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FR3098336B1 - Procédé de détermination de trajet d’un appareil aérien non habité et autres procédés associés - Google Patents

Procédé de détermination de trajet d’un appareil aérien non habité et autres procédés associés Download PDF

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Publication number
FR3098336B1
FR3098336B1 FR1907291A FR1907291A FR3098336B1 FR 3098336 B1 FR3098336 B1 FR 3098336B1 FR 1907291 A FR1907291 A FR 1907291A FR 1907291 A FR1907291 A FR 1907291A FR 3098336 B1 FR3098336 B1 FR 3098336B1
Authority
FR
France
Prior art keywords
unmanned aerial
path
determining
associated methods
aerial device
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
FR1907291A
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English (en)
Other versions
FR3098336A1 (fr
Inventor
Pierre Pelé
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Uavia
Original Assignee
Uavia
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority to FR1907291A priority Critical patent/FR3098336B1/fr
Application filed by Uavia filed Critical Uavia
Priority to CN202080052213.2A priority patent/CN114207545A/zh
Priority to KR1020227003373A priority patent/KR20220027218A/ko
Priority to JP2021578220A priority patent/JP2022539232A/ja
Priority to EP20747472.7A priority patent/EP3994678A1/fr
Priority to US17/623,693 priority patent/US20220270495A1/en
Priority to PCT/IB2020/056227 priority patent/WO2021001768A1/fr
Priority to CA3144577A priority patent/CA3144577A1/fr
Publication of FR3098336A1 publication Critical patent/FR3098336A1/fr
Priority to IL289500A priority patent/IL289500A/en
Application granted granted Critical
Publication of FR3098336B1 publication Critical patent/FR3098336B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G05D1/104—Simultaneous control of position or course in three dimensions specially adapted for aircraft involving a plurality of aircrafts, e.g. formation flying
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/003—Flight plan management
    • G08G5/0034—Assembly of a flight plan
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0047—Navigation or guidance aids for a single aircraft
    • G08G5/006—Navigation or guidance aids for a single aircraft in accordance with predefined flight zones, e.g. to avoid prohibited zones
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/0202—Control of position or course in two dimensions specially adapted to aircraft
    • G05D1/0204—Control of position or course in two dimensions specially adapted to aircraft to counteract a sudden perturbation, e.g. cross-wind, gust
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G05D1/106—Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0017—Arrangements for implementing traffic-related aircraft activities, e.g. arrangements for generating, displaying, acquiring or managing traffic information
    • G08G5/0021—Arrangements for implementing traffic-related aircraft activities, e.g. arrangements for generating, displaying, acquiring or managing traffic information located in the aircraft
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/003—Flight plan management
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0047—Navigation or guidance aids for a single aircraft
    • G08G5/0056—Navigation or guidance aids for a single aircraft in an emergency situation, e.g. hijacking
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0047—Navigation or guidance aids for a single aircraft
    • G08G5/0069—Navigation or guidance aids for a single aircraft specially adapted for an unmanned aircraft
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0073—Surveillance aids
    • G08G5/0091—Surveillance aids for monitoring atmospheric conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
    • B64U2201/102—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS] adapted for flying in formations

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Business, Economics & Management (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Atmospheric Sciences (AREA)
  • Emergency Management (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Traffic Control Systems (AREA)
  • Navigation (AREA)

Abstract

Un procédé de modélisation d’un environnement tridimensionnel en vue de d’établir des chemins de parcours pour des appareils aériens non habités, est caractérisé en ce qu’il comprend les étapes suivantes : (a) fournir un modèle tridimensionnel de volumes dans lesquels le vol est interdit, (b) subdiviser le modèle en éléments individuels, (c) déterminer un centre pour chaque élément individuel, (d) établir un graphe dont les nœuds sont constitués par au moins une partie desdits centres, et dont les branches sont pondérées par les distances entre les noeuds. Figure pour l’abrégé : Fig. 11
FR1907291A 2019-07-01 2019-07-01 Procédé de détermination de trajet d’un appareil aérien non habité et autres procédés associés Active FR3098336B1 (fr)

Priority Applications (9)

Application Number Priority Date Filing Date Title
FR1907291A FR3098336B1 (fr) 2019-07-01 2019-07-01 Procédé de détermination de trajet d’un appareil aérien non habité et autres procédés associés
KR1020227003373A KR20220027218A (ko) 2019-07-01 2020-07-01 무인항공기의 경로를 결정하기 위한 방법 및 기타 관련 방법
JP2021578220A JP2022539232A (ja) 2019-07-01 2020-07-01 無人航空機の経路を決定するための方法および他の関連する方法
EP20747472.7A EP3994678A1 (fr) 2019-07-01 2020-07-01 Procédé de détermination de trajet d'un appareil aérien non habité et autres procédés associés
CN202080052213.2A CN114207545A (zh) 2019-07-01 2020-07-01 用于确定无人驾驶航空装置的路径的方法和其它相关方法
US17/623,693 US20220270495A1 (en) 2019-07-01 2020-07-01 Method for determining the path of an unmanned aerial device and other associated methods
PCT/IB2020/056227 WO2021001768A1 (fr) 2019-07-01 2020-07-01 Procédé de détermination de trajet d'un appareil aérien non habité et autres procédés associés
CA3144577A CA3144577A1 (fr) 2019-07-01 2020-07-01 Procede de determination de trajet d'un appareil aerien non habite et autres procedes associes
IL289500A IL289500A (en) 2019-07-01 2021-12-29 A method for determining the path of an unmanned aerial vehicle and other related methods

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1907291A FR3098336B1 (fr) 2019-07-01 2019-07-01 Procédé de détermination de trajet d’un appareil aérien non habité et autres procédés associés
FR1907291 2019-07-01

Publications (2)

Publication Number Publication Date
FR3098336A1 FR3098336A1 (fr) 2021-01-08
FR3098336B1 true FR3098336B1 (fr) 2022-08-12

Family

ID=69375383

Family Applications (1)

Application Number Title Priority Date Filing Date
FR1907291A Active FR3098336B1 (fr) 2019-07-01 2019-07-01 Procédé de détermination de trajet d’un appareil aérien non habité et autres procédés associés

Country Status (9)

Country Link
US (1) US20220270495A1 (fr)
EP (1) EP3994678A1 (fr)
JP (1) JP2022539232A (fr)
KR (1) KR20220027218A (fr)
CN (1) CN114207545A (fr)
CA (1) CA3144577A1 (fr)
FR (1) FR3098336B1 (fr)
IL (1) IL289500A (fr)
WO (1) WO2021001768A1 (fr)

Families Citing this family (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20220415187A1 (en) * 2019-12-04 2022-12-29 Ge Aviation Systems Llc Apparatus, system, and method of providing a trajectory planning engine for unmanned aircraft
WO2021252155A1 (fr) * 2020-06-12 2021-12-16 Smartsky Networks LLC Appareil, procédé et système pour fournir des contraintes définies par l'utilisateur pour la planification d'itinéraire d'aéronef
US20220157178A1 (en) * 2020-11-16 2022-05-19 Gm Cruise Holdings Llc Disaster and emergency surveillance using a distributed fleet of autonomous robots
KR102381678B1 (ko) * 2021-03-31 2022-04-01 주식회사 클로버스튜디오 포인트 클라우드를 이용한 무인이동체의 4차원 경로 표출 방법
CN113203417B (zh) * 2021-04-06 2022-08-19 广东安恒电力科技有限公司 基于头脑风暴优化算法的无人机巡检路径规划方法
CN113566826B (zh) * 2021-07-08 2023-11-07 北京航空航天大学 一种基于二次规划的无人机路径规划方法
FR3125348B1 (fr) * 2021-07-15 2023-06-02 Thales Sa Procede de determination d'une trajectoire d'un aeronef
CN113639750B (zh) * 2021-07-20 2023-05-26 中国地质大学（武汉） 顾及时变需求的高峰时段无人机监视路径规划方法及装置
EP4300045A1 (fr) 2022-06-27 2024-01-03 TotalEnergies OneTech Convertisseur de données entre une plateforme de gestion d'un site industriel et au moins un système de navigation
CN115496930B (zh) * 2022-11-08 2023-03-21 之江实验室 一种图像处理方法、装置、存储介质及电子设备
FR3142018A1 (fr) * 2022-11-10 2024-05-17 Thales Procédé de détermination d'un champ scalaire global, à au plus quatre dimensions, représentatif d'un risque global d'incident de vol d'un drone induisant un danger sur les biens et les personnes.
CN118195274B (zh) * 2024-05-14 2024-08-06 广州恒泰电力工程有限公司 一种城市高压输电线路无人机协同网络通信方法及系统

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2853978B1 (fr) 2003-04-16 2006-02-03 Eurocopter France Procede et dispositif de securisation du vol d'un aeronef en conditions de vol aux instruments hors infrastructures de vol aux instruments
FR2898699B1 (fr) * 2006-03-17 2014-05-09 Thales Sa Planificateur automatique de trajectoire
CN101122974B (zh) * 2007-09-13 2010-06-09 北京航空航天大学 基于Voronoi图和蚁群优化算法的无人机航路规划方法
US20140207365A1 (en) * 2013-01-18 2014-07-24 Ge Aviation Systems Llc Methods for determining a flight path
FR3001288B1 (fr) * 2013-01-18 2015-03-20 Dassault Aviat Procede de definition d'une route de repli pour un engin mobile, procede de repli, par un engin mobile, d'une telle route, modules et programmes d'ordinateur associes
US9524647B2 (en) * 2015-01-19 2016-12-20 The Aerospace Corporation Autonomous Nap-Of-the-Earth (ANOE) flight path planning for manned and unmanned rotorcraft
EP3254404A4 (fr) * 2015-03-31 2018-12-05 SZ DJI Technology Co., Ltd. Systèmes d'authentification et procédés de génération de règlementations de vol
US9711851B1 (en) * 2016-02-04 2017-07-18 Proxy Technologies, Inc. Unmanned vehicle, system and method for transmitting signals
GB2557907B (en) * 2016-11-17 2021-12-22 Univ Bath Apparatus, method and system relating to aircraft systems

Also Published As

Publication number Publication date
JP2022539232A (ja) 2022-09-07
WO2021001768A1 (fr) 2021-01-07
US20220270495A1 (en) 2022-08-25
KR20220027218A (ko) 2022-03-07
CN114207545A (zh) 2022-03-18
CA3144577A1 (fr) 2021-01-07
FR3098336A1 (fr) 2021-01-08
IL289500A (en) 2022-02-01
EP3994678A1 (fr) 2022-05-11

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