Patent Description:
Unmanned aerial vehicles (UAVs) are being utilized as assets in many surveillance and combat activities. Presently, most UAV missions with complex requirements are satisfied using high value UAVs. Due to limited availability of these assets, mission planners need to coordinate the various assets to insure a UAV with sufficient capabilities is available, at the specific time and location of the intended mission. Should the mission change or get delayed, UAV mission support may be missing or limited. Due to limited range and performance, low value UAVs require ground support to be able to launch the UAV close to the mission location. Not only does this proximity to the mission location put ground forces at risk, it also precludes the ability to dynamically change mission locations and objectives due the logistical effort of relocating specific UAV assets close to an alternate launch location. It is therefore desirable to provide a solution that addresses these and other problems.

<CIT>, in accordance with its abstract, states that a launch platform for cruise missiles is a military transport aircraft in which the missiles are stored in a magazine with an automated handling crane for transfer to launch position. The operator communicates with a mission planning unit coupled to a central information and data processing unit to control the sequence.

<CIT>, which falls under Article <NUM>(<NUM>) EPC such that it is not relevant to the question of inventive step, in accordance with its abstract, states that the disclosure relates to a system and method for automatic launch and landing UAVs (Unmanned Aerial Vehicles). The system comprises a ground station adapted for automatic UAV launching and landing. The ground station comprises: means for communication with UAVs present within a range from the ground station; an arrangement adapted for launching UAVs and for capturing in-flight UAVs, said arrangement having at least one controllable arm; a computing unit arranged to compute a meeting point between the at least one controllable arm and one in-flight UAV based on data communicated between the UAV and the ground station by means of said means for communication; and a control unit arranged to control the at least one arm to capture an in-flight UAV at the meeting point or to launch one UAV. The system is characterized in that the control unit is arranged to control the at least one arm to move a UAV between the meeting point and at least one storage position.

<CIT>, in accordance with its abstract, states that there is a system directed to controlling and managing a small unmanned air vehicle (UAV) between capture and launch of the UAV. The system includes an enclosure that provides environmental protection and isolation for multiple small UAVs in assembled and/or partially disassembled states. Control and management of the UAVs includes reorientation of a captured UAV from a landing platform and secure hand-off to the enclosure, decontamination, de-fueling, ingress to the enclosure, downloading of mission payload, UAV disassembly, stowage, retrieval and reassembly of the UAV, mission uploading, egress of the UAV from the enclosure, fueling, engine testing and launch readiness. An exemplary system includes two or more robots controlled by a multiple robot controller for autonomously carrying out the functions described above. A modular, compact, portable and autonomous system of UAV control and management is also described.

<CIT>, in accordance with its abstract, states a docking system for an unmanned aerial vehicle (UAV) is described that provides a landing and take-off area as well as refueling and/or data transfer capabilities. The docking system may be portable to provide a ready docking area for a UAV in areas that may not otherwise be suitable for UAV operation. The docking system may include a landing surface, an orientation mechanism that adjusts the landing surface to provide a level landing area, and an alignment mechanism coupled with the landing surface that moves a UAV resting on the landing surface to a predetermined location on the landing surface for automated refueling of the UAV. A latching mechanism may secure the UAV to the landing surface when the UAV is located at the predetermined location.

<CIT>, in accordance with its abstract, states that the disclosure is directed to methods, computer-readable media, and systems for controlling one or more uninhabited heterogeneous autonomous transport devices. This includes providing capabilities for a computing device to be able to control and to monitor one or more heterogeneous autonomous transport devices. This occurs by generating a command signal from a computing device and transmitting the command signal to control on-board computing devices of one or more heterogeneous transport devices to execute requirements of a mission. There are also provided ways to start-up, to send commands, and to shut down real or simulated heterogeneous autonomous transport devices.

In view of the limitations of prior solutions, it is therefore desirable to provide a UAV deployment and retrieval system which may be employed by rotorcraft or fixed wing aircraft to allow use of low value UAVs in satisfying enhanced mission requirements.

There is described herein a method of deploying a selected UAV, the method comprising: receiving a command to deploy a UAV having a particular capability; selecting a UAV from a plurality of UAVs having the particular capability; and deploying the selected UAV, wherein the step of selecting a UAV comprises: positioning a carousel containing the plurality of UAVs to a position for the selected UAV; extending the UAV on a cradle; and, deploying the UAV with a grappling device.

Embodiments disclosed herein provide the ability to deploy and retrieve UAVs from rotorcraft (i.e. rotary wing aircraft) or fixed wing aircraft with a unique grappling methodology and use of a multiple UAV magazine for mission specific UAV selection. A navigation and control system for automating selection, deployment and retrieval of UAVs by a single aircraft or cooperatively with other assets enhances system operability.

An example UAV <NUM> is shown in <FIG>. The UAV incorporates a fuselage <NUM> and wings <NUM>, which for certain applications may be retractable or stowable for reduced storage profile. A propulsion system such as a motorized propeller <NUM> or possibly small jet engine provides thrust for operation. A hooking device <NUM> is employed to retrieve and deploy the UAV from a rotorcraft or aircraft as will be described in greater detail subsequently. A ring <NUM> in the hooking device <NUM> may be fixed or deployable for aerodynamic considerations when the UAV is in free flight. For a deployable system, an actuator <NUM> is attached to the ring <NUM> for rotation of the ring from a first position, flush with the UAV fuselage, to a second position, extended from the fuselage as shown in <FIG> for engagement by a grappling system to be described in greater detail subsequently. Actuator <NUM> is activated by a controller <NUM> and may be positioned in multiple positions including the stowed position, extended position for capture and a post capture position, for example for aligning the UAV for storage or release. Grappling sensors <NUM> such as contact or strain sensors may be employed in the hooking device for detection of engagement by the grappling system.

A grappling device <NUM> is shown in <FIG>. A support rod <NUM> provides mounting support for an upper gripper <NUM> and a lower gripper <NUM> which are attached at a pivot <NUM> on the support rod. A first actuator 36a manipulates the upper gripper <NUM> through a link pin 38a attached to a drive rod 40a. For the embodiment show a linear actuator is employed however rotary actuators may be employed in alternative embodiments. The link pin 38a is attached to a scissor tail <NUM> extending opposite the upper gripper from pivot <NUM>. Similarly, a second actuator 36b manipulates the lower gripper <NUM> through a link pin 38b attached to a drive rod 40b. The link pin 38b is attached to a scissor tail <NUM> extending opposite the lower gripper from pivot <NUM>. Extension of the first and second actuator drive rods 40a and 40b opens the upper and lower grippers <NUM> and <NUM> from a closed or grasping position shown in <FIG> to an open position as shown in <FIG>. With asymmetric extension of the drive rods, a rotational position of the upper and lower gripper as represented by axis 42a in <FIG> and 42b in <FIG> can be adjusted for enhanced engagement or disengagement of the UAV hooking device <NUM>.

The upper and lower grippers are configured in an asymmetric fashion. The lower gripper <NUM> provides a smooth surface with a non-binding engagement profile <NUM> enhancing the capture and release of the UAV hooking device. The upper gripper <NUM> incorporates a surface with a closed profile <NUM> with a hook to insure a positive retention of the UAV hooking device <NUM> with the grippers in the closed position. Two grappling devices <NUM> may be used in parallel to enhance the stability of the UAV prior to release or upon capture and aid in its retraction and storage in the aircraft. A grab line or capture net may be used instead of the grappling device for UAV not equipped with a hooking device <NUM>. The grappling device <NUM> may have one or more integral contact sensors <NUM> to detect the contact with the UAV Hooking device. An output signal, denoted a hooking sensor signal, from the sensors <NUM> may be used to operate the closures of the grappling device <NUM>. In this case, the contact or strain sensors produce a contact signal indicating contact with the grippers of the grappling device.

Deployment and retrieval of UAV <NUM> is accomplished in certain operational scenarios with a rotorcraft 48a as shown in <FIG> or a fixed wing aircraft 48b as shown in <FIG>. A storage and manipulation magazine <NUM> is attached to the rotorcraft or aircraft to contain the UAVs as will be described in greater detail subsequently. In certain embodiments, the magazine may be retractable into the rotorcraft or aircraft. Grappling device <NUM> is extendible from the rotorcraft or aircraft with a manipulating arm <NUM> which may be telescoping and rotatable for positioning of the grappling device <NUM> for removal or insertion of UAVs from the magazine <NUM> and for release or capture of the UAVs in flight. A UAV location sensor <NUM> such as a radar, lidar or infrared (IR) device may be located adjacent the grappling device for sensing of the location/proximity of the UAV during grappling operations. A complimentary or alternative sensor on the UAV may also be employed with communication to the grappling control system as will be described in greater detail subsequently.

An example magazine <NUM> is shown in <FIG>. Multiple UAV containers <NUM> are supported within a rotatable carrousel <NUM>. Receiver actuation rails <NUM> extendible from the carrousel <NUM> support a deployment and retrieval cradle <NUM>, which in certain embodiments may be the UAV container, that is extended on the rails below the carrousel. Grappling device <NUM> may then be employed to remove the UAV from the cradle <NUM> for release or to insert a retrieved UAV into the cradle. As represented in <FIG>, the UAV <NUM> will typically have retractable wings as previously described for compact storage in the container and carrousel.

The individual UAVs provided in the containers <NUM> in the carousel <NUM> may be of different types or with varying capabilities with respect to sensor packages or other operational characteristics. Control logic <NUM> in the carousel <NUM> communicating with a mission control system, to be described subsequently, is employed to select the appropriate UAV for a desired mission profile and aligning the carousel for deployment of the container/UAV on the cradle <NUM>.

As shown in <FIG>, a central mission controller <NUM> provides communication and control of the UAVs on board the aircraft in the carousel and as deployed or retrieved. The mission controller <NUM> may be located on the rotorcraft/aircraft or remotely with appropriate telemetry. A standard user interface <NUM> may be collocated with the mission controller or remote to the mission controller with appropriate telemetry. The mission controller <NUM> communicates with the UAVs through a UAV interface <NUM>. UAVs within the containers in the carousel may have wireless or wired communications to the UAV interface. Control of the carousel for selection or restacking of UAVs is accomplished by the mission controller through a carousel controller <NUM>. The mission controller <NUM> additionally provides control to the grappling system through a grappling controller <NUM> using sensor inputs <NUM> connected to the grappling sensors <NUM>, contact sensors <NUM> and location sensor <NUM>. The grappling controller <NUM> commands actuators 36a and 36b for opening, closing and angled articulation in capture and release of the UAV.

The mission controller <NUM> may be a general purpose or mission specific computer architecture having the general structure as defined in <FIG>. An exemplary data processing system <NUM> may be used in implementing the embodiments described herein. In the exemplary embodiment, data processing system <NUM> includes communications fabric <NUM> providing communications between processor unit <NUM>, memory <NUM>, persistent storage <NUM>, communications unit <NUM>, input/output (I/O) unit <NUM>, and display <NUM>.

Processor unit <NUM> serves to execute instructions for software that may be loaded into memory <NUM>. Processor unit <NUM> may be a set of one or more processors or may be a multi-processor core, depending on the particular implementation. In one example, processor unit <NUM> is implemented using one or more heterogeneous processor systems including a main processor and one or more secondary processors on a single chip.

Processor unit <NUM> may be a multi-processor system containing multiple, same type processors. Processor unit <NUM> may be implemented using one or more programmable circuits including one or more systems and microcontrollers, programmable logic circuits, field programmable gate arrays (FPGA), microprocessors, application specific integrated circuits (ASIC), and other like circuits capable of executing the functions described herein.

Memory <NUM> and persistent storage <NUM> are examples of storage devices capable of storing information either on a temporary basis and/or a permanent basis. In another example, memory <NUM>, may be a random access memory or any other volatile or nonvolatile storage device or the like. Persistent storage <NUM> may take various forms depending on the particular implementation. In one instance, persistent storage <NUM> may be a fixed or removable hard drive, a flash memory, a rewritable optical disk, a rewritable magnetic tape, or some combination of the above. In one example, a removable hard drive may be used for persistent storage <NUM>.

Input/output unit <NUM> provides input and output of data with one or more other devices that may be connected to data processing system <NUM>. Input/output unit <NUM> may provide, for example, without limitation, a connection for user input through a keyboard and mouse. Input and/or output unit <NUM> may send output to a printer. Display <NUM> provides a mechanism to display information to a user.

Communications unit <NUM>, in these examples, provides for communications with other data processing systems or devices. In these examples, communications unit <NUM> is a network interface card. Communications unit <NUM> may provide communications through the use of either or both physical and wireless communication links. Instructions for the operating system and applications or programs are located on persistent storage <NUM>. Instructions may be loaded into memory <NUM> for execution by processor unit <NUM>. Processes of various embodiments may be performed by processor unit <NUM> using computer implemented instructions, which may be located in a memory, such as memory <NUM>. These instructions are referred to as program code, computer usable program code, or computer readable program code that may be read and executed by a processor in processor unit <NUM>. The program code in the different embodiments may be embodied on different physical or tangible computer readable media, such as memory <NUM> or persistent storage <NUM>.

Program code <NUM> to perform the various activities as will be described subsequently is located in a functional form on computer readable media <NUM> that is selectively removable and may be loaded onto or transferred to data processing system <NUM> for execution by processor unit <NUM>. Program code <NUM> and computer readable media <NUM> form computer program product <NUM> in these examples. Computer readable media <NUM> may be in a tangible form, such as, for example, an optical or magnetic disc that is inserted or placed into a drive or other device that is part of persistent storage <NUM> for transfer onto a storage device, such as a hard drive that is part of persistent storage <NUM>. Computer readable media <NUM> may take the form of a tangible form including persistent storage, such as a hard drive, a thumb drive, or a flash memory that is connected to data processing system <NUM>. The tangible form of computer readable media <NUM> is also referred to as computer recordable storage media. In some instances, computer readable media <NUM> may not be removable.

Alternatively, program code <NUM> may be transferred to data processing system <NUM> from computer readable media <NUM> through a communications link to communications unit <NUM> and/or through a connection to input/output unit <NUM>. The communications link and/or the connection may be physical or wireless in the illustrative examples. The computer readable media also may take the form of non-tangible media, such as communications links or wireless transmissions containing the program code.

In some illustrative embodiments, program code <NUM> may be downloaded over a network to persistent storage <NUM> from another device or data processing system for use within data processing system <NUM>. For instance, program code stored in a computer readable storage medium in a server data processing system may be downloaded over a network from the server to data processing system <NUM>. The data processing system providing program code <NUM> may be a server computer, a client computer, or some other device capable of storing and transmitting program code <NUM>.

The different components illustrated for data processing system <NUM> are not meant to provide architectural limitations to the manner in which different embodiments may be implemented. The different illustrative embodiments may be implemented in a data processing system including components in addition to or in place of those illustrated for data processing system <NUM>. Other components shown in <FIG> can be varied from the illustrative examples shown.

In one variant, a storage device in data processing system <NUM> may be any hardware apparatus that may store data. Memory <NUM>, persistent storage <NUM> and computer readable media <NUM> are examples of storage devices in a tangible form. In another example, a bus system may be used to implement communications fabric <NUM> and may be comprised of one or more buses, such as a system bus or an input/output bus. In another variant, the bus system may be implemented using any type of architecture that provides for a transfer of data between components or devices attached to the bus system. Additionally, a communications unit may include one or more devices used to transmit and receive data, such as a modem or a network adapter. For example and without limitation, memory <NUM> or a cache such as that found in an interface and memory controller hub that may be present in communications fabric <NUM>.

<FIG> describes the generalized activities preformed as control routines by the mission controller <NUM> associated with UAV deployment and retrieval with the mission controller receiving input and providing data output to the various actors. An Aircraft Actor <NUM> represents the aircraft (e.g. rotorcraft) 48a performing the mission. As previously described the mission controller may be located aboard the aircraft or remotely with network communications to the aircraft. The Aircraft Actor <NUM> is typically responsible for the self deployment and retrieval of the UAV and is associated with the activities of UAV Self Retrieval <NUM>, UAV Self Deployment <NUM>, Networking <NUM>, Mission <NUM>, UAV Cooperative Deployment <NUM>, and UAV Cooperative Retrieval <NUM>.

A UAV Actor <NUM> represents the generalized family of UAV that the Aircraft Actor can call upon to perform the defined mission (e.g. the UAVs present in the carousel <NUM> and/or cooperative UAVs to be described subsequently. The UAV Actor is associated with the activities of UAV Self Deployment <NUM>, UAV Self Retrieval <NUM>, Networking <NUM> and Mission <NUM>.

An Operating Environment Actor <NUM> represents the natural operating conditions (e.g., wind, temperature, altitude, ice, rain, etc.) for the Aircraft and UAV Actors. The Operating Environment Actor <NUM> is associated with the activities of Mission <NUM> and Networking <NUM>.

A Cooperative UAV Actor <NUM> represents an UAV that was launched by some second or third party which the Aircraft Actor <NUM> will be retrieving. The Cooperative UAV Actor is associated with the activities of Mission <NUM>, UAV Cooperative Deployment <NUM> and UAV Self Retrieval <NUM>.

An Other Platform Actor <NUM> represents some second or third party receiver (either ground or airborne based) that will act as an alternative platform to retrieve a UAV deployed by the Aircraft Actor <NUM> in the event that the Aircraft Actor cannot perform the retrieval. The Other Platform Actor <NUM> is associated with the activities of UAV Cooperative Retrieval <NUM>, UAV Self Retrieval <NUM> and UAV Cooperative Deployment <NUM>.

The UAV Self Deployment <NUM> activity block represents the activity required to be performed to deploy a selected UAV and will be described with respect to <FIG> in specific detail. The UAV Self Retrieval <NUM> activity block represents the activity required to be performed to retrieve the UAV and will be described in detail in <FIG> in specific detail. The UAV Cooperative Retrieval <NUM> activity block represents the activity required for the Aircraft Actor <NUM> to request the Other Platform Actor <NUM> to retrieve the UAV as will be described with respect to <FIG>. The UAV Cooperative Deployment <NUM> activity block represents the activity required for the Aircraft Actor <NUM> to request the Other Platform Actor <NUM> to deploy an UAV as will be described with respect to <FIG>.

The Networking activity block <NUM> represents the networking communications and data exchange between the deployed UAV Actor <NUM>, Cooperative UAV Actor <NUM>, Aircraft Actor <NUM> and Other Platform Actor <NUM>. This networking is within the state-of-the-art and will not be described in detail herein.

The Mission <NUM> activity block represents the mission performed by the UAV Actor <NUM> and Aircraft Actor <NUM>. Mission performance is within the state-of-the-art and will not be described in detail herein.

The actors and activities described with respect to <FIG> and in detail subsequently provide a method of deploying a selected UAV with capabilities to meet selected or predetermined mission requirements. A command is received to deploy a UAV having a particular capability and a UAV is selected from multiple UAVs having the particular capability to meet the mission requirements. The selected UAV is then deployed. Deploying the UAV may be accomplished by positioning a carousel containing the multiple UAVs to a position for the selected UAV. The UAV is then extended on a cradle and deployed with a grappling device as previously described To recover the UAV the system senses a UAV for retrieval and issues a command to retrieve the UAV. The first and second actuators in the grappling device are operated in response to the command to open the first and second grippers. Upon receiving a contact signal indicating contact by a hooking device on the UAV with the grippers the first and second actuators in close the first and second grippers. In certain instances when the operating aircraft, the Aircraft Actor <NUM>, cannot recover the UAV, an alternative platform is identified and selected for retrieval of the selected UAV. The selected UAV is then handed off to the alternative platform for retrieval. Similarly, in instances where the operating aircraft does not have a UAV meeting the necessary mission requirements, a UAV having a predetermined mission capability is located in an alternative platform, the Other Platform Actor <NUM>. A handoff of the located UAV from the alternative platform is then accomplished. Upon completion of a UAV mission, the selected UAV is retrieved and returned to the carousel. As previously described retrieval is accomplished by operating the first and second actuators to pivot the grippers to provide grappling at a range of capture angles.

The UAV Self Deployment activity <NUM> shown in <FIG> provides the generalized activities associated with a host aircraft such as rotorcraft 48a deploying a UAV <NUM> having particular capabilities to fulfill a mission requirement. In the event that the host aircraft has an internal UAV store such as magazine <NUM>, Load UAV <NUM> is the process where the UAV is removed from its internal stores and loaded onto the deployment/retraction device. This activity may also include a Select UAV <NUM> input where the pilot or operator providing input through the user interface <NUM> or automated selection system within the mission controller <NUM> selects the appropriate UAV type and an automated selection device such as carousel control logic <NUM> loads the appropriate UAV onto the deployment/retrieval cradle <NUM>. Mission Preparation <NUM> loads the UAV with any specific data necessary for the performance of the mission. The specifics of the data are dependent on the specific UAV. As each UAV may have unique mission data needs, the Mission Preparation activity may have some automation to detect the type of UAV and its specific data needs. The mission data is typically provided from the mission controller <NUM> as UAV Mission Data <NUM>. A Health Monitoring activity <NUM> supervises the operational state of the UAV, the deployment device such the grappling device <NUM> and automated selection devices such as magazine <NUM>. Health of the aircraft 48a, 48b may also be input to the Health Monitoring activity as UAV carrier Health <NUM>. For internally stored UAVs, the Deploy UAV activity <NUM> deploys the UAV <NUM> external to the host aircraft 48a or 48b. This activity may include deploying the UAV outside of the aircraft's slip stream or the aircraft's down wash, for a rotorcraft 48a. In alternative embodiments for externally stored UAVs, the Deploy UAV activity <NUM> prepares the external mount and release system. If the UAV is containerized as in the embodiments described previously, the carousel <NUM> may be positioned, the container <NUM> may be opened and the cradle <NUM> extended. Release Window <NUM> is performed to verify the aircraft and environmental conditions are appropriate for the launch of the UAV <NUM>. As each UAV may have unique launch constraints, the Release Window activity may have some automation to detect the type of UAV and its specific launch constraints. Inputs for the Release Window activity may include Aircraft State <NUM> which defines actual aircraft position, airspeed and altitude. When the parameters of the Release window activity indicate the UAV is in a window for launch, a UAV in Window <NUM> output may be provided. The Release UAV activity <NUM> physically separates the UAV <NUM> from the host aircraft 48a, 48b. This release activity is typically limited by the Release Window activity <NUM> to ensure the operating environment and aircraft are appropriate for UAV deployment success. A specific command from the mission controller <NUM>, pilot or operator may be provided as an input Release UAV command <NUM>. For internally stored UAVs, the Retract UAV activity <NUM> returns the UAV into the magazine <NUM>. This activity is typically performed in the event of a problem with the UAV or in the event that deployment of the UAV is no longer required. A pilot or operator instruction or input from the mission controller <NUM> may be provided as Retract UAV command <NUM>. For alternative embodiments with externally stored UAVs, the Retract UAV activity <NUM> safes the external mount and release system. Store UAV <NUM> removes any mission data from the UAV. For internally stored UAVs, this activity returns the UAV to magazine <NUM>.

The UAV Self Retrieval activity <NUM> described in <FIG> provides the generalized activities associated with the retrieval of a UAV <NUM> by an Aircraft Actor <NUM> such as rotorcraft 48a. The Retrieval Beacon activity <NUM> is representative of a device to provide the necessary queuing information between the retrieving aircraft 48a and the UAV <NUM>. At a minimum, the queuing information includes the spatial information necessary for retrieval. Additional items may include closure rate, etc. The device may be either passive (e.g. optical pattern, reflective material, etc.) or active (optical, electromagnetic, radio frequency, etc.). If more than one UAV is awaiting retrieval, a Selected UAV command <NUM> is provided by the pilot, operator or mission controller. UAV Receiver activity <NUM> is representative of the grappling device <NUM> as shown in <FIG> and if stowable, the deployment of the device when required to capture the UAV <NUM>. UAV Window activity <NUM> is performed to verify the aircraft and environmental conditions are appropriate as represented by the Aircraft State input <NUM> for the capture of the UAV. As each UAV may have unique launch constraints, the UAV Window activity may have some automation to detect the type of UAV and its specific capture constraints. A UAV in Window output <NUM> may be provided by the UAV in Window activity <NUM> for notification of the pilot, operator and/or mission controller. UAV Capture activity <NUM> performs the physical capture of the UAV <NUM> with the grappling device as described with respect to <FIG>. In addition to the capture of the UAV, this activity may command the UAV to a safe mode that may include turning off motor(s), transmitter(s), etc. A UAV Captured output <NUM> may be provided for notification of the pilot, operator or mission controller <NUM>. For internally stored UAV, a Retract UAV activity <NUM> returns the UAV into the aircraft. A Retract UAV command <NUM> may be supplied by the pilot, operator or mission controller <NUM> to initiate the retraction. For externally stored UAVs, the Retract UAV activity safes the external mount and capture system. A Store UAV activity <NUM> removes any mission data from the UAV. For internally stored UAVs, this activity returns the UAV to its storage container <NUM> within the carousel <NUM>. A Health Monitoring activity <NUM> supervises the operational state of the UAV, the grappling device <NUM> and magazine carousel <NUM>. A UAV Capture Health message <NUM> may be provided to the pilot, operator or mission controller <NUM>.

The UAV cooperative Retrieval activity <NUM> allows retrieval of a deployed UAV by another actor than the deploying Aircraft Actor <NUM>. As shown in <FIG>, Other Active Retrieval System <NUM> provides a secondary aircraft or ground receiver to retrieve the UAV as will be described with respect to <FIG>. Ground Retrieval <NUM> employs existing ground resources to retrieve the UAV in the event an appropriate aircraft with UAV retrieval capability is not available as will be described with respect to <FIG>. Terminal Operations <NUM> allows destroying the UAV in the event there are no other retrieval platforms (e.g. ground or airborne) available as will be described with respect to <FIG>.

Other Active Retrieval <NUM> as described in <FIG> provides the generalized activities associated with the retrieval of the UAV from a secondary aircraft or ground platform. A Locate UAV Receivers activity <NUM> identifies potential systems that are capable of UAV retrieval. An affirmative Find Receivers command <NUM> may be provided to the Locate UAV Receivers activity by the pilot, operator or mission controller <NUM> to initiate the activity. A Prioritize Receivers activity <NUM> prioritizes the available systems capable of UAV retrieval based on a UAV Selected command <NUM> which identifies the UAV to be retrieved. Typical prioritization factors may include Range to UAV, Time to UAV capture, Capability to capture the type of UAV in question, Available UAV storage capability, and Available UAV Loiter time. A UAV Handoff activity <NUM> coordinates the handoff of control from the original UAV deploying aircraft (aircraft actor <NUM>), to the retrieving system (other platform actor <NUM>). A UAV Handoff Accepted message <NUM> may be provided by the other platform actor <NUM> to confirm handoff.

UAV Ground Retrieval <NUM> as described in <FIG> provides the generalized activities associated with the retrieval of the UAV with existing ground resources acting as the Other Platforms Actor <NUM>. When it is determined that the Aircraft Actor <NUM> that deployed the UAV cannot retrieve it and alternate airborne assets equipped to act as the Other Platforms Actor <NUM> are not available, ground retrieval is initiated by a Find Landing Site command <NUM> to a Locate UAV Landing Sites activity <NUM> that uses aircraft and UAV sensors, maps and mission data to locate potential landing/retrieval zones. A Prioritize Sites activity <NUM> prioritizes the available landing zones based on a UAV selected input <NUM> identifying the UAV to be retrieved. Typical prioritization factors may include range to UAV, safety and security of the landing zone, available ground resources to retrieve the landed UAV, capability to retrieve the type of UAV in question, available storage capability, and available UAV Loiter time. A Request UAV Retrieval activity <NUM> may be either a manual or autonomous process to coordinate the retrieval of the UAV. A UAV Handoff Accepted message <NUM> may be provided by the activity. A UAV Zeroize activity <NUM> removes any mission or sensitive data (e.g. codes, software, frequencies, keys, etc.) from the UAV to limit the unintentional dissemination of data. A Command UAV Landing activity <NUM> performs a coordinated landing of the UAV at the identified landing zone.

If no alternative retrieval solution exists destruction of the UAV may be required. The UAV Terminal Operations <NUM> described in <FIG> provides the generalized activities associated with the destruction of the UAV in the event there are no available retrieval opportunities. A Locate Terminal Site activity <NUM> responsive to a Find Terminal command <NUM> issued by the pilot, operator or mission controller <NUM> uses aircraft and UAV sensors, maps, mission data to locate potential areas for UAV self destruction. A Prioritize Terminal Sites activity <NUM> prioritizes the available UAV self destruction based on the type of UAV identified in UAV Selected input <NUM>. Typical prioritization factors may include range to UAV, safety and security of the self destruction area, and ability to support self destruction (e.g. hard surfaces, no burn zones, etc.). A UAV Zeroize activity <NUM> removes any mission or sensitive data (e.g. codes, software, frequencies, keys, etc.) from the UAV. A UAV Type decision <NUM> determines whether the particular UAV has a self-destruct feature. In the event the UAV has an internal self-destruction feature, the Self Destruct activity <NUM> coordinates the release of necessary safety interlocks and commands the destruction of the UAV over the prioritized terminal site responsive to a Self Destruct command <NUM> issued by the pilot, operator or mission controller <NUM>. In the event the UAV does not have an internal self-destruction feature, the Command Crash activity <NUM> controls the UAV to perform a high speed crash into the prioritized terminal site responsive to a Crash command <NUM>.

UAV Cooperative Deployment <NUM> described in detail in <FIG> provides the generalized activities associated with the deployment and reallocation of airborne and ground based UAV having a predetermined capability to the primary Aircraft Actor <NUM> to meet a specific mission requirement. A Locate UAV activity <NUM> responsive to a Find UAV command <NUM> from the pilot, operator or mission controller <NUM> uses aircraft sensors, maps, mission data to locate potential UAV for cooperative deployment. Responsive to a UAV selected input <NUM>, a Prioritize UAV activity <NUM> prioritize the available UAVs. Typical prioritization factors may include UAV types, UAV Sensors or other installed equipment, range to UAV, available fuel, and mission priorities. In the event the UAV is on the ground or stored on a secondary aircraft (Other Platform actor <NUM>) and is available for launch, the Request UAV Launch activity <NUM> coordinates the deployment of the selected UAV from a ground facility or UAV Handoff activity <NUM> coordinates the handoff of control of the deployed UAV to the primary aircraft.

For the Self Retrieval activity <NUM> and Cooperative Retrieval activity <NUM> a UAV control approach described in <FIG> is employed. The generalized approach for the coordinated grappling of the UAV by the aircraft (either the Aircraft Actor <NUM> in the UAV Self Retrieval activity <NUM> or the airborne Other Platforms Actor <NUM> in the Cooperative Retrieval activity <NUM>) is a coordinated effort between the UAV and the aircraft and is segmented into two primary phases.

The first phase is associated with coordinating the flight plan of the aircraft with that of the UAV. This coordination occurs with the aircraft 48a, 48b providing the UAV <NUM> its present flight position from the aircraft's navigation system <NUM>, and flight path from the Aircraft's Flight Director <NUM>. The coordination of information would typically occur using state of the art radios <NUM> and <NUM> on the aircraft and UAV. With this information and the inherent flight dynamics of the UAV, the UAV flight director <NUM> develops a best path to the aircraft using the UAV navigation system <NUM> and commands the UAV's flight controls <NUM> as necessary. During this phase, the coordination of information may also include mission specific data or data necessary to support the retrieval and storage of the UAV. The UAV initiates the second or retrieval phase when the UAV is within the range of a hook position sensor <NUM> which may be mounted on the aircraft or UAV as previously described. If an active hook position target <NUM> is used, mounted on either the aircraft of UAV opposite from the hook position sensor, the aircraft may activate it when it senses the UAV is in range or when commanded by the UAV. During this phase, the UAV Hook Position Sensor measures the relative position, rotation and if necessary, range to the Hook Position Target. This data is used to compute a relative position error and is fused with the UAV Flight Director <NUM> by the Data Source Manager <NUM> to provide fine navigation control enabling the UAV to fly into position where the UAV hooking device as described with respect to <FIG> can be captured by the grappling device described with respect to <FIG>. The Hook Position Sensor can be passive (e.g. camera sensor) or active (e. g, radar, lidar, microwave, etc.) depending on the specific operational and performance needs.

Claim 1:
A method of deploying a selected UAV (<NUM>), the method comprising:
receiving a command to deploy a UAV (<NUM>) having a particular capability;
selecting a UAV (<NUM>) from a plurality of UAVs having the particular capability; and
deploying the selected UAV (<NUM>), wherein the step of selecting a UAV (<NUM>) comprises:
positioning a carousel containing the plurality of UAVs to a position for the selected UAV (<NUM>);
extending the UAV (<NUM>) on a cradle; and,
deploying the UAV (<NUM>) with a grappling device.