification to second user and/or the first user
Can be used as herein other everywhere described in any verification process and occur.
In some embodiments, can the second user of adapter tube control can be a part of emergency service.For example, second
User can be law enforcement agency, Fire-Fighting Service, a part of medical services or disaster relief service.Second user can be electronics
Police.In some cases, second user can be a part of government organs, such as can control air traffic or other
The mechanism of the type magnitude of traffic flow.Second user can be air traffic control system manipulator.The user can be the member of Verification System
Or manager.Second user can be the member of defense force or quasi- defense force.For example, second user can be United States Air Force
(Air Force), United States Coasts Guard (Coast Guard), National Guard of the United States (National Guard), China are military
Fill any other type in police force (China Armed Police Force (CAPF)) or any administrative area in the world
Defense force or the member that organizes on an equal basis.
When second user, which is taken over, to be controlled, the first user can be notified.For example, warning can be provided to the first user or disappeared
Breath.Warning or message can be provided via the remote controler of the first user.Warning can be visual display, or can be can
Hear or tactile is recognizable.In some embodiments, second user, which can request to take over from the first user, controls nobody
Aircraft.First user, which can choose, accepts or rejects the request.Alternatively, second user be able to can be not necessarily to come from first
The receiving of user perhaps can in the case where take over control.In some embodiments, about second user i.e. will take over control and
There may be some lag times between the time that the time and second user adapter tube for alerting the first user control.Alternatively, providing
Seldom lag time does not provide lag time, so that second user can take over immediately.Second user can energy
It is enough to attempt being less than 1 minute, 30 seconds, 15 seconds, 10 seconds, 5 seconds, 3 seconds, 2 seconds, 1 second, 0.5 second, 0.1 second, 0.05 second for adapter tube control
Or inner connecting tube control in 0.01 second.
Second user can take over from the first user and control in response to any scene.In some embodiments, second
User can the adapter tube control when unmanned vehicle enters limited area.It, can when unmanned vehicle leaves the limited area
First user is given back will control.Second user can operate the nothing when unmanned vehicle is located in limited area
People's aircraft.In another case, second user being capable of the unmanned vehicle of adapter tube control at any time.In some cases
Under, when safety has been determined or has ensured that second user being capable of adapter tube control unmanned vehicle when threatening.For example, if detection
When advancing on the navigation channel to collide to unmanned vehicle with aircraft, then second user can take over control to avoid
The collision of unmanned vehicle and aircraft.
Certification
The user of unmanned vehicle can be authenticated.User can be uniquely identified by means of user identifier.
Can be authenticated to user identifier to verify the user is strictly user associated with user identifier.For example, such as
Fruit user carries out tagging using user identifier associated with Bob Smith, then can authenticate to the user
To confirm that the user is strictly Bob Smith.
Unmanned vehicle can be authenticated.Nobody can be uniquely identified out by means of unmanned vehicle identifier
Aircraft.Unmanned vehicle identifier can be authenticated to verify the unmanned vehicle and be strictly and the unmanned flight
The associated unmanned vehicle of device identifier.For example, if unmanned vehicle use is associated with unmanned vehicle ABCD1234
Unmanned vehicle identifier carry out tagging, then the unmanned vehicle can be authenticated to confirm the unmanned flight
Device is strictly unmanned vehicle ABCD1234.
In some cases, user can be authorized to operation unmanned vehicle.One or more individual consumers can operate
It may need to be identified before unmanned vehicle.The identity of user may need to be authenticated to be the individual that the user calls oneself, with
Just allow the user's operation unmanned vehicle.Before allowing user's operation unmanned vehicle, it is necessary to authenticate and confirm first
User identity, certified identity are authorized to operation unmanned vehicle.
Fig. 9 shows the mistake for determining whether user and being operated to unmanned vehicle of embodiment according to the present invention
Journey.The process may include authenticating to user 910 and authenticating to unmanned vehicle 920.If user is not led to
Verification process is crossed, then may not allow the user's operation unmanned vehicle 940.If the unauthenticated mistake of unmanned vehicle
Journey may not then allow the user to operate the unmanned vehicle 940.Whether operation nothing can be authorized to user
People's aircraft 930 and make determination.If the uncommitted operation unmanned vehicle of user, may not allow the user's operation
Unmanned vehicle 940.If user can permit the user's operation unmanned vehicle 950 by the verification process.Such as
Fruit unmanned vehicle then can permit the user's operation unmanned vehicle 950 by the verification process.If user is awarded
Power operation unmanned vehicle, then can permit the user's operation unmanned vehicle 950.In some cases, allowing user
Before operating unmanned vehicle 950, the user and the unmanned vehicle must all pass through verification process.Optionally, permitting
Perhaps before user's operation unmanned vehicle 950, user and unmanned vehicle all must be by verification process and user must quilt
Authorized operation unmanned vehicle.
In some cases, any situation can be adapted for the license of operation unmanned vehicle, or can be only applicable in
In in the volume or area that one or more is assigned.For example, user/unmanned vehicle may need to grasp completely by authenticating
Make unmanned vehicle.In other cases, user can usually operate unmanned vehicle, but select in limited area etc.
In fixed airspace, it may be necessary to be authenticated user to operate unmanned vehicle.
One aspect of the present invention can be related to a kind of method for operating unmanned vehicle, which comprises to nobody
The identity of aircraft is authenticated, wherein the identity of the unmanned vehicle can uniquely be distinguished with other unmanned vehicles；
The identity of user is authenticated, wherein the identity of the user can uniquely be distinguished with other users；By means of one or
Multiple processors, assess whether the user is authorized to the operation unmanned vehicle；And when the user is authorized to operation
When the unmanned vehicle and the unmanned vehicle and the user are certified, allow the user to it is described nobody fly
Row device is operated.Similarly, a kind of non-transient calculating of program instruction comprising for operating unmanned vehicle can be provided
Machine readable medium, the computer-readable medium include: the program instruction authenticated for the identity to unmanned vehicle,
Described in the identity of unmanned vehicle can uniquely be distinguished with other unmanned vehicles；It is authenticated for the identity to user
Program instruction, wherein the identity of the user can uniquely be distinguished with other users；For being handled by one or more
Device assesses the program instruction whether user is authorized to the operation unmanned vehicle；And for being awarded as the user
Power, which operates when the unmanned vehicle and the unmanned vehicle and the user are certified, allows the user to described
The program instruction that unmanned vehicle is operated.
Moreover, system and method provided herein may include a kind of unmanned vehicle Verification System, comprising: the first communication
Module；And one or more processors, it is operably coupled to the first communication module and either individually or collectively
Be configured for: the identity of unmanned vehicle authenticated, wherein the identity of the unmanned vehicle can with other nobody
Aircraft uniquely distinguishes；The identity of user is authenticated, wherein the identity of the user can be with other users uniquely
It distinguishes；Assess whether the user is authorized to the operation unmanned vehicle；And when the user is authorized to described in operation
Unmanned vehicle and the unmanned vehicle and the user transmit signal when being certified, to allow the user to described
Unmanned vehicle is operated.A kind of unmanned vehicle authentication module may include: one or more processors, individually or
It is jointly configured for: the identity of unmanned vehicle is authenticated, wherein the identity of the unmanned vehicle can be with it
He uniquely distinguishes unmanned vehicle；The identity of user is authenticated, wherein the identity of the user can be with other users
Uniquely distinguish；Assess whether the user is authorized to the operation unmanned vehicle；And when the user is authorized to behaviour
Make the unmanned vehicle and when unmanned vehicle and the user are certified transmits signal, to allow the user
The unmanned vehicle is operated.
User identifier and/or unmanned vehicle identifier can by herein other everywhere it is described it is any in a manner of carry out
Summarize.For example, during flight, unmanned vehicle in a continuous manner or in office can broadcast its identity letter when why wanting
Breath.For example, when receiving the monitoring instruction from air traffic control system (for example, police) or when unmanned vehicle and air traffic control system
Between communication it is to be encrypted and certification when, unmanned vehicle can be accorded with broadcast user identification.The broadcast of identification information can be with
Various modes are (for example, radio signal, optical signal, acoustical signal or such as other any other described types everywhere herein
Direct communication or indirect communication method) realize.
Any technology that is as known in the art or developing later can be used to carry out user and/or unmanned vehicle
Certification.Other provide the further details and example of user and/or unmanned vehicle certification everywhere herein.
Unmanned vehicle
Unmanned vehicle can be authenticated by means of the key of unmanned vehicle.Unmanned vehicle can have only
One unmanned vehicle identifier.Further unmanned vehicle can be authenticated by means of unmanned vehicle identifier.
Unmanned vehicle identifier and unmanned vehicle key information can be used in conjunction with to authenticate to unmanned vehicle.It can
To provide unmanned vehicle identifier and/or unmanned vehicle key on unmanned vehicle machine.Unmanned vehicle identifier and/
Or key can be a part of the mark module of unmanned vehicle.The flight control that mark module can be unmanned vehicle is single
A part of member.Herein other everywhere as described in, mark module can be and can not separate with flight control units.Unmanned flight
Device identifier and/or unmanned vehicle key can be can not be from unmanned vehicle removal.Unmanned vehicle can not be from nothing
Unmanned vehicle identifier and unmanned vehicle key disassociation on people's aircraft machine.In the preferred embodiment, nobody
Aircraft identifier and/or unmanned vehicle key can not be wiped free of or be changed.
Other are provided everywhere herein further describes unmanned vehicle certification.Other are mentioned in more detail everywhere herein
For authenticating the further details that how can occur using the unmanned vehicle of unmanned vehicle identifier and/or key.
According to certain embodiments of the present invention, authentication center cannot to no unmanned vehicle identifier and nobody fly
Any unmanned vehicle of row device key is authenticated.If unmanned vehicle identifier or unmanned vehicle key are lost,
The unmanned vehicle cannot be successfully accessed air traffic control system and cannot carry out any activity in flight confined area.?
Under some cases, if do not authenticated to unmanned vehicle identity, nobody described in user's complete operation may not be allowed to fly
Row device.Alternatively, user may not be allowed to operate unmanned vehicle in limited airspace, but it can permit it and grasped in other areas
Make the unmanned vehicle.It can prevent and punish any violation activity of such unmanned vehicle.
Under certain specific environments, unmanned vehicle and user can not be authenticated, and directly start aerial mission.For example,
When between unmanned vehicle, user and authentication center communication connection can not be established, it still can permit user and start described appoint
Business.In some cases, if establishing communication connection during task, can occur to user and/or unmanned vehicle
Certification.If user and/or unmanned vehicle can take responsive measures not over certification.For example, unmanned vehicle
It can land after the predetermined time period.In another case, unmanned vehicle can make a return voyage to flight starting point.If user
And/or unmanned vehicle has passed through certification, then the user can continue in an uninterrupted manner to unmanned vehicle into
Row operation.In some cases, even if establishing communication connection during task, do not occur to user and/or unmanned flight yet
The certification of device.
If having had been started up task without authentication, certification can be betided in task later.Root
According to whether by certification, flight responsive measures can be taken or can not taken.Alternatively, when certification may occur, later
Task in do not authenticate.It can be made based on any number of factor and whether continue certification during task really
It is fixed.Such as, it may be considered that one or more environmental conditions.Such as, it may be considered that amblent air temperature, topological structure, the density of population, sky
The middle magnitude of traffic flow or the surface magnitude of traffic flow, environment complexity or any other environmental condition.For example, unmanned vehicle can
Determining (for example, being determined by means of GPS and map), it is located in city or is located in suburb, and if it is located at suburb
In, then it may not necessarily be authenticated.Therefore, it can need to authenticate when there are the higher density of population, and when there are lower
It may not need certification when the density of population.It can need to authenticate when the density of population is more than density of population threshold value.In another case,
It can need to authenticate when there are higher transport air flow metric density, and can when there are lower transport air flow metric density
Without certification.It can need to authenticate when transport air flow metric density is more than threshold value.Similarly, when environment complexity (for example,
The surrounding objects of higher number or density) it is higher when can need to authenticate, and may not need certification when environment complexity is lower.
It can need to authenticate when environment complexity is more than threshold value.During determining the need for certification, it may be considered that other classes
The factor of type, such as geographical, time and herein other any other described factors everywhere.
When unmanned vehicle flight without authentication, flight performance may be restricted.It can basis
One group of air traffic control is flown to limit unmanned vehicle.One group of air traffic control may include the behaviour that can influence unmanned vehicle
The one or more rule of work.In some embodiments, only when unmanned vehicle flight without authentication
The unmanned vehicle can be limited according to air traffic control not apply then else if being authenticated unmanned vehicle
Any group of air traffic control.Alternatively, in the normal operation period, unmanned vehicle can be limited according to one group of air traffic control, and
If do not authenticated to unmanned vehicle, additional one group of air traffic control can be applied.In some embodiments, no matter
Whether unmanned vehicle is authenticated, unmanned vehicle operation can be limited according to one group of air traffic control, but described
One group of air traffic control may be based on whether to be authenticated unmanned vehicle and require different rules.In some cases,
If do not authenticated to unmanned vehicle, rule can be more restrictive.Generally speaking, unmanned vehicle is not recognized
Card can cause the manipulator of unmanned vehicle according to any aspect of unmanned vehicle (for example, flight, payload operation or
Positioning, carrier, sensor, communication, navigation, electricity using or any other aspect) control the relatively freedom in minor affairs of unmanned vehicle
Degree.
The example of the type for the unmanned vehicle flight performance that may be restricted may include one in the following terms
Or it is multinomial, or may include as herein other everywhere described in, for the other kinds of limitation of unmanned vehicle.Example
Such as, the distance that unmanned vehicle flight can be limited, for example, it must be in the vision coverage area of user.Flight can be limited
Height and/or speed.It is alternatively possible to require equipment (such as camera or other kinds of effective carried by unmanned vehicle
Load) temporary suspension operation.
Different limitations can be applied according to the grade of user.For example, for more experienced user, can apply compared with
Few limitation.It may not be allowed to hold for example, can permit the user with higher experience or level of skill and execute novice users
Capable function.It can permit the region that the user with higher experience or level of skill may not be allowed to flight in novice users
Or it flies in position.It can be user type and/or the customization of unmanned vehicle type for nobody if other are described everywhere herein
One group of air traffic control of aircraft.
Unmanned vehicle can be communicated with Verification System.In some instances, Verification System can have as herein its
His one or more characteristic described in (for example, Fig. 2) everywhere.Unmanned vehicle can be communicated with the air traffic control system of Verification System
Letter.Unmanned vehicle can be adapted for any description of the communication between unmanned vehicle and air traffic control system herein and certification is
Any communication between any other part of system.Herein to any description of the communication between unmanned vehicle and air traffic control system
It can be adapted for unmanned vehicle and any other external dresses that can contribute to unmanned vehicle flight safety, guarantee or control
Set or system between communication.
Unmanned vehicle can be communicated with air traffic control system in any way.For example, unmanned vehicle can be with blank pipe system
System forms direct communication channel.The example of direct communication channel may include radio connection, WiFi, WiMax, it is infrared,
The direct communication of bluetooth or any other type.Unmanned vehicle can form indirect communication channel with air traffic control system.Communication
It can be relayed via one or more intermediate devices.In one example, communication can be (all via user and/or user apparatus
Such as remote controler) relaying.Alternatively or additionally, communication can be relayed via other single or multiple unmanned vehicles.Communication can
Via earth station, router, tower or satellite relay.Single mode or multiple described herein can be used in unmanned vehicle
Mode communicates.Any communication mode can be combined.In some cases, different communication patterns can be used simultaneously.Alternatively
Ground or additionally, unmanned vehicle can switch between different communication patterns.
Unmanned vehicle (may combine with user) is by mutual with authentication center's (or any part of Verification System)
After certification, the available communication connection with the safety of air traffic control system.Also between available unmanned vehicle and user
Secure communication connection.Unmanned vehicle can be directly geographical with the air situation monitoring server of air traffic control system and/or one or more
Fence apparatus communicates.Unmanned vehicle can also be communicated with user and can be relayed via user, to reach in certification
The heart or air traffic control system.In some embodiments, straight with air situation monitoring server and/or one or more geography fence device
It connects after the certification generation that letter can occur over just unmanned vehicle and/or user.Alternatively, even if certification not yet occurs, directly
Connecting letter can also occur.In some embodiments, the communication between unmanned vehicle and user can occur over just nobody
After the certification of aircraft and/or user.Alternatively, even if the certification of unmanned vehicle and/or user not yet occur, unmanned flight
Communication between device and user can also occur.
In some embodiments, it can use the flight plan of air traffic control system unmanned vehicle registered in advance.For example,
User can need planning location and/or the timing of specified flight.Whether air traffic control system may be able to determine that allows unmanned flight
Device flies according to flight plan.Flight plan, which can be accurately or can be, substantially to be estimated.During flight, nobody flies
Row device can be controlled automatically or semi-autonomous be controlled to be flown according to flight plan.Alternatively, user can have freedom
The right of eminent domain is to manually control unmanned vehicle, but it should being maintained in the estimated value of flight plan.In some cases, Ke Yijian
The flight of unmanned vehicle is controlled, and if the flight plan deviation for manually controlling and suggesting is excessive, the nothing can be forced
People's aircraft takes flight responsive measures.Flight responsive measures may include force unmanned vehicle return on navigation channel (for example, by
Computer or it is another individual adapter tube flight), force unmanned vehicle landing, force unmanned vehicle hover or force nobody fly
Row device makes a return voyage to its starting point.In some cases, air traffic control system can flight plan based on other unmanned vehicles, current prison
Any flight restriction of the air situation, environmental condition, region and/or the time that measure or any other because usually determining whether
Unmanned vehicle flies according to flight plan.In the alternative, it may not be necessary to flight plan it is registered in advance.
Establish after safety chain, unmanned vehicle can from the traffic administration module application resource of air traffic control system (for example,
Air route and navigation time or herein other any other described resources everywhere).Traffic administration module can manage
Traffic power.Unmanned vehicle can receive one group of air traffic control to flight (for example, distance, height, speed or other are each herein
Locate the air traffic control of any other described type).Unmanned vehicle only can just take off when obtaining clearance.Fly
Row plan can be put on record in traffic administration.
During flight, unmanned vehicle periodically can report its state to the air situation monitoring subsystem of air traffic control system.It can
To use any technology to the state of air situation monitoring subsystem transmission unmanned vehicle.Direct communication or connection can be used
Letter, such as other those described communications everywhere herein.Determining unmanned vehicle state and to air situation monitoring subsystem
During transferring status data, external sensor data is can be used or can not used.In some instances, nobody flies
Row device status information can be broadcasted, or can relay to traffic management subsystem by earth station or other intermediate devices.Nothing
People's aircraft can receive the supervision of traffic management subsystem.Direct or indirect communication party can be used in traffic management subsystem
Method, such as other described methods everywhere herein, communicate with unmanned vehicle.If modifying predetermined flight, nobody
Aircraft can be submitted to traffic management subsystem to be applied.The application can be submitted before unmanned vehicle flight starts,
Or it can occur after unmanned vehicle has begun flight.When unmanned vehicle flight, can be applied.Traffic
Management can have the ability of the flight of monitoring unmanned vehicle.Traffic management subsystem can be according to from unmanned vehicle
The information of information and/or the one or more sensors outside unmanned vehicle monitors the flight of unmanned vehicle.
During flight, unmanned vehicle can be with other device (including but not limited to other unmanned vehicles or geography
Fence apparatus) it communicates.During flight, unmanned vehicle can also be able to carry out certification (including but not limited to digital signature+
Digital certificate) and/or response (for example, in response to certified geography fence device).
During flight, such as other are described in further detail everywhere herein, and unmanned vehicle can receive to use from greater degree
The adapter tube at family (such as air traffic control system or electronic police) controls.It is more high if unmanned vehicle is authenticated privilege
Grade user can take over the control.
After flying, unmanned vehicle can discharge the resource of application.If the response to traffic management subsystem is super
When, then the resource applied can also be discharged.For example, resource can be plan unmanned vehicle flight position and/or
Periodically.At the end of flight, unmanned vehicle can send signal to traffic management subsystem to discharge resource.Alternatively, traffic
Management subsystem can release with self-starting to resource.If unmanned vehicle stopping and traffic administration after predetermined time period
Subsystem communicates, then traffic management subsystem can release with self-starting to resource.In some cases, if application when
Between section terminate that (for example, if block unmanned vehicle within the period of 3:00-4:00PM because of task, and 4:00 is
Cross), then traffic management subsystem can release with self-starting to resource.
Unmanned vehicle can respond certification request and/or identity checks request.The request can come from Verification System.
In some cases, request may come from air situation monitoring server.Request can occur when unmanned vehicle is powered.Request
It can occur when unmanned vehicle makes requests resource.Request can arrive before the flight of unmanned vehicle.Alternatively,
Request can arrive during the flight of unmanned vehicle.In some embodiments, with the unmanned vehicle of security function
Certification request and/or identity checks request from air situation monitoring server will be responded.It in some implementations, can be any
It is responded in situation (it may include authentification failure).
During flight, if communication disruption and/or disconnection between unmanned vehicle and air traffic control system,
Unmanned vehicle can rapidly return back to the state of flight of relatively limited right and quickly make a return voyage.Therefore, if nobody flies
Communication disruption between row device and air traffic control system can then take flight responsive measures.In some cases, flight responsive measures
Can be makes unmanned vehicle be maked a return voyage automatically to starting point.Flight responsive measures, which can be, makes unmanned vehicle be flown automatically to nobody
The position of the user of aircraft.Flight responsive measures, which can be, makes unmanned vehicle be maked a return voyage automatically to position of going home, described to go home
Position may or may not be the starting point of unmanned vehicle flight.Flight responsive measures can be automatic landing.Flight is rung
Measure is answered to can be automatically into autonomous flight mode, wherein unmanned vehicle flies according to pre-registered flight plan.
User
User can be the manipulator of unmanned vehicle.It can be classified according to user type to user.At one
In example, it can be classified according to the technical ability of user and/or experience level to user.Verification System can be issued for use
The identification information at family.For example, Verification System can be responsible for user's certificate and distribute corresponding user identifier and/or
User key.In some cases, ID registration database can execute one or more functions.For example, ID registration database can
To provide user identifier and/or user key.
User can be authenticated.User authentication any technology developed as is generally known in the art or later can be used and
Occur.User authentication technique can be similar or different to unmanned vehicle authentication techniques.
In one example, user can be authenticated based on customer-furnished information.Can be based on user can
The knowledge that can have authenticates user.In some cases, the knowledge may only be known by the user, without quilt
Well known to other users.For example, can be authenticated by providing correct username and password to user.Can by by
User submits the information of password, password, key entry or sliding movement, signature or any other type to authenticate user.It can
To be authenticated by one or more inquiries of correct response system to user.In some embodiments, user can be with
Apply for login name and/or password from authentication center.User can be able to use the login name and password logs in.
Can the physical trait based on user and user is authenticated.The biometer about unmanned vehicle can be used
Information is measured to authenticate to user.For example, can be authenticated by submitting biological information to user.For example, with
Family can undergo finger scan, palmmprint scanning, iris scan, retina scanning or sweeping to any other part of user's body
It retouches.User can provide body sample, can such as be analyzed with the saliva of identity user, blood, the nail cut or cut
Hair.In some cases, the DNA analysis to sample from the user can occur.Experience face recognition or step can be passed through
State identifies to authenticate to user.User can be authenticated by submitting vocal print.User can submit the body of user
High and/or weight is for analysis.
User can be authenticated based on the device that can be in the possession of the user.It can be based on can be in the possession of the user
Information on memory cell and/or the memory cell authenticates user.For example, user can have by authenticating
The memory device that center, the other parts of Verification System or any other source are issued.Memory device can be outside and deposit
The memory device of reservoir device, such as USB flash disk (for example, USB drives), external hard drive driving or any other type.One
In a little embodiments, external device (ED) is coupled to user remote controller.For example, the external device (ED)s such as USB flash disk can be with physical connection
It can communicate to remote controler (for example, in insertion/insertion remote controler) or with remote controler (for example, transmission can be connect by remote controler
The signal arrived).Described device can be physical storage storage device.
User can be authenticated based on the information that can be stored in the memory that can be in the possession of the user.It can make
With or can not use individual physical memory device.For example, token (such as digitlization token) can be gathered around by user
Have.Digitlization token can be stored on the memory of USB flash disk, hard drive or other forms.Digitlization token can be stored in
On the memory of remote controler.For example, digitized token from authentication center, ID registration database or can be appointed by remote controler
What his source receives.In some embodiments, digitlization token, which can be, external from the memory of remote controler to read
It takes.Digitizing token may or may not be modifiable on the memory of remote controler.
User can be authenticated by means of can provide mark module on a remote control.Mark module can with
Family is associated.Mark module may include user identifier.In some embodiments, mark module may include user key
Information.The data being stored in mark module can be or can not be can be from outside reading.It is stored in mark module
Data can not be optionally modifiable.Mark module can optionally can be not separated from remote controler.Mark is optionally
It can not be removed in the case where not damaging flight controller from remote controler.Mark module can be optionally integrated in remote controler.
Information in mark module can be recorded in the case via authentication center.For example, authentication center can retain to from remote control
The record of the information of the mark module of device.In one example, user identifier and/or user key can be remembered by authentication center
It records on record.
User can be authenticated by experience mutual authentication process.In some cases, mutual authentication process can
To be similar to certifiede-mail protocol (AKA) process.It can be by means of using the use to communicate with unmanned vehicle by user
Key in the terminal of family authenticates user.The terminal can send one or more to unmanned vehicle
The remote controler of a command signal.The terminal can be the display that information can be shown based on the data received from unmanned vehicle
Device.Optionally, key can be a part of the mark module of user terminal and can integrate into user terminal.Key
It can be a part of the mark module of remote controler and can integrate into remote controler.Key can by Verification System (for example,
The ID registration database of Verification System) it provides.Herein other mutual authentications that user can be provided in more detail everywhere into one
Walk example and details.
In some embodiments, user may need with software or the application to operate unmanned vehicle.Software
A part of user authentication process itself can be authorized to be with application.In one example, user can have smart phone
App, the app can be used for operating unmanned vehicle.Directly smart phone app itself can be authorized.When to user
When the smart phone app used is authenticated, further user authentication is can be used or can not used.In some feelings
Under condition, smart phone authorization can with herein other be described in detail everywhere, additional user authentication process is coupled.In some cases
Under, smart phone app authorization can be enough to authenticate user.
User can be authenticated by means of Verification System.In some cases, user can be by Verification System
Authentication center (for example, authentication center 220 as illustrated in Figure 2) or any other component part of Verification System are recognized
Card.
User authentication can occur at any point in time.It in some embodiments, can be with when unmanned vehicle is opened
It is automatic that user authentication occurs.When remote controler is opened, user authentication can occur automatically.When remote controler and unmanned vehicle are formed
When communication channel, user authentication can occur.When remote controler and/or unmanned vehicle and Verification System form communication channel,
User authentication can occur.User authentication can occur in response to input from the user.For example, when user's logon attempt or
When information (for example, user name, password, biological information) about user is provided, user authentication can occur.In another example
In, when the information for coming from memory device (for example, USB flash disk) is supplied to Verification System, or work as information (for example, number
Change token or key) when being supplied to Verification System, user authentication can occur.Therefore can recognize from user or user apparatus push
Card process.In another example, when from Verification System or the request certification of another external source, user authentication can occur.Certification
The authentication center of system or air traffic control system can request the certification to user.Authentication center or air traffic control system can be one or many
Request certification from the user.Certification can occur before the flight of unmanned vehicle and/or the flight phase of unmanned vehicle
Between.In some cases, user can be authenticated before executing aerial mission using unmanned vehicle.It can fly
Plan authenticates user before can going through.It can be before user can carry out control to unmanned vehicle to the use
Family is authenticated.User can be authenticated before permissible unmanned vehicle takes off.Can lose and/or rebuild with
User is authenticated after the connection of Verification System.When detecting one or more events or situation (for example, uncommon nothing
People's aircraft flight mode) when, user can be authenticated.When have occurred it is suspicious, to unmanned vehicle without permission
Adapter tube when, user can be authenticated.When have occurred it is suspicious, to the Communication Jamming of unmanned vehicle when, can to
Family is authenticated.When unmanned vehicle deviates expectation flight plan, user can be authenticated.
Similarly, unmanned vehicle certification can occur at any time, all as mentioned above for user authentication
Time.User and unmanned vehicle certification can substantially simultaneously occur (for example, each other at 5 minutes or less, 4 minutes or more
Less, 3 minutes or less, 2 minutes or less, 1 minute or less, 30 seconds or less, 15 seconds or less, 10 seconds or less, 5 seconds or
Less, 3 seconds or less, 1 second or less, 0.5 second or less or occur within 0.1 second or less).User and unmanned vehicle
Certification can occur in similar condition or scene.Alternatively, they can be in different times and/or in response to difference
Condition or scene and occur.
The information about user can be collected after being authenticated to user.Information about user may include this
Other described any information everywhere of text.For example, the information may include user type.User type may include user
Technical ability and/or experience level.The information may include the past flying quality of user.
Authentication center
Embodiment according to the present invention can provide a kind of Verification System.The Verification System may include in certification
The heart.It can be adapted for any component part of Verification System to any description of authentication center herein.Herein to Verification System
Any description can be adapted for external device (ED) or entity or the one or more functions of Verification System can be in unmanned vehicle
Above and/or on a remote control execute.
Authentication center can be responsible for safeguarding the data about one or more users and/or unmanned vehicle.Data can be with
Including associated user identifier, associated user key, associated unmanned vehicle identifier and/or associated unmanned flight
Device key.Authentication center can receive the identity of user and/or the identity of unmanned vehicle.In some embodiments, it authenticates
System can be responsible for safeguarding all data about one or more users and unmanned vehicle.Alternatively, Verification System can be born
Subset of the duty maintenance about one or more users and all data of unmanned vehicle.
The controller (for example, remote controler of user) and unmanned vehicle of unmanned vehicle can be issued to air traffic control system and be stepped on
Record request.Controller and/or unmanned vehicle can issue logging request before the flight of unmanned vehicle.Controller and/
Or unmanned vehicle can issue logging request before the flight for allowing unmanned vehicle.As controller and/or unmanned flight
When device is opened, controller and/or unmanned vehicle can issue logging request.When being established between controller and unmanned vehicle
When connection, perhaps when establishing connection between controller and external device (ED) or when unmanned vehicle and external device (ED) it
Between when establishing connection, controller and/or unmanned vehicle can issue logging request.Controller and/or unmanned vehicle can be with
Logging request is issued in response to the event or situation that detect.When provide for certification instruction when, controller and/or nobody
Aircraft can issue logging request.When providing the instruction for certification by external source (for example, authentication center), controller
And/or unmanned vehicle can issue logging request.Controller and/or unmanned vehicle can initiate logging request, Huo Zheke
To provide logging request in response to the initiation except controller and/or unmanned vehicle.Controller and/or unmanned flight
Device can propose logging request at the single time point of unmanned vehicle ession for telecommunication.Alternatively, controller and/or unmanned vehicle
Logging request can be proposed at multiple time points of unmanned vehicle ession for telecommunication.
Controller and unmanned vehicle can substantially simultaneously propose logging request (for example, being less than 5 minutes each other, lacking
In 3 minutes, less than 2 minutes, less than 1 minute, less than 30 seconds, less than 15 seconds, less than 10 seconds, less than 5 seconds, less than 3 seconds, be less than 1
Second, less than proposing logging request within 0.5 second or less than 0.1 second).Alternatively, controller and unmanned vehicle can be when different
Between propose logging request.Controller and unmanned vehicle can be proposed to log according to the detection to same event or situation and be asked
It asks.For example, controller and unmanned vehicle are proposed that login is asked when establishing connection between controller and unmanned vehicle
It asks.Alternatively, controller and unmanned vehicle can propose logging request according to different event or situation.Therefore, controller
Logging request can be proposed independently of one another with unmanned vehicle.For example, controller can propose to log in when controller is powered
Request, and unmanned vehicle can propose logging request when unmanned vehicle is powered.These events can be independent of each other
Time occurs.
To any description of logging request can be adapted for herein other everywhere as described in any kind of certification.Example
Such as, any description of logging request can be adapted for providing username and password.In another example, logging request is appointed
What description can be adapted for the starting of AKA agreement.It in another example, may include user's to any description of logging request
The offer of physical trait.Logging request can be starting verification process or request certification.
After the logging request for receiving user and/or unmanned vehicle from unmanned vehicle, Verification System can be with
Initiate verification process.In some cases, air traffic control system can receive logging request and authentication center can be used to initiate
Verification process.Alternatively, authentication center can receive logging request and voluntarily initiate verification process.Landing request information can be passed
Authentication center is transported to, and authentication center can authenticate identity information.In some cases, landing request information can wrap
Include user name and/or password.In some embodiments, log-on message may include user identifier, user key, nobody fly
Row device identifier and/or unmanned vehicle key.
Communication connection between air traffic control system and authentication center can be safe and reliable.Optionally, air traffic control system and
Authentication center can use one or more groups of identical processors and/or Memory Storage Unit.Alternatively, they can not be utilized
One or more groups of identical processors and/or Memory Storage Unit.Air traffic control system and authentication center can use or
Identical one group of hardware can not be utilized.Can or air traffic control system and authentication center can not be provided at same position.
In some cases, hardwired connection can be provided between air traffic control system and authentication center.Alternatively, can air traffic control system with
Wireless communication is provided between authentication center.Direct communication can be provided between air traffic control system and authentication center.Alternatively, can be
Indirect communication is provided between air traffic control system and authentication center.Communication between air traffic control system and authentication center can traverse or can
With not traverses network.Communication connection between air traffic control system and authentication center can be encrypted.
After carrying out the certification to user and/or unmanned vehicle at authentication center, in unmanned vehicle and blank pipe system
Communication connection is established between system.In some embodiments it may be desirable to the certification to both user and unmanned vehicle.Or
Person, certification to user or can be the certification of unmanned vehicle enough.It can be optionally in remote controler and blank pipe system
Communication connection is established between system.Alternatively or additionally, communication connection can be established between remote controler and unmanned vehicle.?
Have built up communication connection (all connections as described herein) may occur or may not occur further certification later.
Unmanned vehicle can be communicated via direct access communication channel with the air traffic control system.Alternatively, unmanned vehicle
It can be communicated via indirect communication channel with the air traffic control system.Unmanned vehicle can be by via user or the use
Remote controler operated by family is then communicated with the air traffic control system in carrying out.Unmanned vehicle can be by via one or more
Other a unmanned vehicles are then communicated with the air traffic control system in carrying out.The communication of any other type can be provided, it is all
As herein other everywhere it is described those communicate.
The remote controler of user can be communicated via direct access communication channel with the air traffic control system.Alternatively, remote controler can
To be communicated via indirect communication channel with the air traffic control system.Remote controler can by via operated by user nobody fly
Row device is then communicated with the air traffic control system in carrying out.Remote controler can be by via other one or more unmanned vehicles
It is then communicated with the air traffic control system in progress.The communication of any other type can be provided, such as other each places this paper
Those of description communication.In some cases, without providing the communication connection between remote controler and air traffic control system.In some cases
Under, the communication connection between remote controler and unmanned vehicle can be enough.It can be between remote controler and unmanned vehicle
Any kind of communication is provided, such as other those described communications everywhere herein.
After authenticating to user and/or unmanned vehicle, friendship of the unmanned vehicle to air traffic control system can permit
Logical management module application resource.In some embodiments it may be desirable to the certification to both user and unmanned vehicle.Or
Person, certification to user or can be the certification of unmanned vehicle enough.
Resource may include air route and/or navigation time.Resource can be used according to flight plan.Resource can be with
Including one or more of the following items: sensing with evacuation auxiliary, to the access of one or more geography fence devices, to electricity
The access at pond station, to the access of fuel station or to the access at base station and/or stop.It can provide such as other each places this paper
Any other resource of description.
The traffic administration module of air traffic control system can recorde one or more flight plans of unmanned vehicle.It can permit
Modification of the unmanned vehicle application to the predetermined flight of unmanned vehicle.Can permit unmanned vehicle start flight plan it
The flight plan of the preceding modification unmanned vehicle.It can permit unmanned vehicle and be carrying out flight in the unmanned vehicle
Flight plan is modified when plan.Whether traffic administration module can make allows unmanned vehicle to carry out requested modification really
It is fixed.If unmanned vehicle is allowed to carry out requested modification, flight plan can be updated to include requested modification.Such as
Fruit does not allow unmanned vehicle to carry out requested modification, then can not change of flight plan.Unmanned vehicle can be required to abide by
Keep initial flight plan.If unmanned vehicle deviates significantly from flight plan (either initial is still updated),
Flight responsive measures can be applied to unmanned vehicle.
In some embodiments, it is after being authenticated at authentication center to user and/or unmanned vehicle, it can be with
It establishes and communicates to connect between unmanned vehicle and one or more geography fence devices.Other are provided everywhere about ground herein
Manage the further details of fence apparatus.
It is at authentication center after being authenticated to user and/or unmanned vehicle, it can be in unmanned vehicle and one
Communication connection is established between a or multiple certified intermediaries.Certified intermediary can be it is another it is certified nobody fly
Row device or certified geography fence device.Certified intermediary can be base station either can relayed communications station or dress
It sets.Certified intermediary can undergo any kind of verification process, such as other those described certifications everywhere herein
Process.For example, AKA process can be used to pass through certification in certified intermediary.
The determination whether user is authorized to operation unmanned vehicle can be made.It can be to user and/or unmanned flight
Device authenticated before, while being authenticated to user and/or unmanned vehicle or to user and/or unmanned flight
Device makes determination after being authenticated.If the uncommitted operation unmanned vehicle of user, the user can not be allowed to grasp
Make unmanned vehicle.If the uncommitted operation unmanned vehicle of user, the user can only can be in a limited manner
Operate unmanned vehicle.It, can be only to allow the user in selected position when the uncommitted operation unmanned vehicle of user
Operate unmanned vehicle.One or more air traffic control can be applied to the user for operating unmanned vehicle without permission, it is all
As herein other everywhere described in those air traffic control.In some implementations, in the uncommitted operation unmanned vehicle of user
When one group of air traffic control being applied on the user can be than institute can be applied to when user is authorized to operation unmanned vehicle
Stating the control on user has more limitations or tightened up.When user be authorized to operation unmanned vehicle when, can or can
Not apply one group of air traffic control on the user.When user is authorized to operation unmanned vehicle, it is applied to the user
On one group of air traffic control may include null value.When user be authorized to operation unmanned vehicle when, user can with not by
The mode of limit operates unmanned vehicle.Alternatively, some limitations can be applied, but these are limited and in the uncommitted operation nothing of user
The limitation that user can be applied to when people's aircraft is compared, can be less stringent or can be different.
One group of air traffic control can depend on the identity of unmanned vehicle and/or the identity of user.In some cases, may be used
To change one group of air traffic control according to the identity of unmanned vehicle and/or the identity of user.It can be based on unmanned flight
The identity of device adjusts or keeps the limitation of the flight to unmanned vehicle.It can adjust or keep based on the identity of user pair
The limitation of the flight of unmanned vehicle.In some embodiments, one group of default of the flight to unmanned vehicle can be provided
Limitation.The default value can be in place before authenticating and/or identifying unmanned vehicle.The default value can certification and/
Or it is in place before identity user.According to user and/or the certified identity of unmanned vehicle, it can keep or adjust and is described silent
Recognize value.In some cases, the default value can be adjusted to restricted lower one group of air traffic control.In other situations
Under, the default value can be adjusted to restricted higher one group of air traffic control.
In some embodiments, if user and/or unmanned vehicle are identified and authenticated, the user
The operation unmanned vehicle can be authorized to.In some cases, though to user and/or unmanned vehicle carried out mark and
Certification, the user may not also be authorized to the unmanned vehicle.Whether user is authorized to operation unmanned vehicle can be only
It stands on and whether user and/or unmanned vehicle is authenticated.In some cases, mark and/or certification can occur true
Determine user whether be authorized to before, so as to make user whether be authorized to operation unmanned vehicle determination before to the use
Family and/or the unmanned vehicle are confirmed.
In some cases, only sole user is authorized to operation unmanned vehicle.Alternatively, multiple users can be authorized to operation
Unmanned vehicle.
The unmanned vehicle can be authenticated before allowing unmanned vehicle to take off.Nobody can allowed to fly
Row device authenticates user before taking off.User can be carried out before allowing user to carry out to the control of unmanned vehicle
Certification.It can be before allowing user to send one or more operational orders to unmanned vehicle via user remote controller to user
It is authenticated.Certification degree
Different degrees of certification can occur.In some cases, different verification process can occur, such as herein its
His those described verification process everywhere.In some cases, the certification of higher degree can occur, and in other situations
Under, the certification of lower degree can occur.It in some embodiments, can be about the degree or class for the verification process to be undergone
Type and make determination.
One aspect of the present invention provides a kind of side of the authentication level of the operation of determination for unmanned vehicle (UAV)
Method, which comprises receive the context information about the unmanned vehicle；Using one or more processors, it is based on institute
It states context information and assesses the certification degree to the user of the unmanned vehicle or the unmanned vehicle；According to the certification
Degree realizes the certification to the unmanned vehicle or the user；And described in allowing when completing the certification of the degree
User operates the unmanned vehicle.Similarly, it can provide a kind of comprising for determining for operation unmanned flight
The non-transient computer-readable media of the program instruction of the authentication level of device (UAV), the computer-readable medium include: to be used for
Receive the program instruction of the context information about the unmanned vehicle；For being assessed based on the context information to the nothing
The program instruction of the certification degree of the user of people's aircraft or the unmanned vehicle；For being realized according to the certification degree
To the program instruction of the certification of the unmanned vehicle or the user；And for being provided when completing the certification of the degree
The program instruction for the signal for allowing the user to operate the unmanned vehicle.
A kind of unmanned vehicle (UAV) Verification System may include: communication module；And one or more processors,
It is operably coupled to the communication module and is either individually or collectively configured for: receiving about the unmanned flight
The context information of device；Recognizing to the user of the unmanned vehicle or the unmanned vehicle is assessed based on the context information
Card degree；And certification to the unmanned vehicle or the user is realized according to the certification degree.One can be provided
Kind unmanned vehicle (UAV) authentication module, comprising: one or more processors are either individually or collectively configured for:
Receive the context information about the unmanned vehicle；It is assessed based on the context information to the unmanned vehicle or described
The certification degree of the user of unmanned vehicle；And it is realized according to the certification degree to the unmanned vehicle or the use
The certification at family.
Certification degree for user and/or unmanned vehicle can be provided.In some cases, for the certification of user
Degree can be variable.Alternatively, the certification degree for user can be fixed.For the certification degree of unmanned vehicle
It can be variable.Alternatively, the certification degree for unmanned vehicle can be fixed.In some embodiments, for
The certification degree of user and unmanned vehicle can be variable.Optionally, for the certification journey of user and unmanned vehicle
Degree can be fixed.Alternatively, the certification degree for user can be certification journey that is variable and being directed to unmanned vehicle
Degree can be fixed, or the certification degree that can be fixed for the certification degree of user and be directed to unmanned vehicle can
To be variable.
Certification degree may include any certification not required for user and/or unmanned vehicle.For example, certification degree
It can be zero.Therefore, certification degree may include not authenticating to unmanned vehicle or user.Certification degree may include pair
Unmanned vehicle and user authenticate.Certification degree may include being authenticated to unmanned vehicle without carrying out to user
Certification, or may include being authenticated to user without being authenticated to unmanned vehicle.
The certification degree can be selected from for unmanned vehicle and/or multiple options of the certification degree of user.
For example, three options of the certification degree for unmanned vehicle and/or user can be provided (for example, high certification degree, medium
Certification degree or low certification degree).Can provide any number of certification degree option (for example, 2 or more, 3 or
More, 4 or more, 5 or more, 6 or more, 7 or more, 8 or more, 9 or more
A, 10 or more, 12 or more, 15 or more, 20 or more, 25 or more options).One
In a little situations, certification degree can be generated and/or determined in the case where selecting not from one or more preset selective items.It is described
Certification degree can be generated awing.
Compared to lower certification degree, higher certification degree may provide for user be identified user or
Unmanned vehicle is the higher levels of determination of identified unmanned vehicle.It is higher to recognize compared to lower certification degree
Card degree may provide for user identifier and actual user matches and/or unmanned vehicle identifier and practical nothing
The higher levels of determination that people's aircraft matches.Higher certification degree can be that relatively low certification degree is tightened up to recognize
Card process.Higher certification degree may include having the verification process of lower certification degree plus additional authentication procedures.For example,
Lower certification degree can only include username/password combination, and higher certification degree may include usemame/password group
It closes and adds AKA verification process.Optionally, higher certification degree can occupy more resources or calculate power.Optionally, compared with
High certification degree can occupy a greater amount of time.
Auth type can be adapted for any description of certification degree herein.For example, auth type use can be selected from
Multiple and different options.Auth type can indicate that or can not indicate higher certification degree.According to context information,
It can choose different types of verification process.For example, being based on context information, username/password combination can be used and be used to authenticate,
Or biometric data can be used for authenticating.According to context information, AKA verification process can occur plus biometric
Data authentication, or usemame/password can occur plus biological sample data authentication.Herein to any of selection certification degree
Description can be applicable to selection auth type.
Context information can be used for assessing certification degree.Context information may include about user, unmanned vehicle, remote control
Device, geography fence device, environmental condition, geographical conditions, timing condition, communication or network condition, task risk are (for example, attempt
Adapter tube or interference risk) information or it is any can other kinds of information related with task.Context information may include by
User, remote controler, unmanned vehicle, geography fence device, Verification System, external device (ED) are (for example, external sensor, external number
According to source) or any other device provide information.
In one example, context information may include environmental condition.For example, context information may include grasping in it
Make the environment of unmanned vehicle.The environment can be environmental form, such as rural areas, rural areas or downtown area.When
Unmanned vehicle can be than requiring higher certification journey when unmanned vehicle is located in rural areas when being located in downtown area
Degree.It can be than requiring higher to recognize when unmanned vehicle is located in rural areas when unmanned vehicle is located in downtown area
Card degree.It can be higher than being required when unmanned vehicle is located in rural areas when unmanned vehicle is located in rural areas
Certification degree.
Environmental condition may include the density of population of environment.When unmanned vehicle is located at the environment compared with high population density
It can be than requiring higher certification degree when in the environment that unmanned vehicle is located at the lower density of population when middle.When nobody
Aircraft, which is located at, can require higher certification degree when the density of population is met or exceeded in the environment of population threshold value, and work as nobody
Aircraft is located at that population degree is less than or lower than in the environment of population threshold value when can require lower certification degree.It can mention
For any number of population threshold value, it is determined for certification degree.For example, three population threshold values can be provided, wherein when
When reaching and/or being more than each threshold value, increased certification degree can be required.
Environmental condition may include the magnitude of traffic flow degree in environment.The magnitude of traffic flow may include air traffic and/
Or the magnitude of traffic flow based on surface.The magnitude of traffic flow based on surface may include ground apparatus of transport in environment and/or waterborne
Apparatus of transport.It can be than being located at when unmanned vehicle when in the environment that unmanned vehicle is located at higher magnitude of traffic flow degree
Higher certification degree is required when in the environment with lower magnitude of traffic flow degree.When unmanned vehicle is located at magnitude of traffic flow degree
Higher certification degree can be required when meeting or exceeding in the environment of magnitude of traffic flow threshold value, and when unmanned vehicle is located at traffic
Flow degree is less than or lower than in the environment of magnitude of traffic flow threshold value when can require lower certification degree.It can provide any
The magnitude of traffic flow threshold value of number, is determined for certification degree.For example, five magnitude of traffic flow threshold values can be provided, wherein
When reaching and/or being more than each threshold value, increased certification degree can be required.
Environmental condition may include the environment complexity of environment.Environment complexity can indicate that the barrier in environment
And/or potential security risk.Environment complexity factors can be used to indicate that barrier occupies the degree of environment.Environment complexity because
Son can be quantitative measurment or observational measurement.In some embodiments, can based on one or more of the following items come
Determine environment complexity factors: the number of barrier, the volume of barrier the space occupied or percentage, in unmanned vehicle
The volume or percentage in the space not hindered by the volume or percentage of barrier the space occupied, by barrier in a certain distance
Fly than, the volume in space that is not hindered by barrier in a certain distance of unmanned vehicle or percentage, barrier away from nobody
The distance of row device, obstacle density (for example, the barrier number in per unit space), the type of barrier (for example, it is static or
It is mobile), the space layout (for example, position, direction) of barrier, the movement (for example, speed, acceleration) of barrier etc..Example
Such as, the environment with relatively high obstacle density will be with high environment complexity factors (for example, indoor environment, city ring
Border) it is associated, and the environment with relatively low obstacle density will be with low environment complexity factors (for example, high idle loop
Border) it is associated.In another example the environment that wherein barrier occupies the space of larger percentage will complexity with higher
Degree, and the environment in the unimpeded space with larger percentage will have lower complexity.Then it can be based on giving birth to
At environment representation calculate environment complexity factors.It can be based on the 3-dimensional digital of environment for using sensing data and generating
It indicates to determine environment complexity factors.3-dimensional digital expression may include three-dimensional point cloud or occupancy grid.Work as unmanned vehicle
It can be than being located at when unmanned vehicle with the ring compared with low environment complexity when in the environment with higher environment complexity
Higher certification degree is required when in border.Environment complexity threshold is met or exceeded when unmanned vehicle is located at environment complexity degree
It can require higher certification degree when in the environment of value, and be less than or low when unmanned vehicle is located at environment complexity degree
Lower certification degree can be required when in the environment of environment complexity threshold.Any number of environment complexity can be provided
Threshold value is determined for certification degree.For example, two environment complexity thresholds can be provided, wherein when reaching and/or surpassing
When crossing each threshold value, increased certification degree can be required.
Environmental condition may include environmental weather conditions.The example of weather conditions can include but is not limited to temperature, precipitation,
Wind speed or wind direction or any other weather conditions.There are more extreme or potentially harmful weather conditions when unmanned vehicle is located at
Environment in when can be than being required more when unmanned vehicle is located at in less extreme or harmful weather conditions environment
High certification degree.Higher certification journey can be required when unmanned vehicle, which is located at, to be met or exceeded in the environment of weather threshold value
Degree, and be less than or lower than in the environment of weather threshold value when can require lower certification degree when unmanned vehicle is located at.It can
To provide any number of weather threshold value, it is determined for certification degree.For example, multiple weather threshold values can be provided,
In when reach and/or be more than each threshold value when, increased certification degree can be required.
Context information may include geography information.For example, context information may include the position of unmanned vehicle.Scene letter
Breath may include the geographical flight restriction for unmanned vehicle position.Some positions can be classified as sensitive position.Some
In example, the position may include airport, school, campus, hospital, military area, safety zone, research institution, administrative area terrestrial reference,
Power plant, private residence, shopping center, the position for assembling any other type of ground.In some cases, the position can be returned
Class at " sensibility " level that can indicate that position one kind or multiclass.When unmanned vehicle is located at the position compared with high sensitive
It can be than requiring higher certification degree when unmanned vehicle, which is located at, to be had compared at the position of low sensitivity when the place of setting.For example,
It can be than requiring higher certification degree when user is located at shopping center when unmanned vehicle is located at safe military installations.When
Unmanned vehicle, which is located at when susceptibility is met or exceeded at the position of position sensing threshold value, can require higher certification degree,
And when unmanned vehicle is located at, susceptibility is less than or lower than at the position of position sensing threshold value when can require lower to recognize
Card degree.Any number of position sensing threshold value can be provided, certification degree is determined for.For example, can provide
Multiple position sensing threshold values, wherein increased certification degree can be required when reaching and/or being more than each threshold value.
Context information may include time-based information.Time-based information may include certain a period of time in one day
Between, some day, date, month, season, season, time or any other time-based information in one week.Compared to other
Period can require higher certification degree for these periods.For example, in one with higher historical traffic flows
Higher certification degree can be required in some day in week.For certain in one day with higher historical traffic flows or accident
One time can require higher certification degree.For the season with more extreme amblent air temperature, can require higher to recognize
Card degree.When the time is within one or more specified times, higher certification degree can be required.It can provide any
The specified time range of number, is determined for certification degree.For example, ten time ranges can be provided, and for
Each time range needs different certification degree or type.It in some cases, can be with during determining certification degree
Weight is assigned simultaneously for a plurality of types of time ranges.Such as, it may be considered that in one day sometime with one week in it is a certain
It and be its assign weight, to determine certification degree.
Context information may include the information about user.Context information may include the identity of user.The identity of user
It can indicate that user type.Context information may include user type.The example of user type may include the technical ability of user
Horizontal and/or experience.As herein other everywhere described in any other user information may be used as context information.When user has
Having can be than requiring higher certification degree when user has more technical ability or experience when less technical ability or experience.When with
Family can require lower certification degree when having the technical ability or experience level that meet or exceed technical ability or empirical value, and work as and use
Family can be more demanding when there is the technical ability or experience level less than or equal to technical ability or empirical value certification degree.It can mention
For any number of technical ability or empirical value, it is determined for certification degree.For example, three technical ability or experience can be provided
Threshold value, wherein reduced certification degree can be required when reaching and/or being more than each threshold value.
Context information may include the information about unmanned vehicle.Context information may include the body of unmanned vehicle
Part.The identity of unmanned vehicle can indicate that unmanned vehicle type.Context information may include unmanned vehicle type.Nothing
The example of people's type of aircraft may include the model of unmanned vehicle.As herein other everywhere described in any other nobody
Aircraft information may be used as context information.It can compare when unmanned vehicle model is model that is more complicated or being more difficult to operation
Higher certification degree is required when unmanned vehicle model is model that is simpler or being physically easier to perform.When unmanned flight's type
Number complexity or difficulty higher certification degree can be required when meeting or exceeding complexity or difficulty threshold value, and when nobody flies
The complexity or difficulty of row type number can require lower certification degree when being less than or equal to complexity or difficulty threshold value.It can be with
Any number of complexity or difficulty threshold value are provided, certification degree is determined for.For example, four complexities can be provided
Or difficulty threshold value, wherein increased certification degree can be required when reaching and/or being more than each threshold value.
Context information may include the complexity of being executed by unmanned vehicle for task.Unmanned vehicle is during task
One or more tasks can be executed.Task may include flying along flight path.Task may include collecting about nobody
The information of aircraft environment.Task may include transmitting the data from unmanned vehicle.Task may include picking up, carrying
And/or place payload.Task may include the power managed on unmanned vehicle machine.Task may include monitoring or photography
Task.In some cases, money is more calculated or handled on unmanned vehicle machine when having used during completion task
When source, task complexity can be higher.In one example, it detects mobile target and follows the movement using unmanned vehicle
The task of target can be more more complicated than the task of the music of the loudspeaker played pre-recorded from unmanned vehicle.Work as unmanned flight
It can be than requiring higher certification degree when unmanned vehicle task is simpler when having a high regard for business more complicated.When unmanned flight has a high regard for
Business complexity can require higher certification degree when meeting or exceeding task complexity threshold, and when unmanned vehicle task is multiple
Lower certification degree can be required when miscellaneous degree is less than or equal to task complexity threshold.It is multiple that any number of task can be provided
Miscellaneous degree threshold value, is determined for certification degree.For example, multiple tasks complexity threshold can be provided, wherein when reach and/
Or when being more than each threshold value, increased certification degree can be required.
Context information may include the information about communication system around.For example, the presence of wireless signal or not in environment
In the presence of the example that can be context information.In some cases, can provide influence one or more surrounding wireless signals can
Energy property is as context information.The number of wireless signal can be influenced or can not be influenced to wireless around one or more in environment
A possibility that signal has an impact.Provided that greater number of signal, then there may be they at least one of may
It is affected compared with high likelihood.The security level of wireless signal can be influenced or can not be influenced to one or more in environment
A possibility that surrounding wireless signal has an impact.For example, the wireless signal with some guarantees is more, then they will be affected
A possibility that it is smaller.It can be more one or more than when influencing when higher when influence one or more surrounding wireless signals a possibility that
A possibility that surrounding wireless signal, requires higher certification degree when lower.It can when influence one or more surrounding wireless signals
When energy property meets or exceeds communication threshold, higher certification degree can be required, and when the one or more surrounding wireless communications of influence
Number a possibility that be less than or equal to communication threshold when, lower certification degree can be required.Any number of communication can be provided
Threshold value is determined for certification degree.For example, multiple communication thresholds can be provided, wherein when reaching and/or being more than each
When threshold value, increased certification degree can be required.
The risk of the operation of unmanned vehicle is interfered to can be the example of context information.Context information may include about nothing
Information of people's aircraft by hacker attacks/abduction risk.Another user can attempt to take over control in an unauthorized manner
Unmanned vehicle.It can be than when hacker attacks/abduction risk be lower when there are higher hacker attacks/abduction risk
Seek higher certification degree.Higher certification can be required when hacker attacks/abduction risk meets or exceeds risk threshold value
Degree, and lower certification degree can be required when hacker attacks/abduction risk is less than or equal to risk threshold value.It can mention
For any number of risk threshold value, it is determined for certification degree.For example, multiple risk threshold values can be provided, wherein when
When reaching and/or being more than each threshold value, increased certification degree can be required.
Context information may include the information about the risk of interference unmanned vehicle communication.For example, it is another without permission
User can interfere the communication of authorized user and unmanned vehicle in an unauthorized manner.Unauthorized user can
To interfere order of the authorized user to unmanned vehicle, this may be influenced to the control to unmanned vehicle.Without permission
User can interfere the data that the device of authorized user is sent to from unmanned vehicle.When there are higher interference, nobody flies
It can be than requiring higher certification degree when the risk for interfering unmanned vehicle to communicate is lower when the risk of row device communication.When dry
The risk of unmanned vehicle communication is disturbed when meeting or exceeding risk threshold value, higher certification degree can be required, and when interference nothing
When the risk of people's aircraft communication is less than or equal to risk threshold value, lower certification degree can be required.Any number can be provided
Purpose risk threshold value is determined for certification degree.For example, multiple risk threshold values can be provided, wherein when reaching and/or
When more than each threshold value, increased certification degree can be required.
Context information may include the information about one or more groups of air traffic control.Context information may include about region
In flight restriction degree information.This can fly limitation or history flight restriction based on current.Flight restriction can be by controlling
Entity applies.When there are can be than when there are lower flight restriction degree in region when higher flight restriction degree in region
The higher certification degree of Shi Yaoqiu.It can be required when the flight restriction degree in region meets or exceeds threshold limit higher
Certification degree, and lower certification degree can be required when the flight restriction degree in region is less than or equal to threshold limit.
Any number of threshold limit can be provided, certification degree is determined for.For example, multiple threshold limits can be provided,
Wherein when reaching and/or being more than each threshold value, increased certification degree can be required.
During determining the certification degree for user and/or unmanned vehicle, can individually or in combination it make
With any kind of context information.The type of used context information can remain identical or can change.When commenting
When estimating a plurality of types of context informations, them can be assessed substantially simultaneously to obtain the determination to certification degree.Multiple types
Context information can be considered as equal factor.Alternatively, weight can be assigned for a plurality of types of context informations, and different
Surely it needs for equal factor.Context information type with bigger weight can have bigger shadow to identified certification degree
It rings.
The determination to certification degree can be made on unmanned vehicle machine.Unmanned vehicle can receive and/or generate
Used context information.The one or more processors of unmanned vehicle can be from external data source (for example, Verification System)
Or the data source (for example, sensor, clock) on unmanned vehicle machine receives context information.In some embodiments, one
Or multiple processors can receive information from the air traffic control system outside unmanned vehicle machine.Information from air traffic control system can be evaluated
To determine certification degree.Information from air traffic control system can be context information, or can be additional to other each places herein
The type of the context information of description.The context information received can be used to make determination in one or more processors.
The determination to certification degree can be made except unmanned vehicle.For example, determination can be made by Verification System.
In some cases, the air traffic control system outside unmanned vehicle machine or authentication center can make the determination about certification degree.Recognize
The one or more processors of card system can from external data source (for example, unmanned vehicle, external sensor, remote controler) or
Data source (for example, clock, the information about other unmanned vehicles) in Verification System receives context information.In some implementations
In mode, one or more of processors can be except unmanned vehicle, remote controler, distance sensor or Verification System
Other external device (ED)s receive information.The context information received can be used to make determination in one or more of processors.
In another case, determination can be made on the remote controler of user.Remote controler, which can receive and/or generate, to be made
Context information.The one or more processors of remote controler can be from external data source (for example, Verification System) or remote controler
On data source (for example, memory, clock) receive context information.In some embodiments, one or more processors can
To receive information from the air traffic control system except remote controler.Information from air traffic control system can be evaluated to determine certification degree.Come
It can be context information from the information of air traffic control system, or other described context information classes everywhere herein can be additional to
Type.The context information received can be used to make determination in one or more of processors.
In making the determination to certification degree based on context information, any other external device (ED) can be used.It can be with
Using single external device (ED) or multiple external device (ED)s can be used in conjunction with.Other external device (ED)s can receive from machine external source or
The context information in airborne source.Other external device (ED)s may include the context information that receives can be used with make determining one or
Multiple processors.
What Figure 10 showed embodiment according to the present invention can be by the diagram for the air traffic control grade that certification degree is influenced.It can be with
The air traffic control of operation of unmanned vehicle can be influenced by generating one group.One group of air traffic control can be generated based on certification degree.
Can the certification degree based on completion and generate one group of air traffic control.It is contemplated that whether successfully passing certification.Certification degree can
To be suitable for any part of system, such as unmanned vehicle certification, user authentication, remote controler certification, geography fence device are recognized
The certification of card and/or any other type.
In some embodiments, when authenticating the increase of degree 1010, air traffic control grade 1020 can be reduced.If
Through forming higher certification degree, then the limitation to flight can be relatively not concerned with and need.Certification degree and air traffic control grade
It can be inversely proportional.Certification degree and air traffic control grade can linearly (for example, linear inverse ratio).Certification degree and fly
Row control grade can be with exponentially ratio (for example, exponentially inverse ratio).It can be mentioned between certification degree and air traffic control grade
For any other inverse relation.In the alternative, the relationship can be directly proportional.The relationship can directly at
Linear scale, direct exponentially ratio or any other relationship.Air traffic control grade can depend on performed certification degree.
In the alternative, air traffic control grade can be unrelated with certification degree.Can about or can be not in relation to certification journey
It spends and selects air traffic control grade.When the degree of certification is lower, restricted higher one group of air traffic control can be generated.Work as certification
When degree is higher, restricted lower one group of air traffic control can be generated.Can be based on or can be not based on certification degree and
Generate one group of air traffic control.
One aspect of the present invention is related to a kind of method of the air traffic control grade of the operation of determination for unmanned vehicle,
The described method includes: assessing the user to the unmanned vehicle or the unmanned vehicle using one or more processors
Certification degree；The certification to the unmanned vehicle or the user is realized according to the certification degree；Recognized based on described
Card degree and generate one group of air traffic control；And the operation of the unmanned vehicle is realized according to one group of air traffic control.
Similarly, embodiments of the present invention can be related to a kind of program comprising for determining the air traffic control grade of unmanned vehicle
The non-transient computer-readable media of instruction, the computer-readable medium include: for assess to unmanned vehicle or nobody
The program instruction of the certification degree of the user of aircraft；For being realized according to the certification degree to the unmanned vehicle or institute
State the program instruction of the certification of user；For generating the program instruction of one group of air traffic control based on the certification degree；And
For providing the program instruction for allowing the signal operated according to one group of air traffic control to unmanned vehicle.
A kind of unmanned vehicle Verification System can be provided, comprising: communication module；And one or more processors,
Be operably coupled to the communication module and be either individually or collectively configured for: assessment is to the unmanned vehicle
Or the certification degree of the user of the unmanned vehicle；It is realized according to the certification degree to the unmanned vehicle or described
The certification of user；And one group of air traffic control is generated based on the certification degree.A kind of unmanned vehicle authentication module can be with
Include: one or more processors, be either individually or collectively configured for: assessment is to the unmanned vehicle or described
The certification degree of the user of unmanned vehicle；It is realized according to the certification degree to the unmanned vehicle or the user
Certification；And one group of air traffic control is generated based on the certification degree.
If other are described everywhere herein, certification degree may include being not necessarily to appoint user and/or unmanned vehicle
What is authenticated.For example, certification degree can be zero.Therefore, certification degree may include not recognizing unmanned vehicle or user
Card.Certification degree may include authenticating to both unmanned vehicle and user.Certification degree may include to unmanned flight
Device is authenticated without authenticating to user, or may include user is authenticated without to unmanned vehicle into
Row certification.
The certification degree can be selected from for unmanned vehicle and/or multiple options of the certification degree of user.
For example, three options of the certification degree for unmanned vehicle and/or user can be provided (for example, high certification degree, medium
Certification degree or low certification degree).Can provide any number of certification degree option (for example, 2 or more, 3 or
More, 4 or more, 5 or more, 6 or more, 7 or more, 8 or more, 9 or more
A, 10 or more, 12 or more, 15 or more, 20 or more, 25 or more options).One
In a little situations, certification degree can be generated and/or determined in the case where selecting not from one or more preset selective items.It is described
Certification degree can be generated awing.Unmanned vehicle and/or user can be authenticated according to certification degree.Such as
Fruit/and when unmanned vehicle and/or user pass through verification process, then it can be considered as certified.If unmanned vehicle and/
Or user undergoes but unauthenticated process, then it can be considered as unauthenticated.For example, identifier/key mismatch can
Example when being unauthenticated.Biometric number that is provided, not matching with the biometric data about file
According to another example when can be unauthenticated.There is provided incorrect login username/password combination can be not by recognizing
Additional example when card process.
Information about certification degree may include the level or type for the certification having occurred and that.The horizontal or type can
To be qualitative and/or quantitative.Information about certification degree may include recognizing for the one or more types having occurred and that
Card.About certification degree information may include be collected into during certification data (for example, if certification include processing biology
Data can then provide described biological data itself).
One group of air traffic control can be generated based on certification degree.Any description of certification degree can also be applied herein
In auth type.Can according to such as herein other everywhere described any technology and generate one group of air traffic control.For example, passing through
One group of air traffic control is selected from multiple groups air traffic control to generate one group of air traffic control.It from the beginning in another example, can be
Start to generate one group of air traffic control.One group of air traffic control can be generated by means of input from the user.
One group of air traffic control can be generated by means of one or more processors.The generation of one group of air traffic control can
To occur on unmanned vehicle machine.Unmanned vehicle can receive and/or generate used certification degree.Unmanned vehicle
One or more processors can be from data sources on external data source or unmanned vehicle machine about certification degree
Information.In some embodiments, one or more of processors can be received from the air traffic control system outside unmanned vehicle machine
Information.The information from air traffic control system can be assessed to generate one group of air traffic control.One or more of processors can make
With the information about certification degree received to make determination.
The generation of one group of air traffic control can occur outside unmanned vehicle machine.For example, one group of air traffic control
Generation can be realized by Verification System.In some cases, the air traffic control system outside unmanned vehicle machine or authentication center can be with
Generate one group of air traffic control.The one or more processors of Verification System can be from the number on external data source or Verification System
The information about certification degree is received according to source.In some embodiments, one or more of processors can fly from nobody
Other external device (ED)s except row device, remote controler, distance sensor or Verification System receive information.One or more of processing
The information about certification degree received can be used to make determination in device.
In another case, the generation of one group of air traffic control can occur on the remote controler of user.Remote controler
Certification degree used in can receive and/or generating.The one or more processors of remote controler can from external data source or
Information of the data sources about certification degree on remote controler.In some embodiments, one or more of processing
Device can receive information from the air traffic control system except remote controler.The information from air traffic control system can be assessed to generate one group of flight
Control.The information about certification degree can be used to make determination in one or more of processors.
During generating one group of air traffic control based on certification degree, any other external device (ED) can be used.It can
To use single external device (ED) or multiple external device (ED)s can be used in conjunction with.Other external device (ED)s can be with slave external source or airborne
Source receives the information about certification degree.Other external device (ED)s may include one or more processors, and the processor can be with
Use the information about certification degree received to make determination.
Unmanned vehicle can be operated according to one group of air traffic control.The user of unmanned vehicle can issue realization
One or more orders of the operation of unmanned vehicle.The order can be issued by means of remote controler.It can abide by described
The operation of unmanned vehicle is realized in one group of air traffic control.If one or more order does not comply with one group of air traffic control,
Then it can keep abiding by one group of air traffic control so as to unmanned vehicle with order described in override.When the order abides by described one
When group air traffic control, the order is not necessarily to by override and can realize in the case where not interfering with to unmanned flight
The control of device.
Device identification storage
Figure 11 shows the example for storing device information in memory of embodiment according to the present invention.It can provide
Storage system 1110.It can provide from one or more user 1115a, 1115b, one or more user terminals
The information of 1120a, 1120b and/or one or more unmanned vehicle 1130a, 1130b.The information may include one
A or multiple orders, associated user identifier, associated unmanned vehicle identifier, associated timing information and
Any other associated information.One or more groups of information 1140 can be stored.
Storage system 1110 may include one or more Memory Storage Units.Storage system can be with
Including one or more databases, the database can store information described herein.Storage system can wrap
Include computer-readable medium.One or more electronic memory modules can be provided, such as memory (for example, read-only memory, with
Machine accesses memory, flash memory) or hard disk." storage " class medium may include computer, processor etc. or it is associated
Module in any or all of tangible memory, various semiconductor memories, magnetic tape drive, disk drive etc. can
To provide the non-transient storage for software programming at any time.In some embodiments, non-volatile memory medium example
It such as include CD or disk, any storage device in any one or more computers etc. such as can be used for realizing number
According to the medium in library etc..Volatile storage medium includes dynamic memory, the main memory of such computer platform.Tangible
Transmission medium includes coaxial cable, copper wire and optical fiber comprising includes the conducting wire of bus in computer system.Carrier-wave transmission is situated between
Matter can take the form of electric signal or electromagnetic signal or sound wave or light wave, such as logical in radio frequency (RF) and infrared (1R) data
Those of generated during letter.Therefore computer-readable medium common form for example, floppy disk, flexible disk, hard disk, tape,
Any other magnetic medium, CD-ROM, DVD or DVD-ROM, any other optical medium, card punch paper tape, with sectional hole patterns
Any other physical storage medium, RAM, ROM, PROM and EPROM, FLASH-EPROM, any other memory chip or boxlike
Memory, the carrier wave of transmission data or instruction, the cable of the such carrier wave of transmission or link or computer can be compiled from wherein reading
Any other of range code and/or data medium.Many in the computer-readable medium of these forms can participate in carrying one
A or multiple instruction one or more sequences are to processor, for executing.
Storage system may be provided at single position, or can be distributed on multiple positions.In some realities
It applies in mode, storage system may include single Memory Storage Unit or multiple Memory Storage Units.It can mention
For cloud computer architecture.In some cases, reciprocity (P2P) storage system can be provided.
Storage system can be provided outside unmanned vehicle machine.It can above be mentioned in the device outside unmanned vehicle
For storage system.Storage system can be provided except remote controler.It can be on the device outside remote controler
Storage system is provided.Storage system can be provided except unmanned vehicle and remote controler.Memory storage
System can be a part of Verification System.Storage system can be a part of air traffic control system.Memory storage system
System may include one or more memory cells, and the memory cell can be the one of the Verification Systems such as air traffic control system
A or multiple memory cells.Alternatively, storage system can mutually be separated with Verification System.Storage system can be with
Possessed and/or operated by same entity with Verification System.Alternatively, storage system can be from Verification System by different realities
Body possesses and/or operates.
Communication system may include one or more loggers.One or more loggers can receive from communication system
Any device data.For example, one or more loggers can receive the data from one or more unmanned vehicles.
One or more loggers can receive the data from one or more users and/or remote controler.One or more can be passed through
A logger and one or more Memory Storage Units are provided.For example, unmanned vehicle, user can be come from by receiving
And/or one or more message of remote controler one or more loggers and one or more Memory Storage Units are provided.
One or more loggers can have or can not have the limited range for receiving information.For example, logger can be matched
It is set to for receiving data from the device being located in same physical region with the logger.For example, when unmanned vehicle is located at
When in the firstth area, the first logger can receive the information from the unmanned vehicle, and when unmanned vehicle is located at second
When in area, the second logger can receive the information from the unmanned vehicle.Alternatively, logger does not have limited range
And it can receive the information from device (for example, unmanned vehicle, remote controler), regardless of described device is located at where.Note
Record device can be Memory Storage Unit and/or can transmit the information summarized to Memory Storage Unit.
Information from one or more user 1115a, 1115b can be stored in storage system.The letter
Breath may include user identity information.The example of user identity information may include user identifier (for example, User ID 1, user
ID2, User ID 3 ...).User identifier can be uniquely user.In some cases, information from the user can
To include the information for helping to be identified user and/or authenticate.Information from one or more users may include closing
In the information of user.Information from one or more users may include one or more orders from the user (for example, life
Enable 1, order 2, order 3, order 4, order 5, order 6 ...).One or more order may include realizing unmanned vehicle
The order of operation.One or more order can be used for controlling that the flight of unmanned vehicle, the taking off of unmanned vehicle, nobody flies
The landing of row device, the operation of the payload of unmanned vehicle, the operation of the carrier of unmanned vehicle, on unmanned vehicle machine
The operation of one or more sensors, one or more communication units of unmanned vehicle, unmanned vehicle one or more
Any feature of power cell, one or more navigation elements of unmanned vehicle and/or unmanned vehicle.Any other
The information of type can be provided from one or more users, and can be stored in storage system.
In some embodiments, all user's inputs can be stored in storage system.Alternatively, only selected
User input can be stored in storage system.In some cases, only certain form of user inputs storage
In storage system.For example, in some embodiments, only user identifier input and/or command information are stored in
In storage system.
User can mention optionally with the aid of one or more user terminals 1120a, 1120b to storage system
For information.User terminal can be the device that can be interacted with user.User terminal can be can be with unmanned vehicle
The device interacted.User terminal, which can be, to be configured for sending one or more operational orders to unmanned vehicle
Remote controler.User terminal can be arranged to based on the information received from unmanned vehicle and show the display device of data.
User terminal can send information to unmanned vehicle simultaneously and receive information from unmanned vehicle.
User can provide information to storage system by means of the device of any other type.For example, can be with
One or more computers or other devices are provided, user's input can be received.Described device can be to depositing
Reservoir storage communication user input.Described device with unmanned vehicle without interacting.
User terminal 1120a, 1120b can provide information to storage system.User terminal can provide about
The information of user, the information of user command or any other type.User terminal can be provided about user terminal itself
Information.For example, user terminal identification can be provided.In some cases, user identifier and/or user terminal mark can be provided
Know symbol.User key and/or user terminal key can be optionally provided.In some instances, user is not provided about user
Any input of key, but can store on the subscriber terminal or can be can be by user terminal access for user key information
's.In some cases, user key information can be stored on the physical storage of user terminal.Alternatively, user key is believed
Breath can be stored in machine outer (for example, being stored on cloud) and can be can be by user terminal access.In some embodiments
In, user terminal can transmit user identifier and/or associated order.
Unmanned vehicle 1130a, 1130b can provide information to storage system.Unmanned vehicle can provide
Information about the unmanned vehicle.For example, unmanned vehicle identification information can be provided.Unmanned vehicle identification information
Example may include unmanned vehicle identifier (for example, unmanned vehicle ID1, unmanned vehicle ID2, unmanned vehicle
ID3……).Unmanned vehicle identifier can be uniquely unmanned vehicle.In some cases, unmanned flight is come from
The information of device may include the information for helping that the unmanned vehicle is identified and/or is authenticated.From one or more
The information of unmanned vehicle may include the information about the unmanned vehicle.Letter from one or more unmanned vehicles
Breath may include that the one or more received by the unmanned vehicle is ordered (for example, ordering 1, order 2, order 3, ordering
4, order 5, order 6 ...).One or more of orders may include realizing the order of the operation of unmanned vehicle.It is described
One or more order can be used for controlling the flight of unmanned vehicle, the taking off of unmanned vehicle, the landing of unmanned vehicle,
The operation of the payload of unmanned vehicle, the operation of the carrier of unmanned vehicle, the one or more on unmanned vehicle machine
The operation of sensor, one or more communication units of unmanned vehicle, one or more power cells of unmanned vehicle, nothing
One or more navigation elements of people's aircraft and/or any feature of unmanned vehicle.The information of any other type
It can provide from one or more unmanned vehicles and can be stored in storage system.
In some embodiments, can before the relevant information of user is stored in storage system to
Family is authenticated.For example, can obtain user identifier and/or by storage system store the user identifier it
It is preceding that user is authenticated.Therefore, in some implementations, only certified user identifier is stored in storage system
In.Alternatively, user needs not move through certification, and the user identifier claimed can be stored in memory storage system before certification
In system.If having passed through certification, the instruction that user identifier has been verified can be made.It, can if unauthenticated
To make the instruction that user identifier has been marked as suspicious activity, or makes and carry out failure using the user identifier
Authentication attempt instruction.
It is alternatively possible to fly before the relevant information of unmanned vehicle is stored in storage system to nobody
Row device is authenticated.For example, can obtain unmanned vehicle identifier and/or by storage system store it is described nobody
Unmanned vehicle is authenticated before aircraft identifier.Therefore, in some implementations, only certified unmanned vehicle
Identifier is stored in storage system.Alternatively, unmanned vehicle needs not move through certification, and the unmanned vehicle claimed
Identifier can be stored in storage system before certification.If having passed through certification, unmanned flight can be made
The instruction that device identifier has been verified.If unauthenticated, unmanned vehicle identifier can be made and be marked as
The instruction of suspicious activity, or make the instruction for carrying out the authentication attempt of failure using the unmanned vehicle identifier.
In some embodiments, only just allow one or more fly when user is authorized to operation unmanned vehicle
Line command.Can or before whether can not being authorized to operation unmanned vehicle determining user to the user and/or
The unmanned vehicle is authenticated.It can be before allowing user's operation unmanned vehicle to the user and/or the nothing
People's aircraft authenticates.In some cases, only when user is authorized to operation unmanned vehicle, storage system
In order can just be stored.Order only when user and/or unmanned vehicle are by certification, in storage system
It can just be stored.
Memory Storage Unit can store one or more groups of information 1140.The multipacket message may include to use by oneself
Family, user terminal and/or unmanned vehicle information.The multipacket message may include one or more orders, user identifier
Symbol, unmanned vehicle identifier and/or associated time.User identifier can be associated with the user for issuing order.Nothing
People's aircraft can be associated with reception and/or exectorial unmanned vehicle.Time can be sending and/or receive order
Time.Time can be the time by order storage in memory.Time can be unmanned vehicle it is exectorial when
Between.In some cases, single order can be provided for a single group information.Alternatively, can be mentioned for a single group information
For multiple orders.The multiple order may include the order issued by user and correspond to life by what unmanned vehicle received
It enables.Alternatively, single order can be provided, the order can be recorded when issuing from user, or can be flown by nobody
Row device is received and/or is recorded when being executed by unmanned vehicle.
Therefore, relevant order can be provided for multipacket message.For example, first can be stored when user issues and orders
Group information.Can reflect out when user issues order or when a group information stores for the time of the first group information
In storage system.It is alternatively possible to using the data from remote controler to provide the first group information.Work as unmanned flight
When device receives order, the second group information can be stored.When can reflect out unmanned vehicle for the time of the second group information
It receives order or when a group information is stored in storage system.It is alternatively possible to fly using from nobody
The data of row device are to provide the second group information based on relevant order.When unmanned vehicle, which executes, orders, the can be stored
Three group informations.It can reflect out when unmanned vehicle executes order or a group information for the time of third group information
When it is stored in storage system.It is alternatively possible to using the data from unmanned vehicle to be based on relevant life
It enables and third group information is provided.
Storage system can be stored about the more of the specific interaction between the first user and the first unmanned vehicle
Group information.For example, multiple orders can be issued during the interaction between the first user and the first unmanned vehicle.Interaction can be with
It is the execution of task.In some cases, Memory Storage Unit can only store the information about specific interaction.Alternatively, depositing
Reservoir storage system can be stored about multiple interactions (for example, multiple tasks) between the first user and the first unmanned vehicle
Information.Storage system optionally can store information according to user identifier.Number associated with the first user
According to can store together.Alternatively, Memory Storage Unit can store information according to unmanned vehicle identifier.With first
The associated data of unmanned vehicle can store together.Memory Storage Unit can be according to user-unmanned vehicle
Interaction is to store information.For example, with the first unmanned vehicle and the first user, associated data can be stored together jointly.?
Under some cases, memory can be stored in only with respect to user, unmanned vehicle or user-unmanned vehicle combination information
In storage unit.
Alternatively, storage system can be stored about the more of the interaction between multiple users and/or unmanned vehicle
Group information.Storage system can be the data storage bank for collecting the information from multiple users and/or unmanned vehicle.
Storage system can store the information from multiple tasks, may include each user, each unmanned vehicle and/
Or each user-unmanned vehicle combination.In some cases, information collection in storage system, which can be, can search for
Or can index.It can be according to any parameter, such as user identity, unmanned vehicle identity, time, user-unmanned vehicle
Combination, command type, position or any other information, to search or index information collection.Letter can be stored according to any parameter
Breath collection.
In some cases, it can analyze the information in storage system.Information collection be can analyze to detect one
Or multiple behavior patterns.Information collection be can analyze so that detect may one or more characteristics related with accident or undesirable condition.
For example, the data can be extracted if specific user continually makes the unmanned vehicle of specific model crash.Show another
Example in, if another user tend to attempt manipulation unmanned vehicle enter according to one group of air traffic control without allow fly ground
Qu Zhong can then extract such information.Statistical analysis can be executed to the information collection in Memory Storage Unit.Such system
Meter analysis can contribute to mark trend or correlative factor.For example, it may be noted that certain unmanned vehicle models in general may be used
There is higher accident rate than other unmanned vehicle models.Information collection be can analyze with determination: when the temperature drop in environment
When to 5 degrees Celsius or less, higher unmanned vehicle failure rate may be typically present.Therefore, it can be deposited with comprehensive analysis memory
Information in storage system is to summarize the information of the operation about unmanned vehicle.Such comprehensive analysis is not necessarily in response to specific
Event or scene.
The information in storage system can be analyzed in response to specific event or scene.For example, if
Unmanned vehicle occurs to crash, then can analyze information associated with the unmanned vehicle to provide about crash into one
Walk jurisdictional information.If unmanned vehicle crash occurs during task, the information that can will be collected into during the task
Collection is pulled together and is analyzed.For example, the mismatch between the order of sending ordered and received can be identified.It can be with
Environmental condition when analysis is crashed.It can analyze the presence of other unmanned vehicles or barrier in area.In some embodiment party
In formula, information collection from other tasks, for unmanned vehicle can also be pulled.For example, in other tasks, Ke Yijian
It measures and exempts to hit by sheer good luck or failure there are several.What such information needed to take after determining crash reason and/or crashing appoints
What can be useful during acting.
The information of information concentration can be used to track the unmanned vehicle activity of individuation.It is, for example, possible to use one
Or multiple orders, associated one or more user identifiers and associated one or more unmanned vehicle identifiers
To track the unmanned vehicle activity of individuation.
Information collection can be with stored command, user information, unmanned vehicle information, timing information, location information, environmental condition
Information, air traffic control information or any condition detected.Any information can correspond to order.For example, geography information can be with
Position including unmanned vehicle and/or remote controler when issuing order.Geography information can indicate that unmanned vehicle is
It is no to fall into the area for considering air traffic control purpose.Environmental condition may include one or more environmental conditions in region.Example
Such as, when sending or receiving order, it may be considered that the environment complexity of unmanned vehicle peripheral region.It is contemplated that when issue or
The weather that unmanned vehicle is undergoing when receiving order.Order can occur a time point.
It can be with real-time update storage system.For example, they can be with when sending, reception and/or when executing order
Any other information for carrying out self-information collection is recorded in storage system together.This can occur in real time.Can issue,
Receive and/or it is exectorial be less than 10 minutes, 5 minutes, 3 minutes, 2 minutes, 1 minute, 30 seconds, 15 seconds, 10 seconds, 5 seconds, 3 seconds,
Any relevant information that stored command and information are concentrated in 1 second, 0.5 second or 0.1 second.Information collection can store in any way
Or it is recorded in storage system.When information collection enters, can recorde the information collection without consider other parameters, it is all
Such as user identity, unmanned vehicle identity or user-unmanned vehicle combination.Or, it may be considered that other parameters and record it
?.For example, all information collection for same user can store together.Even if information collection does not store all together, it
Be also possible to it is can search for and/or can indexing, to find associated information.For example, if being directed to the letter of specific user
Point enters and records together with the information collection from other users breath collection in different times, then information collection, which can be, can search for
, to find all information collection associated with the user.
In the alternative, storage system may not need real-time update.Storage system can be with
Regular or irregular time interval and be updated periodically.For example, storage system can weekly, daily, per several
Hour, per hour, per half an hour, it is 15 minutes every, 10 minutes every, 5 minutes every, 3 minutes every, per minute, 30 seconds every, 15 seconds every,
Every 10 seconds, every five seconds or update per second.In some cases, renewal time table can be provided, the renewal time table may include
Regular or irregular renewal time.Renewal time table can be fixed, or can be modifiable.In some cases
Under, renewal time table can be changed by the manipulator of storage system or manager.Renewal time table can be by certification system
The manipulator of system or manager's change.The user of unmanned vehicle can or can can not change the renewal time
Table.The user of unmanned vehicle can change the renewal time table of unmanned vehicle associated with the user.User
It can change the renewal time table that the user is authorized to the unmanned vehicle of operation.
Device storage system can be updated storage in response to the event or situation that detect.For example, when memory storage system
When manipulator's solicited message of system, storage system can be requested or be pulled from one or more external sources (for example, distant
Control device, unmanned vehicle, user) information collection.In another example, when situation (crash such as the detected) hair detected
When raw, storage system can request or pull information collection.In some instances, one or more external source (examples
Such as, remote controler, unmanned vehicle, user) it can be to storage system pushed information collection.For example, if unmanned vehicle
The unmanned vehicle is detected close to flight restricted area, then the unmanned vehicle can be pushed away to storage system
It delivers letters breath collection.In another example, if remote controler or unmanned vehicle are recognized there may be some interference wireless signals,
They can be to Memory Storage Unit pushed information collection.
One aspect of the present invention can be related to a kind of method for recording unmanned vehicle (UAV) behavior, the method packet
It includes: receiving unmanned vehicle identifier, the unmanned vehicle identifier uniquely identifies out institute from other unmanned vehicles
State unmanned vehicle；User identifier is received, the user identifier uniquely identifies out the user from other users,
Described in user one or more orders are provided via remote controler to realize the operations of the unmanned vehicle；And at one
Or recorded in multiple Memory Storage Units it is one or more of order, it is associated with one or more of orders described in
User identifier and the unmanned vehicle identifier associated with one or more of orders.Similarly, according to this
The embodiment of invention, can provide a kind of includes for recording the non-transient of the program instruction of unmanned vehicle (UAV) behavior
Computer-readable medium, the computer-readable medium include: for by user identifier and one or more from the user
Associated program instruction is ordered, wherein the user identifier uniquely identifies out the user from other users, and
Wherein the user provides one or more orders via remote controler to realize the operation of the unmanned vehicle；For by nothing
People's aircraft identifier program instruction associated with one or more of orders, wherein the unmanned vehicle identifier from
The unmanned vehicle is uniquely identified out in other unmanned vehicles；And in one or more Memory Storage Units
In record it is one or more of order, the user identifier associated with one or more of orders and with it is described
One or more orders the program instruction of the associated unmanned vehicle identifier.
Embodiment according to the present invention can provide a kind of unmanned vehicle (UAV) behavior record system.The system
It may include: one or more Memory Storage Units；And one or more processors, it is operably coupled to described one
It a or multiple Memory Storage Units and is either individually or collectively configured for: receiving unmanned vehicle identifier, institute
It states unmanned vehicle identifier and uniquely identifies out the unmanned vehicle from other unmanned vehicles；Receive user identifier
Symbol, the user identifier uniquely identifies out the user from other users, wherein the user mentions via remote controler
The operation of the unmanned vehicle is realized for one or more orders；And remember in one or more Memory Storage Units
Record it is one or more of order, the user identifier associated with one or more of orders and with it is one
Or multiple associated unmanned vehicle identifiers of order.
Information collection can be stored any a period of time by storage system.It in some cases, can be indefinitely
Information collection is stored, until they are deleted.It can permit or can not allow to delete information collection.It in some cases, can be with
Only the manipulator of storage system or manager is allowed to interact with the data being stored in storage system.?
Under some cases, it can be deposited only to allow the manipulator of Verification System (for example, air traffic control system, authentication center) with memory is stored in
Data in storage system interact.
It is alternatively possible to be automatically deleted the information collection over time, become.The period can preestablish.Example
Such as, it can be automatically deleted the information collection after a predetermined period of time being greater than.The example of predetermined amount of time may include but unlimited
In 20 years, 15 years, 12 years, 10 years, 7 years, 5 years, 4 years, 3 years, 2 years, 1 year, 9 months, 6 months, 3 months, 2 months, 1 month, 4
Week, 3 weeks, 2 weeks, 1 week, 4 days, 3 days, 2 days, 1 day, 18 hours, 12 hours, 6 hours, 3 hours, 1 hour, 30 minutes or 10 points
Clock.In some cases, only after a predetermined time period has elapsed, information collection can be just deleted manually.Adapter tube control
In some embodiments, the operation of unmanned vehicle may be compromised.In one example, user can grasp
Make unmanned vehicle.Another user (for example, hijacker) can attempt adapter tube control unmanned vehicle in an unauthorized manner.
Systems and methods described herein can permit the such trial of detection.Systems and methods described herein can also provide
To such response kidnapped and attempted.In some embodiments, can analyze the information collected in storage system with
Detection is kidnapped.
Figure 12 show embodiment according to the present invention, hijacker attempts the scene of adapter tube control unmanned vehicle and shows
Figure.User 1210 can be used user remote controller 1215 and issue user command to unmanned vehicle 1220.Hijacker 1230 can
To use hijacker's remote controler 1235 to issue hijacker's order to unmanned vehicle 1220.Hijacker's order can be interfered
The user command.
In some embodiments, user 1210 can be the authorized user of unmanned vehicle 1220.User can be with
Unmanned vehicle has initial relation.User can optionally carry out unmanned vehicle registered in advance.User can kidnap
Person attempts to operate the unmanned vehicle before adapter tube control unmanned vehicle.In some cases, if user is that nobody flies
The authorized user of row device, then the user can operate the unmanned vehicle.If user is not the warp of unmanned vehicle
Authorized user, then the user can not be allowed to operate the unmanned vehicle, or can operate institute in a manner of being relatively limited
State unmanned vehicle.
User identity can be authenticated.In some cases, can before user's operation unmanned vehicle to
Family identity is authenticated.Can determine user whether be unmanned vehicle authorized user prior to, concurrently with, or after to institute
User is stated to authenticate.If user can operate unmanned vehicle by certification, the user.If user is without recognizing
Card, then the user can not be allowed to operate the unmanned vehicle, or can be operated in a manner of relatively limited it is described nobody
Aircraft.
User remote controller 1215 can be used to control the operation of unmanned vehicle 1220 in user 1210.Remote controler can obtain
Take family input.Remote controler can transmit user command to unmanned vehicle.User command, which can be, to be inputted and is given birth to based on user
At.User command can control the operation of unmanned vehicle.For example, user command can control the flight of unmanned vehicle
(for example, flight path, take off, land).User command can control the operation of one or more payload, one or more
The position of payload, the operation of one or more carriers, the operation of one or more sensors, one or more communication units
Operation, the operation of one or more navigation elements and/or the operation of one or more power cells.
In some cases, user command can persistently be sent to unmanned vehicle.Even if user does not lead at a time
It is dynamic that input is provided, or to keep status or sent out based on recently entering of being provided from the user to unmanned vehicle
It loses one's life order.For example, if user's input includes the movement of control stick and user makes control stick be maintained at special angle, it can be with
Flight orders are sent to unmanned vehicle based on control stick angle known from previous movement.It in some cases, can be with
User's input is persistently provided to remote controler, even if user does not move actively or physically changed anything.For example, if user is defeated
Enter including remote controler being tilted to particular pose and user does not adjust the posture set up, then can be obtained based on test constantly
To the remote controler posture and persistently provide user input.For example, if remote controler is angled within the period of extension
A, then during the period, user's input can be read as " posture of remote controler is angle A ".It can be to unmanned vehicle
Flight orders are transmitted, the flight orders indicate the flight orders in response to " remote controler is in angle A ".It can be with real-time update
For the user command of unmanned vehicle.User command can be reflected less than 1 minute, 30 seconds, 15 seconds, 10 seconds, 5 seconds, 3 seconds, 2
User's input in second, 1 second, 0.5 second, 0.1 second, 0.05 second or 0.01 second.
Optionally, without persistently sending user command to unmanned vehicle.It can be by rule or irregular time cycle
To send user command.For example, can less equal than per hour, it is 30 minutes every, 15 minutes every, 10 minutes every, 5 points every
Clock, 3 minutes every, per minute, 30 seconds every, 15 seconds every, 10 seconds every, every five seconds, it is 3 seconds every, 2 seconds every, 1 second every, every 0.5 second or every 0.1
User command is sent in second.User command can be sent according to timetable.Timetable may or may not be that can change
's.User command can be sent in response to one or more events that detect or situation.
User command can be received by unmanned vehicle 1220.When the user command and hair received at unmanned vehicle
When the user command from user remote controller 1215 being sent to match, the unmanned vehicle can be according to order from the user
And it operates.When the order of sending matches with the order received, the communication link between unmanned vehicle and remote controler can
To be operable.If the order issued and the order received match, the order may be dropped.Some
In embodiment, if the order issued and the order received mismatch, the order may be dropped (for example, distant
Communication link between control device and unmanned vehicle may be dropped), or interfere order that may have been sent from.
Hijacker's remote controler 1235 can be used to control the operation of unmanned vehicle 1220 in hijacker 1230.Remote controler can
To obtain hijacker's input.Remote controler can transmit hijacker's order to unmanned vehicle.Hijacker's order can be based on misfortune
The person of holding input and generate.Hijacker orders the operation that can control unmanned vehicle.For example, hijacker's order can control nothing
The flight (for example, flight path, take off, land) of people's aircraft.Hijacker's order can control one or more payload
Operation, the position of one or more payload, the operation of one or more carriers, the operation of one or more sensors,
The operation of one or more communication units, the operation of one or more navigation elements and/or one or more power cells
Operation.
In some cases, hijacker's order can be persistently sent to unmanned vehicle.This can by be similar to how to
The mode that unmanned vehicle persistently sends user command occurs.Alternatively, without persistently sending hijacker's order to unmanned vehicle.
This can occur in the way of being similar to and how to be not necessarily to persistently send user command to unmanned vehicle.It can not advise by rule or
The time cycle of rule sends hijacker's order.Hijacker's order can be sent according to timetable.Can in response to one or
Multiple events detected or situation and send hijacker order.
Hijacker's order can be received by unmanned vehicle 1220.When the hijacker's order received at unmanned vehicle
When matching with transmission from hijacker's order of hijacker's remote controler 1235, the unmanned vehicle can be robbed according to coming from
The order for the person of holding and operate.When the order of sending and the order received match, unmanned vehicle and hijacker's remote controler
Between communication link can be it is operable.When the order that is received by unmanned vehicle with from hijacker's receiver controller
When the order of sending matches, hijacker may successful adapter tube control unmanned vehicle.In some cases, when nobody flies
When row device orders according to hijacker and executes one or more operations, hijacker may successfully take over control unmanned flight
Device.When unmanned vehicle executes one or more operations not according to user command, hijacker may successfully have been taken over.
When receiving hijacker's order at unmanned vehicle, unmanned vehicle can also receive or can not receive use
Family order.In a type of abduction, the communication link between unmanned vehicle and hijacker's remote controler may interfere with described
Communication link between unmanned vehicle and user remote controller.This may prevent user command from reaching unmanned vehicle, Huo Zheke
User command can be made only unreliably to be received by unmanned vehicle.Hijacker order can by or can not be by unmanned flight
Device receives.In some embodiments, when hijacker issues the order of adapter tube control unmanned vehicle, hijacker connects may
Interfere user's connection.In this scene, unmanned vehicle may only receive hijacker's order.Unmanned vehicle can be according to abduction
Person orders and operates.In another embodiment, when the different orientation unmanned vehicle of hijacker sends order, hijacker's connection
It may interfere with user's connection.The interference of signal can be enough to constitute the abduction to unmanned vehicle or the user to unmanned vehicle
The hacker attacks of operation.Unmanned vehicle can not receive any order optionally (for example, can stop what reception was previously entered
User command).Unmanned vehicle can have one or more default-actions, when losing the communication with user, can occur
The default-action.For example, unmanned vehicle can be hovered with original place.In another example, unmanned vehicle, which can be back to, appoints
Business starting point.
In another type of abduction, unmanned vehicle can receive user command and hijacker's order.Unmanned flight
Communication link between device and hijacker's remote controler is not necessarily required to interfere between the unmanned vehicle and user remote controller
Communication link.Unmanned vehicle can be ordered according to hijacker and be operated.Unmanned vehicle can choose orders according to hijacker
And operate, and ignore user command.Alternatively, the unmanned vehicle can be adopted when unmanned vehicle receives multiple groups order constantly
Take one or more default-actions.For example, unmanned vehicle can be hovered with original place.In another example, unmanned vehicle can be with
It is back to task starting point.
Hijacker can be the individual of uncommitted operation unmanned vehicle.Hijacker can be not to unmanned vehicle into
The pre-registered individual of row.Hijacker can be uncommitted take over from user and control to operate the individual of unmanned vehicle.It can
By other means to be authorized hijacker to operate unmanned vehicle.However, when user has operated unmanned vehicle,
Hijacker can not be authorized to the operation for interfering the user.
Systems and methods described herein may include detecting the interference to one or more orders from the user.This
It may include the abduction to unmanned vehicle.When user command does not reach unmanned vehicle, the user command may be by
Interference.User command may be interfered due to the communication connection between unmanned vehicle and hijacker.In some cases,
Hijacker may attempt to the signal between interference user and unmanned vehicle.It can be in response to the logical of hijacker and unmanned vehicle
Believe and signal interference occurs.Alternatively, hijacker is not necessarily to interfere between user and unmanned vehicle with unmanned vehicle communication
Signal.For example, hijacker's device, which can also broadcast, may interfere with even if hijacker's device does not issue any hijacker's order
The signal of the communication of user and unmanned vehicle.Even if user command reaches unmanned vehicle, the user command may also can
It is interfered.If unmanned vehicle executes operation not according to user command, the user command may be interfered.Example
Such as, unmanned vehicle can choose according to hijacker's order rather than user command and execute operation.Or unmanned vehicle can be with
Selection takes default-action or does not take action to replace user command.
Hijacker order can with or can not be contradicted with user command.Unwarranted communication, which may interfere with, to be come from
One or more orders of the user of contradictory order are provided to unmanned vehicle.In one example, user command can be real
The flight of existing unmanned vehicle and hijacker's order can realize flight in different ways.For example, user command can order
Unmanned vehicle turn right and hijacker order can order unmanned vehicle move on.User command can order unmanned flight
Device around pitch axis rotate and hijacker order can order unmanned vehicle around yaw axes rotate.
Other than detecting interference, the system and method for this paper can also allow in response to it is detecting, to from user
One or more orders interference and the movement taken.The movement may include alerting user about interference.It is described dynamic
Work may include alerting one or more other party (for example, manipulator or manager of Verification System) about interference.It is described dynamic
Work may include one or more default-actions (for example, landing, original place hover, are back to starting point) of unmanned vehicle.
One aspect of the present invention is related to the method that user is alerted when the operation of unmanned vehicle is compromised, the side
Method includes: the operation authenticated to user to realize unmanned vehicle；From receive user input remote controler receive one or
Multiple operations ordered to realize unmanned vehicle；Detect one or more lives of the unwarranted, interference from the user
The communication of order；And via the remote controler, the user is alerted about the unwarranted communication.In similar side
Face, can provide it is a kind of comprising for when the operation of unmanned vehicle is compromised alert user program instruction it is non-transient
Computer-readable medium.The computer-readable medium may include: for being authenticated user to realize unmanned vehicle
Operation program instruction；For one or more orders being received from the remote controler for receiving user's input to realize unmanned vehicle
Operation program instruction；And the program for generating the warning to be supplied to the user via the remote controler refers to
It enables, the unwarranted communication of one or more orders of the warning about detected, interference from the user.
Embodiment according to the present invention, can provide a kind of unmanned vehicle warning system, and the unmanned vehicle is alert
Announcement system includes: communication module；And one or more processors, be operably coupled to the communication module and individually
Ground is jointly configured for: the operation to realize unmanned vehicle is authenticated to user；It is inputted from reception user
Remote controler receives one or more orders to realize the operation of unmanned vehicle；One or more from the user is interfered in detection
The unwarranted communication of a order；And signal is generated to warn via the remote controler about the unwarranted communication
Accuse the user.Unmanned vehicle alert module may include: one or more processors, either individually or collectively be configured
At being used for: being authenticated the operation to realize unmanned vehicle to user；From receive user input remote controler receive one or
Multiple operations ordered to realize unmanned vehicle；One or more orders of the detection interference from the user are without permission
Communication；And signal is generated to alert the user about the unwarranted communication via the remote controler.
Unwarranted communication may include hijacker's order.Unwarranted communication can indicate that unwarranted use
The abduction at family is attempted.Hijacker's order can optionally include one or more lives of the operation for controlling unmanned vehicle
It enables.Unwarranted communicate indicates that the signal interference of unauthorized user is attempted.Cause the unwarranted of signal interference
Communication is without including hijacker's order for controlling the operation of unmanned vehicle.
The warning about unwarranted communication can be generated.Can to attempt the user of operation unmanned vehicle, to another
One individual (for example, the manipulator and/or manager of Verification System, the individual in law enforcement agency, emergency service individual) and/or
Warning is provided to controlled entity.
Can visually, audibly and/or tactile warning is provided.For example, can be on the display screen of user remote controller
Warning is provided.For example, the text or image for indicating unwarranted communication can be provided.It can provide and indicate and have occurred pair
The text or image of the interference of user command.In another example, warning can be provided via user remote controller and acoustically.With
Family remote controler can have the loudspeaker that can produce sound.Sound can indicate that unwarranted communication.Sound can indicate
Out to the interference of user command.Can via remote controler and tactile warning is provided.User remote controller can be vibrated or beat.
Alternatively, user remote controller can be trembleed, heating or turn cold, deliver mild electrical shock or provide any other tactile instruction.Tactile effect
Fruit can indicate that unwarranted communication.Haptic effect can indicate that the interference to user command.
Warning can indicate that the type of unwarranted communication.It can be from one or more kinds of unwarranted communication
The type of the unwarranted communication is selected in class.For example, unwarranted communication can be antagonism flight orders, signal
Communication, antagonism payload operational order or antagonism communication (for example, the data transmission) order of interference.Warning can regard
Different types of unwarranted communication is distinguished in feel.For example, different text and/or image can be provided.Warning can be
Acoustically distinguish different types of unwarranted communication.For example, different sound can be provided.Different sound can be not
Same words or different tones.Warning can distinguish different types of unwarranted communication in tactile.For example, can make
With different vibration or bounce.
It may be implemented to detect the various modes of unwarranted communication.For example, when associated with unwarranted communication
User identifier can detecte not without certification or when not indicating the user through allowing to interact with unmanned vehicle
Authorized communication.For example, hijacker may unauthenticated be user.In some cases, individual hijacker can be extracted
Identifier.It can determine hijacker's identifier not and be the individual of authorized operation unmanned vehicle or be not authorized from user
Take over the individual of the control to operation.In some cases, hijacker can also be identified using key information.For example, can be with
The information about hijacker's key is extracted in experience mark and/or verification process.Hijacker's key may not be with user key
Match.Hijacker cannot access the key of user.Therefore the hijacker can be identified as non-user.Hijacker's communication can
It is identified as non-user communication.In some cases, hijacker can not generate user identifier and/or user key.
It makes comparisons when between the user command issued from remote controler and/or the order received at unmanned vehicle
When, it can detecte unwarranted communication.If not receiving user command at unmanned vehicle, one or more is dry
Disturbing unwarranted communication may have occurred and that.When unwarranted communication reduces between user remote controller and unmanned vehicle
When the effect of communication channel, unwarranted communication can detecte.Can or can be not based on it is unwarranted communication and
One or more contradictory orders are provided to unmanned vehicle.For example, one or more contradictory orders can be hijacker and fly
Line command, hijacker's flight orders may be contradicted with user command.It can carry out receiving unmanned vehicle contradictory
The detection of order.In other cases, contradictory order is not received at unmanned vehicle, and unmanned vehicle may not detect
To contradictory order.Not receiving can be enough to indicate that unwarranted communication has disturbed user from the order that user issues
Order.
When making comparisons between the user command issued from remote controler and the operation carried out by unmanned vehicle, Ke Yijian
Measure unwarranted communication.If unmanned vehicle is not acted according to user command, one or more interference is without awarding
The communication of power may have occurred and that.This can occur in the first stage, wherein communication can occur in user remote controller and nobody
Between aircraft.This is likely to occur in second stage, and the stage receives order in unmanned vehicle and executes with unmanned vehicle
Between the time of order.The example of unwarranted communication type in the first stage is provided above.For being in second stage
Unwarranted communication, user command can receive by unmanned vehicle.However, alternative contradictory order can also be by nothing
People's aircraft receives.Unmanned vehicle can be operated according to alternative contradictory order.The order that user issues flies with nobody
Mismatch between the movement of row device can indicate that unwarranted communication.In another example, unmanned vehicle can connect
User command and alternative contradictory order are received, but due to the conflict of order essence, movement can not be taken or can be adopted
Take default-action.Movement lacks or default-action can provide the mismatch between user command and the operation of unmanned vehicle.
In some cases, it can analyze from storage system (for example, memory storage as illustrated in Figure 11
System) data to detect unwarranted communication.It can analyze the data from one or more groups of information.In some embodiment party
In formula, the order for being stored in information concentration can be compared.For example, multipacket message can be stored, the information collection and user and nothing
Specific intercorrelation connection between people's aircraft.The multipacket message collection may include the order issued by remote controler, by nobody
Order aircraft received order and/or executed by unmanned vehicle.If flown by the order that remote controler issues with by nobody
Row device it is received order match, then between user remote controller and unmanned vehicle communication generate interfere risk it is very low or
There is no risk.If the order issued by remote controler is mismatched with by the received order of unmanned vehicle, to remote controler and nothing
The risk that communication between people's aircraft generates interference is very high.If unmanned vehicle receives different order or if nothing
People's aircraft does not receive order, then ordering may mismatch.If held by the order that remote controler issues with by unmanned vehicle
Capable order matches, then the risk of unwarranted Communication Jamming user command is very low or does not have risk.If by remote controler
The order of sending and the operation of unmanned vehicle mismatch, then the risk of unwarranted interference user command is very high.Some
In the case of, the mistake of unmanned vehicle operation may occur in the case where no hijacker interference.For example, unmanned vehicle can
To receive user command, but can not be executed according to the order.The life from storage system can be compared
It enables or other data is to detect the interference to user command.
In some cases, the data such as order data can be pulled from individual device without residing at storage
In device storage system.For example, user command data can be pulled from remote controler and/or can be pulled from unmanned flight
The order data of device, and can be compared.
Hijacker can be the individual for taking over control unmanned vehicle from user without permission.However, in other cases,
Herein other everywhere as described in, can permit adapter tube control.For example, the user with more high precedence or higher operation grade
It can take over control.The user can be management user.The user can be law enforcement agency member or emergency service
Member.The user can have herein other everywhere as described in any characteristic.It is taken over when user is authorized to from initial user
When control, unmanned vehicle can have different reactions.Being readily applicable to herein to any description of authorized user can
The autonomous or semiautonomous system of control unmanned vehicle is taken over from user.For example, computer can take over control in some cases
Unmanned vehicle processed, and unmanned vehicle can be operated according to one or more groups of codes, logic or instruction.Computer can be with
Unmanned vehicle is operated according to one group of air traffic control.
System can distinguish unwarranted adapter tube and authorized adapter tube.If adapter tube by authorization, can be with
Authorized user is allowed to continue adapter tube control unmanned vehicle.When adapter tube is without authorization, then nobody can be re-established
Communication between aircraft and initial user can stop the communication between unmanned vehicle and unauthorized user, can be with
Warning is provided to one or more individuals, unmanned vehicle can take one or more default flight responses, and/or warp
The entity of authorization can adapter tube control unmanned vehicle.
The example that the scene of authorized adapter tube can occur is described herein.Unmanned vehicle can be sent comprising signature
Message.The message may include about each of flight control command, the GPS location of unmanned vehicle and/or temporal information
The information of seed type.Any other information of the operation about unmanned vehicle or unmanned vehicle can be sent (for example, can be with
Send the information about unmanned vehicle payload, the information of the positioning about unmanned vehicle payload, about using
The payload and the information of the data that are collected into, about unmanned vehicle one or more sensors information, about
The information for the data being collected into using one or more of sensors, about unmanned vehicle communication information, about
The information of the navigation of unmanned vehicle, the electricity information or any other information that use about unmanned vehicle).Some
In the case of, message can be received by air traffic control system.
If air traffic control system discovery unmanned vehicle from the information that unmanned vehicle sends (for example, broadcast) enters limited
Region, then air traffic control system can warn the unmanned vehicle or dissuade unmanned vehicle continuation activity in this region from.It can
With by means of or can without the help of such as herein other described geography fence device determines confined area everywhere.It is limited
Region can be optionally the volume assigned or the space of assigned area top.User can not be authorized to manipulation, and nobody flies
Row device enters in confined area.Unmanned vehicle can not be authorized into confined area.In some embodiments, it is any nobody
Aircraft, which is not authorized to, enters confined area.Alternatively, some unmanned vehicles can be authorized into confined area, but the area
Domain may be limited only to the unmanned vehicle by user's control.
It can send and warn to user via the communication connection between air traffic control system and user.For example, can be to
It sends and warns with the user remote controller that user interacts.User, which can be, operates institute when unmanned vehicle enters confined area
State the individual of unmanned vehicle.Optionally, it can also send and warn to unmanned vehicle first, the warning is then via nobody
Communication connection between aircraft and user and be sent to user.Any intermediate device or network can be used to relay warning
To user.If therefore user does not interrupt the unwarranted flight of unmanned vehicle, air traffic control system can take over the nothing
People's aircraft.Unmanned vehicle can be given for a period of time to allow the unmanned vehicle to leave confined area.If nobody
Aircraft does not leave confined area during the period of time, then air traffic control system can take over control to the behaviour of the unmanned vehicle
Make.If unmanned vehicle continues to travel further into confined area and do not start steering, air traffic control system can take over control
Operation to the unmanned vehicle.Any description for entering limited area to unmanned vehicle herein can be adapted in needle
To any other activity of unwarranted unmanned vehicle under one group of air traffic control of unmanned vehicle.For example, this can be with
Including when unmanned vehicle is located in the region for not allowing to photograph, the unmanned vehicle collects image with camera.It can be with
It similarly issues and warns to unmanned vehicle.Can or can not air traffic control system adapter tube before give the unmanned flight
Device some times abide by.
After the process of starting adapter tube control, air traffic control system can be used digital signature and is remotely controlled with sending to unmanned vehicle
Order.Such remote control command can have the reliable digital signature and digital certificate of air traffic control system, can prevent from forging
Control command.The digital signature and digital certificate of air traffic control system can not be forged.
The flight control units of unmanned vehicle can identify the remote control command from air traffic control system.From air traffic control system
The priority of remote control command can be configured to the priority higher than remote control command from the user.Therefore, air traffic control system can be located
In operation grade more higher than user.These orders from air traffic control system can be recorded by authentication center.Unmanned vehicle
Original user also can be notified that the order from air traffic control system.The original user can be notified that air traffic control system is being taken over.It is former
Beginning user could be aware that or can be unaware of the details that unmanned vehicle how is controlled about air traffic control system.In some embodiment party
In formula, user remote controller can show the information that unmanned vehicle how is controlled about air traffic control system.For example, working as air traffic control system control
When unmanned vehicle processed, the data such as positioning of unmanned vehicle can be shown in real time on a remote control.From air traffic control system
Order can be provided by the manipulator of air traffic control system.For example, air traffic control system, which can use, has adapter tube control unmanned vehicle
Ability one or more management users.It in other cases, can be in the case where being not necessarily to human intervention by means of one
Or multiple processors and automatically provide the order from air traffic control system.Can according to one or more parameters, by means of one or
Multiple processors generate the order.For example, if unmanned vehicle enter the unmanned vehicle unauthorized entry into
Confined area, then the one or more processors of air traffic control system, which can be generated, leaves the restricted area for the unmanned vehicle
It makes a return voyage in domain.In another example, the path for unmanned vehicle starting landing can be generated in air traffic control system.
Air traffic control system can guide unmanned vehicle to leave confined area.Then, control can be given back to original use
Family.Alternatively, air traffic control system can allow unmanned vehicle suitably to land.Therefore, authorized connect can be allowed in each scene
Pipe.In contrast, it can detecte unwarranted adapter tube.Can take as herein other everywhere described in without permission
Adapter tube one or more responses.For example, authorized entity can take over control from unwarranted hijacker, nobody flies
Row device.Air traffic control system may be at operation grade more higher than unwarranted hijacker.Air traffic control system can from without
The hijacker of authorization takes over control unmanned vehicle.In some embodiments, higher operation etc. can be awarded in air traffic control system
Grade.Alternatively, high operation grade can be awarded in air traffic control system, and one or more government entities can have higher operation etc.
Grade.Air traffic control system can have operation grade more higher than all private users.
It can detecte the deviation of unmanned vehicle behavior.The deviation of unmanned vehicle behavior may be due to one or more
The activity of hijacker and occur.The deviation of unmanned vehicle behavior may be due to unmanned vehicle and/or user remote controller
Failure and occur.In one example, unmanned vehicle behavior may include flight.Herein to unmanned vehicle flight
Any description of deviation can be adapted for the deviation of the unmanned vehicle behavior of any other type, such as payload behavior,
The deviation that payload positioning, carrier operation, sensor operations, communication, navigation and/or electricity use.
Figure 13 shows the example of the unmanned vehicle flight deviation of embodiment according to the present invention.Unmanned vehicle 1300 can
To have the travel path 1310 of prediction.However, the Actual path 1320 of unmanned vehicle can be different from predicted path.At certain
At one time point, the predicted position 1330 of unmanned vehicle can be determined.However, the physical location 1340 of unmanned vehicle can be with
It is different.In some embodiments, the distance between predicted position and physical location d can be determined.
It can determine the predicted path 1310 that unmanned vehicle is advanced.Data from user remote controller are determined for
Information about predicted path.For example, user can to remote controler provide input, and remote controler can based on user input and
One or more flight orders are provided to unmanned vehicle.Flight orders from remote controler can be flown by unmanned vehicle and be controlled
Unit processed receives, and the flight control units can send one or more control signals to unmanned vehicle propulsion unit with reality
The existing flight orders.In some embodiments, it is determined for by one or more flight orders that remote controler is sent
The predicted path of unmanned vehicle.For example, if flight orders order unmanned vehicle continues straight forward, it can be desirable to pre-
Path is surveyed to continue to straight forward.During calculating predicted path, it may be considered that posture/direction of unmanned vehicle.
Flight orders can lead to the maintenance or adjustment to unmanned vehicle direction, this can be used for influencing flight path.
At any given time at point, the predicted position 1330 of unmanned vehicle can be determined based on predicted path.
During calculating predicted position, it may be considered that the prediction of unmanned vehicle is mobile, and such as predetermined speed and/or prediction accelerate
Degree.Such as, if it is determined that predicted path is that forward and unmanned vehicle speed keeps stablizing straight, then can calculate pre-
Location is set.
It can determine the Actual path 1320 that unmanned vehicle is advanced.Data from one or more sensors can be used
In the determining information about Actual path.For example, unmanned vehicle can have one or more Airborne GPS sensors, it is described
GPS sensor can be used for determining the coordinate of unmanned vehicle in real time.In another example, unmanned vehicle can be used one
Or multiple inertial sensors, visual sensor and/or ultrasonic sensor provide the navigation to unmanned vehicle.It may be implemented more
Sensor merges the position to determine unmanned vehicle.It, can be based on sensing data come really at any given time at point
Determine the physical location 1340 of unmanned vehicle.Unmanned vehicle can carry one or more sensors, and such as other are each herein
Those of place description sensor.One or more of described sensor can be other described any biographies everywhere herein
Sensor.In some cases, the data from airborne sensor are determined for Actual path and/or the position of unmanned vehicle
It sets.In some cases, one or more machine outer sensors are determined for Actual path and/or the position of unmanned vehicle
It sets.For example, multiple cameras can be provided in known position and can capture the image of unmanned vehicle.It can analyze described
Image is to detect the position of unmanned vehicle.In some cases, the sensor and unmanned vehicle machine on unmanned vehicle machine
The combination of outer sensor is determined for Actual path and/or the position of unmanned vehicle.One or more of sensings
Device can operate independently of unmanned vehicle and can optionally can not be by user's control.One or more of sensors
It can be located on unmanned vehicle machine or outside unmanned vehicle machine, while still be operated independently of unmanned vehicle.For example, nobody
Aircraft can have the GPS tracking device that user may not control.
It can determine the gap d between the predicted position of unmanned vehicle and the physical location of unmanned vehicle.Some
In the case of, distance d can be calculated by means of one or more processors.Unmanned vehicle predicted position and nobody can be calculated
Coordinate difference between aerocraft real position.Coordinate can be provided as world coordinates.Alternatively, coordinate can be provided as part
Coordinate and one or more conversions can be carried out to global coordinate system or to same local coordinate system.
For determine the one or more processors of the gap can be located at unmanned vehicle machine, on remote controler or
Person may be provided on outside unmanned vehicle and remote controler.In some cases, one or more of processors can be sky
A part of guard system or any other part of Verification System.In some embodiments, one or more of processors
It can be a part of flight supervision module, air traffic control module or traffic administration module.
In one example, the order from remote controler can be transferred into unmanned vehicle and can also be examined by air traffic control system
It surveys.Air traffic control system directly can receive order from remote controler or via one or more intermediate devices or network.Memory
Storage system (for example, storage system in Figure 11) can receive order.Storage system can be blank pipe system
A part of system can be accessed by air traffic control system.Number from sensor (being located on unmanned vehicle machine and/or outside machine)
According to can be received by air traffic control system.Air traffic control system can be directly from sensor, via unmanned vehicle or via in any other
Between device or network carry out receiving sensor data.Storage system can receive or can not receiving sensor data.
In some embodiments, there may be some naturally inclined between the predicted path and Actual path of unmanned vehicle
Difference.However, when deviation is larger, due to kidnap or failure or exist to any other harm of unmanned vehicle increase it is inclined
Poor possibility.This can be adapted for any kind of unmanned vehicle Deviant behavior and is not necessarily limited to fly.In some cases
Under, it can be estimated that distance d is to determine abduction or failure or to any other risk endangered of unmanned vehicle.It can be based on institute
Distance is stated to determine that risk indicates.In some cases, risk instruction, which can be, indicates (for example, risk is deposited the binary of risk
Still it is being not present).For example, if distance be maintained at predetermined value hereinafter, if can not provide risk instruction.If distance is more than
Predetermined value can then provide the risk instruction to abduction or failure.In other cases, risk can be indicated to be provided as one
Or multiple types or level.For example, can indicate high risk level if distance meets or exceeds first threshold.If away from
From falling between first threshold and lower second threshold, then medium risk level can be indicated.If distance falls in the second threshold
Value is hereinafter, can then indicate low-risk level.In some cases, risk level can be substantially continuous, or can be with
With many types.For example, risk instruction can be it is quantitative.Percentage risk can be provided based on distance.For example, being based on
Deviation can provide 74% abduction or failure risk.
In some cases, deviation can be so as to providing the single factor of risk instruction.In other embodiments, with
The other factors that deviation combines are determined for the risk to be presented instruction.For example, under first group of environmental condition, it is specific
The deviation of distance can indicate that unmanned vehicle is compromised the high risk of (for example, kidnapping, failure), and in second group of environment
Under the conditions of, identical specific range can indicate that the low-risk that unmanned vehicle is compromised.For example, at calm one day,
It can indicate that away from 10 meters of deviation of predicted position and have occurred and that some form of abduction or failure.However, at one day that has wind,
10 meters of deviation can present it is lower abduction or failure risk because wind the deviation of flight path will be made more to have can
Energy.
During determining risk instruction it is contemplated that factor may include environmental condition (for example, amblent air temperature (wind,
Precipitation, temperature), the magnitude of traffic flow, environment complexity, obstacle), the movement (for example, speed, acceleration) of unmanned vehicle, communication
Condition (for example, signal strength, blackout or a possibility that there are interference signals), the sensitivity (example of unmanned vehicle type
Such as, turning, stability) or any other factor.
The risk instruction that unmanned vehicle is not operated according to one or more flight orders can be provided.This may include
The degree of risk that unmanned vehicle is endangered.This may include flight operation, payload operation, carrier operation, sensor behaviour
Make, communication, navigation, electricity uses or the unmanned vehicle of any other type described herein operates.Unmanned vehicle row
For relatively large deviation can correspond to unmanned vehicle not according to one or more flight orders operate high risk degree.?
In some embodiments, the Deviation Type of unmanned vehicle behavior is assessed to determine degree of risk.For example, unmanned vehicle flies
Row deviation can and the movable deviation of payload treat with a certain discrimination.In some embodiments, it is possible to distinguish treat unmanned flight
The position deviation of device and the velocity deviation of unmanned vehicle.
Aspect of the invention can be related to a kind of method of flight deviation for detecting unmanned vehicle, which comprises
The one or more flight orders provided by user from remote controler are provided；By means of one or more processors, it is based on described one
A or multiple flight orders and the predicted position for calculating the unmanned vehicle；By means of one or more sensors to detect
State the physical location of unmanned vehicle；The predicted position is compared with the physical location with the determination unmanned flight
The deviation of device behavior；And deviation based on the unmanned vehicle behavior and provide the unmanned vehicle not according to described one
A or multiple flight orders and operate risk instruction.Furthermore it is possible to provide a kind of comprising for detecting flying for unmanned vehicle
The non-transient computer-readable media of the program instruction of row deviation, the computer-readable medium include: for based on by user
The program instruction of the predicted position of the unmanned vehicle is calculated from one or more flight orders of remote controler offer；For
The program instruction of the physical location of the unmanned vehicle is detected by means of one or more sensors；For by the prediction
Position is compared with the program instruction of the determination unmanned vehicle Deviant behavior with the physical location；And for being based on
The unmanned vehicle Deviant behavior and the unmanned vehicle is provided and is not operated according to one or more of flight orders
Risk instruction program instruction.
Embodiment according to the present invention can provide a kind of unmanned vehicle flight deviation detection system.The flight
Offset detection system may include: communication module；And one or more processors, it is operably coupled to the communication mould
It block and is either individually or collectively configured for: the one or more flight orders provided by user from remote controler is provided；
The predicted position of the unmanned vehicle is calculated based on one or more of flight orders；It is sensed by means of one or more
Device detects the physical location of the unmanned vehicle；The predicted position is compared with the physical location to determine
State the deviation of unmanned vehicle behavior；And generate signal with based on the unmanned vehicle Deviant behavior and provide it is described nobody
The risk instruction that aircraft is not operated according to one or more of flight orders.A kind of unmanned vehicle flight deviation detection
Module may include: one or more processors, either individually or collectively be configured for: receive by user from remote controler
One or more flight orders of offer；The prediction of the unmanned vehicle is calculated based on one or more of flight orders
Position；The physical location of the unmanned vehicle is detected by means of one or more sensors；By the predicted position and institute
Physical location is stated to be compared with the deviation of the determination unmanned vehicle behavior；And generate signal with based on it is described nobody fly
Row device Deviant behavior and the risk instruction that the unmanned vehicle do not operate according to one or more of flight orders is provided.
Risk instruction can be provided by way of caution.Warning can be provided a user via the remote controler of user.User can be with
Then it can be selected to take movement according to risk instruction.It is provided to the mutually separated air traffic control system of remote controler and unmanned vehicle
Risk instruction.Air traffic control system can then can determine whether to take movement according to risk instruction.For example, air traffic control system can be with
Adapter tube control unmanned vehicle.Air traffic control system can require user to confirm institute before determining whether adapter tube control unmanned vehicle
State whether user is still controlling the unmanned vehicle.For example, if user confirms unmanned vehicle according to the user
Order and operate, then air traffic control system, which can determine, does not take over the control unmanned vehicle.Fly if nobody is confirmed in user
Row device is operated according to the order of the user, then air traffic control system can take over the control unmanned vehicle.
In some embodiments, risk instruction can be presented to unmanned vehicle itself.Unmanned vehicle can make one
A or multiple airborne agreements are in place, and one or more of airborne agreements can initiate the one or more default from unmanned vehicle
Flight response.For example, the unmanned vehicle can if unmanned vehicle receives the report that its flight control is compromised
With automatic starting landing sequence, automatic original place hovering or it can fly in holding patterrn, task can be automatically returned to rise
Point can be flown automatically to specified " going home " position.In some embodiments, the starting point of task can be nobody and fly
The position that row device takes off." going home " position can be one group of coordinate that is scheduled, being stored in unmanned vehicle memory.?
Under some cases, the starting point of task can be arranged to position of going home.In some cases, position of going home can be user or use
The position of family remote controler.Even if user moves around, go home position also available update and the unmanned vehicle of remote controler
It can find remote controler.In some cases, user can be manually entered to go home and coordinate or be appointed as street address
Go home place.Unmanned vehicle can stop the order from external source while the flight responder of experience default.One
In a little situations, unmanned vehicle can stop the order from private user while the flight responder of experience default.
Unmanned vehicle can or can not experience default flight responder while stop come from air traffic control system or control
The order of entity processed.
The risk instruction that unmanned vehicle is not operated according to one or more flight orders may include flying about nobody
The information of row device Harm Type.For example, the risk instruction that unmanned vehicle is not operated according to one or more flight orders can
With include unmanned vehicle be held as a hostage risk instruction.In another example, unmanned vehicle does not fly according to one or more
Order and operate risk instruction may include the signal from remote controler be interfered risk instruction.In another example,
The risk instruction that unmanned vehicle is not operated according to one or more flight orders may include occurring on unmanned vehicle machine
The risk of failure indicates.Warning can transmit the information about unmanned vehicle Harm Type.Warning can be transmitted about risk
The information of degree.Warning can transmit the information about the degree of risk for the harm of various types of unmanned vehicles.For example,
Warning can indicate that generating some form of a possibility that endangering is 90%, and it is due to kidnapping that harm, which has 85% probability,
Caused by and, harm have 15% probability be as Communication Jamming and caused by, and it is due to nobody that harm, which has 0% probability,
Failure on aircraft machine and caused by.
If being different from the order issued by remote controler by the received order of unmanned vehicle, the risk kidnapped can
It can be higher.If being the order omitted in the order issued by remote controler by the received order of unmanned vehicle, communicate
The risk of interference may be higher.If matched by the received order of unmanned vehicle with the order issued by remote controler,
But unmanned vehicle operation is not ordered based on the received, then the risk of failure may be higher on machine.
Hacker attacks is readily applicable to any description of abduction herein.Hacker can intercept and capture pass to unmanned vehicle or
The one or more communications issued from unmanned vehicle.Hacker can intercept and capture the data collected by unmanned vehicle.Hacker can be with
Intercept and capture the data of one or more sensors or payload from unmanned vehicle.For example, hacker can intercept and capture from nothing
The data of image capture device on people's aircraft machine.Therefore hacker can attempt to steal data obtained.Hacker can be because
This invades the privacy of the manipulator of unmanned vehicle.Hacker can also intercept and capture the communication for passing to unmanned vehicle.For example, hacker can
To intercept and capture one or more orders from user remote controller to unmanned vehicle.Hacker can intercept and capture order to determine unmanned flight
How device will run.(otherwise the position can for the position that hacker can be used intercepted and captured order to determine unmanned vehicle
To be unconspicuous) or unmanned vehicle other activity.
Hacker may not interfere the intercepting and capturing of communication (uplink or downlink) rest part of communication.For example, working as
When hacker intercepts and captures the image stream from unmanned vehicle, the intended recipient of image still can receive image.Intended recipient
May otherwise intercepting and capturing be unaware of and had occurred and that.Alternatively, the intercepting and capturing of communication may interfere with the rest part of communication.Example
Such as, when image is trapped, the expection recipient of image may not receive image.Systems and methods described herein can be with
Help to detect and/or prevent hacker attacks.
For example, carrying out and may need to carry out device before any communication of all parts of unmanned vehicle system
Certification.For example, may need to authenticate device before receiving the communication from unmanned vehicle and/or remote controler.Only
Have when device is authorized to and receives communication, described device just can receive communication.Hacker can not be authorized to reception communication, and therefore
It can not receive communication.Similarly, if hacker attempts to issue false replacement communication, the identity of hacker may not be right
In authorized user and it should can prevent hacker from issuing false communication.Similarly, if issue false communication or from
Unauthorized user issues the trial of false communication, then can provide warning to authorized user.In some embodiments
In, communication can be encrypted.In some cases, only authorized user and/or certified user can
The communication of encryption is decrypted.For example, the hacker may also can not solve communication even if hacker wants communication interception
Close and interpretation.In some embodiments, decryption can require the key of user, and the key can be merely stored in authorized
In the physical storage of device.Therefore, hacker is likely difficult to the copy for attempting to obtain key and/or attempts to be disguised as through awarding
The user of power.
Individuation evaluation
The activity of user and/or unmanned vehicle can be evaluated.For example, the work of the user of unmanned vehicle can be evaluated
It is dynamic.It can uniquely be identified since user can be, so the activity of user can be tied to unique user identity.Therefore, by
The activity that same user executes can be associated with the user.In one example, the activity of user can be with the user
Previous aerial mission is related.Various tests, proof or Training Practicing can also be associated with user.The activity of user can be with
Refer to the operation of any unmanned vehicle unsuccessfully attempted, interfere another user that user carries out to participate in task and/
Or the communication of intercepting and capturing and the unmanned vehicle of another user.In some embodiments, can by activity and user identifier
The user is authenticated before symbol is associated.
The activity of unmanned vehicle can be evaluated.What unmanned vehicle was also possible to can uniquely to identify, and unmanned flight
The activity of device can be tied to unique unmanned vehicle identity.Therefore, the activity executed by same unmanned vehicle can be with
The unmanned vehicle is associated.In one example, the activity of unmanned vehicle can be previous with the unmanned vehicle
Aerial mission is related.Various maintenance activities, diagnosis or proof can also be associated with unmanned vehicle.The activity of unmanned vehicle
It can also include any mistake, failure or accident.In some embodiments, can by activity with unmanned vehicle identifier
The unmanned vehicle is authenticated before associated.
The one or more activity of user and/or unmanned vehicle can be evaluated.In some cases, evaluation may include
Qualitative evaluation is provided.For example, about user or unmanned vehicle any movable one or more records can with user or
The corresponding activity of unmanned vehicle and/or user or unmanned vehicle is associated.For example, flying if accident relates to nobody
Row device, then how to occur about the accident, accident, mistake is attributed to who record can be related to the unmanned vehicle
Connection.In another example, if user had previously executed many aerial missions under high wind speed and in different landform
Success is navigated, then can provide the record about these achievements.The evaluation of a kind of or multiclass can be with user and/or the user
Corresponding activity is associated.For example, user can have associated with the user if user completes many difficult tasks
The evaluation of " expert user ".If unmanned vehicle undergoes many failures or mistake, unmanned vehicle can have with it is described
The evaluation of unmanned vehicle associated " high failure risk ".
In some cases, evaluation may include providing quantitative assessment.For example, user and/or unmanned vehicle activity can
To receive grading, such as alphabetical rank or numerical value grading.Grading can about any activity of user or unmanned vehicle, and
It can be associated with the corresponding activity of user or unmanned vehicle and/or user or unmanned vehicle.For example, when user is complete
When at task, user can receive shows grading how or score about the user during task.For example, for first
Task, user can receive 7.5 gradings, and for the second task, it can receive 9.8 gradings, this shows that user may be
Show more preferably during two tasks.The other factors such as task difficulty can play a role.In some cases, for success
Being more difficult for task is completed, user can receive higher grading.In another example, user can undergo skills tests or proof
Test, and can receive and indicate user shows numerical score how.Unmanned vehicle can according to task complete how
And receive grading.For example, not breaking down during task compared to unmanned vehicle, if the unmanned vehicle is in task
Period breaks down, then the unmanned vehicle can receive lower grading.Regular dimension is not suffered from compared to unmanned vehicle
Shield, if the unmanned vehicle experiencings periodic maintenance, the unmanned vehicle grading can be higher.
When user and/or unmanned vehicle successfully complete activity with active mode, the user and/or unmanned vehicle
It can have higher overall grading.When user and/or unmanned vehicle be not successfully completed activity or may be can
When doubtful behavior, the user and/or unmanned vehicle can have lower overall grading.Therefore, user and/or nobody fly
Row device can have the movable reputation based on user and/or unmanned vehicle.
In some embodiments, evaluation system can provide one group of evaluation for user and/or unmanned vehicle.Institute
Commentary valence can automatically determine evaluation (for example, qualitative evaluation and/or quantitative assessment) by means of one or more processors, and
Without human interaction.It can be according to one or more parameters or algorithm and about the movable of user and/or unmanned vehicle
Data determine the evaluation.For example, successfully completing every time for task can mention user and/or unmanned vehicle evaluation automatically
Up to more positive result.User and/or unmanned vehicle evaluation can be automatically decreased to by failing every time for task or crash
More passive result.Therefore the evaluation can be objective.
Alternatively or additionally, evaluation can be provided by one or more human users.For example, user can evaluate he or
Herself.User can evaluate the unmanned vehicle of user's manipulation.In other cases, the peer of user can evaluate him
Or she.Peer can evaluate the unmanned vehicle manipulated by user.For example, the first user can operate the first unmanned flight
Device.Second user can observe the first user and notice that the first user is carrying out undesirable flight behavior (for example, direction
The unmanned vehicle surprise attack or threatening second user of second user).Second user can provide the passiveness to the first user
Evaluation.In another example, second user is observed that the first user is carrying out positive flight behavior (for example, executing
Difficult maneuvering flight helps second user) and Positive evaluation to the first user can be provided.
User and/or unmanned vehicle evaluation can be checked by other users.For example, the first user can check the second use
The overall assessment at family and vice versa.User can check the evaluation of the user oneself.User can take measures to try
Figure improves the grading of user.In some embodiments, only when user's evaluation reaches threshold level, system just be can permit
The activity of the user.For example, the user can just grasp in some regions only when user's evaluation reaches threshold level
Make.Only when user rating is 7.0 or higher, user can just manipulate unmanned vehicle in some regions.Flight restriction
Level can depend on user and/or unmanned vehicle is evaluated.In some cases, user and/or unmanned vehicle evaluation can
To indicate user type and/or unmanned vehicle type or vice versa.It, can when user's user's evaluation with higher
It is horizontal to provide lower flight restriction, and when user has lower user's evaluation, higher flight restriction can be provided
It is horizontal.When user has lower user's evaluation, one group of air traffic control for the user can be more stringent, and works as and use
When the user's evaluation with higher of family, one group of air traffic control for the user can be less stringent.When unmanned flight's utensil
When having the evaluation of higher unmanned vehicle, it is horizontal that lower flight restriction can be provided, and when unmanned vehicle is with lower
When unmanned vehicle is evaluated, it is horizontal that higher flight restriction can be provided.When unmanned vehicle has lower unmanned vehicle
When evaluation, one group of air traffic control for the unmanned vehicle can be more stringent, and when unmanned vehicle is with higher
When unmanned vehicle is evaluated, one group of air traffic control for the unmanned vehicle can be less stringent.
Flight monitoring
It can be desirable to air traffic control system knows unmanned vehicle position.Unmanned vehicle, which can send position to air traffic control system, to be believed
Breath.In some cases, it for guarantee and/or security purpose, can be unmanned vehicle report position information preferably.Nothing
People's aircraft regularly and initiatively can report its current location and navigation channel to air traffic control system.However, in some cases,
Unmanned vehicle can not abide by report.This can lose communication or unmanned flight between unmanned vehicle and air traffic control system
Device may maliciously conceal information intentionally or occur when providing false (forging) information.Air traffic control system can be in its directorial area
Logger is disposed in domain to monitor the state of unmanned vehicle.One or more loggers can be disposed to monitor unmanned vehicle
Activity.
Figure 14 shows the example of the monitoring system using one or more loggers of embodiment according to the present invention.Nobody
Aircraft 1410 can be provided in environment.The environment can be in the region by air traffic control system management.It can be by blank pipe
One or more loggers are provided in the region of system administration (for example, logger A 1420a, logger B 1420b, logger C
1420c……).Monitoring device or system 1430 can receive the information collected from one or more loggers.In some realities
It applies in mode, monitoring system can be air traffic control system.
In some embodiments, air traffic control system can be used for managing entire unmanned vehicle flight system.By blank pipe system
The region of reason under the overall leadership can be the whole world.In other cases, it can be limited by the region of air traffic control system management.By blank pipe
The region of system administration can be based on administrative area.For example, air traffic control system can manage entire administrative area (for example, country,
State/province and district area, city, town, village or any other administrative area) in unmanned vehicle flight system.Different air traffic control systems can be with
Manage different regions.The size in region can be similar or can be different.
Unmanned vehicle 1410 can send one for being monitored by one or more logger 1420a, 1420b, 1420c
Or multiple message.Message from unmanned vehicle may include signature.In some cases, from the message of unmanned vehicle
May include for unmanned vehicle unique identification information (for example, unmanned vehicle identifier and/or unmanned vehicle
Key information).Identification information can uniquely identify and distinguish the unmanned vehicle from other unmanned vehicles.It comes from
The message of unmanned vehicle may include any other information, such as about the information of flight control command, unmanned vehicle
GPS location (or other positions information for unmanned vehicle) and/or temporal information.The information may include being directed to
The location information (for example, GPS information) of unmanned vehicle.Temporal information may include formulating and/or transmitting the time of message.It can
To provide the time according to the clock of unmanned vehicle.
The signal obtained from these loggers 1420a, 1420b, 1420c can stamp timestamp and in air traffic control system
Summarize in 1430.The data for carrying out self-recorder can be stored in storage system.Storage system can be sky
A part of guard system or can be can by air traffic control system access.Air traffic control system can analyze the letter from data logger
Breath.Therefore, air traffic control system can collect the history control information and flight information and unmanned vehicle of unmanned vehicle
Claim GPS track.Air traffic control system can collect the operation data about unmanned vehicle, and the operation data can wrap
Include be sent to unmanned vehicle order, by unmanned vehicle it is received order, unmanned vehicle execute movement and about
The information of unmanned vehicle, the unmanned vehicle position of such as different time points.
In some embodiments, unmanned vehicle can be with air traffic control system direct communication and/or directly to storage
Device storage system provides information.Alternatively, unmanned vehicle can be with one or more logger direct communications, the logger can
To be communicated with air traffic control system and/or storage system.It in some cases, can be through about the information of unmanned vehicle
Air traffic control system is relayed to by one or more loggers.In some cases, logger can be provided and be sent out to air traffic control system
It send to the associated additional data of information of unmanned vehicle.
Air traffic control system can analyze time data to determine the position of unmanned vehicle.One aspect of the present invention can relate to
A kind of and method of the position of determining unmanned vehicle, which comprises at multiple loggers receive from it is described nobody
One or more message of aircraft；It is one or more message from the unmanned vehicle at the multiple logger
Stamp timestamp；And by means of one or more processors, the timestamp based on one or more of message and calculate institute
State the position of unmanned vehicle.A kind of the non-transient of the program instruction comprising for determining the position of unmanned vehicle can be provided
Computer-readable medium, the computer-readable medium include: for receiving at multiple loggers from the unmanned flight
The program instruction of one or more message of device；For being one from the unmanned vehicle at the multiple logger
Or multiple message stamp the program instruction of timestamp；And institute is calculated for the timestamp based on one or more of message
State the program instruction of the position of unmanned vehicle.A kind of unmanned vehicle communication position system may include: communication module；And
One or more processors, be operably coupled to the communication module and be either individually or collectively configured to based on from
One or more message that the unmanned vehicle sends and receives at multiple loggers far from the unmanned vehicle
Timestamp and calculate the position of the unmanned vehicle.
In an example for analyzing unmanned vehicle position based on time data, from the signal of different loggers transmission
Time difference be determined for the rough position of unmanned vehicle, the difference loggers, which are collected, comes from same unmanned vehicle
Same message.For example, if two loggers all receive the signal sent from specific unmanned vehicle, according to the record
The time difference of device reception signal, it is known that unmanned vehicle is being formed by time difference measuring and described two logger positions
On hyperbola.During forming hyp, two, three or more logger can be used.It therefore, can be along double
Curve claims the rough position of unmanned vehicle.Timestamp can be stamped when signal leaves unmanned vehicle, and when letter
Number reach logger when can stamp timestamp.Such information can be used for calculating the time difference.
In another example, multiple loggers can receive signal from unmanned vehicle, and can determine the time difference.When
Between poor example can be that unmanned vehicle sends signal and logger receives time difference between signal.In some cases,
When sending signal to one or more loggers, unmanned vehicle can stamp timestamp for the signal.When reception signal
When, one or more loggers can beat timestamp.Time difference between two timestamps can indicate that signal reaches record
The traveling time of device.Traveling time can be related to the rough distance from unmanned vehicle to logger.For example, compared to traveling
Time is longer, if traveling time is shorter, unmanned vehicle can be closer to logger.If multiple loggers show difference
Traveling time, then unmanned vehicle can be closer to showing the logger of smaller traveling time.For example, if unmanned vehicle
Further away from logger, then it can be desirable to the traveling time of signal is longer.Traveling time can be small chronomere.Example
Such as, traveling time can be in the magnitude of second, millisecond, microsecond or nanosecond.The timestamp of unmanned vehicle and/or logger can be with
With pinpoint accuracy (for example, second, millisecond, microsecond and/or magnitude of nanosecond).Clock on unmanned vehicle and/or logger
It can be synchronous.The clock may be used to provide timestamp.In some cases, in unmanned vehicle and/or logger
One or more clocks between may exist some biasings, but it is described biasing can be known and can compensate.Triangle
Measuring technique or other similar technology can be used for based on from unmanned vehicle to the distance of one or more loggers come really
Determine the rough position of unmanned vehicle.
In the additional example of analysis unmanned vehicle position, one or more loggers can also be strong by receiving signal
Degree instruction (RSSI) substantially determines the distance between unmanned vehicle and logger.RSSI can be to receiving at logger
The measurement of power present in signal (for example, radio signal).Higher rssi measurement value can indicate that stronger signal.
In some embodiments, wireless signal can be with range attenuation.Therefore, stronger signal can be with closer apart from phase
It closes, and weaker signal can be related to farther distance.Unmanned vehicle can be determined to the big of logger based on RSSI
Cause distance.In some cases, can more multiple loggers RSSI to determine the rough position of unmanned vehicle.For example,
Provided that two loggers, then the potential site of unmanned vehicle may be provided as hyperbola.Provided that three or more
Triangulation technique can be used then to determine rough unmanned vehicle position in a logger.If multiple loggers are shown
Different RSSI values, then compared to the logger for showing weaker RSSI value, unmanned vehicle can be away from showing stronger RSSI
The logger of value is closer.
Further example can provide one or more loggers with multiple receiving channels.The logger can have
There are one or more antennas, the antenna can receive multiple signals.For example, receiving antenna can have multiple receiving channels.
It can handle the relative direction that unmanned vehicle is obtained by the received multiple signals of the multiple receiving channel.Blank pipe system
The other parts of system, Verification System or Verification System can be handled by way of receiving beam forming from receiving antenna
Multiple signals.This can permit air traffic control system or other entities and substantially obtains direction and position of the unmanned vehicle relative to logger
It sets.Beam forming can detecte the direction of signal arrival, and can be used for detecting side of the unmanned vehicle relative to logger
To.Multiple loggers can be used for wherein intersecting by the desired orientation for watching unmanned vehicle to reduce unmanned vehicle
Position range.
In another example, logger may include sensor, such as visual sensor, ultrasonic sensor or other types
Sensor.Logger can be able to record the environment around the logger.Logger can recorde unmanned flight in environment
The presence or movement of device.For example, logger can use the unmanned vehicle to fly in video tape recording environment.Carry out self-recorder
Data can be used for detecting unmanned vehicle and analyze position of the unmanned vehicle relative to logger.For example, can be with base
The size of unmanned vehicle determines distance of the unmanned vehicle relative to logger in image, and/or works as sensor
Direction known to when, can determine direction.
The position of logger can be known.The world coordinates of logger can be known.Alternatively, logger can be with
With local coordinate, and the local coordinate of logger can be converted to common coordinate system.In some embodiments, remember
Record device can have predetermined position.In other cases, logger can be moved around or be placed by ad hoc fashion.Logger can
To transmit the signal for indicating the logger position.For example, each logger can have GPS unit, the GPS unit can
To provide the world coordinates for being directed to logger.The coordinate for logger can be transmitted.Air traffic control system or Verification System it is any
Other parts could be aware that the position of logger.Any other part of air traffic control system or Verification System can be received from logger
Indicate the signal of the logger position.Therefore, even if logger moves around, air traffic control system also be can have about record
The more new data of device position.In some cases, logger can be the midget plant that can be picked and move around.Logger
It can be with self-propelled or can not self-propelled.Logger can hold or can be carried by the mankind.Alternatively, logger can be
Sizable device at a position can be permanently or semi-permanently provided.
Any number of logger can be provided in region.One, two, three, four, five, six can be provided
A, seven, eight, nine, ten or more loggers.In some cases, the signal from unmanned vehicle can have
There is limited range.In some cases, the logger only in the certain distance of unmanned vehicle can receive signal.It connects
The logger of the collection of letters number can recorde the information about received signal and can be to Verification System (for example, certification system
The air traffic control system of system) information is provided.The logger that the greater number of signal is received from unmanned vehicle can be unmanned vehicle
Rough position higher degree of certainty or accuracy are provided.In some embodiments, greater density is provided in specific region
Or more the logger of number can increase a possibility that logger of a great deal of will receive signal from unmanned vehicle.?
Under some cases, logger can be distributed in density be at least every 1 logger of sq. mi, 3 loggers of every sq. mi,
5 loggers of every sq. mi, 10 loggers of every sq. mi, 15 loggers of every sq. mi, every sq. mi 20
Logger, 30 loggers of every sq. mi, 40 loggers of every sq. mi, every sq. mi 50 loggers, every square
70 loggers of mile, 100 loggers of every sq. mi, 150 loggers of every sq. mi, every sq. mi 200 notes
Record the region of device, 300 loggers of every sq. mi, 1000 500 loggers of every sq. mi, every sq. mi loggers
In.
Logger can be distributed on large regions.For example, multiple loggers can be distributed in greater than about 50 square metres, 100
Square metre, 300 square metres, 500 square metres, 750 square metres, 1000 square metres, 1500 square metres, 2000 square metres, it is 3000 flat
Square rice, 5000 square metres, 7000 square metres, 10000 square metres, 15000 square metres, 20000 square metres or 50000 square metres
On region.With big region can contribute to detection traveling time, signal strength or by logger collect other data in
Difference.If logger is only located in zonule, the traveling time of signal will very little, or be likely difficult to logger with
It is distinguished or is distinguished between logger.Logger can be spread apart from each other.For example, at least two in multiple loggers
Positioned at 1 meter at least apart, 5 meters apart, 10 meters apart, 20 meters apart, 30 meters apart, phase each other
Away from 50 meters, it is 75 meters apart, 100 meters apart, 150 meters apart, 200 meters apart, 300 meters apart,
It is 500 meters apart, 750 meters apart, 1000 meters apart, 1250 meters apart, 1500 meters apart, each other
At a distance of 1750 meters, 2000 meters apart, 2500 meters apart, 3000 meters apart, 5000m apart or that
This is at ten thousand metres.It can contribute to detection traveling time, signal strength or by recording with the logger spread can be separated
The difference in other data that device is collected.If logger be close together it is too close, the traveling time of signal will very little, and can
It can be difficult to be distinguished or distinguished between logger and logger.
Any other part of authentication center, air traffic control system or Verification System can based on receive self-recorder data come
Calculate the rough position of unmanned vehicle.One or more processors can be used for calculating nothing based on the data for carrying out self-recorder
The rough position of people's aircraft.Come self-recorder data may include time stamp data, signal strength data or herein other
The data of any other described type everywhere.
Any other part of Verification System, air traffic control system or Verification System can compare rough position based on timing information
Confidence breath inspection unmanned vehicle claims position, is claimed between position and rough position with determining with the presence or absence of relatively large difference
It is different.Biggish deviation can indicate that the high risk that some form of harm is caused to unmanned vehicle.For example, biggish inclined
Difference can indicate that the high risk of the position of false unmanned vehicle.False position from unmanned vehicle can indicate that
Malicious act or the relevant behavior of fraud (for example, the position data forged is distorted or reported to sensor).False position can refer to
Show the navigation system of unmanned vehicle error or fault (for example, damage GPS sensor, for determining unmanned vehicle
The one or more sensors mistake of position).The error or fault of the navigation system of unmanned vehicle is not necessarily malice, but
If not accurately tracking the position of unmanned vehicle, may also throw into question.In some cases, the sound of unmanned vehicle
Title/reported position can be compared with the calculating position of unmanned vehicle, and works as calculating position and claim the difference between position
It is different be more than threshold value when, warning can be provided.In some cases, the difference between position is only considered in terms of the risk for determining fraud
It is different.Or, it may be considered that such as other described other factors everywhere herein, such as environmental condition, radio communication conditions, nobody is winged
Row type parameter or any other factor.
Logger can be used as air situation monitoring system and exist, and can recorde going through for the aerial mission monitored
History.Air traffic control system can be by same nothing acquired in the flight information of unmanned vehicle Active report and one or more loggers
The flight information of people's aircraft compares, and quickly determines the data true and false of unmanned vehicle report.Nobody is flown when existing
When row device causes the risk of some form of harm, warning can be provided.It can manipulator to unmanned vehicle, air traffic control system
Or any other entity provides warning.Warning can indicate that or can not indicate that the estimation of risk is horizontal.Warning can be with
Indicate or can not indicate harm type (for example, it may be possible to malice distort or forge, possible sensor fault).
The verification process of user
Authentication center can be used any number of process and authenticate come the identity of the user to manipulation unmanned vehicle.
For example, simple verification process can be used in authentication center, such as by by the identification information of user and password and being associated with institute
The authentication information stating user and storing is compared.During other, can by obtain the vocal print of user, fingerprint and/or
Iris information and acquired information is compared to authenticate the identity of user with stored user information.Or
Short message signal (SMS) verifying for being sent to mobile device associated with the user can be used to verify user identity in person.System
System can also authenticate the user for being associated with remote controler using the built-in identity module in token and/or remote controler.
In a further example, the process authenticated to user may include the certification of diversified forms listed above.
It is, for example, possible to use two step process to authenticate to user, the two step process need user input identification information (such as with
Name in an account book) together with password, and user's offer certification is then provided by verifying the text received at the mobile device of user
Second step.
After successful execution certification, authentication center can retrieve the information about user from database.It retrieves
Information can be sent to air traffic control system, and the air traffic control system can then determine whether user has the permission of flight.
The verification process of unmanned vehicle
When the intrinsic personal information of user (for example, vocal print, fingerprint) can be used to execute the certification to user, to nothing
The certification of people's aircraft can use the device information being stored in unmanned vehicle, such as key of the coding into device.Cause
This, can the group based on unmanned vehicle identifier He the key being stored in unmanned vehicle to the certification of unmanned vehicle
It closes.Further, it is possible to use certifiede-mail protocol (AKA) realizes the certification to unmanned vehicle.AKA is two-way authentication association
View.In this example, when using AKA, authentication center can be authenticated the legitimacy of unmanned vehicle, and unmanned vehicle
The legitimacy of authentication center can be authenticated.The example of the certification based on AKA is discussed in Figure 15.
Figure 15 shows the diagram of the two-way authentication between the unmanned vehicle and authentication center of embodiment according to the present invention
1500.Specifically, Figure 15 shows the mode that unmanned vehicle and air traffic control system interact, the air traffic control system is transferred and is recognized
Card center interacts.
The AKA between unmanned vehicle and authentication center can be executed and recognized based on universal subscriber identity module (USIM)
Card.Specifically, unmanned vehicle can have the airborne USIM module comprising international mobile subscriber identity (IMSI) and key.
In some instances, when manufacturing unmanned vehicle, key is burned onto the unmanned vehicle.When manufacture unmanned vehicle
When, key can be permanently written or be integrally formed into the unmanned vehicle.Therefore, key is protected and can not be by
It reads.In addition, key is with any other of authentication center or Verification System component part (for example, certification as illustrated in Figure 2
Center 220) it is shared.To USIM to crack difficulty very big.In the field, AKA is recognized with high safety degree
Verification System.Therefore, authentication center can have high safety degree and public credibility, expand to the IMSI to user, key and
The protection of counter SQN.
As seen in step 1505, unmanned vehicle can provide certification request and IMSI to air traffic control system.Unmanned flight
Device actively (broadcast) or passive (response) can transmit its IMSI.
Once receiving certification request and IMSI at air traffic control system, then in step 1510, air traffic control system can be to
Authentication center's certified transmission request of data.Authentication data request may include the information about unmanned vehicle, and such as nobody flies
The IMSI of row device.
In step 1515, authentication center can receive IMSI, the corresponding key of inquiry, generate random number and according to pre-
Algorithm is determined to calculate authentication vector (AV).Algorithm f1, f2, f3, f4 and f5 pacify at typical Universal Mobile Telecommunications System (UMTS)
It is described in full agreement.AV may include 5 elements, and such as, (encryption is close by RAND (random number), XRES (expected response), CK
Key), IK (integrity check key) and AUNT (authentication token).Alternatively, authentication vector may include one or more elements, institute
Stating element includes at least one of the element in this example (including different elements).In this example, AUTN is by being hidden
Counter SQN, AMF (authentication management of submission) and MAC (message authentication code) composition.
AUNT:=SQN (+) AK | | AMF | | MAC
In step 1520, authentication center can respond to air traffic control system certified transmission data, described in step 1525
Air traffic control system then can provide the authentication response including AUNT and RAND to unmanned vehicle.Specifically, AUNT and RAND
It can be transmitted to the security module A of unmanned vehicle.In step 1530, security module A can verify AUNT.Security module A
AK can be calculated according to RAND and key.Once calculating AK, being calculated according to AUNT and restoring SQN.It then can be with
Calculate XMAC (authentication code of expectation), RES (response to random number), CK (encryption key) and IK (integrity check key).
Security module A can compare MAC and XMAC.If MAC and XMAC be not identical, unmanned vehicle can be to remote controler and certification
Center sends certification refuse information, terminates certification in response.Alternatively, security module A can if MAC is identical with XMAC
To verify whether the SQN received falls in the reasonable scope.It is received most specifically, security module A can recorde up to order
Big SQN, therefore SQN may only be incremented by.If SQN is abnormal, unmanned vehicle can send synchronization failure message, then can
Terminate certification.Alternatively, if SQN is fallen in the reasonable scope, security module A can verify the authenticity of AUNT and can be to
Authentication center provides computer RES.
As seen in Figure 15, in step 1535, security module A can transmit RES to air traffic control system, in step 1540
In, the air traffic control system then can provide RES to authentication center.Alternatively, unmanned vehicle can be mentioned directly to authentication center
For RES.
Once RES has been received in authentication center, then in step 1545, it is (right that the authentication center can compare XRES
The expected response of random number) and RES.If it find that XRES and RES are inconsistent, then authentification failure.Alternatively, if it find that XRES and
RES is identical, then mutual authentication success.
After mutual authentication, unmanned vehicle and air traffic control system can execute peace by using the CK and IK that consult
Full communication.Specifically, in step 1550, authentication center can transmit to air traffic control system and consult after mutual authentication
CK and IK.In addition, unmanned vehicle can calculate the CK and IK consulted in step 1555.Once air traffic control system is from recognizing
The CK and IK consulted has been received in card center, then can build between unmanned vehicle and air traffic control system in step 1560
Vertical secure communication.
Air traffic control system
Air traffic control system may include user and unmanned vehicle access subsystem, air situation monitoring subsystem, traffic administration
System and geography fence subsystem.Air traffic control system can execute many functions, including the monitoring of real-time air situation and record unmanned flight
Device activity.Air traffic control system can also assign traffic power in limited airspace.In addition, air traffic control system can accept geography fence device
Application, and can also authorize and determine the attribute of the geography fence device.
Air traffic control system can also carry out necessary user and aircraft certification audit.Further, air traffic control system can supervise
Control violation aircraft.Air traffic control system can identify unlawful practice or the behavior close to violation, and can give such behavior
With warning.In addition, air traffic control system can provide counterattacking measure, such as air situation monitoring, traffic power for continuing the aircraft of violation
Management, the violation counter with the safe interface of authentication center, geography fence and other forms.Air traffic control system can also possess respectively
Event recording function.Air traffic control system can also provide the access classes to air situation information.
Air traffic control system may include air situation monitoring subsystem.Air situation monitoring subsystem can be responsible for real time monitoring and assign sky
Flight progress in domain, the flight of such as unmanned vehicle.Specifically, air situation monitoring subsystem can monitor authorized flight
Whether device flies along predetermined navigation channel.Air situation monitoring subsystem can also be responsible for finding the abnormal row of authorized aircraft
For.Abnormal behaviour based on discovery, air situation monitoring subsystem can be sounded an alarm to violation counter system.In addition, air situation monitors
Subsystem can monitor the presence of aircraft without permission and can be based on the detection to aircraft without permission and in violation of rules and regulations
Counter system sounds an alarm.The example of airspace monitoring may include radar, photoelectricity harmony sensing and other examples.
Air situation monitoring subsystem can also actively execute the verifying to aircraft identity, and can also be to received from flight
The certification request of device is responded.In addition, air situation monitoring system can actively obtain the state of flight about given aircraft
Information.When monitoring aircraft, the aircraft being monitored can be positioned in three dimensions.For example, air situation monitors
System can track the track of aircraft and be compared it with plan navigation channel, to identify abnormal behaviour.Abnormal behaviour can quilt
It is identified as more than the behavior of predetermined tolerance limit threshold value (for example, being directed to the predetermined flight plan of deviation in flight or being down to threshold level
Threshold value below).In addition, monitoring point can be it is distributed or centralized.
Air situation monitoring subsystem can have the main means for airspace monitoring, i.e. real-time reception and parsing (directly connects
Receive or receive forwarding) it is monitored the flight about aircraft itself of (or cooperation) aircraft real-time broadcast authorized in airspace
Information.Real-time flight information can be obtained by the response of the active inquiry of blank pipe and aircraft.In addition, air situation monitoring
System can have the supplementary means for airspace monitoring, such as acoustic radar and electro-optic radar.In this example, it can permit through recognizing
The user of card inquires current air situation state to airspace monitoring subsystem.
Air traffic control system can also include that management subsystem is weighed in traffic.Traffic right management system, which can be responsible for accepting, provides navigation channel
The initial application in source and the application to change navigation channel, this can plan Flight Path and send to applicant about to application
Really the feedback of provisioning response.In determining response the Examples of information that provides include planning Flight Path, on the way monitoring point and
Corresponding time window.In addition, traffic right management system can be born when the condition in this airspace and/or other airspaces changes
Duty adjusts predetermined Flight Path.The reason of adjustable predetermined Flight Path including but not limited to weather, can be with airspace resource
Change, accident, geography fence device are set up and to geography fences such as spatial dimension, duration and restricted ranks
The adjustment of the attribute of device.Traffic right management system can also inform applicant or user about the original flight to be adjusted boat
Road.It is possible to further allow certified user to weigh the distribution that management subsystem inquires authorized aerial navigation channel to traffic.
Air traffic control system can also include the safe interface with authentication center subsystem.It is connect with the safety of authentication center subsystem
Mouth can be responsible for the secure communication with authentication center.Specifically, for authentication purposes or for aircraft and user
The purpose of attribute query is carried out, air traffic control system can be communicated with authentication center.
In this example, user can know the other users in areal by air traffic control system.User can choose
With other users shared information, such as their flight path.User can also share the content captured by its device.Example
Such as, user can share the content captured from the camera on or within its unmanned vehicle.In addition, user can be each other
Send instant message.
Unmanned vehicle flight system can also include geography fence subsystem, and the geography fence subsystem includes one
Or multiple geography fence devices.Unmanned vehicle can be able to detect geography fence device, or vice versa.Geography fence dress
Setting can be such that unmanned vehicle is acted according to one group of air traffic control.The example of geography fence subsystem will the application hereinafter
In discuss in more detail.
Only rely upon the flight course of unmanned vehicle certification
In some applications, before unmanned vehicle can take off, air traffic control system can only be needed to be implemented for nobody
The certification of aircraft.In such applications, it is not necessary to execute the certification for being directed to user.Air traffic control system is executed for unmanned vehicle
The process of certification can be demonstrated by the AKA provided in such as figure 15 above.After certification, unmanned vehicle and air traffic control system can
To obtain CK and IK to communicate with one another, as described in the step 1550 and step 1555 of Figure 15.CK can be used for data encryption,
And IK can be used for data integrity protection.
After certification, user can be obtained via the channel of safety finally generated during verification process key (CK,
IK), and the communication data between user and unmanned vehicle can be encrypted by using key and is protected, to keep away
Exempt to be held as a hostage or accidentally be controlled.Therefore, subsequent data-message (MSG) may include information related with unmanned vehicle,
Position, speed of unmanned vehicle of unmanned vehicle etc..In this way, unmanned vehicle can be protected by inclusive
And it is tested by IK.The information of transmission is as follows:
Equation 1:MSG1 | | ((HASH (MSG1) | | CRC ()+SCR (IK)) | | IMSI
Wherein MSG1=MSG | | RAND | | TIMESTAMP | | GPS
In above equation 1, CRC () can be message loop verification and, and SCR (IK) can be data derived from IK and cover
Code.In addition, in the present specification, MSG is origination message, HASH () is hash function, and RAND is random number, and TIMESTAMP is
Current time stamp and GPS are current locations, to avoid playback formula from attacking.
Figure 16 shows the process 1600 for being used to send the message with ciphering signature of embodiment according to the present invention.?
In one step 1610, message has been write.Provided in as discussed above, message can be expressed as " MSG ".Message is write
Later, in step 1620, the sender of message can be used hash function and generate the message from the text of the message
Abstract.Abstract can be only message itself, and --- MSG --- Hash or its can be modified message --- is such as
Such as seen MSG1 above --- Hash.Specifically, MSG1 may include such as origination message MSG, random parameter RAND, when
The compilation of the information such as preceding time stamp T IMESTAMP and current location GPS.In other examples, modified message may include
Alternative information.
Once generating the abstract of message MSG or modified message MSG1, in step 1630, sender can be used a
Abstract described in people's key pair encrypts.Specifically, the public-key cryptography that sender can be used encrypts abstract, so that
The abstract that must be encrypted can serve as the idiograph of transmitted message.Therefore, in step 1630, the cryptographic digest can be with
Then recipient will be sent jointly to as the digital signature of message and message.
Figure 17 show embodiment according to the present invention for verifying the process of message by the way that signature is decrypted
1700.As seen in step 1710, recipient receives message and cryptographic digest, and message discussed in such as Figure 16 and encryption are plucked
It wants.In step 1720, recipient can be used hash function identical with sender and calculate from the origination message received
The abstract of outbound message.In addition, the public-key cryptography of sender can be used to come to message attachment in recipient in step 1730
Digital signature is decrypted.Once the digital signature to message attachment is decrypted, in step 1740, recipient can compare
Abstract.If the two abstracts are identical, recipient can be confirmed that the digital signature is from sender.
Therefore, when other fellows receive such information and are uploaded to authentication center, digital label be can be used as
Name is treated.That is, the presence of such wireless messages is equal with the presence of the unmanned vehicle.This process can simplify nobody
The verification process of aircraft.I.e. after the completion of initial authentication, unmanned vehicle can correctly be announced by executing the above process
Determining for oneself exists, and does not have to necessarily initiate complicated initial authentication process every time.
Flight course dependent on unmanned vehicle and user authentication
In some applications, only after carrying out the double authentication of unmanned vehicle and user, unmanned vehicle just may be used
To take off.
Certification for user can be based on electron key.When manufacturing unmanned vehicle, manufacturer can be with built-in electronic
Key.Electron key can have built-in usim card, and the card is (related with user comprising the IMSI-U shared to authentication center
The IMSI of connection) and K-U (key associated with the user).This is also the unique person identifier of user and is only manufacturing USIM
When write-once.Therefore, usim card can not be replicated or forge.Moreover, its by USIM security mechanism protection and can not
It is read.Therefore, difficulty USIM being decrypted is very big.Electron key can be inserted in remote control as an electronic device
In device, it is integrated in remote controler or via the conventional means such as bluetooth (TM), WIFI, USB, audio, optic communication and remote control
Device communicates.Remote controler can obtain the essential information of electron key and can communicate with authentication center and corresponding recognize
Card.
Certification for user can also be realized by various other means, the inherent feature of such as user.It is specific and
Speech, can realize the certification of user by vocal print, fingerprint, iris information etc..
Certification for unmanned vehicle be based on airborne security module, the security module via CH (channel) with recognize
Card center is authenticated.In this example, the airborne security module of unmanned vehicle includes USIM, and the USIM includes IMSI-M
(IMSI associated with unmanned vehicle, for example, the IMSI such as provided by manufacturer) and K-M are (associated with unmanned vehicle
Key, for example, such as by manufacturer provide key).The K-M shared between unmanned vehicle and authentication center is being manufactured
Write-once when USIM.Moreover, it is protected by the security mechanism of USIM and can not be read.Therefore, USIM is decrypted
Difficulty it is very big.
The airborne security module of unmanned vehicle and authentication center can carry out two-way authentication, and process and the two-way of UMTS are recognized
Demonstrate,prove it is similar, using certifiede-mail protocol mechanism, i.e. AKA.AKA is bidirectional identification protocol.That is, not only authentication center requires to nothing
The legitimacy of people's aircraft or electron key is verified, and unmanned vehicle or electron key are also required to offer service
The legitimacy of authentication center is verified.In Figure 15 as discussed above between the unmanned vehicle provided and authentication center
AKA verification process illustrates this process.
Before executing aerial mission, unmanned vehicle and electron key may need to be implemented verification process.In this example,
The two is serially or parallelly authenticated with authentication center, wherein being carried out Basic Authentication process.Specifically, flying to nobody
(IMSI-M, K-M) can be used in the certification of row device, and (IMSI-U, K-U) can be used in the certification to electron key.
It is described below general description.The security module refers to unmanned vehicle or electron key.
After the certification of unmanned vehicle and authentication center is completed, authentication center can determine nobody by database
Several characteristics of aircraft.For example, authentication center can determine the type of unmanned vehicle, the ability of unmanned vehicle, nobody
Ownership, health/operational situation of unmanned vehicle, the history of the maintenance needs of unmanned vehicle, unmanned vehicle of aircraft
Flight record etc..In addition, authentication center can determine the electronics key after the certification of electron key and authentication center is completed
Personal information, operating right, the flying history etc. of the corresponding user of spoon.
After above-mentioned certification is completed, controller obtains the several important passwords consulted: CK-U is (associated with the user
CK), IK-U (the associated IK with user's), CK-M (CK associated with unmanned vehicle) and IK-M are (with unmanned vehicle phase
Associated IK).Above-mentioned basic verification process and result can flexibly use in the scene of unmanned vehicle.
Electron key can negotiate aerial mission via encryption channel and authentication center.Authentication center can based on user and
The attribute of unmanned vehicle and ratified, refused or provided related amendments suggestion or prompt to aerial mission.It was flying
Cheng Zhong, certification can also use each password and communicate with unmanned vehicle and remote controler holding, (all to obtain flight parameter
Such as position, speed) and awing manage and control unmanned vehicle or the permission of user.
In wireless communication link between unmanned vehicle and remote controler, using pair of unmanned vehicle and electron key
It signs again.When sending the message, sender generates eap-message digest using hash function from Message-text, and then using individual
Abstract described in key pair is encrypted.This encrypted abstract is sent jointly to as the digital signature of message and the message
Recipient.Recipient uses hash function identical with sender to calculate message from the origination message received first and plucks
It wants, and is then decrypted using digital signature of the public-key cryptography of sender to message attachment.If the two abstracts are identical,
Then recipient can be confirmed that the digital signature is from sender.
Specifically, subsequent data-message (MSG) can be remote control command, position report, speed report etc., and can
To be integrity protected and be tested by K-U and IK-M.The information transmitted is as follows:
MSG1||(HASH(MSG||RAND)||CRC)(+)SCR1(IK-M)(+)SCR2(IK-U))||IMSI-U||
IMSI-M
Wherein MSG1=MSG | | RAND | | TIMESTAMP | | GPS
In above equation, CRC (+) be message loop verification and, and SCR1 (IK) and SCR2 (IK) are several derived from IK
According to mask.SCR1 () and SCR2 () can be common cipher code generator.In addition, HASH () is hash function, and RAND is
Random number, TIMESTAMP is current time stamp and GPS is current location, to avoid the attack of the formula of playback.
When being uploaded to authentication center, such information can be used as digital signature and treat.That is, such wireless messages
It is equal in the presence of with the presence of the presence of the unmanned vehicle and user.This process can simplify the certification of unmanned vehicle
Process.I.e. after the completion of initial authentication, unmanned vehicle can correctly announce that the determination of oneself is deposited by executing the above process
, and do not have to necessarily initiate complicated initial authentication process every time.
In order to enhance safety, the legal period can be distributed for above-mentioned IK.Authentication center and unmanned vehicle and electronics key
Spoon can continuously carry out AKA process.In flight course, unmanned vehicle can receive the program of user's switching.
Authentication center can possess the identity of unmanned vehicle, the registration aerial mission of unmanned vehicle and its practical flight
History.Its information that can also possess corresponding user.Moreover, based on bi-directional verification as a result, authentication center can also be to user
Various services and information about safety are provided.Authentication center can also carry out a degree of adapter tube to unmanned vehicle.Example
Such as, authentication center can adapter tube unmanned vehicle some functions.In this way, supervision of the regulatory agency to unmanned vehicle
Reinforced with control.
Process of supervision
Air traffic control system can send IMSI querying command to unmanned vehicle via pccr-to-pccr communicator B.In unmanned vehicle
After being made a response using its IMSI to IMSI inquiry, the manager at air traffic control system can initiate mentioned order certification to identify
The unmanned vehicle is the legal unmanned vehicle for possessing IMSI.Once having determined that unmanned vehicle is legal possesses IMSI, just
The Signalling exchange that the CK consulted and IK further execute both sides between unmanned vehicle and air traffic control system can be used.Example
Such as, unmanned vehicle can be with report history information or task scheduling.In addition, air traffic control system can require unmanned vehicle to execute certain
A little movements.Therefore, air traffic control system can take over some movements of control unmanned vehicle.It is empty by using the verification process
Guard system may insure the correct mark to unmanned vehicle, without risk of assuming another's name.
In another example, if air traffic control system sends IMSI querying command to unmanned vehicle and receives no sound
It answers, errored response or erroneous authentication, then air traffic control system can consider that unmanned vehicle is non-conjunction rule.In other examples, nothing
People's aerocraft system can request unmanned vehicle without prompt from air traffic control periodic broadcasting its
IMSI.Air traffic control system can choose the above-mentioned verification process of initiation and unmanned vehicle when receiving broadcasted IMSI.
Geography fence is summarized
Unmanned vehicle flight system may include one or more geography fence devices.Unmanned vehicle can be examined
Geodetic manages fence apparatus, or vice versa.Geography fence device can be such that unmanned vehicle is moved according to one group of air traffic control
Make.One group of air traffic control may include can geographical component relevant to the position of geography fence device.For example, geography fence
Device can be provided at a certain position and can claim one or more geography fence borders.It can be in geography fence border
Within control unmanned vehicle activity.Alternatively or additionally, can except geography fence border control unmanned vehicle
Activity.In some cases, be applied on unmanned vehicle rule within geography fence border with geography fence border
Except may be different.
Figure 18 shows the example of the unmanned vehicle of embodiment and geography fence device according to the present invention.Geography fence dress
Geography fence border 1820 can be claimed by setting 1810.Unmanned vehicle 1830 can encounter geography fence device.
Unmanned vehicle 1830 can be operated according to one group of air traffic control.One group of air traffic control can be based on ground
It manages fence apparatus and generates.One group of air traffic control is considered that the boundary of geography fence device.One group of air traffic control
It can be associated with the geography fence border in the certain distance of geography fence device.
Geography fence device 1810 can be provided at a certain position.Geography fence device, which can be, can be used for assisting in
Any device of one or more geography fence borders, the geography fence border can be used for one or more groups of air traffic control
In.Geography fence device can transmit or can not transmit signal.Signal may or may not be can be by unmanned flight
What device detected.Unmanned vehicle can detect geography fence device with or without signal.Geography fence device
It can or can can not detect unmanned vehicle.Unmanned vehicle can transmit or can not transmit signal.Letter
It number may or may not be that can be detected by geography fence device.One or more intermediate devices, which can be able to detect, to be come
From unmanned vehicle and/or the signal of geography fence device.For example, intermediate device can receive the letter from unmanned vehicle
Number, and the data about the unmanned vehicle can be transmitted to geography fence device.Intermediate device can receive from ground
The signal of fence apparatus is managed, and the data about the geography fence device can be transmitted to unmanned vehicle.As herein its
He is more fully described everywhere, and the various combinations for detecting and communicating can occur.
Geography fence device may be used as the reference to one or more geography fence borders 1820.Geography fence border can
To indicate two-dimentional area.It is described two dimension area on or below anything can be located at the geography fence border it
It is interior.The anything on or below area except the two dimension area can be located at except the geography fence border.?
In another example, geography fence border can indicate that three-D volumes.Space within the three-D volumes can be describedly
It manages within fence boundary.Space except the three-D volumes can be except the geography fence border.
Geography fence device boundary can be open or closure.The geography fence device boundary of closure can be sealed completely
Close the area in geography fence device boundary.The geography fence device boundary of closure can begin and end with same point.
In some embodiments, the geography fence border of closure can not have beginning or end.The geography fence border of closure
Example can be round, square or any other polygon.Open geography fence border can have different starting point and
Terminal.Geography fence wall can have linear or curve boundary.The geography fence border of closure can close an area.
For example, the boundary of closure can contribute to limit flight restricted area.Open geography fence border can form barrier.Barrier can
To help to form geography fence border at natural physical boundary.The example of physical boundary may include administrative area boundary
(for example, boundary between country, area, state, province, town, city or boundary location line), naturally occurring boundary (for example, river, small stream, river,
Steep cliff, gully, valley), artificialboundary's (for example, wall, street, bridge, dam, door, access road) or any other type
Boundary.
Geography fence device can have the position relative to geography fence border.The position of geography fence device can be used
In the position for determining geography fence border.The position of geography fence device can serve as the reference to geography fence border.For example,
If geography fence border is the circle around geography fence device, geography fence device may be at the center of circle.Therefore, base area
The position of fence apparatus is managed, geography fence border can be confirmed as the circle around the geography fence device, and the circle is with geography
Fence apparatus is its center of circle and has predetermined radii.Geography fence device needs not to be the center of circle.For example, geography fence can be provided
The boundary of device is so that the boundary is the circle relative to the biasing of geography fence device.Geography fence device itself can be located at
In the boundary of geography fence device.In the alternative, the boundary of geography fence device can make the geography fence
Device is located at except the boundary of the geography fence device.However, the boundary of geography fence device can be based on geography fence
The position of device and determination.The position on the boundary of geography fence device can also be based on geography fence border type (for example,
Shape, the size of geography fence border) and determine.For example, if it is known that geography fence border type is filled with geography fence
The hemispherical boundary that the position set is the center of circle and radius is 30 meters, and it is X that known geographic fence apparatus, which has world coordinates,
Y, Z can then calculate the position of geography fence border according to world coordinates.
Unmanned vehicle can be close to geography fence device.It can be by unmanned flight to the identification on geographical fence apparatus boundary
Device provides.Unmanned vehicle can fly according to air traffic control, and it is to be located at that the air traffic control, which is based on the unmanned vehicle,
On first side on geography fence device boundary or it is located in the second side on geography fence device boundary and there is different rules.
In one example, unmanned vehicle may not be allowed to fly in the boundary of geography fence device.Therefore, work as nothing
When people's aircraft approaches geographical fence apparatus, geography fence can be had passed over to close to geography fence border or unmanned vehicle
It is detected on boundary.It can be detected by unmanned vehicle.For example, unmanned vehicle be known that unmanned vehicle position and
Geography fence border.In another example, it can be detected by air traffic control system.Air traffic control system can receive about unmanned flight
The data of device position and/or geography fence setting position.Unmanned vehicle is known that or can not know that geography fence fills
Seated position.Air traffic control can make unmanned vehicle not be allowed to fly in the boundary.It can be adopted by unmanned vehicle
Take flight responsive measures.For example, the navigation channel of unmanned vehicle can be changed so that the unmanned vehicle does not enter geography fence
Area in boundary, or if the unmanned vehicle comes into, the unmanned vehicle can be made to leave geography and enclosed
Area in column boundary.The flight responsive measures that any other type can be taken may include the use to unmanned vehicle
Family or air traffic control system provide warning.Flight responsive measures can be initiated on unmanned vehicle machine, or can be from air traffic control system
Initiate flight responsive measures.
In some cases, unmanned vehicle can be close to geography fence device.Unmanned vehicle is known that nobody flies
Row device itself position (for example, using GPS unit, any other sensor or herein other everywhere it is described any other
Technology is known).Unmanned vehicle is known that the position of geography fence device.Unmanned vehicle can directly sense geography and enclose
Column device.Geography fence device, which can sense unmanned vehicle and can transmit to unmanned vehicle, indicates that geography fence fills
The signal of seated position.Unmanned vehicle can receive the instruction to geographical fence apparatus from air traffic control system.It is filled based on geography fence
Seated position, unmanned vehicle are known that the position of geography fence border.Based on the known location of geography fence device, nobody flies
Row device can calculate the position of geography fence border.In other cases, it can be executed over the ground outside unmanned vehicle machine
The calculating of fence boundary position is managed, and the position of geography fence border can be transmitted to unmanned vehicle.For example, geography fence
Device could be aware that its own position and boundary type (for example, the space layout of boundary relative to setting position).It is geographical
Fence apparatus can calculate the position of its geography fence border and transmit the boundary information to unmanned vehicle.Boundary information
Unmanned vehicle can be transmitted to directly or via one or more intermediaries (for example, air traffic control system) from geography fence device.
In another example, air traffic control system could be aware that geography fence setting position.Air traffic control system can from geography fence device or from
Unmanned vehicle receives geography fence setting position.Air traffic control system could be aware that the type on boundary.Air traffic control system can calculate
The position of geography fence border and can to unmanned vehicle transmit boundary information.Boundary information can be directly from air traffic control system
It is transmitted to unmanned vehicle.It is winged that boundary information can be transmitted to nobody directly or via one or more intermediaries from air traffic control system
Row device.When unmanned vehicle knows the position of geography fence border position, the unmanned vehicle can compare its own phase
For the position of geography fence border position.
Based on the comparison, one or more flight responsive measures can be taken.Unmanned vehicle can voluntarily be sent out
Act the flight responsive measures to be taken.Unmanned vehicle can have one group of air traffic control being stored on unmanned vehicle machine simultaneously
And it can abide by the air traffic control and initiate flight responsive measures.Alternatively, air traffic control can be stored in unmanned flight
Device machine is outer but can be and can be taken by the unmanned vehicle by unmanned vehicle access for unmanned vehicle determination
Flight responsive measures.In another example, unmanned vehicle does not initiate flight response voluntarily, but can receive and fly from external source
Response instruction.Compared based on the position, unmanned vehicle can inquire whether external source needs flight responsive measures, if needed
It wants, then external source can provide the instruction for flight responsive measures.For example, air traffic control system can watch position relatively and determine
Whether flight responsive measures are needed.If it is required, then air traffic control system can provide direction for unmanned vehicle.For example, if nothing
People's aircraft flight path needs to deviate to avoid entering in geography fence border, then can provide the life of change flight path
It enables.
In another case, unmanned vehicle can be close to geography fence device.Unmanned vehicle is known that the nothing
The position of people's aircraft itself is (for example, other are described any everywhere using GPS unit, any other sensor or this paper
Other technologies are known).Unmanned vehicle does not know the position of geographical fence apparatus optionally.Unmanned vehicle can be to outside
Device provides the information about unmanned vehicle position.In one example, external device (ED) is geography fence device.Geography fence
Device is known that the position of its own.Geography fence device can know that nobody flies from the information of unmanned vehicle from providing
Row device position.In the alternative, geography fence device can sense unmanned vehicle and based on the data sensed
To determine unmanned vehicle position.Geography fence device can be received from additional sources such as air traffic control systems to fly about nobody
The information of row device position.Geography fence device is known that the position of geography fence border.Geography fence device being capable of base
In geography fence device known location and calculate the position of geography fence border.The calculating of boundary position is also based on side
Boundary's type (for example, the space layout of boundary relative to setting position).It is geographical when known to the position of geography fence border position
Fence apparatus can compare position of the unmanned vehicle relative to geography fence border position.
In another example, external device (ED) is air traffic control system.Air traffic control system is known that geography fence setting position.Blank pipe
System can receive geography fence setting position directly or via one or more intermediate devices from geography fence device.Blank pipe system
System can sense geography fence device and determine geographical fence apparatus position based on the data sensed.In some cases
Under, the information from one or more loggers is determined for the position of geography fence device.Air traffic control system can
The position of geography fence device is received from additional sources such as unmanned vehicles.Air traffic control system can be from providing from unmanned vehicle
Information in know unmanned vehicle position.In the alternative, air traffic control system device can sense unmanned vehicle simultaneously
And unmanned vehicle position is determined based on the data sensed.In some cases, the letter from one or more loggers
Breath is determined for the position of unmanned vehicle.Geography fence device can be from additional sources such as geography fence devices
Receive the information about unmanned vehicle position.Air traffic control system is known that the position of geography fence border.Air traffic control system can be with
The position on geography fence device boundary is received from geography fence device or another source.Air traffic control system can be based on geography fence
The known location of device and the position for calculating geography fence border.Boundary types are also based on to the calculating of boundary position
(for example, the space layout of boundary relative to setting position).When known to the position of geography fence border position, air traffic control system can
To compare position of the unmanned vehicle relative to geography fence border position.
Based on the comparison, one or more flight responsive measures can be taken.Geography fence device or air traffic control system can
The information about the comparison can be provided to unmanned vehicle.What unmanned vehicle can voluntarily initiate to be taken flies
Row responsive measures.Unmanned vehicle can have one group of air traffic control being stored on unmanned vehicle machine and can abide by
It keeps the air traffic control and initiates flight responsive measures.Alternatively, can be stored in unmanned vehicle machine outer but can be with for air traffic control
It can be accessed by unmanned vehicle, so that the flight response that unmanned vehicle determination will be taken by the unmanned vehicle is arranged
It applies.
In another example, unmanned vehicle does not initiate flight response voluntarily, but flight response can be received from external source
Instruction.External source can be geography fence device or air traffic control system.Compared based on the position, if it is desired, then external source can
To provide the instruction for being directed to flight responsive measures.For example, air traffic control system can watch the position relatively and determine the need for
Flight responsive measures.If it is required, then air traffic control system can provide direction for unmanned vehicle.For example, if unmanned vehicle
Flight path needs to deviate to avoid entering in geography fence border, then can provide the order of change flight path.
Any description to air traffic control previously provided can be adapted for herein.Geography fence device can set up position
The boundary set can work to air traffic control.As other each places provide herein, various types of tof tubes can be applied
System.Geography fence device can be used for setting up the boundary for different type air traffic control, may include that can influence nobody to fly
The flight (for example, flight path, take off, land) of row device, the operation of the payload of unmanned vehicle, unmanned vehicle have
Imitate the positioning of load, the operation of the carrier of unmanned vehicle, unmanned vehicle one or more sensors operation or layout,
The operations of one or more communication units of unmanned vehicle, the navigation operation of unmanned vehicle, unmanned vehicle power cloth
The control of any other of office and/or unmanned vehicle operation.
Figure 19 shows the geography fence device of embodiment according to the present invention, geography fence border and unmanned vehicle
Side view.Geography fence device 1910 can be provided at any position.For example, geography fence device can be provided in object
On on 1905 or surface 1925.Geography fence device may be used as the reference to one or more geography fence borders 1920.Nothing
People's aircraft 1930 can be close to geography fence device and/or geography fence border.
Geography fence device 1910 can be built up at a certain position.It in some cases, can be with permanent or semipermanent
Mode geography fence device is provided.Geography fence device can be substantially immovable.Not by tool the case where
Under, geography fence device is not manually displaced.Geography fence device may remain in same position.In some cases, geographical
Object 1905 can be fixed or be attached to fence apparatus.Geography fence device can be built in the object.
Alternatively, geography fence device can be can be easy to it is mobile and/or portable.Geography fence device is being not necessarily to work
It can be moved manually in the case where tool.Geography fence device can move between position and position.Geography fence device energy
It is enough to be removably attached to object or by the object support.In some cases, geography fence device can be hand
Held device.Geography fence device can be picked up and be carried by the mankind.Geography fence device can be picked up and be taken by mankind's one hand
Band.Geography fence device, which can be, can be easily transported.In some embodiments, geography fence device can weight be less than or
Equal to about 500kg, 400kg, 300kg, 200kg, 150kg, 100kg, 75kg, 50kg, 40kg, 30kg, 25kg, 20kg, 15kg,
12kg、10kg、9kg、8kg、7kg、6kg、5kg、4kg、3kg、2kg、1.5kg、1kg、750g、500g、300g、200g、100g、
75g, 50g, 30g, 20g, 15g, 10g, 5g, 3g, 2g, 1g, 500mg, 100mg, 50mg, 10mg, 5mg or 1mg.Geography fence dress
Set can have less than or equal to about 5m3,3m3,2m3,1m3,0.5m3,0.1m3,0.05m3,0.01m3,0.005m3,
0.001m3、500cm3、300cm3、100cm3、75cm3、50cm3、30cm3、20cm3、10cm3、5cm3、3cm3、1cm3、
The volume of 0.1cm3 or 0.01cm3.Geography fence device can be dressed by individual.Geography fence device can be carried at pocket,
In handbag, pouch, wallet, knapsack or any other individual article.
Geography fence apparatus can be moved between position and position by means of individual.For example, user can pick up geography
Fence apparatus is moved to another location and is put down.Optionally, user can need geography fence device from now
Have in object and separate, then pick up the geography fence device, is moved to another location and is affixed to new position
Place.Alternatively, geography fence device can be self-propelled.Geography fence device can be mobile.For example, geography fence fills
Set and can be another unmanned vehicle, or can be another apparatus of transport (for example, apparatus of transport based on ground, based on water
Apparatus of transport, the apparatus of transport based on air, apparatus of transport space-based).In some cases, geography fence device can
To be attached to unmanned vehicle or other apparatuss of transport or be supported by unmanned vehicle or other apparatuss of transport.Geography fence dress
The position set can be updated and/or be tracked with its movement.
In some embodiments, geography fence device can be substantially stationary during use.Geography fence dress
Setting can be provided on object 1905 or on surface 1925.The object or person divine force that created the universe body that object can be naturally occurring.It is natural
The example of existing object may include the object of trees, shrub, stone, massif, mountain range or any other naturally occurring.It is artificial
The example of object may include structure (for example, building, bridge, column, fence, wall, bridge pier, buoy) or any other is artificial
Object.In one example, geography fence device can be provided on the structures such as the roof built.Surface can be certainly
Surface existing for so can be artificial surfaces.The example on surface may include floor surface (for example, landform, soil, broken
Stone, pitch, highway, floor) or surface (for example, lake, sea, river, small stream) based on water.
Optionally, geography fence device can be unmanned vehicle bus stop.Geography fence device can be fixed to nobody
Aircraft bus stop.Geography fence device can be placed on unmanned vehicle bus stop, or can be stopped by unmanned vehicle
It pulls in support.Geography fence device can be a part of unmanned vehicle bus stop, or can stop with unmanned vehicle
It stands integrally formed.Unmanned vehicle bus stop can permit one or more unmanned vehicles and drop on bus stop or by stopping
It pulls in support.Unmanned vehicle bus stop may include the one or more landing that can be used for bearing the weight of unmanned vehicle
Area.Unmanned vehicle bus stop can provide power to unmanned vehicle.In some cases, unmanned vehicle bus stop can be with
For one or more power cells (for example, battery) charging on unmanned vehicle machine.Unmanned vehicle bus stop can be with
For being swapped out from unmanned vehicle power cell with new power cell.New power cell, which can have higher energy, to be held
Amount or state of charge.Unmanned vehicle bus stop can place under repair on unmanned vehicle or mention for unmanned vehicle
For replacement part.Unmanned vehicle bus stop can receive the article carried by unmanned vehicle or can store and can be lifted
With the article carried by unmanned vehicle.
Geography fence device can be any kind of device.Described device can be computer (for example, individual calculus
Machine, laptop computer, server), mobile device is (for example, smart phone, cellular phone, tablet computer, individual digital help
Reason) or any other type device.Described device can be can be by the network equipment of network communication.Described device includes
One or more Memory Storage Units, the Memory Storage Unit may include non-transient computer-readable media, described
Medium can store code, logic or instruction, to execute other described one or more steps everywhere herein.The dress
Setting may include one or more processors, and the processor can be according to non-transient computer-readable Jie as described herein
Code, logic or the instruction of matter and either individually or collectively execute one or more steps.
When device provides the reference point for being directed to one group of boundary associated with one group of air traffic control, described device can become
For geography fence device.In some cases, when software or application operate in can provide device position be used as be directed to and one group
When on the device of the reference point on the associated one group of boundary of air traffic control, described device can be geography fence device.For example, with
Family can have the device for executing additional function, such as smart phone.Can will can be with air traffic control system, certification using being downloaded to
The smart phone that another component part or any other system of system communicate.Described in the application can be provided to air traffic control system
The position of smart phone and indicate that the smart phone is geography fence device.Therefore, the position of smart phone can be
It is known and be determined for can boundary associated with limitation.Device can have locator or can be used
Positioning system determines the position of described device.For example, it may be determined that smart phone and/or tablet computer or other movements
The position of device.The position of mobile device be can use to provide reference point, as geography fence device.
In some embodiments, geography fence device is designed to be provided in outdoor environment.Geography fence device
It is designed to stand various weathers.Geography fence device, which can have, can partially or even wholly surround the geography fence
The shell of one or more components of device.The shell can protect one or more of components from wind, dust or drop
Water (for example, rain, snow, hail, ice).The shell of geography fence device may or may not be airtight, and can be
Or it can not be waterproof.The shell of geography fence device can surround one or more processing of the geography fence device
Device.The shell of geography fence device can surround one or more Memory Storage Units of the geography fence device.It is geographical
The shell of fence apparatus can surround the locator of the geography fence device.
In some embodiments, geography fence device can be the remote controler for being configured for receiving user's input.
Remote controler can control the operation of unmanned vehicle.When geography fence border is for allowing unmanned vehicle in the geography fence
Operation in boundary but when limiting operation of the unmanned vehicle outside geography fence border, this can be useful.For example, nobody flies
Row device can be only permitted to fly in geography fence border.If unmanned vehicle is toward or away from boundary, nothing can be changed
The flight path of people's aircraft is so that the unmanned vehicle is maintained within geography fence border.If unmanned vehicle only by
Permission is flown in geography fence border, then this can be such that the unmanned vehicle is maintained in the distance to a declared goal away from remote controler.
This can help user to be easier to monitoring unmanned vehicle.This can prevent unmanned vehicle from flying and being confused other than desired distance
Road.If geography fence device is remote controler, user can walk everywhere and geography fence device boundary can be with
Remote controler moves together.Therefore, user can have certain freedom degree freely to traverse region, while unmanned vehicle is maintained at
Relative in the expectation boundary of the user.
Geography fence border may include one or more horizontal boundaries.For example, geography fence border can be two-dimensionally
Area, the two dimension area can limit the transverse dimensions in the space in geography fence border and the space outside geography fence border.
Geography fence border may or may not include height boundary.Geography fence border can limit three-D volumes.
Figure 19 provides the diagram in terms of wherein geography fence border 1920 may include lateral aspects and height.For example,
One or more horizontal boundaries can be provided.Upper height limit and/or lower limit can be provided.For example, upper height limit can limit side
The top on boundary.Height lower limit can be with the bottom of limited boundary.Boundary can be it is substantially flat, or can be it is curved,
It is inclined or have any other shape.Some boundaries can have cylindrical, prismatic, conical, spherical, hemispherical, bowl
Shape, annular, tetrahedroid or any other shape.In a diagram, unmanned vehicle can not be allowed on geography fence side
It flies within boundary.Unmanned vehicle can the free flight except geography fence border.Therefore, unmanned vehicle can be in Figure 19
It more than the upper height limit of middle offer flies.
In some embodiments, geo-fencing system can be provided.Geo-fencing system can be the son of air traffic control system
System.In some cases, air traffic control system may include that the exemplary geography fence of one or more described herein can be performed
Module.Geography fence module can be adapted for any description of geo-fencing system herein, the geography fence module can be with
It is a part of air traffic control system.Geography fence module can be a part of Verification System.Alternatively, geo-fencing system can be with
Verification System or air traffic control system separate and/or independently of Verification System or air traffic control system.
Geo-fencing system can receive the application to geography fence device is set up.For example, when geographical fence apparatus is nothing
When a part of people's aerocraft system, it can be identified and/or is tracked.Geography fence device can have unique body
Part.For example, geography fence device can have unique geography fence identifier, the geography fence identifier can be from other
The geography fence device is uniquely identified and/or distinguished in geography fence device.It can summarize about geography fence device
Identity information.Such information may include the information about geography fence type of device.Geography fence device identification can
For determining geographical fence apparatus type.In this paper, other can be provided everywhere about the further of geography fence type of device
Description.
In some embodiments, geography fence device identification can be provided from ID registration center.ID registration center is also
User identifier and/or unmanned vehicle identifier (for example, the ID registration center 210 illustrated in Fig. 2) can be provided.Alternatively,
The ID registration center mutually separated with unmanned vehicle and/or user can be used in geography fence device.It therefore, can be with identified geographic
Fence apparatus.When geographical fence apparatus is when setting up application and passing through geo-fencing system, then the geography fence dress can be identified
It sets.
In some embodiments, geography fence device can also be authenticated.It can be with to the certification of geographical fence apparatus
Including confirming that the geography fence device is the geography fence device as indicated by geography fence device identification.It can be used and appoint
What authentication techniques authenticates geographical fence apparatus.Any skill for being authenticated to unmanned vehicle and/or user
Art can be used for authenticating geographical fence apparatus.Geography fence device can have geography fence device keys.It is authenticating
The geography fence device keys can be used during process.In some cases, AKA process can be used for helping to enclose geography
The certification of column device.The further possibility for being authenticated to geographical fence apparatus is described in further detail in other everywhere herein
Process.Geo-fencing system can prevent clone's geography fence device.Geo-fencing system can prevent the geography fence of clone
The certification that device passes through aerial management system (for example, air traffic control system) and unmanned vehicle.Certified geography fence device can
To be used and can be communicated with unmanned vehicle by air traffic control system.
Geo-fencing system can track to have gone through to be enclosed about the geography of the registration process of geography fence apparatus system
The identity of column device.Before about geography fence apparatus system successful registration geography fence device, the geography can be enclosed
Column device is authenticated.In some cases, geography fence device is primary about geography fence device subsystem register.Alternatively,
Registration can occur repeatedly.When being powered geography fence device, the geography fence device can be identified and/or be recognized
Card.In some cases, geography fence device can remain powered on during use.In some cases, geography fence device
It can power off.When geographical fence apparatus is powered off and is then re-energised, mark and/or verification process can be undergone to set up
In systems.In some cases, only present power-up geography fence device is just tracked by system.With once set up but currently
The related data of geography fence device being not powered on can be stored by system.When device power-off, without being tracked.
Geo-fencing system can check and determine useful space range, duration and/or the limit of geographical fence apparatus
Property rank processed.For example, the position of geography fence device can be tracked.In some cases, geography fence device can be reported voluntarily
Accuse their position.In some cases, geography fence device can have position tracker, such as GPS unit or one
Or multiple sensors.Geography fence device can transmit the information about geography fence setting position to geo-fencing system.Institute
Rheme set may include geography fence device coordinate, such as world coordinates or local coordinate.
Geo-fencing system can recorde the geography fence border for each in geography fence device.Geography fence dress
It sets the boundary that can have same type or can have different types of boundary.For example, the boundary between device and device can
With difference.Geo-fencing system can recorde boundary types and the position of geography fence device.Therefore, geo-fencing system can be with
It can determine the position on the boundary of geography fence device.The useful space range of geography fence device can be by the system
Know.
The duration on geography fence device boundary can be known.In some embodiments, geography fence border
It can keep static over time.As long as geography fence device is powered, the geography fence border can be kept it turning on.
In other cases, geography fence border can change over time.Even when geographical fence apparatus is powered, geography encloses
Column boundary can have identical range, but can come into force or can not come into force.It, can be with for example, daily from 2pm to 5pm
Geography fence border is provided, and during remaining hour, geography fence border does not come into force.The shape of geography fence border and/or
Size can change over time.Geography fence border change can based in one day sometime, in one week
The a certain week in some day, one month, month, season, season, time or any other time correlation in some day, one month
Factor.The change can be rule or periodic.Alternatively, it is described change can be it is irregular.In some cases,
The timetable that the change of geography fence border can follow can be provided.Other provide change geography in more detail everywhere and enclose herein
The further example and diagram on column boundary.
The rank of geography fence device can be known by geography fence subsystem.In the early time to the ranks of various air traffic control
Description can be adapted for the rank of geography fence device.For example, if multiple geography fence devices have the spatial dimension of overlapping,
The overlapping range can be then treated according to rank.For example, the tof tube about the geography fence device with higher level
System can be adapted for the overlapping area.Alternatively, restricted higher air traffic control can be used in the overlapping area.
Geo-fencing system can determine how to announce geography fence device.In some cases, geography fence device can
To issue signal.The signal can be used for detecting geography fence device.Unmanned vehicle can be able to detect to be enclosed from geography
The signal of column device is to detect the geography fence device.Alternatively, unmanned vehicle can not can directly detect geography fence
Device, but geo-fencing system can be able to detect geography fence device.Logger, such as other described notes everywhere herein
Record device, it may be possible to detect geography fence device.Air traffic control system can be able to detect geography fence device.Geography fence device energy
It is enough to announce in any way.It is, for example, possible to use electromagnetic signals or sound and light signal to announce geography fence device.It can be by means of
Visual sensor, infrared sensor, Ultraviolet sensor, sound transducer, magnetometer, radio receiver, WiFi receiver or
The sensor or receiver of any other type detects the signal from geography fence device.Geo-fencing system can track
Which geography fence device uses which type of signal.Which kind of class geo-fencing system can provide about geography fence device
The signal of type and inform other one or more device or systems (for example, unmanned vehicle), so as to use correct biography
Sensor detects geography fence device.Geography fence information can also track in such as frequency range, bandwidth and/or transmission signal
The information such as the agreement used.
Geo-fencing system can be managed based on the information from geography fence device for unmanned vehicle flight
Resource pool.Geography fence device can apply one or more control to the operation of unmanned vehicle.For example, can be based on geography
Fence apparatus flies to limit unmanned vehicle.The example of resource can be available airspace.It can be based on geography fence device
Position and/or boundary can use airspace to limit.During distribution is directed to the resource of unmanned vehicle, it can use spatial information (si) can
To be used by air traffic control system.It can use airspace can be with real-time update.It, can be by for example, geography fence device can open or close
Addition removes, and can move or the boundary of geography fence device can change over time.Therefore, airspace can be used
It can change over time.It can use airspace can be with real-time update.It can constantly or can be updated periodically with airspace.It can use
Airspace can be updated with rule or irregular time interval or according to timetable.It can be in response to event (such as to money
The request in source) and airspace can be used by updating.In some cases, it over time can predict that airspace can be used.For example, if ground
Reason fence apparatus timetable be it is known in advance, then some changes in airspace can be predictable.Therefore, when user is inciting somebody to action
Come when requesting the resources such as airspace, it can be estimated that the available airspace predicted.In some embodiments, difference can be provided
Grade.For example, the different operation grade of user can be provided.Operation grade based on user, different resource can be with for user
It is available.For example, some geography fence limitations can be only applicable to certain user and not be suitable for other users.User type
It can influence available resources.Another example of grade may include unmanned vehicle type.Unmanned vehicle type can influence
Available resources.For example, some geography fence limitations can be only applicable to certain unmanned vehicle models and not be suitable for other nothings
People's aircraft model.
When user wishes to operate unmanned vehicle, the request to one or more resources can be made.In some cases
Under, resource may include certain spaces in a period of time.Resource may include device, and such as other are described everywhere herein
Those devices.Based on available resources, flight plan can be accepted or rejected.In some cases, it can be provided to flight plan
Some changes are to abide by available resources.During determining Resource Availability, geography fence device information can be useful.
During determining whether to receive, refuse or change proposed flight plan, geography fence device information can be useful
's.
User can interact with geo-fencing system.User can about resource assignment and inquire geography fence system
System.For example, user, which can request to assign, can use airspace or the state of other resources.User, which can request to assign, corresponds to user etc.
The state in the available airspace of grade (for example, operation grade, user type).User, which can request to assign, corresponds to unmanned vehicle class
The state in the available airspace of type or other characteristics.In some cases, user can withdraw from geo-fencing system about resource
The information of assignment.In some cases, information can be presented in a graphic format.For example, the ground for showing available airspace can be provided
Figure.The map can show the available airspace when the current point in time that user is inquired, or may infer that user looks into
Available airspace when future time point after inquiry.The map can show the position and/or boundary of geographical fence apparatus.This
Text other (for example, Figure 35) can be provided in more detail and be further described to user interface everywhere, the user interface can be with
Geographical fence apparatus and/or available resources are shown.
In some embodiments, violation counter system can be provided.Violation counter system can be the son of air traffic control system
System.Air traffic control system may include the violation counter module that one or more movements described herein can be performed.Herein to separated
Any description of rule counter system can be adapted for the violation counter module of a part that can be air traffic control system.Counter mould in violation of rules and regulations
Block can be a part of Verification System.Alternatively, violation counter system can be separated with Verification System or air traffic control system and/or
Person is independently of Verification System or air traffic control system.
Violation counter system can track unmanned vehicle activity.For example, the position of unmanned vehicle can be tracked.Nobody
The position of aircraft may include the direction of unmanned vehicle.The position for tracking unmanned vehicle can also include tracking nobody to fly
The movement (for example, translational velocity, translational acceleration, angular speed, angular acceleration) of row device.Other of unmanned vehicle can be tracked
Operation, the operation of such as payload, the positioning of payload, the operation of carrier, one or more unmanned vehicle sensors
Operation, the operation of communication unit, the operation of navigation elements, any other activity of power loss or unmanned vehicle.In violation of rules and regulations
Counter system can detecte when unmanned vehicle shows exception.Violation counter system can detecte when unmanned vehicle carries out
The behavior of one group of air traffic control is not abided by.Determining unmanned vehicle in accordance with the process for still not abiding by one group of air traffic control
In, it may be considered that user identity and/or unmanned vehicle identity.Described one group is not still abided by determining that unmanned vehicle is abided by
During air traffic control, it may be considered that geography fence data.For example, violation counter system can detecte it is unwarranted nobody
When aircraft appears in limited airspace.Limited airspace can be provided in the boundary of geography fence device.User and/or nothing
People's aircraft can not be authorized into limited airspace.However, it is possible to detect the unmanned vehicle proximal or into limited airspace
Presence.It can be with real-time tracking unmanned vehicle activity.Can continue tracking, periodically tracking, tracked according to timetable or
Person tracks unmanned vehicle activity in response to the event or situation that detect.
When unmanned vehicle will be engaged in the activity that do not abide by for one group of air traffic control of the unmanned vehicle, disobey
Rule counter system can send warning.For example, can be mentioned if unwarranted unmanned vehicle will enter limited airspace
For warning.The warning can provide in any way.In some cases, warning can be electromagnetism warning or acousto-optic warning.
Warning can be provided to the user of unmanned vehicle.Warning can be provided via user terminals such as remote controlers.It can be to
Air traffic control system and/or unmanned vehicle provide warning.The chance for changing unmanned vehicle behavior can be provided a user so that institute
Unmanned vehicle is stated in accordance with air traffic control.For example, user can have one if unmanned vehicle is approaching limited airspace
A little times change the path of unmanned vehicle to avoid the limited airspace.Change nobody alternatively, can not provide a user
The chance of aircraft behavior.
Violation counter system can be such that flight responsive measures are realized by unmanned vehicle.Flight responsive measures can come into force with
Unmanned vehicle is set to abide by one group of air traffic control.For example, if unmanned vehicle comes into limited area, it can be more
Change the flight path of unmanned vehicle so that the unmanned vehicle leaves limited area immediately, or drops unmanned vehicle
It falls.Flight responsive measures can be can override one or more user input compulsory measure.Flight responsive measures can be machine
Tool, electromagnetism or acousto-optic measure control the adapter tube of unmanned vehicle.If warning is invalid, the measure can be such that nobody flies
Row device is dislodged, captures or even smashes.For example, the measure can be automatically led to unmanned vehicle flight path more
Change.The measure can make unmanned vehicle land automatically.The measure can make unmanned vehicle power-off or self-destruction.It can adopt
With any other flight responsive measures, such as other those described flight responsive measures everywhere herein.
Violation counter system be can recorde and be tracked about the movable information of unmanned vehicle.It can recorde and/or store
Various types of information about unmanned vehicle.In some embodiments, the information can be stored in memory storage
In system.It can store about the movable all information of unmanned vehicle.Alternatively, can store movable about unmanned vehicle
The subset of information.In some cases, the information recorded can contribute to trace afterwards.The information recorded can be used for taking charge of
Method purpose.In some cases, the information recorded can be used for disciplining as a warning movement.For example, event may occur.Institute can be traced
Record, related with event information.The information is determined for how the event occurs or why occur
Details.If the reason of event is accident, and the information is determined for accident.The information can be used for assigning
For the mistake of accident.For example, the information is determined for the side in fault if a side is responsible for the accident.
If the side is in fault, it can carry out and discipline movement as a warning.In some cases, different degrees of mistake may be shared in many ways.
It can be assigned according to the information recorded and discipline movement as a warning.In another example, the event can be unmanned vehicle and not abide by
Keep the movement of one group of air traffic control.For example, unmanned vehicle can fly through not the area for allowing to photograph.However, the nothing
People's aircraft may use cameras capture image.After issuing warning, the unmanned vehicle may be with certain side
Formula continues to capture image.Can analyze the information with the determination unmanned vehicle capture image up to how long or capture
The image type arrived.Event can be the abnormal behaviour shown by unmanned vehicle.If unmanned vehicle shows exception
Behavior then can analyze the reason of information is to determine abnormal behaviour.For example, being remotely controlled if unmanned vehicle is executed with user
Device issue the unmatched movement of order, then can analyze the information how to be executed with the determination unmanned vehicle or why
Execute the movement.
In some embodiments, the information recorded can be not modifiable.Optionally, private user may not be able to
The recorded information of enough changes.In some cases, only storage system and/or in violation of rules and regulations counter system manipulator or
Manager can be able to access that recorded information.
Communication type
Unmanned vehicle and geo-fencing system can interact in unmanned vehicle system.Geography fence device can
To provide one or more geography fence borders, the geography fence border can influence the available airspace for unmanned vehicle
And/or unmanned vehicle in airspace when the activity that can execute or can not execute.
Figure 39 shows different types of logical between the unmanned vehicle of embodiment and geography fence device according to the present invention
Letter.Geography fence device can be online 3910 or can be offline 3920.Geography fence device can be only from nobody
Aircraft receives signal 3930, only can send signal 3940 to unmanned vehicle, or can both send to unmanned vehicle
Signal receives signal 3950 from unmanned vehicle again.
When geographical fence apparatus be connected to authentication center when (for example, when communicating therewith letter), the geography fence device can
To be online 3910.When geographical fence apparatus be connected to any part of Verification System when (for example, when communicating therewith letter), institute
State geography fence device can be it is online.When geographical fence apparatus is connected to air traffic control system or its module (for example, geography fence
Module, in violation of rules and regulations counter module) when (when communicating therewith letter), the geo-fencing system can be online.When geography fence fills
It sets when being connected to network, the geography fence device can be online.When geographical fence apparatus is connected directly to another device
When, the geography fence device can be online.When geographical fence apparatus can be communicated with another device or system, institute
State geography fence device can be it is online.
When geographical fence apparatus be not connected to authentication center when (for example, when not communicating therewith letter), geography fence dress
It sets and can be offline 3920.When geographical fence apparatus is not connected to any part of Verification System (for example, not communicating therewith
When letter), the geography fence device can be offline.When geo-fencing system is not connected to air traffic control system or its module (example
Such as, geography fence module, in violation of rules and regulations counter module) when (for example, when not communicating therewith letter), the geo-fencing system can be from
Line.When geographical fence apparatus is not connected to network, the geography fence device can be offline.When geographical fence apparatus
When being not directly connected to another device, the geography fence device can be offline.When geographical fence apparatus can not with it is another
When one device or system communicates, the geography fence device can be offline.
Geography fence device can be communicated with unmanned vehicle.Communication between geography fence device and unmanned vehicle
It can occur in many ways.For example, communication can be via channel, signaling mode, access mode, signal format or signaling format
And occur.Communication between geography fence device and unmanned vehicle can be direct or can be indirectly.Some
In the case of, can only with direct communication, only with indirect communication or can use direct communication and indirect communication two
Person.Other provide further example and details about direct communication and indirect communication everywhere herein.
When geographical fence apparatus only receives signal 3930 from unmanned vehicle, indirect communication can be used.When geography encloses
When column device is online, indirect communication may include the signal to unmanned vehicle.For example, can use network with by signal from ground
Reason fence apparatus is sent to unmanned vehicle.When geographical fence apparatus is offline, indirect communication may include nobody recorded
The presence of aircraft.Geography fence device can be able to detect the presence of unmanned vehicle or receive the presence of unmanned vehicle
Indirect communication.
When geographical fence apparatus only sends signal 3940 to unmanned vehicle, direct communication can be used.It can be used
Direct communication is regardless of geography fence device is online or offline.Even if geography fence device not with Verification System or its
Component part communicates, and the geography fence device can also can be with unmanned vehicle direct communication.Geography fence device can
To send direct communication to unmanned vehicle.Geography fence device can provide direct communication via wireless signal.It is directly logical
Letter can be the signal of electromagnetic signal, sound and light signal or any other type.
When geographical fence apparatus is not only sent but also receive and the signal 3950 of unmanned vehicle (for example, carrying out two-way communication)
When, direct communication or indirect communication can be used.In some cases, it can use and directly or indirectly communicate simultaneously.Geography encloses
Column device and unmanned vehicle can switch using between direct communication and indirect communication.Direct communication or indirect can be used
Communication is regardless of geography fence device is online or offline.In some embodiments, direct communication can be used for from
Geography fence device to unmanned vehicle two-way communication a part, and indirect communication can be used for from unmanned vehicle to ground
Manage a part of the two-way communication of fence apparatus.For from unmanned vehicle to one of the two-way communication of geography fence device
Point, indirect communication may include the signal when geographical fence apparatus is online to unmanned vehicle, and may include when geography
The presence of the unmanned vehicle recorded when fence apparatus is offline.Alternatively, can convertibly using direct communication with connect
Letter is without considering direction.
Optionally, rule of communication can be stored in the memory on geography fence device.Optionally, about one group or
One or more rules of multiple groups air traffic control can be stored on geography fence device.Geography fence device can or
Person can not connect network, such as internet, any other WAN, LAN, telecommunication network or data network.If geography encloses
Column device can connect to network, then geography fence device is not necessarily to the rule storage in memory.For example, rule of communication
Without being stored on geography fence device.Alternatively, the one or more rule about one or more groups of air traffic control is without storage
There are on geography fence device.Geography fence device can be accessed by network and is stored on individual device or memory
Rule.
Geography fence device memory can store geography fence mark and/or authentication information.For example, geography fence device
Memory can store geographical fence apparatus identifier.Memory can store geographical fence apparatus key.Correlation can be stored
Algorithm.Geography fence device identification and/or key cannot be changed.Optionally, geography fence device identification and/or close
Key can be external unreadable.Geography fence device identification and/or key can store in the module, and the module can be with
It can not be separated with geography fence device.The module can not be in the case where not damaging the function of geography fence device from institute
State the removal of geography fence device.In some cases, geography fence mark and/or authentication information can be stored in geography fence dress
On setting, and it is unrelated whether can to access network with geography fence device.
Geography fence device may include communication unit and one or more processors.One or more of processors
Any step or function of geography fence device can either individually or collectively be executed.Communication unit can permit direct communication,
Indirect communication or direct communication and indirect communication.Communication unit and one or more can be provided on geography fence device
Processor, and it is unrelated whether can to access network with geography fence device.
In some embodiments, unmanned vehicle can be offline or online.Unmanned vehicle can be offline
(for example, being not connected to Verification System).When offline, unmanned vehicle can not be with any component part phase of Verification System
Communication, all for example authentication centers of the component part, air traffic control system or air traffic control system module (for example, geography fence module,
Violation counterattacking measure module).When unmanned vehicle is not connected to network, the unmanned vehicle can be offline.Work as nothing
When people's aircraft is not directly connected to another device, the unmanned vehicle can be offline.When unmanned vehicle can not
When communicating with another device or system, the unmanned vehicle can be offline.
When unmanned vehicle can be it is offline when, digital signature method can be used in the communications.Certificate publication and use
It can be used for communicating.Such method can provide some safety measures to the communication with unmanned vehicle.It can provide in this way
Safety communicated without unmanned vehicle and Verification System.
When unmanned vehicle is connected to any module of such as authentication center, air traffic control system or authentication center (for example, geographical
Rail module, violation counterattacking measure module) etc. any component part of Verification Systems when (for example, when communicating therewith letter), it is described
Unmanned vehicle can be online.When unmanned vehicle is connected to network, the unmanned vehicle can be online.When
When unmanned vehicle is connected directly to another device, the unmanned vehicle can be online.When geographical fence apparatus can
When communicating with another device or system, the unmanned vehicle can be online.
When unmanned vehicle is online, various communication means or technology can be used.For example, unmanned vehicle and/or use
Family can receive geography fence signal, and can execute certification at the authentication center of Verification System.Certification can be for ground
Fence apparatus is managed, can be confirmed that the geography fence device is authenticated and authorized.In some cases, it can be confirmed
Geography fence device is abide by the law standard.In some cases, certified geography fence device can inform unmanned vehicle
And/or user is about one or more groups of air traffic control.Air traffic control system can inform unmanned vehicle and/or user about in response to
Certified geography fence device and the one or more groups of air traffic control applied.
The device of geography fence wherein that Figure 20 shows embodiment according to the present invention, which is directly transmitted to unmanned vehicle, to be believed
The system of breath.Geography fence device 2010 can transmit signal 2015, and the signal can be received by unmanned vehicle 2030.Ground
Reason fence apparatus can have geography fence border 2020.Geography fence device may include communication unit 2040, memory list
Member 2042, detector 2044 and one or more processors 2046.Communication can be used for transmitting signal.Detector can be used for
Detect unmanned vehicle there are 2050.
Geography fence device 2010 can be with broadcast wireless signal 2015.The broadcast can continue to occur.The broadcast can
To occur independent of any condition detected.The broadcast mode can be advantageously simple.Alternatively, when detecting just
In close unmanned vehicle 2020, the broadcast to signal can occur.In other times, broadcast is without occurring.This can be with
Advantageously save radio resource.Geography fence device can remain hidden, until detecting unmanned vehicle.
Aspect of the invention can be related to geography fence device 2010, comprising: communication module 2040 is configured for
In the predetermined geographic range internal transmission information of the geography fence device；And one or more storage units 2042, matched
One or more groups of air traffic control for storing or receiving the predetermined geographic range for the geography fence device are set to, wherein
When unmanned vehicle enters the predetermined geographic range of the geography fence device, the communication module is configured for nothing
People's aircraft sends one group of air traffic control in one or more groups of air traffic control.It can provide a kind of to unmanned flight
Device provides the method for one group of air traffic control, which comprises stores up in one or more storage units of geography fence device
Deposit or receive one or more groups of air traffic control of the predetermined geographic range for the geography fence device；And by means of being matched
It is set to the communication module for the predetermined geographic range internal transmission information in the geography fence device, when unmanned vehicle enters
It is sent in one or more groups of air traffic control when the predetermined geographic range of the geography fence device to unmanned vehicle
One group of air traffic control.
Geography fence device 2010 can detecte the presence of unmanned vehicle 2020.Optionally, the inspection of geography fence device
Surveying device 2044 can broadcast to detect the presence of unmanned vehicle.
In some embodiments, geography fence device can be detected by identifying unmanned vehicle via visual information
Unmanned vehicle.For example, geography fence device visually can detect and/or identify the presence of unmanned vehicle.Some
In the case of, the visual sensor of camera or other forms is provided as the detector of unmanned vehicle.Work as unmanned vehicle
When in into the preset range of geography fence device, camera can be able to detect the unmanned vehicle.In some cases, ground
The detector for managing fence apparatus may include multiple cameras or visual sensor.Multiple cameras or visual sensor can have not
The same visual field.Camera can capture the image of unmanned vehicle.Described image be can analyze to detect unmanned vehicle.Some
In the case of, it can analyze described image to detect the existence or non-existence of unmanned vehicle.Image be can analyze to determine nobody
Estimated distance of the aircraft away from geography fence device.Image be can analyze to detect unmanned vehicle type.For example, can distinguish
The different model of unmanned vehicle.
It, can be using the information in any part from electromagnetic spectrum in mark unmanned vehicle.For example, in addition to can
Light-exposed spectrum can also analyze other spectrum from unmanned vehicle to detect and/or identify the presence of unmanned vehicle.One
In a little situations, detector can be infrared detector, UV detector, microwave detector, radar or detectable electromagnetic signal
Any other type device.When unmanned vehicle enters in the preset range of geography fence device, detector can energy
Enough detect the unmanned vehicle.In some cases, multiple sensors can be provided.Multiple sensors can have different
The visual field.In some cases, the electromagnetic image or signature of unmanned vehicle be can detecte.Can analyze described image or signature with
Detect the existence or non-existence of unmanned vehicle.Described image or signature be can analyze to estimate unmanned vehicle away from geography fence
The distance of device.Described image or signature be can analyze to detect unmanned vehicle type.For example, can distinguish different model or
Unmanned vehicle.In one example, the first unmanned vehicle model type can have different from second unmanned flight's type
The heat signature (heat signature) of number type.
Geography fence device can detect unmanned flight by identifying unmanned vehicle via acoustic intelligence (for example, sound)
Device.For example, geography fence device acoustically can detect and/or identify the presence of unmanned vehicle.In some cases, it examines
Survey the sonic transducer that device may include microphone, sonar, ultrasonic sensor, shock sensor and/or any other type.Work as nothing
When people's aircraft is entered within the preset range of geography fence device, detector can be able to detect the unmanned vehicle.Inspection
Surveying device may include multiple sensors.Multiple sensors can have the different visuals field.Sensor can capture unmanned vehicle
Acoustic signature (acoustic signature).Acoustic signature be can analyze to detect unmanned vehicle.Can analyze acoustic signature with
Detect the existence or non-existence of unmanned vehicle.Acoustic signature be can analyze to determine unmanned vehicle estimating away from geography fence device
Count distance.Acoustic signature be can analyze to detect unmanned vehicle type.For example, the different model of unmanned vehicle can be distinguished.
In one example, the first unmanned vehicle model type can have the sound spy different from the second unmanned vehicle model type
Sign.
Geography fence device can be identified by one or more wireless signals of the monitoring from unmanned vehicle
Close unmanned vehicle.When unmanned vehicle enters range, the unmanned vehicle can be broadcasted optionally can be by geography
The wireless signal that fence apparatus detects.The detector of unmanned vehicle can be connecing for the wireless signal from unmanned vehicle
Receive device.Detector can be optionally the communication unit of unmanned vehicle.Same communication unit can be used to transmit signal simultaneously
And wireless communication of the detection from unmanned vehicle.Or different communication units can be used to transmit signal and detect
From the wireless communication of unmanned vehicle.The wireless data that is captured by detector be can analyze to detect the presence of unmanned vehicle
Or it is not present.Wireless data be can analyze to estimate distance of the unmanned vehicle away from geography fence device.For example, when can analyze
Between difference or signal strength to estimate distance of the unmanned vehicle away from geography fence device.Wireless data be can analyze to detect nobody
Type of aircraft.In some cases, wireless data may include the data identified about unmanned vehicle, such as unmanned flight
Device identifier and/or unmanned vehicle type.
In some cases, geography fence device can be based on from any other of air traffic control system or Verification System composition
Partial information detects unmanned vehicle.For example, when air traffic control system detects unmanned vehicle close to geographical fence apparatus,
Air traffic control system can track the position of unmanned vehicle and can send signal to geography fence device.In other cases,
Air traffic control system can send the location information about unmanned vehicle to geography fence device, and geography fence device can be made
Determination of the unmanned vehicle close to the geography fence device out.In some embodiments, detector, which can be can receive, comes
From the communication unit of the data of air traffic control system.
Unmanned vehicle can issue or can not issue any information about unmanned vehicle 2020.In some feelings
Under condition, unmanned vehicle can issue wireless communication.Wireless communication can be detected by the detector on geography fence device.Nothing
Line communication may include the information broadcasted by unmanned vehicle.Unmanned vehicle can be announced by the information that unmanned vehicle is broadcasted
Presence.It can provide or can not provide the additional information about unmanned vehicle identity.In some embodiments, it closes
In the information of unmanned vehicle identity may include unmanned vehicle identifier.The information may include about unmanned vehicle
The information of type.The information may include the location information of unmanned vehicle.For example, unmanned vehicle can broadcast it currently
World coordinates.Unmanned vehicle can broadcast any other attribute, the parameter or unmanned vehicle class of such as unmanned vehicle
Type.
In some embodiments, unmanned vehicle can establish the communication with geography fence device, and can believe
The exchange of breath.Communication may include one-way communication or two-way communication.Communication may include enclosing about unmanned vehicle identity, geography
Column device identity, unmanned vehicle type, geography fence type of device, unmanned vehicle position, geography fence setting position, side
Geography fence type of device, the information of air traffic control or the information of any other type on boundary.
Geography fence device can know unmanned vehicle by the detector on the geography fence device
In the presence of.Geography fence device can know the presence of unmanned vehicle and the information from other devices.For example, blank pipe
System (for example, geography fence module, violation counterattacking measure module), authentication center, another geography fence device, another nobody flies
Row device can provide the existing information about unmanned vehicle to geography fence device.
The detector of geography fence device may be configured for detecting nobody in the preset range of geography fence device
The presence of aircraft.In some implementations, detector may detect the presence of unmanned vehicle outside the predetermined range.When nobody
When aircraft is located within preset range, detector can have the very high existing possibility for detecting unmanned vehicle
Property.When within the preset range that unmanned vehicle is located at geography fence device, detector be can have greater than 80%, 90%,
95%, 97%, 99%, 99.5%, 99.7%, 99.9% or 99.99% a possibility that detecting unmanned vehicle.Geography encloses
The preset range of column device can be when unmanned vehicle is located in the preset distance away from geography fence device.Geography fence dress
The preset range set can have round, cylindrical, hemispherical or spherical form relative to the geography fence device.Alternatively,
Preset range can have any shape relative to geography fence device.Geography fence device may be provided in preset range
The heart.Alternatively, geography fence device can be offset from the center of preset range.
The preset range of geography fence device may include the distance of any magnitude.For example, geography fence device is predetermined
Range can be in 1 meter, 3 meters, 5 meters, 10 meters, 15 meters, 20 meters, 25 meters, 30 meters, 40 meters, 50 meters, 70 meters, 100 meters, 120 meters, 150
Rice, 200 meters, 300 meters, 500 meters, 750 meters, 1000 meters, 1500 meters, 2000 meters, 2500 meters, 3000 meters, 4000 meters, 5000m,
In 7000 meters or ten thousand metres.
The communication unit of geography fence device may be configured in the preset range of geography fence device to nobody
Aircraft transmits information.Communication unit may be configured for continuous transmission information, periodically transmit information, according to timetable
To transmit information or transmit information when detecting event or situation.Transmitted information can be broadcasted so that it can be by
Unmanned vehicle receives.If other devices are located within preset range, information also can receive.Alternatively, only selecting
Fixed device can receive information, even if when within the scope of they being located at.In some implementations, communication unit may be to pre-
Determine the unmanned vehicle transmission information outside range.When unmanned vehicle is located within preset range, communication unit be can have
A possibility that very high, communication reaches unmanned vehicle.When unmanned vehicle be located at geography fence device preset range it
When interior, communication unit can have greater than 80%, 90%, 95%, 97%, 99%, 99.5%, 99.7%, 99.9% or
99.99%, successfully to the unmanned vehicle transmit information a possibility that.
When detect unmanned vehicle there are when, the communication unit of geography fence device may be configured in geography
The preset range internal transmission information of fence apparatus.Detecting that the presence of unmanned vehicle can be can initiate from geography fence device
Transmit the event or situation of information.It, can be described in transmission primaries or continuous transmission after detecting the presence of unmanned vehicle
Information.When in some cases, within the preset range that unmanned vehicle rests on geography fence device, can constantly or
Periodically information is transmitted to unmanned vehicle.
In some embodiments, the information for being transmitted to unmanned vehicle may include one group of air traffic control.It can be on ground
It manages and generates one group of air traffic control at fence apparatus.One group of tof tube can be generated by being selected from multiple groups air traffic control
System.One group of air traffic control can be generated from the beginning at geography fence device.One group can be generated by means of user's input
Air traffic control.One group of air traffic control can combine the feature in multiple groups air traffic control.
One group of air traffic control can be generated based on the information about unmanned vehicle.For example, unmanned flight can be based on
Device type and generate one group of air traffic control.One group of flight can be selected from multiple groups air traffic control based on unmanned vehicle type
Control.One group of air traffic control can be generated based on unmanned vehicle identifier.Can based on unmanned vehicle identifier and from
One group of air traffic control is selected in multiple groups air traffic control.One group of air traffic control can be generated based on the information about user.For example,
One group of air traffic control can be generated based on user type.One group can be selected from multiple groups air traffic control based on user type
Air traffic control.One group of air traffic control can be generated based on user identifier.It can be flown based on user identifier from multiple groups
Multiple air traffic control are selected in control.It can use the air traffic control generation technique of any other type.
Geography fence device may be configured for receiving unmanned vehicle identifier and/or user identifier.Nobody flies
Row device identifier can uniquely identify out the unmanned vehicle from other unmanned vehicles.User identifier can be from it
The user is uniquely identified out in his user.Unmanned vehicle identity and/or user identity can have been authenticated.It is geographical
The communication module of fence apparatus can receive unmanned vehicle identifier and/or user identifier.
When unmanned vehicle enters the preset range of geography fence device, communication module can change communication mould
Formula.Communication module can be the communication module of geography fence device.Alternatively, communication module can be the communication mould of unmanned vehicle
Block.Before the preset range that unmanned vehicle enters geography fence device, communication module can be grasped under the first communication pattern
Make.When unmanned vehicle enters the preset range of geography fence device, communication module can switch to the second communication pattern.?
In some embodiments, the first communication pattern is indirect communication mode and the second communication pattern is direct communication mode.For example, working as
When unmanned vehicle is located within the preset range of geography fence device, the unmanned vehicle can be via direct communication mode
It is communicated with the geography fence device.When except the preset range that unmanned vehicle is located at geography fence device, the nothing
People's aircraft can be communicated via indirect communication mode and the geography fence device.In some embodiments, Ke Yi
Two-way communication is established between unmanned vehicle and geography fence device.Optionally, when unmanned vehicle is located at geography fence device
Preset range within when, can establish two-way communication.When unmanned vehicle is located within the preset range of geography fence device
When, and when not being optionally except the preset range that unmanned vehicle is located at geography fence device, communication module can be
The preset range internal transmission information of geography fence device.When unmanned vehicle is located within the preset range of geography fence device
When, and when not being optionally except the preset range that unmanned vehicle is located at geography fence device, communication module can be
The inscribed breath of collecting mail of the preset range of geography fence device.
The one or more processors 2046 of geography fence device can either individually or collectively be configured for generating
One group of air traffic control.The information about the multiple groups air traffic control that can be stored on geography fence device can be used and generate one
Group air traffic control.One group of air traffic control can be generated in processor, and the processor can be deposited from one or more is stored in
One group of air traffic control is selected in multiple groups air traffic control in storage unit 2042.By combination from being stored in one or more
One group of air traffic control can be generated in the air traffic control in multiple groups air traffic control in memory cell, processor.Alternatively, place
The information about the multiple groups air traffic control that can be stored in except geography fence device can be used to generate one group of tof tube in reason device
System.In some cases, the information except geography fence device can be pulled and received at geography fence device.It is geographical
Fence apparatus can permanently or temporarily store pulled information.The information pulled can be stored in short-term storage
In.In some cases, pulled information temporarily can be stored by buffering received information.
Geography fence device may or may not be that can be detected by unmanned vehicle.In some cases, ground
Managing fence apparatus may include the indicant that can be detected by unmanned vehicle.Indicant can be visual indicia, infrared markers,
Ultraviolet marking, acoustic signature, wireless signal or can be by the label for any other type that unmanned vehicle detects.Herein its
He can provide the further details about unmanned vehicle to the detection of geographical fence apparatus in more detail everywhere.Unmanned flight
Device can receive one group of air traffic control in the case where not detecting geography fence device.Geography fence device can be not necessarily to
Unmanned vehicle detects the unmanned vehicle and to the unmanned vehicle in the case where detecting the geography fence device
Push one group of air traffic control or any other geography fence data.
One group of air traffic control may include one group of one or more geography fence border.Geography fence border can be used
In receiving unmanned vehicle or unmanned vehicle is prevented to enter.For example, one group of air traffic control may include that nobody is allowed to fly
One or more boundaries that row device flies in it.Unmanned vehicle can not be allowed to optionally fly outside the boundary.
Alternatively, one group of air traffic control may include one group of one or more boundary for not allowing unmanned vehicle to fly in it.
One group of air traffic control can apply or can not apply any height limitation.In some embodiments, described one group
Air traffic control may include the upper height limit for not allowing unmanned vehicle to fly above it.One group of air traffic control can wrap
Include the height lower limit for not allowing unmanned vehicle to fly thereunder.
One group of air traffic control may include that the unmanned vehicle is not allowed to operate the effective of the unmanned vehicle
The condition of load.The payload of unmanned vehicle can be image capture device, and air traffic control may include not allowing
The unmanned vehicle captures the condition of image.The condition can be located within geography fence border based on unmanned vehicle
Except or.One group of air traffic control may include that unmanned vehicle is not allowed to communicate under one or more radio conditions
Condition.Radio condition may include one or more selected frequencies, bandwidth, agreement.The condition can be based on unmanned flight
Device be located at geography fence border within or except.
One group of air traffic control may include one or more limitations of the article carried to unmanned vehicle.For example,
The limitation can be added in the type of the number of article, the size of article, the weight of article or article.The condition can be with base
In unmanned vehicle be located at geography fence border within or except.
One group of air traffic control may include the least residue battery capacity for unmanned vehicle operation.Battery capacity
It may include state of charge, residual non-uniformity, remaining flying distance, energy efficiency or any other factor.The condition can
With based on unmanned vehicle be located at geography fence border within or except.
One group of air traffic control may include one or more limitations to landing unmanned vehicle.The limitation can be with
Whether descent or unmanned vehicle including that can be realized by unmanned vehicle can land actually.The condition can be with base
In unmanned vehicle be located at geography fence border within or except.
It can provide such as other air traffic control of any other type in greater detail everywhere herein.It is one or more groups of to fly
Row control can be associated with the preset range of geography fence device.One or more groups of air traffic control are pre- with geography fence device
The one or more geography fence borders determined in range are associated.In some embodiments, preset range can indicate that use
In detection unmanned vehicle and/or the range communicated with unmanned vehicle.Geography fence border, which can indicate that, can delimit not
The boundary of biconditional operation, the different operation can by or can not be allowed by unmanned vehicle.Different rules can be applicable in
Within geography fence border with except.In some cases, the operation delimited without using preset range.Geography fence side
Boundary can be finally aligned with preset range.Alternatively, geography fence border can be different from preset range.Geography fence border can be with
It falls within the predetermined range.In some cases, some bufferings can be provided between preset range and geography fence border.Institute
Stating buffering may insure that unmanned vehicle can receive one group of air traffic control before reaching boundary.
When in one example, within the preset range that unmanned vehicle is located at geography fence device, unmanned vehicle
It can receive one group of air traffic control.Unmanned vehicle can determine the geography fence for device from one group of air traffic control
Boundary will occur, and the unmanned vehicle is not allowed to enter within the geography fence border.Unmanned vehicle can
With the unmanned vehicle reach geography fence border before, when the unmanned vehicle crosses geography fence border or
Person makes the determination shortly after unmanned vehicle crosses geography fence border.It is sent to one group of unmanned vehicle
Air traffic control may include the instruction for allowing the unmanned vehicle not enter one or more of geography fence borders.Nobody flies
Row device can take flight responsive measures.For example, unmanned vehicle flight path can be automatically controlled to avoid one or more
Geography fence border.When unmanned vehicle enters one or more geography fence borders, can force automatically it is described nobody fly
The landing of row device.When unmanned vehicle enters one or more geography fence borders, unmanned vehicle flight can be automatically controlled
Path is so that unmanned vehicle leaves by the closed area of one or more geography fence borders.
Figure 21 shows the system that can be communicated with geography fence device and/or unmanned vehicle in wherein air traffic control system.
Geography fence device 2110 and unmanned vehicle 2120 can be provided in system.Air traffic control system 2130 can also be provided.It is geographical
Fence apparatus can provide the georeferencing for one or more geographical frontiers 2115.Geography fence device may include communication
Unit 2140 and detector 2142.Air traffic control system may include one or more processors 2150 and memory cell 2152.
Unmanned vehicle 2120 can be detected by the detector 2142 of geography fence device.It can be used as other are each herein
Locate described any technology to detect unmanned vehicle.When unmanned vehicle enters preset range, the nothing can detecte
People's aircraft.When unmanned vehicle enters preset range, the high likelihood for detecting the unmanned vehicle can have.?
Under some cases, unmanned vehicle can be detected before entering preset range.When unmanned vehicle enters preset range
When, one group of air traffic control can be provided to the unmanned vehicle.
One group of air traffic control can be generated at air traffic control system 2130.One group of air traffic control can be by can from multiple groups
Selection is directed to one group of air traffic control of unmanned vehicle and generates in air traffic control.Multiple groups air traffic control can be stored in and deposit
In reservoir 2152.The one or more processors 2150 of air traffic control system can select one group of flight from multiple groups air traffic control
Control.Air traffic control system can use any other air traffic control generation technique, including other those described tof tubes everywhere
Generation technique processed.
In some cases, geography fence device 2110 can transmit signal to air traffic control system 2130, and the signal can be with
Triggering generates one group of air traffic control at air traffic control system.It can be by means of the communication unit 2140 of geography fence device to transmit
State signal.When geographical fence apparatus detects that unmanned vehicle is located within preset range, the geography fence device can be with
The signal is transmitted to air traffic control system.Being crossing to the detection in preset range to unmanned vehicle can be enclosed with triggering command from geography
Column device is transmitted to air traffic control system to generate one group of air traffic control for being directed to the unmanned vehicle.
In some embodiments, geography fence device can be able to detect the letter about unmanned vehicle and/or user
Breath.Geography fence device can be able to detect unmanned vehicle identifier and/or user identifier.Geography fence device can energy
Enough determine unmanned vehicle type or user type.Geography fence device can be transmitted to air traffic control system about unmanned vehicle
And/or the information of user.For example, geography fence device can be transmitted to air traffic control system about unmanned vehicle type or user class
The information of type.Geography fence device can transmit unmanned vehicle identifier and/or user identifier to air traffic control system.Geography encloses
Column device can transmit additional information to air traffic control system, such as environmental condition or by geography fence device captured or received
Any other data.
Air traffic control system can use the information from geography fence device optionally to broadcast to generate one group of air traffic control.
For example, air traffic control system can generate one group of air traffic control based on unmanned vehicle or user information.Air traffic control system can be based on
Unmanned vehicle type or user type and generate one group of air traffic control.Air traffic control system can based on unmanned vehicle identifier or
User identifier and generate one group of air traffic control.During generating one group of air traffic control, air traffic control system be can be used
The additional data from geography fence device such as environmental condition.For example, can be based on being detected or being passed by geography fence device
One group of environmental condition sending and generate one group of air traffic control.Geography fence device can have one or more carry thereon
Sensor, the sensor can permit geography fence device and detect one or more environmental conditions.In some cases, blank pipe
System can be from additional data source rather than geography fence device receives data.In some cases, air traffic control system can be from multiple
Geography fence device receives data.Air traffic control system can be from multiple data sources (such as multiple geography fence devices, geography fence dress
Set and external sensor or third party's data source) information of the reception about environmental condition.It is generating for unmanned vehicle
During one group of air traffic control, any data from geography fence device or other data sources can be used.It can be based on
One or more of the following items and generate one group of air traffic control: user information, unmanned vehicle information, from geography fence
The additional data of device or additional information from other data sources.
Unmanned vehicle can be direct or can send communication not directly to air traffic control system.In some embodiments,
Unmanned vehicle can send unmanned vehicle and/or user data to air traffic control system.Alternatively, unmanned vehicle is not to blank pipe system
System sends unmanned vehicle and/or user data.
When air traffic control system has generated one group of air traffic control for unmanned vehicle, the air traffic control system can be to institute
It states unmanned vehicle and transmits one group of air traffic control.During providing one group of air traffic control, air traffic control system can be with
It is directly or indirectly communicated with unmanned vehicle.Air traffic control system can transmit one group to unmanned vehicle via geography fence device
Air traffic control.For example, air traffic control system can be generated one group of air traffic control and transmit one group of flight to geography fence device
Control, the geography fence device then can send one group of air traffic control to unmanned vehicle.
Unmanned vehicle can quickly receive one group of air traffic control.Unmanned vehicle can be filled entering geography fence
One group of air traffic control is received prior to, concurrently with, or after the preset range set.Unmanned vehicle can pass through geography fence
One group of air traffic control is received prior to, concurrently with, or after the geography fence border of device.In some embodiments, nobody flies
Row device can less than about 10 minutes detected by the detector of geography fence device, 5 minutes, 3 minutes, 1 minute, 30 seconds,
One group of air traffic control is received in 15 seconds, 10 seconds, 5 seconds, 3 seconds, 2 seconds, 1 second, 0.5 second or 0.1 second.Unmanned vehicle can be
Into less than about 10 minutes, 5 minutes, 3 minutes, 1 minute, 30 seconds, 15 seconds, 10 seconds, 5 of the preset range of geography fence device
One group of air traffic control is received in second, 3 seconds, 2 seconds, 1 second, 0.5 second or 0.1 second.
Figure 22 shows the system in wherein unmanned vehicle detection geography fence device of embodiment according to the present invention.Ground
Reason fence apparatus 2210 can be and can be detected by unmanned vehicle 2220.Unmanned vehicle can have memory cell
2230, communication unit 2232, flight controller 2234 and/or one or more sensors 2236.
Geography fence device 2210 may include indicant.The indicant of geography fence device can be can be by unmanned flight
What device 2220 detected.Indicant can be the mark that can be distinguished by the one or more sensors 2236 on unmanned vehicle machine
Note.When unmanned vehicle flight, indicant can be and can be detected by unmanned vehicle.When unmanned vehicle flight,
Indicant can be and can be detected by the one or more sensors on unmanned vehicle machine.Enter geography in unmanned vehicle
Prior to or just when in the preset range of fence apparatus, indicant can be and can be detected by the unmanned vehicle.At nobody
Aircraft enters before the geography fence border of geography fence device, and indicant, which can be, to be detected by the unmanned vehicle
's.When unmanned vehicle enters the geography fence border of geography fence device, indicant can be can be by the unmanned flight
What device detected.
Indicant can be wireless signal.Geography fence device can continue broadcast wireless signal.Geography fence device can
To be broadcast periodically wireless signal (for example, with rule or irregular time cycle broadcast wireless signal).For example, geography encloses
Column device can be with primary, every less than or equal to about primary, every 0.5 second primary, every 0.1 second primary, every 0.05 second every 0.01 second
Seconds primary, every 3 seconds primary, every 2 seconds it is primary, every five seconds is primary, primary, every 30 seconds primary, every 15 seconds every 10 seconds it is primary, per minute
Once, primary, every 10 minutes primary, every 5 minutes every 3 minutes primary or every 15 minutes primary periods carried out broadcast radio letter
Number.Geography fence device can be according to timetable come broadcast wireless signal.Geography fence device can be in response to event or situation
And broadcast wireless signal.For example, geography fence device can in response to the unmanned vehicle detected presence and broadcast radio
Signal.Geography fence device can be in response to detecting that unmanned vehicle has intruded the preset range of the geography fence device
Within and broadcast wireless signal.Geography fence device can in response to before unmanned vehicle has intruded in preset range,
It is detected when unmanned vehicle just intrudes in preset range or after unmanned vehicle has intruded in preset range
The unmanned vehicle and broadcast wireless signal.Geography fence device can cross the ground of geography fence device in unmanned vehicle
Manage unmanned vehicle broadcast wireless signal described in the forward direction of fence boundary.
Indicant can provide any kind of wireless signal.For example, wireless signal can be radio signal, bluetooth letter
Number, infrared signal, UV signal, visible signal or optical signal, WiFi signal or WiMax signal or any other type it is wireless
Signal.It can be with broadcast wireless signal so that any device in region can receive and/or detected wireless signals.In some feelings
Under condition, wireless signal can be only for unmanned vehicle.Wireless signal can be can be by the wireless receiving on unmanned vehicle machine
What device or sensor detected.In some embodiments, wireless receiver or sensor can be communication unit.It can be used
Same communication such as detects indicant and provides unmanned vehicle and user terminal at the communication between other devices.Or
Different communication units can be used to detect indicant and provide other dresses such as unmanned vehicle and user terminal in person
Communication between setting.
Indicant can be witness marking.Witness marking can be can be by one or more visual sensings of unmanned vehicle
What device detected.Witness marking can visually be depicted in by cameras capture to image on.Witness marking may include
Image.Witness marking can be static and may include the not static image that changes over time.Static image can
To include letter, number, icon, shape, symbol, picture, 1D bar code, 2D bar code or 3D bar code, quick response (QR)
The image of code or any other type.Witness marking can be dynamic and may include changing over time
Image.Witness marking can continuously, periodically, according to timetable or in response to the event or situation that detect change
Become.Visual indicia may be displayed on screen, and the screen can keep static or can change and show over time
The label shown.Visual indicia can be the paster on the surface that may be provided in geography fence device.Visual indicia may include one
A or multiple lamps.The space layout of lamp and/or the flash pattern of lamp may be used as a part of visual indicia.Visual indicia can be with
With color.Other provide in more detail further describe to dynamically labeled everywhere herein.Visual indicia, which can be, to be regarded
It can be distinguished from distant place in feel.When unmanned vehicle enters the preset range of geography fence device, the unmanned vehicle can
Can visually distinguish the visual indicia.Before the preset range that unmanned vehicle enters geography fence device, institute
The visual indicia can visually be distinguished by stating unmanned vehicle.Enter the ground of geography fence device in unmanned vehicle
Before managing fence boundary, the unmanned vehicle can visually distinguish the visual indicia.
Indicant can be acoustic signature.Acoustic signature can make a sound, shake or other recognizable sound effective values.Sound
Learning label can be detected by the sonic transducer (such as microphone or other kinds of sound detector) on unmanned vehicle machine.Sound
Different tones, pitch, frequency, harmony, volume or acoustic pattern or vibrating mode can be issued by learning label.Acoustic signature can
With or can not be and can be detected by the naked ear of the mankind.Acoustic signature may or may not be can be by typical lactation
What the ear detection of animal arrived.
Indicant can indicate that the presence of geography fence device.When unmanned vehicle detects indicant, the nothing
People's aircraft be known that geography fence device there may be.In some cases, indicant can uniquely identify geography and enclose
Column device.For example, each geography fence device can have different indicants, the indicant can be can be by unmanned flight
What device detected, the geography fence device and other geography fence devices are distinguished.In some cases, it can be based on
The geography fence device of unique identification and generate one group of air traffic control.One group of air traffic control can be with the geography of the unique identification
Fence apparatus is associated.
In some cases, indicant can indicate that geography fence type of device.Indicant is not necessarily to for specifically
Reason fence apparatus is unique, but can be unique for specific geography fence type of device.In some cases, different
The geography fence device of type
Different physical characteristics be can have (for example, model, shape, size, power output, range, battery life, biography
Sensor, performance) or can be used for executing different geography fence functions (for example, being maintained at unmanned vehicle outside region, shadow
It rings the flight of unmanned vehicle, the payload operation for influencing unmanned vehicle, the communication for influencing unmanned vehicle, influence nobody
The navigation of sensor, influence unmanned vehicle on aircraft machine, the electricity use for influencing unmanned vehicle).It is different types of
Geography fence device can have different security level or priority.For example, the rule applied by first order geography fence device
It then can be more important than the rule applied by second level geography fence device.Geography fence type of device may include by identical system
The geographical fence apparatus type of difference making quotient or designer or being created by different manufacturers or designer.In some cases
Under, one group of air traffic control can be generated based on the geography fence type of device identified.One group of air traffic control can with marked
The geography fence type of device of knowledge is associated.
Indicant can be permanently affixed to geography fence device.Indicant can integrate to geography fence device.Some
In the case of, indicant can not be removed in the case where not damaging geography fence device from the geography fence device.Alternatively, instruction
Object can be can be from the removal of geography fence device.Indicant can be in the case where not damaging geography fence device from describedly
Fence apparatus is managed to remove.In some embodiments, indicant can be the fuselage or shell of geography fence device itself.It is geographical
The fuselage or shell of fence apparatus can be can be by unmanned vehicle identification.For example, unmanned vehicle may include camera, institute
State camera can capture geography fence device image and can be according to the fuselage of geographical fence apparatus or shell to identify
State geography fence device.
Unmanned vehicle 2220 can sense geography fence device.Unmanned vehicle can sense geography fence device
Indicant.Unmanned vehicle may include: sensor, be configured for the indicant of detection geography fence device；With
And flight control modules, it is configured for generating one for operating the unmanned vehicle according to one group of air traffic control
Or multiple signals, one group of air traffic control are the indicants based on detected, the described geography fence device and generate.
A kind of method operating unmanned vehicle may include: to detect geography and enclose by means of the sensor on the unmanned vehicle machine
The indicant of column device；Operate the unmanned vehicle according to one group of air traffic control one is generated using flight control modules
A or multiple signals, one group of air traffic control are the indicants based on detected, the described geography fence device and generate
's.
Unmanned vehicle can detect indicant by means of sensor 2236.Unmanned vehicle can carry a kind of or more
The sensor of seed type.In some cases, unmanned vehicle can be able to detect different types of indicant.For example, nobody
Aircraft can encounter the geography fence device with witness marking and another geography with wireless signal as indicant
Fence apparatus.Unmanned vehicle can be able to detect two kinds of indicant.Alternatively, unmanned vehicle can find certain kinds
The indicant (for example, indicant that visual indicia is only identified as to geography fence device) of type.Unmanned vehicle can carry one
Kind or a plurality of types of sensors, such as other those described sensors everywhere herein, and can have and can also act as
For the communication unit 2232 of the sensor of indicant.
When unmanned vehicle detects geography fence device, the unmanned vehicle can be generated or receive one group of flight
Control.Unmanned vehicle can be operated then according to one group of air traffic control.Various types of air traffic control can be provided,
Such as air traffic control those of is described in more detail in other everywhere herein.One group of air traffic control may include about geography fence
The information on boundary and position, and the nothing for allowing within geography fence border or except geography fence border or not allowing
The type of people aircraft manipulator.One group of air traffic control may include rule or the applicable timing of limitation and/or want
It is taken by unmanned vehicle to abide by any flight of the control and respond.
One group of air traffic control can be generated on unmanned vehicle machine.Unmanned vehicle may include one or more processing
Device, the processor can execute step to generate one group of air traffic control.Unmanned vehicle may include memory 2230, described
Memory can store the information that can be used for generating one group of air traffic control.In one example, one group of air traffic control can be with
It is generated and selecting one group of air traffic control from multiple groups air traffic control.The multiple groups air traffic control can be stored in nobody
In memory on aircraft machine.
Unmanned vehicle can detecte the presence of geography fence device.It can depositing based on the geography fence device detected
And generate one group of air traffic control.In some cases, the presence of geography fence device can be enough to generate one group of air traffic control.It can
To provide unmanned vehicle and/or user information at unmanned vehicle.In some cases, unmanned vehicle and/or user
Information can be used for helping to generate one group of air traffic control.For example, can be based on unmanned vehicle and/or user information (for example, nothing
People's aircraft identifier, unmanned vehicle type, user identifier and/or user type) and generate one group of air traffic control.
Unmanned vehicle can receive the other information about geography fence device, such as the type of geography fence device or
The unique identifier of geography fence device.Information about geography fence device can be the indicant based on geography fence device
And determine.Alternatively, other channels can deliver the information about geography fence device.Geography fence device information can be used for
Help generates one group of air traffic control.For example, can be based on geography fence information (for example, geography fence device identification, geography enclose
Column type of device) and generate one group of air traffic control.For example, to can have different boundaries big for different types of geography fence device
Small or shape.Different types of geography fence device can have the different operation rule or limit being applied on unmanned vehicle
System.In some cases, the geographical fence apparatus of the difference of same type can have identical boundary shape or size and/or institute
The operation rules of the same type of application.Alternatively, even if can also apply different in identical geography fence type of device
Air traffic control.
Unmanned vehicle can summarize or receive the other information that can be used for generating one group of air traffic control.For example, nobody flies
Row device can receive the information about environmental condition.It can be from geography fence device, air traffic control system, one or more external senses
Device, the one or more sensors on unmanned vehicle machine or any other source receive the information about environmental condition.It can be with
One group of air traffic control is generated based on other informations such as environmental conditions.
One group of air traffic control can be generated outside unmanned vehicle machine.For example, can be in the blank pipe outside unmanned vehicle machine
One group of air traffic control is generated at system.Air traffic control system may include one or more processors, and the processor can execute step
Suddenly to generate one group of air traffic control.Air traffic control system may include memory, and the memory, which can store, can be used for generating one group
The information of air traffic control.In one example, one group of air traffic control can be by described in the selection from multiple groups air traffic control
One group of air traffic control and generate.The multiple groups air traffic control can be stored in the memory of air traffic control system.
Unmanned vehicle can detecte the presence of geography fence device.In response to the detection to geographical fence apparatus,
Unmanned vehicle can send the request to one group of air traffic control to air traffic control system.Based on detected geography fence device
In the presence of one group of air traffic control can be generated at air traffic control system.In some cases, the presence of geography fence device can be enough to give birth to
At one group of air traffic control.Unmanned flight can be provided from unmanned vehicle or from any other component of system to air traffic control system
Device and/or user information.In some cases, unmanned vehicle and/or user information can be used for helping to generate one group of flight
Control.For example, can be based on unmanned vehicle and/or user information (for example, unmanned vehicle identifier, unmanned vehicle class
Type, user identifier and/or user type) and generate one group of air traffic control.
Air traffic control system can receive the other information about geography fence device, the type or ground of such as geography fence device
Manage the unique identifier of fence apparatus.Air traffic control system can receive the information from unmanned vehicle, and the unmanned vehicle can
The indicant of geography fence device can be had been based on and determine the information.It is enclosed alternatively, other channels can be delivered about geography
The information of column device.For example, air traffic control system directly can receive information from geography fence device.Air traffic control system can be by nothing
The position of people's aircraft and geography fence device is compared to determine unmanned vehicle with may have detected which (a little)
Manage fence apparatus.Geography fence device information can be used for helping to generate one group of air traffic control.For example, geography fence can be based on
Information (for example, geography fence device identification, geography fence type of device) and generate one group of air traffic control.For example, inhomogeneity
The geography fence device of type can have different boundary sizes or shape.Different types of geography fence device, which can have, to be applied
Different operation rule or the limitation being added on unmanned vehicle.In some cases, the geographical fence apparatus of the difference of same type
It can have the operation rules of identical boundary shape or size and/or the same type applied.Alternatively, even if identical
In geography fence type of device, different air traffic control can also be applied.
Air traffic control system can summarize or receive the other information that can be used for generating one group of air traffic control.For example, air traffic control system
It can receive the information about environmental condition.It can be from geography fence device, one or more external sensors, unmanned vehicle
One or more sensors or any other source on machine receive the information about environmental condition.It can be based on such as environment
The other informations such as condition and generate one group of air traffic control.
In another example, one group of air traffic control can be generated on geography fence device.Geography fence device can be with
Including one or more processors, the processor can execute step to generate one group of air traffic control.Geography fence device can
To include memory, the memory can store the information that can be used for generating one group of air traffic control.In one example, described
One group of air traffic control can be generated and selecting one group of air traffic control from multiple groups air traffic control.The multiple groups air traffic control can
To be stored in the memory of geography fence device.
Unmanned vehicle can detecte the presence of geography fence device.In response to the detection to geographical fence apparatus,
Unmanned vehicle can send the request to one group of air traffic control to geography fence device.In response to from unmanned vehicle
Request, one group of air traffic control can be generated at geography fence device.It can be from unmanned vehicle or from any of system
Other component provides unmanned vehicle and/or user information to geography fence device.In some cases, unmanned vehicle and/
Or user information can be used for helping to generate one group of air traffic control.For example, unmanned vehicle and/or user information can be based on
(for example, unmanned vehicle identifier, unmanned vehicle type, user identifier and/or user type) and generate one group of flight
Control.
The information about geography fence device, the type or ground of such as geography fence device can be used in geography fence device
Manage the unique identifier of fence apparatus.Geography fence device can store the information about the geography fence device on it.
Geography fence device information can be used for helping to generate one group of air traffic control.For example, can based on geography fence information (for example,
Geography fence device identification, geography fence type of device) and generate one group of air traffic control.For example, different types of geography encloses
Column device can have different boundary sizes or shape.Different types of geography fence device can have be applied to nobody fly
Different operation rule or limitation on row device.In some cases, the geographical fence apparatus of the difference of same type can have phase
The operation rules of same boundary shape or size and/or the same type applied.Alternatively, even if being filled in identical geography fence
It sets in type, different air traffic control can also be applied.
Geography fence device can summarize or receive the other information that can be used for generating one group of air traffic control.For example, geographical
Fence apparatus can receive the information about environmental condition.It can be from other geography fence devices, one or more external senses
One or more sensors, unmanned vehicle or any other source on device, geography fence device are received about environment
The information of condition.One group of air traffic control can be generated based on other informations such as environmental conditions.
In some embodiments, geography fence device may include: receiver, and being configured for receiving facilitates
Determine the data of one group of air traffic control；One or more processors are either individually or collectively configured for: based on by institute
It states the received data of receiver and determines one group of air traffic control；And one or more transmitters, it is configured for
Transmit the signal for making unmanned vehicle fly according to one group of air traffic control.Aspect of the invention can be related to a kind of control
The method of the flight of unmanned vehicle, which comprises using the receiver of geography fence device, reception aids in determining whether one
The data of group air traffic control；By means of one or more processors, based on as the received data of the receiver and described in determining
One group of air traffic control；And one or more transmitters by means of the geography fence device, transmission make the unmanned flight
The signal that device flies according to one group of air traffic control.Receiver can be the input element for collecting data.Transmitter can be with
It is the output element to unmanned vehicle output signal.
In some embodiments, receiver can be sensor.It can be and indicate by the data that receiver receives
The sensing data of one or more environmental conditions of geography fence device.Geography fence device may include any kind of sensing
Device, such as visual sensor, GPS sensor, IMU sensor, magnetometer, sonic transducer, infrared sensor, ultrasonic sensor or
The sensor of other any other described types everywhere herein, including what is described in the scene carried by unmanned vehicle
Other sensors.One or more environmental conditions may include any kind of environmental condition, and such as other each places are retouched herein
Those of state environmental condition.Sensor can be able to detect about amblent air temperature (for example, temperature, wind, precipitation, sunshine, humidity),
Environment complexity, the density of population or the magnitude of traffic flow are (for example, the surface magnitude of traffic flow or transport air flow near geography fence device
Amount) data.When generating one group of air traffic control, it may be considered that environmental condition.For example, flying if rained compared with not raining
Row control can be different.If the sensors sense that many movements around geography fence device are (for example, high traffic flow
Amount) compared with without movement, air traffic control can be different.
It can be the one or more radio conditions for indicating geography fence device or logical by the data that receiver receives
The sensing data of creed part.For example, geography fence device can be surrounded by different wireless network or hot spot.Fly when generating one group
When row control, it may be considered that radio condition or communication condition.
Receiver can be the existing detector for being configured for detection unmanned vehicle.It is received by receiver
Data can indicate that the presence of unmanned vehicle.Compared to other objects that can be located in environment, the detector can energy
It is enough that the unmanned vehicle is identified as unmanned vehicle.Detector can be able to detect unmanned vehicle identity and/or nobody
Type of aircraft.In some cases, the type and/or nothing of unmanned vehicle be can indicate that by the data that receiver receives
The identifier of people's aircraft.Detector can be able to detect the position of unmanned vehicle.Detector can be able to detect nobody and fly
Distance of the row device relative to the detector.Detector can be able to detect side of the unmanned vehicle relative to the detector
To.Detector may be able to determine that the direction of unmanned vehicle.Detector can be able to detect unmanned vehicle relative to described
Detector and/or position relative to global context.
Receiver can be the communication module for being configured for receiving wireless signal.The data received by communication module
It can be user's input.User can directly into communication module hand input-data.Alternatively, user can be with remote user's end
End interacts, and the remote user terminals can send the signal for indicating that user inputs to communication module.Data can wrap
Include the information of the geographical fence apparatus around one or more.Geography fence device can communicate with each other letter and shared letter
Breath.Data may include the information of any other part from air traffic control system or Verification System.
One group of air traffic control can be determined based on the data received by receiver.One group of air traffic control can wrap
Include one or more geography fence borders for one or more flight restrictions.It can be based on the data received by receiver
And determine geography fence border.Therefore, for same geography fence device, different geography can be provided in different situations
Fence boundary.For example, geography fence device can produce first group of boundary when detecting the unmanned vehicle of the first kind,
And when detecting the unmanned vehicle of Second Type, geography fence device can produce second group of boundary.The nothing of the first kind
The unmanned vehicle of people's aircraft and Second Type can be located in the range of geography fence device simultaneously, and can respectively have
There is the different boundary applied on it.In another example, when environmental condition indicates that wind speed is higher, geography fence device can
To generate first group of boundary, and when environmental condition indicates that wind speed is lower, second group of boundary can produce.Can based on by
Any data (including but not limited to unmanned vehicle information, user information, environmental information, shared information) that receiver receives
And determine geography fence border.
One group of air traffic control may include the flight restriction of one or more types.Flight restriction can be adapted for geography and enclose
Area inside or outside column boundary.Flight restriction can be in the one or more aspects that unmanned vehicle operates (for example, flying
Go, take off, landing, payload operation, payload positioning, carrier operation, can be by object that unmanned vehicle carries, logical
Letter, sensor, navigation and/or electricity use) on apply limitation.It in some cases, can be only within geography fence border
Apply flight restriction.Alternatively, can only apply limitation except geography fence border.Can within boundary and except all provide
Some limitations.Whole group limitation within boundary can be different from the limitation of the whole group except boundary.It can be based on being received by receiver
To data and determine flight restriction.Therefore, it for same geography fence device, can provide in different situations different
Limitation.For example, geography fence device can produce first group of flight restriction when detecting the unmanned vehicle of the first kind,
And when detecting the unmanned vehicle of Second Type, geography fence device can produce second group of limitation.The nothing of the first kind
The unmanned vehicle of people's aircraft and Second Type can be located in the range of geography fence device simultaneously, and can respectively have
There is the different one group limitation applied on it.In another example, when geographical fence apparatus detects a large amount of nothings in the zone
When line hot spot, the geography fence device can generate first group of flight restriction, and when geographical fence apparatus is not detected
When many hotspot, second group of air traffic control can produce.
Geography fence device can send the signal for making unmanned vehicle fly according to one group of air traffic control.The signal
It may include one group of air traffic control itself.Geography fence device can be in locally determining one group of air traffic control and then to nothing
People's aircraft sends one group of air traffic control.One group of air traffic control can be sent directly to unmanned vehicle or can be with
It is sent to air traffic control system, one group of air traffic control can be relayed to unmanned vehicle by the air traffic control system.Signal can be straight
It receives and sends to unmanned vehicle or another external device (ED).
In some embodiments, signal may include that external device (ED) is made to send one group of air traffic control to unmanned vehicle
Triggering.The example of external device (ED) can be another geography fence device, air traffic control system or any other external device (ED).In some feelings
Under condition, external device (ED) can store the possible air traffic control of multiple groups or can store the group that can be used for generating one group of air traffic control
At part.Geography fence device, which can be sent, can make external device (ED) generate one group of tof tube according to the determination of geographical fence apparatus
The signal of system.External device (ED) then can deliver one group of air traffic control generated to unmanned vehicle.The signal can be straight
It receives and sends to external device (ED).
Signal may include that unmanned vehicle is made to select identified one group of flight from the memory of the unmanned vehicle
The identifier of control.Unmanned vehicle can generate one group of air traffic control based on the signal from geography fence device.For example,
The component part of one or more groups of air traffic control or air traffic control can be stored in the unmanned vehicle by unmanned vehicle
In memory.Geography fence device can send can make unmanned vehicle generated according to the determination of geographical fence apparatus one group fly
The signal of row control.In one example, the signal may include the mark that can indicate whether the generation of one group of air traffic control
Symbol.The identifier can be for the unique identifier of specific one group of air traffic control.Unmanned vehicle can be abided by then
One group of air traffic control generated and operate.
Figure 23, which is shown, is not necessarily to the unmanned vehicle system directly communicated with each other in wherein unmanned vehicle and geography fence device
The example of system.In some cases, unmanned vehicle can detecte the presence of geography fence device, or vice versa.
Unmanned vehicle system may include geography fence device 2310, unmanned vehicle 2320 and/or external device (ED)
2340.Unmanned vehicle may include memory cell 2330, sensor 2332, flight controller 2334 and/or communication unit
2336。
External device (ED) 2340 can be any other part of air traffic control system, authentication center or Verification System.External device (ED)
It can be another unmanned vehicle or another geography fence device.The other kinds of dress that external device (ED) can be and be mentioned herein
Set separated device.In some cases, external device (ED) may include one or more physical units.Multiple physical units can be with
It communicates with one another.External device (ED) can have distributed structure/architecture.In some cases, external device (ED) can have cloud computing foundation frame
Structure.External device (ED) can have P2P framework.External device (ED) can be communicated with unmanned vehicle 2320 and can independently with
Geography fence device 2310 communicates.
In one implementation, geography fence device 2310 can be able to detect the presence of unmanned vehicle.Geography fence dress
Setting may include detector, and the detector can be located at the predetermined geographic range of the geography fence device in unmanned vehicle
The presence of unmanned vehicle is detected when interior.Detector can be any kind of detector, and such as other are described everywhere herein
Those of detector.For example, visual sensor, radar can be used for detector or other are described any everywhere such as this paper
Other testing agencies.Detector can be configured to detect unmanned vehicle by means of one or more external device (ED)s.For example, can
Additional sensor to be provided separately in the environment.Individual sensor can detecte unmanned vehicle or can help geography
The information of the detector detection unmanned vehicle of fence apparatus or collection about unmanned vehicle.For example, individually sensor can
To include the visual sensor being dispersed in the environment entirely occupied by geography fence device, sonic transducer, infrared sensor
Or wireless receiver.Herein other everywhere as described in, detector can detect institute before unmanned vehicle enters preset range
State unmanned vehicle, or can have when unmanned vehicle is located within preset range it is very high detect it is described nobody
A possibility that aircraft.Detector can detect the unmanned flight before unmanned vehicle reaches geography fence device boundary
Device.
Detector can be able to detect any information about unmanned vehicle and/or user.Detector can detecte nothing
People's aircraft or user type.Detector may be able to determine that unmanned vehicle identifier and/or user identifier.In some realities
It applies in mode, detector can be communication module.The communication module can receive instruction from unmanned vehicle or external device (ED)
The communication of unmanned vehicle and/or user information out.Unmanned vehicle can be received with broadcast message, the information by detector
To detect the presence of unmanned vehicle.The information broadcasted may include the information about unmanned vehicle, such as unmanned flight
The identity of device, unmanned vehicle type, the position of unmanned vehicle or unmanned vehicle attribute.
Geography fence device may include communication module, and the communication module may be configured for sending and trigger to nobody
Aircraft sends the signal of one group of air traffic control.When unmanned vehicle enters the predetermined geographic range of geography fence device, lead to
Letter module can send signal.When unmanned vehicle is detected by geography fence device, communication module can send signal.?
Unmanned vehicle enters before geography fence device boundary, and communication module can send signal.
Aspect of the invention may include a kind of geography fence device, comprising: detector is configured for described
The presence of unmanned vehicle is detected within the scope of the predetermined geographic of geography fence device；And communication module, it is configured for
Signal, the signal triggering are sent when the unmanned vehicle enters the predetermined geographic range of the geography fence device
One group of air traffic control is sent to the unmanned vehicle.Further aspect can be related to a kind of winged to one group of unmanned vehicle offer
The method of row control, which comprises by means of the detector of geography fence device, in the predetermined of the geography fence device
The presence of detection unmanned vehicle in geographic range；And the communication module by means of the geography fence device, when the nothing
People's aircraft transmits signal when entering the predetermined geographic range of the geography fence device, and the signal is triggered to the nothing
People's aircraft sends one group of air traffic control.
Signal from communication module can be sent to any device except geography fence device.For example, signal can quilt
It is sent to external device (ED) 2340.As it was noted above, signal can be sent to air traffic control system, authentication center, other geography fences dress
It sets or other unmanned vehicles.In some cases, signal can be sent to unmanned vehicle itself.External device (ED) can receive
Signal and can to unmanned vehicle 2320 send one group of air traffic control.When external device (ED) receives signal, the external dress
It sets and one group of air traffic control can be generated.After having generated one group of air traffic control, external device (ED) can be sent out to unmanned vehicle
Send one group of air traffic control.
In some alternate embodiments, communication module can provide signal to the component on geography fence device.Example
Such as, signal can be provided to the one or more processors of geography fence device, the processor can be from geography fence device
Memory in retrieve one group of air traffic control and to unmanned vehicle send described group of air traffic control.It can be filled in geography fence
It sets and two-way communication is provided between unmanned vehicle.
Communication module may be configured for transmitting information within the scope of the predetermined geographic of geography fence device.Communicate mould
Block may be configured at least getting in touch with the device within the scope of the predetermined geographic of geography fence device.Communication module can be with
It can get in touch with the device outside the predetermined geographic range of geography fence device.Communication module, which can issue, can have limited model
The direct communication enclosed.In some cases, communication module with direct communication and can use one or more intermediate devices
Or network.
Communication module may be configured for continuous transmission information.Communication module may be configured for periodically transmitting
Information (for example, with rule or irregular interval transmission information) transmits information according to timetable or is detecting event
Or information is transmitted when situation.For example, communication module can detect unmanned vehicle there are when transmit information.Communication module
Information can be transmitted when detecting within the preset range that unmanned vehicle is located at geography fence device.Communication module can be
Information is transmitted when detecting unmanned vehicle close to geography fence border.Communication module can detect any situation
Information is transmitted when (such as herein other everywhere those described situations).
Geography fence device 2310 may include locator, and the locator is configured for providing geography fence device
Position.In some cases, locator can be GPS unit.Locator can provide the world coordinates of geography fence device.
One or more sensors can be used to determine geographical fence apparatus position in locator.Locator can provide geography fence dress
The local coordinate set.The position of geography fence device may include in the signal of transmission for triggering one group of air traffic control.One
In a example, external device (ED) can receive geography fence setting position.External device (ED) can track the geography fence dress
Set and/or region in any other geography fence device position.
In some embodiments, one group of air traffic control can be generated at external device (ED).It can be based on unmanned vehicle
And/or user information and generate one group of air traffic control.It is, for example, possible to use unmanned vehicle identity, unmanned vehicle type, use
Family identity and/or user type generate one group of air traffic control.The information about geography fence device can be used to generate one
Group air traffic control.It is, for example, possible to use geography fence device identity, type or positions.It can be based on described herein any
The information of type and one group of air traffic control is selected from multiple groups air traffic control.
One group of air traffic control may include as herein other everywhere described in any characteristic.One group of air traffic control can wrap
Include geography fence border.One group of air traffic control may include one or more limitations of the operation to unmanned vehicle.
One group of air traffic control can be sent from external device (ED) to unmanned vehicle.In some cases, it can be enclosed from geography
Column device sends one group of air traffic control to unmanned vehicle.Can from geography fence device directly or via external device (ED) to nobody
Aircraft sends one group of air traffic control.
In a further implementation, unmanned vehicle can receive the information of the position about geography fence device.Unmanned flight
Device may include communication unit, be configured for receiving the position of geography fence device；And flight control modules, quilt
Be disposed for generate operate the unmanned vehicle according to one group of air traffic control one or more signals, described one group
Air traffic control is the position based on the geography fence device and generates.Aspect of the invention may include a kind of operating nobody
The method of aircraft, which comprises by means of the communication module of the unmanned vehicle, receive the position of geography fence device
It sets；And by means of flight control modules, generate one for operating the unmanned vehicle according to one group of air traffic control or
Multiple signals, one group of air traffic control are the positions based on the geography fence device and generate.
When unmanned vehicle flight, the unmanned vehicle can receive the letter of the positioning about geography fence device
Breath.Geography fence device can have the locator on the geography fence device.Matched for example, locator can be
It is set to the GPS unit of the world coordinates for providing geography fence device.Can be provided on geography fence device as herein its
His any other described locator everywhere.
Unmanned vehicle can receive the positioning about geography fence device at the communication unit of the unmanned vehicle
Information.Communication unit may be configured for the position that the geography fence device is directly received from geography fence device.It is logical
Letter unit may be configured for the position that geography fence device is received from one or more intermediate devices (i.e. external device (ED)).One
A or multiple intermediate devices can be the air traffic control system outside unmanned vehicle machine.
One group of air traffic control can be generated on unmanned vehicle machine.Unmanned vehicle, which can will can be used for generating one group, to fly
The information of row control is stored in the machine carried memory of unmanned vehicle.For example, the machine carried memory of unmanned vehicle can store up
Deposit multiple groups air traffic control.The received information about geography fence device can be used to generate one group and fly in unmanned vehicle
Row control.The generation of one group of air traffic control can be triggered to the detection of geographical fence apparatus.The information of geography fence device can be with
Influence or can not influence the generation of one group of air traffic control.Unmanned vehicle can be then according to one group of tof tube generated
It makes and operates.
One group of air traffic control can be generated at the air traffic control system or other external device (ED)s outside unmanned vehicle machine.Outside dress
Setting can be stored in the information that can be used for generating one group of air traffic control in the machine carried memory of external device (ED).For example, external dress
The machine carried memory set can store multiple groups air traffic control.External device (ED) can be used received about geography fence device
Information to generate one group of air traffic control.The generation of one group of air traffic control can be triggered to the detection of geographical fence apparatus.It is geographical
The information of fence apparatus can influence or can not influence the generation of one group of air traffic control.In some cases, it can be based on
The position of geography fence device and generate one group of air traffic control.External device (ED) can send one group generated to unmanned vehicle
Air traffic control.One group of air traffic control can directly or indirectly be sent.Unmanned vehicle, which can have, to receive one from external device (ED)
The communication unit of group air traffic control.
The other parts of external device (ED), such as air traffic control system or Verification System, can be with Added Management unmanned vehicle and ground
Manage the interaction between fence apparatus.Any description of this paper can be adapted for any kind of external device (ED).Air traffic control system can be with
Information is received from multiple unmanned vehicles and multiple geography fence devices.Air traffic control system can collect the information from multiple sources simultaneously
And help to manage the flight of unmanned vehicle.Air traffic control system can push the dynamic lane information for each unmanned vehicle.
Air traffic control system can be based on receiving, refuse or change nothing about the information of other unmanned vehicles and/or geography fence device
The suggestion course line of people's aircraft.Air traffic control system the location information of each geography fence device can be used to receive, to refuse or
Change the suggestion course line of unmanned vehicle.Air traffic control system can provide navigation Service.Air traffic control system can help unmanned vehicle
It navigates in the environment.Air traffic control system can help unmanned vehicle in the ring that can wherein have one or more geography fence devices
It navigates in border.
Figure 41 shows the air traffic control system wherein Yu multiple unmanned vehicles and multiple geography of embodiment according to the present invention
The example for the unmanned vehicle system that fence apparatus interacts.Air traffic control system 4110 can be filled with one or more geography fences
4120a, 4120b, 4120c, 4120d is set to communicate.Air traffic control system can with one or more unmanned vehicle 4130a,
4130b, 4130c, 4130d are communicated.
In some embodiments, air traffic control system could be aware that the position of geography fence device.Geography fence device can be with
With the locator that can determine the geography fence setting position.Information from locator can be transferred into air traffic control system.Such as
The position change of fruit geography fence device, then can be updated it.
Air traffic control system could be aware that the position of unmanned vehicle.Unmanned vehicle can have determining unmanned vehicle position
Locator.For example, unmanned vehicle can have GPS unit or other sensors can be used to determine unmanned vehicle
Position.Information about unmanned vehicle position can be transferred into air traffic control system.If the position change of unmanned vehicle,
It can be updated.
Air traffic control system is known that the position of geography fence device and unmanned vehicle.It can be in real time or with high-frequency
It ground-to-ground manages fence apparatus and the position of unmanned vehicle is positioned.Air traffic control system can be collected advantageously from multiple geography
The information of fence apparatus and multiple unmanned vehicles.Therefore, air traffic control system can have the device in region good
Understand.Air traffic control system is known that the position of geography fence device and unmanned vehicle, detects nothing without geography fence device
People's aircraft or vice versa.In some cases, the detection between geography fence device and unmanned vehicle can occur.
Air traffic control system can be able to detect the preset range whether unmanned vehicle is going into geography fence device.Air traffic control system can be with
It is able to detect the geography fence border whether unmanned vehicle is approaching geographical fence apparatus.Air traffic control system can alert
Unmanned vehicle and/or geography fence device: the unmanned vehicle is close to the geography fence device.Alternatively, can be with
Warning is not provided.
When air traffic control system detects that unmanned vehicle is approaching geographical fence apparatus, the air traffic control system be can be generated
One group of air traffic control for the unmanned vehicle and one group of air traffic control is transmitted to the unmanned vehicle.Blank pipe
System can by comparing unmanned vehicle position data and geography fence device position data and detect it is described nobody
Aircraft is close to the geography fence device.The real time position of unmanned vehicle can be with the real-time position of geography fence device
It sets and is compared.The coordinate of unmanned vehicle can be compared with the coordinate of geography fence device.Unmanned flight can be compared
The position of device and geography fence device, without detecting unmanned vehicle by geography fence device or vice versa.Described one
Group air traffic control can be as the close geography fence device customization of unmanned vehicle, or based on described device and
It generates.Unmanned vehicle can receive one group of air traffic control and be operated according to described group of air traffic control.
In alternative realizations, the unmanned vehicle that can detect geography fence apparatus can provide unmanned flight to air traffic control system
Device is approaching the instruction of geographical fence apparatus.Air traffic control system can be generated for unmanned vehicle one group of air traffic control and
One group of air traffic control is transmitted to unmanned vehicle.Geography fence device may be provided at the position to be detected but without tool
There is other function.In some cases, geography fence device may be provided at the position and can be identified uniquely
Either can there can be certain influence on the type of air traffic control generated by type identification, the type.It is geographical
Fence apparatus itself is without executing any movement.It is being approached simultaneously alternatively, geography fence device can detecte unmanned vehicle
And the instruction that unmanned vehicle is approaching geographical fence apparatus can be provided to air traffic control system.Air traffic control system, which can be generated, to be directed to
One group of air traffic control of unmanned vehicle and one group of air traffic control is transmitted to unmanned vehicle.Geography fence device can quilt
There is provided will by unmanned vehicle detect position but need not have other function.In some cases, geography fence device
It can have unique identifier or can be can be to air traffic control generated by type identification, the type
Type there is certain influence.Geography fence device itself is without executing any additional move.Therefore, in some implementations, ground
Managing fence apparatus can be advantageously relatively simple or with cost-benefit device.
In further alternative realizations, air traffic control system can make the unmanned vehicle generate one group to unmanned vehicle offer
The signal of air traffic control, rather than one group of air traffic control is generated on air traffic control system.Signal from air traffic control system can be true
Surely any group air traffic control generated.Signal from air traffic control system can correspond to one group of single air traffic control.When nobody flies
When row device generates one group of air traffic control, the unmanned vehicle can be acted then according to one group of air traffic control.Another
In one example, air traffic control system can be provided to geography fence device can make the geography fence device generate one group of air traffic control
Signal, rather than one group of air traffic control is generated on air traffic control system.Signal from air traffic control system can determination which to be generated
Group air traffic control.Signal from air traffic control system can correspond to one group of single air traffic control.Geography fence device can be to
Unmanned vehicle transmits one group of air traffic control generated.When unmanned vehicle receives one group of air traffic control, described nobody flies
Row device can be acted then according to one group of air traffic control.Similarly, air traffic control system can be to the attached of any other type
Feeder apparatus provides the signal that the attachment device can be made to generate one group of air traffic control.Attachment device can be transmitted to unmanned vehicle
One group of air traffic control generated, the unmanned vehicle can be operated according to one group of air traffic control.
As it was noted above, various types of interactions between the component of unmanned vehicle system can permit generation tof tube
It makes and unmanned vehicle is allowed to abide by the air traffic control and operate.Air traffic control can be about the side by geography fence device
The fixed one or more area of boundary.In some cases, such as unmanned vehicle, user terminal (for example, remote controler), geography
The all parts such as fence apparatus, external memory unit and/or air traffic control system (or other external device (ED)s) can communicate with one another or
It can be by detecting each other.
In some embodiments, push communication can be provided between any two in the component.Push communication
It may include the communication that second component is sent to from the first component, wherein the first component initiates the communication.Communication can be from the
One component is sent to second component, and to the no any request of the communication from second component.For example, air traffic control system can be downward
Push is communicated to unmanned vehicle.Air traffic control system can be in the case where unmanned vehicle request one group of air traffic control to described
Unmanned vehicle sends one group of air traffic control.
Communication is pulled it is alternatively possible to provide between any two component.Pulling communication may include from the first component
It is sent to the communication of second component, wherein second component initiates the communication.Communication can be in response to from second component
The request of communication and be sent to second component from the first component.For example, when unmanned vehicle requests to update one group of air traffic control,
Air traffic control system can send one group of air traffic control to the unmanned vehicle.
Communication between any two component can be automatically.Communication can without it is from the user it is any instruction or
Occur in the case where input.Communication can occur automatically in response to timetable or the event detected or situation.One or more
A processor can receive data and can be automatically generated the instruction for communication based on the data received.For example, empty
Guard system can send the update to local navigation map from trend unmanned vehicle.
One or more communications between any two component can be manually.Communication can detected from user
Instruction or input when occur.User can initiate the communication.User can control the one or more aspects of communication, such as
Inside perhaps deliver.For example, user can update of the order unmanned vehicle from air traffic control system request to local navigation map.
Communication can be occurred with real-time continuous, can be occurred according to routine (for example, with rule or irregular time interval
Periodically occur, either occurred according to timetable) or occurred (for example, in response to the event detected in a manner of non-routine
Or situation and occur).The first component can be sent by continuous fashion, according to routine or to second component in a manner of non-routine
Communication.For example, geography fence device can continue to send the information about its position to air traffic control system.Air traffic control system can be real-time
Know the position of geography fence device.It is filled alternatively, geography fence device can be sent in a manner of routine about the geography fence
The information of seated position.For example, geography fence device can update air traffic control system about its position per minute.In another example
In, geography fence device can send its position to air traffic control system according to timetable.The timetable can be updated.For example,
On Monday, geography fence device can send the update about its position per minute, and in Tuesday, geography fence device can be with every
The update sent about its position in 5 minutes.In another example, geography fence device can be sent in a manner of non-routine about
The information of the geography fence setting position.For example, geography fence device can detect unmanned vehicle just in described device
The information about the geography fence setting position is sent to air traffic control system when close to described device.
Communication between any two component can be direct or indirect.It can be from the first component directly to second
Part provides communication, without any intermediary.For example, remote controler can be straight by the receiver of unmanned vehicle from transmitter transmission
Connect received radio signal.It can be logical by then being provided indirectly to second component from the first component in being carried out via intermediary
Letter.Intermediary can be one or more intermediate devices or network.For example, remote controler can send signal by telecommunication network
It may include the routing via one or more antenna towers to control the operation of unmanned vehicle.In another example, it flies
Control information can be sent directly to unmanned vehicle and is then sent to the user terminal indirectly (for example, via unmanned flight
Device), or user terminal can be sent directly to and be then sent to unmanned vehicle indirectly (for example, via user's end
End).
Any kind of communication between any part can in various ways (all those modes as described herein)
It provides.Communication may include location information, identification information, the information for certification, the information about environmental condition or with fly
The related information of row control.For example, can provide one or more groups of air traffic control via communication, the communication can be push
Or pull communication, the communication that automatic or manual communicates, real-time continuous occurs, according to the communication of routine generation or with the side of non-routine
The communication that formula occurs, or the communication that can directly or indirectly occur.
The control that geography fence device determines
Geography fence device can have boundary.Boundary can limit the area that one group of air traffic control can be applicable in.It is described
Area can be located within geography fence border.The area can be located at except geography fence border.It can be at described one group
The boundary is determined in the generation of air traffic control.The boundary can be determined independently of remaining group air traffic control is generated.
In some embodiments, one group of air traffic control can be generated in geography fence device.It is generated by geography fence device
One group of air traffic control can also include instruction to the boundary of geographical fence apparatus.Alternatively, geography fence device can determine
For the boundary of geography fence device, and one group of air traffic control or the life of another different device are generated with the geography fence device
It is unrelated at one group of air traffic control.
Alternatively, one group of air traffic control can be generated in air traffic control system.By air traffic control system generate one group of air traffic control also
It may include the instruction to the boundary of geographical fence apparatus.Alternatively, air traffic control system can determine the side for geography fence device
Boundary, and it is unrelated to generate one group of air traffic control with the air traffic control system one group of air traffic control of generation or another different device.Herein
Any description of the geography fence device on the boundary for determining air traffic control or geography fence device is readily applicable to determine and is flown
The air traffic control system on the boundary of row control or geography fence device.
In a further example, one group of air traffic control can be generated in unmanned vehicle.One group generated by unmanned vehicle
Air traffic control can also include the instruction to the boundary of geographical fence apparatus.Alternatively, unmanned vehicle can be determined for geography
The boundary of fence apparatus, and one group of air traffic control or the one group of air traffic control of generation of another different device are generated with unmanned vehicle
It is unrelated.Any description of the geography fence device on the boundary for determining air traffic control or geography fence device can also be applied herein
Unmanned vehicle in the boundary for determining air traffic control or geography fence device.
Geography fence device can voluntarily determine one group of air traffic control for being applicable to geography fence device and/or described
Manage the boundary of fence apparatus.One group of air traffic control (and/or boundary) can be based on information, use from air-traffic control system
Family input, ambient information (for example, amblent air temperature, environment complexity, density of population, the magnitude of traffic flow), air route state (example
Such as, air traffic state), from the information of geographical fence apparatus around and/or from it is one or more nobody fly
The information of row device.Can in response to described any factor or the information from described any source and modify or update
Any air traffic control.Update or change can be with real-time perfoming, can be periodically (for example, between rule or irregular time
Every), carry out according to timetable or in response to the event or situation that detect.
Limit Type
As it was noted above, any kind of air traffic control can be applied to the operation of unmanned vehicle.It can be in response to ground
It manages the presence of fence apparatus and applies any kind of air traffic control as previously described.Geography fence device can have can be with
One or more geography fence border associated with one group of air traffic control.
One group of air traffic control may include the limitation of the behavior to unmanned vehicle.For example, unmanned vehicle can be limited
Into the area limited by geography fence device.Other examples of limitation can include but is not limited to limitation and exist, allow to exist,
Height limitation, angular speed limitation, linear acceleration limitation, angular acceleration limitation, time restriction, effectively carries linear speed limitation
Lotus using limit, limitation of taking photo by plane, to the limitations of sensor operations (for example, opening/closing particular sensor, without using sensor
Collect data, do not record data from sensor, do not transmit the data from sensor), transmitting limitation is (for example, specified
It is issued in electromagnetic spectrum, the specified electromagnetic spectrum may include visible light, infrared ray or ultraviolet light, to the limit of sound or vibration
System), to the limitation of unmanned vehicle outward appearance change (for example, limitation to unmanned vehicle deformation), the limitation to wireless signal
(for example, frequency band, frequency, agreement), to it is used communication or communication in change limitation, to what is carried by unmanned vehicle
The limitation (for example, type of items, Item Weight, item sizes, article material) of article, on article or utilizing article
The limitation (for example, article leaves behind or delivers, article is picked up) of the movement of execution, to the limitation of unmanned vehicle carrier operation, right
Electricity uses or the limitation of management (such as, it is desirable that enough remaining battery capacities), to the limitation of landing, to the limitation taken off or
Any other limitation used of person to unmanned vehicle.In other any examples provided everywhere about air traffic control herein
Can be used as it is possible limitation and be suitable for unmanned vehicle, it is described limitation with geography fence device there are associated.
Geography fence device can have different type.In some cases, different types of geography fence device can be with
Apply different types of flight restriction.The example of flight restriction type may include any of above flight restriction or herein other
Described any air traffic control everywhere.In some cases, different types of different geographical fence apparatus can have relatively
In the different boundary (for example, different shapes, size, change condition) of the geography fence device.
As it was noted above, can be applied based on unmanned vehicle identity, user identity and/or geography fence device entity
Different limitations.For different unmanned vehicle types, different user types and/or different geography fence device classes
Type can apply different limitations.For the unmanned vehicle with different operation grade, the user with different operation grade
And/or the geography fence device with different operation grade, different limitations can be provided.
When unmanned vehicle does not comply with one group of air traffic control and acts, flight responsive measures can occur.Can from
Family adapter tube control unmanned vehicle.Control can be by executing flight responsive measures according to the instruction on unmanned vehicle machine automatically
Unmanned vehicle itself adapter tube, by send instruction so that unmanned vehicle executes flight according to the instruction on air traffic control system
The air traffic control system of responsive measures is taken over, or by another user with operation grade more higher than unmanned vehicle original user
Adapter tube.Instruction can be provided from the source far from unmanned vehicle, the source has privilege more higher than the privilege of original user.It can
To make the report of adapter tube to air traffic control system.Unmanned vehicle can formulate flight responsive measures.It can be according to unmanned vehicle
Inobservant flight restriction and flight responsive measures are provided.
For example, if unmanned vehicle is located at not allowing that the unmanned vehicle can be forced in its existing area
The area is left, starting point is back to or goes home a little or land.Before adapter tube occurs, it is some unmanned vehicle can be given
Time makes the unmanned vehicle leave the area so as to user.If unmanned vehicle, which leaves, allows the unmanned vehicle
Unique area of flight can then force the unmanned vehicle to be back to the area or landing.It, can before adapter tube control
To give unmanned vehicle some times so that user makes the unmanned vehicle be back to the area.If unmanned vehicle
Do not allowing to operate payload in the area of unmanned vehicle operation payload, then can be automatically closed described has
Imitate load.If unmanned vehicle is utilizing sensor collection information and do not allow the collection of information in area, can close
The sensor is closed, the sensor, which can not record the data collected or the sensor, can not transmit it
The data collected.In another example, if not allowing to wirelessly communicate in area, the logical of unmanned vehicle can be closed
Believe unit to prevent to wirelessly communicate.If unmanned vehicle is not allowed to drop in area, user provides landing instruction,
The unmanned vehicle can not land but hover.If unmanned vehicle must maintain certain battery charge level in area
And charge level is down to aspiration level hereinafter, then the unmanned vehicle can be to be automatically guided to Battery Charging Station, Ke Yi
Regional outer navigation can be forced to land.In any case, user's some times can be given to abide by, alternatively, flight
Responsive measures can come into force.Can provide permissible unmanned vehicle abide by its unsatisfied air traffic control any other
The flight responsive measures of type.
In some cases, geography fence device can be used for limiting flight restricted area, wherein one or more groups of tof tubes
System can be applicable in.Geography fence border can be the circumference of flight restricted area.In some cases, for the spy in particular task
Determine unmanned vehicle, same group of flight restriction can be adapted in flight restricted area or outside flight restricted area.
Optionally, geography fence device can be used for limiting multiple flight restricted areas.Figure 24, which is shown, can have multiple flights
The example of the geography fence device of restricted area.Geography fence device 2410 can be used for limiting the first flight restricted area (for example, area
A 2420a) and the second flight restricted area (for example, area B 2420b).It is alternatively possible to provide third flight restricted area (for example,
Area C 2420c).Any number of flight restricted area can be limited by geography fence device.For example, can be by geography fence device
Limit it is one or more, two or more, three or more, four or more, five or more, six or more
It is a, seven or more, eight or more, nine or more, ten or more, it is ten one or more, 12
Or more, 15 or more, 20 or more, 25 or more, 30 or more, 50 or more or
100 or more flight restricted areas.
The area can be overlapped or can not be overlapped.In one case, area A, area B and area C can be separated, no
The area of overlapping.For example, area A can have circle.Area B can be circular ring shape (for example, can within the outer boundary of area B and
Except the outer boundary of area A).Area C can be with aperture hole rectangle (for example, can within the outer boundary of area C and
Except the outer boundary of area B).The outer boundary in area can be it is concentric so that boundary mutually disjoints.Alternatively, the outside in area
Boundary can intersect with each other.In some cases, area can be overlapped.In some cases, an area can be fully located at another area
It is interior.Such as area A can be circle.Area B, which can be, does not have porose circle.Area A can be fully located in area B.In some cases, if
One area is located in another area, then inner region can have outskirt institute it is restricted.
Area can have any size or shape.It area can be by two-dimentional borders.In two-dimentional boundary above and below
Space can be a part in the area.For example, area can have rounded, oval, triangle, square, rectangle, any
Quadrangle, bar shaped, pentagon, hexagon, octagon, crescent, circular ring shape, star or any other rule or irregular shape
The two-dimentional boundary of shape.The shape may or may not include one or more holes in wherein.It area can be by three-dimensional side
Boundary is fixed.The space being enclosed in three-dimensional boundaries can be a part in the area.For example, area can have it is spherical, cylindrical,
Prismatic (cross section with any shape), hemispherical, bowl-type, circular ring shape, bell, wall surface shape, cone or any rule
Then or irregular shape.Identical shape can have by the not same district that geography fence limits or can have different shapes
Shape.Different sizes can have by the not same district that geography fence device limits.
In some cases, geography fence device can be located within the outer boundary in all areas.Alternatively, geography fence device
It can be located at except the outer boundary in one or more areas.The area can be all spaced apart and non-intersecting.However, it is possible to reference to
Geography fence device positions all areas of geographical fence apparatus.It is geographical if geography fence device will move in environment
The area of fence apparatus can be moved together with described device.For example, if geography fence device is about 10 meters mobile eastwards, it is described
The area of geography fence device can correspondingly move eastwards 10 meters.In some embodiments, area can be radial symmetric.Nothing
How to be rotated by geography fence device, area can remain unchanged.Alternatively, area can not be radial symmetric.For example, if rotation
Geography fence device, then the area can correspondingly rotate.Area can be rotated around geography fence device.For example, if geographical
Fence apparatus rotates clockwise 90 degree, then the area can a little rotate clockwise 90 degree at geography fence device.?
Under some cases, geography fence device rotation can not the zone of influence position.
In some cases, each flight restricted area can have the limitation of its own.One group of air traffic control can with not
Same flight restricted area boundary and corresponding limitation are associated.For example, one group of air traffic control may include for area A boundary,
Boundary for area B, the boundary for area C, the limitation for area A, the limitation for area B and/or the limit for area C
System.Different areas can have different limitations.In one example, area A can limit flight so that without unmanned flight
Device can enter area A.Area B can permit flight but unmanned vehicle may be prevented to operate camera in area B.Area C can permit
Flight and camera use, but unmanned vehicle may not be allowed to fly below height lower limit.It can be in one group of air traffic control
Instruction for these different control is provided.Different areas can have limitation to the different aspect that unmanned vehicle operates.No
Same area can have limitation to the same one side that unmanned vehicle operates, but limit levels are different.For example, area A, area B
The flight of unmanned vehicle can be limited with area C.However, can differently limit nobody in different areas and fly
The flight of row device.For example, unmanned vehicle can not allowed to enter in area A.In area B, unmanned vehicle is possible must
It must fly more than height lower limit, wherein the height of height lower limit increases as the distance away from area A increases.In area C, nobody
Aircraft cannot fly below the height lower limit for being positively retained at substantial horizontal height, wherein area C height lower limit and area B high
The highest point of degree lower limit matches.
Similarly, each area can have the one group of boundary of its own, and the boundary can be identical as the boundary in other areas
Or it is different.Every group of boundary can correspond to one group of different air traffic control.Every group of boundary can correspond to one group of different flight
Limitation.In some cases, the type for the flight restriction on every group of boundary can be identical.Alternatively, being directed to every group of boundary
The type of flight restriction can be different.
In some embodiments, it can have most stringent of limitation near the area of geography fence device.In some realities
It applies in mode, it can be than there is tightened up limitation further from the area of geographical fence apparatus closer to the area of geography fence device.
It can be than there is less or less stringent limitation closer to the area of geography fence device further from the area of geographical fence apparatus.
For example, unmanned vehicle can not be allowed to enter in area A.In area B, unmanned vehicle can permit under the first height
The above flight of limit.In area C, it can permit unmanned vehicle and fly more than the second height lower limit lower than the first height lower limit
Row.In some embodiments, can be adapted for enclosing closer to geography further from the institute in the area of geographical fence apparatus is restricted
All areas of column device.Therefore, limitations additional, to other areas be can have closer to the area of geography fence device.For example,
Area C can have one group of limitation.The limitation that area B can have all area C adds the limitation of additional area B.Area A can have institute
There are the limitation of area C, the additional limitation of area B and the additional limitation from area A.For example, area C can permit unmanned vehicle in area
From anywhere in fly and operate payload but do not land, area B can not also allow unmanned vehicle to land, but be also possible to hinder
Payload is only operated on unmanned vehicle, however unmanned vehicle is still allowed to fly at any point, and area A can not permit
Perhaps unmanned vehicle lands, and can prevent the operation of payload, and can require unmanned vehicle more than height lower limit
Flight.
In other embodiments, area can have limitation independently from each other.Closer to the area of geography fence device without
It need to be more restricted than other areas higher.For example, area A can prevent unmanned vehicle operation payload but can permit unmanned flight
Anywhere device flies, area B can permit unmanned vehicle operation payload but unmanned vehicle can be prevented in height
More than the upper limit fly, and area C can prevent the wireless communication from unmanned vehicle, and unmanned vehicle can it is in office where
Fang Feihang and operate payload.
Unmanned vehicle navigation
One or more unmanned vehicles can navigate in area.Unmanned vehicle can advance along flight path.
Flight path can be scheduled, half scheduled or can create in real time.
For example, entire flight path can be it is scheduled.It can be along each position of flight path scheduled.One
In a little situations, flight path may include position of the unmanned vehicle in area.In some cases, flight path can be with
Direction including unmanned vehicle at the position.In one example, predetermined flight path can predetermined unmanned vehicle
Position and orientation.Alternatively, the position of only unmanned vehicle can be it is scheduled, and unmanned vehicle direction can not be
It is scheduled and can be variable.The other function of unmanned vehicle can be used as a part of predetermined flight path but pre-
Fixed, or can not be scheduled.For example, payload is using can be used as a part of flight path but scheduled.
For example, unmanned vehicle can carry image capture device.Open or close position, the image capture device of image capture device
Zoom, mode or other operating characteristics at each position along path can be scheduled.In some cases, image
Capture device can also be used as a part of flight path relative to the positioning (for example, direction) of unmanned vehicle but make a reservation for
's.For example, image capture device can have the first direction relative to the unmanned vehicle at first position, and then opposite
Unmanned vehicle in the second place can switch to the second direction.In another example, wireless communication can be used as flight
The a part in path but it is scheduled.For example, can predetermined unmanned vehicle will use certain at the first part of flight path
One communication frequency simultaneously then switches to another different communication frequency at the second part of flight path.Unmanned vehicle it is any
Other operating functions can be used as a part of predetermined flight path but scheduled.In some embodiments, not as winged
The aspect of a part of walking along the street diameter and the operation of scheduled unmanned vehicle can be variable.When unmanned vehicle traverses flight road
When diameter, user can be capable of providing the input of one or more alterable features of controllable unmanned vehicle operation.User can be with
It can or can not change the predetermined portions of predetermined flight path.
In another example, it is scheduled to can be half for flight path.Can for flight path and provide some parts or
Checkpoint, the part or checkpoint can be scheduled.Unscheduled part can be variable and/or can be by user's control
's.For example, a series of way points can be made a reservation for for flight path.Unmanned vehicle flight path between way point can be with
It is variable.However, unmanned vehicle also can be guided to each way point even if the path between way point can change.
In some cases, final destination can be scheduled.Reach final destination entire path can be it is variable and/or
It can be by user's control.
In another example, it can Make Path in real time.Entire flight can be by user's control.User can not appoint
When unmanned vehicle is manually controlled in the case where journey or predefined paths or target.User can freely manipulate nobody in environment
Aircraft.When unmanned vehicle traverses environment, the flight path of the unmanned vehicle can be created.
Geography fence device in area can influence the flight path of unmanned vehicle.In some cases, in environment
Geography fence device can be considered and one or more groups of tof tubes can be applied to the unmanned vehicle that operates in environment
System.Unmanned vehicle behavior can by or can not be changed by geography fence device.If the movement of unmanned vehicle is not abided by
One group of air traffic control is kept, then can change unmanned vehicle behavior.If one group of air traffic control is abided by the movement of unmanned vehicle,
Unmanned vehicle behavior can not then be changed optionally.When unmanned vehicle is traversing predetermined flight path, half predetermined flight
When path or real-time flight path, it may be considered that geography fence device.
Figure 42 shows that have can be just on the unmanned vehicle of the domestic flight path of traversal ring and one or more ground
Manage the example of the environment of fence apparatus.One or more unmanned vehicles are (for example, unmanned vehicle A 4210a, unmanned vehicle
B 4210b) environment can be traversed along flight path.Flight path (for example, path A, path B, path C) can be predetermined
, it is scheduled or can determine in real time to can be half.Unmanned vehicle can optionally fly to destination 4220.Destination
It can be intended destination or can be destination determining in real time.Destination can be last final destination or can
To be the way point along path.Destination, which can be any, to be the position of unmanned vehicle target.It can be in environment
One or more geography fence devices are provided (for example, GF1 4230a, GF2 4230b, GF3 4230c, GF4 4230d or GF5
4230e).Geography fence device can have geography fence device boundary.
Unmanned vehicle can according to can one group of air traffic control associated with one or more geography fence devices and grasp
Make.Herein other everywhere as described in, any interaction can be provided between unmanned vehicle and geography fence device.As herein its
He is described everywhere, can be in air traffic control system (or other external device (ED)s or system) and unmanned vehicle and/or geography fence device
Between any interaction is provided.The interaction can lead to the generation of one group of air traffic control, and described group of air traffic control may be provided to
Unmanned vehicle generates on unmanned vehicle machine.Described group of air traffic control may include by the geography fence dress in area
Set one or more limitations of application.
In one example, unmanned vehicle 4210a can advance towards destination 4220.Can unmanned vehicle with
One or more geography fence device 4230a, 4230b are provided between destination.Geography fence device, which can have, can fall in nothing
Boundary between people's aircraft and destination.In some cases, geography fence device boundary can hinder unmanned vehicle court
To the path of its destination.Unmanned vehicle can optionally have flight path.In some cases, if unmanned vehicle
The flight path is continued on, then unmanned vehicle can encounter the side of geography fence device in the way for leading to destination
Boundary.Track can allow unmanned vehicle along predetermined flight path, half predetermined flight path or real-time flight path.
In one example, the flight path of original plan can be with the confined area phase in the boundary of geography fence device
It hands over.If it is the case, then path can be changed to that geography fence device can be avoided and unmanned vehicle is made to be maintained at limited
Another path (for example, path A) except region.Path A can be calculated so that unmanned vehicle is in the same of evacuation confined area
When arrive at the destination.In some cases, it can choose path A so that unmanned vehicle has and predefined paths relatively small amount
Deviation in the case where arrive at the destination.Possible minimum, bias can be calculated.Alternatively, bias can it is possible most
Small bias 50% or smaller, 40% or smaller, 30% or smaller, 20% or smaller, 10% or smaller, 5% or smaller or
Person 1% or it is smaller within.For example, it may be determined that GF1 and GF2 border overlay, so that unmanned vehicle can not pass through geography
Between fence apparatus.Unmanned vehicle can choose the path for taking on the side GF2 or the side GF1.The path GF2 can it is shorter or
Deviate with original path less.Therefore, path A can be selected as surrounding the side GF2.In some cases, it can choose and consider
The path A of environmental condition.If wind is strongly blown, unmanned vehicle can take wider path to avoid boundary, from
And provide the bigger guarantee that unmanned vehicle can not be blown to unintentionally in confined area.It is contemplated that other measurements, Zhu Runeng
Amount efficiency.Unmanned vehicle can be guided to the path with relatively high energy efficiency levels.Therefore can fly at nobody
Predefined paths are changed when row device flight to avoid geography fence device.
In other cases, predefined paths can be calculated or generate to avoid geography fence device in advance.For example, user can
To enter proposed path, way point or destination.It is special that user can indicate that the user wishes that unmanned vehicle reaches
Fixed destination (it can be way point).Herein other described air traffic control system or any other system can collect everywhere
Data about the geography fence device in region.Air traffic control system can detecte the position and/or boundary of geography fence device.With
Family can optionally suggest the flight path arrived at the destination.Air traffic control system can receive, refuse or change the path.One
In a little situations, air traffic control system can suggest the path for allowing unmanned vehicle to arrive at the destination while avoiding confined area
(for example, path A).Proposed path can be selected to have the deviation in the path of relatively small amount being initially recommended with user.
User, which can choose, accepts or rejects proposed path.Alternatively, can suggestion path with automatic implementation from air traffic control system.Cause
This, the predetermined flight path of unmanned vehicle can already have accounted for geography fence device and depict to enclose by each geography
Column device is so that the path that unmanned vehicle arrives at the destination.In some embodiments, user without suggest entire path but
It can suggest one or more destinations.Air traffic control system, which can be considered geography fence device information and can be generated, allows nobody
The predetermined flight path that aircraft is arrived at the destination without entering confined area.In some cases, it may be considered that evacuation is limited
Multiple possible paths in region and single-pathway can be selected from the multiple path.
In another example, half predetermined flight path can make unmanned vehicle be located at in geography fence device boundary
On the track of confined area intersection.For example, can enter destination and unmanned vehicle can advance towards the destination.
If it is the case, then path can be changed to that geography fence device can be avoided and unmanned vehicle is made to be maintained at confined area
Except another path (for example, path A).Path A can be calculated so that unmanned vehicle arrives while avoiding confined area
Up to destination.In some cases, it can choose path A so that unmanned vehicle is had relatively small based on pre-track
Bias in the case where arrive at the destination.It can choose the new route in view of environmental condition or other conditions.It therefore can be with
Half scheduled path is changed in unmanned vehicle flight to avoid geography fence device, but still unmanned vehicle is allowed to reach mesh
Ground.
In some cases, half scheduled path can be calculated or generate to avoid geography fence device in advance.For example, with
Family can enter proposed destination (for example, final destination, way point).Other described air traffic control systems everywhere herein
Or any other system can collect the data about geography fence device in region.Air traffic control system can detecte geography fence dress
The position and/or boundary set.Air traffic control system can determine whether proposed destination is located in confined area, the restricted area
Domain can be located in the boundary of geography fence device.If destination is not located in confined area, can receive proposed
Destination.If destination is located in the confined area that would not allow for unmanned vehicle to enter, air traffic control system can be refused
The exhausted destination.In some cases, air traffic control system can suggest being located at outside confined area but close to original destination institute
Another object at place.During generating new suggestion destination, it may be considered that one or more factors, such as away from most
The distance of the destination just suggested, flight path close to new destination easiness or environmental condition.
In addition, user can manually control unmanned vehicle in real time.Unmanned vehicle, which can have, can indicate that nobody
Aircraft will enter the track in the confined area in geography fence device boundary.If it is the case, then path can be with
Be changed to that geography fence device can be avoided and be maintained at unmanned vehicle except confined area another path (for example, path
A).In some cases, it can issue the user with to the user close to the warning on boundary, and optionally give described
User's some times are voluntarily corrected.If user does not correct voluntarily within the time distributed, can be connect from the user
Control system.Alternatively, path can be changed automatically in the case where not giving user time with voluntarily modified situation.Adapter tube can make nobody
Aircraft flies along the path (for example, path A) after change.Path A can be calculated so that unmanned vehicle is limited in evacuation
The destination of planning is reached while region.When formulating path A, it may be considered that one or more factors, such as with original rail
Deviation, energy efficiency or the environmental condition of mark.Therefore, when unmanned vehicle flight, real-time route can be changed to avoid ground
Manage fence apparatus.
In some embodiments, Local Navigation map can be provided for unmanned vehicle.Unmanned vehicle can be from sky
Guard system or other external device (ED)s receive local navigation map.Unmanned vehicle can receive Local Navigation from geography fence device
Map.Local Navigation map may include the position of one or more geography fence devices.Local Navigation map may include one
The boundary of a or multiple geography fence devices.Local Navigation map may include about can be applied to it is each area in nobody fly
The information of limitation on row device.For example, if unmanned vehicle is not allowed to fly in the boundary of geography fence device, part
Map can indicate the limitation to flying in area on map.In another example, do not allow unmanned vehicle another
Payload is operated in the boundary of geography fence device, local map can be indicated on map and be grasped to payload in area
The limitation of work.It can reflect one or more groups of air traffic control for unmanned vehicle in Local Navigation map.
Local Navigation map can be used to navigate in area in unmanned vehicle.In some cases, Local Navigation
Figure may include the predefined paths for being drawn on unmanned vehicle therein.Predefined paths can already have accounted for geography fence dress
It sets.Unmanned vehicle can then follow predefined paths.It, when necessary can be with if unmanned vehicle deviates predefined paths
It makes adjustment.Unmanned vehicle current location can with unmanned vehicle on map should whereabouts be compared.If
Predefined paths do not consider geography fence device and are seen into confined area, then can update predefined paths, and can be with
Cartographic information is updated to reflect the information.
In some embodiments, Local Navigation map may include for unmanned vehicle, as half predefined paths
A part one or more destinations.The destination may include the way point for unmanned vehicle.The purpose
Ground can already have accounted for geography fence device.It is not located at the position in confined area for example, destination can be selected at.Nothing
People's aircraft can advance between destination and destination.It is necessary if encountering one or more confined areas
When can make adjustment.If destination does not consider geography fence device and one or more destinations are located at confined area
It is interior, then destination can be updated to the region except limited area, and cartographic information can be updated to reflect the information.
Alternatively, unmanned vehicle can be operated along real-time route.Local Navigation map can track nobody and fly
Position of the row device relative to one or more geography fence devices.If seeing unmanned vehicle close to flight restricted area
Domain can be then made adjustment when necessary to change unmanned vehicle path.
In some cases, when unmanned vehicle traverses environment, Local Navigation map can be updated to reflect about institute
State the information of the environment near unmanned vehicle.For example, when new portion of the unmanned vehicle close to environment, for unmanned flight
The Local Navigation map of device can reflect out the information of the new portion about environment.In some embodiments, if nobody flies
Row device leaves the preceding section of environment, then Local Navigation map can no longer reflect the information of the preceding section about environment.?
Under some cases, Local Navigation map can be updated by air traffic control system.In other cases, one or more geography fence devices
The map can updated.When the close geographical fence apparatus of unmanned vehicle, the geography fence device can be to institute
It states unmanned vehicle and the information that can be used for updating local map is provided.When unmanned vehicle encounters not in the process for executing its task
With geography fence device when, then can update unmanned vehicle map according to various geography fence devices, it is described variously
Fence apparatus is managed with the local information for the geography fence device.
Geography fence device can be such that limitation is applied in unmanned vehicle operation.As it was noted above, example can be with
It is the limitation to unmanned vehicle flight.For example, unmanned vehicle can not be allowed in the boundary of geography fence device (fly
Row confined area) flight.Other examples of the flight restriction applied by geography fence device may include that payload operates limit
System, payload positioning limitation, carrier limitation, the object limitation carried, sensor limitation, communication limitation, navigation limitation, electricity
Use limitation or the limitation of any other type.Unmanned vehicle, which can be engaged in, may abide by or may not abide by the limitation
Activity.Unmanned vehicle flight path can be influenced by different types of limitation.It can provide processing different types of flight
The distinct methods of limitation.
Unmanned vehicle (for example, unmanned vehicle B 4210b) can just advance towards destination 4220.If nobody flies
Row device will advance along most direct path (for example, path B), then the unmanned vehicle is possibly into geography fence device
Area in the boundary of (for example, GF4 4230d).Limitation in the area can be about in addition to the presence of unmanned vehicle
Factor.For example, limitation can be height lower limit.Unmanned vehicle can be required to fly more than certain height.If nobody
Aircraft can reach the height, then can permit the unmanned vehicle along path B and march to destination.However,
If unmanned vehicle can not reach the height, or if reach the height with around the area (for example, along
Path C) compared to the bigger deviation that will will lead to unmanned vehicle flight path, then the unmanned vehicle can be ordered to bypass
Advance (for example, advancing along path C) in the area.In another example, limitation can be payload operation (for example,
The capture of image).If unmanned vehicle can close its camera or without using any image of its cameras capture, the nothing
People's aircraft can advance along path B (when be located at it is described area in when, camera be close) and then can its from
Its camera is opened when opening the area.However, if unmanned vehicle can not close its camera or stop capture image, or
If undesirable unmanned vehicle closes its camera, it can specify that the route of the unmanned vehicle is to bypass along path C
The area.Therefore, according to the limitation in area, unmanned vehicle can follow original path or direction, or can quilt
Fixed course is around the area.If unmanned vehicle can not abide by limitation, Huo Zheru when being located in the area
Fruit is to abide by limitation around more undesirable unmanned vehicle for the area compared with the route of regulation unmanned vehicle, then can be with
The route for providing the unmanned vehicle is around the area.Determining whether undesirable unmanned vehicle positioned at describedly
During abiding by the limitation when in area, it may be considered that one or more factors.It is determined that providing unmanned vehicle
Route is during should abiding by territorial restrictions around the area or unmanned vehicle, it may be considered that such as environment item
The factors such as part, navigation needs, energy efficiency, safety or task object.
This can be adapted for when unmanned vehicle flight on predefined paths, half predefined paths or real-time route.For example,
When unmanned vehicle flies on predefined paths and predefined paths traversal is described regional, it can make and keep described pre-
Determine the identical determination that path still changes path.When unmanned vehicle flies on half predefined paths towards destination and most straight
The path connect or path locus traversal it is described area when, can make be maintained at directapath/along on the path of track still
Change the identical determination in path.When unmanned vehicle flown according to real-time manual command from the user and the user just
When guiding the unmanned vehicle direction area, it can make and follow user command and the user is allowed to guide unmanned flight
Device enters the area or adapter tube controls and changes the identical determination in path.
Geography fence mark
Geography fence device can be uniquely identifiable.In some embodiments, geography fence device can have
The unique geographical fence apparatus identifier of its own.Geography fence identifier can from other geography fence devices unique terrestrial reference
Know geography fence device out.Geography fence device can be different from other geography fences dress by its geography fence identifier
It sets.
Figure 40 shows the example of the system with multiple geography fence devices, and each device has corresponding geography fence mark
Know symbol.First geography fence device 4010a can have the first geography fence identifier (for example, geography fence ID1), the second ground
Reason fence apparatus 4010b can have the second geography fence identifier (for example, geography fence ID2) and third geography fence dress
Setting 4010c can have third geography fence identifier (for example, geography fence ID3).One or more unmanned vehicles
4020a, 4020b, which can be located at, to be provided in the environment of geography fence device in it.In some embodiments, it can provide
Air traffic control system 4030 or other external device (ED)s, can provide multiple groups air traffic control.The generation of air traffic control can be directed to and mentioned
For any other framework, such as other those described frameworks everywhere herein.For example, can be in air traffic control system, one or more
Air traffic control is generated or stored at unmanned vehicle or one or more geography fence devices.Only and not restrictive by example
Mode air traffic control system is provided.
Geography fence device can have the geography fence identifier of identified geographic fence apparatus (for example, geography fence
ID1, geography fence ID2, geography fence ID3 ...).Geography fence identifier can be uniquely geography fence device.
Other geography fence devices can have the identifier different from the geography fence device.Geography fence identifier can make institute
Geography fence device is stated uniquely to distinguish and/or be distinguished with other individuals.Each geography fence device can only be assigned single
One geography fence identifier.Alternatively, geography fence device can register multiple geography fence identifiers.In some cases
Under, single geography fence identifier can be only distributed to single geography fence device.Alternatively, single geography fence identifies
Symbol can be shared by multiple geography fence devices.It in the preferred embodiment, can be in geography fence device and corresponding geography
It provides and corresponds between fence identifier.
Optionally, geography fence device can be authenticated to be the authorized geography fence device for geography fence identifier.
Verification process may include the verifying to the identity of geographical fence apparatus.In this paper, other are described in further detail everywhere authenticated
The example of journey.
In some embodiments, the ID registration database of Verification System can keep the identity for geography fence device
Information.ID registration database can distribute unique identifier for each geography fence device.Unique identifier can be with
The identifier of the alpha-numeric string being optionally randomly generated or any other type, can be from other geography fence devices
Uniquely identify geography fence device.Unique identifier can be generated by ID registration database or can be selected from not yet
The list of the possibility identifier of distribution.The identifier can be used for authenticating geographical fence apparatus.ID registration database
Can with or can not be interacted with one or more geography fence devices.
One group of flight related with the geography fence device can be generated based on the information about geography fence device
Control.Information about geography fence device may include the identification information about the geography fence device.Identification information can
To include geography fence identifier or geography fence type of device.In some embodiments, geography fence identifier can refer to
Geographical fence apparatus type is shown.
Geography fence type of device can have any characteristic.For example, geography fence type of device can indicate that geography
The model of fence apparatus, the performance of geography fence device, the range of geography fence device are (for example, geography fence device is for examining
Survey or communication objective preset range), the boundary of geography fence device, geography fence device power capability (for example, the battery longevity
Life), the manufacturer of geography fence device or the Limit Type applied by geography fence device.Geography fence identifier can be from
The geography fence is uniquely identified out in other geography fence devices.Geography fence mark can be received from geography fence device
Symbol.In some cases, geography fence device can have mark module.Geography fence identifier can be stored in mark module
On.In some cases, it can not change or not remove mark module from geography fence device.Geography fence device identification
It can be anti-tamper or anti-distort.
One aspect of the present invention can be related to a kind of method of identified geographic fence apparatus, which comprises receive
Geography fence identifier, the geography fence identifier uniquely identify out the geography fence from other geography fence devices
Device；One group of air traffic control for unmanned vehicle is generated based on the geography fence identifier；And according to described one
Air traffic control is organized to operate the unmanned vehicle.A kind of geography fence device identification system can be provided, comprising: one or more
A processor is operationally configured for either individually or collectively: receiving geography fence identifier, the geography fence
Identifier uniquely identifies out the geography fence device from other geography fence devices；And it is based on the geography fence mark
Know symbol and generate one group of air traffic control for being directed to unmanned vehicle, to allow the unmanned vehicle according to one group of tof tube
The operation of system.The system can also include one or more communication modules, wherein one or more of processors can operate
Ground is coupled to one or more of communication modules.
Figure 25 shows the process for being used to generate one group of air traffic control of embodiment according to the present invention.It can receive geography to enclose
Column device identification 2510.One group of air traffic control 2520 can be provided based on geography fence device identification.
Geography fence device identification can be received by the device or system for producing one group of air traffic control.For example, geographical
Fence apparatus identifier can be received by air traffic control system.Alternatively, geography fence device identification can be by unmanned vehicle, described
One or more processors, user terminal, storage system or any other component or system of geography fence device
It receives.Geography fence device identification can be received by the one or more processors of any part or system.The same part or
One group of air traffic control can be generated in system.For example, the one or more processors of air traffic control system, unmanned vehicle, geography fence
Device, user terminal, storage system or any other component or system can be based on geography fence device identification
And generate one group of air traffic control.
Can the identity based on geography fence device and generate one group of air traffic control.It can be based on geography fence type of device
And generate one group of air traffic control.The other factors such as unmanned vehicle information, user information, environmental condition or timing can be with shadow
Ring the generation of one group of air traffic control.
Any kind of air traffic control can be provided, such as other those described air traffic control everywhere herein.Flight
Control can be adapted for any aspect of unmanned vehicle operation.Air traffic control can be with geography fence setting position and/or side
Boundary is associated.One group of air traffic control can be adapted for specific geographic fence apparatus associated there.Another geography fence
Device can have second group of air traffic control, and described group of air traffic control can be applicatory.In some instances, described one group
Air traffic control determines that unmanned vehicle is configured to keep at least preset distance or one group described with the geography fence device
Air traffic control determines that unmanned vehicle is configured to be maintained at least preset distance of the geography fence device.Described one
Group air traffic control may include that the unmanned vehicle cannot be when being located relative to the pre-position of geography fence device
The flight lower limit that the flight upper limit or the unmanned vehicle above it cannot fly thereunder.One group of air traffic control can
To include being used relative to the positioning of geography fence setting position unmanned vehicle payload based on unmanned vehicle
Limitation or one group of air traffic control may include based on unmanned vehicle relative to the positioning of geography fence setting position and
The limitation that the communication unit of unmanned vehicle is used.
One group of air traffic control can be generated for each geography fence device.For example, air traffic control system 4030 can be directed to
Each geography fence device and generate and/or provide multiple groups air traffic control.For example, can be to close to the first geography fence device
The unmanned vehicle 4020a of (for example, geography fence ID1 4010a) provide for the first geography fence device one group flies
Row control.Unmanned vehicle can abide by one group of air traffic control for the first geography fence device and operate.Unmanned vehicle
It can be communicated with air traffic control system to receive one group of air traffic control generated.In some cases, unmanned vehicle can accuse
Know unmanned vehicle described in air traffic control system close to the first geography fence device.Alternatively, geography fence device can inform sky
Unmanned vehicle described in guard system is close to the geography fence device.
Second unmanned vehicle 4020b can be close to another geography fence device (for example, geography fence ID3 4010c).
Second group of air traffic control for being directed to another geography fence device can be provided to the second unmanned vehicle.Unmanned vehicle can
It is operated with abiding by second group of air traffic control for another geography fence device.Unmanned vehicle can be with air traffic control system
It communicates to receive one group of air traffic control generated.In some cases, unmanned vehicle can inform described in air traffic control system
Unmanned vehicle is close to another geography fence device.Alternatively, another geography fence device can inform air traffic control system
The unmanned vehicle is close to another geography fence device.
Unmanned vehicle can receive one group of air traffic control for being applicable to the unmanned vehicle.For example, if nobody
Aircraft is located in the range of the first geography fence device but is not located in the range of second or third geography fence device, then institute
One group of air traffic control for the first geography fence device can only be received by stating unmanned vehicle.In some cases, needle
To the unmanned vehicle, one group of air traffic control for the first geography fence device can be only generated.Similarly, if second
Unmanned vehicle is located in the range of third geography fence device but is not located in the range of first or second geography fence device,
Then second unmanned vehicle can only receive one group of air traffic control for the third geography fence device.In some feelings
Under condition, for second unmanned vehicle, one group of air traffic control for third geography fence device can be only generated.
Geography fence certification
The identity of geographical fence apparatus can be authenticated.The identity of geography fence device can be authenticated by experience
Journey and be verified.The geography fence device and the geography fence mark using geography fence identifier can be confirmed in verification process
Know geography fence device belonging to symbol registration to match.
One aspect of the present invention is related to a kind of method authenticated to geographical fence apparatus, which comprises right
The identity of geography fence device is authenticated, wherein the identity of the geography fence device can be unique with other geography fence devices
Ground distinguishes；One group of air traffic control for being directed to unmanned vehicle is provided, wherein the air traffic control and certified geography fence
The position of device is related；And the unmanned vehicle is operated according to one group of air traffic control.A kind of geography fence device
Verification System may include: one or more processors, either individually or collectively be configured for: to geographical fence apparatus
Identity authenticated, wherein the identity of the geography fence device can uniquely be distinguished with other geography fence devices；With
And one group of air traffic control for being directed to unmanned vehicle is generated, wherein the position of the air traffic control and certified geography fence device
It is equipped with pass, to allow the unmanned vehicle according to the operation of one group of air traffic control.The system can also include one
Or multiple communication modules, wherein one or more of processors are operably coupled to one or more of communication modules.
Figure 26 shows the process for being authenticated to geographical fence apparatus of embodiment according to the present invention.It can receive
Geography fence device identification 2610.Can the identity to geographical fence apparatus carry out certification 2620.One group of flight can be provided
Control 2630.
Geography fence device identification can be received by the device or system for producing one group of air traffic control.For example, geographical
Fence apparatus identifier can be received by air traffic control system.Alternatively, geography fence device identification can be by unmanned vehicle, described
One or more processors, user terminal, storage system or any other component or system of geography fence device
It receives.Geography fence device identification can be received by the one or more processors of any part or system.The same part or
One group of air traffic control can be generated in system.For example, the one or more processors of air traffic control system, unmanned vehicle, geography fence
Device, user terminal, storage system or any other component or system can be based on geography fence device identification
And generate one group of air traffic control.
One group of air traffic control can be generated after receiving geography fence device identification.It can be to geographical fence apparatus
Identity authenticated after generate one group of air traffic control.Can the identity based on geography fence device and generate one group of tof tube
System.One group of air traffic control can be generated in the case where not considering geography fence device identity.One group of tof tube can generated
The certification to geographical fence apparatus identity is required before system.Alternatively, even if geography fence device also can be generated without certification
One group of air traffic control.In some embodiments, if geography fence device can be directed to the geography fence by certification
Device and first group of air traffic control is provided, if geography fence device without certification, can for the geography fence and
Second group of air traffic control is provided.First group of air traffic control and second group of air traffic control can be different.In some embodiments
In, second group of air traffic control can be more tightened up than first group or restricted higher.It can be given birth to based on geography fence type of device
At one group of air traffic control.The other factors such as unmanned vehicle information, user information, environmental condition or timing can influence one
The generation of group air traffic control.
Any verification process can be used to authenticate to geographical fence apparatus.Other described are everywhere used for herein
Any technology authenticated to other devices can be adapted for the certification to geographical fence apparatus.For example, to user or nothing
People's aircraft authenticate used in process can be adapted for geography fence device.It in one example, can be by means of ground
The key on fence apparatus is managed to authenticate to the geography fence device.Geography fence key can be can not be from described
It is removed on geography fence device.Optionally, key can not be enclosed in the case where not damaging geography fence device from the geography
Column device removes.Key can be stored in the mark module of geography fence device.In some cases, mark module can not be
It is removed in the case where not damaging geography fence device from the geography fence device.Mark module can have as other are each herein
Locate any characteristic of the mark module (for example, unmanned vehicle mark module) of any other described type.
Geography fence certification
Via the geography fence of authentication center
Certified unmanned vehicle can broadcast its position and IMSI via Radio Link, can have containing signature
The information of property.In addition, unmanned vehicle and authentication center can have the one group of reliable CK1 and IK1 for consulting and generating,
It is characterized as being SCS1 (secure communication collection).
Geography fence device is similarly authenticated by authentication center.Specifically, being similar to the certification to unmanned vehicle, ground
Reason fence apparatus and authentication center can consult and generate reliable CK2 and IK2, be characterized as being SCS2.
Wireless channel for the communication between geography fence device and unmanned vehicle can pass through such as time-division, frequency division
Or each channel of the multiplexing such as code point carries out the mode of multiple access arrangement to realize.It is issued by unmanned vehicle or geography fence device
Wireless messages (form described in such as Figure 16) can be sent in the form of signature authentication.Therefore, when message to be sent
(MSG) when, transmitted information format is as follows:
Equation 1:MSG1 | | ((HASH (MSG1) | | SCR () (+) SCR (IK)) | | IMSI
Wherein MSG1=MSG | | RAND | | TIMESTAMP | | GPS
In above equation 1, SCR () can be common cipher code generator, and SCR (1K) can be data derived from IK
Mask.In addition, in the present specification, MSG is origination message, HASH () is hash function, and RAND is random number, TIMESTAMP
It is current time stamp and GPS is current location, to avoid the attack of the formula of playback.
When receiving the information of above-mentioned unmanned vehicle, geography fence device can set up the lattice chain with authentication center
Meet and report the IMSI of unmanned vehicle.Whether authentication center can inquire allows unmanned vehicle to appear in the area
In.Forbid unmanned vehicle to enter the area if the inquiry indicates or indicate that restricted information needs are transmitted to
Unmanned vehicle, then authentication center can be via network signals geography fence device, and geography fence device will be recognized by signature
The mode of card sends restricted information.
The information sent by geography fence device cannot be forged and can be controlled by authentication center.It is receiving by ground
After managing the information that fence apparatus is sent, unmanned vehicle can be via remote controler and/or public communication network and authentication center
Foundation CK1 protection link and continue provide encrypted transmission.In this way, unmanned vehicle can will by it is described nobody fly
The geography fence information that row device receives is sent to authentication center and is authenticated.It is reliable in successfully confirmation geography fence information truth
Later, unmanned vehicle can interpret the content in geography fence device.Meanwhile it can be reported via remote controler to user
It accuses.In some instances, Flight Path amendment can be made by user or unmanned vehicle itself.
During flight, unmanned vehicle can announce its position or its destination.Such letter is known in authentication center
It ceases and finds that the unmanned vehicle cannot enter after corresponding area, can issue and forbid information, it is desirable that nobody flies
Row device makes a return voyage.Procedures described above can be realized definitely and can bear various attacks.For example, if unmanned vehicle
Confined area is gone successively to, then authentication center can recorde swarming into and reporting to interested regulatory authorities for the unmanned vehicle
It is described to swarm into.
Do not pass through authentication center
Certified unmanned vehicle can with radio broadcasting have digital signature characteristic relevant information (such as its ID, its
Position and its navigation channel) and other such information.It, can after geography fence device receives information above from unmanned vehicle
To be connected to air traffic control system via network and report the IMSI of the unmanned vehicle.Air traffic control system can then determine nothing
Whether people's aircraft occurs in this region.If it is determined that the unmanned vehicle cannot enter the area or limited
Property information processed needs to inform unmanned vehicle, then air traffic control system can be by network signals geography fence device, and geography encloses
Column device can issue restricted information by way of signature authentication.The information sent by geography fence device cannot forge simultaneously
And it can be controlled by authentication center.The secure infomation passageway from authentication center to unmanned vehicle is described below.
Certain public key algorithms can be used in embodiments of the present invention.According to public key algorithm, Ke Yixuan
Select password pair.Password is formed to by public keys and private cipher key.Therefore it provides two passwords pair.Geography fence device and recognize
Card center respectively controls the private cipher key of their own.The geography fence device private cipher key note controlled by geography fence device
For KP, and corresponding public-key cryptography is denoted as K0.CAP is denoted as by authentication center's private cipher key that authentication center controls, and it is corresponding
The public-key cryptography of authentication center is denoted as CA0.
In this example, when registering geographical fence apparatus, password to KP (for the private cipher key of geography fence device) and
K0 (for the public-key cryptography of geography fence device) can be distributed by authentication center and be reported and submitted authentication center.Geography fence device
Private cipher key (KP) both can not be read or can not be replicated.In addition, the private cipher key of authentication center can be used in authentication center
(CAP) public-key cryptography (K0) of geographical fence apparatus is encrypted, to generate certificate C.Air traffic control system is obtained from authentication center
Certificate C simultaneously sends it to geography fence device.In addition, the MSG that be sent to unmanned vehicle can be first subjected to Hash letter
The effect of number HASH is to generate abstract D.Then can be used the private cipher key (KP) of geography fence device to MSG encrypted with
Form signature S.Further, geography fence device can send C, S and MSG to unmanned vehicle by wireless channel.
After unmanned vehicle receives C, S and MSG, the public-key cryptography (CA0) of known authentication device can be used
C is decrypted to obtain the public-key cryptography of geography fence device (K0), and can also use K0 to signature S be decrypted with
Obtain the abstract D1 of decryption.In addition, unmanned vehicle can execute hash function HASH to MSG to obtain abstract D.Unmanned flight
Device can compare the abstract D1 and abstract D of decryption.If the two is identical, unmanned vehicle can be sent out by geography fence device
The MSG sent is authenticated.Therefore, it can be securely communicated with each other using above-mentioned signature process, unmanned vehicle and authentication center.
During flight, unmanned vehicle can announce its position or target.At the position for receiving unmanned vehicle,
If it is determined that unmanned vehicle is forbidden entering corresponding airspace, then authentication center can send restricted information and nobody is requested to fly
Row device makes a return voyage.The above process can carry out safely and can bear various attacks.If unmanned vehicle is gone successively to, recognize
The violation that card center can recorde unmanned vehicle enters and reports to regulatory agency.
Alternately, geography fence device can continue to the restricted information of One-to-All Broadcast.To the certification of the information with
The above process is identical.Restricted information can indicate that the flight permission of various types of unmanned vehicles in this region.In addition,
Wireless channel for communicating between geography fence device and unmanned vehicle can pass through the letters such as time-division, frequency division or code point
The mode of road multiplexing carries out multiple access arrangement.
Air traffic control system can be with active push information
According to the position for the unmanned vehicle and the unmanned vehicle to fly for preparing flight and plan navigation channel, blank pipe system
System can determine that in real time geography fence may be affected.In the example, air traffic control system can be each unmanned vehicle
Prepare the geography fence list to be avoided.Each unmanned vehicle geography fence to be avoided may be according to unmanned vehicle, nothing
The user of people's aircraft and the rank of aerial mission and be affected.In addition, air traffic control system can pass through air traffic control system and nobody
Encryption channel between aircraft and send the list to unmanned vehicle, the list is then forwarded to user.
Before flight and during flight, the unmanned vehicle with electronic map can receive by air traffic control system push
Information.Unmanned vehicle can also receive the position about the geography fence near such as unmanned vehicle and its navigation channel, effect
The information such as range, effect period.Unmanned vehicle can also send back specific receive to air traffic control system and confirm.Unmanned vehicle
It can also actively obtain and update effective geography fence information near its navigation channel and provide such information to air traffic control system.
When active provides such information, unmanned vehicle may not necessarily send back reception confirmation to air traffic control system.
When air traffic control system pushed information and when unmanned vehicle actively obtains information, system can be used to ensure that sending
The main body of information is not counterfeited and information is not yet manipulated.By using the secure communication connection established during verification process
To push and obtain information, it can be ensured that communication security.About the details for establishing the secure communication connection and security control, ask
With reference to foregoing character.
Data storage with relevant identifier
Figure 27 shows another example that can store device information in memory of embodiment according to the present invention.
Storage system 2710 can be provided.It can provide from one or more user 2715a, 2715b, one
Or multiple user terminal 2720a, 2720b, one or more unmanned vehicle 2730a, 2730b and/or one or more
The information of geography fence device 2750a, 2750b.The information may include any kind of data (for example, one or more
Order, environmental data), data source (for example, from the identifier for the device for wherein generating data) and relevant apparatus identifier (example
Such as, associated user identifier, associated unmanned vehicle identifier, associated geography fence identifier) and/or
Any other associated timing information of person or other associated information.One or more groups of information 2740 can be stored.
Storage system 2710 may include one or more Memory Storage Units.Storage system can be with
One or more databases including information described herein can be stored.Storage system may include computer-readable
Medium.Storage system can have any other memory storage described herein (for example, the memory in Figure 11
Storage system) any characteristic.Storage system can be provided at single position or can be distributed in multiple positions
On.In some embodiments, storage system may include single Memory Storage Unit or the storage of multiple memories
Unit.Cloud computer architecture can be provided.In some cases, reciprocity (P2P) storage system can be provided.
Storage system can be provided outside unmanned vehicle machine.It can above be mentioned in the device outside unmanned vehicle
For storage system.Storage system can be provided except remote controler.It can be on the device outside remote controler
Storage system is provided.Storage system can be provided except unmanned vehicle and remote controler.Memory storage
System can be a part of Verification System.Storage system can be a part of air traffic control system.Memory storage system
System may include one or more memory cells, and the memory cell can be the one of the Verification Systems such as air traffic control system
A or multiple memory cells.Alternatively, storage system can be separated with Verification System.Storage system can be by
Entity identical with Verification System possesses and/or operates.Alternatively, storage system can be by the reality different from Verification System
Body possesses and/or operates.
Communication system may include one or more loggers.One or more of loggers can be from communication system
Any device receives data.For example, one or more loggers can receive data from one or more unmanned vehicles.One
Or multiple loggers can receive data from one or more users and/or remote controler.It can be on one or more loggers
One or more Memory Storage Units are provided.For example, one can be being received from unmanned vehicle, user and/or remote controler
Or one or more Memory Storage Units are provided on one or more loggers of multiple message.One or more of records
Device can have or can not have the limited range for receiving information.For example, logger may be configured for from being located at
Device in physical region identical with the logger receives data.For example, when unmanned vehicle is located in the firstth area, the
One logger can receive information from the unmanned vehicle, and when unmanned vehicle is located in the secondth area, the second logger
Information can be received from the unmanned vehicle.Alternatively, logger do not have limited range and can from device (for example,
Unmanned vehicle, remote controler, geography fence device) information is received regardless of described device is located at where.Logger, which can be, to be deposited
Reservoir storage unit and/or the information that can summarize to Memory Storage Unit transmission.
Information from one or more data sources can store in memory.Data source can be any to be remembered
Record the device or entity in the source of data.For example, for data 1, data source can be the first unmanned vehicle (for example, nobody
Aircraft 1).For data 2, data source can be the second unmanned vehicle (for example, unmanned vehicle 2).Data source can be
User, user terminal (for example, remote controler), unmanned vehicle, geography fence device, logger, external sensor or it is any its
The device of his type.Information can be related with that can store data source in memory.
For example, the information about one or more user 2715a, 2715b can be stored in storage system.Institute
Stating information may include user identity information.The example of user identity information may include user identifier (for example, User ID 1,
User ID 2, User ID 3 ...).The user identifier can be uniquely the user.In some cases, it comes from
The information of user may include the information for helping to identify and/or authenticate user.Information from one or more users can be with
Including the information about the user.Information from one or more users may include the data from the user.?
In one example, data may include one or more orders from the user.One or more order may include realizing nothing
The order of the operation of people's aircraft.The information of any other type can be provided by one or more users and can be stored in
In storage system.
In some embodiments, all user's inputs can be used as data and be stored in storage system.Or
Person, only selected user's input can be stored in storage system.In some cases, only certain form of use
Family input is stored in storage system.For example, in some embodiments, only user identifier input and/or order
Information is stored in storage system.
User can mention optionally with the aid of one or more user terminals 2720a, 2720b to storage system
For information.User terminal can be the device that can be interacted with user.User terminal can with unmanned vehicle into
Row interaction.User terminal can be the remote controler for being configured for that one or more operational orders are sent to unmanned vehicle.
User terminal can be arranged to based on the information received from unmanned vehicle and show the display device of data.User terminal
Information not only can be sent to unmanned vehicle but also receive information from unmanned vehicle.In some embodiments, user is whole
End can be the data source for the data being stored in storage system.For example, remote controler 1 can be the source of data 4.
User can provide information to storage system by means of the device of any other type.For example, can mention
For one or more computers or other devices, user's input can be received.Described device can be to storage
Device storage communication user input.Described device with unmanned vehicle without interacting.
User terminal 2720a, 2720b can provide data to storage system.User terminal can be provided and be used
The information at family, the related information of user command or any other type.User terminal can be provided about user terminal itself
Information.For example, user terminal identification can be provided.In some cases, user identifier and/or user terminal can be provided
Identifier.User key and/or user terminal key can be optionally provided.In some instances, user does not provide and user
The related any input of key, but user key information can be stored on the subscriber terminal or be can be and can be visited by user terminal
It asks.In some cases, user key information can be stored on the physical storage of user terminal.Alternatively, user key
Information can be stored in except physical storage (for example, on cloud) and can be can be by user terminal access.Some
In embodiment, user terminal can transmit user identifier and/or associated order.
Unmanned vehicle 2730a, 2730b can provide information to storage system.Unmanned vehicle can provide
Information related with the unmanned vehicle.For example, unmanned vehicle identification information can be provided.Unmanned vehicle identification information
Example may include unmanned vehicle identifier (for example, unmanned vehicle ID1, unmanned vehicle ID2, unmanned vehicle
ID3……).Unmanned vehicle identifier can be uniquely unmanned vehicle.In some cases, unmanned flight is come from
The information of device may include the information for helping to identify and/or authenticate unmanned vehicle.From one or more unmanned vehicles
Information may include information about the unmanned vehicle.Information from one or more unmanned vehicles may include
By the received any data (for example, data 1, data 2, data 3 ...) of the unmanned vehicle.Data may include realizing nothing
The order of the operation of people's aircraft.The information of any other type can be provided by one or more unmanned vehicles and can be with
It is stored in storage system.
Geography fence device 2750a, 2750b can provide information to storage system.Geography fence device can be with
Information related with the geography fence device is provided.For example, geography fence device identification information can be provided.Geography fence dress
The example for setting identification information may include geography fence device identification (for example, geography fence device 1, geography fence device
2……).Geography fence device identification can be uniquely geography fence device.In some cases, it is enclosed from geography
The information of column device may include the information for helping to identify and/or authenticate the geography fence device.From one or more
The information of geography fence device may include the information about the geography fence device.From one or more unmanned vehicles
Information may include by the received any data (for example, data 5, data 6 ...) of geography fence device.The data can be with
The situation of position, the unmanned vehicle detected including geography fence device or presence or letter related with air traffic control
Breath.The information of any other type can be provided by one or more geography fence devices and can be stored in memory storage
In system.
It can be before the relevant information of any device described herein be stored in storage system to institute
Device is stated to be authenticated.For example, can be before the relevant information of user be stored in storage system to the use
Family is authenticated.For example, can obtain and/or by storage system store user identifier before to the user into
Row certification.Therefore, in some implementations, only certified user identifier is stored in storage system.Alternatively, with
Family needs not move through certification and the user identifier claimed can be stored in storage system before certification.If
By certification, then the instruction that user identifier has been verified can be made.If unauthenticated, user's mark can be made
Know the instruction that symbol has been marked as suspicious activity, or makes the finger for carrying out the authentication attempt of failure using the user identifier
Show.
It is alternatively possible to the nothing before the relevant information of unmanned vehicle is stored in storage system
People's aircraft authenticates.For example, can be before obtaining and/or storing unmanned vehicle identifier by storage system
The unmanned vehicle is authenticated.Therefore, in some implementations, only certified unmanned vehicle identifier is stored in
In storage system.Alternatively, unmanned vehicle is needed not move through and is authenticated and the unmanned vehicle identifier claimed can be with
It is stored in storage system before certification.If can make unmanned vehicle identifier by certification and obtain
To the instruction of verifying.If unauthenticated, the finger that unmanned vehicle identifier has been marked as suspicious activity can be made
Show, or makes the instruction for carrying out the authentication attempt of failure using the unmanned vehicle identifier.
It similarly, can be before the relevant information of geography fence device be stored in storage system to described
Geography fence device is authenticated.For example, can obtain and/or store geographical fence apparatus mark by storage system
The geography fence device is authenticated before symbol.Therefore, in some implementations, only certified geography fence device mark
Know symbol to be stored in storage system.Alternatively, geography fence device needs not move through the geography fence for authenticating and being claimed
Device identification can be stored in storage system before certification.If can make geography by certification and enclose
The instruction that column device identification has been verified.If unauthenticated, can make geography fence device identification by
Labeled as the instruction of suspicious activity, or make the finger that the authentication attempt of failure is carried out using the geography fence device identification
Show.
In addition to data source, the relevant apparatus information about corresponding data can also be stored.For example, if issuing order,
Relevant apparatus may include the device for issuing order and/or the device for receiving order.Data source can be the device for issuing order.
In another example, data can be by the sensor collection on unmanned vehicle machine.Data source can be unmanned vehicle.Nobody
The data sensed can be transferred to multiple devices by aircraft, and the apparatus may include in the information about relevant apparatus
In.For example, data 3 can be sensed by unmanned vehicle 1, and unmanned vehicle 1 can to user's (for example, User ID 3) and
Geography fence device (for example, geography fence device 2) sends described device.Relevant apparatus information may include user, user's end
Hold the dress of (for example, remote controler), unmanned vehicle, geography fence device, logger, external sensor or any other type
It sets.
Memory Storage Unit can store one or more groups of information 2740.The multipacket message may include to use by oneself
Family, user terminal, unmanned vehicle, geography fence device, logger, external sensor or any other type device letter
Breath.The multipacket message may include one or more groups of data, data source and the information about relevant apparatus.In some cases
Under, single data item can be provided for a single group information.Alternatively, multiple data can be provided for a single group information
?.
Storage system can store the related multipacket message of specific interaction between two devices.For example, can
To issue multiple orders during interaction between two.Interaction can be the execution of task.In some cases, it stores
Device storage unit can only store the information about specific interaction.It is filled alternatively, storage system can be stored about two
Information repeatedly interactive between setting.Storage system optionally can store information according to the identifier of specific device.
Data associated with same device (for example, same unmanned vehicle) can store together.Alternatively, Memory Storage Unit
Information can be stored according to device identification.Data associated with the specific combination of device or device can be stored in one
It rises.
Alternatively, storage system can store the multiple groups letter about the interaction between multiple devices or multiple groups device
Breath.Storage system can be collection from multiple users, user terminal, unmanned vehicle, geography fence device or its
The data storage bank of the information of his device.Storage system can store the information from multiple tasks, may include
Each user, each user terminal, each unmanned vehicle, each geography fence device and/or its various combination.In some feelings
Under condition, information collection in storage system can be can search for or can index.Can according to any parameter, such as with
Family identity, user terminal identity, unmanned vehicle identity, geography fence device identity, time, device combination, data type, position
It sets or any other information, Lai Faxian or index information collection.Information collection can be stored according to any parameter.
In some cases, it can analyze the information in storage system.Information collection be can analyze to detect one
Or multiple behavior patterns.Information collection be can analyze so that detect may one or more characteristics related with accident or undesirable condition.
Information collection can be used for analyzing air traffic.It can be for statistical analysis to the information collection in Memory Storage Unit.This
The statistical analysis of sample can contribute to mark trend or correlative factor.As an example, it can be noted that certain unmanned vehicle models are total
There can be higher accident rate than other unmanned vehicle models on body.It therefore, can be with comprehensive analysis storage system
In information to summarize the information of the operation about unmanned vehicle.Such comprehensive analysis is not necessarily in response to particular event or field
Scape.
It can be with real-time update storage system.For example, when transmitting or receiving data, the information about the data
It can be recorded in storage system together with any other information from the information collection.This can occur in real time.
Can send or receive order less than 10 minutes, 5 minutes, 3 minutes, 2 minutes, 1 minute, 30 seconds, 15 seconds, 10 seconds, 5 seconds, 3
Any relevant information that data and the information are concentrated is stored in second, 1 second, 0.5 second or 0.1 second.
In the alternative, it may not need real-time update storage system.It can be with regular or irregular
Time interval is updated periodically storage system.In some cases, renewal time table, the timetable can be provided
It may include rule or irregular renewal time.Renewal time table can be fixed or can be modifiable.It can be with
Device storage system is updated storage in response to the event or situation that detect.
The information collection can be stored any time section by storage system.It in some cases, can be indefinitely
Ground stores the information collection until they are deleted.It can permit or can not allow to delete information collection.In some cases,
Can only to allow the manipulator of storage system or manager and the data being stored in the storage system into
Row interaction.It in some cases, can manipulator only to allow Verification System (for example, air traffic control system, authentication center) and storage
Data in storage system interact.
It is alternatively possible to be automatically deleted the information collection over time, become.The period, which can be, preestablishes
's.For example, the information collection can be automatically deleted after a predetermined period of time being greater than.The example of predetermined amount of time may include but
It is not limited to 20 years, 15 years, 12 years, 10 years, 7 years, 5 years, 4 years, 3 years, 2 years, 1 year, 9 months, 6 months, 3 months, 2 months, 1
The moon, 4 weeks, 3 weeks, 2 weeks, 1 week, 4 days, 3 days, 2 days, 1 day, 18 hours, 12 hours, 6 hours, 3 hours, 1 hour, 30 minutes or 10
Minute.In some cases, only passing by just delete information collection manually after a predetermined period of time.
The geography fence of identity-based limits
One or more groups of air traffic control in environment can correspond to one or more geography fence devices.Every group of tof tube
System can be associated with geography fence device.In some embodiments, only single one group of air traffic control and geography fence
Device is associated.No matter, can be with for example, the number or type of the unmanned vehicle that can be interacted with geography fence device
It is applicable in identical one group of air traffic control.Alternatively, multiple groups air traffic control can be associated with geography fence device.This can occur
When multiple unmanned vehicles and geography fence device interact.Each group in multiple groups unmanned vehicle can have its own
One group of air traffic control.For example, the first unmanned vehicle can have first group of air traffic control, and second group of unmanned vehicle can
To have second group of air traffic control.It can be different by the limitation that first group of air traffic control and second group of air traffic control provide.
In some cases, difference may be the identity due to unmanned vehicle and generate (for example, the first unmanned vehicle identity with
The difference of second unmanned vehicle identity).Difference may be the identity due to user and generate (for example, operation first nobody
The difference of the identity of the second user of the second unmanned vehicle of identity and operation of first user of aircraft).Difference may be
It is generated due to any other factor (such as time, environmental condition or any other factor).One group of air traffic control can be with
Single geography fence apparatus is associated.
Figure 28 is shown can provide the geography fence device 2810 of one group of different flight restrictions in different scenes.It is described not
One group of same flight restriction can have identical boundary or can have different boundary 2820a, 2820b.Different nothings
People's aircraft 2830a, 2830b, 2840a, 2840b can receive one group of different flight restrictions.
Geography fence device 2810 can be provided at a certain position in environment.It can environment near the position
Interior unmanned vehicle provides one group of air traffic control.If multiple unmanned vehicles are located in the environment near the position,
They can respectively receive one group of air traffic control.Multiple groups air traffic control between multiple unmanned vehicles can be identical.It is more
Multiple groups air traffic control between a unmanned vehicle can be different.In one example, the difference in multiple groups air traffic control
It can be based on the identity of unmanned vehicle.Difference in multiple groups air traffic control can be based on unmanned vehicle type.For example, first
Group unmanned vehicle 2830a, 2830b can have the first unmanned vehicle type, and second group of unmanned vehicle 2840a,
2840b can have the second unmanned vehicle type.The unmanned vehicle of the first kind and the unmanned vehicle of Second Type can
To be different.Any description of the difference of the multiple groups air traffic control based on unmanned vehicle type is only passed through herein exemplary
Mode provides, and can be adapted for the factor that can lead to any other type of different multiple groups air traffic control.These factors
It may include user information (for example, user identity, user type), environmental condition, timing, other unmanned vehicle information or sheet
The factor of other any other described types everywhere of text.
First group of unmanned vehicle can receive first group of air traffic control, and second group of unmanned vehicle can receive second
Group air traffic control.First group of air traffic control and second group of air traffic control can be different.For example, first group of unmanned vehicle
2830a, 2830b can receive first group of air traffic control, and second group of unmanned vehicle 2840a, 2840b can receive for ground
Manage second group of air traffic control of fence apparatus 2810.Boundary between first group of air traffic control and second group of air traffic control can be
Different.Therefore, for same geography fence device, multiple groups boundary can be provided by multiple groups air traffic control.First group flies
Row control can have first group of boundary, and second group of air traffic control can have second group of boundary.In some cases, single
One group of air traffic control can have multiple groups boundary.For example, even if single unmanned vehicle receives one group of air traffic control, it can also
With there are multiple groups boundaries, the different condition detected is still either directed to for the not same district at multiple areas, different time
Not same district or any other factor.First group of boundary can be provided in first group of control for first group of unmanned vehicle
2820a, and second group of boundary 2820b can be provided in second group of control for second group of unmanned vehicle.It boundary can
With different size or shape.Boundary can be overlapped.
In the examples provided, boundary can limit the presence of unmanned vehicle.This is only provided by way of example
And the limitation of any other type can be adapted for boundary.First group of air traffic control can be limited with first group of boundary 2820a
The presence of unmanned vehicle 2830a, 2830b of the first kind in system area.Therefore, the unmanned vehicle of the first kind can not
Into first group of boundary.Unmanned vehicle 2840a, 2840b of Second Type can not receive first group of air traffic control and therefore
It can not be by the limitation limited from first group of air traffic control.Therefore, the unmanned vehicle of Second Type can enter first
(for example, unmanned vehicle 2840b comes into first group of boundary 2820a) in group boundary.
Second group of air traffic control can limit the unmanned vehicle of Second Type in area with second group of boundary 2820b
The presence of 2840a, 2840b.Therefore, the unmanned vehicle of Second Type can not enter second group of boundary.The nothing of the first kind
People's aircraft 2830a, 2830b can not receive second group of air traffic control and therefore can not be by from second group of air traffic control
The limitation of limitation.Therefore, the unmanned vehicle of the first kind can enter in second group of boundary (for example, unmanned vehicle 2830b
It comes into second group of boundary 2820b).
Therefore, even single geography fence device also can have high flexibility ratio.Geography fence device can
It provides in different situations for the different unmanned vehicles that may be close to geography fence device for different groups of tof tubes
The reference point of system, the geography fence device can provide height to the Activity Type near geographical fence apparatus and control, and nothing
Any change or update need to be carried out to geographical fence apparatus itself.In some embodiments, can geography fence device it
Outer generation multiple groups air traffic control, therefore any update or ad hoc rules can be for can be without carrying out geographical fence apparatus itself
Except the geography fence device of any change.In some cases, geography fence device itself can generate multiple groups on it and fly
Row control, but can receive the update to parameter, algorithm or the data for generating one group of air traffic control from cloud.It is geographical
Fence apparatus is during executing its function without receiving any be manually entered.Alternatively, user can choose offer for ground
Manage individualization request or the input of fence apparatus.
Geography fence device changes over time
As it was noted above, one group of air traffic control can change over time.Geography fence is encountered at different time
The unmanned vehicle of device can have one group of different air traffic control.In some embodiments, one group of air traffic control
It is applicable to specifically to meet or the specific time.For example, if unmanned vehicle is for the first time close to geographical fence apparatus, institute
Stating unmanned vehicle can receive first group of air traffic control.If unmanned vehicle will fly elsewhere and then return simultaneously
Geography fence device is encountered for the second time, then the unmanned vehicle can receive second group of air traffic control.First group and second group
It can be identical.Alternatively, they can be different.One group of air traffic control may have been based on time or other conditions
(environmental condition such as detected) and change.Therefore, can be flown according to condition (for example, time, environmental condition) to nobody
Row device delivers different groups of flying conditions.One group of flying condition itself is not necessarily to include any condition.In other embodiments,
One group of air traffic control may include different conditions, including timing.For example, the one group of tof tube provided for unmanned vehicle
System can indicate that before 3:00pm, first group of boundary and limitation are applicable in, between 3:00pm and 5:00pm, second group of boundary
It is applicable in limitation, and after 5:00pm, third group boundary and limitation are applicable in.Therefore, one group of flight restriction may include root
According to different condition (for example, time, environmental condition etc.) to the different group boundaries of unmanned vehicle and limitation.
However, providing one group of air traffic control, unmanned vehicle can take according to conditions such as time or environmental conditions
It is limited from the difference to geographical fence apparatus.
Figure 29 show with can over time and change multiple groups air traffic control geography fence device example.Control
Change over time can be provided only by way of example, and can be adapted for the condition of any other type, all
Such as environmental condition.For example, if example describes the change of first time, the second time, third time etc., the example
Can be adapted for first group of environmental condition, second group of environmental condition, third group environmental condition or any other group of condition (for example,
First group of condition, second group of condition, third group condition).
Geographical fence apparatus 2910 can be illustrated at different time (time=A, B, C or D).It can be in different time
Or different conditions is provided at the position of different time.Unmanned vehicle 2920 can be provided about in geography fence device.
The unmanned vehicle illustrated at different time can be same unmanned vehicle or can be different unmanned vehicles.It is geographical
Fence apparatus can have one group of boundary 2930a, 2930b, 2930c, 2930d.
The boundary can change over time.For example, one group of boundary when first time (for example, time=A)
2930a can be different from one group of boundary 2930b when the second time (for example, time=B).Boundary can change by any means
Become.For example, the lateral part on boundary can change (for example, boundary when boundary 2930a and time=C when time=A
2930c) and/or the vertical component on boundary can change (for example, when boundary 2930a and time=B when time=A
Boundary 2930b).In some cases, the laterally and vertically part on boundary can change simultaneously (for example, boundary when time=B
Boundary 2930c when 2930b and time=C).The size and/or shape on boundary can change.In some cases, boundary can
To be remained unchanged in different time.For example, one group of boundary 2930a when first time (for example, time=A) can be with second
One group of boundary 2930d when time (for example, time=D) is identical.
The Limit Type applied about boundary can change over time.Although one group of boundary remains unchanged,
Limit Type can change.For example, boundary 2930a can be with the second time (example at (for example, time=A) at the first time
Such as, time=D) when boundary 2930d it is identical.However, first group of limitation can be adapted at the first time (for example, in time=A
When, unmanned vehicle 2920 can not be allowed to enter in the 2930a of boundary), and second group of limitation can be adapted for the second time (example
Such as, in time=D, unmanned vehicle 2920 can be allowed to enter in the 2930d of boundary, but can optionally apply other limits
System does not allow such as to operate payload).Although boundary remains unchanged, the type of limitation be can be different.Although boundary
It remains unchanged and Limit Type is identical, but the grade limited can be different (for example, not allowing using any wireless communication
Wireless communication is used with being only allowed in particular frequency range).
In some embodiments, the Limit Type applied about boundary can remain unchanged, and boundary pushes away at any time
It moves and changes.For example, boundary 2930a can be about the second time (for example, the time at (for example, time=A) at the first time
=B) when boundary 2930b and change.First group of limitation can be adapted at the first time and second group of limitation can be adapted for the
Two times.First group of limitation can be identical as second group of limitation.For example, unmanned vehicle 2920 can not be permitted in time=A
Perhaps enter in the 2930a of boundary.In time=B, unmanned vehicle can not be equally allowed to enter in the 2930b of boundary, but boundary
May change so that unmanned vehicle can enter the unmanned vehicle be previously unable to enough entrance region and/
Or unmanned vehicle can not enter the region that the unmanned vehicle had previously been able to enter.Unmanned vehicle can energy
The region enough entered may change with the change on boundary.
Alternatively, first group of limitation can be not identical as second group of limitation.For example, unmanned vehicle can not in time=B
It is allowed to enter in the 2930b of boundary.In time=C, unmanned vehicle can be able to enter in the 2930c of boundary, but worked as and be located at
Any wireless communication can not be issued when in boundary.Therefore, the boundary and one group of limitation can change.It is described
One group of limitation can change so that Limit Type changes.One group of limitation can change so that Limit Type can phase
Together, but limit grade can change.
Unmanned vehicle can encounter geography fence device in all cases.Different situations can be provided in order
It (unmanned vehicle perhaps encounters geography fence device at multiple time points under conditions of multiple and different) or can be alternative
Different situations is provided in embodiment (for example, unmanned vehicle theoretically can be in different time points or in different groups of items
Geography fence device is reached under part for the first time).
In some embodiments, can occur in the case where not requiring geography fence device that there is indicant to one group
The change of air traffic control.For example, air traffic control system is known that geography fence device and unmanned vehicle position.Air traffic control system can be with
When detection unmanned vehicle is located in the preset range of geography fence device.When unmanned vehicle is close to geographical fence apparatus
When, air traffic control system is known that one group of condition (for example, current time, environmental condition, unmanned vehicle identity or type, user
Identity or type etc.).Based on the condition, air traffic control system can provide one group of air traffic control to unmanned vehicle.Unmanned flight
Device is without detecting geography fence device, without the indicant on detection geography fence device, although unmanned vehicle can be with this
Do, herein other everywhere as described in.
In another example, when the close geographical fence apparatus of unmanned vehicle, the geography fence device be can detecte
To the presence of unmanned vehicle.When unmanned vehicle is come in the preset range of geography fence device, the geography fence dress
It sets and can detecte the unmanned vehicle.When unmanned vehicle is close to geographical fence apparatus, the geography fence device can
To know one group of condition (for example, current time, environmental condition, unmanned vehicle identity or type, user identity or type etc.).
Based on the condition, geography fence device can provide one group of air traffic control for unmanned vehicle.Unmanned vehicle is without detection
Geography fence device, without detection geography fence device indicant, although unmanned vehicle can be done so, such as herein its
He is described everywhere.
In addition, unmanned vehicle can generate one group of air traffic control on machine.Unmanned vehicle can detecte geography fence
The presence of device.Alternatively, can be provided to unmanned vehicle from air traffic control system or geography fence device about unmanned flight
Device to geography fence device distance information.When unmanned vehicle is close to geographical fence apparatus, the unmanned vehicle can
To know one group of condition (for example, current time, environmental condition, unmanned vehicle identity or type, user identity or type etc.).
Based on the condition, unmanned vehicle can generate one group of air traffic control on the unmanned vehicle machine.Unmanned vehicle without
Geography fence device need to be detected, without the indicant on detection geography fence device, although the unmanned vehicle can be with this
Sample is done, herein other everywhere as described in.
In other embodiments, geography fence device 2910 may include indicant 2940.The indicant can be
As herein other everywhere described in any kind of indicant.Although visual indicia only provides by way of example, can
To use the indicant of any other type, such as indicant of wireless signal, thermal signal, acoustical signal or any other type.
Unmanned vehicle can be able to detect the indicant of geography fence device.When unmanned vehicle close to geographical fence apparatus (for example,
Into in the preset range of geography fence device) when, unmanned vehicle can be able to detect the indicant.
Indicant can change over time.The change of indicant can reflect out different conditions.Indicant can
With periodically (for example, with rule or irregular time interval), according to preset time table or the thing in response to detecting
Part or situation and change.The change of indicant can voluntarily be started by geography fence device.Geography fence device can have pair
Which one group of instruction of which indicant be provided at.It can use from external device (ED) (for example, cloud, air traffic control system, nothing
People's aircraft, other geography fence devices etc.) information update described instruction.In some cases, to the change of indicant
The data from one or more external device (ED)s can be associated with.In one example, air traffic control system can order geography fence
Device changes indicant.In another example, another external device (ED), such as unmanned vehicle, other geography fence devices or ground
The remote controler of fence apparatus is managed, instruction can be provided to geography fence device to change indicant.Indicant can change characteristic.
Characteristic can be and can be detected by unmanned vehicle.For example, the change of characteristic may include indicant for visual indicia
The change of visual appearance.In another example, for acoustical signal, the change of characteristic may include the detectable sound of indicant
The change of feature.For wireless signal, the change of characteristic may include by the change of the information of indicant transmission.
For example, indicant can be periodically changed.In one example, indicant can change per hour.Another
In example, indicant can change daily.Geography fence device can have the machine of permissible geography fence device record time
Carry clock.
Indicant can change according to preset time table.For example, timetable can indicate that indicant should be on Monday
9:00AM from the first indicant characteristic changing be the second indicant characteristic, and then 3:00PM on Monday from the second indicant
Characteristic changing is third characteristic, and then becomes the first characteristic again from third characteristic in the 1:00AM of Tuesday, and then in Tuesday
10:00AM from the first characteristic changing be second characteristic etc..Timetable can be modifiable.In some cases, blank pipe system
The manipulator of system can change timetable.In another example, the owner or manipulator of geography fence device can energy
Enough change timetable.The owner and/or manipulator of geography fence device can be by handing over manually with geography fence device
Enter mutually or remotely or change timetable from isolated device, this can lead to the timetable for updating geography fence device.
In another example, indicant can change in response to the event or situation that detect.For example, if geography encloses
Air traffic around column device reaches threshold densities, then indicant can change.If around geography fence device
Climate change (for example, begin to rain or wind speed increase), then indicant can change.Optionally, dynamic instruction object can be with
In response to the unmanned vehicle detected presence and change.For example, unmanned vehicle can be uniquely identified.Geography fence dress
It sets and can receive unmanned vehicle identifier, the unmanned vehicle identifier uniquely identifies out from other unmanned vehicles
The unmanned vehicle.Indicant parameter or characteristic can be selected based on unmanned vehicle identifier.For example, one group of tof tube
System can depend on the identity or unmanned vehicle type of unmanned vehicle.In another example, user identifier can be based on
And select indicant parameter or characteristic.For example, one group of air traffic control can depend on the identity or user type of user.
The change of indicant can reflect the change of one group of air traffic control.For example, unmanned vehicle can be able to detect that
The change of indicant characteristic and know that another different group limitation is in place.For example, when indicant changes, unmanned vehicle
Another different group air traffic control can be used.Alternatively, same group of air traffic control, but described same group can be used in unmanned vehicle
Air traffic control can be applied for the different limitations of different indicants or boundary.
For example, if unmanned vehicle detect indicant 2940 under first group of characteristic (for example, " X " is shown), institute
Stating unmanned vehicle could be aware that first group of control in place (for example, first group of boundary 2930a, first group of limitation).If
Unmanned vehicle detects indicant 2940 under second group of characteristic (for example, showing " 0 "), then the unmanned vehicle can be known
Know second group of control in place (for example, second group of boundary 2930b, second group of limitation).If unmanned vehicle detects finger
Show object 2940 under third group characteristic (for example, showing "="), then the unmanned vehicle could be aware that the control of third group
(for example, third group boundary 2930c, the limitation of third group) in place.If unmanned vehicle detects indicant 2940 at the 4th group
Under characteristic (for example, showing "+"), then the unmanned vehicle could be aware that the 4th group of control in place (for example, the 4th group of side
Boundary 2930d, the 4th group of limitation).
Based on the local storage on unmanned vehicle machine, unmanned vehicle could be aware that different control corresponds to difference
Indicant characteristic.Local storage on unmanned vehicle machine can or can not continuously, periodically, according to the time
Table is updated in response to the event or situation that detect.In some cases, the external device (ED)s such as air traffic control system can be with
Know the different control corresponding to different indicant characteristics.Unmanned vehicle can be transmitted to external device (ED) about the finger detected
Show the information of object characteristic.External device (ED) can be generated one group of air traffic control and then mention in response to unmanned vehicle
For one group of air traffic control.Any other communication construction can be used, such as other those described frameworks everywhere herein.
Aspect of the invention can be related to a kind of geography fence device, comprising: one or more Memory Storage Units,
It is configured for storing multiple indicant parameters；And dynamic instruction object, (1) are over time and the multiple from meeting
The first indicant parameter in indicant parameter becomes meeting the second indicant parameter, and (2) are configured to (a) when nobody flies
And it (b) can be by the nothing when unmanned vehicle enters within the scope of the predetermined geographic of the geography fence device when row device flight
People's aircraft detects.A kind of method to unmanned vehicle one group of air traffic control of offer can be provided, which comprises will
Multiple indicant parameters are stored in one or more Memory Storage Units of geography fence device；And over time and
The dynamic instruction object of the geography fence device is become from the first indicant parameter met in the multiple indicant parameter
Meet the second indicant parameter, wherein the dynamic instruction object is configured for (a) when unmanned vehicle flight and (b)
It can be detected by the unmanned vehicle when unmanned vehicle enters within the scope of the predetermined geographic of the geography fence device.
As it was noted above, indicant can be dynamic instruction object.Dynamic instruction object can have one or more parameter/spies
Property.In some embodiments, dynamic instruction object can be the visual indicia for over time and changing appearance.Visual indicia
First appearance can be generated based on the first indicant parameter, and be different from the of the visual indicia of the first appearance of visual indicia
Two appearances can be generated based on the second indicant parameter.In another example, dynamic instruction object can be over time and
Change the wireless signal of characteristic.First characteristic of wireless signal can be generated based on the first indicant parameter, and be different from nothing
Second characteristic of the wireless signal of the first characteristic of line signal can be generated based on the second indicant parameter.
Dynamic instruction object can uniquely identify out geography fence device and by the geography fence device and other ground
Reason fence apparatus distinguishes.For example, different geography fence devices can have different indicants.Different dynamic instruction objects
It can be different from each other.So the unmanned vehicle can not only know when unmanned vehicle detects dynamic instruction object
One group of air traffic control in place under the conditions of described, and know the identity of geography fence device.In other embodiments, it indicates
Object is without being unique for each geography fence device.In some cases, it can be filled for same type of geography fence
It sets and identical indicant is provided.Indicant can be uniquely geography fence type of device.When unmanned vehicle detects
When to dynamic instruction object, the unmanned vehicle can not only know that one group of air traffic control is in place under the described conditions, Er Qiezhi
Know the type of geography fence device.In other cases, indicant is without being unique for device.It is different types of differently
Reason fence apparatus can show identical indicant.Indicant can reflect out one group of tof tube corresponding to the indicant
System, and unmanned vehicle is without uniquely identifying geography fence device or geography fence type of device.
Dynamic instruction object can indicate first group of air traffic control when meeting the first indicant parameter, and can be with
Second group of air traffic control is indicated when meeting the second indicant parameter.As it was noted above, can be in unmanned vehicle system
One group of air traffic control is generated and/or stored at any device in system.Any combinations of communication can occur to allow nobody
Aircraft is operated according to one group of air traffic control.In some instances, first group of air traffic control and second group of air traffic control
It can be stored on unmanned vehicle machine, first group of air traffic control and second group of air traffic control can be stored in unmanned vehicle machine
On outer air traffic control system or first group of air traffic control and second group of air traffic control can be stored on geography fence device.
Geography fence overlapping and priority
Figure 30, which is shown, can provide the scene of unmanned vehicle in the overlapping area of multiple geography fence devices.It can be
Multiple geography fence device 3010a, 3010b are provided in environment.The geography fence device can have corresponding boundary
3020a,3020b.One or more unmanned vehicles can be provided in environment.
Unmanned vehicle 3030d can be positioned at the first geography fence device 3010a's and the second geography fence device 3010b
Except boundary.Unmanned vehicle can be optionally in one group from the first geography fence device or the second geography fence device
Under limitation.Unmanned vehicle can freely operate in environment, without one group of flight for being applied to the unmanned vehicle
Control.
Unmanned vehicle 3030a can be located within the boundary of the first geography fence device 3010a and the second geography fence
Except the boundary of device 3010b.Unmanned vehicle can be under one group of limitation from the first geography fence device without coming
From under one group of limitation of the second geography fence device.Unmanned vehicle can abide by associated with the first geography fence device the
One group of air traffic control and operate.
Unmanned vehicle 3030c can be located within the boundary of the second geography fence device 3010b and the first geography fence
Except the boundary of device 3010a.Unmanned vehicle can be under one group of limitation from the second geography fence device without coming
From under one group of limitation of the first geography fence device.Unmanned vehicle can abide by associated with the second geography fence device the
Two groups of air traffic control and operate.
Unmanned vehicle 3030d can be positioned at the first geography fence device 3010a's and the second geography fence device 3010b
Within boundary.Unmanned vehicle can be under one group of air traffic control.Multiple geography fence devices can be fallen in for unmanned vehicle
In the range of a possibility that different, is provided.Any possibility at multiple areas of description overlapping can be adapted for this.
For example, can be overlapped by one or more areas that different geographical fence apparatus provide.For example, the first geography fence fills
It the firstth area in first group of boundary 3020a set can be with second in second group of boundary 3020b of the second geography fence device
Area overlapping.
When multiple area overlappings, the rule from multiple areas can be held in place.For example, with the first geography fence device phase
Associated first group of air traffic control and second group of air traffic control associated with the second geography fence device can be in overlay regions
It is held in place.In some cases, it is held in place as long as the rule from multiple areas does not conflict with one another.For example, working as nothing
When people's aircraft is located in the firstth area, the first geography fence device can not allow the use of unmanned vehicle payload.When
When unmanned vehicle is located in the secondth area, the second geography fence device can not allow the use of unmanned vehicle communication.Work as nothing
When people's aircraft 3030d is located in the area Liang Ge, the unmanned vehicle, which can not be allowed to operate the unmanned vehicle, effectively to be carried
Lotus and communication unit can not be allowed to use.
If there is conflict between rule, various rule responses can be applied.For example, can apply restricted highest
One group of rule.For example, if the firstth area requires unmanned vehicle to fly below 400 feet of height, and the secondth area requires nothing
People's aircraft flies below 200 feet of height, then, can be in overlay region when unmanned vehicle is located within overlay region
Using about the rule flown below 200 feet of height.This may include being mixed and matched one group of rule to form limitation
Property is one group highest.For example, if the firstth area requires unmanned vehicle to fly at 100 feet or more and at 400 feet or less,
And the secondth area requires unmanned vehicle at 50 feet or more and flies at 200 feet or less, then when unmanned vehicle is located at weight
Folded Qu Zhongshi, can be used the flight lower limit from the firstth area and the flight upper limit from the secondth area, with 100 feet with
It flies between 200 feet.
In another case, rank can be provided for the area.It can be provided in the rank one or more preferential
Grade.The geography fence device of (for example, rank is lower) lower compared to priority level, priority level it is higher (for example, rank compared with
It is high) geography fence device can have dominant rule, regardless of described with the higher geography fence device phase of priority
Whether associated rule has more or fewer limitations for the rule of the lower geographical fence apparatus of priority.It can
To pre-select or pre-enter the priority level of geography fence device.In some cases, one group for the area is provided
The user of rule can indicate which geography fence device is higher than other geography fence devices in priority level.In some feelings
Under condition, the manufacturer of geography fence device can pre-select the rank for the geography fence device.It is pre-selected excellent
First grade can by or can not be modified.In other cases, the owner or manipulator of geography fence device can input
For the tier levels of the geography fence device.The owner or manipulator of geography fence device can change geography and enclose
Column assembly first grade.It in some cases, can be by such as air traffic control system, one for the priority level of geography fence device
Or the external device (ED)s such as multiple unmanned vehicles or other geography fence devices determine.In some cases, the manipulation of air traffic control system
Person can check the information about multiple geography fence devices and input or adjust the priority level of geography fence device.
In some embodiments, some priority levels can be authorized by administrative area.For example, certain administrative areas can require political affairs
The geography fence device that mansion facility or the geography fence device of emergency service possess or operate than individual has higher priority scheduling
Grade.
In being realized for the unmanned vehicle in overlay region, one group of rule that priority drives one, the firstth area
Unmanned vehicle can be required in 400 feet or less flights and payload closing.Secondth area can require unmanned vehicle
It flies at 200 feet or less and does not have payload and limit.If the firstth area can be with the higher geography fence of priority
Device is associated, then can apply the rule from the firstth area, without applying any rule from the secondth area.For example, nobody
Aircraft can fly at 400 feet or less and close payload.If the secondth area is enclosed with the higher geography of priority
Column device is associated, then can apply the rule from the secondth area, without applying any rule from the firstth area.For example, nothing
People's aircraft can fly at 200 feet or less and not have any payload and limit.
In some cases, when multiple area overlappings, multiple groups air traffic control can be provided.Unmanned vehicle can be provided can
The one group of main air traffic control abided by.As it was noted above, one group of main air traffic control is in first group of air traffic control and
Two groups of air traffic control may include when not conflicting it is both whole, can be between first group of air traffic control and second group of air traffic control
Merge the higher one group of air traffic control of restrictive, first group of air traffic control and the can be associated with by restricted higher mode
The aspect of the whole the two of two groups of air traffic control, or can be associated with and the higher geography fence device associated one of priority
Group air traffic control.
One aspect of the present invention may include a kind of method for operating unmanned vehicle, which comprises determine institute
State the position of unmanned vehicle；Multiple geography fence devices are identified, wherein each geography fence device is indicated for covering institute
State one group of air traffic control of the unmanned vehicle in the region of the position of unmanned vehicle；By means of one or more processors,
The one group of main air traffic control to be followed the unmanned vehicle carries out priority ranking, and one group of main air traffic control is
It is selected from the multiple groups air traffic control of the multiple geography fence device；And it is grasped according to one group of main air traffic control
Make the unmanned vehicle.Similarly, a kind of the non-transient of the program instruction comprising for operating unmanned vehicle can be provided
Computer-readable medium, the computer-readable medium include: the program instruction for determining the position of the unmanned vehicle；
For identifying the program instruction of multiple geography fence devices, wherein each geography fence device indicate for cover it is described nobody
One group of air traffic control of the unmanned vehicle in the region of the position of aircraft；And for follow the unmanned vehicle
One group of main air traffic control carry out priority ranking with allow to be operated according to one group of main air traffic control it is described nobody
The program instruction of aircraft, one group of main air traffic control are from the multiple groups air traffic control of the multiple geography fence device
Selection.
In addition, a kind of unmanned vehicle air traffic control prioritization system may include: one or more processors,
It is either individually or collectively configured for: determining the position of the unmanned vehicle；Multiple geography fence devices are identified, wherein
Each geography fence device indicates one group of the unmanned vehicle in the region for the position for covering the unmanned vehicle
Air traffic control；And the one group of main air traffic control to be followed to the unmanned vehicle carries out priority ranking, described one group
Main air traffic control is selected from the multiple groups air traffic control of the multiple geography fence device, to allow according to described one group
Main air traffic control operates the unmanned vehicle.The system can also include one or more communication modules, wherein institute
It states one or more processors and is operably coupled to one or more of communication modules.
Figure 31 shows the example of the different control for different geographical fence apparatus of one aspect according to the present invention.It is multiple
Geography fence device 3110a, 3110b, 3110c can have priority level and/or one or more groups of control.Described one group
Air traffic control may include one or more measurements.One or more control values can be related to one or more of measurements
Connection.One example of measurement may include a type of control.For example, the first measurement can be adapted for the limitation of height lower limit,
Second measurement can be adapted for payload operation limitation, and third measurement can be adapted for wireless communication limitation, and fourth amount can
It is limited with being suitable for battery capacity, the 5th measurement can be adapted for rate limitation, and the 6th measurement can be adapted for largest item and take
Band weight etc..
In some embodiments, geography fence device can have different priority levels.Any number can be provided
Priority level.For example, can provide it is one or more, two or more, three or more, four or more, five
It is a or more, six or more, seven or more, eight or more, nine or more, ten or more,
15 or more, 20 or more, 25 or more, 30 or more, 40 or more, 50 or more
A or 100 or more priority levels.Priority level can be qualitative or quantitative.For example, priority level can divide
At low precedence, medium priority grade and high precedence.Geography fence device with high precedence can be in rank
It is upper to be higher than the geography fence device with medium priority grade.Any classification method can be provided for priority level.For example, can be with
Priority level A, priority level B, priority level C etc. are provided.In some cases, priority level can have numerical value.For example, ground
Reason fence apparatus A 3110a can have priority level 98, and geography fence device B 3110b can have priority level 17, with
And geography fence device C 3110c can have priority level 54.In some cases, the priority level with higher numerical value can
With higher in rank.
Multiple geography fence devices can have different priority levels, and enclose from the geography with highest priority
One group of air traffic control of column device can be chosen as one group of main air traffic control.For example, if unmanned vehicle is located at geography fence
In the area of the overlay region of device A, B and C, then the unmanned vehicle can have one group of main air traffic control, and described group flies
Row control use control associated with geography fence device A, because geography fence device A has highest priority level.Such as
Fruit unmanned vehicle is located in the area of the overlay region of geography fence device B and C, then the unmanned vehicle can have use
One group of air traffic control of control associated with geography fence device C, because geography fence device C has than geography fence device B
There is higher priority level.Therefore, in the scene, one group of main air traffic control of unmanned vehicle may include needle
Control AVAL3 to measurement A, the control BVAL3 for measurement B, the control EVAL3 for measurement E and the pipe for measurement F
FVAL3 processed.In some cases, different geography fence devices can have identical priority level.If unmanned vehicle
It falls in the overlapping of the identical geography fence device of priority level, then other technologies can be used to determine for unmanned vehicle
One group of main air traffic control.It is, for example, possible to use other any other described examples everywhere herein.
In other cases, one group of main air traffic control may include the most stringent of pipe selected from multiple groups air traffic control
System.For example, if unmanned vehicle is located in the area of the overlay region of geography fence device A, B and C, for each measurement,
Can from each geography fence device the highest value of selectional restriction.For example, can choose AVAL1, AVAL2 for measuring A
Or restricted highest value in AVAL3.For example, if measurement A is the limitation of height lower limit, and AVAL1=400 feet, AVAL2
=250 feet and AVAL3=300 feet, then can choose AVAL1, because AVAL1 is provided under restricted highest height
Limit.For measuring B, restricted highest value in BVAL1 or BVAL3 can choose.Since geography fence device does not have measurement B
There are any restrictions, then geography fence device B has been restricted minimum.If measurement B is payload operation limitation, and
BVAL1=can make payload be powered but can not any data for arriving of store collected and BVAL3=can not make effectively
Load is powered, then can choose BVAL3, because BVAL3 provides restricted higher payload and uses.For measuring D, ground
Reason fence apparatus A and geography fence device C does not have any restrictions.Therefore, for measurement D, it can choose DVAL2, because
It is the restricted highest of default.For each measurement, can from geography fence device the highest measurement of selectional restriction.
In other cases, one group of main air traffic control may include from the ground with whole most stringent of air traffic control
Manage the control of fence apparatus.If generally speaking, geography fence device C has most stringent compared to geography fence device A and B
Control, then described one group mainly row control may include geography fence device C control.Even if some measurements of A and B compared with
To be stringent, but if geography fence device is integrally tightened up, then can choose geography fence device D.
One group of main air traffic control may include the air traffic control from one group of single air traffic control.For example, one group of master
Air traffic control is wanted to may include the control for being only from geography fence device A, the control for being only from geography fence device B or only come
From the control of geography fence device C.One group of main air traffic control includes the air traffic control from multiple groups air traffic control.For example, one
The main air traffic control of group may include two or more air traffic control in geography fence device A, B and C.For not
Same measurement can choose the value from different geographical fence apparatus.
In some embodiments, can based on unmanned vehicle identity (for example, unmanned vehicle identifier or nobody fly
Row device type) and priority ranking is carried out to one group of main air traffic control.It can receive unmanned vehicle identifier.Unmanned flight
Device identifier can uniquely identify out the unmanned vehicle from other unmanned vehicles.One group of main air traffic control can be with
Based on unique unmanned vehicle identity.For example, unmanned vehicle identity can be determined organizes the control of geography fence device using for which,
Or which combination using the control of geography fence device.Which technology is unmanned vehicle identity can determine using to determine
State one group of main air traffic control.One group of main air traffic control can be based on unmanned vehicle type.For example, unmanned vehicle
Type can be determined using which organizes the control of geography fence device, or which combination using the control of geography fence device.Nobody
Which technology is type of aircraft, which can determine using, determines one group of main air traffic control.
It in some embodiments, can be based on user identity (for example, user identifier or user type) and to one group
Main air traffic control carries out priority ranking.It can receive user identifier.User identifier can be unique from other users
Ground identifies the user.One group of main air traffic control can be based on unique user identity.For example, user identity can determine
Which organizes the control of geography fence device, or which combination using the control of geography fence device using.User identity can determine
Which technology to determine one group of main air traffic control using.One group of main air traffic control can be based on user type.
For example, user type can determine using which organize the control of geography fence device, or using the control of geography fence device which
Combination.Which technology is user type, which can determine using, determines one group of main air traffic control.
Multiple geography fence devices with overlapping area can be static geographical fence apparatus.Alternatively, they can wrap
Include one or more mobile geographical fence apparatus.When mobile geographical fence apparatus meets static geographical fence apparatus, Ke Yichuan
Build overlapping area.When static geographical fence apparatus have can over time and change boundary when, can create overlappingly
Area can make its disappearance.
Mobile geography fence
Geography fence device can be static or mobile.In some cases, geography fence device may remain in
At same position.In some cases, unless mobile by individual, otherwise geography fence device be may remain at same position.
Substantially stationary geography fence device can be placed in environment and can not be self-propelled.Static geography fence dress
Static structures can be fixed to or be supported by it by setting.User can manually move static geographical fence apparatus from first position
It moves to the second position.
Geography fence device can be mobile.Geography fence device can move between position and position.Geography encloses
Column device can be moved without personal mobile geographical fence apparatus.Mobile geography fence apparatus can be self-propelled
Formula.Mobile geography fence apparatus can be fixed to the loose impediments such as apparatus of transport or be supported by it.It is mobile geographical
Fence apparatus can have one or more propulsion units on it, and the propulsion unit can permit mobile geographical fence apparatus
It moves around in the environment.Mobile geography fence apparatus can be attached to loose impediment or be supported by it, described removable
Object can have one or more propulsion units, and the propulsion unit, which can permit the loose impediment, to be had movably
It manages and is moved around in the environment of fence apparatus.
Figure 32 shows the example of the mobile geographical fence apparatus of embodiment according to the present invention.Mobile geography fence apparatus can
To be unmanned vehicle 3210a, 3210b.Mobile geography fence apparatus can be aircraft, the apparatus of transport based on ground, base
In the apparatus of transport of water or apparatus of transport space-based or any combination of them.Unmanned vehicle only passes through exemplary side
Formula provides, and can be adapted for any other apparatus of transport or loose impediment to any description of unmanned vehicle herein.
Geography fence device 3210a, 3210b can have can over time and change position.It can be movably
It manages and distance d is provided between fence apparatus.Mobile geography fence apparatus can have corresponding boundary 3220a, 3220b.The side
Boundary can remain unchanged or can change over time.It the boundary can be in response to such as other are described everywhere herein
The condition that detects of one or more and change.
Mobile geography fence apparatus can issue wireless communication.It may include about mobile geography fence that wireless communication, which can be,
The message of the information of device.Identification information, such as geography fence device identification or geography fence type of device can be sent.Disappear
Breath may include information signature.Message may include geography fence device keys information.Message may include for mobile geographical
The location information of fence apparatus.For example, message may include the world coordinates for geography fence device.Mobile geography fence dress
Set the GPS unit or other locators that can have the position that can provide the mobile geographical fence apparatus.Message can wrap
Include the flight plan about geography fence device or the information in navigation channel.Message may include temporal information, such as transmission message
Time.The time can be provided according to the clock on mobile geographical fence apparatus.Message may include flight control information.Example
Such as, message may include the information about the flight orders received and/or the flight orders being carrying out.
When mobile geographical fence apparatus is unmanned vehicle, message can be sent and received each other.For example, when the first shifting
When dynamic geography fence device 3210a is close to the second mobile geography fence apparatus 3210b, each mobile geographical fence apparatus can be sent out
Provide the message of any information described herein.Unmanned vehicle can be identified each other based on transmitted message and/
Or detection.Alternatively, other detections or identification technology can be used, such as other those described technologies everywhere herein.
The message from unmanned vehicle can be continuously sent out.For example, can continue to broadcast the message.Unmanned vehicle
Message can be issued, regardless of whether they have been detected by each other.Can regularly (for example, with rule or it is irregular when
Between be spaced), according to timetable or in response to the event or situation that detect issue the message from unmanned vehicle.Example
Such as, when unmanned vehicle detect other unmanned vehicles there are when, message can be sent.In another example, when by
When air traffic control system order, unmanned vehicle can issue message.
It in some cases, may include geography fence radius for the message of unmanned vehicle.Geography fence radius can
With related with the mobility of corresponding unmanned vehicle or task.For example, if unmanned vehicle be more can be motor-driven, can be with
Lesser radius is provided.When unmanned vehicle be compared with can not be motor-driven when, biggish radius can be provided.
For example, the first unmanned vehicle 3210a can broadcast the first geography fence radius (for example, RA).Optionally, second
Unmanned vehicle 3210b can broadcast the second geography fence radius (for example, RB).When the second unmanned vehicle from first nobody fly
When row device receives radius, the distance between the first unmanned vehicle and the second unmanned vehicle d can be calculated.If described
Distance d is less than RA or is less than RB, then the second unmanned vehicle can carry out navigation channel amendment or hover on the spot, meanwhile, it can be with
It is possible to inform that the first unmanned vehicle has collision.It that case, the first unmanned vehicle can carry out navigation channel amendment or
It hovers on the spot.
Similarly, in flight course, the second unmanned vehicle can broadcast simultaneously the second geography fence radius (for example,
RB).When the first unmanned vehicle receives radius from the second unmanned vehicle, the first unmanned vehicle and can be calculated
The distance between two unmanned vehicles d.If the distance d is less than RA or is less than RB, the first unmanned vehicle can be into
Row navigation channel is corrected or hovers on the spot, meanwhile, it can inform that the second unmanned vehicle has the possibility of collision.In that situation
Under, the second unmanned vehicle can carry out navigation channel amendment or hover on the spot.
When two unmanned vehicle broadcast messages, a possibility that two unmanned vehicles can detect collision and mention
It is corrected for navigation channel.In some cases, one in the unmanned vehicle can continue its navigation channel and another unmanned vehicle
Take avoiding action to avoid possible collision.In other cases, two unmanned vehicles can be taken some form of
Avoiding action is to avoid possible collision.
In some embodiments, when between unmanned vehicle there are when priority difference, the only described unmanned vehicle
In one can take avoiding action and another cannot.For example, the higher unmanned vehicle of priority level is without taking
Avoiding action, and the lower unmanned vehicle of priority level can be forced to take avoiding action.It in another example, can be about general
Which it is easy to that unmanned vehicle is made to take avoiding action and be calculated.For example, if the first unmanned vehicle is very fast
It is fastly mobile and the second unmanned vehicle is very slowly moving, then if the second unmanned vehicle cannot leave road in time
Line, then so that the first unmanned vehicle is carried out navigation channel amendment may be easier.In another example, if the second unmanned vehicle can
To leave route in time, then it can be made to carry out navigation channel amendment, the first unmanned vehicle is otherwise made to take avoiding action that will spend
Take more energy.
Therefore, it is possible to use unmanned vehicle can help unmanned vehicle to avoid as mobile geographical fence apparatus
Collision.For collision avoidance application, unmanned vehicle can limit the side that other unmanned vehicles enter the unmanned vehicle
In boundary.For example, the first unmanned vehicle can prevent other unmanned vehicles such as second unmanned vehicle from entering the first nothing
The boundary of people's aircraft.Similarly, the second unmanned vehicle can prevent the first unmanned vehicle from entering the second unmanned vehicle
Boundary.If one in the unmanned vehicle enters the boundary of other unmanned vehicles, can occur help
Prevent the flight responsive measures of collision.
Or static mobile geographical fence apparatus provides similar collision avoidance application.For example, if the first ground
Reason fence apparatus is mounted in the static geographical fence apparatus on stationary body (building on such as ground), then it can be right
It prevents the second mobile geographical fence apparatus (for example, unmanned vehicle) from bumping against and the quiet of the first geography fence device is installed on it
State object is helpful.Geography fence device can provide in virtual " field of force ", and " field of force " can prevent unwarranted
Unmanned vehicle or the geographical fence apparatus of other movements enter in boundary.
In other embodiments, other kinds of limitation can be provided in the boundary of geography fence device.For example, can
To provide effective load operation limitation.In one example, two unmanned vehicles can be traveling at, each unmanned vehicle
With the corresponding camera that can capturing image of their own.First unmanned vehicle, which can have, does not allow other in boundary
The flight restriction of unmanned vehicle operation camera.Second unmanned vehicle can have other unmanned vehicles allowed in boundary
Operation camera but the flight restriction for not allowing to record image.Therefore, when the second unmanned vehicle enters the first unmanned vehicle
When boundary, second unmanned vehicle may have to be such that its camera powers off.It, can be with if it cannot be such that its camera powers off
It is forced to take avoiding action to avoid the boundary of the first unmanned vehicle.When the first unmanned vehicle enters the second unmanned flight
When the boundary of device, it can keep its camera to open but must stop recording.It similarly, can if it cannot be stopped recording
To force it to take avoiding action.If it is desire to the activity of geography fence device is not recorded or captures on camera, then it is this
The limitation of type can be useful.For example, when unmanned vehicle is undergoing task, it may be undesirable to other unmanned flights
Device captures the image of the unmanned vehicle.The limitation of any other type can be used, such as other are described everywhere herein
Those of limitation.
Aspect of the invention may include a kind of method of mobile geographical fence apparatus of mark, which comprises in nothing
The signal from mobile geographical fence apparatus is received at people's aircraft, the signal designation goes out (1) described mobile geography fence dress
One or more geography fence borders of the position and (2) the set mobile geographical fence apparatus；Calculate the unmanned vehicle
The distance between described mobile geographical fence apparatus；Based on the distance, it is described to determine whether the unmanned vehicle falls in
In one or more of geography fence borders of mobile geography fence apparatus；And when the unmanned vehicle falls in the shifting
When in one or more of geography fence borders of dynamic geography fence device, mentioned based on the mobile geographical fence apparatus
The unmanned vehicle is operated under the one group of air traffic control supplied.
Unmanned vehicle may include: communication unit, be configured for receiving from mobile geographical fence apparatus
Signal, the signal designation go out the position and the one of (2) described mobile geographical fence apparatus of (1) described mobile geographical fence apparatus
A or multiple geography fence borders；And one or more processors, it is operably coupled to the communication unit and single
It solely or is jointly configured for: calculating the distance between the unmanned vehicle and the mobile geographical fence apparatus；
Based on the distance, determine the unmanned vehicle whether fall in the mobile geographical fence apparatus one or more ofly
It manages in fence boundary；And generate signal, with when the unmanned vehicle fall in one of the mobile geographical fence apparatus or
Realize the unmanned vehicle in one group provided based on the mobile geographical fence apparatus when in multiple geography fence borders
Operation under air traffic control.
One or more of geography fence borders of the mobile geographical fence apparatus can be with geography fence device
Centered on, circular boundary with the first radius.The distance between unmanned vehicle and mobile geographical fence apparatus can be with
First radius compares.Unmanned vehicle can also be the geography fence dress with second group of one or more geography fence border
It sets.Can be for second group of one or more geography fence border of unmanned vehicle be centered on unmanned vehicle,
Circular boundary with the second radius.The distance between unmanned vehicle and mobile geographical fence apparatus can be with the second radius phases
Compare.Mobile geography fence apparatus can be another unmanned vehicle.
Figure 33 shows the example of the mobile geographical fence apparatus closer to each other of embodiment according to the present invention.First movement
Geography fence device 3310a can be close to the second mobile geographical fence apparatus 3310b.Second mobile geographical fence apparatus can
Close to first movement geography fence device.Geography fence device can be closer to each other.Mobile geography fence apparatus can be with
With corresponding one group of boundary 3320a, 3320b.Mobile geography fence apparatus can be along corresponding track 3330a, 3330b
It is mobile.
In some embodiments, the track and/or boundary of mobile geographical fence apparatus be can analyze, to determine movably
Whether reason fence apparatus would be possible to intrude in mutual boundary.In some cases, mobile geographical fence apparatus can be
It fast moves, it is possible to it is intended that whether device is located at the determination on the navigation channel of early stage collision.It can analyze the track
To predict the Future Positions of mobile geographical fence apparatus.It can analyze the boundary and kept away with determining mobile geographical fence apparatus
It allows each other and will may require that the berth having.It is needed each other for example, biggish boundary may cause mobile geographical fence apparatus
Keep wider berth.Lesser boundary, which may cause, allows mobile geographical fence apparatus to keep lesser berth each other.
In some cases, track can be provided so that mobile geographical fence apparatus approaches directly with one another.Alternatively, one or
Multiple tracks can cancel.In terms of determining whether to take avoiding action, it is also contemplated that the speed of mobile geography fence apparatus
And/or acceleration.Also, determine whether any mobile geographical fence apparatus needs that avoiding action, which movement geography is taken to enclose
Column device will need to take whether avoiding action or two mobile geographical fence apparatus will need to take avoiding action.It is similar
Ground, can determine avoiding action type (such as, if bear away, deceleration, acceleration, hovering or change any other geography
Fence apparatus operating parameter).
Figure 34 shows another example of the mobile geographical fence apparatus of embodiment according to the present invention.Mobile geography fence dress
Setting 3410 can be loose impediment, or can be fixed to loose impediment 3420 or be supported by it.Loose impediment can be with
It is apparatus of transport, the apparatus of transport such as based on ground, the apparatus of transport based on water, the apparatus of transport based on air or is based on
The apparatus of transport in space.Mobile geography fence apparatus can have boundary 3430.It boundary can be with mobile geographical fence apparatus
It is mobile.Unmanned vehicle 3440 can be near geography fence device.
Geography fence device 3410 can have any associated one group of air traffic control for unmanned vehicle 3440.
In one example, air traffic control can require unmanned vehicle to be maintained at the geography fence border for moving geographical fence apparatus
In 3430.Unmanned vehicle can the free flight in the airspace limited by geography fence border.When mobile geographical fence apparatus
When mobile, boundary can enclose device with the mobile geography and move.Unmanned vehicle can be then also with the movement
Geography fence device and move.It is this to be limited in it can be desirable to unmanned vehicle follows in the scene of loose impediment can be
?.For example, loose impediment can be the apparatus of transport based on ground, and it can be desirable to unmanned vehicle is being based on ground
Apparatus of transport above fly and capture the image of ambient enviroment, described image may be displayed on the apparatus of transport based on ground
On.Unmanned vehicle can be maintained at described based on ground without unmanned vehicle described in user's active operation
Near apparatus of transport.Unmanned vehicle may remain in apparatus of transport and can follow in the boundary of movement and therefore institute
State apparatus of transport.
In another example, limitation can be such that unmanned vehicle is maintained at except boundary.Limitation can prevent unmanned flight
Device bumps against the apparatus of transport based on ground or collides therewith.Even if unmanned vehicle is just manually operated by user, but if with
Family provides the instruction that unmanned vehicle will be made to bump against apparatus of transport, then the unmanned vehicle, which can be taken, can prevent nobody from flying
Row device hits the flight responsive measures of apparatus of transport.This is for may otherwise be not intended to cause the nothing of crash lacked experience
The unmanned vehicle user that people's aircraft user or may always strive to hits the malice of apparatus of transport intentionally can be useful
's.Mobile geography fence apparatus can protect object far from will otherwise make unmanned vehicle hit mobile geography fence
Malicious user near device.
One additional example can be for payload limitation.For example, being enclosed when unmanned vehicle is located at mobile geography
When in the boundary of column device, the unmanned vehicle can not be allowed to capture ambient image.Even if when mobile geographical fence apparatus
When moving around in environment, the unmanned vehicle can also can not capture mobile geographical fence apparatus and loose impediment
Image.If it is desire to unmanned vehicle is prevented to collect about mobile geographical fence apparatus or the data of loose impediment (such as
Image data), then this can be useful.
In another example, when unmanned vehicle is located in boundary, limitation can prevent the channel radio of unmanned vehicle
Letter.In some instances, limitation can permit wireless communication but can prevent to may interfere with loose impediment and/or geography fence dress
The communication for the function of setting.When geographical fence apparatus just when moving, unmanned vehicle can not use may interfere with geography and enclose
The wireless communication of column device and/or the wireless communication of loose impediment.This is removable for preventing random unmanned vehicle from entering
Animal body is nearby and to interfere loose impediment and/or the communication of mobile geographical fence apparatus can be useful.
As the limitation of other any other described types everywhere herein can be adapted for mobile geography fence apparatus.
User interface
Information about one or more geography fence devices can be shown on the display apparatus.Described device can be can
The user terminal checked by user.User terminal can function as that one or more operational orders can be sent to unmanned vehicle
Remote controler.Remote controler may be configured for receiving to realize user's input of the operation of unmanned vehicle.It can be by user's control
The example of unmanned vehicle operation may include flight, payload operation, payload positioning, carrier operation, sensor behaviour
Make, wireless communication, navigation, electricity use, any other operation of article delivery or unmanned vehicle.For example, user can be through
The flight of unmanned vehicle is controlled by remote controler.User terminal can receive data from unmanned vehicle.Unmanned vehicle can
Data are captured to use one or more sensors (such as camera).The image from camera can be provided to user terminal,
Or the data from any other sensor can be provided to user terminal.User terminal can function as can be to geography fence
Device sends the remote controler of the function of one or more orders or change geography fence device.Described device can be geography and enclose
Display device with column device sheet.Geography fence device can show the ground about the geography fence device and any surrounding
Manage the information of fence apparatus.Described device can be the display device of the manipulator (for example, manager) of air traffic control system.The dress
It sets and can be judicial entity user (for example, employee of government work person, government organs) and/or emergency service user (for example, alert
Member etc.) display device.It is aobvious to can be that any other individual as involved in unmanned vehicle system sees for described device
Showing device.
Display device may include screen or other kinds of display.Screen can be LCD screen, CRT screen, etc. from
It sub-screen, LED screen, touch screen and/or any other technology can be used is shown as is generally known in the art or later to show
The information shown.
Figure 35 shows the use for showing the information about one or more geography fence devices of embodiment according to the present invention
The example at family interface.Display device 3510, which can have screen or other, can show the part of user interface 3520, the user
Interface 3520 can show the information about one or more geography fence devices.In one example, it can show that geography encloses
The map of column device 3530a, 3530b, 3530c.User interface can show the position of geographical fence apparatus relative to each other.With
Family interface can show correspondence boundary 3540a, 3540b, 3540c for geography fence device.It can show unmanned vehicle
3550 position relative to geography fence device.
Display device can be remote-control device, can be used for that user is allowed to check geography fence device information.It can be from
Summarize the information of the position about geography fence device in one or more geography fence devices.Remote-control device can be directly from one
A or multiple geography fence devices receive information.For example, geography fence device can be transmitted about the geography fence device
The signal of position.Alternatively, the information from one or more geography fence devices can be provided to display device indirectly.At one
In example, air traffic control system, the other parts of Verification System or any other system can collect the letter about geography fence device
Breath.It is closed for example, air traffic control system can receive the information about the position of geography fence device and can transmit to remote-control device
In the information of geography fence device.
Geography fence device can to remote-control device or to another device or system (such as air traffic control system) transmission about
The information of geography fence border.Air traffic control system can receive the information about geography fence border from geography fence device and can
To transmit the information to remote-control device.In other embodiments, geography fence device can only transmission of location information, and it is empty
Guard system or other systems can provide the information about boundary.For example, geography fence device can transmit ground to air traffic control system
Fence apparatus position is managed, and air traffic control system can determine the boundary for the geography fence device.Air traffic control system can be then
The information together with position information about boundary is sent to remote-control device.In some embodiments, air traffic control system or other systems
Can the position based on geography fence device and generate boundary.Can about geography fence device position and determine the position on boundary
It sets.Other factors can be considered when determining geography fence border for air traffic control system, such as about the nothing near geography fence device
The information of people's aircraft and/or user, environmental condition, timing and/or any other factor.
In some embodiments, remote-control device can be the remote controler of unmanned vehicle.Just by remote-control device control
Unmanned vehicle can be located near one or more geography fence devices.Air traffic control system or geography fence device can detecte
It is located near geography fence device to unmanned vehicle.Unmanned vehicle can determine that it is located at the attached of geography fence device
Closely.Geography fence border can be generated based on the information about unmanned vehicle or the user for operating the unmanned vehicle.
Geography fence border can be generated at air traffic control system, geography fence device, unmanned vehicle and/or remote controler.Remote-control device
It can show that the information on the boundary about geography fence device, the information may or may not be for unmanned flight's utensil
Body customization.
In one example, boundary is shown, the boundary can be to check what the remote-control device on the boundary customized.It can
With based on the information about the unmanned vehicle that can be communicated with remote-control device (for example, unmanned vehicle identifier, unmanned flight
The activity of device type, unmanned vehicle) and customize boundary.One or more operations of unmanned vehicle can be filled with origin from long-range
The order control set.Unmanned vehicle can send the letter about the data collected by the unmanned vehicle to remote-control device
Breath.For example, the image captured by the image capture device on unmanned vehicle machine can be sent to downwards remote-control device.
When customizing boundary for remote-control device, other remote-control devices can or can not be seen identical with remote-control device
Boundary.For example, the first remote-control device can be communicated with the first unmanned vehicle, first unmanned vehicle can be located at one
Near a or multiple geography fence devices.First remote-control device can show the position and/or side about geography fence device
The information on boundary.Can about geography fence device position and/or boundary and show the position of the first unmanned vehicle.Second is remote
Range device can be communicated with the second unmanned vehicle, and second unmanned vehicle can be located at one or more geography fences
Near device.Second remote-control device can show the information of position and/or boundary about geography fence device.It can be about
The position and/or boundary of geography fence device and the position for showing the second unmanned vehicle.In some cases, it is enclosed about geography
The information of the position of column device can be consistent between the first remote-control device and the second remote-control device.For example, for
The same geography fence device all shown on one remote-control device and the second remote-control device, can provide same position.About being directed to
The information on the boundary of geography fence device may or may not be one between the first remote-control device and the second remote-control device
It causes.For example, boundary can be rendered as on the first remote-control device and the second remote-control device it is identical.Alternatively, boundary is first
It can be rendered as on remote-control device and the second remote-control device different.In some cases, the boundary of geography fence device can be with
Changed according to the identity of unmanned vehicle.The boundary of geography fence device can change according to unmanned vehicle type.Cause
This, for same geography fence device, the first remote-control device and the second remote-control device can show different boundaries.All geography
One in some, geography fence device in fence apparatus, geography fence device or can be without geography fence device
Different boundaries are shown between the first remote-control device and the second remote-control device.
First remote-control device can show the position of the first unmanned vehicle, and the second remote-control device can show the second nothing
The position of people's aircraft.It the position of first unmanned vehicle and the second unmanned vehicle can be different from each other.First remote-control device
It can show or can not show the position of the second unmanned vehicle.Second remote-control device can show or can not show
The position of first unmanned vehicle.Remote-control device can show the remote-control device can corresponding unmanned vehicle position.Far
Range device can show or can not show the position of other unmanned vehicles.
One aspect of the present invention is related to a kind of method for showing the geography fence information for unmanned vehicle, the side
Method includes: to receive geography fence device data, and the data include position and (2) institute of (1) at least one geography fence device
State one or more geography fence borders of at least one geography fence device: offer is configured for showing information to user
Display；And it is shown described in position and (2) at least one geography fence device described in (1) on the display
The map of one or more geography fence borders of at least one geography fence device.Display device may include: communication unit,
It is configured for receiving geography fence device data, and the data include the position of (1) at least one geography fence device
(2) one or more geography fence borders of at least one geography fence device；And display, it is configured to use
In showing information to user, wherein the display shows position and (2) at least one geography fence device described in (1)
The map of one or more of geography fence borders of at least one geography fence device.
It can be with the position of the object shown on real-time update long-range displaying device.For example, can be with real-time update remote-control device
On the position of unmanned vehicle that shows.The position of unmanned vehicle can be shown about at least one geography fence device.
Can continuously, periodically (for example, with rule or irregular time interval), according to timetable or in response to detecting
Event or situation and update the position of unmanned vehicle.In some cases, 15 can be less than in unmanned vehicle movement
Minute, 10 minutes, 5 minutes, 3 minutes, 2 minutes, 1 minute, 30 seconds, 15 seconds, 10 seconds, 5 seconds, 3 seconds, 2 seconds, 1 second, 0.5 second, 0.1
The position of the unmanned vehicle on the screen is updated in second, 0.05 second or 0.01 second.
In some embodiments, geography fence device can be static.Without update or can constantly, the period
Property, update according to timetable or in response to the event or situation that detect the position of geography fence device.In some feelings
Under condition, user can move static geographical fence apparatus.For example, user can pick up geography fence device and be moved to
Another location.The position of update may be displayed on remote-control device.
Alternatively, geography fence device can be it is mobile.The position of geography fence device can change.It can be with real-time update
The position of the one or more geography fence devices shown on remote display.It can its relative to each other and/or on map
His feature and the position for showing one or more geography fence devices.It can be continuously, periodically (for example, with rule or not
The time interval of rule), update according to timetable or in response to the event or situation that detect the position of geography fence device
It sets.In some cases, 15 minutes, 10 minutes, 5 minutes, 3 minutes, 2 minutes, 1 can be less than in the movement of geography fence device
Geography fence is updated in minute, 30 seconds, 15 seconds, 10 seconds, 5 seconds, 3 seconds, 2 seconds, 1 second, 0.5 second, 0.1 second, 0.05 second or 0.01 second
The position of device on the screen.
The boundary of geography fence device can be essentially static.Without updating essentially static geography fence device
The display on boundary.Alternatively, can continuously, periodically, according to timetable or event or situation in response to detecting and
Update the boundary.
The boundary of geography fence device can optionally change over time.It can be on real-time update remote display
The position on the boundary shown.Can other features relative to each other and/or on map and one or more geography fences are shown
The position on device boundary.Can continuously, periodically (for example, with rule or irregular time interval), in response to the time
Table updates geography fence device boundary in response to the event or situation that detect.It in some cases, can be in geography
What fence apparatus boundary changed is less than 15 minutes, 10 minutes, 5 minutes, 3 minutes, 2 minutes, 1 minute, 30 seconds, 15 seconds, 10 seconds, 5
The geography fence device boundary shown on screen is updated in second, 3 seconds, 2 seconds, 1 second, 0.5 second, 0.1 second, 0.05 second or 0.01 second.
Geography fence device boundary can change according to any number of factor (such as herein other everywhere those described factors)
Become.For example, environmental condition can lead to the change on boundary.Unmanned vehicle information, user information or timing etc. other because
Element can lead to the change on boundary.
User interface can optionally show a type of air traffic control applied by least one geography fence device
Visual indicator.Different types of air traffic control can be applied by geography fence device.The example of type may include but not
Be limited to air traffic control, payload control, communication control, electricity use/management control, about entrained article control, lead
Aviation management system, sensor control or any other control.Visual indicator can visually distinguish the flight of different type or type
Control.The example of the type of visual indicator can include but is not limited to word, number, symbol, icon, size, image, face
Color, pattern, highlighted or any other visual indicators for helping distinguish between different types of air traffic control.For example, can be directed to
Different colors is provided by the different types of air traffic control of at least one geography fence device application.For example, first is geographical
Fence apparatus or boundary can have the air traffic control (for example, upper height limit) for indicating the first kind the first color (for example,
It is red), and the second geography fence device or boundary can have the air traffic control for indicating Second Type (for example, payload
Using) the second color (for example, green).In some cases, single geography fence device can have a plurality of types of
Air traffic control.Visual indicator can indicate that covered multiple types (for example, can show red line and green line on boundary
To indicate upper height limit and payload using limitation all in place).In some embodiments, air traffic control is applicable in
Area in boundary can be hypographous or can have the color for indicating air traffic control type.In some cases,
If control is suitable for one or more limitations outside boundary, the region outside boundary can be hypographous or colored.Example
Such as, unmanned vehicle can be only permitted to operate payload in one group of boundary of geography fence device.Ground so outside boundary
Area can be it is hypographous, show except the boundary of geography fence device limit payload use.Alternatively, the ground in boundary
Area can be hypographous, show the control of the type in boundary and only and allow the operation in boundary.
In some embodiments, unmanned vehicle can have flight path or direction.The track of unmanned vehicle or
Direction can be shown on a user interface.For example, arrow or vector can be directed toward the direction that unmanned vehicle is traveling at.Nobody
The visual indicator of aircraft direction or track can indicate that or can not indicate unmanned vehicle speed or other shiftings
Reason element.For example, indicant can visually distinguish unmanned vehicle with higher speed or lower speed
Degree is advanced.In one example, speed values can be shown.In another example, longer compared to shorter arrow or vector
Arrow or vector can be corresponding with biggish speed.
The information about unmanned vehicle flight path can be shown on a user interface.It is alternatively possible to show about
The information of the past flight path of unmanned vehicle.For example, other of dotted line or path indicant can show unmanned vehicle
Where advanced to.Map can show other indicants in the course line that unmanned vehicle has stepped through or path.Some
In the case of, the following flight path can be shown on a user interface.In some cases, unmanned vehicle can have scheduled
Or half predetermined flight plan.Flight plan may include the following flight path of planning.Planning can be shown on a user interface
Flight path.For example, planning unmanned vehicle can be shown in other indicants in the course line or path wherein advanced.It can be with
Change in real time updates the following flight path.It can be continuously, periodically (for example, between rule or irregular time
Every), the following flight path is updated and/or shown according to timetable.In some cases, can to the following flight path into
Row change less than 15 minutes, 10 minutes, 5 minutes, 3 minutes, 2 minutes, 1 minute, 30 seconds, 15 seconds, 10 seconds, 5 seconds, 3 seconds, 2 seconds,
The following flight path shown on screen is updated in 1 second, 0.5 second, 0.1 second, 0.05 second or 0.01 second.
The priority level for geography fence device can be shown on a user interface.Visual indicator, which can permit, to be directed to
Vision difference between the different priority levels of geography fence device.For example, the size or shape of icon can indicate that and be directed to
The priority level of geography fence device.The color of icon can indicate that the priority level for geography fence device.It is such as single
The labels such as word or numerical value can be provided by geography fence device, can indicate that the priority level of geography fence device.One
In a little situations, priority level can not visually be shown under normal circumstances.However, when user selects geographical fence apparatus or makes
When mouse is on geography fence device, the information can be shown.
Long-range displaying device may be configured for receiving user's input.In one example, the display device can be with
With touch screen, the touch screen can record user's input when user touches screen or sliding screen.Described device can
With the user interaction components with any other type, such as button, mouse, control stick, trackball, touch tablet, pen, inertia are passed
Sensor, image capture device, motion capture device or microphone.
User inputs the operation that can influence unmanned vehicle or geography fence device.The nothing that may be influenced by user's input
The example of people's aircraft operation may include that unmanned vehicle is powered or powers off, unmanned vehicle flight path, unmanned vehicle
Take off, unmanned vehicle landing, unmanned vehicle destination or way point, unmanned vehicle offline mode (for example, it is autonomous,
Semi-autonomous or manually offline mode；Or the offline mode along predefined paths, half predefined paths or real-time route).
User inputs the operation that can influence geography fence device.User inputs the position that can influence geography fence device
The boundary of geography fence device and/or.User's input can influence one group of air traffic control associated with geography fence device.Example
Such as, user's input can influence the one or more limitations applied by geography fence device.User's input can influence geography and enclose
The priority level of column device.
One aspect of the present invention be related to it is a kind of control geography fence device method, which comprises receive about
The data of at least one geography fence device；Display is provided, be configured for based on receive about it is described at least
The data of one geography fence device and geographical fence apparatus information is shown to user；Receiving, which influences at least one described geography, encloses
The user of the operation of column device inputs；And by means of transmitter, inputted according to the user to transmit and influence described at least one
One or more signals of the operation of a geography fence device.A kind of display device may include: receiver, be configured to use
In data of the reception about at least one geography fence device；Display, be configured to based on receive about it is described extremely
Lack the data of a geography fence device and geographical fence apparatus information is shown to user；One or more processors, individually
Ground is jointly configured for receiving the user's input for the operation for influencing at least one geography fence device；And hair
Emitter is configured for being inputted according to the user to transmit the operation of influence at least one geography fence device
One or more signals.
The user that can receive that Figure 43 provides embodiment according to the present invention inputs to control one or more geography fences
The example of the device of device.System may include one or more remote-control devices 4310.The system can also include one or
Multiple geography fence device 4320a, 4320b, 4320c.The geography fence device can optionally with air traffic control system 4330, recognize
Another part of card system or any other system or device communicate.Alternatively, geography fence device can be with remote-control device
Direct communication.Remote-control device may include the user interface on display 4315.User interface can be shown about geography fence
The information of device.In one example, map 4340 can show the location information about geography fence device.Optionally, originally
Invention can provide listings format, chart format or any other format.In some embodiments, one or more can be provided
A additional regional 4360.The area may include the tool or option about the control of one or more geography fence devices.
In some cases, user can be directly interacted with user interface 4350 to control geography fence device.
In some embodiments, can be provided between geography fence device and air traffic control system or other systems it is unidirectional or
Two-way communication.For example, geography fence device can to air traffic control system provide about the geography fence device location information or
Other information.Air traffic control system can by one or more dictation trunks to geography fence device (for example, about whether change position
Set, change boundary, change priority, change of flight limitation etc. instruction).Air traffic control system or other systems can have with remotely
One-way or bi-directional communication of display device.Information (for example, geography fence setting position, boundary) about geography fence device can
To be transmitted to long-range displaying device from air traffic control system.In some embodiments, it can provide to air traffic control system about to display
The information of one or more users input of device.It inputs for example, user can provide to influence the operation of geography fence device,
The input can be transmitted to air traffic control system, and the air traffic control system can transfer for instruction to be transmitted to corresponding geography fence dress
It sets.In other embodiments, direct communication can be provided between geography fence device and long-range displaying device.Geography fence
Device can directly provide the information about geography fence device, wherein at least some information may be displayed on long-range displaying device
On.Long-range displaying device can receive influence at least one geography fence device operation user input, and to influence to
The instruction of the operation of a few geography fence device can be transferred into corresponding geography fence device.
User inputs the operation that can influence geography fence device.User inputs the position that can influence geography fence device
It sets.In some cases, geography fence device can be mobile geographical fence apparatus.User, which can provide, can influence geography fence
The input of the movement of device.For example, user's input can indicate that mobile geographical fence apparatus will be moved to new position.User
Input can influence to be not currently in mobile geography fence device.Alternatively, what user's input can be moved in geography fence device
The geography fence device is influenced simultaneously.User's input can indicate that destination or way point for geography fence device.
For example, user can key in the destination for geography fence device or the coordinate of way point.In another example, user can be with
Geography fence device is clicked on map and it is dragged to desired destination from current location.In another example, Yong Huke
It picks up geography fence device to be slided on map using finger and is moved to new desired locations.User's input can be with
Indicate the path for geography fence device.User can use the finger of the user to depict and fill for geography fence
The expected path set.User can input one or more parameters for geography fence device path (for example, specified geography encloses
Column device should take the shortest path that can reach desired destination etc., designate whether any constraint for having to path, all
The architecture based on land or water that should be followed such as height limitation, no-fly zone, geography fence device).User's input can be with
For geography fence device movement and one or more parameters are set.For example, user's input can indicate that geography fence fills
Translational velocity, angular speed, translational acceleration or the angular acceleration set.Any type of maximum or minimum speed can be provided or added
Speed.
User inputs the boundary that can influence geography fence device.One or more ground of at least one geography fence device
Reason fence boundary can be influenced by user's input.User inputs the size and/or shape that can influence geography fence device boundary.
In one example, user can key in one group of coordinate and/or geometric parameter (example on the expectation boundary for geography fence device
Such as, radius).Finger 4350 or the pointer of the user can be used to depict desired geography fence device in user.Describe
Boundary out can be freehand or can be used one or more shape templates.User can choose existing boundaries simultaneously
And boundary described in drag and drop is to change the size on boundary.User can be with a part on drag and drop boundary so that boundary extends or change boundary
Shape.The geography fence border information of update can be shown in real time.For example, can be inputted based on user and be shown over the display
The boundary information updated out.In some cases, each geography fence device can have default boundary.Alternatively, initially, boundary
It can be undefined.User can change default boundary or input new boundary for undefined boundary.
User's input can influence one group of air traffic control associated with geography fence device.For example, user's input can be with
Influence the one or more limitations applied by geography fence device.In some cases, user can hand over map 4340
Mutually to input or change flight restriction.In other cases, user can interact with one or more areas 4360 with defeated
Enter or change flight restriction.User can choose the user and wish that the geography fence for its input or change flight restriction fills
It sets.In some cases, user can select one from multiple available flight restrictions for selected geography fence device
A or multiple flight restrictions.User can input one or more values that can be specified for air traffic control.For example, user can be with
It is chosen so that the flight restriction for geography fence device may include height lower limit and maximum speed.User can be after
And input the value for the value of height lower limit and for maximum speed.In other cases, user can be from not pre-existing
Option in selected in the case where specify or generate flight restriction.In some cases, each geography fence device can be with
Associated flight restriction with default.Alternatively, initially, one group of flight restriction can be undefined.User can
It changes one group of flight restriction of default or inputs new flight restriction for undefined device.Therefore, user can energy
Enough one or more groups of air traffic control write from remote location for geography fence device.User can be from remote location
Update one group of air traffic control for being directed to geography fence device.User can write for different condition for geography fence
The different group air traffic control of device.For example, user can specify to when unmanned vehicle encounters geography fence device
The unmanned vehicle of one type provides first group of air traffic control and provides second group of tof tube to the unmanned vehicle of Second Type
System.User can be able to carry out programming: will when unmanned vehicle encounters geography fence device under first group of environmental condition
First group of air traffic control is provided, and will be provided to encounter the unmanned vehicle of geography fence device under second group of environmental condition
Second group of air traffic control.User can also be programmed: when unmanned vehicle will when encountering geography fence device at the first time
First group of air traffic control can be provided, and second group will be provided for the unmanned vehicle for encountering geography fence device in the second time
Air traffic control.User can write any kind of condition or the combination of condition that can produce various air traffic control.
User inputs the priority level that can influence geography fence device.For example, user can specify geography fence device
With high priority, high medium priority or low priority.User can specify priority value for device.As herein other everywhere
The priority of any other described type can be defined by the user.In some cases, geography fence device can have
Default priority level.Alternatively, initially, the priority level of geography fence device can be undefined.User can change
Default priority level inputs new priority level for undefined device.User can be able to be geography fence device
Specify any available priority level.Alternatively, user can have limited flexibility or freely to input geography fence device
Priority level.For example, certain priority levels can retain for official Government or emergency service geography fence device.Conventional private
People user can or can can not obtain the TP top priority for private geographical fence apparatus.In some cases
Under, except valve value PRI, air traffic control system manipulator/manager may need to ratify higher priority.For example, private use
Family can request high precedence.The request to high precedence can be ratified or be refused to air traffic control system.In some cases, all
Such as the request to high precedence can be ratified or be refused to government organs' government entity.
Therefore, user can advantageously provide the input of the operation of controllable one or more geography fence devices.User
Input can be provided via remote-control device.Therefore, user is not necessarily to be in the location of geography fence device to control describedly
Manage fence apparatus.In some cases, user can choose near geography fence device, or can choose remotely
Manage fence apparatus.The user for controlling the operation of geography fence device can be owner or the manipulation of the geography fence device
Person.The individual for the unmanned vehicle that the individual for operating geographical fence apparatus can be likely encountered geography fence device with control divides
It opens, or can be same user.
In other embodiments, user can directly interact with geography fence device.User can enclose to geography
Column device provides being manually entered for the operation of controllable geographical fence apparatus.User's input can also control the geography fence dress
The operation of other geography fence devices near setting.It is, for example, possible to use the user interfaces being equipped on geography fence device
To update one group of air traffic control for the geography fence device manually.The use being equipped on geography fence device can be used
To update other operating characteristics of geography fence device, such as boundary of geography fence device or geography fence dress manually in family interface
The priority level set.
Other are described for controlling the operation (for example, controlling via remote controler) of geography fence device everywhere herein
Any function be readily applicable to the user interface being equipped on the geography fence device.It is shown herein to by user interface
Any descriptions of data be readily applicable to the user interface being equipped on geography fence device.In one example, geographical
Fence apparatus can have user and can interact to control the operation of geography fence device and/or check local data
Screen and/or button.
Geography fence device software application
User can have the device performed various functions.Described device can be already present in the property of user.
For example, described device can be computer (for example, personal computer, laptop computer, server), mobile device (for example,
Smart phone, cellular phone, tablet computer, personal digital assistant) or any other type device.Described device can be
The network equipment of network communication can be passed through.Described device includes one or more Memory Storage Units, and the memory is deposited
Storage unit may include non-transient computer-readable media, and the medium can store that other are described everywhere herein for executing
One or more steps code, logic or instruction.The apparatus may include one or more processors, can basis
Code, logic or the instruction of non-transient computer-readable media as described herein come either individually or collectively execute one or
Multiple steps.For example, user can be used described device communicated (for example, carry out call, send or receive image,
Video or text, send or receive Email).Described device can have permissible subscriber to access Internet or browse network
Browser.
When device provides the reference point on one group of boundary associated with one group of air traffic control, described device can become into ground
Manage fence apparatus.In some cases, when geography fence software or application operate in can provide setting position as with one group fly
When the reference point on the associated one group of boundary of row control, described device can be geography fence device.Described device can have
It can provide the locator of the position of geography fence device.For example, it may be determined that smart phone, laptop computer and/or plate
The position of computer or other mobile devices.Described device can be the device of relative movement (for example, smart phone, honeycomb are electric
Words, tablet computer, personal digital assistant, laptop computer).Herein any description of mobile device can be adapted for appointing
What other kinds of device.
Geography fence application can be downloaded to mobile device.Mobile device can be made from system and ask to mobile device
It asks.In some cases, the system can be air traffic control system, another component of Verification System or any other system.It is described
System can provide mobile application to mobile device.Geography fence application can collect the movement from the locator of mobile device
The position of device.For example, geography fence application can be used from smart phone if smart phone has had locator
The information of locator is with the position of determining geographical fence apparatus.The application can mention for air traffic control system (or any other system)
For the position of mobile device.The application can be optionally unmanned vehicle and provide the position of geography fence device.Mobile dress
It sets to apply by geography fence and be converted into geography fence device (it can have herein, and other are described geographical everywhere
Any property or characteristic of fence apparatus).In some cases, it will start or run the geography fence and apply so that mobile fill
It sets and serves as geography fence device.
Optionally, when downloading geography fence is in application, mobile device can be registered in geo-fencing system.Example
Such as, mobile device can be registered as the geography fence device with Verification System.User can designated user name and/or it is close
Code or other information that can be used for later authenticating the user of geographical fence apparatus or geography fence device.Mobile device
It can have unique identifier, the identifier can be such that the mobile device distinguishes with other devices.It is described unique
Identifier can be received via mobile application and/or be generated by mobile application.Can provide as herein other everywhere described in
Any verification process.
In some embodiments, system can receive the position of geography fence device.The system can be blank pipe system
System or any other system.The system can be from that can be gathered around to the same entity that mobile device provides geography fence mobile application
Have or operates.Alternatively, the system can be from being different from that the entity institute for the entity that geography fence is applied can be provided to mobile device
Possess or operates.Any description of air traffic control system could be applicable in other any other described realities everywhere herein herein
Body.The position of mobile device can be known and be determined for can boundary associated with one group of air traffic control.It moves
The position of dynamic device can provide the reference to one group of air traffic control.The position of mobile device can be used in the position on boundary
As reference.For example, the position on boundary can be updated accordingly if mobile device will move to move with mobile device
It is dynamic.The position of mobile device can be used to provide reference point as geography fence device.
One group of air traffic control can be generated on air traffic control system.It can be based on providing via geography fence mobile application
The position of mobile device and generate one group of air traffic control.It, can be with when unmanned vehicle enters in the preset range of mobile device
Generate one group of air traffic control.In some embodiments, air traffic control system can receive the position of unmanned vehicle.Unmanned vehicle
Position whether can be come into preset range compared with the position of mobile device with the determination unmanned vehicle.It can
With consider as herein other everywhere described any factor or condition (for example, unmanned vehicle information, user information, environment
Condition, timing) and generate one group of air traffic control.Mobile device can provide the factor of may act as or condition information or other
External data source can be provided that.For example, the information being collected into using other mobile applications of mobile device may be used to determine
One group of air traffic control.For example, mobile device can have weather application, the weather application can be operable and collect
Information about mobile device local weather.Such information can be provided to determine the local environment conditions of mobile device.?
In another example, mobile device can have the local clock that can determine the time.Similarly, mobile device can have to
The access right of family schedule.When determining one group of air traffic control, it may be considered that the schedule of mobile device users.
Can one group of air traffic control then be transmitted to unmanned vehicle.One group of tof tube can be transmitted to geography fence device
System, the geography fence device then can transmit described group of air traffic control to unmanned vehicle.Unmanned vehicle can basis
One group of air traffic control and operate.
In some embodiments, one group of air traffic control can be generated on mobile device.It can use from movement
Device information (for example, the position of mobile device, come self-moving device other mobile applications information) and generate one group fly
Row control.When unmanned vehicle is located in the preset range of mobile device, the mobile device can receive information.For example,
Mobile device can communicate with unmanned vehicle and receive the position of the unmanned vehicle.Mobile device can compare nothing
The position of people's aircraft and the position of the mobile device are to determine when unmanned vehicle is located at the preset range of mobile device
It is interior.In other cases, mobile device can receive unmanned vehicle position from air traffic control system.Air traffic control system can track each
The position of unmanned vehicle and to mobile device send information.Air traffic control system can also send about unmanned vehicle or nobody
The other information of the user of aircraft.
Mobile device can to or can not to air traffic control system send one group of air traffic control.In some cases, mobile
Device directly can send one group of air traffic control to unmanned vehicle.Mobile device can via mobile application and and air traffic control system
And/or unmanned vehicle communicates.When geographical fence apparatus is the described mobile device with mobile application, such as herein
Other any combination for being directed to communication type described in geography fence device everywhere can also be applied.
Mobile application can also show user interface to the user of device.User can interact with user interface.With
Family interface can show herein other everywhere as described in about in region each geography fence device and/or associated boundary
Information.User interface can show the position of unmanned vehicle.User interface can show that unmanned vehicle is taken or want
The path taken or travel track.User interface can show the letter about air traffic control associated with geography fence device
Breath.Mobile application user interface can show as herein other everywhere described in any information.
User can be interacted with the user interface provided by mobile application to control the operation of geography fence device.It can
To provide such as other described any kind of operation inputs everywhere herein.For example, user can be provided for one group of flight
One or more parameters of control.User can provide the side of position for one group of air traffic control, relative to mobile device
Boundary.User can specify the type of flight restriction and/or the value for various flight restrictions measurement.User can specify geography and enclose
The priority of column mobile device.When generating one group of air traffic control, it may be considered that parameter set by the user.One group of flight
Control can be to be generated on air traffic control system or on mobile device, and can be based on parameter from the user and
It generates.Therefore, the mobile application that can be used for that mobile device is allowed to serve as geography fence device can also be provided about describedly
It manages the information of fence apparatus and/or other geography fence devices and/or allows the operation of user's control geography fence device.
Geography fence plant network
As discussed previously, geography fence device can communicate with one another.In some embodiments, geography fence device can
To communicate with one another via direct communication or via indirect communication.Can be provided between geography fence device as herein other
Described various types of communications everywhere.
In some embodiments, geography fence device can have the information being equipped on the geography fence device.
Geography fence device information may include about the position of geography fence device, the boundary of geography fence device and geography fence
The associated air traffic control of device, the priority level of geography fence device and/or geography fence device identity information (for example,
Geography fence type of device or geography fence device identification) information.Geography fence device can be used one or more defeated
Enter element to collect data.Input element can be communication module, sensor or any other class that can collect information
The element of type.For example, input element can sense the unmanned flight being likely located within the scope of the predetermined geographic of geography fence device
Device.The information about unmanned vehicle can be determined by input element.For example, geography fence device may be able to determine that nothing
The position of people's aircraft, the movement of unmanned vehicle, unmanned vehicle identity information (for example, unmanned vehicle type or nothing
People's aircraft identifier), the physical characteristic of unmanned vehicle, the power stage of unmanned vehicle or about unmanned vehicle appoint
What other information.In another example, input element can collect environmental condition (for example, amblent air temperature, environment complexity, friendship
Through-current capacity or the density of population).For example, input element can be collected about local wind speed and direction and local air traffic
Information.
Any information on geography fence device can be shared with other geography fence devices.In some embodiments,
Geography fence device can share the information and/or any information being collected into about geography fence device.Geography fence device
It can be shared with other geography fence devices in the physical extent of the geography fence device.Alternatively, geography fence fills
Setting can be with physical extent of other geography fence device shared informations without considering other geography fence devices.In addition to
Other geography fence devices are sent except information, and the geography fence device can also be received from other geography fence devices to be believed
Breath.In some cases, geography fence device can be from other geography fences in the physical extent of the geography fence device
Device receives information.Alternatively, geography fence device can receive information from other geography fence devices, without consider it is described other
The physical extent of geography fence device.Geography fence device can also be shared from other geography fences with other geography fence devices
The received information of device.It is enclosed for example, the first geography fence device can share first geography with the second geography fence device
Column device is from the received information of third geography fence device.Similarly, the first geography fence device can be with third geography fence
Device shares the first geography fence device from the second received information of geography fence device.Therefore, by each geography fence
The information that device is collected can be utilized by other geography fence devices.Collective's sex knowledge of multiple geography fence devices can be more respectively
In the knowledge of single geographical fence apparatus.
Therefore, geography fence device can be formed can shared information each other network.Geography fence device can create and/
Or the local map of the storage geography fence device.Local map may include the position about the geography fence device
Information.Local map may include the letter about the position of the geography fence device within the scope of the geography fence device physical
Breath.The position of other geography fence devices can be received by the geography fence device from other geography fence devices.It can make
The position of the geography fence device is sensed with one or more input elements on geographical fence apparatus.Local map can be with
The information of position including one or more unmanned vehicles in the physical extent about the geography fence device.About nothing
One or more input elements of geography fence device can be used to collect in the information of people's aircraft, or can fly from nobody
Row device or other geography fence devices receive.Local map may include the environment item in the physical extent of geography fence device
Part.In some cases, each geography fence device in geography fence plant network can have local map.In some feelings
Under condition, one or more of geography fence device can have local map.It can share or combine and be enclosed from multiple geography
The information of the local map of column device is to form bigger or more complete map.
Geography fence device can be with shared information.Geography fence device can be shared directly with one another (for example, in a manner of P2P)
Information carrys out shared information by means of additional entities.Additional entities can play Information repositories.In some embodiments
In, storage system and/or air traffic control system may be used as the information that can be shared between different geographical fence apparatus
Repository.
In some embodiments, unmanned vehicle can be with geography fence device shared information and vice versa.Example
Such as, unmanned vehicle can collect the ambient information that they can be shared with other geography fence devices.For example, unmanned flight
Device can detecte the local information of precipitation and geography fence device.Similarly, geography fence device can be total with unmanned vehicle
Enjoy information.For example, geography fence device can collect the ambient information that they can be shared with unmanned vehicle.Geography fence
Device can collect the information about local air traffic that the geography fence device can be shared with unmanned vehicle.
Geography fence example
Provided hereinafter how can utilize unmanned vehicle system (including Verification System and/or geography fence device)
Some examples.Such example be to can how some explanations of application system, and not restrictive.
Example 1: the geography fence device for privacy
As the number of unmanned vehicle in airspace increases, personal entity may want to retain the control to their own residence
And retain some privacies.If the unmanned vehicle with camera flies above individual residence, the unmanned vehicle
The image in the residence can be captured, described image may include the private garden or roof of user.Close to the residence
The unmanned vehicle of flight may also result in noise pollution.In some embodiments, fly when novice users are operating nobody
When row device, unmanned vehicle has the risk for hitting individual residence or bumping against the people at user residence, to damage or damage.
It can be desirable to individual, which can prevent unmanned vehicle from entering them, carries out the personal air of control.For example, individual can
It can wish to prevent unmanned vehicle except its residence or property.Individual may want to that unmanned vehicle is made to prevent to gather around at them
Except have or their residences renting or subleting.In general, doing so may be challenging, because its
Other people may manipulate unmanned vehicle and may be even without the hope for recognizing the individual, or may not have foot
Enough levels of skill retain the control to unmanned vehicle to prevent the unmanned vehicle from drifting to above homestead
In airspace.
Individual can obtain the geography fence device that unmanned vehicle can be prevented to enter in their residence space.?
Under some cases, individual can buy geography fence device or free reception geography fence device.Individual can enclose geography
Column device, which is placed on the individual, wishes in the region for preventing unmanned vehicle from entering.
Figure 44 provides how geography fence device can be used together to limit the use of unmanned vehicle with private residence
Diagram.For example, individual A 4410a can buy geography fence device 4420a.Personal A can be by the geography fence device
It is placed on a certain position in the property of personal A.For example, geography fence device can be fixed to the house of personal A.Geography fence
Device can provide the geography fence border 4430a that unmanned vehicle cannot enter in it.It the boundary can be personal A's
In property.It the boundary can be at the boundary location line of personal A.It the boundary can be outside the property of personal A.The boundary can be with
Unmanned vehicle is prevented to enter the property of personal A or fly above the property of personal A.The boundary can prevent all privates
The unmanned vehicle that people possesses enters the airspace of personal A.Even if the manipulator of unmanned vehicle sends and allows the unmanned vehicle
Into the order in the airspace of personal A, the unmanned vehicle can also be not responding to and can be prevented from entering the airspace of personal A.
Unmanned vehicle flight path can be changed automatically to prevent the unmanned vehicle from entering the airspace of personal A.Therefore, personal A
The house of personal A can be enjoyed, and does not have to the airspace for worrying whether unmanned vehicle will enter individual A.
Some individuals can not have local geographical fence apparatus.For example, individual B can not mind unmanned vehicle entrance
The airspace of personal B.Personal B can not have geography fence device.Personal B, which can not have, to prevent unmanned vehicle from passing through
Any boundary.Therefore, unmanned vehicle 4440 can be found in the airspace of personal B.
Personal C may worry privacy but may not mind have air traffic above the property of personal C.Personal C
Geography fence device 4420c can be obtained.The geography fence device can be placed on certain in the property of personal C by personal C
One position.For example, geography fence device can be fixed to the house of personal C.The geography fence device can provide geography and enclose
Column boundary 4430c.The geography fence device of personal C can permit unmanned vehicle and fly in boundary, but can prevent boundary
Interior camera operation.The boundary can be in the property of personal C, can be at the boundary location line of personal C or can be in personal C
Property outside.The boundary can prevent all privately held unmanned vehicles positioned at individual C airspace in while bat
Take the photograph picture.The unmanned vehicle is allowed to record using Airborne Camera about personal C's even if the manipulator of unmanned vehicle sends
The camera of the order of the information of house, the unmanned vehicle can also automatically power off or can not be allowed to store or flow out to appoint
What image.Therefore, personal C can enjoy the house of personal C, and not have to worry whether unmanned vehicle will capture individual C
Property image or capture image out of personal C airspace.
Geography fence device can be it is programmable so that the individual for possessing or operating geographical fence apparatus can
Change limitation associated with the geography fence device.If individual C determined that individual C was no longer desire to allow unmanned flight later
Device flies above the property of personal C, then individual C can update the geography fence device no longer unmanned vehicle to be allowed to exist
(similar to the device of personal A) is flown above the property of personal C.
Any number of personal entity can obtain geography fence device to carry out the control to its house.By mentioning
For geography fence device, house can effectively select that unmanned vehicle is no longer allowed to enter its airspace or execute in its airspace
Certain functions.In one example, geography fence device can be fixed to individual roof, wall, fence, ground, garage or
Any other part of a residential building.Geography fence device can be except house, or can be within house.Geography fence
Device can be can be by unmanned vehicle detection, it may be possible at unmanned vehicle close individual airspace described in detection
Unmanned vehicle, or can have the position that can be transferred into air traffic control system.Unmanned vehicle in area can be carried out
Control, the control can prevent unmanned vehicle from contradicting earthquake with one group of air traffic control for being associated with geography fence device
Make.
Example 2: for blocking the geography fence device of (containment)
As more and more unmanned vehicle novice users attempt manipulation unmanned vehicle, unmanned vehicle crashes or thing
Therefore risk may become higher.In some embodiments, unmanned vehicle novice users may worry that unmanned vehicle floats
It moves to be detached from and controls and crash in the area that the user may not restore unmanned vehicle.For example, if nobody flies
Row device in the area close to water body, user may worry unmanned vehicle float to above water body and when hitting water body by
To damage.In another example, user, which may worry, makes unmanned vehicle flight make nobody unintentionally on the property of user
Aircraft flight to the garden of neighbours or the unmanned vehicle may not be in other enterable regions, and crash.
It can be desirable to user can manipulate unmanned vehicle but keep guaranteeing that the unmanned vehicle will rest on specific
In area.For example, individual may want to practice manually handle unmanned vehicle, but unmanned vehicle is not allowed to fly too far or winged
From sight.User may want to practice manually handle unmanned vehicle, while reduce unmanned vehicle will be compromised or be located at not
Risk in recoverable region.
User can obtain the geography fence device that unmanned vehicle can be made to be confined to known area.In some cases
Under, user can buy geography fence device or free reception geography fence device.Individual can put geography fence device
It sets and wishes in the region for being included in unmanned vehicle in user.
Figure 45 provides the diagram how geography fence device can be used to block unmanned vehicle.Scenario A illustrates nobody
The user 4510a of aircraft 4520a can be located at the situation in the house of user.Geography fence can be provided in the house of user
Device 4530a.The geography fence device can have associated boundary 4540a.Unmanned vehicle can be limited so that
The unmanned vehicle only allows to fly in the boundary.User can manually control unmanned vehicle in boundary
Flight.When unmanned vehicle leans on proximal border, it can prevent that described nobody is winged from the flight of manipulator's adapter tube unmanned vehicle
Row device leaves the area.The adapter tube can make unmanned vehicle hovering that unmanned vehicle be taken away boundary until user provides
Input, unmanned vehicle auto-steering can be made, can make unmanned vehicle drop to it is described area in or be back to
Point.The property that boundary can prevent unmanned vehicle from entering user neighbours 4150b.Therefore, user is without worrying unmanned vehicle
It accidentally enters the garden of neighbours and neighbours must not be left alone to obtain the unmanned vehicle, or worry potentially damages neighbours
Object or injury neighbours in garden.
Scenario B illustrates the case where user 4510c can manipulate unmanned vehicle 4520c in outdoor environment.It can be in ring
Geography fence device 4530c is provided in border.Associated boundary 4540c can be provided around the geography fence device.?
Under some cases, geography fence device can be portable.For example, user can pick up geography from the residence of the user
Fence apparatus simultaneously brings it to the local park that the user wishes practice manipulation unmanned vehicle.It can be to geographical fence apparatus
Be positioned such that one or more possible traps or barrier can be outside boundaries.For example, water body 4550 or tree 4560
It can be outside boundary.Then, user can practice manipulating unmanned vehicle, and do not have to worry unmanned vehicle and hit tree or fall
Enter in water.
In some embodiments, geography fence device can be picked up and be carried between position and position by user.?
In another example, user can wear geography fence device or carry geography fence device in the pocket of user.Therefore, it uses
Family can operate unmanned vehicle so that unmanned vehicle be maintained at can around carry geography fence device user side
In boundary.User can go about and manipulate unmanned vehicle.When geographical fence apparatus is worn or carried by by user user's
When in pocket, it can be moved together with user.Therefore, the boundary of unmanned vehicle can go about with user and with
It advances together at family.Unmanned vehicle may remain near user, but can go about with user and move together with user
It is dynamic.
System as described herein, device and method can be adapted for a variety of objects, including loose impediment and resting
Body.As it was noted above, any description of the aircraft such as unmanned vehicle may be applicable to and is used for herein is any removable
Animal body.Unmanned vehicle can be specifically adapted to any description of aircraft herein.Loose impediment of the invention can
Be configured for moving in any suitable environment, such as in the sky (for example, Fixed Wing AirVehicle, rotor craft or
Person had not both had fixed-wing or had not had the aircraft of rotor), in water (for example, ship or submarine), on the ground (for example,
Motor vehicle, such as car, truck, bus, cargo, motorcycle, bicycle；Removable frame or frame, it is such as rodlike
Object, fishing rod；Perhaps train), at underground (for example, subway), in space (for example, space shuttle, satellite or detector) or
Any combination of these environment.Loose impediment can be apparatus of transport, such as other described apparatuss of transport everywhere herein.
In some embodiments, loose impediment can be carried by living bodies such as mankind or animals or be taken off from thereon.Suitably
Animal may include birds, canine, cat class, horse class, ox class, sheep class, porcine, dolphin, rodent or insect.
Loose impediment can in the environment about six-freedom degree (for example, three translation freedoms and three
A rotary freedom) and move freely.Alternatively, the mobile of loose impediment may be about one or more freedom degrees by about
Beam, such as by predefined paths, track or towards being constrained.The movement can be by any suitable cause such as engine or motor
Motivation structure is activated.The actuating mechanism of loose impediment can provide power by any suitable energy, and the energy is all for example
Electric energy, magnetic energy, solar energy, wind energy, gravitation energy, chemical energy, nuclear energy or its any suitable combination.Loose impediment can be as
Other are described everywhere herein, the self-propelled via propulsion system.The propulsion system can optionally be run by the energy, described
The all for example electric energy of the energy, magnetic energy, solar energy, wind energy, gravitation energy, chemical energy, nuclear energy or its any suitable combination.Alternatively,
Loose impediment can be as entrained by biology.
In some cases, the loose impediment can be aircraft.For example, aircraft can be Fixed Wing AirVehicle
(for example, aircraft, aerodone), rotor craft (for example, helicopter, gyroplane) have flying for fixed-wing and rotor simultaneously
Row device or the not only aircraft without fixed-wing but also without rotor (for example, dirigible, fire balloon).Aircraft can be self-propelled, all
Such as self-propelled in the sky.Self-propelled aircraft can use propulsion system, such as including one or more engines, motor, wheel
The propulsion system of son, wheel shaft, magnet, rotor, propeller, blade, nozzle or its any appropriate combination.In some cases,
Propulsion system, which may be used to loose impediment, can take off from surface, drop on surface, maintaining its current location and/or court
To (for example, hovering), change towards and/or change position.
Loose impediment can by user be remotely controlled or by within loose impediment or on occupant in local control.It can
Mobile object can be remotely controlled via the occupant in independent apparatus of transport.In some embodiments, loose impediment is for nobody
Loose impediment, such as unmanned vehicle.Nobody loose impediment, such as unmanned vehicle can not have described in taking
The occupant of loose impediment.Loose impediment can by the mankind or self-control system (for example, computer control system) or
Its any suitable combination is to control.Loose impediment can be autonomous type or semi-autonomous formula robot, such as configured with artificial
The robot of intelligence.
Loose impediment can have any suitable size and/or size.In some embodiments, loose impediment
Can have can accommodate mankind occupant be within apparatus of transport or on size and/or size.Alternatively, loose impediment can
And have than can accommodate mankind occupant be within apparatus of transport or on size and/or smaller size/or ruler
It is very little.Loose impediment can have the size and/or size for being suitable for being carried by the mankind or carried.Alternatively, loose impediment can
To be greater than the size and/or size that are suitable for being carried by the mankind or carried.In some cases, loose impediment can have
Full-size (for example, length, width, height, diameter, diagonal line) less than or equal to about: 2cm, 5cm, 10cm, 50cm, 1m,
2m, 5m or 10m.The full-size can be greater than or equal to about: 2cm, 5cm, 10cm, 50cm, 1m, 2m, 5m or 10m.For example,
The distance between opposite axis of rotor of loose impediment can be less than or equal to about: 2cm, 5cm, 10cm, 50cm, 1m, 2m,
5m or 10m.Alternatively, the distance between opposite axis of rotor can be greater than or equal to about: 2cm, 5cm, 10cm, 50cm, 1m,
2m, 5m or 10m.
In some embodiments, loose impediment can have less than 100cm x 100cm x 100cm, be less than 50cm
X 50cm x 30cm or volume less than 5cm x 5cm x 3cm.The total volume of loose impediment can be less than or equal to about:
1cm3、2cm3、5cm3、10cm3、20cm3、30cm3、40cm3、50cm3、60cm3、70cm3、80cm3、90cm3、100cm3、
150cm3,200cm3,300cm3,500cm3,750cm3,1000cm3,5000cm3,10,000cm3,100,000cm3,1m3 or
10m3.On the contrary, the total volume of loose impediment can be greater than or equal to about: 1cm3,2cm3,5cm3,10cm3,20cm3,
30cm3、40cm3、50cm3、60cm3、70cm3、80cm3、90cm3、100cm3、150cm3、200cm3、300cm3、500cm3、
750cm3,1000cm3,5000cm3,10,000cm3,100,000cm3,1m3 or 10m3.
In some embodiments, (this can refer to by described removable the occupied area that loose impediment can have
The cross-sectional area that object is surrounded) less than or equal to about: 32,000cm2,20,000cm2,10,000cm2,1,000cm2,
500cm2,100cm2,50cm2,10cm2 or 5cm2.On the contrary, the occupied area can be greater than or equal to about: 32,
000cm2,20,000cm2,10,000cm2,1,000cm2,500cm2,100cm2,50cm2,10cm2 or 5cm2.
In some cases, loose impediment can be no more than 1000kg weight.The weight of loose impediment can be less than or
Equal to about: 1000kg, 750kg, 500kg, 200kg, 150kg, 100kg, 80kg, 70kg, 60kg, 50kg, 45kg, 40kg,
35kg,30kg,25kg,20kg,15kg,12kg,10kg,9kg,8kg,7kg,6kg,5kg；,4kg,3kg,2kg,1kg,
0.5kg, 0.1kg, 0.05kg or 0.01kg.On the contrary, the weight can be greater than or equal to about: 1000kg, 750kg,
500kg、200kg、150kg、100kg、80kg、70kg、60kg、50kg、45kg、40kg、35kg、30kg、25kg、20kg、
15kg, 12kg, 10kg, 9kg, 8kg, 7kg, 6kg, 5kg, 4kg, 3kg, 2kg, 1kg, 0.5kg, 0.1kg, 0.05kg or
0.01kg。
In some embodiments, loose impediment can be smaller relative to load entrained by the loose impediment.
If other are described in further detail everywhere herein, the load may include payload and/or carrier.In some instances, removable
The ratio between the weight of animal body and weighing load can be greater than, less than or equal to about 1: 1.In some cases, loose impediment
The ratio between weight and weighing load can be greater than, less than or equal to about 1: 1.Optionally, the ratio between vehicle weight and weighing load can be with
It is greater than, less than or equal to about 1: 1.When needed, the ratio between the weight of loose impediment and weighing load can be less than or equal to: 1:
2,1: 3,1: 4,1: 5,1: 10 or even more small.On the contrary, the ratio between the weight of loose impediment and weighing load can also be big
In or be equal to: 2: 1,3: 1,4: 1,5: 1,10: 1 or even more big.
In some embodiments, loose impediment can have low energy consumption.For example, loose impediment can be used it is small,
In about: 5W/h, 4W/h, 3W/h, 2W/h, 1W/h or smaller.In some cases, the carrier of loose impediment can have low energy
Consumption.For example, the carrier can be used and be less than about: 5W/h, 4W/h, 3W/h, 2W/h, 1W/h or smaller.Optionally, mobile article
The payload of body can have low energy consumption, such as less than about 5W/h, 4W/h, 3W/h, 2W/h, 1W/h or smaller.
Figure 36 illustrates the unmanned vehicle (UAV) 3600 of embodiment according to the present invention.The unmanned vehicle can be with
It is the example of loose impediment as described herein, and can be adapted for the method and apparatus that battery component discharges
Thereon.Unmanned vehicle 3600 may include that there are four the propulsion systems of rotor 3602,3604,3606 and 3608 for tool.It can mention
For any number of rotor (for example, one, two, three, four, five, six or more).The rotation of unmanned vehicle
The wing, rotor assemblies or other propulsion systems can enable the unmanned vehicle hover/holding position, change towards and/or change
Displacement is set.The distance between opposite axis of rotor can be any suitable length 3610.For example, length 3610 can be less than
Or it is equal to 2m, or be less than or equal to 5m.In some embodiments, length 3610 can from 40cm to 1m, from 10cm to
2m or from 5cm to 5m in the range of.Loose impediment may be applicable to any description of unmanned vehicle herein, such as not
The loose impediment of same type, and vice versa.Assisted takeoff system as described herein can be used in unmanned vehicle
Or method.
In some embodiments, loose impediment may be configured for carrying load.The load may include multiplying
It is one or more among visitor, cargo, equipment, instrument etc..The load can be provided in shell.The shell can with can
The outer shell phase of mobile object separates or a part of the shell of loose impediment.Alternatively, load can have shell, and
Loose impediment does not have shell.Alternatively, some parts of load or entire load can be in the case where not having shell
It provides.Load can be rigidly fixed relative to the loose impediment.Optionally, can be can relative to loose impediment for load
With mobile (for example, can translate or rotate relative to loose impediment).Herein other everywhere as described in, the load can be with
Including payload and/or carrier.
In some embodiments, loose impediment, carrier and payload are relative to fixed reference system (for example, surrounding
Environment) and/or movement relative to each other can be controlled by terminal.The terminal can be in far from the mobile article
Remote control device at the position of body, carrier and/or payload.Terminal can be placed in support platform or be fixed to support
Platform.Alternatively, terminal can be hand-held or wearable device.For example, terminal may include smart phone, plate calculating
Machine, laptop computer, computer, glasses, gloves, the helmet, microphone or its suitable combination.Terminal may include user
Interface, such as keyboard, mouse, control stick, touch screen or display.Any suitable user's input is used equally for handing over terminal
Mutually, such as manual input commands, voice control, gesture control or position control are (for example, via the movement of terminal, position or incline
Tiltedly).
Terminal can be used for controlling any suitable state of loose impediment, carrier and/or payload.For example, eventually
End can be used for controlling loose impediment, carrier and/or payload relative to fixed reference object from and/or relative to each other
Position and/or direction.In some embodiments, terminal can be used for controlling loose impediment, carrier and/or payload
Discrete component, the emitter of the actuating assembly of such as carrier, the sensor of payload or payload.Terminal may include
Suitable for the wireless communication device communicated with one or more of loose impediment, carrier or payload.
Terminal may include for checking that the suitable display of the information of loose impediment, carrier and/or payload is single
Member.For example, terminal may be configured for the information of display loose impediment, carrier and/or payload, the information about
Position, translational velocity, translational acceleration, direction, angular speed, angular acceleration or its any suitable combination.In some embodiment party
In formula, terminal can show the information provided by payload, the data such as provided by functional payload (for example, by
The image of camera or other image capture devices record).
Optionally, same terminal can control loose impediment, carrier and/or payload or described removable simultaneously
The state of object, carrier and/or payload, and receive and/or show from the loose impediment, carrier and/or have
Imitate the information of load.For example, terminal can control positioning of the payload relative to environment, while display is captured by payload
Image data, or the information of the position about payload.Alternatively, different terminals can be used for different functions.Example
Such as, first terminal can control the movement or state of loose impediment, carrier and/or payload, and second terminal can connect
Receive and/or show the information from loose impediment, carrier and/or payload.For example, first terminal, which can be used for controlling, to be had
Positioning of the load relative to environment is imitated, and second terminal shows the image data captured by the payload.It can be removable
Animal body and the loose impediment is controlled simultaneously and is received between the integrated form terminals of data, or in loose impediment and same
When control the loose impediment and receive and utilize various communication patterns between multiple terminals of data.For example, can be removable
Animal body and control simultaneously the loose impediment and receive the data from the loose impediment terminal between formed to
Few two different communication patterns.
Figure 37 illustrates the loose impediment including carrier 3702 and payload 3704 of embodiment according to the present invention
3700.Although loose impediment 3700 is depicted as aircraft, such description is not intended to become restrictive, and such as
The loose impediment described previously that any suitable type can be used.It will be understood to those of skill in the art that herein in aircraft
Any embodiment described under the scene of system may be applicable to any suitable loose impediment (for example, unmanned flight
Device).In some cases, payload 3704 can be provided in loose impediment 3700 without carrier 3702.It is removable
Object 3700 may include propulsive mechanism 3706, sensing system 3708 and communication system 3710.
As it was noted above, propulsive mechanism 3706 may include rotor, propeller, blade, engine, motor, wheel, wheel shaft,
One of magnet or nozzle are a variety of.Loose impediment can have it is one or more, two or more, three or more
A or four or more propulsive mechanisms.Propulsive mechanism can be all same type.Alternatively, one or more propulsive mechanisms
It can be different types of propulsive mechanism.Propulsive mechanism 3706 can be used any suitable device and be mounted on loose impediment
On 3700, all for example other the described support components (for example, drive shaft) everywhere herein of described device.Propulsive mechanism 3706 can be with
It is mounted on any suitable part of loose impediment 3700, such as top, bottom, front, back, side or it is suitable
Combination.
In some embodiments, propulsive mechanism 3706 can enable loose impediment 3700 from surface vertically
Fly or vertically land on the surface, any without loose impediment 3700 moves horizontally (for example, without along runway
It advances).Optionally, propulsive mechanism 3706 can be operated to allow loose impediment 3700 with designated position and/or towards outstanding
It is stopped at aerial.One or more propulsive mechanisms 3700 can be controlled independently of other propulsive mechanisms.Alternatively, propulsive mechanism
3700 can be configured to be controlled simultaneously.For example, loose impediment 3700 can have multiple rotors horizontally toward, it is described
Rotor can provide lift and/or thrust to the loose impediment.Can activate the multiple rotor horizontally toward with to
Loose impediment 3700 offer take off vertically, vertical landing and hovering ability.In some embodiments, it is described horizontally toward
One or more of rotor can rotate in the clockwise direction, while one or more of described rotor can be with
It rotates in the counterclockwise direction.For example, the number of rotor can be equal to the number of rotor counterclockwise clockwise.Each horizontally toward
The speed of rotation of rotor can be changed independently, to control the lift generated by each rotor and/or thrust, and thereby adjust
Space layout, speed and/or the acceleration of loose impediment 3700 are (for example, about up to three translation freedoms and up to three
A rotary freedom).
Sensing system 3708 may include one or more sensors, and the sensor can sense loose impediment 3700
Space layout, speed and/or acceleration (for example, about up to three translation freedoms and up to three rotary freedoms).
One or more of sensors may include global positioning system (GPS) sensor, motion sensor, inertial sensor, away from
From sensor or imaging sensor.The sensing data provided by sensing system 3708 can be used for controlling loose impediment 3700
Space layout, speed and/or direction (for example, using suitable processing unit and/or control module, as described below).Alternatively,
Sensing system 3708 may be used to provide the data about loose impediment ambient enviroment, such as meteorological condition, away from potential obstacle
The distance of object, the position of geographical feature, position of man-made structures etc..
Communication system 3710 supports the communication via wireless signal 3716 and the terminal 3712 with communication system 3714.It is logical
Letter system 3710, communication system 3714 may include any number of transmitter, receiver and/or the receipts for being suitable for wireless communication
Send out device.The communication can be one-way communication, so that data can only be transmitted in one direction.For example, one-way communication can be only
It is related to loose impediment 3700 and transmits data to terminal 3712, or vice versa.Data can be from the one of communication system 3710
A or multiple transmitters are transmitted to one or more receivers of communication system 3712, or vice versa.Alternatively, the communication
It can be two-way communication, so that data can be transmitted in the both direction between loose impediment 3700 and terminal 3712.It is double
It can be related to receiving from one or more transmitters of communication system 3710 to the one or more of communication system 3714 to communication
Device transmits data, and vice versa.
In some embodiments, terminal 3712 can be to loose impediment 3700, carrier 3702 and payload 3704
In it is one or more control data are provided, and from one in loose impediment 3700, carrier 3702 and payload 3704
A or multiple reception information are (for example, loose impediment, the position of carrier or payload and/or motion information；By payload
The data of sensing, such as by the image data of payload cameras capture).In some cases, carry out the control data of self terminal
It may include the instruction for loose impediment, the relative position of carrier and/or payload, movement, actuating or control.Example
Such as, control data can cause loose impediment position and/or direction modification (for example, via the control of propulsive mechanism 3706
System) or movement (for example, via control of carrier 3702) of the payload relative to loose impediment.Carry out the control of self terminal
Data processed can lead to the control to payload, such as to the control of the operation of camera or other image capture devices (for example,
Static or mobile picture is shot, zooms in or out, open or close, switch imaging pattern, change image resolution ratio, changing and gather
Burnt, the change depth of field changes the time for exposure, changes visual angle or the visual field).In some cases, from loose impediment, carrier and/
Or the communication of payload may include from one or more sensors (for example, sensing system 3708 or payload
3704 sensor) information.The communication may include from one or more different types of sensors (for example, GPS is passed
Sensor, motion sensor, inertial sensor, range sensor or imaging sensor) the information sensed.Such information can
With the position (for example, position, direction) about loose impediment, carrier and/or payload, mobile or acceleration.To have by oneself
Such information of effect load may include the shape of the data captured by the payload or the payload sensed
State.The control data for being provided and being transmitted by terminal 3712 may be configured for control loose impediment 3700, carrier 3702 or
The state of one or more of payload 3704.Alternatively or in combination, carrier 3702 and payload 3704 can be with
It include respectively communication module, the communication module is configured for communicating with terminal 3712, so that the terminal can be independent
Each of ground and loose impediment 3700, carrier 3702 and payload 3704 are communicated and are controlled to it.
In some embodiments, loose impediment 3700 may be configured for communicating with another remote-control device ---
It is additional to terminal 3712 or replaces terminal 3712.Terminal 3712 be also configured to for another remote-control device and removable
Object 3700 communicates.For example, loose impediment 3700 and/or terminal 3712 can with another loose impediment or it is another can
The carrier or payload of mobile object communicate.When needed, the remote-control device can be second terminal or other calculating
Device (for example, computer, laptop computer, tablet computer, smart phone or other mobile devices).Remote-control device can quilt
It is disposed for transmitting data to loose impediment 3700, data is received from loose impediment 3700, transmit number to terminal 3712
Data are received according to and/or from terminal 3712.Optionally, remote-control device can connect to internet or other telecommunication networks,
So that website or server can be uploaded to from loose impediment 3700 and/or the received data of terminal 3712.
Figure 38 be according to the present invention embodiment for control loose impediment system 3800 by block diagram for
Bright schematic diagram.System 3800 can be in conjunction with system disclosed herein, any suitable embodiment of device and method
It uses.System 3800 may include sensing module 3802, processing unit 3804, non-transient computer-readable media 3806, control
Module 3808 and communication module 3810.
Sensing module 3802 can use collects the different types of of information related with loose impediment in different ways
Sensor.Different types of sensor can sense different types of signal or the signal from separate sources.For example, the biography
Sensor may include inertial sensor, GPS sensor, range sensor (for example, laser radar) or vision/imaging sensor
(for example, camera).Sensing module 3802 can be operably coupled to the processing unit 3804 with multiple processors.Some
In embodiment, sensing module can be operably coupled to transmission module 3812 (for example, Wi-Fi image transmission module), institute
Transmission module is stated to be configured for directly transmitting sensing data to suitable external device (ED) or system.For example, transmission module
3812 can be used for remote terminal transmission by sensing module 3802 cameras capture image.
Processing unit 3804 can have one or more processors, and such as programmable processor is (for example, central processing unit
(CPU)).Processing unit 3804 can be operably coupled to non-transient computer-readable media 3806.Non-transient computer can
Read medium 3806 can store logic, code and/or the program instruction that can be executed by processing unit 3804, to execute one or
Multiple steps.Non-transient computer-readable media may include one or more memory cells (for example, removable medium or outer
Portion's storage, such as SD card or random access memory (RAM)).In some embodiments, the data from sensing module 3802
It can be conveyed directly to and be stored in the memory cell of non-transient computer-readable media 3806.Non-transient computer-readable Jie
The memory cell of matter 3806 can store logic, code and/or the program instruction that can be executed by processing unit 3804, to hold
Any suitable embodiment of row approach described herein.Refer to for example, processing unit 3804 may be configured for executing
It enables, so that the one or more processors of processing unit 3804 be made to analyze the sensing data generated by sensing module.Memory list
Member can store sensing data to be handled by processing unit 3804, from sensing module.In some embodiments, non-wink
The memory cell of state computer-readable medium 3806 can be used for storing the processing result generated by processing unit 3804.
In some embodiments, processing unit 3804 can be operably coupled to control module 3808, the control
Module 3808 is configured for the state of control loose impediment.For example, control module 3808 may be configured for controlling
The propulsive mechanism of loose impediment is to adjust space layout, speed and/or acceleration of the loose impediment about six-freedom degree.
Alternatively or in combination, control module 3808 can control one or more in the state of carrier, payload or sensing module
It is a.
Processing unit 3804 can be operably coupled to communication module 3810, and the communication module 3810 is configured to use
In transferring and/or receiving the data from one or more external device (ED)s (for example, terminal, display device or other remote controlers).
Any suitable means of communication, such as wire communication or wireless communication can be used.For example, communication module 3810 can use office
Domain net (LAN), wide area network (WAN), infrared ray, radio, WiFi, point-to-point (P2P) network, telecommunication network, cloud communication etc. it
One of or it is a variety of.It is alternatively possible to using relay station, such as tower, satellite or mobile station.Wireless communication may rely on away from
With a distance from from or independently of.In some embodiments, communication may need or may not be needed sight.Communication module 3810 can
With transfer and/or receive sensing data from sensing module 3802, generated by processing unit 3804 processing result, predetermined control
One or more of data processed, the user command for coming self terminal or remote controler etc..
The component of system 3800 can be arranged by any suitable configuration.For example, one or more portions of system 3800
Part can be located at loose impediment, carrier, payload, terminal, sensing system or communicate with above-mentioned one or more
On additional external device (ED).In addition, although Figure 38 depicts single treatment unit 3804 and single non-transient computer-readable Jie
Matter 3806, it will be apparent, however, to one skilled in the art, that this is not intended to become restrictive, and system 3800 may include more
A processing unit and/or non-transient computer-readable media.In some embodiments, multiple processing units and/or non-transient
One or more of computer-readable medium can be located at different positions, such as in loose impediment, carrier, effectively load
Lotus, terminal, sensing module, on the additional external device (ED) that is communicated with above-mentioned one or more or it is suitably combined, with
Any suitable aspect of the processing executed by system 3800 and/or memory function is betided in one or more
Rheme sets place.
Although the preferred embodiment of the present invention has been illustrated and described herein, it is aobvious for those skilled in the art and
It is clear to, such embodiment only provides in an illustrative manner.Those skilled in the art now will be without departing from this
Many changes are expected in the case where invention, are changed and are substituted.It should be appreciated that can be using to this during practicing the present invention
The various alternative solutions of embodiment of the present invention described in text.Appended claims are intended to limit the scope of the invention, and because
This covers the method and structure in the range of these claims and its equivalent item.
Claims (27)
1. a kind of method for recording unmanned vehicle (UAV) behavior, which comprises
Unmanned vehicle identifier is received, the unmanned vehicle identifier uniquely identifies out institute from other unmanned vehicles
State unmanned vehicle；
User identifier is received, the user identifier uniquely identifies out the user from other users, wherein the use
Family provides one or more orders via remote controler to realize the operation of the unmanned vehicle；And
Recorded in one or more Memory Storage Units it is one or more of order, with one or more of order phases
The associated user identifier and the unmanned vehicle identifier associated with one or more of orders.
2. the method as described in claim 1, wherein one or more of Memory Storage Units are in the unmanned vehicle
Machine is outer and outside the remote controler machine.
3. the method as described in claim 1, wherein one or more of Memory Storage Units are one of air traffic control system
Point.
4. the method as described in claim 1, wherein the distribution of one or more of Memory Storage Units is used as cloud computing base
A part of plinth framework.
5. the method as described in claim 1, wherein one or more of Memory Storage Units are arranged in one or more
On logger, one or more of loggers receive one or more message from the unmanned vehicle.
6. the method as described in claim 1 further includes one from the access of one or more of Memory Storage Units
Or multiple orders, the user identifier and the unmanned vehicle identifier, it is living with the unmanned vehicle for tracking individuation
It is dynamic.
7. the method as described in claim 1, wherein to the nothing before the step of receiving the unmanned vehicle identifier
People's aircraft authenticates.
8. the method as described in claim 1, wherein being carried out before the step of receiving the user identifier to the user
Certification.
9. the method as described in claim 1, wherein only allowing institute when the user, which is authorized to, operates the unmanned vehicle
State one or more flight orders.
10. one kind includes the non-transitory computer-readable medium for recording the program instruction of unmanned vehicle (UAV) behavior,
The computer-readable medium includes:
Program instruction for user identifier and one or more orders from the user to be associated, wherein the user
Identifier uniquely identifies out the user from other users, and wherein the user provided via remote controler one or
Multiple operations ordered to realize the unmanned vehicle；
For by unmanned vehicle identifier and it is one or more of order the program instruction that is associated, wherein it is described nobody
Aircraft identifier uniquely identifies out the unmanned vehicle from other unmanned vehicles；And
For recording one or more of orders and one or more of lives in one or more Memory Storage Units
Enable the associated user identifier and the unmanned vehicle identifier associated with one or more of orders
Program instruction.
11. non-transitory computer-readable medium as claimed in claim 10, wherein one or more of memories store
Unit is outside the unmanned vehicle machine and except the remote controler.
12. non-transitory computer-readable medium as claimed in claim 10, wherein one or more of memories store
Unit is a part of air traffic control system.
13. non-transitory computer-readable medium as claimed in claim 10, wherein one or more of memories store
The a part of cell distribution as cloud computing architecture.
14. non-transitory computer-readable medium as claimed in claim 10, wherein one or more of memories store
Unit is arranged on one or more loggers, and the logger receives the one or more from the unmanned vehicle and disappears
Breath.
15. non-transitory computer-readable medium as claimed in claim 10 further includes for depositing from one or more of
The one or more of orders of reservoir memory unit access, the user identifier and the unmanned vehicle identifier with
The movable program instruction of the unmanned vehicle of track individuation.
16. non-transitory computer-readable medium as claimed in claim 10, wherein receiving the unmanned vehicle mark
The unmanned vehicle is authenticated before the step of symbol.
17. non-transitory computer-readable medium as claimed in claim 10, wherein in the step for receiving the user identifier
The user is authenticated before rapid.
18. non-transitory computer-readable medium as claimed in claim 10, wherein only when the user is authorized to operation institute
Allow one or more of flight orders when stating unmanned vehicle.
19. a kind of unmanned vehicle (UAV) behavior record system, comprising:
One or more Memory Storage Units；And
One or more processors, one or more of processors are operably coupled to one or more of memories and deposit
It storage unit and is either individually or collectively used for:
Unmanned vehicle identifier is received, the unmanned vehicle identifier uniquely identifies out institute from other unmanned vehicles
State unmanned vehicle；
User identifier is received, the user identifier uniquely identifies out the user from other users, wherein the use
Family provides one or more orders via remote controler to realize the operation of the unmanned vehicle；And
One or more of orders and one or more of lives are recorded in one or more of Memory Storage Units
Enable associated user identifier and unmanned vehicle identifier associated with one or more of orders.
20. system as claimed in claim 19, wherein one or more of Memory Storage Units are in the unmanned flight
Device machine is outer and outside the remote controler machine.
21. system as claimed in claim 19, wherein one or more of Memory Storage Units are the one of air traffic control system
Part.
22. system as claimed in claim 19, wherein the distribution of one or more of Memory Storage Units is used as cloud computing
A part of architecture.
23. system as claimed in claim 19, wherein one or more of Memory Storage Units are provided at one or more
On a logger, the logger receives one or more message from the unmanned vehicle.
24. system as claimed in claim 19, wherein being accessed from one or more of Memory Storage Units one
Or multiple orders, the user identifier and the unmanned vehicle identifier, it is living with the unmanned vehicle for tracking individuation
It is dynamic.
25. system as claimed in claim 19, wherein to described before the step of receiving the unmanned vehicle identifier
Unmanned vehicle is authenticated.
26. system as claimed in claim 19, wherein before the step of receiving the user identifier to the user into
Row certification.
27. system as claimed in claim 19, wherein only allowing when the user, which is authorized to, operates the unmanned vehicle
One or more of flight orders.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910302628.XA CN110015418B (en) | 2015-03-31 | 2015-03-31 | Authentication system and method for generating flight controls |
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910302628.XA CN110015418B (en) | 2015-03-31 | 2015-03-31 | Authentication system and method for generating flight controls |
| CN201580078091.3A CN107407915B (en) | 2015-03-31 | 2015-03-31 | Authentication system and method for generating flight controls |
| PCT/CN2015/075621 WO2016154944A1 (en) | 2015-03-31 | 2015-03-31 | Systems and methods for tracking uav activity |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201580078091.3A Division CN107407915B (en) | 2015-03-31 | 2015-03-31 | Authentication system and method for generating flight controls |
Publications (2)
| Publication Number | Publication Date |
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| CN110015418A true CN110015418A (en) | 2019-07-16 |
| CN110015418B CN110015418B (en) | 2021-05-18 |
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| CN201580078091.3A Expired - Fee Related CN107407915B (en) | 2015-03-31 | 2015-03-31 | Authentication system and method for generating flight controls |
| CN202011088133.0A Pending CN112908038A (en) | 2015-03-31 | 2015-03-31 | Method for determining position of unmanned aerial vehicle and air traffic control system |
| CN201910302628.XA Active CN110015418B (en) | 2015-03-31 | 2015-03-31 | Authentication system and method for generating flight controls |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201580078091.3A Expired - Fee Related CN107407915B (en) | 2015-03-31 | 2015-03-31 | Authentication system and method for generating flight controls |
| CN202011088133.0A Pending CN112908038A (en) | 2015-03-31 | 2015-03-31 | Method for determining position of unmanned aerial vehicle and air traffic control system |
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| JP (1) | JP6535382B2 (en) |
| CN (3) | CN107407915B (en) |
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Also Published As
| Publication number | Publication date |
|---|---|
| EP3207428A1 (en) | 2017-08-23 |
| CN107407915B (en) | 2020-11-03 |
| WO2016154944A1 (en) | 2016-10-06 |
| CN107407915A (en) | 2017-11-28 |
| JP2018510402A (en) | 2018-04-12 |
| JP6535382B2 (en) | 2019-06-26 |
| CN110015418B (en) | 2021-05-18 |
| CN112908038A (en) | 2021-06-04 |
| EP3207428A4 (en) | 2017-11-15 |
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