FIELD OF THE INVENTION

The present invention generally relates to emulation of agnostic control of position, course or altitude of land, water, air, or space vehicles, and particularly to the remotely controlled unmanned aerial vehicles and their coordination via a central field-programmable gate array (FPGA).

BACKGROUND OF THE INVENTION

[2] The claims, description, and drawings of this application may describe one or more of the instant technologies in operational/functional language, for example as a set of operations to be performed by a computer. Such operational/functional description in most instances would be understood by one skilled the art as specifically-configured hardware (e.g., because a general purpose computer in effect becomes a special purpose computer once it is programmed to perform particular functions pursuant to instructions from program software).

[3] Importantly, although the operational/functional descriptions described herein are understandable by the human mind, they are not abstract ideas of the operations/functions divorced from computational implementation of those operations/functions. Rather, the operations/functions represent a specification for the massively complex computational machines or other means. As discussed in detail below, the operational/functional language must be read in its proper technological context, i.e., as concrete specifications for physical implementations.

[4] The logical operations/functions described herein are a distillation of machine specifications or other physical mechanisms specified by the operations/functions such that the otherwise inscrutable machine specifications may be comprehensible to the human mind. The distillation also allows one of skill in the art to adapt the operational/functional description of the technology across many different specific vendors' hardware configurations or platforms, without being limited to specific vendors' hardware configurations or platforms. [5] Some of the present technical description (e.g., detailed description, drawings, claims, etc.) may be set forth in terms of logical operations/functions. As described in more detail in the following paragraphs, these logical operations/functions are not representations of abstract ideas, but rather representative of static or sequenced specifications of various hardware elements. Differently stated, unless context dictates otherwise, the logical operations/functions will be understood by those of skill in the art to be representative of static or sequenced specifications of various hardware elements. This is true because tools available to one of skill in the art to implement technical disclosures set forth in operational/functional formats - tools in the form of a high-level programming language (e.g., C, java, visual basic, etc.), or tools in the form of Very high speed Hardware Description Language ("VHDL," which is a language that uses text to describe logic circuits) - are generators of static or sequenced specifications of various hardware configurations. This fact is sometimes obscured by the broad term "software," but, as shown by the following explanation, those skilled in the art understand that what is termed "software" is a shorthand for a massively complex interchaining/specification of ordered-matter elements. The term "ordered-matter elements" may refer to physical components of computation, such as assemblies of electronic logic gates, molecular computing logic constituents, quantum computing mechanisms, etc.

[6] As outlined above, the reason for the use of functional/operational technical descriptions is at least twofold. First, the use of functional/operational technical descriptions allows near- infinitely complex machines and machine operations arising from interchained hardware elements to be described in a manner that the human mind can process (e.g., by mimicking natural language and logical narrative flow). Second, the use of functional/operational technical descriptions assists the person of skill in the art in understanding the described subject matter by providing a description that is more or less independent of any specific vendor's piece(s) of hardware.

[7] An unmanned aerial vehicle (UAV), commonly known as a drone and referred to as a Remotely Piloted Aircraft (RPA) by the International Civil Aviation Organization (ICAO), is an aircraft without a human pilot aboard. Its flight is controlled either autonomously by onboard computers or by the remote control of a pilot on the ground or in another vehicle. The typical launch and recovery method of an unmanned aircraft is by the function of an automatic system or an external operator on the ground. Historically, UAVs were simple remotely piloted aircraft, but autonomous control is increasingly being employed. A UAV is capable of controlled, sustained level flight and is powered by a jet, reciprocating, or electric engine.

[8] After many years of growth and innovation mainly in military segment, the global UAV industry is now going through a challenging period, with possible increasing of market dynamics towards wider use of UAVs for commercial and civil purposes. Tens of thousands of users have flown radio-controlled aircrafts for many years, in the past. But drones of commercial value are the result of recent advances in microprocessors, GPS, sensors, batteries, motors, lightweight structural materials, and advanced manufacturing techniques.

[9] Different technological applications to control UAVs in different environments are known in the art. U.S. Patent No. 7725257, Method and system for navigation of an unmanned aerial vehicle in an urban environment, by Honeywell International Inc., discloses a method and system for navigation of an unmanned aerial vehicle (UAV) in an urban environment. The method comprises capturing a first set of Global Positioning System (GPS)-tagged images in an initial fly-over of the urban environment at a first altitude, with each of the GPS-tagged images being related to respective GPS-aided positions. The captured GPS-tagged images are stitched together into an image mosaic using the GPS-aided positions. A second set of images is captured in a subsequent fly-over of the urban environment at a second altitude that is lower than the first altitude. Image features from the second set of images are matched with image features from the image mosaic during the subsequent fly-over. A current position of the UAV relative to the GPS-aided positions is calculated based on the matched image features from the second set of images and the image mosaic. U.S. Patent No. 8378881, Systems and methods for collision avoidance in unmanned aerial vehicles, by Raytheon Company, discloses systems and methods for collision avoidance in unmanned aerial vehicles. In one embodiment, the invention relates to a method for collision avoidance system for an unmanned aerial vehicle (UAV), the method including scanning for objects within a preselected range of the UAV using a plurality of phased array radar sensors, receiving scan information from each of the plurality of phased array radar sensors, wherein the scan information includes information indicative of objects detected within the preselected range of the UAV, determining maneuver information including whether to change a flight path of the UAV based on the scan information, and sending the maneuver information to a flight control circuitry of the UAV. [10] Modular distributed control in the area of unmanned aerial vehicles is known. Article "A Modular Software Infrastructure for Distributed Control of UAVs", by Allison Ryan, et al. presents a software architecture and UAV hardware platform that have demonstrated single-user control of a fleet of aircraft, distributed task assignment, and vision-based navigation. A modular software infrastructure has been developed to coordinate distributed control, communications, and vision-based control. Along with the onboard control architecture, a set of user interfaces has been developed to allow a single user to efficiently control the fleet of aircraft. Distributed and vision-based control are enabled by powerful onboard computing capability and an aircraft-to-aircraft ad-hoc wireless network. U.S. Patent No. 8989922, Modular drone and methods for use, by Azure Sky Group, LLC, discloses a navigation unit configured to determine the location of the drone and navigate the drone to designated locations; a radio frequency identification (RFID) reader configured to read RFID tag information from RFID tags; and a wireless network transceiver configured to periodically transmit the location of the drone and RFID tag information to an inventory management system. Various exemplary embodiments relate to a method performed by a drone. The method may include: receiving navigation path information; navigating the drone along the navigation path based on satellite location signals; determining current position information based on the satellite location signals; reading RFID tag information from a first RFID tag; and transmitting the RFID tag information and the current position information via a wireless client to a central computing system.

[11] Commercially utilized unmanned aerial vehicles (UAVs) can efficiently perform surveillance, mapping, monitoring, tracking, videography, logistics operations and other tasks without extended effort or human risk. However, a large number of currently deployed commercial unmanned aerial vehicles demonstrate a fragmentation of different software and hardware platforms and need for increased agnostic autonomy and cooperation.

[12] None of the current technologies and prior art, taken alone or in combination, does not address nor provide a truly integrated solution for developing capabilities for emulating an agnostic control of position, course or altitude of the remotely controlled unmanned aerial vehicles via a central field-programmable gate array (FPGA), that can be installed and configured on any of commercial drones, unifying the vast network of currently deployed commercial unmanned aerial vehicles. [13] Therefore, there is a long felt and unmet need for a system and method that overcomes the problems associated with the prior art.

[14] As used in the description herein and throughout the claims that follow, the meaning of "a," "an," and "the" includes plural reference unless the context clearly dictates otherwise. Also, as used in the description herein, the meaning of "in" includes "in" and "on" unless the context clearly dictates otherwise.

[15] All methods described herein can be performed in any suitable order unless otherwise indicated herein or otherwise clearly contradicted by context. The use of any and all examples, or exemplary language (e.g. "such as") provided with respect to certain embodiments herein is intended merely to better illuminate the invention and does not pose a limitation on the scope of the invention otherwise claimed. No language in the specification should be construed as indicating any non-claimed element essential to the practice of the invention.

[16] Groupings of alternative elements or embodiments of the invention disclosed herein are not to be construed as limitations. Each group member can be referred to and claimed individually or in any combination with other members of the group or other elements found herein. One or more members of a group can be included in, or deleted from, a group for reasons of convenience and/or patentability. When any such inclusion or deletion occurs, the specification is herein deemed to contain the group as modified thus fulfilling the written description of all Markush groups used in the appended claims.

SUMMARY OF THE INVENTION

[17] It is thus an object of the present invention to provide a system for emulating agnostic control of one or more unmanned aerial vehicles (UAVs), said system comprising: a plurality of sensors configured to detect and provide flight control parameters within a predetermined area of the vehicle's operation; a companion flight control processor communicatively coupled to said plurality of sensors configured to process said flight control parameters; a remote control unit; a central field-programmable gate array (FPGA), FPGA is communicatively coupled to a primary flight control processor, said companion control processor and said remote control unit; a primary flight control processor configured to process flight management data, navigation support data, and autopilot functioning data; said FPGA is integrated in any type of said one or more UAVs emulating remote controlling agnostic means in real-time between said primary flight control processor and said companion flight control processor.

[18] It is another object of the present invention to provide a method for emulating modular agnostic control of commercial unmanned aerial vehicles comprising the steps of: detecting and providing flight control parameters within a predetermined area of the vehicle's operation by a plurality of sensors; processing said flight control parameters by a companion flight control processor; processing air data, flight data management, navigation support, and autopilot functioning by an primary flight control processor; integrating central field- programmable gate array (FPGA) in any type of said one or more UAVs emulating remote controlling agnostic means in real-time between said primary flight control processor and said companion flight control processor.

BRIEF DESCRIPTION OF THE PREFERRED EMBODFMENTS

[19] The novel features believed to be characteristics of the invention are set forth in the appended claims. The invention itself, however, as well as the preferred mode of use, further objects and advantages thereof, will best be understood by reference to the following detailed description of illustrative embodiment when read in conjunction with the accompanying drawings, wherein:

[20] Fig. 1 presents a top level scheme of the method disclosed by the present invention; [21] Fig. 2 presents an embodiment of the system disclosed by the present invention

DETAILED DESCRIPTION OF THE PREFERRED EMBODFMENTS

[22] In the following detailed description of the preferred embodiments, reference is made to the accompanying drawings that form a part hereof, and in which are shown by way of illustration specific embodiments in which the invention may be practiced. It is understood that other embodiments may be utilized and structural changes may be made without departing from the scope of the present invention. The present invention may be practiced according to the claims without some or all of these specific details. For the purpose of clarity, technical material that is known in the technical fields related to the invention has not been described in detail so that the present invention is not unnecessarily obscured.

[23] Reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the present invention. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

[24] While the technology will be described in conjunction with various embodiment(s), it will be understood that they are not intended to limit the present technology to these embodiments. On the contrary, the present technology is intended to cover alternatives, modifications and equivalents, which may be included within the spirit and scope of the various embodiments as defined by the appended claims.

[25] Furthermore, in the following description of embodiments, numerous specific details are set forth in order to provide a thorough understanding of the present technology. However, the present technology may be practiced without these specific details. In other instances, well known methods, procedures, components, and circuits have not been described in detail as not to unnecessarily obscure aspects of the present embodiments.

[26] Unless specifically stated otherwise as apparent from the following discussions, it is appreciated that throughout the present description of embodiments, discussions utilizing terms such as "transmitting", "detecting," "calculating", "processing", "performing," "identifying," "configuring" or the like, refer to the actions and processes of a computer system, or similar electronic computing device. The computer system or similar electronic computing device manipulates and transforms data represented as physical (electronic) quantities within the computer system's registers and memories into other data similarly represented as physical quantities within the computer system memories or registers or other such information storage, transmission, or display devices, including integrated circuits down to and including chip level firmware, assembler, and hardware based micro code.

[27] While the invention is susceptible to various modifications and alternative forms, specific embodiments thereof have been shown by way of example in the drawings and the above detailed description. It should be understood, however, that it is not intended to limit the invention to the particular forms disclosed, but on the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention as defined by the appended claims.

[28] The term "remote controlling agnostic means" interchangeably refers, but not limited to control of an activity and/or process of one or more UAVs from a distance, as by radioed instructions or coded signals, such control interoperable among various systems. The remote controlling agnostic means consist from a flight control data of said one or more UAVs; visual collision avoidance data acquired by data acquisition means for filtering, sampling, multiplexing, data distribution means and sensor means for short-term and/or long-term position determination; onboard vision processing data; precise surveying and mapping data; precise vertical take-off and landing (VTOL) data, balancing data, pattern recognition data to detect a known pattern identifying a landing site and any combinations thereof.

[29] Reference is now made to Fig. 1, which is a flow chart of an exemplary method 10 for emulating modular agnostic control of commercial unmanned aerial vehicles used with the payment system disclosed in the present invention 20. Said method comprises, for a number of repetitions, steps of: detecting and providing flight control parameters by a plurality of sensors 102; processing flight control parameters by a companion flight control processor 104; processing air data, flight data management, navigation support, and autopilot functioning by an primary flight control processor 106; integrating central field- programmable gate array (FPGA) 108; and emulating remote controlling agnostic means in real-time between said primary flight control processor and said companion flight control processor by said FPGA 110.

[30] In the step 110, the step of emulating by said FPGA includes processing and transmitting flight control data to said one or more UAVs such that the UAVs actions are controlled; processing and transmitting visual collision avoidance data by data acquisition means for filtering, sampling, multiplexing, data distribution means and sensor means for short-term and/or long-term position determination; processing and transmitting piloting decisions based on onboard vision processing data; processing and transmitting precise surveying and mapping data; processing and transmitting precise vertical take-off and landing (VTOL) data, processing and transmitting balancing data; processing and transmitting pattern recognition data to detect a known pattern identifying a landing site; transmission to said companion flight control processor to comply in accordance with said received flight command data. [31] The method disclosed in the present invention can further comprise emulating by said companion flight control processor coupled to said FPGA installed on two or more unmanned aerial vehicles (UAVs) flight command data to establish autonomous operable network of unmanned aerial vehicles (UAVs), sharing flight command data in real-time; and to establish autonomous operable network of unmanned aerial vehicles (UAVs), sharing remote controlling agnostic means in real-time.

[32] Reference is now made to Fig. 2, which is a schematic illustration of an example of the system 20 for emulating agnostic control of one or more unmanned aerial vehicles (UAVs) disclosed by the present invention. Said system 20 comprising: a plurality of sensors 202 configured to detect and provide flight control parameters within a predetermined area of the vehicle's operation; a companion flight control processor 204 communicatively coupled to the plurality of sensors 202 configured to process the flight control parameters; a remote control unit 206; a central field-programmable gate array (FPGA) 208, the FPGA 208 is communicatively coupled to a primary flight control processor 210 the companion control processor 204 and the remote control unit 206 and integrated in any type of said one or more UAVs emulating remote controlling agnostic means in real-time between the primary flight control processor 210 and the companion flight control processor 204; a primary flight control processor 210 configured to process flight management data, navigation support data, and autopilot functioning data; and a storage unit 212 storing flight command data.

[33] FPGA is configured to emulate processing and transmitting flight control data to said one or more UAVs such that the UAVs actions are controlled; processing and transmitting visual collision avoidance data by data acquisition means for filtering, sampling, multiplexing, data distribution means and sensor means for short-term and/or long-term position determination; emulate processing and transmitting piloting decisions based on onboard vision processing data; processing and transmitting precise surveying and mapping data; processing and transmitting precise vertical take-off and landing (VTOL) data; processing and transmitting balancing data; processing and transmitting pattern recognition data to detect a known pattern identifying a landing site; data transmission to the companion flight control processor to comply in accordance with said received flight command data.

[34] The companion flight control processor coupled to said FPGA installed on two or more unmanned aerial vehicles (UAVs) is configured to emulate flight command data to establish autonomous operable network of unmanned aerial vehicles (UAVs), sharing flight command data in real-time; and flight command data to establish autonomous operable network of unmanned aerial vehicles (UAVs), sharing remote controlling agnostic means in real-time.