Patent Publication Number: US-2020294322-A1

Title: Air Traffic Tolling System

Description:
FIELD OF THE INVENTION 
     The system and apparatus is related generally to a system for tracking and monitoring air traffic. More specifically, the system described herein is a smart system for tracking, monitoring, and interacting with a plurality of unmanned UASs and providing flight data for tolling to an approved governmental entity. 
     BACKGROUND OF THE INVENTION 
     The ubiquitous availability of unmanned UASs, commonly referred to as “drones” or “UAV&#39;s” has resulted in an exponential growth of drone air traffic throughout many parts of the world. With the advent of lighter more efficient batteries and power systems and advanced UAS control systems it has become economically feasible to utilize UASs for many tasks, particularly the routing and delivery of small packages. 
     Due to this proliferation of UAS air traffic existing air traffic control systems are overburdened and have proven incapable of handling the tracking and routing of many small UASs, particularly in more populous areas and high air traffic corridors. Air traffic control for UASs will become more and more necessary as their use expands since the greater volume of air traffic will cause potential UAS collisions as well as potential passenger plane collisions with UASs. 
     Accordingly, governmental entities have undertaken to begin design and installation of a variety of air traffic control systems in order to manage the voluminous UAS traffic. For example, in the United States the Federal Aviation Administration is currently studying the implementation of an expanded and integrated air traffic control system for UASs and the potential collection of tolls required to fund the operation of these systems. As a result of these new systems, many governments are considering implementation of UAS tolling systems to collect funds from commercial UAS operators in order to fund the enhanced air traffic control systems required to direct the air traffic. Furthermore, relevant UAS governing bodies have begun a system of registration for UAS operators. For example, the Federal Aviation Administration in the United States currently requires all UAS&#39;s to be registered and to have a remote pilot certificate. 
     Tolling systems can take the form of per flight tolls, or tolls proportioned by trip length, or even payload tolls. However, there is currently no available system or method for systematically tracking UASs and reporting their flights to a toll collecting entity in order to collect the tolls. 
     Accordingly, there is a need in the art for systems and methods of tracking and managing the operation of UASs or drones that enables as user to track a plurality of UASs and report the details of their flight operations to a central entity, for example a governmental agency such as the FAA in order to levy and collect operational tolls. 
     SUMMARY OF THE INVENTION 
     This disclosure is directed generally to systems, methods and apparatus that provide for the tracking of a plurality of unmanned UASs or unmanned aircraft systems, hereinafter UAVs, UASs, or drones. The system provides the capability of tracking a plurality of UASs, monitoring flight data for each, and communicating the flight data of each to a tolling entity for collection and further processing. 
     In some embodiments, the systems and methods described herein may each include one or more of the following features. In exemplary but non-limiting embodiments the invention includes a plurality of UAS modules secured to a plurality of UASs or drones, and concomitant terrestrial modules secured or situated at a plurality of locations. The UAS modules and terrestrial modules are capable of wireless communication with each other, and with other networks, such as wireless internet communications, and further are both equipped with proximity sensors such that terrestrial modules may detect the presence of nearby UASs and vice versa. 
     Furthermore, the system disclosed herein provides a method of collecting flight data from each of the UASs by terrestrial modules, and transmitting that flight data, via terrestrial modules, to a toll collecting entity. In some aspects and embodiments UAS flight data such as global position, altitude, vehicle identification or serial number, and even vehicle payload may be transmitted from UASs and their modules to terrestrial modules. 
     In accordance with further embodiments and aspects of the invention terrestrial modules may be equipped with cameras to photograph detected UASs and confirm or verify their identity and flight path by comparing a photographed tail number to a transmitted identifier. 
     As used herein for the purposes of this disclosure the terms “unmanned aerial vehicle”, “unmanned aircraft system”, “UAV”, “UAS” and “drone” are all synonymous and used to refer to any type of aerial aircraft system that can be flown, either remotely or directly, for the purposes of any type of commerce or leisure activity. 
     As used herein for purposes of the present disclosure, the term “wireless communication” generally describes apparatus and systems relating to the wireless transmission of a signal. Any of a wide variety of wireless transmission devices and communications protocols may be employed in the system of the invention, including analog and digital transmission systems. Exemplary but non-limiting wireless transmitters that may form a part of the invention include radio transmitters, cellular transmitters, LTE and LTE advanced systems, ZigBee™, Wi-Fi, and Bluetooth transmitters. Additionally, a plurality of wireless network and transmission systems may be employed without departing from the scope of the invention, including, but not limited to, wireless personal area networks, local area networks, mesh networks, metropolitan area and global area networks. 
     The term “processor” or alternatively “controller” is used herein generally to describe various apparatus relating to the operation of one or more computers, web servers, or databases. A processor can be implemented in numerous ways (e.g., such as with dedicated hardware) to perform various functions discussed herein. A “processor” is one example of a controller which employs one or more microprocessors that may be programmed using software instructions (e.g., microcode) to perform various functions discussed herein. A controller may be implemented with or without employing a processor, and also may be implemented as a combination of dedicated hardware to perform some functions and a processor (e.g., one or more programmed microprocessors and associated circuitry) to perform other functions. Examples of controller components that may be employed in various embodiments of the present disclosure include, but are not limited to, conventional microprocessors, application specific integrated circuits (ASICs), and field-programmable gate arrays (FPGAs). 
     In various implementations, a processor or controller may be associated with one or more storage media (generically referred to herein as “memory,” e.g., volatile and non-volatile computer memory such as RAM, PROM, EPROM, and EEPROM, floppy disks, compact disks, optical disks, magnetic tape, etc.). In some implementations, the storage media may be encoded with one or more programs that, when executed on one or more processors and/or controllers, perform at least some of the functions discussed herein. Various storage media may be fixed within a processor or controller or may be transportable, such that the one or more programs stored thereon can be loaded into a processor or controller so as to implement various aspects of the present disclosure discussed herein. The terms “program” or “computer program” or “instructions” are used herein in a generic sense to refer to any type of computer code (e.g., software or microcode) that can be employed to program one or more processors or controllers. 
     The term “user interface” as used herein refers to an interface between a user or operator and one or more devices that enables interaction between the user and the device(s). Examples of user interfaces that may be employed in various implementations of the present disclosure include, but are not limited to, switches, potentiometers, buttons, dials, sliders, a mouse, keyboard, keypad, various types of game controllers (e.g., joysticks), track balls, display screens, various types of graphical user interfaces (GUIs), smartphones, watches, tablets, personal computing platforms, touch screens, microphones and other types of sensors that may receive some form of human-generated stimulus and generate a signal in response thereto. Furthermore, user interfaces can encompass interactive web pages and other user prompts, whether provided on stand alone computing platforms or mobile devices. 
     The term “communications link” is generally meant to include in digital or other communication with any other part of the system via a wireless or wired communication protocol. A communication link may be between two devices or components and may be accomplished by a separate networking system. Communication links may be provided to transfer data between a web server, a database, a computer, a mobile or handheld device, or any other control system, a consumer operated external device, a wireless local area network (WLAN), or any other communication system. The communication links disclosed and described in this specification may be integrated within various system components or alternatively may be separate electronic systems. 
     It should be appreciated that all combinations of the foregoing concepts and additional concepts discussed in greater detail below (provided such concepts are not mutually inconsistent) are contemplated as being part of the inventive subject matter disclosed herein. In particular, all combinations of claimed subject matter appearing at the end of this disclosure are contemplated as being part of the inventive subject matter disclosed herein. It should also be appreciated that terminology explicitly employed herein that also may appear in any disclosure incorporated by reference should be accorded a meaning most consistent with the particular concepts disclosed herein. 
     Before explaining exemplary embodiments consistent with the present disclosure in detail, it is to be understood that the disclosure is not limited in its application to the details of constructions and to the arrangements set forth in the following description or illustrated in the drawings. The disclosure is capable of embodiments in addition to those described and is capable of being practiced and carried out in various ways. Also, it is to be understood that the phraseology and terminology employed herein, as well as in the abstract, are for the purpose of description only and should not be regarded as limiting. 
     The accompanying drawings, which are incorporated and form a part of the specification illustrate exemplary, but non-limiting, embodiments of the disclosure, and together with the description, serve to explain the principles of the disclosure. 
     Those skilled in the art will appreciate that the inventive concepts and principles upon which the disclosure is based may readily be utilized as a basis for designing other structures, systems, methods, and articles of manufacture for implementing the purposes of the present disclosure. Accordingly, the claims appended hereto should be construed to include such equivalent constructions without departing from the spirit and scope of the invention herein disclosed. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWING FIGURES 
         FIG. 1  illustrates a block diagram of an unmanned aircraft system module system for implementing certain embodiments and features of the present disclosure; 
         FIG. 2  illustrates a block diagram of an unmanned aircraft system module for implementing certain embodiments and features of the present disclosure; 
         FIG. 3  illustrates an exemplary system for implementing certain embodiments and features of the present disclosure; 
         FIG. 4  illustrates an exemplary system for implementing certain embodiments and features of the present disclosure; 
         FIG. 5  illustrates an exemplary system for implementing certain embodiments and features of the present disclosure; 
         FIG. 6  illustrates an exemplary system for implementing certain embodiments and features of the present disclosure; 
         FIG. 7  illustrates an exemplary system for implementing certain embodiments and features of the present disclosure; and 
         FIG. 8  illustrates a block diagram of an exemplary data management system for implementing certain embodiments and features of the present disclosure. 
     
    
    
     DETAILED DESCRIPTION OF EXEMPLARY EMBODIMENTS 
     Reference will now be made in detail to the various embodiments of the invention, certain non-limiting examples of which are illustrated in the accompanying drawing Figures. 
     In various aspects and embodiments, and referring generally to  FIGS. 1-8  an air vehicle tolling and tracking system  10  for managing, monitoring, and tracking for unmanned aircraft systems  1  (hereinafter UAS&#39;s or UAV&#39;s) includes a UAS module  100  that is secured to or mounted in or on a UAS and a terrestrial module  200  that may be mounted in a plurality of locations as discussed in detail herein below. UAS module  100  and T module  200  are capable of communicating wirelessly with each other and with an air traffic toll collection system  300 , which may include a database and concomitant memory for storing information such as flight data that is related to the operation of all UAS&#39;s flown in a predetermined or defined time frame and/or geographical area. It should be noted that tracking system  10  is capable of tracking and monitoring any flying apparatus that includes a UAS module  100  and at least one T module  200 . 
     Referring now to  FIG. 1  and in accordance with various embodiments UAS module  100  may comprise a compact, lightweight, waterproof enclosure  102  for securing and mounting the various components of UAS module  100 . Furthermore, UAS module  100  may include a power supply  110  or equivalent source of electrical power, for example a rechargeable battery, for operation of the various components of module  100 . In some aspects and embodiments power to operate UAS module  100  may be supplied by UAS  1 , for example through a shared power bus or the like. In these embodiments UAS module  100  power supply  110  may operate as a back-up power source, to be utilized in the event of a low power occurrence or power failure of UAS  1 . Furthermore, UAS module  100  may include a processor or controller  120  for storing and executing a plurality of programmed instructions capable of carrying out the various functions of the UAS module  100  and concomitant system  10  disclosed herein. The processor  120  may include a concomitant memory that stores the programmed instruction set provided thereto, as well as various flight data recorded during operation. The processor  120  may be any hardware device capable of executing instructions stored in memory or data storage or otherwise processing data. As such, processor  120  may include a microprocessor, field programmable gate array (FPGA), application-specific integrated circuit (ASIC), or other similar devices. 
     In various embodiments processor  120  may be a microcontroller having a plurality of electrical signal inputs  122  and outputs  124  that may be operatively coupled to various components of UAS module  100  described herein. The plurality of signal inputs  122  and outputs  124  are capable of being operatively coupled to various electrical components that generate and receive electrical signals representative of flight data, such as altitude and global positioning data, as will be discussed further herein below. Processors  120  may include concomitant data storage memory  126 , both RAM and ROM, and further may also be operatively coupled to additional storage memory  128  for storing and using data acquired during operation of system  10 . Memory  126  can include a number of separate memories including a main random access memory (RAM) for storage of instructions and data during processor  120  operation and a read only memory (ROM) in which fixed instructions may be stored. The memory  126  may include various memories such as, for example L1, L2, or L3 cache or system memory. As such, the memory  126  may include static random access memory (SRAM), dynamic RAM (DRAM), flash memory, read only memory (ROM), or other similar memory devices. It will be apparent that, in embodiments where the processor includes one or more ASICs (or other processing devices) that implement one or more of the functions described herein in hardware, the software described as corresponding to such functionality in other embodiments may be omitted. 
     In various aspects of the invention system  10  includes a user interface  140  that may include a display screen or screens that are provided to a user, or alternatively a touch sensitive screen, a plurality of buttons or option selector switches, a keypad, a detachable keyboard and/or mouse, or a touch sensitive pad to enable a user to configure UAS module  100  and system  10  for use and to access system  10  attributes via processor  120 . User interfaces  140  may further include a speaker or audible alarm to alert or notify a user of certain prompts or actions. One of ordinary skill in the art will recognize that a wide variety of user interfaces may be employed in conjunction with the exemplary embodiments disclosed herein without departing from the scope of the invention. 
     In various aspects and embodiments of the invention, a user interface  140  may be provided as a series of displays provided through a web browser interface, although various non-limiting user interfaces  140  may be employed without departing from the scope of the invention. Furthermore, in some embodiments and implementations a handheld or mobile computing device  150  may also be provided in data communication with secure network to provide a user the ability to access and interact with UAS module  100  and system  10  remotely. Exemplary but non-limiting mobile devices  150  include smartphones, tablet computers, smart watches, and other devices capable of internet access utilizing a web browser or similar tools. 
     Furthermore, in some embodiments and implementations UAS module  100  may include a global positioning system (GPS)  160  that is operatively coupled to controller  120  and is capable of providing a signal representative of the relative location of module  100  and thus the UAS  1  on which it is secured, either continuously or at predetermined times throughout a flight. Global positioning system  160  may be provided with a unique serial number identifier that can be used to track and identify UAS  1  and further may include an output representative of position operatively coupled to input  122  of the processor  120 , which then is provided with suitable instructions to store altitude data for UAS  1  in memory  126 . GPS  160  further enables a governmental entity, for example the FAA in the United States, to monitor and track each UAS  1  to assure that there are no violations of no-fly areas or other unauthorized use. For example, if a UAS  1  flies within five miles of an airport, the FAA could take action against the operator or owner based on data provided by GPS  160 . 
     In some implementations and embodiments module  100  may further include an altimeter  170  that monitors the altitude of module  100  relative to the ground, and thus monitors the altitude of UAS  1 . Altimeter  170  may include an output representative of altitude operatively coupled to an input  122  of processor  120  such that processor may periodically store altitude data for UAS  1  in memory  126  for future reporting, as will be discussed in detail herein below. In some aspects, when UAS  1  is determined to have exceeded an allowable mandated altitude, this event data is recorded for reporting to a governing entity. 
     Additionally, and in accordance with some aspects of the invention UAS module  100  may include a proximity sensor  180 , for example an LTE sensor, for determining the proximity of a concomitant sensor  180  mounted on a T module  200 , as will be discussed further herein below. In some embodiments proximity sensor  180  may include an accelerometer  182  and a three-dimensional magnetometer  184  to determine proximity to a nearby T module  200 , by determining UAS module  100  exact location. In either embodiment proximity sensor  180  may include an output that is operatively coupled to an input  122  of processor  120  to indicate to processor  120  that a T module  200  is nearby. In these embodiments when a UAS module  100  and T module  200  are within a predetermined range of each other, data from UAS module  100  is transmitted to T module  200  as discussed further below. 
     In other embodiments and aspects UAS module  100  may further include a communications receiver and transmitter  190  for wirelessly receiving and transmitting various signals and data as required to operate system  10  and communicate and transfer data to T modules  200 . Wireless receiver and transmitter  190  may operate utilizing a one of many known wireless communications protocols such as Bluetooth, BLE, ZigBee, various LAN protocols, Z-Wave, Thread, WiFi, 2G, 3G, 4G, 5G, LTE, NB-IoT, RFID, and all other equivalent communications protocols capable of wireless transmission of a specified data packet without departing from the scope of the invention. 
     In some embodiments a UAS  1  vehicle identification or serial number and/or UAS  1  vehicle tail number is advantageously stored in memory  126  so that it can be transmitted when required, or when a UAS  1  module  100  is detected by terrestrial module  200 . In various aspects the UAS module  100  is securely mounted or secured to an UAS  1  so that it transmits flight data to system  10 . 
     Referring again to drawing  FIGS. 2-4 , and in accordance with certain embodiments, system  10  further includes a plurality of terrestrial modules  200 , or T modules  200 . It should be noted that a plurality of terrestrial modules  200  may be located at a plurality of locations throughout a flight corridor or geographical area, and may further be mounted in locations that enable wireless communications between UAS modules  100  and terrestrial modules  200 . In some non-limiting embodiments terrestrial modules  200  may be located on light poles  4 , cell towers, buildings  3 , and any other fixed structure that enables and facilitates wireless communications. 
     In various embodiments terrestrial module  200  may comprise a compact, lightweight, waterproof enclosure  202  for securing and mounting the various components of T module  200 . Furthermore, T module  200  may include a power supply  210  or a similar source of electrical power, for example a rechargeable battery, for operation of the components of module  200 . In some aspects power to operate T module  200  may be supplied by a power supply located on the structure or device on which T module  200  is situated. For example, power for T module  200  may be supplied from an electrical source or transformer mounted on a light pole  4 , cell tower, building  3 , or similar structure. In these embodiments T module  200  power supply  210  may operate as a back-up power source, to be utilized in the event of a low power occurrence or power failure. Furthermore, T module  200  may include a processor or controller  220  for storing and executing a plurality of programmed instructions capable of carrying out the various functions of the T module  200  and concomitant system  10  disclosed herein. The processor  220  may include a concomitant memory that stores the programmed instruction set provided thereto, as well as various flight data recorded during operation. The processor  220  may be any hardware device capable of executing instructions stored in memory or data storage or otherwise processing data. As such, processor  220  may include a microprocessor, field programmable gate array (FPGA), application-specific integrated circuit (ASIC), or other similar devices. 
     In some embodiments processor  220  may be a microcontroller having a plurality of electrical signal inputs  222  and outputs  224  that may be operatively coupled to various components of T module  200 . The plurality of signal inputs  222  and outputs  224  are capable of being operatively coupled to various electrical components that generate and receive electrical signals representative of flight data, such as altitude and global positioning data. Processors  220  may include concomitant data storage memory  226 , both RAM and ROM, and further may also be operatively coupled to additional storage memory  228  for storing and using data acquired during operation of system  10 . Memory  226  can include a number of separate memories including a main random access memory (RAM) for storage of instructions and data during processor  220  operation and a read only memory (ROM) in which fixed instructions may be stored. Memory  226  may include various memories such as, for example L1, L2, or L3 cache or system memory. As such, memory  226  may include static random access memory (SRAM), dynamic RAM (DRAM), flash memory, read only memory (ROM), or other similar memory devices. It will be apparent that, in embodiments where the processor includes one or more ASICs (or other processing devices) that implement one or more of the functions described herein in hardware, the software described as corresponding to such functionality in other embodiments may be omitted. 
     In various aspects of the invention T module  200  may include a user interface  240  that may include a display screen or screens that are provided to a user, or alternatively a touch sensitive screen, a plurality of buttons or option selector switches, a keypad, a detachable keyboard and/or mouse, or a touch sensitive pad to enable a user to configure T module  200  and system  10  for use and to access system  10  attributes via processor  220 . User interfaces  240  may further include a speaker or audible alarm to alert or notify a user of certain prompts or actions. A wide variety of user interfaces may be employed in conjunction with the exemplary embodiments disclosed herein without departing from the scope of the invention. 
     In various aspects and embodiments of the invention, a user interface  240  may be provided as a series of displays provided through a web browser interface, although various non-limiting user interfaces  240  may be employed without departing from the scope of the invention. Furthermore, in some embodiments and implementations a handheld or mobile computing device  250  may also be provided in data communication with secure network to provide a user the ability to access and interact with T module  200  and system  10  remotely. Some examples of mobile devices  250  may include smartphones, tablet computers, smart watches, and other devices capable of internet access utilizing a web browser or similar tools. 
     Additionally, and in accordance with some aspects of the invention T module  200  may include a proximity sensor  260 , for example an LTE sensor, for determining the proximity of a concomitant sensor  180  mounted on a UAS module  100 . In some embodiments proximity sensor  260  may include an accelerometer  262  and a three-dimensional magnetometer  264  to determine proximity to a nearby UAS module  100 . In either embodiment proximity sensor  260  may include an output that is operatively coupled to an input  222  of processor  220  to indicate to processor  220  that a UAS module  100  is nearby. In these embodiments when a UAS module  100  and T module  200  are within a predetermined range of each other, data from UAS module  100  is transmitted to T module  200  as discussed further below. 
     In other embodiments and aspects T module  200  may further include a communications receiver and transmitter  290  for wirelessly receiving and transmitting various signals and data as required to operate system  10 . Similar to receiver  190  of UAS module  100 , wireless receiver and transmitter  290  may operate utilizing a one of many known wireless communications protocols such as Bluetooth, BLE, ZigBee, various LAN protocols, Z-Wave, Thread, WiFi, 2G, 3G, 4G, 5G, LTE, NB-IoT, RFID, and all other equivalent communications protocols capable of wireless transmission of a specified data packet without departing from the scope of the invention. 
     Additionally, and in accordance with some embodiments T module  200  may include a camera  280 , having outputs and inputs operatively coupled to the inputs  222  and outputs  224  of the processor  210 . Embodiments of T module  200  having a camera  280  are suitable for use in areas such as warehouses or base stations, for example a building or business where drone traffic originates or terminates. In these embodiments camera  280  takes a picture of a nearby UAS  1  when proximity sensor  260  detects its presence. This feature of the invention enables each terrestrial module  200  to confirm the identity of a passing UAS  1 , thereby assisting in tracking the UAS  1  throughout a flight. 
     Referring to  FIG. 8 , and in accordance with some aspects and embodiments of the invention a database  300  is provided for collecting, storing, and routing information related to UAS  1  flights to a toll collecting entity, for example a governmental agency that tracks and registers UAS&#39;s  1 , such as the Federal Aviation Administration (FAA). Database  300  may reside in server, or a plurality thereof and may be centrally located or simply stored in the cloud in one of many known data storage systems. In many aspects and embodiments exemplary types of data that may be collected and stored in database  300  by system  10  related to each UAS  1  include, but is not limited to, GPS sensor identifier or serial number, UAS  1  location, UAS  1  altitude, a time and date stamp indicating when the data was recorded, UAS  1  operator or ownership information, a photographic image of each UAS  1 , and UAS  1  tail or registration number. 
     In some embodiments database  300  communicates relevant UAS  1  information to a toll collecting entity, for example the FAA, as well as UAS  1  operators or owners. Database  300  may communicate collected data to an operator database  350  for individual operators, and provide all data to an FAA database  400  so that tolls can be collected from the registered UAS  1  operators. Furthermore, and in some aspects and embodiments, database  300  may be utilized to generate periodic tolling bills or invoices to various operators and to a relevant governing body, such that the operators are aware of any amounts due to the governing body and may submit them in a timely fashion. 
     Referring to  FIGS. 3 and 4  in some embodiments T modules can be advantageously located proximate a UAS  1  staging facility  3 , such as a shipping warehouse or building. In these embodiments a T module or modules  200  can be secured or positioned at a point proximate the exit to the facility  3 , for example secured to a pole  2  or similar structure. Additionally, T modules  200  may be positioned on buildings  3  or other elevated structures such as light poles  4  proximate a defined UAS  1  flight corridor or route such that all UAS&#39;s  1  passing proximate these T modules  200  may communicate with and be tracked thereby. In some embodiments a T module  200  that is situated proximate a facility  3  may be connected to the internet via Bluetooth, LAN, or any other wireless network. In this fashion data may be transferred from a base T module to database  300  for further dissemination. 
     Referring now to  FIGS. 5-7  in other aspects and embodiments the system  10  of the present invention operates to track a plurality of UASs  1  by monitoring and tracking their flight paths between a T module  200  situated proximate the UAS  1  flight origin, and a plurality of T modules  200  situated or located along flight corridors. In some aspects T modules  200  may be positioned along a plurality of defined flight paths or travel corridors specified by a governing entity for UAS  1  travel and commerce. In many locales and large metropolitan areas a wide array of T modules may be provided to track and record flight data from all registered UAS&#39;sl utilizing the flight corridors. 
       FIGS. 6 and 7  depict an arrangement of a plurality of T modules  200  that may be located proximate the entrance/exit to warehouse  3  or equivalent structure in which UAS  1  flights originate. These T modules  200  may be called base T modules  200  and are used to collect and record all pertinent information from each UAS  1  flight at its origin and transmit this data to database  300 . Furthermore, T modules  200  proximate a UAS  1  flight origination point may be equipped with camera  280  and take a picture of each UAS  1  exiting a structure  3 . In some embodiments as seen in  FIG. 8  a plurality of T modules  200  may be positioned or secured to an air vehicle, such as a blimp, or a train car or similar conveyance. 
     In one non-limiting example both UAS  100  modules and T modules  200  are provided with suitable programming instructions in their processors  120 ,  220  to allow them to continuously monitor proximity sensors  180  to detect the presence of a nearby UAS  1 . Alternatively, or in combination, a passing UAS module  100  may continuously transmit its identifying information such that a nearby terrestrial module  200  may detect its presence. Once detected, the terrestrial module  200  receives and stores flight data from each passing UAS  1  module  100  that is stored in database  300 , and then sent or transmitted to a toll collecting entity database  400 . 
     In some aspects and embodiments terrestrial modules  200  may utilize camera  280  take a photograph of each detected UAS module  100  that verifies its identification by matching or comparing its photographed tail number with the serial number and/or tail number provided by wireless transmission from module  100 . By collecting a photographic image of each passing UAS  1  that specific vehicle&#39;s flight path may be confirmed for systems wherein tolling is based on flight distance. 
     In other aspects and embodiments a passing UAS  1  module  100  will transmit to each detected terrestrial module  200  its flight data, including but not limited to its vehicle serial number and/or tail number, its global positioning system coordinates at the time of transmission, and its current altitude. This data can then in turn be transmitted by terrestrial modules  200  to a toll collecting entity for further processing. In some aspects and embodiments the flight data for a specified UAS  1  may be transmitted to a toll collecting entity continuously as the vehicle  1  travels along its path. In other non-limiting aspects and embodiments the flight data may be stored in module memory beginning at the initiation of a UAS  1  flight, for example when the UAS  1  module  100  is first detected by a terrestrial module  200 , and then transmitted when the flight is complete, for example when the altitude of UAS  1  is once again at ground level, or a predetermined altitude, or global positioning coordinate. 
     In some embodiments when a UAS  1  module  100  departs the range of a base T module  200  it will collect and record all the flight data mentioned herein above until it is once again within range of another T module  200 , or alternatively a base T module again. Each T module will receive the updated information transmitted from UAS  1  module  100  when it passes within range of T module  200 . T module  200  will then transmit the information received from the passing UAS to database  300  where it will be stored as discussed herein above. 
     Upon return to a base facility  3  from its flight a UAS  1  module  100  will transmit the information it has recorded while in flight to a base T module  200 . The entirety of flight information will be stored on the UAS  1  module  100  until it has completed its flight. Once the base T module has received all the flight data from a UAS  1  and updated the cloud database  300 , the UAS  1  module  100  memory  126  can be erased to provide space for the next flight. The base T module  200  will also in some embodiments take a photograph of the UAS  1  returning. The pre-flight photograph, post flight photograph, and flight information gathered from the plurality of T modules  200  during the trip will be updated on the cloud database  300  to document the flight. This information can all be stored in database  300  according the serial/tail number of the UAS  1 . 
     As can be seen by the foregoing, a plurality of terrestrial modules  200  may be employed to track and store flight data for a plurality of UASs  1  equipped with UAS modules  100 , and then transmit that data to a toll collecting entity database  400  for further processing. 
     Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the embodiments disclosed herein. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the invention and exemplary embodiments being indicated by the following claims.