unmanned aerial vehicle system for inspection of railway assets

专利摘要:
  An aerial system control network (2500), an unmanned aerial vehicle system (UAV) (2400) and a method (2600) provide inspection of railway assets using a UAV (2420). The aerial system control network includes a plurality of towers (2510, 2515) and a ground control system (2520) connected to the plurality of communication towers. The ground control system transmits, through the plurality of communication towers, a flight plan including a rail system (100) and a flight path (1010); receives, through the plurality of communication towers, data while the UAV is monitoring the railway system; detects interference (1500, 1501, 1502) along the flight path based on the received data and adjusts the flight plan based on the interference.
公开号:BR112020002331A2
申请号:R112020002331-0
申请日:2018-08-15
公开日:2020-09-01
发明作者:Todd Graetz；Gary Grissum；Michael MISCHKE
申请人:Bnsf Railway Company；
IPC主号:

专利说明:

[001] [001] This disclosure relates in general to the management of railway assets and, in particular, to an unmanned aerial vehicle system for inspection of railway assets. BACKGROUND
[002] [002] The safety and efficiency of railway operations depend heavily on the constant analysis of trains, right of way, rail and other assets / facilities. There are a wide variety of factors that can affect track conditions and impact train movement, including criminal activities and extreme weather events that can lead to track flooding and erosion or overheating of the railway bed (the track can bend or distort with the heat). Earthquakes, landslides and abandoned vehicles and other objects at level crossings can block the road.
[003] [003] Surveillance is always the best defense against these risks. As a result, according to the regulations of the United States Department of Transportation Agency (Federal Railway Administration (FRA)) and company policies, track / right-of-way and bridge maintenance workers routinely inspect the tracks and infrastructure underlying, such as bridges, tunnels, support structures and signals. Currently, this work is carried out mainly by company personnel in automotive vehicles, on foot, in specialized railway equipment or in vehicles mounted on high tracks.
[004] [004] Modalities of the present disclosure provide an aerial system control network, an unmanned aerial vehicle system (UAV), and a method for inspecting railway assets using an unmanned aerial vehicle.
[005] [005] In an exemplary embodiment, an aerial system control network provides for the inspection of railway assets using an unmanned aerial vehicle. The aerial system control network includes a plurality of towers and a ground control system connected to the plurality of towers. The ground control system transmits, through a plurality of communication towers, a flight plan including a rail system and a flight path; receives, through the plurality of communication towers, data while the UAV is monitoring the railway system; detects interference along the flight path based on the data received and adjusts the flight plan based on the interference.
[006] [006] In another example of a modality, an unmanned aerial vehicle (UAV) system provides for the inspection of railway assets using an unmanned aerial vehicle. The unmanned aerial vehicle (UAV) system includes a UAV and an aerial system control network. The aerial system control network includes a plurality of towers and a ground control system connected to the plurality of towers. The ground control system transmits, through a plurality of communication towers, a flight plan including a rail system and a flight path; receives, through the plurality of communication towers, data while the UAV is monitoring the railway system; detects interference along the flight path based on the data received and adjusts the flight plan based on the interference.
[007] [007] In another example, a method provides for the inspection of railway assets using an unmanned aerial vehicle. The method includes transmitting, through a plurality of communication towers, a flight plan including a rail system and a flight path; receive, through the plurality of communication towers, data while the UAV is monitoring the railway system; detect interference along the flight path based on the data received and adjust the flight plan based on the interference.
[008] [008] Other technical characteristics may be readily apparent to a person skilled in the art from the following figures, descriptions and claims. BRIEF DESCRIPTION OF THE DRAWINGS
[009] [009] For a more complete understanding of the present disclosure and its advantages, reference is now made to the following description, taken in conjunction with the accompanying drawings, in which equal reference numbers represent equal parts: Figure 1 illustrates an exemplary rail network in accordance with the various modalities of this disclosure; Figure 2 illustrates a flight control center for operations of exemplary unmanned aircraft systems (UAS), according to the various modalities of the present disclosure; Figures 3A and 3B illustrate exemplary UASs in accordance with the various modalities of the present disclosure; Figure 4 illustrates an exemplary command center (CC) user interface (UI) in accordance with the various modalities of the present disclosure; Figure 5 illustrates an exemplary installation of a soil control system (GCS) according to the various modalities of the present disclosure; Figures 6A and 6B illustrate an exemplary telecommunications tower in accordance with the various modalities of the present disclosure; Figure 7 illustrates an analysis of exemplary radio frequency coverage (rf) according to the various modalities of the present disclosure; Figure 8 illustrates an exemplary general scheme of the system according to the various modalities of the present disclosure; Figure 9 illustrates an overview of an exemplary air traffic awareness system in accordance with the various modalities of the present disclosure; Figure 10 illustrates an overview of an exemplary air traffic awareness system in accordance with the various modalities of the present disclosure; Figure 11 illustrates an exemplary air traffic user interface screen in accordance with the various modalities of the present disclosure; Figure 12 illustrates an exemplary unmitigated near-air collision risk in accordance with the various modalities of the present disclosure; Figure 13 illustrates an exemplary pedestrian risk zone according to the various modalities of the present disclosure; Figure 14 illustrates an exemplary safe corridor airspace (SCA) interface in accordance with the various modalities of the present disclosure; Figures 15 A, 15B and 15C illustrate exemplary defective rail conditions in accordance with the various modalities of the present disclosure; Figure 16 illustrates an exemplary concept of operations in accordance with the various modalities of the present disclosure; Figure 17 illustrates an exemplary UAS ecosystem according to the various modalities of the present disclosure; Figure 18 illustrates an example of UAS system components according to the various modalities of the present disclosure; Figures 19A, 19B and 19C illustrate exemplary UASs in accordance with the various modalities of the present disclosure; Figure 20 illustrates an exemplary optical sensor according to the various modalities of the present disclosure; Figures 21A and 21B illustrate an example of UAS security limits according to the various modalities of the present disclosure;
[0010] [0010] Figures 1 to 26, discussed below, and the various modalities used to describe the principles of the present disclosure in this patent document are merely illustrative and should not be interpreted in any way to limit the scope of the present disclosure. Those skilled in the art can understand that the principles of this disclosure can be implemented on any type of device or system properly arranged.
[0011] [0011] The preferred modalities of the principles of the present invention are based on an unmanned aerial vehicle (aircraft) capable of vertical take-off and landing. Among other things, the aircraft includes an autopilot system that interfaces with the system's control and command infrastructure. The aircraft also processes navigation information generated from geographic information systems and supports several sensors on board that provide location information. The aircraft and general lane systems also feature equipment capable of transmitting and receiving information from an onboard navigation beacon (ADSB) and / or a C mode transponder or equivalent.
[0012] [0012] Aircraft modalities have sufficient onboard electric power generation capacity to provide reliable power to all other aircraft systems, such as the sensors, communications and control subsystems. In addition, the aircraft preferably has sufficient liquid fuel capacity to withstand flight durations greater than 8 hours. The aircraft also has the payload capacity needed to support multiple sensors for collecting information and the communication and control subsystems need to pass this information in real time to a flight operations center. The aircraft preferably also includes a means of storing information on board for local storage of the information collected. In addition, the system includes onboard and external subsystems to facilitate emergency maneuvers and landing the aircraft in the flight corridor.
[0013] [0013] In general, the on-board sensors take accurate, high-resolution location photos, at least twice a second and ¼ feet (0.0762 meters) or more in operational altitude resolution. Preferably, the sensor system also has integrated local computing capability, its own navigation system and independent communication capability for communication with other onboard subsystems, including autopilot. The sensors can include a photographic sensor, a video camera, a thermal imager and / or a multispectral sensor. In particular, the sensor system includes a real-time daytime and nighttime video camera for pilot awareness, which includes at least some limited real-time protection capabilities.
[0014] [0014] The system also includes software focused on the detection of tracks and analysis of right-of-way conditions, which offer advantages in the inspection of linear assets, such as tracks, bridges and the like. Among other things, the system software, both on board and remote, includes machine vision software trained to understand and recognize critical conditions in an area with at least two linear boundaries. The system software is also able to validate normal functional conditions in the linear area.
[0015] [0015] More specifically, the on-board software runs on the aircraft on a line between sensors and ground-based communications systems. The on-board software processes the data collected by the sensors, which are loaded into soil-based computer systems, which in turn emit quantitative and qualitative data about what the sensors have seen. The software system processes data in bulk, creates another set of geographically located data, and then creates a third set of data. The system software creates various reports associated with the data of interest, creates a geographic location file that allows users to easily map the location of the selected conditions of interest. Preferably, the mass data remains unprocessed and the recipients receive only usable data that they really need with the mass data stored for future data mining and use.
[0016] [0016] The system software also includes field information software, which can be used separately from this system or even with several aircraft. The field information software incorporates an algorithm that maps the functionality and determines in which order the software should perform operations, which advantageously eliminates human errors. In particular, the field information software receives the media generated by the sensor system, transfers that data to a laptop or other processing system, and then starts the local software. Local software automatically encodes, labels and transfers data to a drive and files and properly transmits that data to those who need it (for example, different departments in an organization). Field information software can be used for any data collected related to a field location. Field information software is preferably based on a networked system, including a server or set of hardware devices. In some embodiments, the field information software runs after the aircraft has completed a flight (that is, it performs post-flight data processing). The data can be distributed among the networked resources, which perform additional analyzes and ensure that the data is properly encoded and stored. This helps maintain a chain of custody and minimizes data errors.
[0017] [0017] Rights of way, corridors and towers are important factors in an aerial railroad inspection system. The present system accesses the 900 MHz channels used for the automatic train control system (ATCS) implemented through the AAR, although the actual spectrum in use is not a strict requirement for the practice of current principles - another protected and licensed spectrum can be proposed. Current system hardware and software are optimized to use the low-bandwidth AAR channel in a highly functional way. For systems using the preferred AAR channels, the user typically requires a license, and redundant Ethernet controls, including the appropriate channels to communicate with the aircraft. These can be implemented with railway telecommunications assets.
[0018] [0018] The aircraft is preferably a vertical take-off and landing aircraft and operates (including landings) anywhere along a network of railway assets. Once the aircraft is in the air, the pilot commands the autopilot to start the flight. The flight starts and the aircraft flies according to a route programmed by geographic information systems for a real rail right of way and follows that right of way. In other words, when the pilot engages the autopilot, the system software takes over and flies the aircraft as close as possible once on the track. The software system also automatically allows the sensors to start taking two photos per second of the road. At the same time, the sensor systems and software control the inclination, yaw and rotation of aircraft and sensors, so that the appropriate sensor or sensors remain focused and positioned on the track to ensure the necessary resolution and overlapping images. If the analysis software determines, after the flight, that there was not enough overlap, or if sections of the road were lost due to the occupation of the right of way, the route is quickly resumed and the sensor takes more images.
[0019] [0019] While the autopilot is on and the sensor is taking pictures, the aircraft's control system uses space-based GPS and, when available, GPS error correction on the ground, to keep the aircraft positioned on the line and maintain operational altitude and linear flight path compliance, which ensures sensor resolution and compliance with regulatory requirements regarding flight path height and width.
[0020] [0020] Again, preferably the aircraft and the sensor have independent navigation systems. Advantageously, when the aircraft and the sensor (s) have independent navigation systems, computational energy is preserved for critical items assigned to each component. For example, the sensor system may include sensor stabilization software and hardware and the sensor is also able to disable image collection when it is not under private ownership.
[0021] [0021] Preferably, the aircraft transmits its location, speed, altitude and heading through the existing FAA surveillance network (SBS) and also to other aircraft equipped to receive these signals. In addition, the railway infrastructure can support supplementation of the FAA SBS system using supplementary ADSB / transponder receivers, radar and other elements placed along the right of way. While the aircraft is in flight, its operational condition, location and general health are transmitted to the pilot through the command and control link. During all phases of the flight, the aircraft has access to several command and control transceiver locations, ensuring a level of command and control redundancy.
[0022] [0022] If the aircraft loses connection to the command and control system, after a period of time determined by the operator and / or FAA rules, the aircraft may initiate its "missing link profile" and return to launch via predetermined paths or in a loss of communication and energy, the car goes down and establishes itself along the right of way. The pilot may be aware of the missing link condition and, based on the latest form of transmission, the aircraft would notify users in the queue and dispatchers of the aircraft's imminent landing. The sensors' secondary communication and navigation systems can also assist in locating the aircraft.
[0023] [0023] If during the flight there are other critical systems failures, the aircraft will automatically initiate one of several pre-determined flight termination procedures, returning to the launch location or other safety location as scheduled. During the course of the flight, the pilot has the option of using a second sensor for real-time images of the line. This secondary sensor can also be used for some condition analysis, but it is mainly for pilot awareness. If during the course of the flight a critical condition is identified, the aircraft's sensor may use a secondary communication channel not connected to the primary to send an immediate notification to the pilots.
[0024] [0024] At the end of a specified mission, the pilot initiates the landing procedures, the aircraft uses all the mentioned systems to reach the landing site, and performs the landing procedures for vertical landing. The landing procedure includes the activation of an air-to-ground laser, providing the aircraft with accurate landing information. In the final stages of flight before landing, the pilot uses the aircraft's command and control system to ensure a safe landing. The aircraft has several support systems on board to ensure a safe landing. If something is present on the ground or in the landing area that would prevent a safe landing, the landing cancellation procedure will be initiated and the alternate landing location will be used. After a safe landing, the pilot removes the sensor data storage units and connects them to a server. Server systems initiate an automated data analysis and delivery process that results in the delivery of customized reports and actionable data sets.
[0025] [0025] Figure 1 illustrates an exemplary rail network 100 in accordance with the various modalities of this disclosure. While a rail network is shown in Figure 1, the principles of the present disclosure are equally applicable to other types of networks. The rail network 100 shown in Figure 1 is for illustration only. Other modalities of the railway network can be used without departing from the scope of this disclosure.
[0026] [0026] The freight rail network, shown in Figure 1, has approximately 32,500 miles (52303.68 km) of rail in mostly rural areas in the western United States. To protect this critical transport infrastructure and surrounding communities, routine inspections are currently carried out using a variety of vehicles and equipment on the road. To improve these inspections and, at the same time, improve the occupational safety of railway personnel, aerial surveillance of their railway infrastructure can be performed using unmanned aircraft systems (UAS). These operations can be beyond the visual line of sight (BVLOS) during the day and night in visual weather conditions.
[0027] [0027] The tracks, comprising the railway freight network and the area around it ("the property") and the assets on the property, are accurately searched using GPS (global positioning system) and other technologies, such as LIDAR ( detection and light range). An enterprise-level geographic information system (GIS) contains this data and this information is used to plan and fly directly over your property.
[0028] [0028] The unmanned aircraft (UA) is capable of takeoff and vertical landing (VTOL) and has 10 hours of resistance flying at a cruising speed of approximately 40 knots (74.08 km / h) with a higher sprint speed at 60 knots (111.12 km / h). Navigation is done using a flight plan based on a GPS waypoint. The flight path is directly above the railroad tracks, at altitudes above ground level (AGL) of 400 feet (121.92 m) and below. The cruising altitude is typically 380 feet (115,824 m) AGL. The autopilot can maintain that altitude within +/- 10 feet (3.048 m) in calm wind conditions and can correct when environmental or wind factors push the aircraft up or down. The navigation performance of the system may allow the AU to remain within a side aisle approximately +/- 100 feet (30.48 m) from the center line of the main railroad. This side corridor corresponds to the property's limits. Most avoidance maneuvers or slow orbits, when necessary to maintain safety, can be completed at +/- 1,500 feet (457.2 m) from the center line of the main road. The sensors carried on board the UA are designed to have a narrow field of view, so that the data and images collected are only from the track area.
[0029] [0029] The railway network is organized into divisions and subdivisions. Each subdivision contains a strip of 50 (80.4672 km) to 300 miles (482.803 km) in length. Interconnection of subdivisions. Near each terminal of a railway subdivision, there is a patio facility that covers many acres. The facilities at these yards can be staffed and equipped to support UAS operations. An operator can operate a UAS on most of its network by launching from a yard, flying over a subdivision and landing in the next yard, where the UA can be inspected, maintained, refueled and relaunched. The operator can fly two missions a day in up to 100 subdivisions.
[0030] [0030] To monitor and control his UAS, the operator can take advantage of his experience in the development and implementation of PTC (positive train control). The operator uses its existing telecommunications infrastructure, including privately owned protected tower and terrestrial return network, for command and control (C2) of the UAS fleet, to implement voice communications via VHF aviation radios, and to provide flight crews with meteorological information from a number of stations located along the routes.
[0031] [0031] The telecommunications network is designed to be robust and redundant. The telecommunications network reaches a network operations center (NOC) at its headquarters. At the NOC, a train positioned in any subdivision of the network can be dispatched. The switches and signals along their route are controlled and the crew's coordination by voice radio is conducted entirely from this central location. Likewise, each UAS can be controlled from its ground control station (GCS) at a regional flight control center by a pilot in command (PIC) and a co-pilot from a regional flight control center or a central location. It is possible for the aircraft to be controlled from several locations during the duration of the flight. For example, a regional flight control center can start the flight and then "deliver the aircraft to another flight control center without landing. Command and control can be performed using variations of the CNPC radio (no-charge command) useful) or C2 (command and control) in the dedicated spectrum. Voice communications are carried out via remotely controlled aviation VHF transceivers, mounted in towers along the line. UAS operations also leverage an existing index of local weather stations .
[0032] [0032] The telecommunications infrastructure is also used to support an air traffic situation awareness system. This system is capable of displaying the position of cooperative and non-cooperative air traffic to the UAS pilot. The AU itself is a cooperative aircraft. The UA can be equipped with an S-mode transponder with ADS-B output.
[0033] [0033] Flight control centers for UAS operations are built in the yard facilities, which can make conducting inspection missions more efficient and economical. The flight crew plans security inspection missions for an area as needed. In a dedicated data processing and UAS maintenance facility at an operations flight control center, a ground team can prepare an AU for its mission and oversee launch and recovery operations. When flying through the AU from their GCS, the crew can take advantage of the AU's range and strength to fly over one or more subdivisions according to the flight plan. Some data is transmitted live during the flight operation, while the remaining data is post-processed back at the flight control center. All relevant data is transferred to data storage in the cloud for timely dissemination to the appropriate end users, such as track inspectors, engineering staff and maintenance planners.
[0034] [0034] Figure 2 illustrates a flight control center for operations of 200 unmanned aircraft systems (UAS), according to the various modalities of this disclosure. The UAS 200 operations flight control center mode shown in Figure 2 is for illustration only. Other UAS operations flight control center modalities can be used without departing from the scope of this disclosure.
[0035] [0035] Figure 2 illustrates the concept of a flight control center. In the railway yard, five subdivisions connect. Significant parts of the other four subdivisions are 175 miles (281,635 km). Across the region there are numerous flash flood sites, track segments prone to heat-induced buckling, territories with no signal feedback for monitoring critical assets and several critical bridges. These connected subdivisions can benefit from the aerial safety inspection and the timely detection of problems that this technology offers.
[0036] [0036] A typical 205 railway subdivision begins in a railway yard on the outskirts of a populated area, extends to more rural areas and ends in another yard close to a populated area. Along the way, roads 210 may be close to primary and secondary roads, may pass through or near small towns or villages, and may pass near airports. However, as the UA can fly directly over properties that are privately owned, UAS cannot fly directly over non-participants, except for very short durations (in the order of seconds) at road intersections. The UAS may have several security protocols designed to keep the UA privately owned or in an emergency.
[0037] [0037] As courtyards or subdivision sections may be within the boundaries of surface airspace, UAS is regulated when flying in Class G, Class E, Class D, Class C and Class B airspace at or below 400 feet (121.92 m) AGL. UAS works to not require takeoff or landing at high airports. The procedures (described in paragraphs [0076] - [00101]) are used to operate in controlled airspace, near airports and in places with known aeronautical activity. Along with the technology, several operational and procedural safety mitigations can be implemented, all with the intention of maintaining awareness of the situation and coordinating with manned air traffic. Please note that the UA is equipped with a transponder and the flight crew can have bidirectional voice communication. The UA's position in relation to airports and detected air traffic is monitored in the GCS using mobile map screens with overlapping VFR sectional graphics. In this way, the operation of BVLOS UAS is similar to the operations of manned aircraft, especially in Class B, C and D airspace. In relation to 14 CFR 91.1 13, the position of other cooperative air traffic is known using an awareness system air traffic situation. To raise awareness of uncooperative traffic, additional sensors, such as primary radars, are used without interference. For additional redundancy, visual observers can be positioned at selected locations during flights.
[0038] [0038] Figures 3 A and 3B illustrate exemplary UASs 300, 301 according to the various modalities of the present disclosure. The modalities of UAS 300 shown in Figure 3A and UAS 301 shown in Figure 3B are for illustration only. Other UAS modalities can be used without departing from the scope of this disclosure.
[0039] [0039] UAS uses four-rotor hybrid technology, which combines a fixed-wing aircraft for long-term flight with a four-rotor system for takeoff and vertical landing. The hybrid technology of four rotors allows starting and recovering UA from small areas close to roads or in a yard, while still being able to fly hundreds of kilometers to inspect entire subdivisions.
[0040] [0040] For BVLOS operations, examples of UAS include the four-engine hybrid aircraft HQ-40, HQ-60B and HQ-60C. The HQ-40 is a small UAS with a 10 foot (3.048 m) wing span and a maximum gross weight of 45 pounds (20.4117 kg). The HQ-60B and C is a larger UAS with a 15-foot (4,572 m) wing span and a maximum gross weight of 115 pounds (52.1631 kg). The HQ-60B has more reach, strength and payload capacity than the HQ-40. These aircraft share the same flight computer and flight control software, in addition to many of the same subsystems. Both aircraft can be flown from the same GCS. Below is a brief description of both aircraft.
[0041] [0041] The HQ-40 consists of a single fuselage, single wing, two bars, two vertical stabilizers and a single horizontal stabilizer. The forward flight mechanism is installed behind the fuselage. The motors of the four rotor system are installed on the bars. The aircraft uses two supports on the front sections of the booms and on the bottom of the vertical stabilizers as landing supports. The aircraft controls the attitude with ailerons on the outer sections of the wings and elevators on the horizontal stabilizer. The aircraft is equipped with strobe and position lights. It also has a high visibility paint scheme. Figure 3A below shows the structure of the HQ-40. Tables 1 and 2 list their physical measures and performance characteristics.
[0042] [0042] The HQ-60B consists of a single fuselage, single wing, two bars, two vertical stabilizers and a single horizontal stabilizer. The forward flight mechanism is installed behind the fuselage. The motors of the four rotor system are installed on the bars. The aircraft uses structures located in the lower central section of the fuselage and at the bottom of the vertical stabilizers as supports. The aircraft controls the attitude with ailerons on the outer sections of the wings, elevators on the horizontal stabilizer and a rudder on each vertical stabilizer. Each flight control surface is redundant and is independently controlled and operated. The aircraft is equipped with strobe and position lights. It also has a high visibility paint scheme. Figure 3B below shows the structure of the HQ-60B and Tables 3 and 4 list its physical measures and performance characteristics. Table 3. Aircraft measurements HQ-40 Aircraft measurements Wingspan 150 inches (3.81 m) Length 96 inches (2.4384 m) Fuselage diameter 47.35 inches (1.20269 m) Body diameter 10 inches (0.254) ) Empty weight 53 pounds (24.0404 kg) Gross maximum takeoff 115 pounds (52.1631 kg)
[0043] [0043] The UAS of the HQ series (HQ-40 and HQ-60B) received special airworthiness certificates in the experimental category and accumulated more than 360 hours of VLOS / EVLOS operations and more than 880 hours in BVLOS operations, with 18 hours at night BVLOS. This generates a total of 1,258 flight hours in August 2017.
[0044] [0044] Figure 4 illustrates an exemplary 400 command center (CC) user interface (UI) in accordance with the various modalities of this disclosure. The CC UI 400 modality shown in Figure 4 is for illustration only. Other modalities of CC UI can be used without departing from the scope of this disclosure.
[0045] [0045] A GCS facility is equipped with equipment to support multiple individual flight crews, each crew can operate a single UAS in multiple subdivisions. Each GCS, shown in Figure 5, can include the following: ground station laptop: PC computer running UA-specific GCS software; ground station device containing communication radios for telemetry links and wireless link and bridge management between the aircraft and operator interfaces; communication antenna (s) for ground stations; and ground station GPS antennas.
[0046] [0046] In addition to these components, the GCS may also include devices for connectivity to the telecommunications network, equipment and interfaces for the use of railway and air voice radios, equipment and interfaces for communication with the flight control center, software to monitor from the locations of trains, equipment and screens to the air traffic situation awareness system. The ground control station can also include electronic tools and a backup power system capable of supporting normal operations during flight.
[0047] [0047] The HQ-60B uses the UAS autopilot (on board the aircraft) and the ground control system (GCS). This unit has watched over 250,000 hours of Department of Defense programs with great success. The autopilot software features easy-to-define mission parameters and constraints, waypoint insertion, context menus for common functions, route copying between aircraft, easy route planning, 2D and 3D terrain mapping with smooth high zoom performance, integration of terrain database with web mapping servers for elevation and images, intuitive primary flight screens and the ability to change speed, altitude and heading commands on the screens. The displayed data can be configured according to user requirements. A status bar provides a high-level alert interface.
[0048] [0048] The pilot can determine the attitude of the aircraft using the main flight screen (PFD) on the operator interface and the position of the aircraft using the geo-referenced images in the center of the standard screen. The aircraft's position is superimposed on these images. The aircraft's PFD and position are updated at a maximum rate of 25 Hz.
[0049] [0049] Any commands that may be harmful to the normal operation of the UA are safeguarded with a confirmation window. Entries that can produce an undesirable result are protected and require several steps to activate.
[0050] [0050] Figure 5 illustrates an exemplary installation of the ground control system 500 (GCS) according to the various modalities of this disclosure. The GCS 500 installation mode shown in Figure 5 is for illustration only. Other modalities of the GCS 500 installation can be used without departing from the scope of this disclosure.
[0051] [0051] Each flight control center may include a UAS launch and recovery station (LRS), where a ground team prepares and maintains the AU and oversees launch and recovery operations. The HQ-60B system requires the following equipment for pre-flight and post-flight activities: ground power source: 30 V DC power supply; safe storage of lithium polymer battery (LiPo); LiPo charging stations: used to charge avionics and VTOL batteries; supply of bulk fuel and transfer equipment; aircraft scale; tool kit and spare parts: includes tools required for maintenance and spare parts for wear items; launch cancellation system: allows the solo team to abort a launch for security reasons; webcam / VoIP equipment to communicate with the flight crew on the GCS; local C2 radio (command and control) for initialization and recovery.
[0052] [0052] Ground and flight teams can receive training on the roles and responsibilities of the crew and on the management of crew resources. The specific duties of the solo team are highlighted in paragraphs [0076] - [00101].
[0053] [0053] Figures 6A and 6B illustrate an exemplary telecommunications tower 600 in accordance with the various modalities of the present disclosure. The telecommunication tower 600 shown in Figures 6A and 6B is for illustration only. Another modality of the telecommunications tower 600 could be used without departing from the scope of this disclosure. Figure 7 illustrates an analysis of exemplary radiofrequency coverage 700 (rf) according to the various modalities of the present disclosure. The rf 700 coverage analysis modality shown in Figure 7 is for illustration only. Other modalities of the coverage analysis of rf 700 can be used without departing from the scope of this disclosure.
[0054] [0054] The command and control of the AU can be performed using a radio network. This does not involve a series of GCS instances conducting transfer procedures. Instead, there is a GCS connected to a terrestrial radio network placed along the UA's flight path at regular intervals to maintain persistent communications.
[0055] [0055] To maintain the C2 link between the UA and the GCS, the UA must be within the line of sight (LOS) of one or more antennas in this network. The positioning of the antenna on the network is designed for overlapping coverage, which means that the UA can be within the LOS of two radios at all times during flight over a subdivision. The radio network is connected to the GCS by a network designed for latency in the order of 50 milliseconds.
[0056] [0056] Figures 6A and 6B show a telecommunications tower. This tower is approximately 300 feet (91.44 m) high and is located on high ground approximately 1.6 NM from the (2.9632 km) roads. Towers of this type are positioned along the tracks at intervals of approximately 15 (27.78 km) to 30 NM (55.56 km). Figure 7 shows the RF coverage analysis for a C2 radio network using towers along a subdivision. The use of seven towers provides overlapping coverage in the elevation of the road for the length of the subdivision. Existing towers can be used to install radio networks across other subdivisions. The RF analysis and can perform appropriate performance tests are performed before the routine operations of BVLOS UAS are performed on these networks.
[0057] [0057] The autopilot used in the UA features a C2 / telemetry link embedded in the ISM band (industrial, scientific and medical) (2.4 GHz and 900 MHz). The integration of the CNPC / C2 radio adds a second C2 link to the aircraft. The requirements for performing a normal VTOL launch and recovery require a higher bandwidth telemetry link than the cruise flight. During start-up, recovery and site operations, the C2 link can be the 2.4 GHz radio. When the aircraft is taken away from the launch and recovery zone, the communication link is transferred to the CNPC / radio network. C2 by the flight crew.
[0058] [0058] Figure 8 illustrates an exemplary general schematic diagram of the 800 system according to the various modalities of the present disclosure. The schematic system 800 model shown in Figure 8 is for illustration only. Other modalities of the 800 system schematic can be used without departing from the scope of this disclosure.
[0059] [0059] Figure 8 is a diagram of the communication flow. Command, control and telemetry data are transmitted locally in the 2.4 GHz ISM band during launch and retrieval. When the aircraft is established in a cruise configuration, the UAS can be joined to the CNPC / C2 network through the nearest CNPC / C2 tower. The pilot makes this change using a custom software application that runs on the ground station's computer. This software also provides feedback to the pilot about the health and status of the CNPC / C2 system. If, for any reason, the link integrity of the CNPC network is not sufficient, the UA can be retrieved at the flight control center by the local 2.4 GHz ISM link. If, for any reason, there is a health problem local C2, the flight may be postponed until problems are resolved. The integrity of all radios in the CNPC network can be monitored by the pilot. If during the cruise flight, the integrity of a radio link is insufficient for the continued flight, the pilot may change the flight plan or make an emergency vertical landing close to the roads.
[0060] [0060] Figure 9 illustrates an overview of an exemplary air traffic awareness system 900 according to the various modalities of this disclosure. Figure 10 illustrates an overview of location locations (ADS-B) 1000 of dependent automatic surveillance transmission according to the various modalities of the present disclosure. Figure 11 illustrates an example of an 1100 user interface screen for air traffic according to the various modalities of the present disclosure. The modalities of the air traffic recognition system 900 shown in Figure 9, the locations of ADS-B 1000 locations shown in Figure 10 and the 1100 user interface screen shown in Figure 11 are for illustration only. Other modalities of the 900 air traffic awareness system, the ADS-B 1000 location locations and the 1100 user interface screen can be used without departing from the scope of this disclosure.
[0061] [0061] The ability to "see and avoid" other air traffic in accordance with 14 CFR 91.1 13 is critical. The air traffic situation awareness system can monitor both cooperative and non-cooperative air traffic. The components of this system can include local sensors and dispatch systems and range system software tools.
[0062] [0062] As shown in Figure 9, the dispatch system is linked to the FAA air traffic management system (Surveillance Transmission System) and can also be linked to local sensor networks, the local ADS-B receiver network Xtend can be installed throughout each subdivision to increase ADS-B coverage below 500 feet (152.4 m) AGL. An example of this is shown in Figure 10. The RF analysis led to the installation of six additional receivers in the towers along the subdivision to provide ADS-B coverage to the ground (50 feet (15.24 m) AGL). Note that the local sensor data may not be integrated into the SBS data feed.
[0063] [0063] The range system software is an air traffic screen designed to provide UAS pilot knowledge of the situation. This helps the pilot to avoid manned air traffic nearby, which is unlikely to make eye contact with the AU. Using the dispatch system, FAA and ADS-B, ADS-R, TIS-B and FIS-B radar data are merged with local sensor detections to present the route of each air traffic target to the AU PIC in one reach system. Various symbols and alert features present a representation of the UA and any air traffic targets, as shown in Figure 11.
[0064] [0064] An example of a local sensor for detecting uncooperative traffic is the radar that was tested as part of this air traffic awareness system. This radar detects personnel, land vehicles, marine vessels, avian targets and low-flying aircraft. With the radar configured to detect and generate pathways for targets the size of GA aircraft, GA aircraft were tracked at a range of 5.4 NM (10 km), with an average range error of 20 feet (~ 6 meters). Track durations were approximately 70 to 110 seconds. Note that elevation data is not available; therefore, the radar pathways for this sensor are only displayed in two dimensions. Without any additional coordination, pilots must assume that the targets are high altitude and must act appropriately to avoid them.
[0065] [0065] For the configuration and the test environment, the air traffic awareness system allowed PIC UA to recognize GA air traffic (cooperative and non-cooperative) in a range of at least 3 NM (5.556 km). On average, there was at least 60 seconds between this initial reconnaissance and the closest approach point between the GA "Invasora" aircraft and the AU. In a study to model the visual human acquisition of air traffic, the probability of visual acquisition of a Piper Archer (a typical sized GA aircraft) was presented by two pilots who were actively researching air traffic. The probability of visual detection was found to be only 10% in the range of 3 NM (5.556 km) (the probability was 100% less than 0.5 NM (0.926 km)). The results of another test indicated that the recognition of intruders by UA PIC using the range system occurred approximately 17 seconds before recognition by visual ground observers. The test results indicate that the use of the air traffic situation awareness system provides an ability to detect air traffic equivalent to or better than visual land or air observers.
[0066] [0066] The deployment of local sensors for non-cooperative traffic can be based on the following: (1) ADS-B ground coverage along a subdivision for detecting cooperative air traffic. (2) In places known to have a high concentration of uncooperative air traffic. This knowledge may be the result of outreach efforts. Depending on the nature of the activity, this can lead to the seasonal implantation, and not throughout the year, of sensors (radar). (3) Risk assessments specific to the flight corridor over the tracks. The deployment can initially be based on real air traffic data or on modeling validated by that data. Sensors or other attenuations (visual observers) may be placed in locations where the risk of collision in the air exceeds that of locations that were considered to have an acceptable unmitigated risk of collision in the air (relative risk not mitigated).
[0067] [0067] Additional technologies to prevent air traffic can be used as they are accepted for operational use. Examples of this technology include alternative radar and collision prevention on board.
[0068] [0068] Bidirectional voice communications on aviation frequencies are an important security mitigation. It allows pilots, who may not see each other's aircraft, to announce their intentions and safely coordinate their actions. The telecommunications infrastructure can be used to host CTAF, tower and approximate local frequencies from each subdivision using IP radio bridge / gateway systems. These systems offer the ability to press to talk about tower-mounted VFTF transceivers. This is analogous to having a radio network of ground-based aviation stations, such as those used at airports for UNICOM / CTAF. In certain modalities, ground stations are facilitating air-to-air communications, since voice radios are not transported on board the UA.
[0069] [0069] This use of aviation VHF transceivers is subject to FAA / FCC approvals. Although this use is an atypical deployment of these radios, UAS allows UAS to operate BVLOS on the NAS in a manner consistent with manned aviation and has proven to be a critical element of UA's secure integration into the NAS.
[0070] [0070] The guidelines and procedures in the ATM (aeronautical information manual) for flight under VFR are followed. The following is an overview of the procedures for a typical flight.
[0071] [0071] Flight planning can be conducted in the same way as in manned aviation. The pilot in command (PIC) is familiar with all the information applicable to the flight. Flight crews can use existing aviation tools and information sources, along with software designed for the purpose of planning UAS flight over railway infrastructure. This software uses information collected from the GIS database, on-site surveys, publicly available data and approved navigation databases to assist in the development of flight plans. Flight plans can take into account the following mission objectives (subdivision, type of safety inspection, sensor), the local terrain, the local climate at the launch and recovery sites, as well as along the flight route, population at along the flight path, vertical obstructions, launch and recovery up and down trajectories, considerations of airspace and local air traffic and meetings of people or special events near the routes. The intended flight time determines the fuel requirements for the flight (s). The takeoff time and the total time in the air can be determined so that notifications to other NAS users (DoD, Ag, GA) can be delivered, if necessary, and a NOTAM (Notice to Aviators) can be presented, if necessary .
[0072] [0072] The results of the planning process are as follows: a set of GPS coordinates that define the launch and recovery locations; a set of GPS coordinates that define the landing pattern for the landing site; a set of GPS route points that define the flight route for normal operations; a set of GPS route points that define the flight route for operation with loss of C2 link; a set of GPS coordinates that define the boundary of the airspace (geo-fence) that is designed to prevent an excursion away from particular properties; a description of the appropriate emergency landing areas (or areas to be avoided) within and immediately beyond the geographic fence; overlays of aviation, terrain and demographic maps for use on the moving map screens in GCS; information and procedures for the transition through any airspace or near any airport along the flight path; schedule for issuing notifications and NOTAMs; and installation of payload / sensor and fuel load plan for the ground team.
[0073] [0073] If, during any part of the flight planning process, UAS PIC believes that the flight cannot be carried out safely, the flight operation may be postponed until changes can be incorporated or appropriate mitigations can be implemented. Examples include: special events where a large group of people may be close to the roads, a seasonal and highly localized crop spraying operation close to the roads, or installing a new vertical obstruction in a location where delay may be necessary .
[0074] [0074] The flight crew and the ground crew are responsible for pre-flight actions. In GCS, the flight crew can configure all software and screens according to pre-flight checklists. UA configuration files can be checked, flight plan path points can be loaded into the autopilot interface, maps and map overlays can be loaded into the autopilot interface and the system's status recognition system air traffic. The radio frequencies used frequently can be preset. Any sensor interface can also be configured. Communications can be established with the ground team at the launch and recovery station (LRS). At LRS, the ground team can perform a pre-flight inspection of the AU, install and configure the sensor (s) and supply the AU according to the flight plan. The ground team starts to connect the AU systems in coordination with the flight team after configuring the software and screens.
[0075] [0075] Flight and ground crews complete all final GCS and UA flight checks, such as transferring flight plans and limits to autopilot, calculating and checking the center of gravity, C2 and payload checks, battery voltage checks, fuel quantity checks, flight control surface calibration checks, IMU checks, VTOL system checks and pusher engine start and start checks. With these tasks completed, the flight and ground crew can coordinate to complete pre-takeoff checks, including visual clearing of the launch area at the flight control center. A solo crew member equips the launch cancellation control. In the GCS, the flight crew can carry out any radio communication prior to takeoff with the ATC or make announcements through the CTAF. A final decision or not, can be made by the PIC.
[0076] [0076] The vertical launch and the transition to forward flight are performed using the autopilot mode. It involves a series of maneuvers that occur without manual manipulation of controls by the PIC. With a "go" decision, the launch can be commanded by the GCS. During the launch and transition, the ground team can abort the launch for any safety reason.
[0077] [0077] The vertical ascent profile can take the UA to an altitude of approximately 60 feet (18.288 m) AGL. Thereafter, the AU transitions to forward flight under the power of the forward propulsion engine. After the transition from the UA to the forward flight, the PIC in the GCs can verify the integrity of the CNPC link and can join the UA in the CNPC network. The PIC can then activate the flight plan and the UA proceeds to make the pre-programmed route.
[0078] [0078] During the flight phase of the cruise, the vehicle follows the flight plan along the routes to the specific areas of interest and can collect the necessary data. During the flight, the flight crew can communicate with the ATC and other NAS users and can monitor the screens for the position of other air traffic. The weather, AU flight states and health systems, such as engine RPM, fuel level, battery life, GPS signal and C2 link can also be monitored continuously. The AU telemetry position on the mobile map can be used to ensure that the aircraft is executing the flight plan correctly. The PIC can take control at any time to change the flight plan or the AU's course, speed and altitude.
[0079] [0079] The critical procedures for the safe operation of the AU in controlled airspace are procedures designed to allow the BVLOS inspection mission to proceed safely and with minimal impact on manned aircraft operations. For Class B, C and D airspace operations, although the UA is cooperative, it cannot be detected by the FAA radar, given the low cruising altitude. For routes affected by this problem, reporting and slow points can be established at the intersection of the lanes and at the limit of airspace, and at locations between 1.5 (2.778 km) and 3 nautical miles (5.556 km) on both sides of the intersection of roads and approach to any road. They can be specified and named (point Q
[0080] [0080] Operations in classes E and G near airports are similar. The UA PIC can monitor the CTAF and make position reports. Based on voice radio position reports and the movement of air traffic on the air traffic situation awareness screens, the PIC can coordinate with manned air traffic using reporting and delay points. If necessary, the PIC can stay well away from the center line of the track and wait for a manned aircraft to complete an instrument approach or a landing pattern.
[0081] [0081] Note that unplanned waiting or turning maneuvers can cause a -1,500 ft (457.2 m) excursion laterally from the +/- 100 ft (30.48 m) corridor over the rail operator's property. Performing such maneuvers safely requires knowledge of vertical obstructions in the area and on the local terrain. This information can be displayed to the pilot on the GCS mobile map to help raise awareness of the situation. Since the cruising altitude of the AU is -350 feet (106.68 m), the flight path is above most of the unknown vertical obstacles (those less than 200 feet (60.96 m) in height). The pilot must descend or land near or on the track, if lateral maneuvers could cause the risk of impacting an obstruction.
[0082] [0082] When the end of the mission is reached, the LRS ground team can be alerted to prepare the recovery site. As the UA approaches the flight control center, the PIC can switch the C2 link from the CNPC C2 network to the local C2 network. The ground crew can clean and protect the landing area. In coordination with the ground crew, the PIC can then initiate the predefined landing pattern and approach. Upon reaching an altitude of approximately 60 feet (18.28 m) within a specified distance from the landing point, the aircraft can transition to vertical flight and initiate a vertical descent to the landing point. After reaching the landing point and landing, the aircraft can spin its engines, completing the recovery phase.
[0083] [0083] After landing, the ground crew can conduct a post-flight inspection of the AU by procedures using checklists. They can complete records of AU flight time, VTOL and pusher engine operating time, aircraft energy on time, etc. Maintenance records can be in accordance with 14 CFR 91.417. The UAS can be hung and secured. Data can be transferred from onboard storage. In the GCS, the flight crew can record the PIC / SIC flight schedules.
[0084] [0084] Engine start: The autopilot has an engine stop / armature switch for the pusher and V TOL engines. Both are ready to stop at GCS before the flight. A switch located on the side of the fuselage is set to Off and the frame plugs on VTOL engines are removed by the ground crew. The pusher motor starts at the end of pre-flight checks. First, the pusher mechanism is activated. Then, the switch is set to "on". The pusher motor is then started by a member of the ground team using an electric starter. After the pusher engine passes pre-flight checks, the plugs on the VTOL engines are inserted. The VTOL mechanisms are activated in the GCS. At that point, the ground crew can clear the area in the vicinity of the aircraft.
[0085] [0085] Abort launch: The launch phase of the flight can be aborted for any reason. This can be done in the GCS by the PIC or in the launch cancellation control in the LRS. The launch cancellation control is a special device that can be connected to the GCS via the telecommunications network.
[0086] [0086] Lost link plan and geographic fence updates: Flight plans with lost links and airspace (geo-fence) limits can be updated as needed during long-haul flights to ensure that updated information is taken in consideration.
[0087] [0087] Climate: The AU is unable to operate with visible humidity or strong winds, depending on its limitations. Local weather stations, aviation weather forecasts and reports, including weather radars, can be monitored continuously by the flight crew. In the case of unsafe weather conditions, the mission can be aborted and the UA can be landed on or near the roads. The nearest ground team can be dispatched to recover the AU.
[0088] [0088] Pilot in command (PIC): The PIC is responsible for the safe operation of the aircraft. The PIC can ensure that all items on the checklist relating to the operation of the aircraft are followed during normal, abnormal and emergency situations. The verification of the GCS and all phases of the flight, from "engine start" to "Shutdown", may be the pilot's responsibility. It may be the final authority of the PIC regarding a decision to go, not to go and any decisions related to flight safety. This includes decisions and actions related to the AU maneuver to avoid air traffic based on the information displayed in the air traffic situation awareness system.
[0089] [0089] Second in command (SIC): The SIC can be responsible for helping the PIC to provide traffic alerts and weather information. The SIC can also make position reports and handle any air-to-air, ATC or emergency communications. The SIC can communicate with the ATC, when appropriate. If necessary, the SIC can also communicate with entities to coordinate the aircraft's positioning and use.
[0090] [0090] PIC and SIC can hold FAA private pilot certificates and 3rd class medical certificates.
[0091] [0091] Ground team A (GCA): The GCA can be responsible for the pre-flight of the physical aircraft and ensure that the logbook items related to the physical components of the aircraft are completed. The GCA can be requested to ensure that any necessary aircraft maintenance is completed before the flight, in accordance with applicable Latitude maintenance manuals. GCA may have the final authority to decide whether the aircraft is worth flying. During launch, it may be the responsibility of GCA to "abort" the aircraft's takeoff if something abnormal or dangerous is observed. During landing, the GCA may be responsible for calling "abort" if necessary. After recovery, the GCA can conduct a full inspection after the flight and document any damage, abnormalities or other problems that have occurred with the aircraft.
[0092] [0092] Ground team B (GCB): The GCB can be responsible for site access and security and can assist the GCA as needed. The GCB can ensure that the launch and recovery area is free of personnel, objects and equipment for departure and boarding. In the event of a malfunction or injury to the GCA, the GCB may be responsible for disabling the engine ignition key while the GCA is starting the engine. After launch and recovery, it may be the GCB's responsibility to ensure that all equipment belonging to the operation is collected and cleaned from the site.
[0093] [0093] The ground team can launch and recover the AU at night. As such, they can be trained to recognize and overcome visual illusions caused by darkness and to understand the physiological conditions that can degrade night vision.
[0094] [0094] The ground team can hold FAA A&P Mechanics certificates.
[0095] [0095] A specific training program at UAS can be conducted under the direction of a qualified instructor. Ground instruction can be provided for flight crews in the operation of all systems required for BVLOS operations - UA autopilot interface, C2 network control and network control interface, traffic situation recognition software interface aviation and aviation radio software interface. Through ground instruction, both the flight crew and the ground crew can be trained in pre-flight operations, preventive maintenance and AU launch and recovery operations. Through flight instruction, flight crews can gain proficiency in normal and emergency procedures.
[0096] [0096] Personnel may not perform flight tasks in a position for which a documented training program has not been completed. Recurrent training may include a combination of ground and flight training.
[0097] [0097] Lost voice communications: Voice communication between crew members is important for safety. The PIC and SIC can occupy the GCS and can communicate directly with each other. The PIC and SIC can have voice communication with the ground team members at the remote launch / recovery site via VoIP (Voice over Internet Protocol) and IP camera equipment. If voice communications cannot be established or maintained, the operation may be postponed until communications are established.
[0098] [0098] Voice communication is an important mitigation of operational security for BVLOS operations. The UA cannot enter Class B, C or D airspace, nor can it be initiated from Class B, C or D airspace without bidirectional voice communication with the ATC. A loss of voice communication with the ATC in Class B, C or D controlled airspace can result in an immediate recovery of the AU VTOL on the property at the current location. The UA cannot enter Class E airspace, nor can it be initiated from Class E airspace, without bidirectional voice communication by the local CTAF. The AU cannot fly within two miles of approach to any airport without bidirectional voice communication by CTAF.
[0099] [0099] Link lost: If there is a loss of link C2, the warnings will appear on the GCS and will be accompanied by repeated audio warnings. This is triggered based on a timeout defined by the PIC and is normally 30 seconds. The autopilot handles a missing link event with a set of parameters that the PIC defines for the specified flight mission, including a flight timer that defines the maximum amount of time the aircraft can fly. The flight timer is usually based on the amount of fuel loaded or the requirements of the mission. A safe lost link location (latitude, longitude, altitude) is also defined, where the aircraft can fly through a prescribed set of path points called "Flight plan for the lost link". Once at the missing link location, the aircraft can fly in an orbit within a defined orbit radius. This location can be within the limits of the flight area and away from people or structures. In most situations, you can be above or immediately beside the railroad tracks. Attempts can be made to reestablish communications with the aircraft. If that does not work, several flight termination techniques can be used.
[00100] [00100] If the missing link occurs during launch, the aircraft can continue with its take-off plan and follow the procedure of the lost link. During the ascent, cruise and descent, this aircraft can follow the lost link procedure. During landing, the aircraft can continue to follow the pre-programmed landing plan. If the flight time expires (timer duration defined by the PIC before operations), the aircraft can proceed to a pre-programmed automatic landing path point. The aircraft can perform a VTOL landing at the automatic landing path point.
[00101] [00101] Lost GPS: In the event of a GPS failure, the aircraft reverts to an inertial navigation system (ENS). Attitude and direction are maintained. The position is determined using a magnetometer. The aircraft's position estimate is propagated, therefore, the aircraft's position may derive with error in heading measurement and wind estimate. If the loss of GPS is transient, the autopilot can return to GPS guidance when retrieving a GPS signal. If the loss of GPS is sustained, the flight may be terminated. Flying away: The limits of airspace, or geographic fences, can be established. For any situation where the autopilot is still on board the aircraft, but the aircraft is running away from the planned course and is not responding to commands to return to the course (probably the result of human error in flight planning, human error in communication flight plan), etc.), termination of the flight for violation of the airspace limit may lead to a VTOL landing 20 meters from the limit.
[00102] [00102] Aircraft system failure: A serious system failure in the AU is likely to result in a controlled or uncontrolled aircraft accident. A failure of the VTOL engine can usually result in an uncontrolled landing. A failure of the forward flight engine can result in a forced and controlled landing, as the HQ system has the ability to automatically transition to the hovering flight and land in the event of a pusher engine failure. The failure of a single flight control can result in a controlled and forced landing. Failure of several flight controls can likely result in an uncontrolled landing.
[00103] [00103] GCS failure: In the event of a GCS failure, the aircraft can continue with its scheduled flight plan. However, the loss of the functionality of the control station can eventually result in the loss of the command and control link. The aircraft can perform its loss link procedure until communications can be re-established.
[00104] [00104] Flight termination: The flight termination mode can be entered based on any of the following criteria: GPS failure (timeout); GPS and C2 Link (timeout); violation of airspace (based on the boundaries of the geographical fence); minimum / maximum altitude violation (limits to prevent excursions above 400 feet (121.92 meters) AGL);
[00105] [00105] In addition to the list of criteria above, the intentional flight termination PIC can be performed at any time. Upon entering flight termination mode, the aircraft can automatically perform an emergency recovery from the VTOL.
[00106] [00106] Any incident, accident or flight operation that exceeds the lateral or vertical limits of a flight area or any airspace or restricted warning area, as defined by the applicable AOC, must be reported to the UAS integration office. Accidents and incidents must be reported to the National Transport Safety Council (NTSB), in accordance with section 49 CFR 830.5, in accordance with the instructions contained on the NTSB website.
[00107] [00107] Quarterly post-action reports can document future operations and planned activities, as well as lessons learned from flight activities, including, but not limited to, anomalies found and effects on airspace and other users (if any) . This information can be provided to the FAA in support of future regulation.
[00108] [00108] To summarize, the following conditions apply to the BVLOS aerial inspection operation: (1) only VMC day and night; (2) launch and recovery: Only privately owned and not airports; (3) flight route: cruising at and below 400 feet (121.92 m) above ground level (AGL), typically 350 feet (106.68 m) AGL; directly over privately owned properties (within a lateral limit of +/- 100 feet (30.48 m) from the center line of the main road); In airspace of classes B, C, D, E and G, but not in airport properties; In remote, rural, suburban and urban areas; delimited by "geofence"; (4) UAS: hybrid configuration of fixed wing, capable of takeoff and vertical landing (VTOL); 15 hours of resistance, 750 NM range (1389 KM); operational history of + 475 hours and continuation of an experimental category airworthiness certificate (SAC-EC); uses DoD pedigree autopilot, + 250,000 hours and continuing; equipped with S mode transponder and ADS-B output (TSO unit can be used, if available); equipped with strobe and position lights, high visibility paint scheme; the flight termination mode is the vertical emergency landing; (5) 91,113: air traffic situation awareness system with the fusion of FAA SBS power and local sensors, moving map screen of targets similar to other traffic display systems; (6) Bidirectional voice communications: allows coordination between pilots and with ATC.
[00109] [00109] The following risks may result from this operation: UAS has a collision close to mid-air (NMAC) with manned aircraft; and UAS affects a person on the ground.
[00110] [00110] The risk for people not participating on the ground exists when a loss of control of the aircraft leads to a landing beyond the property. This is mitigated by procedures, improved visibility (so people on the ground can see an object approaching them) and several UAS security features, including the geographic fence and flight termination mode, which is designed to perform a vertical emergency landing on private properties (railways) under various circumstances.
[00111] [00111] The risk of collision with manned aircraft exists inherently in the National Airspace System. For this assessment, a conservative approach can be adopted. The risk of close collision in mid-air (NMAC) can be addressed instead of the risk of collision in mid-air (MAC). This NMAC risk increases if the AU makes an excursion from the planned flight route and cruise altitude, or if a manned aircraft is found unexpectedly (not detected by the air traffic situation awareness system, does not respond to the request coordination via bidirectional voice communication, maneuvers in an irregular or unpredictable manner, making the AU less maneuverable unable to avoid). These situations are mitigated when flying at 400 feet (121.92 m) AGL where there is less density of air traffic. Other mitigations include the air traffic situation awareness system, presentation of NOTAMs (and notification and coordination with DoD and other NAS users) and visibility improvements (so that pilots of manned aircraft can see the AU in flight).
[00112] [00112] The safety attenuations used in these BVLOS operations and the model used to assess the impact of attenuation failures to avoid hazards are described below.
[00113] [00113] For this risk assessment, a fundamental assumption is that each individual safety mitigation is 100% effective in preventing a hazard in normal operations. If none of these mitigations fails, there is no risk. This is a simplifying assumption, used to avoid more complicated modeling of the relative effectiveness of mitigations and their possible interactions.
[00114] [00114] CONOPS and crew effectiveness: BVLOS CONOPS and crew training were developed by experienced aviation professionals and their effectiveness continues to be assessed under an R&D flight test program. For this risk assessment, it is assumed that the effectiveness of the outlook behind these operations and the highly trained human beings who can execute these plans are not able to avoid a risk 5% of the time in all airspace classes.
[00115] [00115] Bidirectional voice communication: voice communication is an important mitigation of operational security for BVLOS operations. This allows aircraft pilots to coordinate their activities, even if they do not have eye contact with each other. However, human error is inevitable. As shown in Table 5, it is assumed that this mitigation can fail at a rate of 25% in all classes of airspace. It is also assumed that this mitigation has no effect on the risk of UAS impacting a person on the ground. Dropping debris due to a collision in the air is not considered.
[00116] [00116] Air traffic situation awareness system: The ability to "see and avoid" other air traffic in accordance with 14 CFR 91.1 13 is critical. The air traffic situation awareness system is not a certified ground detection and prevention system (GBDSAA). It can monitor and display the position and tracking of cooperative and non-cooperative air traffic. This allows the AU pilot to avoid manned air traffic nearby. This capability is important in uncontrolled airspace. The rates in Table 5 are estimated under the premise that this system is more likely to fail to prevent NMAC in environments where there is more likely to be low-altitude, uncooperative air traffic. Failure rates range from 5% in class B, C and D airspace to 20% in class E and class G airspace. It is assumed that this mitigation has no effect on the risk of hitting a person on the ground.
[00117] [00117] UAS Mode S transponder with ADS-B: This equipment makes the UA a cooperative aircraft and (together with two-way radio communication) allows UAS to enter class B and C airspace according to existing regulations. The rates in Table 5 are estimated under the premise that this system is more likely to fail to prevent NMAC in environments where there is more likely to be low-altitude, uncooperative air traffic. Failure rates range from 1% in class B and class C airspace and 10% in class D airspace to 20% in class E and class G airspace. It is assumed that this mitigation has no effect on the risk of hitting a person on the ground.
[00118] [00118] Airport waiting points: procedures have been established to increase security in locations close to airports. These procedures require the AU to retain / wait at locations away from the center line of the extended track and the approach path for the lanes when manned air traffic is standard or in an instrument approach. These locations are designed and known to be free from vertical obstructions. The rates in Table 5 are estimated under the premise that this system is more likely to fail to prevent NMAC in environments where there is more likely to be low-altitude, uncooperative air traffic. Failure rates range from 10% in class B, class C and class D airspace to 20% in class E and class G airspace. It is assumed that this mitigation has no effect on the risk of hitting a person in the ground. Dropping debris due to a collision in the air is not considered.
[00119] [00119] Procedures specific to the airspace class: procedures have been developed for operations in various classes of airspace. This includes detention / waiting points before entering / leaving controlled airspace and the use of emergency procedures and flight plans with missing links, adapted to specific locations to avoid the population on the ground, vertical obstructions and airport ownership. Failure rates in Table 5 range from 5% in class B and class C to 10% in class D, class E and class G airspace. It is assumed that this mitigation has no effect on the risk of hitting a person on the ground . Dropping debris due to a collision in the air is not considered.
[00120] [00120] Pre-flight checklists: Properly performing pre-flight checks ensures that the system is operating normally, as designed. A fully functioning system is likely to be effective in preventing an NMAC and preventing injuries to people on the ground. As shown in Table 5, it is estimated that this mitigation may fail to prevent an NMAC and the impact of people on the ground at a rate of 25% in all classes of airspace. Again, this is analogous to assuming that the pilot community is made up of C students, which is conservative.
[00121] [00121] Strobe light and high visibility ink: UAS is smaller than a manned aircraft. Strobe lights, high-visibility paint, and high-position lights increase the likelihood that UAS can be seen by other airmen and people on the ground, especially at night. For this risk assessment, it is assumed that, if the AU visibility improvements fail, NMAC would not be prevented at a rate of 10% and the impact of people on the ground would not be prevented at a rate of 90%. This implies that people on the ground are more likely to see the lighting and painting scheme and act than pilots on manned aircraft.
[00122] [00122] NOTAM: A notice to aviators informs other NAS users about AU flight activity. This is more likely to avoid an NMAC if the NOTAM is issued in a timely manner and is read and interpreted correctly by other NAS users. For this risk assessment, it is assumed that failure to issue, read, understand and properly comply with or use the information in a NOTAM is subject to human error and, therefore, may fail to prevent a risk 25% of the time.
[00123] [00123] Table 5 below lists the security mitigations presented above with estimates of the likelihood that a failure in this mitigation will fail to prevent a dangerous outcome.
[00124] [00124] System failures that lead to a loss of control causing the AU to deviate from the planned course are more likely to result in the risks listed above. These failures and events were developed using knowledge of UAS subsystems, how they fail and what happens when they fail. The failure conditions are listed below, along with the deviation resulting from the planned course on private property.
[00125] [00125] For this risk assessment, two main assumptions about system failures are: A single system failure has a 0.01 (1%) chance; multiple failures have a 0.0001 (0.01%) chance. Failure rates are hourly.
[00126] [00126] Flying away: For any situation where the autopilot is still on board the aircraft, but the aircraft is running away from the planned course and is not responding to commands to return to the course (probably the result of a human error in planning flight, a human error in the lost communication flight plan), etc.), the termination of the flight due to breach of the airspace limit may lead to a VTOL landing 20 meters from the limit. The maximum deviation is 166 feet (50.5968 m).
[00127] [00127] Ground control system (GCS) failure: in the event of a failure in the GCS, the aircraft may continue on its scheduled flight plan. However, the loss of the functionality of the control station can eventually result in the loss of the command and control link. The aircraft may perform its loss procedure which may result in a controlled landing on the properties of the railway operator. For example, a landing zone is 66 feet (20.1168 m) in diameter, which is inside the
[00128] [00128] Lost GPS: In the event of a GPS failure, the aircraft reverts to an inertial navigation system (INS). Attitude and direction are maintained. The position is determined using a magnetometer. The aircraft's position estimate is propagated, therefore, the aircraft's position may derive with error in heading measurement and wind estimate. If the loss of GPS is transient, the autopilot can return to GPS guidance when retrieving a GPS signal. If the loss of GPS is sustained, flight termination can be performed and the deviation is 66 feet (20.1168 m).
[00129] [00129] Link lost: If there is a loss of the command and control link (C2), the warnings will appear on the GCS and will be accompanied by repeated audio warnings. This is triggered based on a time limit set by the pilot and is usually 30 seconds. The autopilot handles a missing link event with a set of parameters that the pilot sets for the specified flight mission, including a flight timer that defines the maximum amount of time the aircraft can fly. The flight timer is usually based on the amount of fuel loaded or the requirements of the mission. A safe lost link location (latitude, longitude, altitude) is also defined, where the aircraft can fly through a prescribed set of path points called "Flight plan for the lost link". Once at the missing link location, the aircraft can fly in an orbit within a defined orbit radius until the flight timer expires. If the missing link occurs during launch, the aircraft can continue with its take-off plan and follow the missing link procedure. During the ascent, cruise and descent, this aircraft can follow the lost link procedure. During landing, the aircraft can continue to follow the pre-programmed landing plan. If the flight time expires (timer duration defined by the PIC before operations), the aircraft can proceed to a pre-programmed automatic landing path point. The aircraft can then make a VTOL landing. The landing zone is 66 feet (20.1168 m) in diameter and is within the privately owned +/- 100 feet (30.48 m) corridor.
[00130] [00130] Lost voice communication: voice communication is an important mitigation of operational security for BVLOS operations. The UA cannot enter class D or C airspace, nor can it be initiated from class D or C airspace without bidirectional voice communication with ATC. A loss of voice communication with the ATC in Class D or C controlled airspace can result in an immediate recovery of the AU VTOL on the property at the current location. The UA cannot enter Class E airspace, nor can it be initiated from Class E airspace, without bidirectional voice communication by the local CTAF. The AU cannot fly within two miles (3.2 km) of approach to any airport without bidirectional voice communication by CTAF. The landing zone is 66 feet (20.1168 m) in diameter and is within the privately owned +/- 100 feet (30.48 m) corridor.
[00131] [00131] Failure in the distribution of the electricity system: There is only one electricity distribution system, unlike larger transport aircraft that have redundant electricity distribution systems. Battery backup excludes some scenarios of power loss. Connector and cable problems that can lead to loss of power distribution must be identified prior to flight through pre-flight inspections and regular maintenance. A total loss of electrical power can cause autopilot failure and kill the pusher engine ignition. Without power from the flight engine forward and without the ability to receive control inputs, the aircraft, which is statically stable, can slide along a trajectory dictated by the last positions of the control surface before the failure. In the worst case, at a gliding ratio of approximately 8: 1, the aircraft would continue to fly forward for approximately 3200 linear feet (975.36 m) and then impact the ground.
[00132] [00132] On-board computer failure: there is only one flight / autopilot computer. If this computer fails, the forward flight mechanism will be automatically turned off by what is called a deadman circuit on the power distribution panel. This is a safety feature of the autopilot connected to the flight engine's forward ignition. If the deadman circuit loses a hardware signal from the autopilot, the engine is killed. Without power from the flight engine forward and without the ability to receive control inputs, the aircraft, which is statically stable, can slide along a trajectory dictated by the last positions of the control surface before the failure. In the worst case, at a gliding rate of approximately 8: 1, the aircraft would continue to fly forward for approximately 3200 linear feet (975.36 m) and then impact the ground.
[00133] [00133] The assumption for this failure scenario is that the on-board computer experiences a "serious" failure, where no autopilot function is available. Note that stopping the engine prevents a true flight away condition.
[00134] [00134] A worst case scenario is one where some combination of function functions on the flight computer fails in a way that allows the UA to fly in a controlled manner without responding to the pilot's commands. Here, the AU could fly until the fuel ran out. The AU has a range of at least 450 NM (27,337,750 feet) (833.4 km). The autopilot developers are unaware of any occurrence of this failure in the unit's operational history.
[00135] [00135] IMU sensor failure: The aircraft has only one IMU and no redundant sensors (gyros, accelerometers). A failure that provides incorrect data is likely to result in uncontrolled flight. Emergency landing of the VTOL may not be possible. The status of the system is monitored during the flight. If a sensor failure leads to erratic flight behavior, the pilot may initiate the flight termination leading to a forced landing on or near the property, although results may vary depending on the sensor failure. For this fault, the deviation is assumed to be 600 feet (182.88 m).
[00136] [00136] Air data system failure: loss of the air data system can result in inaccurate altitude and air speed readings. Although the aircraft can ascend or descend (depending on the failure), it can still remain on its flight path. The aircraft may experience an aerodynamic stop due to an erroneously high airspeed reading. In that case, the aircraft may stop and fall close to its current location. The alternative is for the air speed to be erroneously low and the aircraft to dive for speed, colliding with the ground. In both cases, side navigation is maintained. Loss of air data for an extended period can result in an uncontrolled aircraft.
[00137] [00137] There is a pre-flight check to confirm the function of the airspeed sensor to ensure the availability of this system. The status of the air data system is monitored during the flight. If an air data system anomaly is quickly identified during the flight, the aircraft may be landed on the rail operator's property. The landing zone is 66 feet (20.1168 m) in diameter and is within the privately owned +/- 100 feet (30.48 m) corridor.
[00138] [00138] Failure in the air traffic situation recognition system: loss of SBS data supply and / or loss of the local sensor network or local sensor failure that corrupts the data fusion function can lead to inaccurate display of traffic that could result in a collision in the air. The flight crew can monitor the health of the system. This includes the monitoring of system indicators, the progression of cooperative and non-cooperative target pathways and time synchronization with the system server. If an anomaly is quickly identified during the flight, the aircraft can be landed on the property. The landing zone is 66 feet (20.1168 m) in diameter and is within the privately owned +/- 100 feet (30.48 m) corridor.
[00139] [00139] Propulsion failure: a failure in the propulsion system with the autopilot still working allows the pilot to control the landing. When rotating with a 20 degree tilt angle, the UA can descend with a 665 foot (202.692 m) turning radius.
[00140] [00140] Table 6 below summarizes the amount of deviation from the flight path corridor most likely to occur if a single fault occurs (the diagonal of the table) and if two faults occur. This information can be used to develop the probabilities in Table 7 below, which can be used in Section 6 to determine the risk of UAS impacting / hitting people on the ground.
[00141] [00141] Using the information developed above, the occurrence rate of three different magnitudes of diversion incidents is estimated. The first is a 166-foot deviation (50.5968 m), the second is a 3200-foot deviation (975.36 m) and the third is a longer deviation, in which the UAS is considered dishonest or uncontrolled (flying scenario away). Any deviation less than 100 feet (30.48 m) from the course is considered a normal part of UAS operations.
[00142] [00142] Table 7 shows the percentages for the occurrences of different deviations based on this analysis. Note that the most likely occurrence, in total, is up to 3200 feet (975.36 m), but greater than 166 feet (30.48 m). However, under a single failure, UAS is more likely to not deviate. Table 7. Percentage of deviation events based on the reliability analysis Percentage Percentage Percentage of occurrence of occurrence of occurrence of occurrence of failure of single total failure multiple Without deviation (<100 feet) 33.3% 72.7% 25, 5% (30.48 m) 100-166 feet (30.48-12.1% 9.1% 12.7% 50.5968 m) 167-3200 feet (50.9016- 53.0% 18.2 % 60.0% 975.36 m)> 3200 feet 1.5% 0% 1.8%
[00143] [00143] As noted above, it is assumed that a single failure has a 0.01 chance and that multiple failures have a 0.0001 chance (ie, 1% and 0.01%, respectively) per flight hour . Thus, combining these premises with the estimates in Table 7, we can estimate the probability of deviation from the prescribed path for the different magnitudes of deviation. They are listed in Table 8. Table 8. Likelihood of deviating from the prescribed path for different magnitudes of deviation Percentage Incident Deviation deviation PDI 100-166 feet (30.48- 9.22 x 10-4 50.5968 m) 167-3200 feet (50.9016- 1.88 x 10-3 975.36 m)> 3200 feet 1.82 x 10-6 (975.36 m)
[00144] [00144] Based on this analysis, and due to the design of this UAS, shorter deviations are much more likely to occur than greater dishonest deviations. Since the probability of an unauthorized bypass failure is magnitudes below that of the other two, it is ignored for the time being. The probability of occurrence of deviation is, therefore, PDI = 9.22 x 10-4 + 1.88 x 10-3 = 2.80 x 10-3.
[00145] [00145] The following section describes the premises used in the collision analysis close to mid-air, as well as a discussion of methods to calculate the associated risk.
[00146] [00146] The main premises in this analysis are as follows: (1) The density of air traffic is correlated with the airspace class - Class B has the most traffic, then Class C, D, E. Class G has the lowest traffic density. (2) The density of air traffic is less than 400 feet (121.92 m) AGL. (3) Air traffic below 400 feet (121.92 m) is uniformly disrupted within a given airspace class. (4) Deviation incidents are not accounted for in determining the NMAC risk.
[00147] [00147] A collision near mid-air (NMAC), as defined by the AIM (7-6-3), is "an incident associated with the operation of an aircraft in which a collision possibility occurs as a result of the proximity of less than 500 feet (152.4 m) to another aircraft, or a report is received from a pilot or flight crew member, stating that there was a risk of collision between two or more aircraft. "
[00148] [00148] For this risk assessment, an NMAC volume is modeled as a sphere around the aircraft. An NMAC occurs if the spheres around two aircraft intersect. The NMAC volume for the AU is a sphere with a radius of 500 feet (152.4 m). Since the UA has a wing span of ~ 15 feet (4,572 m), this sphere encapsulates the UA itself and includes a 500-foot (152.4 m) buffer. The NMAC volume for manned aircraft is a sphere with a radius of 700 feet (213.36 m). As the wing span of commercial aircraft is approximately 200 feet (60.96 m), this encapsulates the largest manned aircraft and also includes the 500 foot buffer
[00149] [00149] For this risk assessment, it is assumed that air traffic is uniformly disrupted within a given airspace class. This allows the calculation of the collision probability using a basic geometric (spatial) model. Under this assumption, airspace is modeled as a collection of grid cells. Within each cell, air traffic is approximated as having a constant density.
[00150] [00150] It is also assumed that, except in the airspace immediately close to the airports, the density of air traffic is lower for altitudes below the altitude of the traffic pattern (~ 800 feet (243.84 m) AGL) and even lower at 400 feet (121.92 m) AGL due to 14 CFR 91.1 19.
[00151] [00151] In reality, there are areas with higher concentrations of aircraft. Aircraft are more likely to follow certain routes (victor airways, IR and VR routes and direct routes between airports). Normally, there is a higher density near airports, particularly those close to more populated areas and those that justify class C and B airspace designations. However, this variation in the environment can only be accounted for with location-specific data, which are not readily available and use more complex modeling.
[00152] [00152] Table 9 provides the estimated frequency of air traffic in different classes of airspace in aircraft units per cubic mile per hour. These values can be used to calculate the risk exposure for collisions near the air in different classes of airspace.
[00153] [00153] Figure 12 illustrates a risk of collision of nearby unmitigated air medium 1200 in accordance with the various modalities of the present disclosure. The unmitigated risk of collision near mid-air modality 1200 shown in Figure 12 is for illustration only. Other modalities of the risk of collision close to unmitigated air could be used without departing from the scope of this disclosure.
[00154] [00154] The frequency of air traffic within a cubic nautical mile (per hour) is applied to a cell of 1 nm (1852 m) by 1 nm (1852 m) by 800 feet (243.84 m). This reduction in area makes air traffic density values conservative. Collisions near mid-air almost occur when one aircraft violates the NMAC volume of the other. To estimate this probability, a Monte Carlo simulation was performed, in which one billion pairs of random points were selected within an airspace cell, as shown in Figure 12. The rate at which the distance between these pairs of points was less than 700 feet
[00155] [00155] It should be noted that this is a very conservative estimate. It is assumed that an NMAC event can occur in all instances below 1,200 feet (365.76 m) (less than 500 feet (152.4 m) is due to a double NMAC event). However, in reality, aircraft positions follow trajectories, so any value below 1,200 feet (365.76 m) would have already triggered an NMAC event for the manned aircraft. This is an artifact from the Monte Carlo simulation.
[00156] [00156] Again, a fundamental assumption of this risk assessment is that the security mitigations employed for these operations are completely effective. If neither fails, an NMAC does not occur. A worst case scenario is one in which all possible failures in the mitigation system occur according to the assumptions in Table 5. Table 10 below presents the probability of NMAC for different classifications of airspace using the exposure values and assumptions. above. Table 10. Probability of NMAC for airspace classifications Airspace class PNMAC Class B 3.81 x 10-9 Class C 2.29 x 10-9 Class D 2.29 x 10-8 Class E 3.05 x 10 -7
[00157] [00157] Figure 13 illustrates an exemplary 1300 pedestrian risk zone according to the various modalities of this disclosure. The 1300 pedestrian hazard zone mode shown in Figure 13 is for illustration only. Other modalities of the pedestrian risk zone can be used without departing from the scope of this disclosure.
[00158] [00158] The following section describes the premises used in the analysis of impacting people on the ground, as well as a discussion of methods for calculating the associated risk.
[00159] [00159] The main premises in this analysis are as follows: (1) all people on the ground are unprotected. (2) The terrestrial population is correlated with the airspace class - Class B is in metropolitan areas, Class C is in urban areas, Class D in suburban areas, Classes E and G in rural areas . (3) The terrestrial population is uniformly disturbed within a given airspace class. (4) Anyone on the railroad tracks is an active participant in the operation. Attackers are not treated as a special case - they are involved in illegal activities and have accepted associated risks. (5) It is assumed that humans at crossings are not sheltered and are accounted for in the uniform distribution of population density. This is conservative. (6) Deviation incidents are accounted for in determining risks to people on the ground.
[00160] [00160] For this risk assessment, it is assumed that the population is uniformly disturbed within a given airspace class. This allows the calculation of the collision probability using a basic geometric (spatial) model. Given the flight path of the UAS operation, a ground risk zone is modeled on both sides of the trajectory, as shown in Figure 13. The length of each zone segment is 1 mile (1.6 km) and the width is determined by the UAS sliding features. In certain modalities, the AU can slide 3,200 feet (975.36 m) from an initial altitude of 400 feet (121.92 m) AGL. The geometric risk of a pedestrian per mile is the proportion of the area of a typical human being to the area of the segment in question. For the calculation, it is assumed that the area of a human being (as seen from above) is 2.25 square feet (0.2090318 m²). The resulting geometric risk value is 6.66 x 10-8 per segment.
[00161] [00161] Given a flight path, population densities along the route can be estimated in the area directly adjacent to the path. For this risk assessment, the population density associated with different classes of airspace was estimated based on exemplary census data for representative areas. Table 11 lists these population estimates. Table 11. Population assumed by segment by airspace classification Airspace class Population by segment Class B 10000 Class C 1000 Class D 100 Class E 10 Class G 1
[00162] [00162] Considering the worst scenario in which all mitigation systems fail, the calculated probability of reaching a human for different classes of airspace with assumed populations by segment, for the assumed population values, is shown in Table 12. These values they are the population density of a segment applied to geometric risk and reflect the magnitude of the unmitigated risk of reaching a human. A more accurate analysis would use parts of the census block data (or data from another source, such as a land scan) collected along a specific flight path. Table 12. Geometric risk for people on the ground for airspace classifications Unmitigated risks for Pedestrian airspace class Class B 6.66 x 10-4 Class C 6.66 x 10-5 Class D 6.66 x 10-6 Class E 6.66 x 10-7 Class G 6.66 x 10-8
[00163] [00163] A fundamental assumption of this risk assessment is that the security mitigations employed for these operations are completely effective. If neither fails, an NMAC will not occur. A worst-case scenario is one in which all possible failures in the mitigation system occur according to the assumptions in Table 5. Table 13 below shows the probability of hitting a person on the ground for different classifications of airspace using the values and top assumptions. Table 13. Mitigated Risk for People on Land by Airspace Classification
[00164] [00164] It is assumed that the probability of hitting a human on the ground also depends on an incident. UAS cannot reach a non-participating human being, unless it deviates from its course. Thus, methods to assess the reliability of the SAA, in addition to the mitigation systems discussed, must be developed. In general, this is a difficult task, because there is very limited data or there is no data to make an accurate assessment of the reliability of UAS components. As such, estimates must be made.
[00165] [00165] So, now we can calculate PSH = PSH DI PDI> where PDI was defined above in paragraphs [00150] -
[00151] [00151] and present Table 14 to include the probability of a diversion incident. Table 14. Probability of reaching a human being by airspace classification, due to a diversion incident Airspace class PSH Class B 4.19x 10-9 Class C 4.19x 10-10 Class D 4.19x 10-11 E Class 4.19x 10-12 G Class 4.19x 10-13
[00166] [00166] Some estimates suggest that the NMAC inherent risk for the General Aviation VFR flight on the NAS is approximately 1.33 x 10-7 per hour. This risk assessment, which used conservative assumptions, indicates that the proposed BVLOS operation is in the order of the existing risk level and cannot substantially increase the risk in the NAS.
[00167] [00167] Estimates of risk of death when hit by any falling object are approximately 1.44 x 10-9 per hour (3 x 10-6 per year) ². This risk assessment, which used conservative assumptions, indicates that the proposed BVLOS operation may not substantially increase the risk to people on the ground. Table 15 provides a summary of the operational risk analysis. Table 15. Summary of Operational Risk Analysis Probability Probability of NMAC between UAS and UAS Space Class impact human airplanes on manned ground (for (per hour) hour) Class B 3.81 x 10-9 4.19 x 10 -9 Class C 2.29 x 10-9 4.19 x 10-10 Class D 2.29 x 10-8 4.19 x 10-11 Class E 3.05 x 10-7 4.19 x 10-12 Class G 3.81 x 10-7 4.19 x 10-13
[00168] [00168] Figure 14 illustrates an exemplary safe corridor airspace interface (SCA) 1400 according to the various modalities of the present disclosure. The SCA 1400 interface mode shown in Figure 14 is for illustration only. Other modalities of the SCA 1400 interface can be used without departing from the scope of this disclosure.
[00169] [00169] Figures 15A, 15B and 15C illustrate exemplary failed rail conditions 1500, 1501 and 1502 according to the various modalities of the present disclosure. The fault conditions of the 1500, 1501 and 1502 fault conditions shown in Figure 15 are for illustration only. Other modalities of the failed rail conditions 1500, 1501 and 1502 can be used without departing from the scope of this disclosure.
[00170] [00170] Defective condition 1500 is called a broken rail or space between rails. Defective condition 1500 is caused by rapid cooling is an area that separates the track.
[00171] [00171] Defective condition 1501 is called dirty ballast. Defective condition 1501 is caused by the accumulation of mud on the railway connections. Dirty ballast causes erosion of the base of the tracks and moorings. As the ballast draws the train's power from the track, the accumulation of mud causes the ballast to offer less forgiveness to the track. Unforgiveness causes stress to components of the track, such as moorings, and can potentially loosen or get off the track. Inlaid ballast can be determined when the prevalence of new non-traces appears in the image or if the straps are covered.
[00172] [00172] Defective condition 1502 is called curved rail, corrugated rail or misaligned rail. Defective condition 1502 is caused by severe rail movement due to rapid heating. The rail expands an amount due to the heat that causes the rail to be pushed out. The expansion of the tracks causes deviations in the measurements between the tracks.
[00173] [00173] Defective conditions 1500, 1501 and 1502 can be detected by comparing the image with an image of the previous track and also comparing the image with an image or series of images of the track taken previously.
[00174] [00174] All defective conditions 1502 are analyzed for changes in pixel coloring, pixel density and number of pixels between components indicating a distance, etc. A change is identified when one of the changes occurs between successive images on a single flight and also identified when one of the changes occurs in the images on the same track from different UAV flights.
[00175] [00175] Defective conditions can also be detected based on specific measurements. For example, a standard for the rail width is 1435 mm (4 feet 8.5 inches). In this mode, when the image taken shows that the rail deviates from 1435 mm, a fault condition of the curved rail 1502 is detected.
[00176] [00176] In order to avoid false or non-substantial detections, a limit can be assigned for each defective condition 1500, 1501 and 1502. For example, a pattern for a space between successive rails is 14.30 mm. For the purpose of including tolerance, a clearance limit can be 14.50 mm. When a gap is detected below 14.50 mm, the system does not identify a gap.
[00177] [00177] In addition, the system can identify a length of each rail and use it to validate different clearances. For example, a standard rail length is 39 feet (11.8872 m). For that length rail, the system can use the range limit at an interval that would correspond to each track. In the 39-foot (11.8872 m) rail mode, the system could use the clearance limit to compensate for clearance between the tracks, but use a much smaller clearance limit between the tracks. For example, the system would use 5 mm as a clearance limit for a distance from one end of the rail greater than 1 foot (0.3048 m) and use a 15 mm limit for a distance of one end of the rail equal to or less than 1 foot (0.3048 m).
[00178] [00178] The system also determines or fails based on the criticality of the failure. Certain failures can be considered critical or preventive. Critical failures are failures that can potentially disrupt or damage a train or significantly impede the movement of the train. Warning failures are failures that require maintenance, but do not pose a risk of derailment, damage or significant train impediment.
[00179] [00179] Figure 16 illustrates an exemplary concept of 1600 operations in accordance with the various modalities of the present disclosure. The modality of the operations concept 1600 shown in Figure 16 is for illustration only. Other modalities of the concept of operations 1600 can be used without departing from the scope of this disclosure.
[00180] [00180] Different concepts of operations 1600 include, among others, supplementary inspection of tunnel and bridge 1605, continuous overflight of assets 1610, supplementary inspection of track 1615 and complementary flights of track integrity 1620.
[00181] [00181] Figure 17 illustrates an exemplary UAS 1700 ecosystem according to the various modalities of this disclosure. The UAS 1700 ecosystem modality shown in Figure 17 is for illustration only. Other modalities of the UAS 1700 ecosystem can be used without departing from the scope of this disclosure.
[00182] [00182] The UAS ecosystem includes 1705 satellites, 1710 GPS modules, 1715 propeller, 1720 flight control, 1730 motor controller, engine 140, structure 1745, 1750 LED positioning lighting, RC 155 receiver, 1760 remote control, camera support 1765, 1770 camera, 1775 live image transmission, 1780 virtual reality goggles, 1785 lithium polymer battery, etc.
[00183] [00183] The 1705 satellites allow communication between the UAS and the flight control center.
[00184] [00184] A 1710 GPS module is a device capable of receiving location information from a GPS satellite. The GPS module is used both to track UAS and to follow the programmed flight plan.
[00185] [00185] A 1715 propeller is rotatably coupled to the UAS and supplies the elevator to the UAS. Propellers are used for takeoff and landing purposes. The UAS can include a plurality of propellers.
[00186] [00186] A 1720 flight control includes programming for the flight plan for UAV takeoff and landing. Flight control 1720 is installed in the UAS. Flight control 1720 controls the propellers according to the flight plan.
[00187] [00187] A 1730 motor controller is included in the UAS. The 1730 engine controller controls engine 140 to
[00188] [00188] A 140 engine provides forward thrust to the UAS. The UAS can include more than one engine 140.
[00189] [00189] A UAS 1745 framework provides support and protection for UAS components. The 1745 structure is structured in a way that the UAS can continue to slide after failure of the components or systems of impulse or elevation.
[00190] [00190] The LED positioning lighting 1750 is installed in the UAS. 1750 LED positioning lighting provides UAS indication for other aircraft and identifies the location of the UAS. LED positioning lighting is also beneficial for low visibility environments, such as tunnels, fog, night, etc.
[00191] [00191] An RC 1755 receiver is a wireless receiver built into the UAS. The RC receiver can communicate with towers or other satellites to receive signals. The control center transmits signals to the UAS via the RC 1755 receiver.
[00192] [00192] A 1760 remote controller is installed in the UAS structure 1745 or communicates via the RC receiver
[00193] [00193] The 1765 camera mount is used to mount the 1770 camera. The 1765 camera mount provides support for the 1770 camera. The 1765 camera mount can be attached to the base of the 1745 frame.
[00194] [00194] The 1770 camera is used to capture image and video data on the rail system. More than one camera and different types of cameras can be connected to UAS.
[00195] [00195] The 1770 camera is used to identify railway road networks for monitoring. Railroad images can also be used to regulate the flight plan. In other words, if the images do not confirm the location of the flight plan UAV, the flight plan can be adjusted. The UAV can also send a discrepancy indication to the command center, indicating the difference in the determined location of the flight plan or sensors versus the determined location of the image.
[00196] [00196] The 1770 camera is also used to identify faults in the railway system. The 1770 camera can detect a track obstruction, such as a car stopped or parked on the tracks, garbage or other debris, etc. In fault detection, the 1770 camera can be used to capture images of the rail that are analyzed for broken rails / rail clearances 1500, ballast with inlay 1501, curved rail 1502, etc.
[00197] [00197] The 1775 live image transmission is performed using the 1770 camera and the 1755 RC receiver. The images / frames captured by the 1770 camera can be transmitted, as to the command center. Live image transmission can provide a real-time image or video for the user to better analyze a failure situation.
[00198] [00198] The 1780 virtual reality glasses can be worn by an operator on the ground or at the command center. Virtual reality glasses can display the live image by broadcasting 1775 from the 1770 camera.
[00199] [00199] The 1785 lithium polymer battery is embedded in the UAS 1745 structure. The 1785 battery can be used to power the different components of the UAS.
[00200] [00200] Figures 18 illustrate an example of UAS 1800 system components according to the various modalities of the present disclosure. The modality of the UAS 1800 system components shown in Figure 18 is for illustration only. Other modalities of the components of the UAS 1800 system can be used without departing from the scope of this disclosure.
[00201] [00201] UAS 1800 system components include, but are not limited to, 1805 software, UAS 1810, tracker control module 1815, autopilot 1820, laser altimeter above ground sensor 1825, ground control station mounted 1830 rack, etc.
[00202] [00202] The 1805 software can be installed on the UAS and the command center. The 1805 software can perform any of the functions described in this application.
[00203] [00203] UAS 1810 is the unmanned aerial system. UAS flies over the rail system to monitor the health of the tracks. UAS also monitors the track for obstructions.
[00204] [00204] The 1815 tracker control module tracks the UAS during operation. The 1815 tracker control module can include the flight plan and detect when UAS is preventing the flight plan. The control module of the 1815 tracker can update the flight plan, determine a problem with the UAS itself or indicate an alarm to a user in the command center.
[00205] [00205] The 1820 autopilot controls the UAS 1810. The 1820 autopilot can be installed on the UAS or on the ground and transmit instructions via the RC receiver.
[00206] [00206] The laser altimeter sensor above ground 1825 determines the altitude of the UAS 1810. The laser altimeter 1825 is in communication with the command center.
[00207] [00207] 1830 Rack Mounted Ground Control Station The 1830 Rack Mounted Ground Control Station provides a command center for the UAS 1810. The 1830 control station can control the UAS flight plan and monitor the UAS while executes the flight plan.
[00208] [00208] Figures 19A, 19B and 19C illustrate exemplary UASs 1900, 1905, 1910 according to the various modalities of the present disclosure. The UASs 1900, 1905, 1910 modality shown in Figure 19 is for illustration only. Other UAS modalities could be used without departing from the scope of this disclosure.
[00209] [00209] Figure 20 illustrates an exemplary 2000 optical sensor according to the various modalities of the present disclosure. The optical sensor 2000 mode shown in Figure 20 is for illustration only. Other modalities of the 2000 optical sensor can be used without departing from the scope of this disclosure.
[00210] [00210] Figures 21A and 21B illustrate safety limits UAS 2100 and 2101 exemplary according to the various modalities of the present disclosure. The modality of the UAS 2100 and 2101 safety limits shown in Figures 21A and 21B are for illustration only. Other modalities of UAS security limits can be used without departing from the scope of this disclosure.
[00211] [00211] Figures 22A and 22B illustrate exemplary images of track integrity sensor 2200, 2201 according to the various modalities of the present disclosure. The modality of the images of the track integrity sensor 2200, 2201 shown in Figures 22A and 22B are for illustration only. Other modalities of the track integrity sensor images can be used without departing from the scope of this disclosure.
[00212] [00212] In images 2200 and 2201, UAS is monitoring tracks 2205. UAS inspects each 2210 joint for possible failures.
[00213] [00213] Figures 23A, 23B, 23C and 23D illustrate a potential exemplary 2300 rail head defect according to the various modalities of the present disclosure. The 2300 rail head potential defect modality shown in Figure 23 is for illustration only. Other modalities of the potential rail head defect could be used without departing from the scope of this disclosure.
[00214] [00214] Images 2300, 2305, 2310 and 2315 illustrate a UAS detecting a fault in the rail. In the first image 2300, the UAS system detects a possible failure. The UAS system zooms in on the track to capture the 2305 image. The UAS system repeats the zoom for images 2315 and 2320 until a fault or non-fault condition is identified and confirmed. A non-failure condition is when the rail is determined to not need repair.
[00215] [00215] Figure 24 illustrates an exemplary block diagram of the 2400 control network according to the various modalities of the present disclosure. The 2400 control network mode shown in Figure 24 is for illustration only. Other modalities of the control network can be used without departing from the scope of this disclosure.
[00216] [00216] The 2400 control network includes, but is not limited to, fixed operator location 2405, field operator location 2410, autopilot 2415, UAS 2420, wired network 2425, tower 2430, aviation band radio 2435 , etc. The 2400 control network is used to monitor a rail system for failures or obstructions. Aviation band radio 2435 communicates with another air vehicle
[00217] [00217] A fixed operator location 2405 is a command center permanently located. The fixed operator location 2405 can be wired or wirelessly connected to a 2430 tower for communication with the UAV.
[00218] [00218] The 2410 field operator location is a command center that is temporarily located. In other words, the 2410 field operator location can be remote from the command center and monitor UAS in the field. Field operator location 2405 is wirelessly connected to a 2430 tower for communication with UAS 2420. Field operator location 2410 can also communicate or control UAS directly, without the use of a tower. Field operator location 2410 can also communicate with fixed operator location 2405.
[00219] [00219] A 2415 autopilot, although illustrated as located at the 2410 field operator location, can also be located at the fixed operator location
[00220] [00220] UAS 2420 flies over the rail system, monitoring failures or obstructions. UAS 2420 can also include an autopilot 2415. UAS 2420 can communicate directly with autopilot 2415 (if located at field operator location 2410) or with systems at field operator location 2410 or at towers 2430.
[00221] [00221] UAS 2420 can be programmed to remain in communication with a plurality of towers, for example, at least two towers. This would mean that a transfer to a third tower would be necessary before taking down one of the two connected towers. UAS 2420 (or autopilot 2415, systems at fixed operator location 2410 or field operator location 2405) can determine the number of towers or which towers will be connected based on signal strength, signal quality, etc.
[00222] [00222] The 2425 wired network connects the fixed operator location with the plurality of 2430 towers. The 2430 towers are individually connected to the other towers via the 2425 wired network. Since the 2430 towers are connected to the 2425 wired network, the field operator location 2410 can remain in communication with UAS 2420 after UAS has exceeded the wireless signal range of field operator location 2410.
[00223] [00223] The 2430 tower transmits and receives wireless signals with the UAS, the other 2430 towers and the 2410 field operator location systems. The 2430 towers are also connected to the 2425 wired network for communication with the fixed operator location 2405 and the other 2430 towers.
[00224] [00224] Figure 25 illustrates an exemplary 2500 right of way / air system control network in accordance with the various modalities of this disclosure. The 2500 right of way / air system control network shown in Figure 25 is for illustration only. Other modalities of the right of way / air control network can be used without departing from the scope of this disclosure.
[00225] [00225] The 2500 right of way / air system control network includes, but is not limited to, UAS
[00226] [00226] The long-range deployments of UAS have focused on military operations in military airspace or foreign combat theater, where the rules relating to commercial aviation are not as prevalent. The accuracy of the aircraft's location, the evasion of the terrain, the latency of control and communication / command and the considerations of the aircraft's payload are radically different and, in many cases, are not applicable for commercial use, low altitude, domestic use.
[00227] [00227] In the development of paths / means to continue long-range flight operations, a systems solution was created that had several main characteristics: First, the 2500 control network provides the ability to ingest FAA air traffic data (when available) and merge the data with additional air traffic and obstruction data collected from proprietary geographic information data and additional voice / aviation data receivers mounted at the various tower locations on the right path. Second, navigation assurance for the aircraft and the various data collection sensors - below 500 feet (152.4 m) AGL, the 2500 control network mounted in figure 25 provides mission planners and pilots with navigation assurance which helps to avoid terrain, navigation accuracy, sensor / payload focus and location and altitude accuracy above ground validation. The sum of the parts of the RTK 2545, UAS 2505, PCC 2530, wireless tower transceiver 2550, wireless UAV transceiver 2555, ground control system 2520, primary tower 2510 and secondary tower 2515 provides this insight for remote plans to have perspective of aircraft performance, the environment, flight accuracy, sensor performance and compliance with FAA aviation regulations and our flight requirements. Finally, if an emergency situation or malfunction arises, the sum of the systems will allow the pilot to safely land the plane on the right of way. Third, in addition to the network used to transmit / receive data from the 2550 wireless tower receiver and the UAV 2555 wireless receiver, as well as the 2560 autopilot and 2520 ground control, a 2435 aviation band radio is mounted close to any airport close to 2510 and 2515, which provides the pilot with the ability to communicate with other planes in the vicinity of the airport and therefore avoids low-altitude interactions near rural / towerless airports - a critical security feature and quite unique to this implantation.
[00228] [00228] Figure 26 illustrates an example of a process for inspection of railway assets using an unmanned aerial vehicle in accordance with the various modalities of this disclosure. For example, process 2600 can be performed using UAS.
[00229] [00229] In operation 2605, the system performs the railway view. The railway vision includes image processing locally or remotely to detect obstructions or failures in the railway system. The railway view also includes storing the results locally and transferring the results for archiving to the command center. The system transmits, through a plurality of communication towers, a flight plan including a railway system and a flight path. The rail system can include a plurality of tracks through a geographical location. The flight path is the trajectory of the UAV to monitor the rail system. The flight path may include flying along roads, around bridges, through tunnels, etc. The flight path can start and end at a defined location or at different locations.
[00230] [00230] In operation 2610, the system monitors the railway system for detection of track components and other resources. The system can receive, through the plurality of communication towers, data while the UAV is monitoring the railway system. The UAV can be connected to several towers, with a minimum of two towers. Communication towers can be connected based on signal strength, signal quality, etc. The plurality of communication towers includes an aviation band radio configured to communicate data with other air vehicles.
[00231] [00231] The system can detect interference along the flight path based on the data received. The data received may include data from other sources, such as a local FAA airport, other air vehicles, etc. The received data can be combined with the operator data to decrease the change in collision or interference with the UAV or the general flight plan. The data received may include current air traffic data, obstruction data, geographic data, aviation voice data, weather data, etc.
[00232] [00232] In operation 2615, the system executes group flight routes. The flight routes of the group include a change of course or speed and adjustment to avoid looseness in the image overlap.
[00233] [00233] In operation 2620, the system performs the stitching of the image. Consecutive images are joined together for a complete understanding of the rail system. The stitching of the image also provides adequate alignment for analysis.
[00234] [00234] In operation 2625, the system performs post-processing on the images. The results of the images, including geographic location, time, etc., are collected from the camera and the GPS receiver. The system can detect a failure along the flight path based on the data received. A rolling window logic for defects is used. The scroll window logic is comparing consecutive or successive images for changes in pixel color, pixel density, pixel length between tracks, etc. The system recognizes that the color and pixel density of a rail are different from the color and pixel density of a rail tie, ballast, component of the surrounding environment (for example, rocks, dirt, mud), etc. The system also recognizes distances from common components. For example, the system recognizes the distance between the tracks and the distance between the tracks, etc. In operation 2630, the system performs the generation of reports. The report generation includes navigation in HTML and display in KML. The report can be published in any known format, including PDF, CSV, etc.
[00235] [00235] In operation 2635, the system performs data transfer. The data is stored in local storage at UAS, which is removed or downloaded at one of the operator's fixed locations or at the field operator location.
[00236] [00236] Although Figure 26 illustrates an example of a 2600 process for inspecting railway assets using an unmanned aerial vehicle, several changes can be made to Figure 26. For example, although represented here as a series of steps, the steps of the process can overlap, occur in parallel, occur in a different order, or occur multiple times.
[00237] [00237] Certain modalities of the present disclosure are based on a UAS capable of vertical takeoff and landing. Among other things, UAS includes an autopilot system that interfaces with the system's command and control infrastructure. UAS also processes navigation information generated from geographic information systems and supports several sensors on board that provide location information. In particular, these sensors are capable of transmitting and receiving information with an on-board navigation light (ADSB) and a C-mode or equivalent transponder.
[00238] [00238] UAS modalities have sufficient electric power generation capacity on board to provide reliable power to all other aircraft systems, such as the sensors, communications and control subsystems. In addition, UAS preferably has sufficient liquid fuel capacity to withstand flight durations greater than 8 hours. UAS also has the payload capacity needed to support multiple sensors for information collection, and the communication and control subsystems need to pass that information in real time to a flight operations center. The UAS preferably also includes a means of storing information on board for local storage of the information collected. In addition, the system includes onboard and external subsystems to facilitate emergency maneuvers and landing the UAS in the flight aisle.
[00239] [00239] In general, the on-board sensors take accurate, high-resolution location photos, at least twice a second and ¼ feet (0.0762 meters) or more at operational altitude resolution. Preferably, the sensor system also has integrated local computing capability, its own navigation system and independent communication capability for communication with other onboard subsystems, including autopilot. The sensors can include a photographic sensor, a video camera, a thermal imager and / or a multispectral sensor. In particular, the sensor system includes a real-time daytime and nighttime video camera for pilot awareness, which includes at least some limited real-time protection capabilities.
[00240] [00240] The system also includes software focused on the detection of rails and analysis of right-of-way conditions, which offer advantages in the inspection of linear assets, such as tracks, bridges and the like. Among other things, the system software, both on board and remote, includes machine vision software trained to understand and recognize critical conditions in an area with at least two linear boundaries. The system software is also able to validate normal functional conditions in the linear area.
[00241] [00241] More specifically, the on-board software runs on the UAS on a line between sensors and ground-based communications systems. The on-board software processes the data collected by the sensors, which are loaded into soil-based computer systems, which in turn emit quantitative and qualitative data about what the sensors have seen. The software system processes data in bulk, creates another set of geographically located data, and then creates a third set of data. The system software finally creates several reports associated with the data of interest, creates a geographic location file that allows users to easily map the location of the selected conditions of interest. Preferably, the bulk data remains unprocessed and the recipients receive only usable data that they really need.
[00242] [00242] The system software also includes field information software, which can be used separately from this system or even with several UASs. The field information software incorporates an algorithm that maps the functionality and determines in which order the software should perform operations, which advantageously eliminates human errors. In particular, the field information software receives the media generated by the sensor system, transfers that data to a laptop or other processing system, and then starts the local software. Local software automatically encodes, labels and transfers data to a drive and files and properly transmits that data to those who need it (for example, different departments in an organization). Field information software can be used for any data collected related to a field location. Field information software is preferably based on a networked system, including a server or set of hardware devices. In some modalities, the field information software is executed after the completion of a flight by UAS (that is, it performs post-flight data processing). The data can be distributed among the networked resources, which perform additional analyzes and ensure that the data is properly encoded and stored. This helps maintain a chain of custody and minimizes data errors.
[00243] [00243] Rights of way, corridors and towers are important factors in an aerial railroad inspection system. The present system accesses the 900 MHz channels used for the Automatic Train Control System (ATCS) implemented through the AAR, although this is not a strict requirement for the practice of these principles. Current system hardware and software are optimized to use the low-bandwidth AAR channel in a highly functional way. For systems using the preferred AAR channels, the user typically requires a license, and redundant Ethernet controls, including the appropriate channels to communicate with UAS. These can be implemented with railway telecommunications assets.
[00244] [00244] UAS is preferably a vertical takeoff and landing aircraft and operates (including landings) anywhere along a network of railway assets. Once the UAS is in the air, the pilot commands the autopilot to start the flight. The flight begins and UAS flies according to a route programmed by geographic information systems to a real rail line and follows that line. In other words, when the pilot engages the autopilot, the system software takes over and flies the UAS as close as possible once on the track. The software system also automatically allows the sensors to start taking two photos per second of the road. At the same time, the sensor systems and software control the inclination, yaw and rotation of the UAS, so that the appropriate sensor or sensors remain focused and positioned on the track to ensure the necessary resolution and overlapping images. If the analysis software determines, after the flight, that there was not enough overlap, or if sections of the road were lost due to the occupation of the right of way, the route is quickly resumed and the sensor takes more images.
[00245] [00245] While the autopilot is on and the sensor is taking pictures, the UAS control system uses space-based GPS and, when available, GPS error correction on the ground, to keep the UAS positioned on the line and maintain operational altitude and linear flight path compliance, which ensures sensor resolution and compliance with regulatory requirements regarding flight path height and width.
[00246] [00246] Again, preferably the UAS and the sensor have independent navigation systems. Advantageously, when the UAS and the sensor (s) have independent navigation systems, the computational energy is preserved for critical items assigned to each component. For example, the sensor system may include sensor stabilization software and hardware.
[00247] [00247] Preferably, the UAS transmits its location, speed, altitude and heading through the existing FAA surveillance network (SBS) and also to other UASs equipped to receive these signals. In addition, the railway infrastructure can support supplementation of the FAA SBS system using supplementary ADSB / transponder receivers, radar and other elements along the right path. While the UAS is in flight, its operational condition, location and general health are transmitted to the pilot through the command and control link. During all phases of flight, UAS has access to several command and control transceiver locations, ensuring a level of command and control redundancy.
[00248] [00248] If UAS loses connection with the command and control system, after a period of time determined by the rules of the operator and / or FAA, UAS can start its "lost link profile" and descend automatically and establish itself at the along the railway line. The pilot may be aware of the missing link condition and, based on the latest form of transmission, UAS would notify users in the queue and dispatchers of the aircraft's imminent landing. The secondary communication and navigation systems of the sensors can also assist in locating the UAS.
[00249] [00249] If during the flight there are other critical failures in the systems, UAS will automatically initiate one of several predetermined flight termination procedures, returning to the launch site or other safety location as scheduled. During the course of the flight, the pilot has the option of using a second sensor for real-time images of the line. This secondary sensor can also be used for some condition analysis, but it is mainly for pilot awareness. If during the course of the flight a critical condition is identified, the UAS sensor can use a secondary communication channel not connected to the primary to send an immediate notification to the pilots.
[00250] [00250] At the end of a specified mission, the pilot initiates the landing procedures, the UAS takes advantage of all the mentioned systems to reach the landing site, and performs the landing procedures for vertical landing. The landing procedure includes the activation of an air-to-ground laser, providing UAS with accurate landing information. In the final stages of flight before landing, the pilot uses the UAS command and control system to ensure a safe landing. The UAS has several support systems on board to ensure a safe landing. If something is present on the ground or in the landing area that would prevent a safe landing, the landing cancellation procedure will begin and the alternate landing location will be identified. After a safe landing, the pilot removes the sensor data storage units and connects them to a server. UAS initiates an automated data analysis and delivery process that results in the delivery of customized reports and actionable data sets.
[00251] [00251] Although the invention has been described with reference to specific modalities, these descriptions should not be interpreted in a limiting sense. Various modifications to the disclosed modalities, as well as alternative methods of disclosure, may become apparent to those skilled in the art by reference to the description of the invention. It should be appreciated by those skilled in the art that the conception and specific modality disclosed can be readily used as a basis for modifying or designing other structures to achieve the same objectives as this disclosure. It should also be perceived by experts on the subject that such equivalent constructions do not depart from the spirit and scope of the disclosure, as set out in the attached claims.
[00252] [00252] It is, therefore, contemplated that the claims may cover any modifications or modalities that fall within the true scope of the disclosure.
[00253] [00253] The description in this patent document should not be understood as implying that any particular element, step or function is an essential or critical element that must be included in the scope of the claim. In addition, none of the claims are intended to invoke 35 USC § 112 (f) with respect to any of the attached claims or claim elements, unless the exact words "means for" or "step for" are explicitly used in the specific claim, followed by a participle sentence identifying a function. The use of terms such as (but not limited to) "mechanism", "module", "device", "unit", "component", "element", "member", "device", "machine", "system" , "processor", "processing device" or "controller" within a claim is understood and is intended to refer to structures known to those skilled in the art, as modified or enhanced by the features of the claims themselves, and is not intended to invoke 35 USC § 112 (f).
[00254] [00254] It may be advantageous to establish definitions of certain words and phrases used throughout this patent document. The terms "include" and "comprise", as well as their derivatives, mean inclusion without limitation. The term "or" is inclusive, means and / or. The phrase "associated with", as well as its derivatives, can mean including, being included in, interconnecting, containing, being contained in, connecting with or with, engaging with, communicating with, cooperating with, intercalate, juxtapose, be close to, linked to or with, own, own a property of, have a relationship with or with or similar. The phrase "at least one of", when used with a list of items, means that different combinations of one or more of the items listed can be used and only one item on the list may be needed. For example, "at least one of the following: A, B and C" includes any of the following combinations: A, B, C, A and B, A and C, B and C, and A and B and C.
[00255] [00255] Although this disclosure has described certain modalities and methods generally associated, changes and permutations of these modalities and methods may be evident to those skilled in the art. Therefore, the above description of exemplary modalities does not define or restrict this disclosure. Other changes, substitutions and alterations are also possible without departing from the spirit and scope of this disclosure, as defined by the following claims.

权利要求:
Claims (20)
[1]
1. Aerial system control network for an unmanned aerial vehicle (UAV) for inspection of railway assets, characterized by the fact that it comprises: a plurality of communication towers; and a ground control system connected to the plurality of towers, the ground control system configured to: transmit, through a plurality of communication towers, a flight plan including a rail system and a flight route, receive, through the plurality of communication towers, data while the UAV is monitoring the rail system, detecting interference along the flight path based on the data received, and adjusting the flight plan based on the interference.
[2]
2. Air system control network, according to claim 1, characterized by the fact that the data received includes current air traffic data, obstruction data, geographic information data and aviation voice data.
[3]
3. Air system control network, according to claim 1, characterized by the fact that: the plurality of communication towers includes an aviation band radio configured to communicate data with other air vehicles, and the flight plan is adjusted based on reported data.
[4]
4. Aerial system control network, according to claim 1, characterized by the fact that: the UAV includes at least one camera configured to capture images of the railway system, and the data received includes a plurality of images captured from the at least one camera mounted on the UAV.
[5]
5. Aerial system control network, according to claim 4, characterized by the fact that the ground control system is still configured to: monitor the plurality of images in search of a deviation from the flight plan; adjust the flight plan to maintain the rail system in the plurality of images.
[6]
6. Aerial system control network, according to claim 1, characterized by the fact that the ground control system is still configured to: monitor the plurality of images regarding a defective condition of the railway system.
[7]
7. Aerial system control network, according to claim 6, characterized by the fact that the fault condition is identified from: a difference in a first image and a second image taken in succession along the flight path ; and a difference in the first image and the stored image from a previous flight of the UAV captured at the same location.
[8]
8. Unmanned aerial vehicle system (UAV) to monitor a railway system, characterized by the fact that it comprises: a UAV; and an air system control network comprising: a plurality of communication towers; and a ground control system connected to the plurality of towers, the ground control system configured to: transmit, through the plurality of communication towers, a flight plan including a rail system and a flight route, receive, through the plurality of communication towers, data while the UAV is monitoring the rail system, detecting interference along the flight path based on the data received, and adjusting the flight plan based on the interference.
[9]
9. UAV system, according to claim 8, characterized by the fact that the data received includes current air traffic data, obstruction data, geographic information data and aviation voice data.
[10]
10. UAV system, according to claim 8, characterized by the fact that: the plurality of communication towers includes an aviation band radio configured to communicate data with other air vehicles, and the flight plan is adjusted based on communicated data.
[11]
11. UAV system, according to claim 8, characterized by the fact that: the data received includes a plurality of images captured from at least one camera mounted on the UAV.
[12]
12. UAV system, according to claim 11, characterized by the fact that the ground control system is still configured to: monitor the plurality of images regarding a deviation from the flight plane; adjust the flight plan to maintain the rail system in the plurality of images.
[13]
13. UAV system, according to claim 11, characterized by the fact that the soil control system is still configured to: monitor the plurality of images regarding a defective condition of the railway system.
[14]
14. UAV system, according to claim 13, characterized by the fact that the defective condition is identified from: a difference in a first image and a second image taken in succession along the flight path; and a difference in the first image and the stored image from a previous flight of the UAV captured at the same location.
[15]
15. Method for an aerial system control network of an unmanned aerial vehicle (UAV) for inspection of railway assets, the method characterized by the fact that it comprises: transmitting, through a plurality of communication towers, a flight plan including a rail system and a flight path; receive, through the plurality of communication towers, data while the UAV is monitoring the railway system; detect interference along the flight path based on the data received; and adjust the flight plan based on interference.
[16]
16. Method, according to claim 15, characterized by the fact that the received data includes current air traffic data, obstruction data, geographic information data and aviation voice data.
[17]
17. Method, according to claim 15, characterized by the fact that it also comprises:
communicate, through an aviation band radio in the plurality of communication towers, data with other air vehicles, in which the flight plan is adjusted based on the reported data.
[18]
18. Method, according to claim 15, characterized by the fact that: the data received includes a plurality of images captured from at least one camera mounted on the UAV.
[19]
19. Method, according to claim 18, characterized by the fact that it also comprises: monitoring the plurality of images in search of a deviation from the flight plan; adjust the flight plan to maintain the rail system in the plurality of images.
[20]
20. Method, according to claim 18, characterized by the fact that it also comprises: monitoring the plurality of images regarding a defective condition of the railway system; where the defective condition is identified from: a difference in a first image and a second image taken in succession along the flight path; and a difference in the first image and a stored image from a previous UAV flight captured at the same location.

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同族专利:

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公开号 | 公开日

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CA3071373A1|2019-02-21|

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EP3669342A4|2021-01-13|

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AU2018317851A1|2020-03-12|

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CN110998694A|2020-04-10|

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KR20200035991A|2020-04-06|

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WO2019035960A1|2019-02-21|

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US20190054937A1|2019-02-21|

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EP3669342A1|2020-06-24|

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JP2020531349A|2020-11-05|

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法律状态:
2021-11-23| B350| Update of information on the portal [chapter 15.35 patent gazette]|

优先权:

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申请号 | 申请日 | 专利标题

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US201762545946P| true| 2017-08-15|2017-08-15|

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US62/545,946|2017-08-15|

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US201762548636P| true| 2017-08-22|2017-08-22|

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US62/548,636|2017-08-22|

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US16/103,643|2018-08-14|

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US16/103,643|US20190054937A1|2017-08-15|2018-08-14|Unmanned aerial vehicle system for inspecting railroad assets|

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PCT/US2018/000235|WO2019035960A1|2017-08-15|2018-08-15|An unmanned aerial vehicle system for inspecting railroad assets|

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