Josh's Patent Search

Patent #1

United States Patent: 6,130,705

Autonomous electro-optical framing camera system with constant ground resolution, unmanned airborne vehicle therefore, and methods of use

Inventors: Carlsson; Carl-Olof (Linkoping, SE), Adebjork; Peter (Linkoping, SE) Assignee: SAAB AB (Linkoping, SE)
Appl. No.: 10/720,756 Filed: November 25, 2003



An aerial reconnaissance system generates imagery of a scene that meets resolution or field of view objectives automatically and autonomously. In one embodiment, a passive method of automatically calculating range to the target from a sequence of airborne reconnaissance camera images is used. Range information is use for controlling the adjustment of a zoom lens to yield frame-to-frame target imagery that has a desired, e.g., constant, ground resolution or field of view at the center of the image despite rapid and significant aircraft altitude and attitude changes. Image to image digital correlation is used to determine the displacement of the target at the focal plane. Camera frame rate and aircraft INS/GPS information is used to accurately determine the frame to frame distance (baseline). The calculated range to target is then used to drive a zoom lens servo mechanism to the proper focal length to yield the desired resolution or field of view for the next image. The method may be performed based on parameters other than range, such as aircraft height and stand off distance.

Connection to project:

 This particular patent is almost exactly what we are attempting to create, except it is in plane form and ours uses vertical take off. Like our own this is designed for a flying autonomous vehicle with a camera that feeds back to monitor. This patent focuses in depth on the camera portion of it and we can use this information to our advantage and learn from this.


Patent #2

United States Patent              7,158,877

Carlsson ,   et al.                    January 2, 2007

Waypoint navigation

Abstract:  The invention relates to remote control of an unmanned aerial vehicle, UAV, (100) from a control station (110) by means of a wireless command link (115). The UAV (100) may be controlled in an autonomous mode wherein it flies according to a primary route (R1, R1') defined by a first set of predefined waypoints (WP1 WP8, IP). The UAV (100) may also be controlled in a manual mode wherein it flies according to an alternative primary route (R1') defined in real-time by control commands received via the wireless command link (115). Flight control parameters are monitored in both modes, and in case a major alarm condition occurs, the UAV (100) is controlled to follow an emergency route (R2') defined by a second set of predefined waypoints (HP1 HP7, TP1 TP9, IP). Particularly, a major alarm condition is activated if an engine failure is detected. Then, the emergency route (R2') involves flying the UAV (100) to an air space above a termination waypoint (TP9) on the ground at which it is estimated that the vehicle's (100) flight may be ended without injuring any personnel or causing uncontrolled material damages.

Connection to project: While the previous patent mainly focuses on the camera portion of our vehicle, this patent focuses on the waypoint navigation of a flying vehicle. So we could use this knowledge to figure out how to program our vehicle to find these waypoints and this can later be used to help it find and rescue someone. And like ours it has an autonomous mode. It is also an unmanned aerial vehicle, UAV, (100).

 Patent #3

US Patent  - Autonomous flying wing

US Patent Issued on September 30, 2003
Estimated Patent Expiration Date:  July 2, 2021

Inventor- Yifrach, Aharon



An unmanned flying vehicle comprises an autonomous flying wing having at least two wing portions arranged substantially symmetrically about a center portion. Each wing portion is pivotally attached to each adjoining portion such that the wing portions are foldable for storage and openable for deployment. A preferred form is the so-called seagull wing having four wing portions. The vehicles may be programmable from a mother aircraft whilst being borne to a deployment zone using a data link which may be wireless.

Background of the Invention: “It is often necessary to survey regions of the earth’s surface from the air, for example when looking for survivors of lost ships or aircraft or following earthquakes or natural disasters.”

Connection to Project:

 This vehicle like our own is an unmanned aerial vehicle. Our vehicle is autonomous as is this one. The use of this unmanned flying vehicle is almost exactly what we designed our flying vehicle to do, which is why we deemed it Project R.E.S.C.U.E.




 Patent #4

US Patent 5890441 - Horizontal and vertical take off and landing unmanned aerial vehicle

US Patent Issued on April 6, 1999
Estimated Patent Expiration Date:  September 6, 2016


A semiautonomously directed, autonomously controlled, gyroscopically stabilized, horizontal or vertical take off and landing (HOVTOL) flying apparatus employing two vertical lift devices equally and longitudinally spaced from the center of gravity of the apparatus; continuously integrated with a drive train apparatus, optional single or multiple power means; congruously connected thereto horizontal thrust devices. Integral to the vertical lift devices; pitch axis control devices situated at the exhaust orifices therein to vector said devices exhaust slip stream by a autonomous flight control system providing pitch stability. The autonomous flight control system providing continuously all flight control of the apparatus and said system being interfaced to a semiautonomous flight director device providing discrete flight direction function codes thereto. The combined effect of the apparatus is: When the power system rotates; coincident rotation of the drive train causes the vertical lift apparatus and horizontal thrust apparatus to counter rotate at right angles simultaneously providing both vertical lift and gyroscopic roll stability and simultaneously providing both horizontal thrust and gyroscopic yaw stability during flight; the continuous control thereof being accomplished by the autonomous flight control system and the directional steering, and function thereof in four axis effected by the semiautonomous flight director device which provides discrete flight function codes to the autonomous flight control system so as to disallow the initiation of negative flight maneuvers and/or functions providing for the safe unskilled pilot operation of the apparatus or any aircraft employing a autopilot having a autonomous digital flight control system.

Connection to Project:

This is a semi autonomous device that can fly by using both horizontal, and vertical lift. Though our vehicle works by using horizontal lift we can still learn a lot about how they used their autonomous flight control system and possibly how they gyroscopically stabilized their vehicle.


Patent #5

US Patent Issued on January 14, 1992
Estimated Patent Expiration Date:  August 31, 2010



A magnetic compass in which a conventional compass card provides an analog readout of compass heading and a binary coded digital disk together with fiber optic sensing technology provides a digital readout of compass heading contained within a single housing, together with a gravity driven inclinometer providing a measurement of the inclination of the ground. The compass magnet is shielded by Faraday type shielding from the electronics that processes the digital reading. An analog electronic readout of both compass heading or inclination, capable of remote display, is provided by a tapered iris disk and fiber optic reader combination. A magnetic compass employing a compass disk with a reflecting tapered iris on one side of the disk sensed by a reflecting fiber optic reader and a standard compass card on the other side which can be read visually provides an improved magnetic compass being very compact and providing both analog and digital readouts.


Connection to Project: 

This relates to our project because will have a magnetic compass similar to this one. I am in charge of coding the compass sensor which is why it could help me in understanding just what I am doing and why.