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EP-3965088-B1 - SYSTEMS AND METHODS FOR MARKET BASED DECONFLICTION FOR UNMANNED TRAFFIC MANAGEMENT

EP3965088B1EP 3965088 B1EP3965088 B1EP 3965088B1EP-3965088-B1

Inventors

  • KUHLMAN, MICHAEL
  • MENON, ANUP
  • CHOW, RAY

Dates

Publication Date
20260506
Application Date
20210824

Claims (15)

  1. A method of performing deconfliction comprising: receiving a request to accept a first operational intent associated with a first unmanned aircraft system (104); determining whether a conflict exists between the first operational intent and one or more scheduled operational intents; in response to determination that a conflict exists between the first operational intent and a second operational intent associated with a second unmanned aircraft system (110), transmitting data associated with the conflict to a first operator (102) of the first unmanned aircraft system (104) and a second operator (108) of the second unmanned aircraft system (110); and transmitting information to the first operator (102) and the second operator (108), the information allowing the first operator (102) and the second operator (108) to negotiate a resolution of the conflict, and in response to determination that a conflict does not exist between the first operational intent and one or more scheduled operational intents, accepting the first operational intent; wherein the method further comprises: determining a first set of spatio-temporal blocks to be utilized for the first operational intent, wherein each of the spatio-temporal blocks comprises a volume of airspace and an associated starting time and an ending time that the volume of airspace will be utilized; and determining that a conflict exists if one or more of the first set of spatio-temporal blocks are to be utilized for one or more scheduled operational intents.
  2. The method of any previous claim, further comprising: receiving one or more constraints regarding one or more operational parameters associated with the first operational intent; and determining the operational parameters associated with the first operational intent such that the one or more constraints are satisfied and such that the first operational intent does not conflict with any scheduled operational intents.
  3. The method of any previous claim, further comprising: receiving a payment from one of the first operator (102) or the second operator (108); transferring at least a portion of the payment to the other of the first operator (102) or the second operator (108); receiving one or more modifications to one of the first operational intent or the second operational intent; and modifying the one of the first operational intent or the second operational intent based on the one or more modifications.
  4. The method of any previous claim, further comprising: receiving one or more bids for a right to utilize a first volume of airspace at a first time; and assigning the right to utilize the first volume of airspace at the first time to an operator of an unmanned aircraft system associated with the highest bid.
  5. The method of claim 4, further comprising, after assigning the right to utilize the first volume of airspace: receiving a request to release the first volume of airspace at the first time; receiving new bids for the right to utilize the first volume of airspace at the first time; and assigning the right to utilize the first volume of airspace at the first time to an operator of an unmanned aircraft system associated with the highest new bid.
  6. The method of any previous claim, further comprising: receiving a priority associated with the first unmanned aircraft system (104); verifying the priority associated with the first unmanned aircraft system (104); and in response to determination that a conflict exists between the first operational intent and the second operational intent, accepting the first operational intent; and canceling the second operational intent.
  7. The method of any previous claim, wherein said deconfliction is pre-flight deconfliction.
  8. A deconfliction unit (130) comprising: one or more processors (200); one or more memory modules (240); and machine readable instructions stored in the one or more memory modules (240) that, when executed by the one or more processors (200), cause the deconfliction unit (130) to: receive a request to accept a first operational intent associated with a first unmanned aircraft system (104); determine whether a conflict exists between the first operational intent and one or more scheduled operational intents; in response to determination that a conflict exists between the first operational intent and a second operational intent associated with a second unmanned aircraft system (110): transmit data associated with the conflict to a first operator (102) of the first unmanned aircraft system (104) and a second operator (108) of the second unmanned aircraft system (110); and transmit information to the first operator (102) and the second operator (108), the information allowing the first operator (102) and the second operator (108) to negotiate a resolution of the conflict; and in response to determination that a conflict does not exist between the first operational intent and one or more scheduled operational intents, accept the first operational intent, wherein the machine readable instructions, when executed, cause the deconfliction unit (130) to: determine a first set of spatio-temporal blocks to be utilized for the first operational intent, wherein each of the spatio-temporal blocks comprises a volume of airspace and an associated starting time and an ending time that the volume of airspace will be utilized; and determine that a conflict exists if one or more of the first set of spatio-temporal blocks are to be utilized for one or more scheduled operational intents.
  9. The deconfliction unit (130) of claim 8, wherein the machine readable instructions, when executed, cause the deconfliction unit (130) to: receive one or more constraints regarding one or more operational parameters associated with the first operational intent; and determine the operational parameters associated with the first operational intent such that the one or more constraints are satisfied and such that the first operational intent does not conflict with any scheduled operational intents.
  10. The deconfliction unit (130) of any of claims 8-9, wherein the machine readable instructions, when executed, cause the deconfliction unit (130) to: receive a payment from one of the first operator (102) or the second operator (108); transfer at least a portion of the payment to the other of the first operator (102) or the second operator (108); receive one or more modifications to one of the first operational intent and the second operational intent; and modify the one of the first operational intent or the second operational intent based on the one or more modifications.
  11. The deconfliction unit of any of claims 8-10, wherein the machine readable instructions, when executed, cause the deconfliction unit (130) to: receive one or more bids for a right to utilize a first volume of airspace at a first time; and assign the right to utilize the first volume of airspace at the first time to an operator of an unmanned aircraft system associated with the highest bid.
  12. The deconfliction unit (130) of claim 11, wherein the machine readable instructions, when executed, cause the deconfliction unit (130) to, after assigning the right to utilize the first volume of airspace: receive a request to release the first volume of airspace at the first time; receive new bids for the right to utilize the first volume of airspace at the first time; and assign the right to utilize the first volume of airspace at the first time to an operator of an unmanned aircraft system associated with the highest new bid.
  13. The deconfliction unit (130) of any of claims 8-12, wherein the machine readable instructions, when executed, cause the deconfliction unit (130) to: receive a priority associated with the first unmanned aircraft system (104); verify the priority associated with the first unmanned aircraft system (104); and in response to determination that a conflict exists between the first operational intent and the second operational intent, accept the first operational intent; and cancel the second operational intent.
  14. The deconfliction unit (130) of any of claims 8-13, wherein the machine readable instructions, when executed, cause the deconfliction unit (130) to, in response to determination that a conflict does not exist between the first operational intent and any scheduled operational intents: receive a payment for one or more fees associated with the first operational intent; and transmit the payment for the one or more fees to one or more entities that collect the one or more fees.
  15. The deconfliction unit (130) of any of claims 8-14, wherein said deconfliction is pre-flight deconfliction.

Description

FIELD The present disclosure relates to monitoring of unmanned aerial vehicles, and more specifically, to systems and methods for market based deconfliction for unmanned traffic management. BACKGROUND Unmanned aerial vehicles, or drones, are increasingly being flown either for commercial or other purposes. As the number of unmanned aerial vehicle flights increases, systems have been developed for managing aerial traffic among these vehicles. Specifically, unmanned traffic management networks monitor aerial vehicles to manage traffic among these aircraft. Unmanned traffic management networks may also accept operational intent, such as flight plans, area based 4-D volumes, and trajectory-based volumes, for unmanned aerial vehicles. When there is a conflict between two or more unmanned aerial vehicles that wish to utilize the same volume of airspace at the same time, the unmanned traffic management network may determine which vehicle is allowed to use the airspace. Currently, airspace acceptance is typically accepted on a first come, first served basis. That is, the first aircraft to request airspace at a particular time is accepted. However, this may not be the most efficient use of airspace. As such, there is a need for an improved method of deconfliction between unmanned aerial vehicles. WO 2019/012713 A1 concerns a flight management system provided with: an airspace information management unit for managing airspace information, which is information related to an airspace represented by means of a three-dimensional spatial region and a temporal interval; an unapproved flight plan management unit which, upon reception of a flight plan for a moving body, manages the flight plan in association with a combination of airspaces to be used in the flight plan, on the basis of the airspace information; and a flight plan approving unit which, on the basis of the airspace information and the association described above, detects at least a conflict or an interference of airspaces between a plurality of flight plans, and approves or disapproves the flight plan on the basis of the result of detection. SUMMARY In an embodiment, a method of performing deconfliction as claimed in claim 1 is provided. In an embodiment, a deconfliction unit as claimed in claim 8 is provided. These and other features, and characteristics of the present technology, as well as the methods of operation and functions of the related elements of structure and the combination of parts and economies of manufacture, will become more apparent upon consideration of the following description and the appended claims with reference to the accompanying drawings, all of which form a part of this specification, wherein like reference numerals designate corresponding parts in the various figures. It is to be expressly understood, however, that the drawings are for the purpose of illustration and description only and are not intended as a definition of the limits of the invention. As used in the specification and in the claims, the singular form of 'a', 'an', and 'the' include plural referents unless the context clearly dictates otherwise. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 schematically depicts an exemplary system for performing market based deconfliction for unmanned traffic management, according to one or more embodiments shown and described herein;FIG. 2 schematically depicts an example deconfliction unit, according to one or more embodiments shown and described herein;FIG. 3 depicts a flow chart of an illustrative method of performing deconfliction for unmanned aircraft, according to one or more embodiments shown and described herein; andFIG. 4 depicts a flow chart of another illustrative method of performing deconfliction for unmanned aircraft, according to one or more embodiments shown and described herein; andFIG. 5 depicts a flow chart of another illustrative method of performing deconfliction for unmanned aircraft, according to one or more embodiments shown and described herein. DETAILED DESCRIPTION The present disclosure generally relates to deconfliction of operational intents between unmanned aircraft systems (UAS). Unmanned aircraft systems may also be referred to herein as unmanned aerial vehicles (UAV) or drones. Disclosed herein are systems and methods for market based deconfliction between UAS. As used herein, deconfliction refers to the process of avoiding conflicts between operational intents of various UAS. Specifically, this disclosure relates to pre-flight deconfliction. That is avoiding conflicting operational intents before a flight is undertaken. UAS flights may be monitored by unmanned traffic management (UTM) network comprising one or more UAS service suppliers (USS). A USS may manage UAS traffic within a certain geographic area and/or for a certain set of clients. A USS may monitor UAS with either ground based radar tracking and/or by receiving telemetry directly from UAS that identifies their position. In addition to tracking