Method for controlling an unmanned aerial vehicle

- 1 - 195754/3

Method for Controlling an Unmanned Aerial Vehicle (UAV)

FIELD OF THE INVENTION

The present invention is directed generally to systems and methods forwirelessly controlling unmanned aircraft and accessing associated surveillance data.

BACKGROUND OF THE INVENTION 5 Unmanned aircraft or aerial vehicles (UAVs) provide enhanced and economical access to areas where manned flight operations are unacceptably costly and/ordangerous. For example, unmanned aircraft outfitted with remotely controlled camerascan perform a wide variety of surveillance missions, including spotting schools of fishfor the fisheries industry, monitoring weather conditions, providing border patrols for 10 national governments, and providing military surveillance before, during, and/or aftermilitary operations.

Existing techniques for controlling unmanned aircraft systems suffer from avariety of drawbacks. For example, existing unmanned aircraft systems (which caninclude the aircraft itself along with control devices, launch devices, recovery devices, 15 and storage methods) are typically controlled using either direct RF communication orsatellite communication. Direct RF-based control is limited by its short range and highpower requirements. It also requires specialized equipment at both the UAV and theground control station.

While controlling UAVs by satellite may allow for longer-range communications 20 when compared with direct RF-based control, satellite control is typically limited by lowbandwidth and low data rate limits. An example of a satellite-based control techniqueused in the past is Iridium. Iridium is a low-orbit satellite communications system thatprovides a long-range data connection at a rate of "2.4 k bits per second. Not only doescontrol by satellite have the drawback of limited bandwidth and low data rate, it also, 25 like direct RF, typically involves high power requirements, high cost, and specialized equipment (e.g., relay stations and large dishes fortransmit/receive). US Patent No. 6,917,863 discloses a method for assuming and maintaining secure remote control of and aircraft in the event of an attack upon, or incapacity of the pilot of the aircraft. -2- 195754/2 US 2005/0094851 discloses a method for navigating a UAV, including receivingin a remote control device a user’s selection of a GUI map pixel that represents awaypoint for UAV navigation, the pixel having a location on the GUI; mapping thepixel’s location on the GUI to Earth coordinates of the waypoint; receiving downlink 5 telemetry, including a starting position from a GPS receiver on the UAV, from the UAVthrough a socket on the remote control device; calculating a heading in dependenceupon the starting position, the coordinates of the waypoint, and a navigation algorithm;identifying flight control instructions for flying the UAV on the heading; and transmittinguplink telemetry, including the flight control instructions, through the socket to the UAV.10 In some embodiments the UAV is piloted, under control of a navigation computer onthe UAV, from the starting position to the waypoint in accordance with a navigation algorithm.

SUMMARY OF THE INVENTION

In accordance with one aspect of the invention there is provided a method for 15 controlling an unmanned aerial vehicle (UAV), the method comprising: transmitting a control message to a receiver at a first UAV over a wireless network configured primarily for mobile telephone communication; transmitting the control message from the first UAV to a second UAV, wherein the control message includes instructions to control at least one of: surveillance 20 activities of the second UAV, activities of a weapons system of the second UAV, andmovement of the second UAV; and receiving communications from a transmitter at the second UAV.

In accordance with another aspect of the invention there is provided a system for controlling unmanned aircraft comprising: 25 at least one ground control device having a transmitter configured for operation in a wireless communication network used primarily for mobile telephonecommunication; and an unmanned aerial vehicle (UAV) including a mobile device having a receiverconfigured for operation in the wireless communication network, wherein the UAV is 30 responsive to communications from the at least one ground control device, including communications received via the receiver.

In accordance with another aspect of the invention there is provided a system on an unmanned aerial vehicle (UAV), the system comprising: -3- 195754/2 a mobile communication device configured for communication via a networkthat is used primarily as a consumer voice and data communication network, themobile communication device including: a mobile device application configured for communication with at least one5 device at a ground control center; a receiver configured to receive signals from the ground control center;a transmitter configured to send signals from the mobile communication device; and an antenna; and 10 a control application responsive to signals received at the mobile communication device.

In accordance with another aspect of the invention there is provided a systemon an unmanned aerial vehicle (UAV), the system comprising: at least one telecommunication device including a transceiver configured for15 communication via a wireless telecommunication network; a control system including at least one software application for controlling atleast one of surveillance actions and maneuvering actions of the UAV based on controlactions communicated through the at least one telecommunication device; and a connection that links the at least one telecommunication device to the control20 system.

In accordance with another aspect of the invention there is provided a methodfor controlling an unmanned aerial vehicle (UAV), the method comprising: communicating with a mobile telephone switching center via a control channelassociated with a wireless telecommunication network to establish a wireless 25 communication link; sending control signals to a first UAV over the wireless telecommunicationnetwork, wherein the control signals are used to control actions of a UAV; and relaying the control signals from the first UAV to a second UAV located outsidethe wireless telecommunication network to control at least one of: surveillance activities 30 of the second UAV, activities of a weapons system of the second UAV, and movement of the second UAV.

In accordance with another aspect of the invention there is provided at an unmanned aerial vehicle (UAV) a method for receiving control instructions from a remote source, the method comprising: -3a- 195754/1 receiving an indication of a channel assignment from a mobile switching center, wherein the indication is received via a control channel associated with a wireless communication network, and wherein the channel assignment permits access to at least one designated channel of the wireless communication network; 5 receiving control signals from the remote source via the at least one designated channel, wherein the control signals are used to control at least one of: surveillanceactivities of the other UAV, activities of a weapons system of the other UAV, andmovement of the other UAV; and transmitting the received control signals to the other UAV, wherein the other 10 UAV is not within the wireless communication network.

In accordance with another aspect of the invention there is provided a method for remotely controlling an unmanned aircraft, the method comprising: communicating with a control node in a wireless telecommunication network to establish a communication link with the unmanned aircraft, wherein the communication 15 link includes a wireless communication channel that permits the unmanned aircraft tocommunicate with at least one node of the wireless telecommunication network; and sending control signals to the aircraft, at least in part, via the establishedcommunication link, wherein the control signals are used to control at least one of:surveillance activities of an aircraft, activities of a weapons system of an aircraft, 20 movement of an aircraft, and operation of a payload at an aircraft; and relaying at least a part of the control signals received by the aircraft to an aircraft out of range of the wireless telecommunication network to control the actions ofthe out of range aircraft. -4-

BRIEF DESCRIPTION OF THE DRAWINGS

In order to understand the invention and to see how it may be carried out inpractice, embodiments will now be described, by way of non-limiting example only, withreference to the accompanying drawings, in which: 5 Figure 1 is a system diagram showing an example of an environment in which a wireless telecommunication network is used along with mobile wireless devices andpossibly other supporting technologies to communicate command and control data toone or more UAVs and/or to access and monitor signals and data transmitted from theUAVs in an embodiment ofthe invention. 10 Figure 2 is a block diagram showing an example of a mobile wireless device, such as the mobile wireless device of Figure 1 , that can be used as a ground controlstation for controlling a UAV via the wireless telecommunication network in anembodiment ofthe invention.

Figure 3 is a block diagram showing an example of control components of a 15 UAV, such as the UAV of Figure 1 , which can be used for communication via thewireless telecommunication network in an embodiment ofthe invention.

Figure 4 is a block diagram showing an example of a computer, such as thesupporting technology/computer of Figure 1, which may also be used for communi-cation via the wireless telecommunication network in an embodiment ofthe invention. 20 Figure for 5 is a flow chart showing an example of a routine performed at a mobile device used controlling a UAV via the wireless telecommunication network in anembodiment of the invention.

Figure 6 is a flow chart showing an example of a routine performed by acollection of one or more components onboard a UAV, which enable the UAV to 25 communicate via the wireless telecommunication network in an embodiment of theinvention.

Figure 7 is a flow chart showing an example of a routine performed by acomputer that is capable of establishing a wireless communication link (via a wirelesstelecommunication network) to control one or more UAVs or, alternatively, is wirelessly 30 connected to a mobile wireless communication device that is, in turn, used tocommunicate with one or more UAVs via the wireless telecommunication network in anembodiment ofthe invention.

Figure 8 is a flow chart showing an example of a routine performed onboard anaircraft that is capable of forming a network bridge that enables communication of 35 control devices with other aircraft, such as UAVs that are otherwise outside thewireless telecommunication network in an embodiment ofthe invention. -5-

DETAILED DESCRIPTION OF EMBODIMENTS

I. OVERVIEW

Aspects of the invention are directed generally to systems and methods forwirelessly controlling unmanned aircraft and accessing associated surveillance and 5 monitoring data. In one embodiment a wireless communication network (e.g., anexisting cell phone network) is used along with handheld devices (cell phones orPDAs), and possibly other supporting technologies, to communicate command andcontrol data to one or more UAVs and/or to monitor signals and data transmitted fromUAVs. For example, this may include controlling the take off and/or landing of one or 10 more UAVs, controlling the aerial maneuvers of one or more UAVs controlling theweapons systems of one or more UAVs, receiving mission surveillance informationfrom one or more UAVs (including border surveillance information, tracking of movingor stationary subjects, etc.), receiving UAV health and/or status monitoring information,monitoring other aircraft in the area of one or more UAVs, etc. In this way, long-range 15 communications can be achieved without having to design and build custom directcommunications systems and without having to rely on expensive and complex satellitesystems.

In some embodiments, the use of the wireless communication network andsupporting devices provides nearly unlimited communication range capabilities within 20 urban areas, where direct RF communication is typically inhibited by obstructions suchas buildings and other large structures. Moreover, urban areas typically have densepre-existing wireless communication capabilities due to the high demand for mobilephone service and related services in these areas.

While the supporting devices used to control the UAVs via the wireless 25 communication network may be custom devices, pre-existing devices may also beused. For example, many off-the shelf wireless devices are highly programmable (e.g.,due, in part, to programming languages like Java), support arbitrary user interfaces,and connect via wireless link to other devices including wireless devices (e.g., on theground or in the air) and computer systems. Moreover, such wireless devices are 30 typically small, portable, inexpensive, and have low power requirements.

In addition, because wireless network bandwidth is typically an order of magnitude larger than satellite bandwidth, the use of a wireless telecommunicationnetwork and supporting devices to control UAVs can allow for higher bandwidth, whichtranslates directly into more responsive control and improved video quality and frame 35 rates (e.g., for sending video back from a UAV). For example, current-generation -6- wireless systems can run at "300 k bits per second—compared with "2.4 k bits per second for existing satellite systems.

II. SYSTEM ARCHITECTURE FIGS. 1-4 and the following discussion provide a brief, general description of a5 suitable environment in which aspects of the invention can be implemented. Aspects ofthe invention may be stored or distributed on computer-readable media, includingmagnetically or optically readable computer disks, as microcode on semiconductormemory, nanotechnology memory, organic or optical memory, or other portable datastorage media. Indeed, computer-implemented instructions, data structures, screen 10 displays, and other data in accordance with aspects of the invention may be distributedover the Internet or over other networks (including wireless networks) on a propagatedsignal via a propagation medium (e.g., an electromagnetic wave(s), a sound wave,etc.) over a period of time, or on any analog or digital network (packet switched, circuitswitched, or other scheme). 15 Aspects of the invention can be embodied in a special purpose computer or data processor that is specifically programmed, configured, or constructed to performone or more of the computer-executable instructions explained in detail herein. Aspectsof the invention can also be practiced in distributed computing environments wheretasks or modules are performed by remote processing devices that are linked through 20 a communication network. In a distributed computing environment, program modulesmay be located in both local and remote memory storage devices. FIG. 1 is a system diagram showing an example of an environment in which awireless telecommunication network 102 (e.g., an existing cellular network) is usedalong with mobile wireless devices 104 (e.g., cell phones and/or PDAs) and possibly 25 other supporting technologies 106 (e.g., personal computers (PCs)), to communicatecommand and control data to one or more aircraft/UAVs 108 and/or to access andmonitor signals and data transmitted from the UAVs 108. The UAVs 108, handheldwireless devices 104, and other supporting technologies 106 combine with the wirelesstelecommunication network 102 to form a type of mesh network 110. 30 Example implementations of the wireless telecommunication network 102 include UMTS (universal mobile telecommunication system), GSM (global system formobile communications), GPRS (general packet radio service), EDGE (enhanced datarates for GSM evolution), CDMA (code division multiple access), IS-136/TDMA (timedivision multiple access), EV-DO (evolution-data optimized), analog, 3GSM (third -7- generation global system for mobile communications), iDEN (integrated digitalenhanced network), etc.

While not illustrated in detail, the wireless communication network may includecomponents typical of most cellular networks, such as one or more base stations 112, 5 mobile switching centers 114, home location registers (not shown), visitor locationregisters (not shown), wireless network databases (not shown), etc. An example of thefrequencies on which channels of the mobile telecommunication network may operateinclude the typical American cell phone frequencies, which start at 824 MHz and end at894 MHz. 10 The wireless telecommunication network 102 may also include various wired or partially wired networks, such as the Internet, a wired LAN (local area network), oreven a public switched telephone network (PSTN). While not all types of networks aredescribed here, aspects of the invention may be implemented within the framework ofmany types of networks (e.g., satellite, etc.). Because the extent of the typical wireless 15 telecommunication network 102 is extremely large, effective communication ranges ofthousands of miles may be practical. Furthermore, most wireless telecommunicationnetworks are designed for low latency to support human voice-based conversation.This low latency enables fast system reaction time, even when nodes are located onopposite sides of the earth. 20 While not shown in detail in FIG. 1, in some embodiments, one or more of the three basic classes of devices (UAV 108, mobile device 104, computer/supportingdevice 106, or their hybrid derivatives such as cellular enabled PDA) may beconnected to the cellular network indirectly via an RF-to-network bridge. Using thenetwork-bridge configuration allows an aircraft to operate outside a cellular coverage 25 area, but still be controlled by a mobile ground station or PC directly connected to thenetwork. Alternatively, a PC may be operated from outside the cellular network tocontrol a UAV operating within the network.

Many communication patterns are possible within the mesh network 110. Forexample, the mesh network 110 may facilitate aircraft-to-mobile device communication, 30 where a user of the mobile device 104 (located on the ground and thereby comprisinga ground control station) inputs commands into the mobile device 104 to control theaircraft/UAV 108 or access data collected by systems onboard the aircraft/UAV 108. Inanother example, the mesh network 110 facilitates aircraft-to-aircraft communication,which enables scenarios such as target handoff, collision avoidance, separation 35 assurance, and flock behaviors. Where a more sophisticated user interface (Ul)environment is desired than is typically available with a small mobile device, the mesh -8- network 110 may support aircraft-to-computer communication, which may occur via thewireless network and/or via a wired network, such as the Internet. For example, asupporting technology 106 comprising a PC may have direct or indirect access to thewireless telecommunication network (e.g., via a network bridge) so that it operates as a 5 stand-in for a mobile wireless device on the network.

Scenarios may also exist in the control of UAVs where a first user of a first mobile device wishes to communicate directly with a second user of a second mobiledevice (e.g., to communicate regarding a joint aircraft control strategy). Accordingly,the mesh network 110 can be used for mobile-to-mobile communication, which can be 10 text- or even voice-based. Computer-to-computer communication may also be used ina similar context, where, for example, a PC or other supporting technology 106 is usedas a stand-in for a mobile device on the wireless telecommunication network 102, forexample, via an RF-to-network bridge.

The mesh network 110 may be utilized for communication from a mobile device 15 104 to a computer 106, for example, in contexts such as chat and target hand-off.Mobile device-to-computer communication may also be used when transferringinformation between a mobile device 104 and a computer or other supporting device106. For example, this communication pattern may be used in the case where themobile device 104 is used to establish a communication link with the UAV 108 but 20 where a user interfaces with the computer/supporting device 106 when he or sheneeds a more robust user interface to, for example, input more complex controlinstructions or view graphically rich information transmitted from the UAV 108.

In some embodiments, a UAV 108 may operate outside the physical extent of atelecommunication network 102, for example, by communicating (e.g., via a proprietary 25 communications system) with a ground station PC that is, itself, connected to thewireless telecommunication network 102. This configuration enables remote control ofthe UAV 108 by one or more mobile devices 104 within the wireless telecommunicationnetwork, even though the UAV 108 itself is outside the physical telecommunicationnetwork 102. In another embodiment, a UAV (e.g., instead of a ground station) serves 30 as the bridge to the network. Thus, in this scenario, one aircraft 108 operating withinrange of the wireless telecommunication network 102 enables the controlling of anaircraft outside that range using mobile devices 104 within the wirelesstelecommunication network 102. Similarly, a UAV 108 may operate as a “cell tower” todynamically extend the coverage area of a wireless telecommunication network 102. 35 In some embodiments, multiple simultaneous (or near simultaneous) calls are used between nodes within the mesh network 110. For example, multiple mobile -9- devices can establish communication links with a single UAV, which can then streamdifferent aspects of information to each mobile device. These aspects of informationcan eventually be consolidated back into a single data stream (e.g., for display at acomputer). This multi-call configuration provides increased bandwidth (e.g., as may be 5 required to pass full size and full frame rate digital video from a UAV 108 to asupporting device 106). Another way in which multiple calls can be usedsimultaneously (or near simultaneously) is to enhance composite link reliability. Thesecalls can be routed through different base stations in the wireless telecommunicationnetwork 102 so that techniques for dynamic selection of the best quality link may be 10 employed. FIG. 2 is a block diagram showing an example of a mobile wireless device,such as the mobile wireless device 104 of FIG. 1. While a mobile phone is shown asthe mobile wireless device 104 in FIGS. 1 and 2, those skilled in the relevant art willappreciate that the invention can be practiced with other devices and configurations, 15 including mobile Internet appliances, hand-held devices, wearable computers, multi-processor systems, microprocessor-based or programmable consumer electronics, set-top boxes, PDAs, portable laptop computers, and the like. The term “mobile device” isintended to include all such devices.

The mobile device 104 has one or more internal or external antennas 202 for 20 receiving and transmitting electromagnetic signals such as radio frequency signals. Atransceiver 204 is connected to the antenna(s) 202 and typically provides modulationand demodulation of the transmitted and received signals, respectively. A processorunit 206 connected to the transceiver 204 may comprise a signal processor,microprocessor, ASIC, or other control and processing logic circuitry. The processor 25 unit 206 may perform signal coding, data processing, input/output processing, powercontrol, and other functions necessary for implementing a mobile communicationdevice. A user (e.g., aircraft control personnel) may provide input to the processor unit206 via a keypad 208, microphone 210, or display/touchpad 212. In turn, the processorunit 206 may provide information to the user via the display/touchpad 212 or a speaker 30 214.

The processor unit 206 may access information from, and store information in,a nonremovable memory 216 or a removable memory 218. The nonremovable memory216 may consist of RAM, ROM, a hard disk, or other well-known memory storagetechnologies. The removable memory 218 may consist of Subscriber Identity Module 35 (SIM) cards, which are well known in GSM communications systems, or other well-known memory storage technologies, such as “smart cards." Generic applications 220 - 10- such as wireless content browser applications and address book applications may beimplemented in either the removable memory 218 or the nonremovable memory 216.The removable memory 218 and/or nonremovable member 216 may also beconfigured or programmed (e.g., using a mobile version of Java or in C/C++ on a 5 mobile version of Linux) to support complex user interfaces and full color graphics. Theremovable memory 218 and/or nonremovable member 216 may also be configured orprogrammed to run an application (e.g., a Java program) that provides an aircraftand/or payload control and visualization, which may include functionality such as amoving, zoomable map. Alternatively, the mobile device 104 may be configured to 10 have only a limited input interface and passively display relayed imagery. FIG. 3 is a block diagram showing an example of control components of a UAV, such as the UAV 108 of FIG. 1. In particular, the UAV may have several onboardcomponents that allow it to be controlled via a wireless telecommunication network.The UAV may also have components associated with providing outgoing information. 15 The outgoing information can include surveillance or aircraft monitoring information thatcan be transmitted back to a controlling device via a wireless telecommunicationnetwork. In some embodiments, some or all of these components may be associatedwith a consumer mobile device such as a camera-enabled cell phone, and thus, maybe very similar to the components described with respect to the mobile device 104 of 20 FIG. 2. Any one of these components may also be incorporated onto the UAVseparately (as opposed to being packaged within a typical mobile device), and thenconnected using technology such as a USB.

The components may include a transceiver and/or gateway component 304 thatis connected to one or more antenna(s) 302 and provides modulation and 25 demodulation of transmitted and received signals so that the UAV may communicatevia the wireless telecommunication network. A processor unit 306 connected to thetransceiver 304 may comprise a signal processor, microprocessor, ASIC, or othercontrol and processing logic circuitry. The processor unit 306 may perform signalcoding, data processing, input/output processing, power control, and other functions 30 necessary for implementing mobile communication onboard the UAV. Whetherincluded on the mobile device or as a separate component, the processor unit 306 maytake on several roles beyond “just" a communications processor. For example, it maybe utilized as a flight computer, a mission computer, a navigation computer, or a videoprocessor/preprocessor. The processor unit 306 may access information from, and 35 store information in, memory 310, which can be a nonremovable memory or a -11 - removable memory (e.g., SIM card). Various generic and specialized applications 320may be configured or programmed in memory as needed.

Cameras 312, including motion and/or still cameras (which are often nowincluded on aftermarket mobile devices such as a picture phones), may replace more 5 traditional imaging sensors on the UAV, thus providing an ultra compact ISR(intelligence, surveillance, and reconnaissance) UAV. For example, the mobile device’smotion or still camera may be used to “see and avoid" other aircraft, or for imagingground objects. A microphone component 316, such as found in the typical cell phone, may be10 used to perform diagnostics, such as monitoring the UAV’s engine health. This healthmonitoring information can then be passed via a voice channel to a mobile device thatis being used to control the UAV (such as a mobile device at a ground station). In someembodiments, a standard cell phone microphone is replaced with any other appropriatetransducer on the aircraft, such as an accelerometer, for measuring UAV body 15 vibration. This signal may also be passed to the controlling mobile device over a voicechannel or even a data channel of the telecommunication network. The microphone316 may also be used to acquire aircraft telemetry or sensor data for transmission overthe wireless communication link. A speaker component 314, such as found in the typical cell phone, may be 20 amplified and used like a public address system. In some scenarios, this may allow aremote human to talk to people within the field of view of the UAV camera, whileremaining safely away from the area. In a military context, the speaker component 314(or another mobile device-related component) on the UAV may be used to safelytrigger improvised explosive devices (lEDs), by flying along roads and making calls. 25 For example, the UAV may call the cell phone trigger on an enemy IED to triggersafely.

If equipped with mobile device components allowing it to perform assistedglobal positioning (AGPS), the AGPS function 318 may be used for UAV navigation via,for example, CDMA pilot tone measurements or actual GPS measurements. This 30 provides an improvement in interference rejection compared to a stand-alone GPSreceiver.

If the UAV is equipped with mobile device components allowing it to function asa “cell tower," the UAV may be configured to selectively place or block calls (e.g., forstrategic purposes). The UAV may also be used to “sniff' the cell call activity for 35 unauthorized calls in controlled areas, such as in war combat zones. -12- FIG. 4 is a block diagram showing an example of a computer 400, such as the supporting technology/computer 106 of FIG. 1, which may also be used to control the UAVs via the mobile telecommunication network. As with most conventional computers, the computer 400 may include a processing unit 402, a system memory 5 404, and a system bus 406 that couples various system components including thesystem memory to the processing unit. The processing unit 402 may be any logicprocessing unit, such as one or more central processing units (CPUs), digital signalprocessors (DSPs), application-specific integrated circuits (ASIC), etc. Unlessdescribed otherwise, the construction and operation of the various blocks shown in 10 FIG. 4 are of conventional design. As a result, such blocks need not be described infurther detail herein, as they will be readily understood by those skilled in the relevantart.

The system bus 406 can employ any known bus structures or architectures,including a memory bus with memory controller, a peripheral bus, and a local bus. The 15 system memory 404 includes random access memory (“RAM”) 408 and read-onlymemory ("ROM") 410. A basic input/output system (I/O) 412, which can form part of theROM 410, contains basic routines that help transfer information between elementswithin the computer 400, such as during start-up. The hardware elements of theinput/output system 412 allow a user to enter commands and information into the 20 computer 400 through input devices such as a keyboard, a pointing device such as amouse, or other input devices including a microphone, joystick, game pad, scanner,etc. (all not shown). These and other input devices are connected to the processingunit 402 through an interface such as a serial port interface that couples to the bus 406,although other interfaces such as a parallel port, game port, or universal serial bus 25 (“USB”) can be used. For example, other hardware devices, such as a PCMCIA readerthat receives a card, can be coupled to the interface. A monitor or other display deviceis coupled to the bus 406 via a video interface, such as a video adapter. The computer400 can include other output devices, such as speakers, printers, etc.

The computer 400 also includes a hard disk drive 414 for reading from and 30 writing to a hard disk (not shown), and an optical disk drive 416 and a magnetic diskdrive 418 for reading from and writing to removable optical disks 420 and magneticdisks 422, respectively. The optical disk 420 can be a CD-ROM, while the magneticdisk 422 can be a magnetic floppy disk. The hard disk drive 414, optical disk drive 416,and magnetic disk drive 418 communicate with the processing unit 402 via the bus 35 406. The hard disk drive 414, optical disk drive 416, and magnetic disk drive 418 mayinclude interfaces or controllers (not shown) coupled between such drives and the bus - 13- 406, as is known by those skilled in the art. The drives 414, 416, and 418, and their associated computer-readable media, provide nonvolatile storage of computer- readable instructions, data structures, program modules, and other data for the computer 400. Although the depicted computer 400 employs a hard disk, optical disk 5 420, and magnetic disk 422, those skilled in the relevant art will appreciate that othertypes of computer-readable media that can store data accessible by a computer maybe employed, such as magnetic cassettes, flash memory cards, digital video disks(“DVD”), Bernoulli cartridges, RAMs, ROMs, smart cards, nanotechnology memory,etc. 10 Program modules can be stored in the system memory 404, such as an operating system 424 and other application programs 426 that enable the control ofUAVs and that allow for data received from UAVs to be readily accessed in aconvenient format. The system memory 404 may also include a web browser 428 forpermitting the computer 400 to access and exchange data with web sites in the World 15 Wide Web of the Internet. The application programs 426 may have access to one ormore databases, which may be internal or external to the computer. For example, thecomputer may have access to a map database 430 (which stores maps for areaswhere UAVs are operated), a combat plans database 432 (which stores combat plansfor UAVs operating in a military context), and multiple other input source databases 20 434.

The computer 400 can operate in a networked environment using logicalconnections to one or more remote computers, such as a remote computer 450. Forexample, the computer 400 may be involved in performing a first set of tasks in aworkflow and the remote computer 450 may be involved in performing a second set of 25 tasks in the workflow. In another example, the remote computer 450 offers an inputsource for a workflow facility hosted at the computer 400. Likewise, the computer 400may be involved in designing workflows having tasks to be performed by the remotecomputer 450. Like the computer 400, the remote computer 450 can be a personalcomputer, a server, a router, a network PC, a peer device, or other common network 30 node, and typically includes many or all of the elements described above for thecomputer 400. Typically, the remote computer 450 includes a memory storage devicesuch as a disk drive 452. The remote computer 450 may be logically connected to thecomputer 400 via any known method that permits computers to communicate, such asthrough a local area network ("LAN”) 454 or a wide area network ("WAN") or Internet 35 456. Such networking environments are well known in offices, enterprise-widecomputer networks, intranets, and the Internet. -14-

In a LAN networking environment, the computer 400 is connected to the LAN 454 through an adapter or network interface (coupled to the bus 406). When used in a WAN networking environment, the computer 400 often includes a modem or other device for establishing communications over the WAN/lnternet 456. In a networked 5 environment, program modules, application programs, or data, or portions thereof, canbe stored in the remote computer 450, such as in the disk drive 452. Those skilled inthe relevant art will readily recognize that the network connections shown in FIG. 4 areonly some examples of establishing communication links between computers, andother links may be used, including wireless links. In general, while hardware platforms, 10 such as the computer 400 and remote computer 450, are described herein, aspects ofthe invention are equally applicable to nodes on a network having correspondingresource locators to identify such nodes.

III. SYSTEM FLOWS FIGS. 5 through 8 are representative flow diagrams that show processes that 15 occur within the environment of FIG. 1. These flow diagrams do not show all functionsor exchanges of data but, instead, provide an understanding of commands and dataexchanged under the system. Those skilled in the relevant art will recognize that somefunctions or exchanges of commands and data may be repeated, varied, omitted, orsupplemented, and other aspects not shown may be readily implemented. For 20 example, while not described in detail, a message containing data may be transmittedthrough a message queue, over HTTP, etc. FIG. 5 is a flow chart showing an example of a routine 500 performed at amobile device used for controlling a UAV. For example, the mobile device may be amobile phone configured as a ground control station, which can be operated by a user 25 to send control signals to the UAV and/or receive data back from the UAV, such asmonitoring and surveillance data.

At block 501, the routine 500 sets up a wireless communication link with theUAV on the wireless communication network. For example, this may includecommunication (e.g., via a control channel) with a mobile switching center that is 30 associated with the wireless communication network. As a result of thiscommunication, both the mobile device and the UAV may receive channel assignmentinformation from the mobile switching center that permits access to one or morechannels of the wireless communication link, including one or more voice channelsand/or data channels. At block 502, the routine 500 receives the channel assignment 35 information, thereby establishing an active communication link via one or more - 15- β designated communication channels. At block 503, the routine 500 sends control signals to the UAV (e.g., instructions to control the activities of the UAV, including its direction and speed of travel, weapons discharge, etc.) and/or receives data back from the UAV (e.g., surveillance information, video information, UAV health monitoring 5 information, etc.). The format and types of information communicated via theestablished communication link may include voice (or other audio) data, image data,video data, binary data, text data, etc., depending on system and networkconfigurations. At block 504, assuming the session with the UAV has ended (e.g., theUAV has safely landed), the routine 500 terminates the communication link, thereby 10 ending the UAV session. FIG. 6 is a flow chart showing an example of a routine 600 performed by acollection of one or more components onboard a UAV, which enable the UAV tocommunicate via a wireless telecommunication network. For example, the collection ofcomponents may be packaged together as a mobile device, such as a cell phone, 15 which is connected to other control and/or surveillance systems of the UAV (e.g., via aconnection such as a USB bus).

At block 601, the routine 600 receives channel assignment information forestablishing a wireless communication link with a control device (such as a ground-based mobile telephone) via the wireless telecommunication network. For example, 20 this may involve communication (e.g., via a control channel) with a mobile switchingcenter associated with the wireless communication network to receive channelassignment information relating to one or more voice channels and/or data channels.At block 602, the routine 600 establishes an active communication link via the one ormore channels. At block 603, the routine 600 receives control signals (e.g., instructions 25 to control the activities of the UAV, including its direction and speed of travel, weaponsdischarge, etc.) sent from the ground-based mobile telephone. In addition oralternatively, at block 603 the routine 600 may send data (e.g., surveillanceinformation, video information, UAV health monitoring information, etc.) back to theground-based mobile control device. The format and types of information 30 communicated via the established communication link may include voice (or otheraudio) data, image data, video data, binary data, text data, etc., depending on systemand network configurations. At block 604, assuming the session with the UAV hasended (e.g., the UAV has safely landed) the routine 600 receives a termination signalfor terminating the communication link, thereby ending the communication session. 35 FIG. 7 is a flow chart showing an example of a routine 700 performed by a computer that is capable of establishing a wireless communication link (via a wireless -16- telecommunication network) to control one or more UAVs or, alternatively, a computer that can establish a connection (e.g., wireless, wired, Bluetooth, infrared, etc.) to a mobile wireless communication device that is, in turn, used to communicate with one or more UAVs via the wireless telecommunication network. In either scenario, the 5 computer allows for a robust user interface from which a user can easily provide controlcommands to a UAV, monitor the UAV, and/or receive data feeds (e.g., videosurveillance, imagery, health monitoring, etc.) from the UAV.

At block 701, the routine 700 receives control input from a user wishing tocontrol the UAV via an interface provided by an application running at the computer. At

10 block 702, the routine 700 establishes either an indirect or direct connection with theUAV. For example, the computer may be able to establish a WAN-type connection withcomponents ofthe wireless telecommunication network (e.g., base station and mobileswitching center), so that the computer can communicate as a stand-in for a traditionalwireless communication device, thereby connecting more or less directly with the UAV 15 via a partially wireless connection. In another arrangement, the routine 700 mayestablish a communication link (wired or wireless) with a mobile device that can, inturn, communicate with the UAV via a wireless connection, such as is described withrespect to FIG. 5. At block 703, the routine 700 sends control input to the UAV (or theintermediary mobile device) at least in part via the wireless communication network. At 20 block 704, the routine 700 receives surveillance and/or monitoring data from the UAV(or via the intermediary mobile device) at least in part via the wireless communicationnetwork. The routine 700 then ends. FIG. 8 is a flow chart showing an example of a routine 800 performed onboardan aircraft that is capable of forming a network bridge that enables communication of 25 control devices with other aircraft, such as UAVs that are otherwise outside a mobiletelecommunication network. In another example, the aircraft is a leading unit for agroup of multiple aircraft that are each configured to perform joint aerial maneuvers(e.g., led by the leading unit).

At block 801, the routine 800 establishes a wireless connection with a ground 30 control device (such as a wireless telecommunication device at a ground station or aPC) via the mobile telecommunication network. Examples of establishing such awireless connection were described in more detail above with respect to FIGS. 5 and 7.At block 802, the routine 800 establishes a communication link with one or more UAVs(e.g., UAVs that are outside the telecommunication network or UAVs that are part of a 35 group of multiple aircraft that are configured to perform joint aerial maneuvers). Thisconnection may be via the mobile telecommunication network or via some other form of -17- wireless communication (e.g., direct RF, infrared, Bluetooth, etc.). At block 803, the routine 800 receives control signals from the ground control device. At block 804, based on the received control signals, the routine 800 passes along appropriate control signals to the one or more UAVs. Block 804 of the routine 800 may also be reversed so 5 that the UAV receives data from the one or more UAVs to pass back to the groundcontrol station. The routine 800 then ends when the control session ends or when thecommunication session is otherwise terminated.

IV. CONCLUSION

From the foregoing, it will be appreciated that specific embodiments of the10 invention have been described herein for purposes of illustration, but that variousmodifications may be made without deviating from the invention. For example, whilecertain telecommunication networks are described with respect to variousembodiments, aspects of the invention may be implemented on a variety of wirelessnetworks. Other aspects that may vary include the type and makeup of devices used to 15 control UAVs, as well as the systems on board the UAVs themselves. Aspects of theinvention described in the context of particular embodiments may be combined oreliminated in other embodiments. Further, while advantages associated with certainembodiments of the invention have been described in the context of thoseembodiments, other embodiments may also exhibit such advantages, and not all 20 embodiments need necessarily exhibit such advantages to fall within the scope of theinvention. Accordingly, the invention is not limited except as by the appended claims. O'DD^an PPUZa , DTixan rwzn οτα inia^o pnow ρηνπ irn ητ naoa,Ρ’ηη ηχΰπ paoana ma’na no^maa πρ’ΐοο .zruwan rwao mpnan ρπίι7 oxnmοιηπη Pi?

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