HK1242035B - Systems and methods for restricting drone airspace access - Google Patents

Description

Systems and methods for restricting drone airspace access

Background Art

As drones become more ubiquitous, the chances of drones accidentally or intentionally flying into restricted airspace increase. Examples of restricted airspace include, but are not limited to, airports, aircraft flight paths, no-fly zones, buildings/skyscrapers, military reservations, sports stadiums, private property, and other geographic boundaries. The Federal Aviation Administration (FAA) and state agencies continue to develop additional guidelines and regulations for all types of drone operations (civilian, commercial, recreational, etc.) in the United States. However, there is currently no effective system to prevent or otherwise restrict drones from entering restricted airspace. There is also no effective way to prevent drones from flying over private property.

Because drones are conspicuous, especially when landing, and because the public is increasingly aware of their increasing use for various purposes, they are vulnerable to tampering. For example, drone controls could be intercepted or interfered with in flight, such as by intercepting, jamming, and/or mimicking (e.g., pirating) global positioning signals or global navigation satellite system (GNSS) signals in order to direct the unmanned aircraft to an alternative landing zone. Due to terrain features, blind spots, or GNSS outages, drones could lose communication with GNSS or other navigation systems and potentially be lost, placing the drone at risk. In some cases, repeated "hijackings" of drones in a particular area may lead to the conclusion that a particular area should be avoided. However, there is currently no way to prevent drones from flying into areas at high risk of hijacking.

Summary of the Invention

Various embodiments include methods, as well as drones and servers implementing these methods, for providing conditional drone access to restricted airspace ("restricted areas"), including time-based, fee-based, access level-based, and other restrictions. One embodiment method may include: receiving, by a drone, conditional access information associated with a conditional access restriction for the restricted area; comparing the received conditional access information for the restricted area with one or more access parameters for the drone; and accessing the restricted area based on the comparison of the received conditional access information with the one or more access parameters for the drone. In various embodiments, accessing the restricted area based on the comparison of the received conditional access information with the one or more access parameters for the drone may include accessing the restricted area when the one or more access parameters satisfy the received access information, and not accessing the restricted area when the one or more access parameters do not satisfy the received conditional access information. In various embodiments, the conditional access restriction for the restricted area may be configured to change based on one or more of: time; a period of time; a time of day; a day; and a date.

In some embodiments, comparing the received conditional access information for the restricted area with one or more access parameters for the drone may include comparing a restriction level in the received conditional access information with an access level assigned to the drone; and accessing the restricted area based on the comparison of the received conditional access information with the one or more access parameters for the drone may include accessing the restricted area when the access level assigned to the drone is equal to or greater than the restriction level based on the comparison of the restriction level with the access level assigned to the drone, and taking corrective action by the drone when the access level assigned to the drone is less than the restriction level based on the comparison of the restriction level with the access level assigned to the drone. In some embodiments, the corrective action may include at least one of: landing in or moving to a designated area; proceeding along a designated path to avoid the restricted area; returning to a designated location; preventing takeoff; resuming control of the drone to a third party; restricting use of the drone while in the restricted area; and waiting for a period of time. In some embodiments, the corrective action may include returning to a designated location.

In some embodiments, receiving conditional access information associated with a conditional access restriction for a restricted area may include: receiving a restriction level in the received conditional access information, wherein the restriction level may change between a first restriction level and a second restriction level; and based on comparing the received conditional access information with the one or more access parameters for the drone, accessing the restricted area by the drone may include: accessing the restricted area when the restriction level changes to the first level, and not accessing the restricted area when the restriction level changes to the second level.

In some embodiments, accessing the restricted area by the drone based on comparing the received conditional access information with the one or more access parameters for the drone may include: the drone providing toll payment information to one of a server and a beacon device; receiving confirmation of the toll payment with the toll payment information; and accessing the restricted area based on the received confirmation of the toll payment.

In some embodiments, the one or more access parameters for a drone may include at least one of the following: drone access level, drone toll payment, drone identification, drone certification, and drone capabilities. In some embodiments, the conditional access restrictions may include at least one of the following: restriction level, drone toll payment restriction, time-based restriction, drone identification restriction, drone certification restriction, drone usage restriction, drone speed restriction, and drone altitude restriction.

In some embodiments, receiving conditional access information associated with the conditional access restriction for the restricted area may include receiving the conditional access information from a database, wherein a first portion of the database is stored on a first server and a second portion of the database is stored on a second server.

In some embodiments, receiving conditional access information associated with the conditional access restriction for the restricted area may include: receiving the conditional access information from a database stored in a plurality of redundant servers. Some embodiments may also include: selecting one of the plurality of redundant servers from which the conditional access information is received based on a criterion.

In some embodiments, the criteria include one or more of: proximity of the one of the plurality of redundant servers to the drone, link quality of a communication link between the one of the plurality of redundant servers and the drone, affiliation of the one of the plurality of redundant servers, classification of the one of the plurality of redundant servers, reputation of the one of the plurality of redundant servers, and an operator of the one of the plurality of redundant servers.

In some embodiments, receiving conditional access information associated with the conditional access restriction for the restricted area includes receiving the conditional access information from a server via a wireless communication network. Some embodiments may also include storing the received conditional access information in a memory of the drone.

In some embodiments, receiving the conditional access information from the server via the wireless communication network may include periodically receiving updates to the conditional access information according to a time interval. In some embodiments, receiving the conditional access information from the server via the wireless communication network may include receiving an expiration time for the conditional access information. Some embodiments may also include reloading the conditional access information from the server when the expiration time expires.

In some embodiments, the one or more access parameters of the drone are based at least in part on one or more access parameters of an operator of the drone.

Further embodiments include a drone (e.g., a quadrotor drone or other drone) having a transceiver and a processor, wherein the processor is configured with processor-executable instructions to perform the operations of the embodiment methods described above.

Further embodiments include a server having a server processor configured with processor-executable instructions to perform or cooperate in performing the operations of the embodiment methods described above. In some embodiments, the server processor is configured with processor-executable instructions to receive one or more access parameters from a drone; provide the drone with conditional access information associated with a conditional access restriction for a restricted area; compare the conditional access information for the restricted area with the one or more access parameters received for the drone; and provide the drone with official permission to access the restricted area based on the comparison of the conditional access information with the one or more access parameters received for the drone. In some embodiments, the server processor may be configured with processor-executable instructions to compare a restriction level in the conditional access information with an access level in the one or more access parameters assigned to the drone; provide the drone with official permission to access the restricted area if, based on the comparison of the restriction level with the access level assigned to the drone, the access level assigned to the drone is equal to or greater than the restriction level; and provide the drone with information for taking corrective action if, based on the comparison of the restriction level with the access level assigned to the drone, the access level assigned to the drone is less than the restriction level.

In some embodiments, the server processor may be configured with processor-executable instructions for: providing official permission to notify the drone of a toll payment requirement for accessing a restricted area; receiving toll payment information from the drone; providing confirmation of toll payment processing with the toll payment information to the drone; and providing official permission to access the restricted area to the drone based on confirmation of the toll payment.

Further embodiments may also include a computer-readable storage medium having server-executable instructions stored thereon to perform the operations of the method described above.

BRIEF DESCRIPTION OF THE DRAWINGS

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and, together with the general description given above and the detailed description given below, serve to explain the features of the invention.

1A-1C are diagrams illustrating components of a drone suitable for use in various embodiments.

1D is a diagram illustrating the electrical and electronic components of a typical drone including a wireless communication receiver suitable for use in the various embodiments.

2A-2B are diagrams illustrating communication links in a drone system between drones and system components, in various embodiments.

2C is a diagram illustrating communication links and navigation links in a drone system between drones and system components when in the vicinity of a restricted area, in various embodiments.

3A-3E are diagrams illustrating avoidance, restricted access, and conditional access to restricted areas by a drone, in various embodiments.

4A-4C are message flow diagrams illustrating messages exchanged between components of a drone access restriction system in various embodiments.

FIG5A is a process flow diagram illustrating a method for conditional access restriction for a drone, according to various embodiments.

FIG5B is a process flow diagram further illustrating a method for conditional access restriction for a drone, according to various embodiments.

6A is a process flow diagram illustrating a method by which a server processor provides conditional access by a drone to a restricted area, according to various embodiments.

6B is a process flow diagram illustrating a method by which a processor of a beacon device provides conditional access by a drone to a restricted area, according to various embodiments.

6C-6D are process flow diagrams illustrating embodiment methods for providing conditional access based on toll charges.

7 is a component diagram of an exemplary mobile computing device suitable for use with the various embodiments.

8 is a component diagram of an exemplary mobile computing device suitable for use with the various embodiments.

9 is a component diagram of an exemplary server suitable for use with the various embodiments.

DETAILED DESCRIPTION

Various embodiments will now be described in detail with reference to the accompanying drawings. Where possible, identical reference numerals will be used throughout the accompanying drawings to refer to identical or similar components. Reference to specific examples and implementations is for illustrative purposes only and is not intended to limit the scope of the present invention or the claims.

Various embodiments facilitate controlling drone access to geographic areas with flight restrictions ("restricted areas"). Geographic areas can include areas defined by boundaries (airport approach routes, military bases, etc.) and the airspace above these areas (at least to a certain altitude). Geographic areas can also include specific points, such as facilities, buildings (airports, government office buildings, factories, reactors, etc.), and the surrounding horizontal and vertical radii (e.g., airspace areas, altitudes). Restricted areas may have various restriction levels and access conditions, such as Restriction Level 0 (unrestricted access) up to Restriction Level 10 (severe restrictions). Other restriction level systems are also possible. Drones can be configured with one or more of various access levels or authorizations to enter restricted areas. The various access levels can include Access Level 0 (limited access) up to Access Level 10 (open access). A drone's access level can grant or restrict access based on the various restriction levels and conditions of the restricted area. The drone's access level and the restriction level of the restricted area may change based on various conditions, which will be described in more detail below.

Non-exhaustive and non-limiting examples of restriction levels for restricted areas may include: restriction level 9 for access to airports; restriction level 10 for locations relevant to national security (e.g., the White House and military bases); and restriction level 6 for cities or towns. In an additional example, a first drone may have an access level of 7 and a second drone may have an access level of 5. In such an example, the first drone with access level 7 would have sufficient access to access areas with restriction level 7 and below (e.g., cities, but not airports or military facilities). However, the second drone with access level 5 would not have sufficient access to fly over any of the aforementioned areas, but would be permitted to fly over areas with restriction level 5 or below.

In various embodiments, the restriction level may also correspond to the distance that a drone must avoid within a restricted area. For example, a restriction level 10 for a restricted area may require a drone to be at least 1 mile from the restricted area and/or at an altitude of at least 3,000 feet (if applicable). A restriction level 2 for a restricted area may require a drone to be at least 50 feet horizontally from the restricted area and/or at least 20 feet above a reference point (e.g., the tallest structure or feature in the area). Furthermore, in various embodiments, certain restricted areas may require a drone to provide identification (e.g., a drone identifier or operator identifier) in order to gain access. In such an example, a drone may send identification including its assigned drone access level to a server, which the server may use to determine the drone's access to the particular restricted area. Upon verifying the drone's identification, the server may be configured to update a database maintained by it of restricted areas accessible to the drone. Additionally or alternatively, a server-maintained database associated with the restricted area may be updated to add the drone to the list of drones authorized for access. Once identified and approved, the server can grant access to such restricted areas by the drone, allowing access to certain verified drones.

In some embodiments, restricted areas may allow drones conditional access. For example, restricted access to a restricted area may require reduced or modified functionality of the drone compared to the functionality available when the drone is outside the restricted area. For example, if data collection by the drone is disabled (e.g., video/photo recording is disabled) when the drone is within the restricted area, conditional drone access to the restricted area may be granted. In other examples, the drone may be required to reduce speed and/or fly in "silent" mode while in the restricted area. In other examples, the drone may be required to maintain a minimum altitude. Combinations of conditions are also possible. For example, a drone with access level 10 may freely collect data and fly at low altitudes, while a drone with access level 1 may be more strictly restricted and required to fly at higher altitudes, prohibit data collection, and only fly during specific times. Other conditions, as described herein, are also possible.

In various embodiments, in addition to or in lieu of other access restrictions, a toll or fee may be assessed for drones traveling through restricted areas. The toll or fee may be based on time spent in the restricted area, mileage traveled, time of day, action performed, drone size, noise/nuisance generated by the drone, and/or other factors. The toll or fee may be variable based on these conditions. It may be charged on a per-visit basis or a usage basis (e.g., per hour, per mile, etc.). In other embodiments, the toll may be billed as a subscription service that records visits and provides a monthly fee to the drone operator, or allows unlimited access for a fee. In some embodiments, the toll may operate in a manner similar to vehicle road tolls (e.g., EZPass, etc.). Based on data associated with toll charges and other conditions for accessing certain restricted areas, the drone, or a server managed by the drone operator and in communication with the drone, may be configured to determine whether it is more efficient to avoid or pass through the restricted area (e.g., the fuel cost of avoidance versus the toll). In some embodiments, an emergency situation may require traversing a restricted area regardless of tolls. For example, avoiding a restricted area with tolls may mean that the drone will not have sufficient fuel or energy to reach its destination or otherwise complete its mission. In such a situation, it is possible to traverse the restricted area even with tolls that would normally trigger avoidance of the area.

In other embodiments, in addition to or in lieu of fees for accessing the airspace, fees may be applied based on the resources used or utilized by the drone. For example, a restricted area may bill or charge an additional fee to a drone based on the drone's use of a server accessible from the restricted area. Communicating through a local server can provide more efficient communication for the drone than between the drone and a remote drone command center. The local server can also provide the drone with enhanced region-specific information. A restricted area may also apply fees to drones based on charging/refueling at charging/refueling facilities within the restricted area. In other embodiments, the owner of a restricted area may pay or provide incentives for drones or drone operators to avoid the area on a per-visit basis, at all times, or at certain times.

In various embodiments, drone access restrictions and controls can be further facilitated by beacons deployed within restricted areas. Drones can be configured to avoid areas where certain beacon signals are received. For example, beacon devices provided in areas where drones are undesirable (e.g., on private property) can transmit beacon signals. Regardless of how these areas are identified to drones (e.g., via a database or list of restricted areas maintained by the drone, a server accessible to the drone, or a combination thereof), beacons can provide additional access restrictions. When a drone detects a beacon signal, the drone can take certain actions based on the information contained in the beacon signal. For example, if the beacon signal only contains an indication that an area is restricted, the drone can take corrective action, such as leaving the restricted area, landing in or moving to a designated area, following a designated path to avoid the restricted area, returning to a designated location, preventing takeoff, reverting control of the drone to a third party, limiting use of the drone while in the area, waiting for a period of time, and so on. In some embodiments, the beacon signal itself can identify the area as restricted, and the signal range can define the extent of the restricted area. In such an example, a drone may receive a beacon signal indicating that an area is restricted, and in response, it may proceed in a direction away from the beacon signal (e.g., by detecting that the beacon signal strength is decreasing). In other examples, the beacon signal may include information regarding the coordinates of the restricted area controlled by the beacon. As will be described in further detail herein, the beacon may provide additional information to implement additional features, such as providing information regarding restrictions (e.g., time of day, usage, altitude, etc.), suggesting alternative routes, or suggesting routes through the restricted area, etc. Alternatively or additionally, the beacon signal may include information that prompts the drone to identify itself so that only authorized drones are allowed to enter the restricted area controlled by the beacon, or information that provides conditional access based on the drone's access level, etc.

In various embodiments, different beacons can provide different restriction levels for their restricted areas. For example, a first beacon can provide restriction level 6 for corresponding restricted areas, while a second beacon can provide restriction level 7. Beacon restriction levels can change over time. For example, a first beacon can change its restriction level from level 6 during the day to level 4 at night. Beacons can be configured to allow access to selected drones (e.g., drones owned by the beacon/property owner), while restricting access to other drones owned/operated by others. Beacons can also be configured to take control of drones, such as causing them to take corrective action, sending them home to their base, forcing them to land, and so on. Additional corrective actions can include: landing or moving to a designated area, following a designated path to avoid the restricted area, returning to a designated location, preventing takeoff, reverting control of the drone to a third party, restricting use of the drone while in the area, waiting for a period of time, and so on. Beacons can be configured to communicate with drones via point-to-point wireless communication (e.g., Bluetooth, WiFi, LTE Direct, etc.).

In additional embodiments, in addition to avoiding restricted areas, the drone can be configured to avoid certain detected objects (including objects detected by the drone), command centers, or third-party equipment (e.g., air traffic control towers, etc.). For example, a control tower may detect that an aircraft is near the drone. In response, the drone can be configured to take corrective action to avoid the aircraft. A confidence level can be associated with the detected object. The confidence level can be provided as additional input for determining whether the drone should take corrective action. For example, information from an air traffic control tower indicating that an aircraft is nearby can be associated with a confidence level of 10 (the highest level), which may require immediate corrective action. Object detection information generated by the drone can be associated with a confidence level of 8, and the drone can also collect additional information before taking corrective action.

Drones may be subject to in-flight tampering of their navigation, for example, through GNSS signal manipulation through pirated or jammed signals. Alternatively or additionally, drones may be subject to disruptions to their navigation through natural interference. Therefore, in various embodiments, drones may be configured to periodically check the functionality of their systems (such as, but not limited to, GPS and the memory system that provides navigation information) to detect and mitigate the effects of tampering or navigation failures. For example, if a drone detects that its GPS or navigation system is not functioning properly, it may assume it is in a suspicious area and, in response, may take corrective action (e.g., return home, land, wait for GPS to respond, etc.). When navigation information (e.g., information about restricted areas) is stored on a server, the drone may be configured to provide and/or detect periodic ping or "heartbeat" signals. In other words, the drone may be configured to sense a heartbeat signal from the server and/or vice versa (indicating that the system is functioning properly). In response to a failure to detect a heartbeat, the drone may be configured to take corrective action.

In embodiments such as the beacon embodiment, the drone can use an alternative source of positioning signals (i.e., other than GNSS, GPS, etc.). Since drones can typically fly at lower altitudes (e.g., below 400 feet), the drone can scan for local radio signals (e.g., WiFi signals, Bluetooth signals, cellular signals, etc.) associated with transmitters (e.g., beacons, WiFi access points, Bluetooth beacons, picocells, femtocells, etc.) with known locations (e.g., beacons or other signal sources located in restricted or unrestricted areas near the flight path). The drone can use the location information associated with the alternative signal source along with other information (e.g., dead reckoning combined with the latest trusted GNSS position, dead reckoning combined with the location of the unmanned truck or takeoff area, etc.) for positioning and navigation. Thus, in some embodiments, the drone may navigate using a combination of navigation techniques, including dead reckoning, camera-based recognition of land features beneath the drone (e.g., identifying roads, landmarks, highway guide signs, etc.), etc., which may be used in place of or in combination with GNSS position determination and triangulation or trilateration based on the known locations of detected wireless access points. Such alternative navigation techniques may become important during an attempted hijacking scenario as previously described.

As used herein, the term "drone" may refer to an unmanned aerial vehicle associated with a "drone operator." A drone may be autonomous (self-navigating), remotely controlled, server-controlled, beacon-controlled, or may be controlled by a combination of control methods. Drones may be used for a variety of purposes, such as performing aerial surveillance, monitoring weather, performing communications relay functions, performing data collection, deploying various commercial and military systems, delivering packages, or other purposes. Drones may be owned and operated by a "drone operator," which may include individuals, commercial or civilian operators, or other private, public, or commercial third parties.

As used herein, the terms "area," "geographic area," "restricted access area," and "restricted area" may interchangeably refer to various ways of describing or representing an area or space. For example, an area as used herein may represent a general area such as a street address or a single point location (e.g., GPS coordinates). An area for a point or location may also include a radius around the point or location, including a vertical radius of the airspace extending above the point or location. An area may also refer to a series of points, which may be represented by coordinates such as GPS coordinates. The series of points may mark a straight, circular, or irregular boundary. An area may also refer to airspace over land. Thus, a restricted area may be land represented by a boundary or location, and airspace located directly above and extending to a certain height above a designated land represented by a boundary or location (e.g., including buildings, obstacles, terrain features, etc.). An area may also refer to an area of radio signal coverage for a signal transmitted by a radio beacon. An area may also refer to an area specified by location or boundary information sent from a beacon that extends beyond the coverage of the beacon signal.

As used herein, the term global navigation satellite system (GNSS) refers to any of a variety of satellite-aided navigation systems, such as the Global Positioning System (GPS) deployed by the United States, GLONASS used by the Russian military, and Galileo used by the European Union for civilian purposes, as well as terrestrial communication systems that amplify satellite-based navigation signals or provide independent navigation information.

As used herein, the term "beacon" may refer to a device that transmits or otherwise emits a beacon signal or signals. A beacon signal may be received by drones located within the range of the beacon. As used herein, a beacon may transmit a signal indicating that the area in which the beacon is located is a restricted access area or a restricted area. The range of the beacon signal may delineate the restricted area. The beacon signal may contain information that specifies a restricted area independent of the range of the beacon signal. The area confined by the beacon and delineated in the information in the beacon signal may extend beyond the range of the beacon signal, or the beacon signal may extend beyond the area specified as confined by the information in the beacon signal.

The various embodiments can be implemented using a variety of drone configurations. The flight power source for the drone can be one or more thrusters, where the thrusters generate sufficient lifting force to lift the drone (which includes the drone structure, engine, electronics, and energy source) and any payload that can be attached to the drone. The flight power source can be powered by an electrical energy source such as a battery. Alternatively, the flight power source can be a fuel-powered electric motor (e.g., one or more internal combustion engines). While this disclosure is directed to the example of an electric motor-controlled drone, the concepts disclosed herein are equally applicable to drones powered by virtually any energy source. The flight power source can be mounted vertically or horizontally, depending on the drone's flight mode. A common drone configuration suitable for use in the various embodiments is the "quadrotor" configuration. In an exemplary quadrotor configuration, four (or more or fewer) horizontally arranged rotating lift thrusters and engines are typically secured to a frame. The frame can include a frame structure with landing skids (which support the propulsion engines), an energy source (e.g., batteries), a payload securing mechanism, and the like. The payload can be attached to the central area beneath the drone's frame structure platform, for example, within the area enclosed by the frame structure and skids located beneath the flight power or propulsion unit. A quadcopter-style horizontal rotor drone can fly in any unobstructed horizontal and vertical orientation, or hover in one location. In the examples described herein, a quadcopter drone configuration is used for illustrative purposes. However, other drone designs may also be used.

The drone may be configured with processing and communication equipment that enables the device to navigate (e.g., by controlling flight engines to achieve directional flight, and receiving position information and information from other system components (e.g., including beacons, servers, access points, etc.). The position information may be associated with the current drone position, waypoints, flight paths, avoidance paths, altitude, destination location, toll booth locations, etc.

FIG1 through FIG1D illustrate an exemplary drone 100 configured to fly to a location or destination, including an access-restricted area, according to various embodiments. In the simplified exemplary embodiment shown in FIG1A , drone 100 may include multiple rotors 101, a frame 103, and landing skids 105. Frame 103 may provide structural support for the engines associated with rotors 101, landing skids 105, and may be sufficiently strong to support the combined maximum load weight of the drone's components and, in some cases, payload 109. For ease of description and illustration, certain details of drone 100, such as wiring, frame structure interconnections, or other features known to those skilled in the art, have been omitted. For example, while drone 100 is shown and described as including a frame 103 having multiple support members or frame structures, drone 100 may be constructed using a molded frame, wherein support is achieved through molded structures. In the illustrated embodiment, drone 100 has four rotors 101. However, more or fewer rotors 101 may be used.

As shown in FIG1B , a landing sensor 155 may be provided on the landing skid 105 of the drone 100. The landing sensor 155 may be an optical sensor, a radio sensor, a camera sensor, or other sensor. Alternatively or additionally, the landing sensor 155 may be a contact sensor or a pressure sensor that provides a signal indicating when the drone 100 has made contact with a surface. In some embodiments, the landing sensor 155 may be adapted to provide an additional capability to charge the drone's battery (e.g., via a charging connector) when the drone 100 is located on a suitable landing pad. In some embodiments, the landing sensor 155 may provide an additional connection to the landing pad (e.g., a wired communication or control connection). The drone 100 may also include a control unit 110 that may house various circuits and devices used to power and control the operation of the drone 100, including an engine for powering the rotor 101, a battery, a communication module, and the like.

As shown in Figure 1C, the drone 100 may also be equipped with a payload securing unit 107. The payload securing unit 107 may include a drive motor that drives a clamping and releasing mechanism in response to commands from a control unit and associated control devices that clamp and release the payload 109 in response to the control unit.

FIG1D illustrates an example of a control unit 110 for a drone 100 suitable for use with various embodiments. Control unit 110 may include a processor 120, a wireless module 130, and a power module 150. Processor 120 may include or be coupled to a memory unit 121 and a navigation unit 125. Processor 120 may be configured with processor-executable instructions to control flight and other operations of drone 100 (including operations of various embodiments). Processor 120 may be coupled to payload tether unit 107 and landing sensor 155. Power may be supplied to processor 120 from power module 150 (e.g., a battery). Processor 120 may be configured with processor-executable instructions to control charging of power module 150, for example, by executing a charging control algorithm using a charging control circuit. Alternatively or additionally, power module 150 may be configured to manage its own charging. Processor 120 may be coupled to an engine control unit 123, which is configured to manage the engine used to drive rotor 101.

By controlling the various motors of rotors 101, drone 100 can be controlled during flight as it progresses toward its destination. Processor 120 can receive data from navigation unit 125 and use such data to determine the current position and orientation of drone 100, as well as an appropriate course toward its destination. In some embodiments, navigation unit 125 can include a GNSS receiver system (e.g., one or more GPS receivers) for enabling drone 100 to navigate using GNSS signals. Alternatively or additionally, navigation unit 125 can be equipped with a radio navigation receiver to receive navigation beacons or other signals from wireless nodes such as navigation beacons (e.g., VOR beacons), WiFi access points, cellular network sites, wireless stations, and the like. Furthermore, processor 120 and/or navigation unit 125 can be configured to communicate with a server via a wireless connection (e.g., a cellular data network) to receive data useful for navigation and provide real-time position reports. The avionics module 129, coupled to the processor 120 and/or the navigation unit 125, can be configured to provide information related to flight control (e.g., altitude, attitude, airspeed, heading, and the like), which the navigation unit 125 can use for navigation purposes (e.g., dead reckoning between GNSS position updates). The avionics module 129 can include or receive data from a gyroscope/accelerometer unit 127 that provides data regarding the orientation and acceleration of the drone 100 that can be used in making navigation calculations.

Wireless module 130 can be configured to receive navigation signals (e.g., beacon signals from restricted areas, signals from avionics navigation aids, etc.) and provide such signals to processor 120 and/or navigation unit 125 to assist in drone navigation. In some embodiments, navigation unit 125 can use signals received from identifiable RF transmitters on the ground (e.g., AM/FM radio stations, WiFi access points, and cellular network base stations). The location, unique identifier, signal strength, frequency, and other characteristic information of such RF transmitters can be stored in a database and used to determine the location (e.g., via triangulation and/or trilateration) when wireless module 130 receives an RF signal. This database of RF transmitters can be stored in memory unit 121 of drone 100, in a ground-based server in communication with processor 120 via a wireless communication link, or in a combination of memory unit 121 and a ground-based server. Using information about RF transmitters for navigation can utilize any of a variety of conventional methods. For example, upon receiving an RF signal via wireless module 130, processor 120 can obtain a unique signal identifier (e.g., service sector identifier (SSID), media access control (MAC) address, radio station call sign, cell ID, etc.) and use this information to obtain the ground coordinates and signal strength of the detected RF transmitter from a database of RF transmitter characteristics. If the database is stored in onboard memory unit 121, processor 120 can use the transmitter identifier information to perform a table lookup in the database. Alternatively or additionally, processor 120 can use wireless module 130 to send the detected RF transmitter identifier to a location information service (LIS) server, which can return the location of the RF transmitter obtained from a database of RF transmitter locations. Using the RF transmitter coordinates and, optionally, the signal strength characteristics, processor 120 (or navigation unit 125) can estimate the position of drone 100 relative to these coordinates. Using the locations of three or more RF transmitters detected by wireless module 130, the processor can determine a more precise location via trilateration. Estimates of position from received terrestrial-based RF transmitters can be combined with position information from a GNSS receiver to provide a more accurate and reliable position estimate than could be achieved using either method alone.

Processor 120 can use wireless module 130 to wirelessly communicate with a wireless communication device 170, such as a beacon, server, smartphone, tablet, or other device with which drone 100 can communicate, using various wireless communications. A bidirectional wireless communication link 132 can be established between transmit/receive antenna 131 of wireless module 130 and transmit/receive antenna 171 of wireless communication device 170. For example, wireless communication device 170 can be a beacon used to control access to a restricted area, as described herein. For example, wireless communication device 170 can be a cellular network base station or cellular tower. Wireless module 130 can be configured to support multiple connections with different wireless communication devices 170 using different wireless access technologies. In some embodiments, wireless communication device 170 can connect to or provide access to a server. For example, wireless communication device 170 can be a server of the drone operator, a third-party service (e.g., package delivery, billing, etc.), or the operator of a restricted area. Drone 100 can communicate with the server via an intermediate communication link (e.g., one or more network nodes or other communication devices).

In some embodiments, wireless module 130 can be configured to switch between a cellular connection and a WiFi connection based on the location and altitude of drone 100. For example, when flying at an altitude designated for drone traffic, wireless module 130 can communicate with cellular infrastructure to maintain communication with a server (e.g., 170). An example of a flight altitude for drone 100 is approximately 400 feet or less, which may be specified, for example, by a government agency regulating drone flight traffic (e.g., the FAA). At this altitude, it may be difficult to establish communication with some of wireless communication devices 170 using short-range wireless communication links (e.g., Wi-Fi). Therefore, when drone 100 is at altitude, communication with other wireless communication devices 170 may be established using a cellular telephone network. When drone 100 moves closer to wireless communication device 170, communication between wireless module 130 and wireless communication device 170 may switch to a short-range communication link (e.g., Wi-Fi or Bluetooth).

In various embodiments, the wireless communication device 170 may be associated with an area where drone operation is prohibited or restricted (often referred to as a "restricted area"). For example, the unmanned communication device 170 may be a beacon device that transmits a navigation signal to identify or indicate the restricted area. As another example, the wireless communication device 170 may be a wireless access point or cellular network base station coupled to a server associated with the restricted area. When the drone 100 is located within or near the restricted area, the server may communicate with the drone 100 using the wireless communication device 170 or send the coordinates of the restricted area to the drone 100 via a data connection established with the drone 100 (e.g., via a cellular data connection maintained by the drone 100 with a cellular network).

The wireless communication device 170 may also be a server associated with the operator of the drone 100 that communicates with the drone 100 through a local access node or through a data connection maintained via a cellular connection.

Although the various components of the control unit 110 are shown as separate components in Figure 1D, some or all of these components (e.g., the processor 120, the engine control unit 123, the wireless module 130, and other units) may be integrated together into a single device or module (e.g., a system-on-chip module).

An operating environment 200 for a drone (e.g., drone 100 in Figures 1A-1D) may include a destination 210 and a drone base 250, as shown in Figures 2A-2C. Drone base 250 may be a "home" location for drone 100, or any predetermined or designated starting point for transportation of drone 100. Drone base 250 may also be a predetermined or designated area to which drone 100 may be configured to return. Referring to Figures 1A-2C, server 240 (e.g., wireless communication device 170) may provide drone 100 with the coordinates of destination 210. In some embodiments, drone 100 may be programmed with the coordinates of its destination 210 (e.g., when assigned a mission or while drone 100 is in flight). In some embodiments, destination 210 may be the coordinates of a loitering location, where drone 100 may proceed to destination 210 and maintain monitoring or other operations within the area of destination 210.

When the drone 100 is at the drone base 250, the drone 100 can establish and maintain communication with the server 240 to facilitate dispatch of the drone 100 to the destination 210. In various embodiments, while at the drone base 250, the drone 100 can establish a direct connection with the server 240 and/or can communicate with the server 240 via a cellular data network connection. For example, the drone 100 can establish a wireless connection 232 with a cellular infrastructure component 230 of a cellular service provider. When the drone 100 is on the ground and/or in flight, the wireless connection 232 can be a data connection that provides a connection to the server 240 via a public network (e.g., the Internet 241). The drone 100 can establish multiple wireless connections simultaneously, such as a wireless connection 223 with a wireless access point 213 having an antenna 214. The wireless access point 213 can provide an independent connection to the Internet 241, through which the drone processor 120 can access the server 240. Wireless access point 213 may be any wireless access point between drone base 250 and destination 210 that includes a beacon associated with a restricted area.

Upon receiving information regarding the destination 210 for the drone 100, the drone 100 can be dispatched from the drone base 250 to the destination 210. The drone 100 can determine a route to the destination 210 based on various constraints, such as ground safety considerations, altitude restrictions, obstacles (e.g., buildings, mountains, towers, etc.), weather conditions, recoverability considerations, efficiency (e.g., the most fuel-efficient route, the shortest flight distance), and the need to avoid restricted areas 260. For example, if the drone 100 were to land or crash while flying to or returning from the destination, the drone 100 can be configured to land or crash in an area that is likely to cause the least safety issues to humans or the least damage to property, and/or in an area that is easiest to recover. The drone 100 can use GNSS signals 235a from GNSS satellites 235 to determine progress toward the drone's 100 destination 210 (including progress toward waypoints defining the planned flight path of the drone 100).

The drone 100 can establish a connection 232 with the cellular infrastructure component 230 to facilitate communication with the server 240 over the Internet 241 while in flight. In various embodiments, the drone 100 can use information from the server 240 to avoid entering a restricted area 260 (260a, 260b) or to obtain conditional access to the restricted area 260.

In various embodiments, the drone 100 may be configured to periodically check the functionality of the navigation unit 125 and/or the communication link with the server 240. This functionality may be checked through periodic heartbeat checks. For example, the drone 100 may receive periodic communications from the server 240 indicating that the connection 232 is still maintained and operational. Alternatively or additionally, the drone 100 may send periodic communications to the server 240 providing the drone 100's location coordinates and/or indicating that the navigation unit 125 and other drone systems are still operational. If the drone 100's processor 120 determines that the navigation unit 125 and other drone systems are not operational, corrective action may be taken. For example, if the drone 100 loses contact with the GNSS satellites 235 (e.g., due to jamming, pirated signals, obstruction by buildings, or tampering with the drone 100), and the drone 100 has no other means of determining its location, the drone 100 may issue an alert to the server 240 and land. As another example, if the drone 100 loses contact with the GNSS satellites 235, the drone 100 can fall back to using an alternative navigation method (e.g., trilateration based on signals detected from identifiable RF transmitters, as described above).

As the drone 100 travels toward the destination 210, the drone 100 may receive signals from wireless communication devices 254, 256 (e.g., 170) via corresponding wireless signals 254a, 256a. The wireless communication devices 254, 256 may be beacons associated with one or more restricted areas 260a, 260b. The wireless signals 254a, 256a may provide information about the corresponding wireless communication devices 254, 256, such as SSID, MAC address, cellular tower ID, etc. The wireless signals 254a, 256a may indicate to the drone 100 that the corresponding area is restricted. The wireless signals 254a, 256a may include additional information, such as boundary coordinate information for the corresponding restricted area and/or information regarding conditional access. One or more of the wireless signals 254a, 256a may prompt the drone 100 to provide identification information, wherein the identification information may include an identifier of the drone 100 and an access level for the drone 100 related to whether the drone is permitted to enter or pass through the restricted area 260a, 260b.

In some embodiments, the drone processor 120 can use information in wireless signals 254a, 256a to determine the location of access points or wireless communication devices 254, 256 (e.g., by comparing identifiers to a database of access point locations). For example, when the drone 100 is dispatched from the drone base 250 on a first flight leg 251, the drone 100 may receive information about a restricted area 260a from the server 240. While in flight, the drone 100 may maintain a wireless connection 232 with the server 240 via the cellular infrastructure component 230 and the internet 241. Based on the information received from the server 240, the drone 100 may avoid the restricted area 260a and proceed along the second flight leg 253 toward the destination 210. When the drone's wireless module 130 begins receiving signals 254a from the wireless communication device 254, the drone may establish contact with the wireless communication device 254. The drone 100 can determine the location of the wireless communication device 254 by obtaining an identifier (e.g., SSID) and possibly other information about the wireless communication device 254, and obtain the access point location by sending the obtained access point information to a server of a location information service provider. The drone processor 120 can use the coordinates of the wireless communication device 254 returned from the location information service provider to confirm the current position and bearing of the drone 100. If the determined current position and bearing information indicates that the drone 100 is off course, the drone 100 can make course corrections as it proceeds along the third leg 255 toward the destination 210. Furthermore, the drone processor 120 can determine that it should not trust the position determined by the GNSS system, as such information may be corrupted by pirated or jammed signals, and take corrective action (e.g., landing, returning to the drone base 250, or falling back to dead reckoning navigation combined with alternative navigation). The position information determination operation can be repeated each time a new wireless communication device 256 is encountered.

In some embodiments, as the drone 100 approaches the destination 210 along the first leg 257, a communication link can be established with the wireless access point 213 and/or with the wireless device 170 located at or near the landing zone. For example, the drone 100 can detect a wireless signal 223 from a smartphone wireless device 170 of a person waiting for the drone 100 and utilize the wireless device 170 information to perform a final position determination operation. Alternatively or additionally, the drone 100 can use the wireless connection 222 to establish a connection with the server 240 (e.g., via the wireless device 170 via the Internet 241). Alternatively or additionally, the drone 100 can use the wireless connection 232 to establish a connection with the server 240 (e.g., via the Internet 241 via the cellular infrastructure component 230). Through this connection, the drone 100 can receive additional navigation, status, or other information useful in supporting flight operations, including, for example, modified destination information, modified route information, weather information, distance information, flight restriction information, obstacle information, or other information useful for the operation of the drone 100. For example, a new destination may be assigned, and the drone 100 may be required to follow a new flight path to the new destination. The new destination information may be transmitted to the drone 100 via one or more wireless connections 223, 232, along with additional information regarding restricted areas, conditional access restrictions, and the like.

FIG3A illustrates certain operations of drones 100a and 100b (which may correspond to drone 100 of FIG1-2C ) as drone 100 approaches a restricted area 310a on or near flight path 311a, according to various embodiments. Referring to FIG1-3A , in some embodiments, drone 100 may receive restricted area information regarding restricted area 310a from communications with server 240. Drone 100 may proceed along flight path 311a, thereby avoiding entering restricted area 310a. For example, the restricted area information for restricted area 310a may include a keep-away distance, requiring drone 100 to adopt an alternate path 311b that remains outside the keep-away distance from restricted area 310a.

Drone 100b may be provided with a flight path 311c that avoids all restricted areas 310a, 310b, and 310c. In some embodiments, a beacon may be used to indicate one or more of restricted areas 310a, 310b, and 310c, wherein these signals are received when drone 100 approaches these restricted areas. If drone 100 receives information indicating that it is within one of restricted areas 310a, 310b, or 310c, drone 100 may take immediate corrective action. For example, drone 100 may change its course to leave the restricted area or land immediately. Other non-exhaustive and non-limiting examples of corrective actions for drone 100 may include: landing in or moving to a designated area, following a designated path to avoid a restricted area, returning to a designated location, preventing takeoff, resuming control of drone 100 to a third party, limiting use of drone 100 while in a restricted area, waiting for a period of time, and the like.

FIG3B illustrates some operations of a drone (e.g., 100a, 100b) subject to flight restrictions for the drone. For example, referring to FIG1-3B , a restricted area 320 may be specified with altitude restrictions that restrict unauthorized drones from flying below a minimum altitude (e.g., altitude profiles 320a and 320b). The altitude restrictions may be indicated or specified via signals received from a server responsible for controlling the flight path of the drone within or over the restricted area 320. For example, the altitude restrictions (e.g., a specific altitude or a minimum altitude) may be provided via information transmitted from a server associated with the restricted area 320 to the drone 100.

In some embodiments, a wireless beacon 215 located within or above the boundaries of a restricted area 320 can provide the boundaries of the restricted area 320. Beacon 215 can transmit a wireless beacon signal 217 that conveys an altitude limit to drones 100a and 100b. In some embodiments, the reception range of beacon signal 217 can delineate the boundaries of restricted area 320. In other words, the restricted area can be defined by an exclusion radius around and above central beacon 215, where the radius is defined by the distance at which wireless beacon signal 217 can be received. Because the reception range of wireless beacon signal 217 can vary depending on time of day, weather conditions, and interference from other RF transmitters, the actual boundaries of restricted area 320 may be closer to the beacon device than the expected reception range of wireless beacon signal 217. For example, the reception range of wireless beacon signal 217 may extend above or beyond a first altitude or altitude profile 320a, while the actual altitude boundary of the restricted area may be altitude profile 320b.

For example, as drone 100a approaches restricted area 320, the drone's wireless module 130 may begin receiving wireless beacon signal 217. In response, drone 100a may climb until it no longer receives wireless beacon signal 217, thereby following flight path 321a over restricted area 320 that avoids receiving beacon signal 217. Alternatively, drone 100a may adjust its altitude so as to follow flight path 321a that maintains a constant signal level of beacon signal 217. In other words, drone 100a may navigate around and/or over restricted area 320 such that the signal strength of beacon signal 217 does not increase (or does not increase above a specified threshold signal value).

In some embodiments, wireless beacon signal 217 may include information specifying permitted altitudes or altitude profiles 320b that drone 100 should adhere to when passing through restricted area 320. For example, wireless beacon signal 217 may provide drone 100a with information specifying a restricted altitude for altitude profile 320b above restricted area 320. Drone 100a may navigate based on the altitude information received in beacon signal 217 to remain outside the restricted airspace above restricted area 320.

Although height profiles 320a and 320b are shown as dome-shaped for ease of illustration, the shape of the permitted height profiles can have any shape, such as cylindrical, conical, truncated cone (i.e., a cone with permitted heights), or irregular shapes. For example, a portion of a restricted area can have a first altitude flight path restriction, while another portion of the same restricted area can have a second altitude flight path restriction. As shown, drone 100b can fly around restricted area 320 along flight path 321b at altitudes that avoid restricted area height profiles 320a and 320b.

Restricted areas can also permit drones to conduct low-altitude flights on a conditional basis, for example, based on the time of day, day of the week, and the drone's certification or access level. FIG3C illustrates an environment 370 in which certain operations by drones (e.g., 100, 100a, 100b in FIG1-3B) near a restricted area 312 grant conditional access to drones with different access levels. Referring to FIG1-3C , in the example shown, drones 371 with access level 10, drones 373 with access level 9, and drones 375 with access level 7 encounter a restricted area with restriction level 8. For illustrative purposes, these arbitrary restriction-level restricted areas 312 are used as examples of how access levels can be used to establish the minimum access level at which drones are permitted to fly through a restricted area. Access conditions can vary based on the relationship between the drone's access level and the restriction level of the restricted area. For example, for a restricted area 312 having a restriction level of 8, drones with access levels lower than access level 8 may be excluded from flying over or passing through the restricted area 312. As another example, different levels of access may be provided to drones based on their access levels.

In environment 370, two or more of drones 371, 373, and 375 may simultaneously approach restricted area 312. While simultaneous arrival may include simultaneous arrival, alternatively or additionally, two or more of drones 371, 373, and 375 may not arrive simultaneously. For example, two or more of drones 371, 373, and 375 may arrive under the same general conditions (e.g., during the same time window or period) and, therefore, may be subject to restrictions applicable to those conditions. Drones 371, 373, and 375 may communicate with server 240 associated with restricted area 312, for example, via cellular infrastructure component 230, wireless beacon 215, or another wireless access device. For example, communication with server 240 may be provided via Internet 241 or directly via wireless beacon 215. A database 341 of access restriction levels for drones 371, 373, and 375, as well as altitude restrictions corresponding to each access level, may be provided. Such a database 341 may be stored on a data storage device 340, which may be coupled to or accessed via a server 240 associated with the restricted area. For ease of illustration, all of the drones 371, 373, and 375 are shown in communication with the server 240. In various embodiments, one or more of the drones 371, 373, and 375 may communicate with another server or combination of servers to access the database 341.

In environment 370, a database 341 maintained on data storage device 340 and accessible to server 240 may include information regarding access restrictions, where the access restrictions establish a restriction level for drones with a given access level. For example, database 341 may store various information regarding access level 343. Access level 343 may be accompanied by default restrictions 345. Default restrictions 345 may indicate the level of restriction for access to restricted areas based on the access level of a given drone. For example, a drone with access level 10 in access level 343 may be provided with unrestricted access according to default restrictions 345. A drone with access level 0 in access level 343 may be provided with denied access according to default restrictions 345. Thus, in environment 370, drone 371 with access level 10 may be provided with unrestricted access to restricted area 312. Alternatively, drone 373 with access level 9 may be provided with access to restricted area 312 based on restriction level 9.

Drones with a higher access level than the restricted area's restriction level may nonetheless have access restrictions imposed. For example, if the restricted area is an active airport runway, access may be restricted to drones of any access level during flight operations. Drone 375 with access level 7 (which is lower than the restriction level 8 of restricted area 312) may be denied overflight access to the restricted area.

Even if a drone has an access level lower than the limit for a restricted area, conditional access can be provided to drones (e.g., 100, 100a, 100b, 371, 373, 375 in Figures 1-3C) based on time, usage, authentication, or other conditions, as shown in environment 380 in Figure 3D. Referring to Figures 1-3D, in environment 380, drone 381 with access level 10, drone 383 with access level 8, drone 385 with access level 7, and drone 387 with access level 0 are shown approaching restricted area 314 at the same time or at different times within time period A. Time period A can be a time window, such as between 10:00 AM and 3:00 PM (e.g., between 1000 and 1500 hours on a 24-hour timeframe). This time window can be a non-recurring time period valid for a given date or a series of dates. Alternatively, time period A can be a recurring time window for a given time period between certain specified hours, a specific day or days of the week or month, or a combination of such time windows. The time window can be for certain days of the week (e.g., a 24-hour period every Wednesday (e.g., from 12:00 a.m. on Wednesday to 11:59 p.m. on Wednesday), times of the month (e.g., the first Wednesday of every month), or some combination of these time periods (e.g., from 3:00 p.m. to 5:00 p.m. on the first Wednesday of every month). Although the example shown is related to time period A for the restricted area 314, other restrictions can also be implemented during other time periods, as described above.

Drones 381, 383, 385, and 387 can access database 341 via wireless communication links to the network hosting database 341. Database 341 can contain conditional restrictions for each drone access level 343, including default restrictions 345 and time-based conditional access restrictions 347. For example, database 341 can include Time Period A restrictions 347, which provide various levels of conditional restrictions for access to restricted area 314 during Time Period A. For example, drones with access levels 10 or 9 would have unrestricted access to restricted area 314 during Time Period A, while drones with access levels 8 or lower would be subject to restrictions of Level 9 (e.g., which may be associated with minimum altitude and non-loitering restrictions) during Time Period A. Thus, for example, drone 383 with access level 8 would be allowed in restricted area 314 by default outside of Time Period A (e.g., during Time Periods B and C), but would not be allowed in restricted area 314 during Time Period A.

As another example, Time Period B restrictions 349 and Time Period C restrictions 351 can be maintained in database 341, providing similar conditional restrictions based on access levels. In some cases, Time Periods A, B, and C may overlap, in which case additional conditions can be specified to indicate to drones the conditional restrictions they should follow during the overlapping time windows. In other words, during various specified dates and time periods, drone access restrictions can be lowered so that drones can be provided with access restrictions corresponding to the increased access levels. Additional restriction levels can be set in database 341 for Time Period A restrictions 347 to provide conditional access levels to restricted areas 314 for drones with different access levels that are not specifically listed.

In additional embodiments, conditional access can be granted in exchange for payment of a toll, as described in the column for time-limited toll override 353. In such an embodiment, a drone operator can gain access to the airspace of restricted area 314 by authorizing payment of the toll, effectively overriding the time-limited restrictions. Time-limited toll override 353 can be applied independently of time-limited restrictions 347, 349, and 351 to allow a drone operator to purchase access to restricted area 314, which would otherwise restrict access to a particular drone. Payment of the toll can be accomplished through separate communication between the drone operator and server 240 (or other entity), or by the drone sending payment information via a network to server 240 managing the restricted area, or via wireless transmission to a toll sensor (which may be implemented in or otherwise associated with wireless beacon 215). In some embodiments, a drone operator can establish an account that will be charged when a drone (e.g., 383, 385, etc.) enters a restricted area 314. This is because entry into the restricted area 314 can be detected by radar (e.g., using a transponder that provides an identifier for the drone) or communication between the drone and a wireless beacon 215. In some embodiments, the ability to override access restrictions by paying a toll is unavailable to some drones or drones with certain access levels (except during designated time periods), and some drones may never be granted access to the restricted area by paying a toll. Alternatively or additionally, the toll charged to a drone operator for accessing restricted airspace can be based on the drone's access level. For example, a reduced toll can be charged to drones with a higher access level, while an increased toll can be charged to drones with a lower access level, or vice versa. Furthermore, toll taxes can be based on a combination of various variables, including access level, time of day, expected usage, duration of visit, and so on. Information regarding access restrictions and conditional access stored in database 341 can be transmitted to drones 381, 383, 385, and 387 as part of initial communication with server 240 for mission or route planning. Alternatively or additionally, the conditional access information stored in database 341 can be transmitted to drones 381, 383, 385, and 387 in flight (e.g., upon approaching restricted area 314). Furthermore, one or more of drones 381, 383, 385, and 387 can be configured with local drone storage and can store the conditional access database 341, or a version of the conditional access information in database 341, in the corresponding local drone storage. The conditional access information can be subject to an expiration date/time. The local drone storage can be updated at the start of a mission, periodically during a mission, and/or when the conditional access information in database 341 expires, which can alleviate the need for the drones to receive at least some conditional access information from server 240.

In embodiments where access to restricted area 314 is controlled by beacons and/or local servers (with which drones 381, 383, 385, and 387 communicate), the beacons and/or local servers may prompt drones 381, 383, 385, and 387 for identification or authentication information, toll information, access level information, or other information. Alternatively, the beacon devices and/or local servers may obtain information from a server associated with each of drones 381, 383, 385, and 387 (e.g., a service operator server for the drones or a service provider for some of the drones).

The examples of access levels, access restrictions, and time periods shown in environment 380 are merely illustrative, non-exhaustive, and non-limiting. For example, in various embodiments, other and different access conditions may be imposed on drones.

In some embodiments, conditional restrictions on access to airspace above a restricted area may include restrictions on the activities that may be performed, the minimum altitude that may be used, and a time limit on the amount of time a drone is permitted to remain in the area, as shown in environment 390 in FIG. 3E . Referring to FIG. 1-3E , in such an embodiment, database 341 may store usage restrictions regarding permitted or prohibited operations within the airspace. For example, database 341 may include usage restrictions 355, altitude restrictions 357, and loitering restrictions 359 that apply during specific time periods or at all times. For example, some usage restrictions 355 may impose limitations on the types of operations a drone is permitted to perform, such as capturing high-resolution or low-resolution imagery or prohibiting any type of data acquisition. As another example, database 340 may include specific altitude restrictions (e.g., minimum altitude restrictions) that may depend on the drone's access level. As an additional example, database 340 may include restrictions on the amount of time a drone may remain in a restricted area (e.g., loitering restrictions) that may depend on the drone's access level. These examples of additional conditional access restrictions are non-exhaustive and non-limiting, and other types of restrictions may be implemented in a similar manner. In some embodiments, payment of a toll may override additional restrictions, such as paying for permission to perform high-resolution imaging or to remain in a restricted area for a longer period of time.

In various embodiments, alternatively or additionally, database 341 may be stored in the memory of a drone (e.g., 100, 100a, 100b, 371, 373, 375, 381, 383, 385, 387, etc.). The drone may receive updated database information 341 from a server (e.g., 240) at regular intervals (e.g., hourly, daily, etc.). In additional embodiments, the information stored in the drone's database 341 may have a limited lifespan, which may be indicated when the information is obtained (e.g., by an expiration time). The drone may use a timer or the like to track the expiration of database information 341 stored in memory. For example, if database information 341 expires or otherwise exceeds the indicated lifespan, the drone processor may contact the server to reload the latest database information 341. In some cases, a drone storing expired database information 341 may not be permitted to fly in a restricted area 312. By maintaining a local version of database information 341, the frequency of communications between the drone and server 240 can be reduced, which can reduce overhead, traffic load, and the like. Reducing the need to communicate with server 240 can be advantageous in environments where WAN connections or connections to other networks are unavailable or unreliable. In various embodiments, the drone can communicate with the server before takeoff, upon liftoff, or at other designated times to confirm that the latest information updates to database 341 have been loaded. Once the information is confirmed to be current or updated, the drone can proceed without communicating with server 240 until the next takeoff event, the expiration of a timer, or the occurrence of some other predetermined event (e.g., a query by a third party).

It should be noted that while only one server 240 is shown in the figures (e.g., Figures 2A-2C and 3C-3E), database 341 or the information in database 341 may be distributed across multiple servers 240. For example, a first portion of database 341 may be stored and/or maintained on a first server 240, a second portion of database 341 may be stored and/or maintained on a second server (not shown), and so on. Alternatively or additionally, servers 240 may be redundant, such that drone 100 may be configured to communicate with a selected one of servers 240. The selection of server 240 may be based on certain criteria or conditions, such as the proximity of server 240 to drone 100, the quality of the wireless link between server 240 and drone 100, the affiliation or classification of server 240 (e.g., military, government, commercial, private, etc.), the reputation of server 240, the operator of server 240, and so on.

In some embodiments, the information stored and/or maintained in database 341 on a given server 240 can be populated or accessed by other servers (or entities). For example, server 240 can be configured to query or otherwise obtain event information from an entity/server associated with a restricted area, where an event may be occurring or scheduled to occur within the restricted area. For example, the event information may include information such as the start time of a baseball game at a baseball stadium. Thus, based on the event information obtained by server 240, a restricted time window can be established in database 341 for the restricted area (e.g., the baseball stadium), which is a few hours (or other amount of time) before the game time until a few hours (or other amount of time) after the game is expected to end. In certain embodiments, server 240 can be configured to receive a "clear all" signal from the entity/server when the game is completed, when access is now available, or when other changes occur. Server 240 can then update database 341 accordingly.

FIG4A illustrates a message flow between components of a conditional access system, including a drone (e.g., 100, 100a, 100b, 371, 373, 375, 381, 383, 385, 387 in FIG1-3D ), a server (e.g., 240), a navigation unit (e.g., 125) of the drone, and a database (e.g., 341) of access restrictions stored on a data storage device (e.g., 340), according to various embodiments. Referring to FIG1A-4A , before and/or during flight operations, the drone 100 may receive one or more corresponding heartbeat signals 411a, 411b, 411c from components of the conditional access system (e.g., server 240, navigation unit 125, and/or database 341/data storage device 340). The heartbeat signals 411a-411c may confirm that these systems are functioning correctly, enabling the drone 100 to confirm that the guidance and information systems have not been compromised. Heartbeat signals 411a-411c may be transmitted periodically during flight operations (e.g., at set time intervals, in response to queries from server 240, etc.). Heartbeat signals 411a-411c may be transmitted in a manner that prevents tampering or fraud (e.g., a pre-scheduled frequency schedule). Heartbeat signals 411a-411c may be encoded to further prevent or deter tampering or fraud. Alternatively or additionally, heartbeat signals 411a-411c may be provided with identification information of the corresponding transmitting system (e.g., a device identifier or other identifier). This identification information may also be encoded to prevent or deter tampering or fraud.

In decision block 413, for each of the critical systems that generate a heartbeat signal, the processor of the drone 100 may determine whether a heartbeat signal 411a-411c has been received. In response to determining that a heartbeat signal has been received (i.e., decision block 413 = "Yes"), in block 415, the processor of the drone 100 (e.g., processor 120) may continue flight operations. In response to determining that a heartbeat signal has not been received (i.e., decision block 413 = "No"), in block 417, the processor of the drone 100 may take corrective action. For example, the drone 100 may land, prevent takeoff, return to the drone base, attempt to reestablish communication with the system to restore the heartbeat signal, or take other corrective action.

Instead of or in addition to receiving heartbeat signals 411a-411c, drone 100 may send a system check signal 421 to server 240, navigation unit 125, and database 341/data storage device 340. In response to system check signal 421, server 240 may return a server response 423a, navigation unit 125 may return a navigation system response 423b, and database 341/data storage device 340 may return a database system response 423c. In decision block 425, for each system to which system check signal 421 was sent, the processor of drone 100 may determine whether a response 423a-423c was received. In response to receiving a response indicating that the corresponding system is functioning properly (i.e., decision block 425 = "Yes"), the processor of drone 100 may continue flight operations in block 427. In response to determining that no response was received, or a response indicating a failure was received (ie, decision block 425 = "No"), in block 429 the processor of the drone 100 may take appropriate corrective action, eg, landing, returning to base, etc.

The type of response action taken by drone 100 may depend on whether the system is malfunctioning or unresponsive. For example, if navigation unit 125 reports a system failure, drone 100 may resort to alternate navigation methods. As another example, if server 240 reports a system failure or the drone 100 processor does not receive a response from server 240, drone 100 may wander until communication with the server is reestablished. As an additional example, drone 100 may move to a safe location where an alternative access device is available for drone 100 to reestablish communication with server 240. As an additional example, if the drone 100 processor does not receive a response from database 314/data storage device 340, or receives an indication of a system failure, drone 100 may abandon conditional access to the restricted area and follow a flight path that circumvents all restricted areas using previously acquired navigation information.

When drone 100 approaches a restricted area, or as part of a general information acquisition process, drone 100 may send a request 431 to server 240 for information about the restricted area. Server 240 may send a request 433 to database 341/data storage device 340 for information about the restricted area or areas. Request 433 may be a message, or a database query or data retrieval command. Database 341/data storage device 340 may return information about the restricted area or areas to server 240 in response 435. Response 435 may be a message containing the information, or it may be provided in response to request 433. Server 240 may return the information about the restricted area to drone 100 in message 437. In various embodiments, the information about the restricted area may include the geographic coordinates of the restricted area's boundaries in a format that enables the drone to plot a flight path around the restricted area. In some embodiments, the information about the restricted area may include altitude restrictions, conditional access restrictions, and the like, such as those described with reference to Figures 3A-3E.

At decision block 439 , the processor of the drone 100 may determine whether the drone 100 is permitted to access the restricted area. In response to determining that access to the restricted area is not permitted (i.e., decision block 439 = "No"), the processor of the drone 100 may take corrective action at block 442 , such as changing the flight path of the drone 100 to avoid the restricted area. For example, the drone may deviate from the restricted area or climb to a permitted altitude to fly over the restricted area, or may travel to an alternative destination, a drone base, or land in a safe area. Alternatively, the drone 100 may take further action to determine whether conditional access to the restricted area is permitted, such as paying a toll or waiting a period of time until access to the restricted area is permitted.

In response to determining that access is granted (ie, decision block 439 = "Yes"), in block 441 the processor of the drone 100 may cause the drone 100 to fly through the restricted area.

FIG4B illustrates a message flow between components of a conditional access system, including a drone (e.g., 100, 100a, 100b, 371, 373, 375, 381, 383, 385, 387 in FIG1-4A ), a server (e.g., 240), a navigation unit (e.g., 125) of the drone 100, and a database (e.g., 341) of access restrictions stored on a data storage device (e.g., 340), according to various embodiments in which a drone 100 can conditionally access restricted areas. Referring to FIG1A-4B , a processor (e.g., processor 120) of the drone 100 can communicate with the navigation unit 125 of the drone to determine the current location of the drone 100. Based on the current location information, the processor of the drone 100 can send a request 452 to the server 240 for access information regarding nearby restricted areas. The server 240 can then send a request 455 to the database 341/data storage device 340 for the restricted access information. Database 341/data storage device 340 may send a response 457 to request 455 by providing the restricted area access information to server 240. Server 240 may send a message 459 containing the restricted area access information to drone 100. In decision block 461, the processor of drone 100 may determine whether conditional access restrictions are provided in the restricted area access information received from server 240. In response to determining that conditional access restrictions are not provided in the restricted area access information received from server 240 (i.e., decision block 461 = "No"), the processor of drone 100 may cause flight into the restricted area if no other access restrictions exist. In response to determining that conditional access restrictions are provided in the restricted area access information received from server 240 (i.e., decision block 461 = "Yes"), the processor of drone 100 may provide information responsive to the conditions to server 240 in message 465. Such information may include the drone's access level, identity, authentication or certification information, toll payment information, and the like.

Server 240 may forward the information provided in message 465 to database 341/data storage device 340 in message 466 requesting further restriction information. For example, based on the information provided in message 466, database 341/data storage device 340 may provide access restrictions, such as time limits, usage limits, and altitude limits, to server 240 in reply message 467. Server 240 may transmit the restrictions to drone 100 in message 468. At block 469, the processor of drone 100 may implement the access restrictions. If access is permitted under the conditions, at block 470, the processor of drone 100 may cause drone 100 to fly into the restricted area based on the access restrictions.

FIG4C illustrates the message flow between components of a conditional access system, including a drone (e.g., 100, 100a, 100b, 371, 373, 375, 381, 383, 385, 387 in FIG1-4B ), a server (e.g., 240) coupled to a beacon (e.g., 215), a navigation unit (e.g., 125) of the drone 100, and a database (e.g., 341) of access restrictions stored on a data storage device (e.g., 340), according to various embodiments in which the drone 100 can conditionally access a restricted area. Referring to FIG1A-4C , a drone 100 processor (e.g., processor 120) can receive and process a beacon signal 471 from the beacon 215. Beacon signal 471 can include information regarding the boundaries of a restricted area. In the illustrated embodiment, beacon signal 471 can also include further information regarding conditional access restrictions to the restricted area.

In decision block 473, the processor of the drone 100 may determine whether the area associated with the beacon device 215 may provide conditional access restrictions. For example, the area associated with the beacon device 215 may allow access under certain conditions, such as allowing drones belonging to the owner of the area, allowing access during certain times, allowing access based on usage restrictions, allowing access upon payment of a toll, etc. In response to determining that the beacon signal 471 indicates the absence of conditional access restrictions (i.e., decision block 473 = "No"), in block 475, the processor of the drone 100 may instruct the drone 100 to avoid the restricted area associated with the beacon device 215. In response to determining that the beacon signal 471 indicates the presence of conditional access restrictions (i.e., decision block 473 = "Yes"), the processor of the drone 100 may provide information to the beacon 215 (or directly to the server 240, etc.) in a message 477, such as drone access level, identity/authentication/certification information, toll payment information, etc.

In some embodiments, beacon device 215 may be coupled to server 240 or a local server that separately maintains conditional access information for restricted areas or has access to database 341/data storage device 340 and/or server 240. A processor in beacon 215 may send a request 479 with information provided in message 477 to database 341/data storage device 340. Request 479 may be for conditional access restrictions based on information specific to drone 100. Database 341/data storage device 340 may return the conditional access restrictions to beacon 215 in message 481. The processor of beacon device 215 may provide the conditional access restrictions to drone 100 in message 483. At block 485, the processor of drone 100 may implement the conditional access restrictions. At block 487, the processor of drone 100 may use the implemented conditional access restrictions to fly drone 100 into the restricted area associated with beacon 215.

FIG5A illustrates a method 500 for operating a drone (e.g., 100, 100a, 100b, 371, 373, 375, 381, 383, 385, 387 in FIG1-4C ) using restriction information obtained from a server (e.g., 240) to access a restricted area, according to various embodiments. Referring to FIG1A-5A , to perform the operations of method 500 , at block 501 , a processor (e.g., processor 120) of drone 100 may initialize a system (e.g., a navigation system). At block 502 , the processor of drone 100 may establish a wireless communication link with server 240.

In decision block 503 , the processor of the drone 100 may determine whether each system is functioning properly. For example, the processor of the drone 100 may receive a heartbeat signal from a server, navigation system, database, and/or data storage device. Alternatively or additionally, the processor of the drone 100 may send a system check message to each system.

In response to determining that one or more of the systems are not functioning properly (i.e., decision block 503 = "No"), the processor of the drone 100 may instruct the drone 100 to take corrective action. For example, the processor of the drone 100 may instruct the drone 100 to land in a safe area, prevent takeoff, return to the drone base, etc. If the processor determines that only some of the systems are not functioning properly, the processor of the drone 100 may take partial corrective action (e.g., relying on an alternative navigation system, an alternative server, or an information source), or may wait until the system regains functionality. In response to determining that the systems are functioning properly (i.e., decision block 503 = "Yes"), in block 505, the processor of the drone 100 may determine the current location of the drone 100 (e.g., from the navigation system 125).

At block 507, the processor of the drone 100 may obtain information associated with the location of the restricted area. For example, the processor of the drone 100 may receive a list of restricted areas adjacent to the location of the drone 100 obtained at block 505. In other embodiments, the list of restricted areas and the area information may be provided to the processor of the drone 100 during initialization. In such embodiments, the information received at block 507 may represent updated or additional information regarding the restricted areas.

At block 509, the processor of the drone 100 may compare the drone's 100 location with the restricted area location information obtained at block 507. For example, the restricted area location information may include a point location for the restricted area (e.g., a building). Alternatively or additionally, the restricted area location may include a location boundary for the restricted area, such as the boundary of a commercial airport or military base. The boundary may include a three-dimensional boundary encompassing the airspace above and surrounding the restricted area. The processor of the drone 100 may determine its current location and determine whether the drone 100 is within or near one or more of the boundaries.

In decision block 511, the processor of the drone 100 may determine whether the drone 100 is located within or near a restricted area based on the comparison in block 509. In response to determining that the drone 100 is not located within or near a restricted area (i.e., decision block 511 = "No"), as the flight operation continues, the processor of the drone 100 may continue to determine the location of the drone 100 in block 505, obtain restricted area information in block 507, and perform a comparison between the current location of the drone 100 and the restricted area information in block 509.

In response to determining that the drone 100 is located within or near a restricted area (i.e., decision block 511 = "Yes"), the processor of the drone 100 may determine whether conditional access restrictions are in place (i.e., decision block 550). In response to determining that conditional access restrictions are not in place (i.e., decision block 515 = "No"), in block 523, the processor of the drone 100 may instruct the drone 100 to modify the current flight path to avoid the restricted area, and in block 505, continue navigating along the modified flight path.

In response to determining that conditional access restrictions are appropriate (i.e., decision block 515 = "Yes"), in block 517, the processor of the drone 100 may provide drone information to the access server 240. For example, the processor of the drone 100 may provide a drone identifier, a drone access level, drone payment information, a drone authentication certificate, and/or other information.

In block 519 , the processor of the drone 100 may receive conditional access information from the access server 240 , such as time period restrictions, usage restrictions, toll restrictions, etc. Alternatively, the conditional restriction information received from the access server 240 in block 517 may indicate that drone overflight access is unrestricted.

At block 521, in response to the conditional restrictions received at block 519, the processor of drone 100 may instruct drone 100 to enter the airspace above the restricted area. For example, if the drone identifier information indicates that drone 100 belongs to the owner of the restricted area, drone 100 may be granted unrestricted access to the restricted area. Furthermore, drone 100 may be provided with conditional access that limits operation, altitude, flight time, or requires payment of a toll, or a combination of such conditions, in order to access the restricted area. During and after access to the restricted area, the processor may continue to navigate along the flight path at block 505.

FIG5B illustrates a method 525 for operating a drone (e.g., 100, 100a, 100b, 371, 373, 375, 381, 383, 385, 387 of FIG1-4C) using restriction information obtained from a wireless beacon to access a restricted area. Referring to FIG1A-5B , a processor (e.g., processor 120) may perform the operations of blocks 501 through 511 as described with reference to method 500. In response to determining that drone 100 is not within or near a restricted area (i.e., determination block 511 = "No"), the processor of drone 100 may proceed to determine the location of drone 100 in block 505 and determine whether the drone is near a restricted area in blocks 507-511, as described above.

In response to determining that the drone 100 is located within or near a restricted area (i.e., decision block 511 = "Yes"), the processor of the drone 100 may determine whether a beacon signal has been received in decision block 527. In response to determining that a beacon signal has not been received (i.e., decision block 527 = "No"), the processor of the drone 100 may instruct the drone 100 to modify its current flight path to avoid the restricted area in block 523 and continue navigating along the modified flight path in block 505.

In response to determining that a beacon signal has been received (i.e., decision block 527 = "Yes"), in decision block 529, the processor may determine whether a beacon-based conditional access restriction is included in the received beacon signal. For example, a beacon signal provided by a beacon device (e.g., beacon 215) may "announce" or otherwise communicate the presence of a conditional access restriction. In some embodiments, information regarding a restricted area designated or controlled by a beacon may be provided to the drone's processor from a server accessible to the drone (e.g., server 240) before or upon arrival at the restricted area.

In response to determining that there are no beacon-based conditional access restrictions in the received beacon signal (i.e., decision block 529 = "No"), the processor of the drone 100 can instruct the drone 100 to modify its flight path to avoid the restricted area in block 537 and continue navigating along the modified flight path in block 505.

In response to determining that beacon-based conditional access restrictions are present in the received beacon signal (i.e., decision block 529 = "Yes"), the processor of the drone 100 may transmit drone information to the beacon device in block 531. For example, the processor of the drone 100 may transmit a drone identifier, a drone access level, drone payment information, a drone authentication certificate, and/or other information.

In block 533 , the processor of the drone may receive conditional access information from the beacon device and/or the beacon server, such as time period restrictions, usage restrictions, toll restrictions, etc. Alternatively, the conditional restriction information sent in the received beacon signal may indicate that access to the restricted area is unrestricted based on the information sent by the drone to the beacon device in block 531 .

In block 535, in response to or based on the conditional restrictions received in block 533, the processor of the drone 100 may instruct the drone 100 to access the beacon-controlled restricted area. For example, if the drone identifier information indicates that the drone 100 is the owner of the beacon-controlled restricted area, the drone 100 may be allowed unrestricted access to the restricted area. Further, the drone 100 may be provided with conditional access that limits usage, altitude, or requires payment of a toll, or a combination of conditional restrictions, as a condition for accessing the restricted area, as described herein. During or after accessing the restricted area, the processor may continue navigating along the flight path in block 505.

FIG6A illustrates a method 600 for providing conditional access to a restricted area to a drone (e.g., drones 100, 100a, 100b, 371, 373, 375, 381, 383, 385, 387 of FIG1-4C), which may be implemented in a server (e.g., server 240 of FIG2A-2C, 3C-4C), according to various embodiments. Referring to FIG1A-6A, in block 601, the server may establish communication with the drone. For example, the server may connect to the drone via an RF module on the drone, where the RF module is configured to support a variety of communication connections, such as WiFi, a wireless local area network (LAN) or other short-range communication, a cellular or wide area network (WAN) connection, or a wired connection when the drone is coupled to a base station, charging station, or other fixed communication station. The drone may support network connectivity and communication using the Internet Protocol (IP) or similar network protocols. The server may establish a connection to the drone through a series of intermediary nodes. The server may accept an Internet-based connection from the drone.

In block 603, the server may provide the drone with restricted area information. In some embodiments, the server may be a local server. That is, the server may be located locally in the restricted area that the drone is attempting to enter. For example, the local server may be associated with a beacon (e.g., 215). In other embodiments, the server may be a server operated by the drone operator. In such examples, the server may provide the information to the drone before the drone embarks on the flight, or may provide the information while the drone is in flight. In other embodiments, the server may be operated by the drone operator and may provide the information to the drone via a local server or a local access point (wherein the drone has established communication with the local access point).

In block 605, the server may receive a communication from the drone regarding access to a restricted area. For example, when the drone is near a restricted area, the drone may request information regarding access, such as whether conditional access is available for the restricted area. Such a request may be received by the server.

In decision block 607, the server may determine whether the restricted area is configured for conditional access. For example, the server may consult a database indicating the status of each restricted area with respect to conditional access. The database may be maintained by the server. Alternatively or additionally, the database may be accessible by various devices (e.g., authenticated devices, including devices associated with the restricted area or the operator of the restricted area, which may periodically update the conditional access status). Furthermore, as described in further detail below, the database may contain its own restrictions.

In response to determining that the restricted area is not configured for conditional access (i.e., decision block 607 = "No"), in block 621, the server may provide the drone with information for corrective action. For example, the server may provide a location where the drone can land for recovery. Alternatively, the server may provide instructions on how to proceed, such as an alternate route, an alternate destination, a return to a destination, a command to return to a destination known to the drone, and so on. For example, the server may provide the drone with information on a route or flight path (including any relevant altitude restrictions) to avoid the restricted area.

In response to determining that the restricted area is not configured for conditional access (i.e., decision block 607 = "No"), in block 609, the server may obtain access information from the drone. For example, the server may query the drone for information such as access level, authentication information, capabilities (e.g., data collection, etc.), toll payment information, etc. In embodiments where the server is operated by the drone operator, this information may already be available to the server, and no query or prompting may be required. In other embodiments, when the drone requests information regarding conditional access, the drone may provide the information, as in block 605.

In block 611, the server may obtain conditional access information from a database. For example, the server may query a database for conditional access restrictions for the restricted area. The database may be local to the server. Alternatively or additionally, the database may be accessed by the server via a network. For example, the server may contact a server associated with the restricted area to obtain information about conditional access. In some embodiments, the server may access a database that provides at least some information about conditional access and may obtain updated conditional access information from another database (e.g., a database associated with the restricted area).

In block 613, the server may provide conditional access restriction information to the drone based on the drone information obtained in block 609 (or 605). For example, the server may obtain an access level for the drone and, based on the drone's access level, consult a database to determine conditional access requirements. The server may also process toll payment information (if a toll is required for conditional access). The server may determine a relevant time period and may grant or deny access, or provide conditional access appropriate for the relevant time period. The server may provide usage restrictions for the drone based on the drone's capabilities and conditional access restrictions (e.g., no data collection, minimum altitude, etc.). The server may process or forward the authentication credentials collected from the drone for processing. The server, or a processor of a local server associated with the restricted area, may perform authentication processing to allow or deny access to the restricted area by the drone based on the authentication processing.

At decision block 615, the server may determine whether the drone is cleared for conditional access. For example, the server may perform an authentication process that results in successful authentication. The server may determine, based on the drone's access level and the access restrictions of the restricted area, a time period and/or other conditions for granting the drone access subject to these conditions. In some embodiments where the server is operated by a drone operator located in a different location than the restricted area, the server may receive information from a different server local to the restricted area, which clarifies that the drone is cleared to enter the restricted area subject to the conditions.

In response to determining that the drone is unaware of conditional access (i.e., decision block 615 = "No"), in block 621, the server may provide the drone with information for corrective action. For example, the server may provide a location where the drone can land for recovery. Alternatively, the server may provide instructions on how to proceed, such as an alternate route, an alternate destination, a return to a destination, a command to return to a destination known to the drone, and so on. For example, the server may provide the drone with information on a route or flight path (including any relevant altitude restrictions) to avoid restricted areas.

In response to determining that the drone is clear for conditional access (i.e., decision block 615 = "Yes"), in block 617, the server may provide the drone with flight clearance to enter or access the restricted area. For example, the server may provide a flight path through the restricted area that takes into account the conditional access restrictions and may indicate to the drone any usage restrictions (e.g., restrictions on data collection). Alternatively or additionally, the drone's processor may provide the clear indication, and the drone may proceed to enter the restricted area and may independently implement the conditional restrictions.

In optional block 619, the server can provide periodic updates to the conditional access restrictions. For example, during a drone's flight within a restricted area, the time period can transition from Time Period A to Time Period B. The server can provide updated conditional access restrictions, which can include an increase or decrease in the level of restriction. For example, while data collection was restricted during Time Period A, data collection can be permitted during Time Period B. Furthermore, while the minimum altitude restriction for drones was already 100 feet during Time Period A, the minimum altitude restriction for drones can be increased to 300 feet (e.g., more stringent) during Time Period B.

It will be appreciated that the level of restriction (e.g., more or less stringent) may depend entirely on the nature of the restricted area, the time of day, and other factors or conditions. For example, during a particular time period, in some restricted areas, a minimum increase in altitude may indicate more stringent conditions, such as when critical operations for the area occur at ground level or at low altitudes. In other examples, during a given time period, a minimum increase in altitude may indicate less stringent conditions, such as when critical operations for the area occur at higher altitudes, allowing drones to operate at those altitudes, although not necessarily during critical operations.

FIG6B illustrates a method 602 for providing conditional access to a restricted area to a drone (e.g., drones 100, 100a, 100b, 371, 373, 375, 381, 383, 385, 387 of FIG1-4C), which may be implemented in a processor of a beacon device (e.g., beacon 215 of FIG3A-3E and FIG4C), according to various embodiments. Referring to FIG1A-6B , at block 625, the processor of the beacon device may control a wireless transmitter or transceiver to transmit signals, wherein these signals may be used to establish a restricted boundary associated with the beacon device. As described above, the reception range of the beacon signal may be used to establish the boundary of the restricted area. However, the range of the beacon signal may not be precisely controlled at all times. Furthermore, because beacon signals are typically transmitted radially, using only beacon signals to establish the boundary of an irregularly shaped restricted area may not be effective. Thus, in some embodiments, the processor of the beacon device can control the transmission of a beacon signal to provide information about the boundaries of the restricted area. In such embodiments, the range of the beacon signal can extend beyond the actual boundaries. Alternatively or additionally, there can be multiple beacon devices within the restricted area so that coverage can be provided to all parts of the restricted area (including irregularly shaped parts).

In an alternative or optional block 627, the processor of the beacon device may configure the transmission of the beacon signal to provide information regarding the existence of conditional access restrictions. For example, if the restricted area does not prohibit all drones from flying, the processor of the drone device may indicate that conditional access is available. The processor of the beacon device may provide this indication in the beacon signal, or may provide this indication through other communications, such as with a server of the drone operator or a server responsible for maintaining information regarding restricted areas, including conditional access restrictions.

At block 629, the beacon device's processor may establish communication with the drone. For example, in addition to providing boundary information for the restricted area, the beacon signal may enable the beacon device's processor to communicate with the drone. The beacon device's processor may also communicate with a local server and/or a local area network for the restricted area. The beacon device's processor may also have the ability to connect to the internet. The beacon device's processor may provide the drone with internet connectivity.

In block 629, after establishing communication with the drone, the beacon device's processor may provide the drone with information about the restricted area, such as its boundaries, altitude, and other information. Additionally or alternatively, the information provided by the beacon device's processor in block 629 may be the information provided in optional block 627. It should be understood that in optional block 627, the beacon device's processor may provide information in the beacon signal without establishing communication with the drone. In other words, by receiving the beacon signal transmitted from the beacon device, the drone can obtain certain information from the beacon device's processor without engaging in a communication session. In contrast, in block 629, a communication session may be established between the beacon device's processor and the drone, allowing the beacon device's processor to provide additional information about the restricted area.

In block 633, the beacon device's processor may receive a communication from the drone, e.g., requesting whether the restricted area is subject to conditional access. For example, the beacon device's processor may receive a request for an indication of the availability of conditional access. In some embodiments, the drone may utilize the request to provide information such as the drone's access level, an identifier of the drone (indicating ownership), and/or other information.

In decision block 635, the beacon device's processor may determine whether conditional access is available. For example, the beacon device's processor may obtain information in block 633 indicating an access level, an identifier for the drone, and/or other drone information. If the drone identifier indicates that the drone belongs to the owner of the location where the beacon device is placed, the beacon device's processor may grant immediate access to the drone. In some embodiments, if the drone does not belong to the owner, the beacon device's processor may deny access under any circumstances, or may provide an indication that conditional access is possible, as further described herein. In further embodiments, the beacon device may have limited "intelligence," or at least limited access to information regarding conditional access restrictions for restricted areas. In such embodiments, the beacon device's processor may communicate with a local or remote server to determine whether conditional access is available.

In response to determining that the restricted area is configured for conditional access (i.e., decision block 635 = "No"), in block 649, the beacon device's processor may provide information to the drone for corrective action. For example, the beacon device's processor may provide a location where the drone can land for recovery. Alternatively, the beacon device's processor may provide instructions on how to proceed, such as a command to follow an alternate route, reach an alternate destination, return to the destination, return to a destination known to the drone, and so on. For example, the beacon device's processor may provide the drone with information about a route or flight path (including any relevant altitude restrictions) to avoid the restricted area.

In response to determining that the restricted area is configured for conditional access (i.e., decision block 635 = "Yes"), in block 637, the beacon device's processor may obtain access information from the drone. For example, the beacon device's processor may query the drone for information such as access level, authentication information, capabilities (e.g., data collection, etc.), toll payment information, and so on. In embodiments where the beacon device is operated by the drone operator, this information may already be available to the beacon device's processor, and no query or prompting is required. In some embodiments, when the drone requests information regarding conditional access, the drone may provide the information, as in block 633.

In block 639, the processor of the beacon device may obtain conditional access information from a database. For example, the processor of the beacon device may consult a database for conditional access restrictions for a restricted area. The database may be local to the beacon device, for example, connected to a server that is also local to the beacon device. Alternatively or additionally, the database may be accessed by the beacon device via a network. For example, the processor of the beacon device may contact a server associated with the restricted area to obtain information about conditional access. In some embodiments, the server may have access to a database (wherein the database provides at least some information about conditional access) and may obtain updated conditional access information from another database (e.g., a database associated with the restricted area).

In block 641, the beacon device's processor may provide conditional access restriction information to the drone based on the drone information obtained in block 637 (or 633). For example, the beacon device's processor may obtain an access level for the drone and, based on the drone's access level, consult a database to determine conditional access requirements. The beacon device's processor may also process toll payment information (if a toll is required for conditional access). The beacon device's processor may determine a relevant time period and may grant or deny access, or provide conditional access appropriate for the relevant time period. The beacon device's processor may provide usage restrictions for the drone based on the drone's capabilities and conditional access restrictions (e.g., no data collection, minimum altitude, etc.). The beacon device's processor may process or forward authentication credentials collected from the drone for processing. The beacon device's processor or a processor of a local server associated with the restricted area may perform authentication processing to allow or deny access to the restricted area by the drone based on the authentication processing.

In decision block 643, the beacon device's processor may determine whether the drone is clear for conditional access. For example, the beacon device's processor may perform an authentication process that results in successful authentication. The beacon device's processor may determine, based on the drone's access level and the access restrictions of the restricted area, a time period and/or other conditions for conditional access by the drone. In some embodiments, the beacon device may be self-sufficient and may determine whether the drone is clear for landing. For example, the beacon device may have an independent database that maintains information regarding conditional access. In other embodiments, a server coupled to the beacon device may be located in a different location than the restricted area. In such cases, the beacon device's processor may receive information from a remote server, or from a server local to the restricted area, that clarifies to the drone that it is clear to enter the restricted area in compliance with the conditions.

In response to determining that the drone is unaware of the conditional access (i.e., decision block 643 = "No"), in block 649, the beacon device's processor may provide information for corrective action to the drone. For example, the beacon device's processor may provide a location where the drone can land for recovery, or wait for possible access at a later time. Alternatively, the beacon device's processor may provide instructions on how to proceed, such as an alternate route, an alternate destination, a return to a destination, a command to return to a destination known to the drone, and the like. For example, the beacon device's processor may provide the drone with information about a route or flight path (including any relevant altitude restrictions) to avoid restricted areas. In some embodiments, a network connection available to the drone via the beacon device may allow the drone to communicate with a "friendly" server (e.g., a server not associated with the beacon device) in order to obtain information about corrective actions.

In response to determining that the drone is clear of conditional access (i.e., decision block 643 = "Yes"), in block 645, the beacon device's processor may provide the drone with flight clearance (clearance) for entering or accessing the restricted area. For example, the beacon device's processor may provide a flight path through the restricted area that takes into account the conditional access restrictions, and may indicate to the drone regarding usage restrictions (e.g., restrictions on data collection). Alternatively or additionally, the beacon device's processor may provide clear instructions, and the drone may proceed to enter the restricted area, and may independently implement the conditional restrictions. In such an embodiment, the beacon device or other device located within the restricted area may monitor the drone's movement to ensure compliance.

In optional block 647, the processor of the beacon device may provide periodic updates to the conditional access restrictions. For example, during a drone's flight within a restricted area, the time period may transition from time period A to time period B. The processor of the beacon device may provide updated conditional access restrictions, which may include an increase or decrease in the level of restriction. For example, while data collection was restricted during time period A, data collection may be permitted during time period B. Furthermore, while the minimum altitude restriction for the drone may have been 100 feet during time period A, the minimum altitude restriction for the drone may be increased to 300 feet (e.g., more stringent) during time period B.

It should be understood that the level of restriction (e.g., more stringent or less stringent) may depend entirely on the nature of the restricted area, the time of day, and other factors or conditions. For example, during a particular time period, in some restricted areas, a minimum increase in altitude may indicate more stringent conditions, such as when critical operations for the area occur at ground level or at low altitudes. In other examples, during a given time period, a minimum increase in altitude may indicate less stringent conditions, such as when critical operations for the area occur at higher altitudes, allowing drones to operate at those altitudes, although not necessarily during critical operations. In some embodiments, drones may be required to leave the restricted area altogether.

FIG6C illustrates a method 604 for obtaining conditional access by paying a toll, which may be implemented in a processor of a drone (e.g., drones 100, 100a, 100b, 371, 373, 375, 381, 383, 385, 387 of FIG1-4C ), according to some embodiments. Referring to FIG1A-6C , at block 651 , the drone's processor (e.g., processor 120) may be notified of or otherwise become aware of toll restrictions associated with a given restricted area. In some embodiments, toll payment information may be provided along with other information used for conditional access. In other embodiments, toll payment information may be the sole restriction on access, or may be provided and processed in addition to additional conditional access restrictions. For example, in some embodiments, the drone's processor may encounter a toll sensor indicating that a toll is required to access the restricted area. The toll sensor can be a structure such as a mast or pole or other structure with a communication device mounted adjacent to the drone's byway. Alternatively, a series of toll sensing devices can be provided to the restricted area, where the toll sensing devices can detect when a drone is within or near the restricted area. Thus, the drone's processor can be notified of toll restrictions through communications from one or more toll sensors located near the restricted area.

At block 653, the drone may provide toll payment information. For example, the drone's processor may provide one or more of an identifier, account information, authentication credentials, and/or other information that may be necessary to complete the toll payment. In embodiments where the drone operator has a pre-existing account, the drone's processor may provide information sufficient to associate the drone with the pre-existing account. In other embodiments, the drone's processor may provide information associated with a one-time payment account (e.g., a credit card) to which the payment may be charged for entry to the restricted area. Other payment methods are possible.

At block 654, the drone's processor may wait for the processing element to process the toll payment transaction. For example, the drone's processor may wait to receive an indication or notification that the payment has been processed or rejected for further action. Alternatively, assuming the payment is successfully processed, the drone's processor may fly the drone into the area. If the payment is not successfully processed, the drone may take further action, as described above.

At decision block 655, the drone's processor may determine whether the payment has been successfully processed. In response to determining that the toll payment was not successfully processed (i.e., decision block 655 = "No"), at block 661, the drone's processor may receive a notification that the toll payment was unsuccessful. At block 663, the drone's processor may instruct the drone to take corrective action, as previously described herein, for example, in conjunction with block 513.

In response to determining that the toll payment has been successfully processed (i.e., decision block 655 = "Yes"), the drone's processor may receive notification or confirmation of the successful payment processing in block 657. For example, the drone's processor may receive transaction information and information or instructions regarding permission for the drone to proceed.

In block 659, the drone's processor may enter the restricted area subject to other conditional access restrictions that may be provided. In some embodiments, when a toll payment has been successfully processed, the drone's processor will receive additional conditional access restrictions by operating as previously described.

In method 606 shown in FIG6D , a server processor and/or a beacon processor ("restricted area processor") may perform operations associated with toll payment. Referring to FIG1-6D , at block 671, the restricted area processor of a toll-restricted area may be notified or otherwise made aware of the arrival of a drone or the presence of a drone within or near the airspace of a restricted area. For example, input received from one or more toll sensors may indicate to the restricted area processor that a drone is attempting to gain access to a restricted area.

At block 673, the restricted area processor may provide notification to the drone regarding the toll required for access. The restricted area processor may impose other conditional access requirements, which may be provided to the drone. For example, the restricted area processor may establish communication with the drone and provide toll information in a message sent to the drone. In a beacon device embodiment, the toll information may be sent in a beacon signal or in communication established between the drone and the beacon device.

At block 675, the restricted area processor may receive toll payment information from the drone. For example, the restricted area processor may receive one or more of an identifier, account information, authentication credentials, and/or other information necessary to complete the toll payment, as described with reference to block 653.

In block 677, the restricted area processor may process toll payment based on the toll payment information provided in block 675. For example, the drone operator may have a pre-existing account with the restricted area operator. The information provided by the drone may be sufficient to allow the restricted area processor to associate the drone with the pre-existing account. In other embodiments, the drone may provide information associated with a one-time payment account (e.g., a credit card). The restricted area processor may bill the payment account for entry into the restricted area, for example, via a payment server or payment transaction system. In other embodiments, the sensor device may be configured to, at least in part, receive and process the toll payment information. The restricted area processor may complete or facilitate toll billing operations for the sensor. Other payment methods are also possible.

At decision block 679, the restricted area processor may determine whether the toll payment was successfully processed. For example, the restricted area processor may confirm that the toll payment was successfully processed, or that it was unsuccessful. The restricted area processor may receive a confirmation from a payment system to which the restricted area processor is coupled, which may indicate the status of the payment, successful or unsuccessful. Alternatively, the restricted area processor may be configured to process the toll payment directly and may receive a confirmation from the toll payment module regarding the successful or unsuccessful transaction.

In response to determining that the toll payment was not successfully processed (i.e., decision block 679 = "No"), the restricted area processor may notify the drone that the payment was unsuccessful in block 685. The restricted area processor may deny the drone entry into the restricted area. As an optional operation in block 687, the restricted area processor may provide the drone with instructions for taking corrective action.

In response to determining that the toll payment was not successfully processed (i.e., decision block 679 = "Yes"), the restricted area processor may notify the drone that the payment was successful in block 681. The restricted area processor may provide the drone with a confirmation or other communication indicating that the payment was successful. In block 683, the restricted area processor may provide additional conditional restrictions, as previously described herein.

As described above, conditional access information regarding restricted areas can be maintained using a list that can be stored in memory and provided to the drone processor. In some embodiments, the list can be a "blacklist" that includes the coordinates of the boundaries of restricted areas that the drone cannot access or that are subject to access conditions. In some embodiments, the list can be a "whitelist" that includes the coordinates of allowed flight corridors and areas within which the drone is allowed to operate freely. Restricted areas can be those areas that are not included within the permitted airspace boundaries. In some embodiments, a combination of blacklists and whitelists (which can be stored in the drone's memory as a database 341) can be used to identify conditional access information and restricted areas.

Generally, a blacklist may include boundary coordinates and conditional access information for areas determined by one or more entities to be restricted from some or all use by drones. In various embodiments, an operator, a third party, a federal/government agency (e.g., the FAA), etc. may maintain one or more blacklists. A blacklist may include areas that have been determined to be smaller than desired for drone operations. Reasons for the desirability or lack thereof of drone operations may include drone observations, temporary or persistent weather systems (e.g., based on RADAR or weather information (e.g., NOAA)), etc. Some areas may be blacklisted in return for the owner paying the authority to have the area blacklisted.

In various embodiments, more than one blacklist may be provided to or stored in the drone. Alternatively or additionally, the blacklist may be provided at multiple locations. For example, a first restricted area list (e.g., a blacklist) having 1,000 restricted areas may be provided on or received from a first server (e.g., maintained by a government agency), and a second restricted area list (e.g., a blacklist) having 2,000 restricted areas (which may or may not overlap with the first list) may be provided on or received from a second server. As described above, information regarding restricted areas may additionally or alternatively be maintained and provided as a "whitelist" that identifies areas over which the drone is permitted to fly (e.g., to exclude restricted areas from permitted itineraries).

In various embodiments, the contents of a blacklist or whitelist can change over time. For example, a blacklist can be modified based on various parameters such as time of day, day of the week, date, and so on. Once a restricted area is no longer restricted, the area can be removed from the blacklist. In a further example, drones can be prevented from flying over a stadium or other venue when a game (or event) is scheduled or in progress, but allowed to fly over it when no events are scheduled or in progress. Blacklist conditional access information can restrict drone flights to certain altitudes (e.g., at or above 3,000 feet) and/or certain airspace corridors above/below the restricted area, where drone flights are unrestricted. Blacklist information can be ad hoc. For example, during an emergency, drone flight access to an area can be temporarily restricted to authorized drones (e.g., those operated by police or fire departments). Alternatively, during an emergency, drone flight access can be temporarily permitted subject to conditions, such as sharing video data with authorities.

In various embodiments, blacklist information for certain areas can be updated based on drone observations (including observations by other drones or third-party entities). When observations are made, data can be relayed to a server of the authority, individual, or entity responsible for the blacklist. Based on the information in the observations, the server can update the blacklist to include conditional access criteria or updated restriction boundaries for certain areas. The updated blacklist can be provided to the server for distribution to other drones. In some embodiments, the information provided in updates to the blacklist content (e.g., updates related to observations) can decay or expire over time. In such embodiments, information with an expiration time can be provided. Non-exhaustive and non-limiting examples of observations can include observations from a drone encountering a beacon signal that restricts access to areas associated with the beacon signal that were not previously on the blacklist. Drones can also observe areas that do not necessarily require restrictions but are still undesirable. For example, a drone can observe a high level of concern for air traffic (e.g., other drones) in a particular airspace, which can warrant temporary flight restrictions for other drones (which may be implemented in an updated blacklist). As another example, a drone may be experiencing connectivity issues in a particular area, e.g., due to too many drones or other devices nearby causing interference, a weak WWAN (wireless wide area network) link, etc., and such information may be distributed to the drones via an updated blacklist. As another example, a drone may observe the presence of a hazard (e.g., a storm system, persistent high winds, a physical or electronic drone attack, etc.), and may notify other drones of such a hazard through the distribution of an updated blacklist.

In various embodiments, drone access to restricted areas can be permitted during critical circumstances (e.g., emergencies, weather) by modifying restrictions (e.g., increasing access levels, decreasing restrictions, and/or ignoring conditional access). Drone access to restricted areas can also be permitted when the drone encounters a problem. For example, during emergency situations such as severe weather events, payload issues (e.g., time-sensitive payloads, payload weight, payload characteristics, etc.), or when the drone lacks sufficient energy to take corrective action, the drone can land in a restricted or blacklisted area. In such situations, a controlled landing in a restricted area may be preferred over an uncontrolled landing elsewhere. There may be other situations when a drone can "ignore" access restrictions (including conditional access restrictions). A drone can decide not to move from a restricted or blacklisted area based on the amount of time the drone has been or is expected to be in the restricted area. For example, if the flight path through a restricted area or a portion thereof requires the drone to be within the restricted area for a short period of time (e.g., 1 minute or less), the drone may be allowed to fly through the restricted area or the portion thereof. The drone may change its operation based on the given amount of time it takes to traverse the restricted area or the portion thereof (e.g., the drone may fly faster at a higher fuel cost). The drone processor may determine whether the amount of time granted is sufficient for the drone to traverse the restricted area. If the drone processor determines that the granted time is insufficient to traverse the restricted area or the portion thereof, the drone may navigate around the restricted area.

In various embodiments, the drone can be configured to relay information received from the beacon device to other nearby drones or to a server so that the information can be disseminated to other drones that also encounter the beacon. Such observations can be used to update the contents of a blacklist that can be provided to other drones, as described above. Similarly, the drone can relay any similar information to a server associated with areas that are not specifically blacklisted (e.g., by a third party or agent), but where drone flight is nevertheless undesirable due to the presence of dangerous or other undesirable environments.

In various embodiments, a drone (e.g., drones 100, 100a, 100b, 371, 373, 375, 381, 383, 385, 387 in Figures 1-4C) can be configured with a unique identifier (ID). This unique ID can allow the drone to be identified by network components such as a server (e.g., server 240 in Figures 2A-2C, 3C-4C), a beacon (e.g., beacon 215 in Figures 3A-3E and 4C), other drones, and the like. Furthermore, access levels for conditional access can be stored in the drone's memory, on a server, a beacon device, and the like. The server and/or beacon device or other network components, or potentially other drones, can cross-reference the access level with the drone's unique ID. Cross-referencing the drone's unique ID can also be used when conducting payment transactions.

As described above with reference to Figures 1-1A-6D, in various embodiments, conditional access restrictions and other access parameters (e.g., drone access levels) can change over time. In various embodiments, a drone's access level can be modified based on factors including the drone operator's experience and/or operational history, the level of responsibility assigned to the drone operator, certifications/certifications, and the like. For example, a drone's access level can be established based on the operator's experience level (e.g., based on the length of time the drone has been operated, the distance the drone has flown (over the life of the drone), cumulative criteria (e.g., total flight time), and the like). Additionally, access levels can be increased or decreased based on the drone's maintenance history (e.g., the number of operating hours since the last maintenance was available, a history of component failures, the total flight time of the drone, and the like).

In further embodiments, drone access levels can be based on payment of other fees. For example, a drone can obtain certain access levels based on payment of a one-time fee by the drone operator. Alternatively or additionally, the drone operator can pay a subscription or licensing fee for certain access levels. Furthermore, the drone operator can pay a per-use fee (e.g., a toll), as described above.

In some embodiments, access levels are variable across regions, and a drone can have more than one access level. In other words, a drone operator can pay for a first access level for one region or regions, and a second, different access level for a different region or regions.

Access levels can be assigned to drones based on the level of insurance maintained by the drone operator. For example, a drone with adequate liability insurance (e.g., a verifiable level) can be assigned a higher access level than a drone without adequate liability insurance. In some embodiments, the drone operator can retain payment information (e.g., credit card payment information) for drone operations to cover liability for damage to the drone.

Alternatively or additionally, access levels can be based on authentication. For example, an operator (e.g., a drone operator) can identify themselves through identification such as a government ID, state license, drone permit, etc. Authentication can also be based on an authentication key, which can typically be directly or indirectly tied to other identifying information.

In some embodiments, access levels can be based on the drone's or drone operator's credentials. For example, a drone and/or drone operator may be issued a certificate of qualification by an agency or third party to operate the drone in a specific area, for different permitted uses, or under specific conditions. In some embodiments, a drone may require credentials such as inspection, certification of airworthiness, maintenance certificates, and so on. In some embodiments, separate access levels can be assigned to drones and drone operators. For example, a registered drone operator may have a relatively higher access level (e.g., access level 8) compared to an unregistered operator (which may have a relatively lower access level (e.g., access level 5)). For example, a first operator with access level 8 can operate the drone in an area restricted to access level 8 (or higher) drones, but an unregistered operator who borrows the same drone is restricted from operating the same drone in an area restricted to access level 5 (or higher) drones. Therefore, the access level assigned to a drone for conditional access to a restricted area may be the access level of the operator controlling the drone (in addition to or in lieu of the drone's access level).

Operator access levels can be assigned to various operators based on various criteria. For example, operators with more experience, higher certification levels, and supplemental liability insurance may be assigned higher access levels, which can have an impact on the overall access level of drones under the operator's control. Experience levels can be established and/or confirmed through experience using demonstrations or observation of operators operating drones or conducting simulations (i.e., flight certification). For example, a certification agent may operate a simulator that assesses operators' ability to perform specific tasks, such as drone operation and control or use, specific drone tasks/missions, response to equipment failures, etc. Based on performance in a simulated environment, experience levels can be acquired, which may result in increased access levels. As operator access levels increase, additional access features and capabilities can be provided to drone operators.

Thus, in some embodiments, an access level can be established or assigned to an operator of a drone, which can be in addition to the access level established or assigned to the drone. Thus, the same drone operated by different operators may have different access levels. For example, a first operator with access level 2 operating a drone with access level 5 may result in the drone being assigned an overall access level of 7 during flight. In this example, the access level is established as a cumulative sum; however, the combined access level for the drone can be calculated in any manner. For example, the combined access level for the drone and operator can be the maximum of the two access levels, the lowest of the two access levels, the average of the two access levels, or some other formula for combining the access levels of the drone and operator.

In some embodiments, instead of or in addition to the unique drone IDs described above, a unique ID can be assigned to each drone operator. Each drone operator can be assigned an operator ID. Once the operator ID is established, the operator's access level can be cross-referenced with the operator ID stored on the server. Access to restricted areas can be obtained using the access level operator ID cross-reference, as described above. The server can maintain and update changes in an operator's experience level (e.g., linked to their ID) gained through demonstrations and/or simulator execution, as well as associated increases in access levels.

As discussed above, the drone operator can increase the access level based on factors such as experience, history, insurance coverage, etc. In various embodiments, the access level can be reduced based on negative factors. For example, the access level for the drone operator and/or the drone can be reduced based on a violation of reckless flying or entering restricted airspace without proper authorization as assessed by an authority (e.g., the FAA). Such violations can be stored in a database maintained on the server. Other factors that may reduce the access level may include: changes in drone ownership, recent flight experience errors, excessive flying, a history of unauthorized entry into restricted areas (e.g., entry based on an insufficient access level), etc.

While some embodiments may not prevent a drone from entering a restricted area or airspace subject to conditional access, the drone operator may face the consequences of improperly calculating entry into a restricted area. For example, a drone operator that ignores conditional access restrictions and flies a drone into a restricted area without proper authorization may receive demerit points, fines, and/or the like recorded in a server operated by an appropriate authority (e.g., the FAA). There may be occasions when entering restricted airspace will merit an assessment of demerit costs to the operator, such as in an emergency. In some embodiments, the operator may challenge or appeal a demerit, for example, when the violation occurred without any fault of the operator, such as a system error or malfunction (e.g., failed navigation, an interruption in a control communication channel, inclement weather, etc.).

In the various embodiments described above, drone 100 can gain access to a restricted area based on conditional access restrictions. In some embodiments, drone 100 (e.g., a processor of drone 100) can determine whether to enter the restricted area based on conditional access information received by drone 100. For example, drone 100 receives the conditional access information and then determines whether to enter the restricted area. In other embodiments, alternatively or additionally, the decision on whether the drone can gain access can be made by server 240 (e.g., a processor of server 240). For example, drone 100 can send information (e.g., access level, location, etc.), and the server can determine whether to grant access to drone 100. Server 240 can then send a response to drone 100 indicating whether access is granted or denied.

In various embodiments, an operator can control drone 100 using any of a variety of mobile computing devices (e.g., a smartphone, tablet, etc.), whether communicating via a beacon device, a cellular network, or other communication link. FIG7 illustrates an example in the form of a smartphone 700. Mobile computing device 700 may include a processor 702 coupled to various systems of mobile computing device 700. For example, processor 702 may be coupled to a touchscreen controller 704, a radio communication element, a speaker and microphone, and internal memory 706. Processor 702 may be one or more multi-core integrated circuits designated for general or specific processing tasks. Internal memory 706 may be volatile or non-volatile memory, and may also be secure and/or encrypted memory, or non-secure and/or non-encrypted memory, or any combination thereof. In another embodiment (not shown), mobile computing device 700 may also be coupled to external memory (e.g., an external hard drive).

The touch screen controller 704 and the processor 702 may also be coupled to a touch screen panel 712, such as a resistive touch screen, a capacitive touch screen, an infrared touch screen, or the like. Furthermore, the display of the mobile computing device 700 need not have touch screen capabilities. The mobile computing device 700 may have one or more wireless signal transceivers 708 (e.g., Peanut, Bluetooth, Bluetooth LE, Zigbee, Wi-Fi, RF radios, etc.) and antennas 710 for transmitting and receiving communications, coupled to each other and/or to the processor 702. The transceivers 708 and antennas 710 may be used in conjunction with the circuits described above to implement various wireless transmission protocol stacks and interfaces. The mobile computing device 700 may include a cellular network radio modem chip 716 that communicates via a cellular network and is coupled to the processor.

The mobile computing device 700 may include a peripheral device connection interface 718 coupled to the processor 702. The peripheral device connection interface 718 may be configured solely to accept one type of connection, or may be configured to accept multiple types of physical and communication connections, common or proprietary connections (e.g., USB, FireWire, Thunderbolt, or PCIe). The peripheral device connection interface 718 may also be coupled to a similarly configured peripheral device connection port (not shown).

In some embodiments, the mobile computing device 700 may include a microphone 715. For example, the mobile computing device may have a conventional microphone 715a to receive voice or other audio energy from the user during a call. The mobile computing device 700 may also be configured with additional microphones 715b and 715c, which may be configured to receive audio including ultrasonic signals. Alternatively, all of the microphones 715a, 715b, and 715c may be configured to receive ultrasonic signals. The microphone 715 may be a piezoelectric transducer or other conventional microphone element. Because more than one microphone 715 may be used, relative position information may be received using various triangulation methods in conjunction with the received ultrasonic signals. At least two microphones 715 configured to receive ultrasonic signals may be used to generate position information for the emitter of ultrasonic energy.

The mobile computing device 700 may also include a speaker 714 for providing audio output. The mobile computing device 700 may also include a housing 720 constructed of plastic, metal, or a combination of materials to contain all or some of the components discussed herein. The mobile computing device 700 may include a power source 722, such as a disposable or rechargeable battery, coupled to the processor 702. The rechargeable battery may also be coupled to a peripheral device connection port to receive charging current from a source external to the mobile computing device 700. The mobile computing device 700 may also include physical buttons 724 for receiving user input. The mobile computing device 700 may also include a power button 726 for turning the mobile computing device 700 on and off.

In some embodiments, the mobile computing device 700 may also include an accelerometer 728 that can sense movement, vibration, and other aspects of the device by detecting multi-directional values of acceleration and their changes. In various embodiments, the accelerometer 728 can be used to determine the x, y, and z positions of the mobile computing device 700. Using information from the accelerometer, the direction in which the mobile computing device 700 is pointing can be detected.

Various embodiments can be implemented in any of a variety of tablet mobile computing devices, an example of which is shown in FIG8 (800). For example, the tablet mobile computing device 800 may include a processor 801 coupled to an internal memory 802. The internal memory 802 may be volatile memory or non-volatile memory, and may also be secure and/or encrypted memory, or non-secure and/or non-encrypted memory, or any combination thereof. The processor 801 may also be coupled to a touch screen display 810, such as a resistive sensing touch screen, a capacitive sensing touch screen, an infrared sensing touch screen, and the like. The tablet mobile computing device 800 may have one or more wireless signal transceivers 804 (e.g., Peanut, Bluetooth, Zigbee, Wi-Fi, RF radios) and antennas 808 for sending and receiving wireless signals. The transceiver 804 and antenna 808 may be used in conjunction with the circuits mentioned above to implement various wireless transmission protocol stacks and interfaces. The tablet mobile computing device 800 may include a cellular network wireless modem chip 820 that implements communication via a cellular network. The tablet mobile computing device 800 may also include physical buttons 806 for receiving user input. The tablet mobile computing device 800 may also include various sensors coupled to the processor 801, such as a camera 822, one or more microphones 823, and an accelerometer 824.

For example, the tablet mobile computing device 800 may have a conventional microphone 823a to receive voice or other audio energy from the user during a call or other voice frequency activity. The tablet mobile computing device 800 may also be configured with additional microphones 823b and 823c, which may be configured to receive audio including ultrasonic signals. Alternatively, all microphones 823a, 823b, and 823c may be configured to receive ultrasonic signals. The microphone 823 may be a piezoelectric transducer or other conventional microphone element. Since more than one microphone 823 may be used, relative position information may be received in combination with the received ultrasonic signals by various methods (e.g., time of flight measurement, triangulation, and the like). At least two microphones 823 configured to receive ultrasonic signals may be used to generate position information for the emitter of ultrasonic energy.

In addition, in some embodiments, the tablet mobile computing device 800 may also include an accelerometer 824. The accelerometer 824 can sense movement, vibration, and other aspects of the tablet mobile computing device 800 by detecting multi-directional values of acceleration and their changes. In various embodiments, the accelerometer 824 can be used to determine the x, y, and z positions of the tablet mobile computing device 800. Using information from the accelerometer 824, the direction in which the tablet mobile computing device 800 is pointed can be detected.

The above method descriptions and process flow charts are intended only as illustrative examples and are not intended to require or imply that the steps of the various embodiments must be performed in the order given. As will be appreciated by one of ordinary skill in the art, the order of steps in the above embodiments may be performed in any order. Words such as "thereafter," "in turn," "next," and the like are not intended to limit the order of the steps; these words are merely used to guide the reader through the description of the method. In addition, any singular reference to a claim element (e.g., using the articles "a," "an," or "the") should not be construed as limiting the element to the singular.

The various exemplary logic blocks, modules, circuits, and algorithmic steps described in conjunction with the embodiments disclosed herein can all be implemented as electronic hardware, computer software, or a combination of the two. In order to clearly represent this interchangeability between hardware and software, various exemplary components, blocks, modules, circuits, and steps are generally described around their functions. Whether such functions are implemented as hardware or software depends on the specific application and the design constraints imposed on the entire system. A skilled person can implement the described functions in a flexible manner for each specific application, but such implementation decisions should not be interpreted as departing from the scope of protection of the present invention.

A general purpose processor, digital signal processor (DSP), application specific integrated circuit (ASIC), field programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, or any combination thereof designed to perform the functions described herein may be used to implement or execute the hardware for implementing the various exemplary logic, logic blocks, modules, and circuits described in conjunction with the aspects disclosed herein. A general purpose processor may be a microprocessor, or the processor may be any conventional processor, controller, microcontroller, or state machine. The processor may also be implemented as a combination of receiver intelligent objects, such as a combination of a DSP and a microprocessor, a plurality of microprocessors, a combination of one or more microprocessors and a DSP core, or any other such configuration. Alternatively, some steps or methods may be performed by circuits specific to a given function.

In one or more exemplary aspects, the functions described herein may be implemented in hardware, software, firmware, or any combination thereof. If implemented in software, the functions may be stored as one or more instructions or codes on a non-transitory computer-readable storage medium or a non-transitory processor-readable storage medium. The steps of the methods or algorithms disclosed herein may be embodied in a processor-executable software module, which may be located on a non-transitory computer-readable storage medium or a processor-readable storage medium. A non-transitory computer-readable or processor-readable storage medium may be any storage medium that can be accessed by a computer or processor. By way of example, and not limitation, such a non-transitory computer-readable or processor-readable storage medium may include RAM, ROM, EEPROM, flash memory, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage smart object, or any other medium capable of storing desired program code in the form of instructions or data structures and accessible by a computer. As used herein, disks and optical disks include compact discs (CDs), laser discs, optical discs, digital versatile discs (DVDs), floppy disks, and Blu-ray discs, where disks typically reproduce data magnetically, while optical discs use lasers to reproduce data optically. The above combinations should also be included within the scope of protection of non-transitory computer-readable media and processor-readable media. In addition, the operations of the method or algorithm may be provided as a code and/or instructions, a code and/or instruction set, or any combination thereof, on a non-transitory processor-readable storage medium and/or a computer-readable storage medium, which may be incorporated into a computer program product.

The foregoing description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be applied to other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not intended to be limited to the embodiments shown herein, but is to be construed in the widest sense consistent with the appended claims and the principles and novel features disclosed herein.

Claims (37)

1. A method for providing conditional access by unmanned aerial vehicles (UAVs) to a restricted area, comprising: The processor of the drone receives conditional access information associated with conditional access restrictions for the restricted area; The processor of the UAV compares the received conditional access information for the restricted area with one or more access parameters for the UAV; and The drone conditionally accesses the restricted area by comparing received conditional access information with one or more access parameters specific to the drone. 2. The method of claim 1, wherein conditional access to the restricted area by the UAV based on comparing received conditional access information with one or more access parameters for the UAV comprises: accessing the restricted area when the one or more access parameters satisfy the received conditional access information, and not accessing the restricted area when the one or more access parameters do not satisfy the received conditional access information. 3. The method according to claim 2, further comprising: When one or more access parameters do not meet the received conditional access information, the UAV takes a corrective action, wherein the corrective action includes at least one of the following: Land in or move to the designated area; Proceed along the designated path to avoid the restricted area; Return to the specified location; Prevent takeoff; Control of the drone will be restored to a third party; When in the restricted area, the use of the drone is restricted; and Wait a while. 4. The method according to claim 1, wherein: The processor of the drone compares the received conditional access information for the restricted area with one or more access parameters for the drone, including: comparing the restriction level in the received conditional access information with the access level assigned to the drone; and Conditional access to the restricted area by the drone based on a comparison of received conditional access information and one or more access parameters for the drone includes: accessing the restricted area when the access level assigned to the drone is equal to or higher than the restriction level based on a comparison of the restriction level with the access level assigned to the drone; and taking corrective action by the drone when the access level assigned to the drone is lower than the restriction level based on a comparison of the restriction level with the access level assigned to the drone. 5. The method of claim 4, wherein the correction action comprises at least one of the following: Land in or move to the designated area; Proceed along the designated path to avoid the restricted area; Return to the specified location; Prevent takeoff; Control of the drone will be restored to a third party; When in the restricted area, the use of the drone is restricted; and Wait a while. 6. The method according to claim 1, wherein: Receiving conditional access information associated with conditional access restrictions for the restricted area by the UAV's processor includes: receiving a restriction level in the received conditional access information, wherein the restriction level can be changed between a first restriction level and a second restriction level; and The conditional access to the restricted area by the drone based on comparing received conditional access information with one or more access parameters for the drone includes: accessing the restricted area when the restriction level changes to the first restriction level, and not accessing the restricted area when the restriction level changes to the second restriction level. 7. The method of claim 1, wherein the conditional access restrictions for the restricted area are configured to change based on one or more of the following: time, time period, time of day, day, and date. 8. The method of claim 1, wherein the conditional access to the restricted area is granted by the UAV based on a comparison of received conditional access information with one or more access parameters for the UAV, further comprising: The processor of the drone provides toll payment information to either the server or the beacon device; The processor of the drone receives confirmation of toll payment for the toll payment containing the toll payment information; and The drone accesses the restricted area based on the received confirmation of payment for the toll. 9. The method of claim 1, wherein the one or more access parameters for the drone include at least one of the following: drone access level, drone toll payment, drone identification, drone authentication, and drone capabilities. 10. The method of claim 1, wherein the conditional access restrictions include at least one of the following: restriction level, drone toll payment restriction, time-based restriction, drone identification restriction, drone authentication restriction, drone usage restriction, drone speed restriction, and drone altitude restriction. 11. The method according to claim 1, wherein, Receiving conditional access information associated with conditional access restrictions for the restricted area by the processor of the UAV includes: receiving the conditional access information from a database; The first part of the database is stored on the first server; and The second part of the database is stored on a second server. 12. The method of claim 1, wherein the one or more access parameters of the UAV are at least partially based on one or more access parameters of the operator of the UAV. 13. The method of claim 1, wherein receiving conditional access information including conditional access restrictions for the restricted area by the processor of the UAV comprises: receiving the conditional access information from a server via a wireless communication network. 14. The method of claim 13, further comprising: The received conditional access information is stored in the UAV's memory. 15. The method of claim 13, wherein receiving the conditional access information from the server via a wireless communication network comprises: periodically receiving updates to the conditional access information according to time intervals. 16. The method of claim 13, wherein receiving the conditional access information from the server via a wireless communication network comprises: receiving an expiration time for the conditional access information. 17. The method of claim 16, further comprising: When the expiration time expires, the conditional access information is reloaded from the server. 18. The method of claim 1, wherein receiving conditional access information associated with conditional access restrictions for the restricted area by the processor of the UAV comprises: receiving the conditional access information from a database stored in a plurality of redundant servers, the method further comprising: The criteria are used to select one of the plurality of redundant servers from which the conditional access information is received. 19. The method of claim 18, wherein the standard includes one or more of the following: the proximity of the one redundant server among the plurality of redundant servers to the UAV, the link quality of the communication link between the one redundant server among the plurality of redundant servers and the UAV, the affiliation of the one redundant server among the plurality of redundant servers, the classification of the one redundant server among the plurality of redundant servers, the reputation of the one redundant server among the plurality of redundant servers, and the operator of the one redundant server among the plurality of redundant servers. 20. The method of claim 1, wherein conditional access to the restricted area by the drone based on comparing received conditional access information with one or more access parameters for the drone comprises: restricting the use of the drone when it is in the restricted area. 21. The method of claim 20, wherein restricting the use of the drone when in the restricted area comprises: modifying one or more of the drone's data acquisition and flight parameters. 22. The method of claim 21, wherein modifying the data acquisition of the UAV includes: disabling video or other imaging devices. 23. The method of claim 21, wherein modifying the flight parameters of the UAV comprises maintaining one or more of a specific speed, altitude, or route. 24. An unmanned aerial vehicle (UAV), comprising: transceiver; and A processor, coupled to the transceiver, is configured with processor-executable instructions to perform the following operations: Receive conditional access information associated with conditional access restrictions for restricted areas; The received conditional access information for the restricted area is compared with one or more access parameters for the drone; and Conditional access to the restricted area is granted by comparing the received conditional access information with one or more access parameters for the drone. 25. The drone of claim 24, wherein the processor is further configured with processor-executable instructions for: The received conditional access information for the restricted area is compared with one or more access parameters for the drone by comparing the restriction level in the received conditional access information with the access level assigned to the drone. Access to the restricted area occurs when the access level assigned to the drone is equal to or higher than the restriction level, based on a comparison between the restriction level and the access level assigned to the drone; and When the access level assigned to the drone is less than the restriction level, a corrective action is taken. 26. The UAV of claim 25, wherein the processor is further configured with processor-executable instructions to perform a corrective action including at least one of the following: Land in or move to the designated area; Proceed along the designated path to avoid the restricted area; Return to the specified location; Prevent takeoff; Control of the drone will be restored to a third party; When in the restricted area, the use of the drone is restricted; and Wait a while. 27. The drone of claim 24, wherein the processor is further configured with processor-executable instructions for: Receive conditional access information associated with conditional access restrictions for the restricted area in the form of a restriction level, wherein the restriction level may change between a first restriction level and a second restriction level; and When the restriction level changes to the first restriction level, access to the restricted area is based on comparing the received conditional access information with one or more access parameters for the drone; and When the restriction level is changed to the second restriction level, the restricted area is not accessed. 28. The drone of claim 24, wherein the processor is further configured with processor-executable instructions for conditionally accessing the restricted area by the drone based on comparing received conditional access information with one or more access parameters for the drone: Provide toll payment information to either the server or the beacon equipment; Receive confirmation of toll payment containing the toll payment information; and Based on the received confirmation of payment for the toll, the drone accesses the restricted area. 29. The drone of claim 24, wherein the processor is further configured with processor-executable instructions for: When the received conditional access information does not permit access to the restricted area based on one or more access parameters for the drone, a corrective action is taken. 30. The UAV of claim 29, wherein the processor is further configured with processor-executable instructions to perform a corrective action including at least one of the following: Land in or move to the designated area; Proceed along the designated path to avoid the restricted area; Return to the specified location; Prevent takeoff; Control of the drone will be restored to a third party; When in the restricted area, the use of the drone is restricted; and Wait a while. 31. The drone of claim 24, wherein the conditional access restrictions for the restricted area are configured to change based on one or more of the following: time, a period of time, time of day, day, and date. 32. The drone of claim 24, wherein conditional access to the restricted area based on comparing received conditional access information with one or more access parameters for the drone comprises: restricting the use of the drone when it is in the restricted area. 33. The drone of claim 32, wherein restricting the use of the drone when in the restricted area includes: modifying one or more of the drone's data acquisition and flight parameters. 34. The drone according to claim 33, wherein modifying the data acquisition of the drone includes: disabling video or other imaging devices. 35. The drone of claim 33, wherein modifying the flight parameters of the drone includes maintaining one or more of a specific speed, altitude, or route. 36. A server configured to provide conditional access to a restricted area to a drone, the server comprising: A server processor configured with processor-executable instructions for: Receive one or more access parameters from the drone; Provide the drone with conditional access information associated with conditional access restrictions for the restricted area; The conditional access information for the restricted area is compared with one or more access parameters received for the drone; and Based on comparing the conditional access information with one or more access parameters received for the drone, official permission is granted to the drone for conditional access to the restricted area. 37. A non-transitory computer-readable storage medium having server-executable instructions stored thereon, the server-executable instructions being configured to cause a server to perform operations including: Receive one or more access parameters from the drone related to accessing the restricted area; Provide the drone with conditional access information associated with conditional access restrictions for the restricted area; The conditional access information for the restricted area is compared with one or more access parameters received for the drone; and Based on comparing the conditional access information with one or more access parameters received for the drone, official permission is granted to the drone for conditional access to the restricted area.