Patent Description:
Many ground radios exist for facilitating voice and data communications between users. A clear Line of Sight (LoS) between two radios is ideal for such communications, but impractical in many applications. For example, the radios may experience Line of Sight (LoS) obstructions effecting the reliability of wireless communications therebetween. The obstructions include distance, terrain (e.g., foliage and mountains) and human made objects (e.g., buildings).

Examples for devices, systems and methods for modular payload Integration for unmanned aerial vehicles are disclosed by the document <CIT>. Further examples for unmanned aerial vehicles and/or components for unmanned aerial vehicles are disclosed by the documents <CIT>, <CIT>, <CIT>, <CIT> and <CIT>.

The invention is defined by independent claims <NUM> and <NUM>.

This document concerns systems and methods for operating and/or locating a UAV. The methods comprises: causing a physical joining of a payload with a fuselage of the UAV without any modification to the fuselage (where the payload comprising a communication relay configured to perform relay operations to extend a range between users of a communication relay link for voice and data communications and a first locator configured to perform location operations to determine and report a location of the UAV to the users of the communication relay link); using a power source to supply power to the payload that is independent from a main power source used to supply power to avionic electronics of the UAV; and continuing to perform the relay operations by the communication relay and the location operations by the first locator, when power is no longer being supplied to the avionic electronics by the main power source of the UAV.

In some scenarios, the payload is physically joined with the fuselage via a compression fit or a frictional fit in a cavity (compartment or bay) of the UAV. Foam may be used to physically join the payload with the fuselage. The foam may also be used to protect the payload from damage due to shock and vibration. The antenna of the communication relay resides outside of the fuselage when the payload is physically joined with the fuselage.

In those or other scenarios, an antenna of the first locator is used as a counterbalance to correct the center of gravity. The antenna of the first locator is attached to an exterior surface of the fuselage without any modification to the fuselage (e.g., via Velcro or double-sided tape).

In those or other scenarios, operations are performed by a second locator of the avionic electronics to detect and report the location of the unmanned aerial vehicle to a ground control station while the main power source is supplying power to the avionic electronics and while the first locator is reporting the location of the unmanned aerial vehicle to the users of the communication relay link. These operations are discontinued by the second locator when power is no longer being supplied to the avionic electronics by the main power source of the unmanned aerial vehicle.

The present document also concerns UAVs. The UAVs comprise: a fuselage; avionic electronics disposed in the fuselage; a payload physical joined with the fuselage without any modification to the fuselage, a first power source configured to supply power to the avionic electronics, and a second power source configured to supply power to the payload, the second power source being separate and apart from the main power source. The payload comprises a communication relay configured to perform relay operations to extend a range between users of a communication relay link for voice and data communications, and a first locator configured to perform location operations to determine and report a location of the unmanned aerial vehicle to the users of the communication relay link. The relay operations and the location operations continue to be performed by the payload when power is no longer being supplied to the avionic electronics by the main power source.

The payload may be physically joined with the fuselage via a compression fit or a frictional fit in a cavity of the unmanned aerial vehicle. Foam may be used to physically join the payload with the fuselage without any modification to the fuselage and/or to protect the payload from damage due to shock and vibration. An antenna of the communication relay resides outside of the fuselage when the payload is physically joined with the fuselage.

An antenna of the first locator may be used as a counterbalance to correct a center of gravity of the unmanned aerial vehicle. The antenna of the first locator is attached to an exterior surface of the fuselage without any modification to the fuselage (e.g., via Velcro or double-sided tape).

The avionic electronics can comprise a second locator configured to detect and report the location of the unmanned aerial vehicle to a ground control station while the main power source is supplying power to the avionic electronics and while the first locator is reporting the location of the unmanned aerial vehicle to the users of the communication relay link. The second locator may discontinue performance of the operations when power is no longer being supplied to the avionic electronics by the main power source of the unmanned aerial vehicle. The unmanned aerial vehicle may be sized and shaped to fit inside a bag that can be carried by an individual.

This disclosure is facilitated by reference to the following drawing figures, in which like numerals represent like items throughout the figures.

It will be readily understood that the solution described herein and illustrated in the appended figures could involve a wide variety of different configurations. Thus, the following more detailed description, as represented in the figures, is not intended to limit the scope of the present disclosure but is merely representative of certain implementations in different scenarios. While the various aspects are presented in the drawings, the drawings are not necessarily drawn to scale unless specifically indicated.

Reference throughout this specification to features, advantages, or similar language does not imply that all the features and advantages that may be realized should be or are in any single embodiment of the invention.

Many ground radios exist for facilitating voice and data communications between users. A clear Line of Sight (LoS) between two radios is ideal for such communications, but impractical in many applications. For example, the radios may experience Line of Sight (LoS) obstructions effecting the reliability of wireless communications therebetween. The obstructions include distance, terrain (e.g., foliage and mountains) and human made objects (e.g., buildings). Thus, there is a need for a solution to improve the reliability of wireless communications between radios when they do not have clear LoS to each other.

The present solution addresses the reliability issue by providing communication relays hosted by UAVs to extend the dismounted communication distances between the radios. The communication relays are designed such that the size, weight and power limitations of the UAVs are satisfied even when the communication relays are disposed therein. This is the case even in scenarios where the UAVs comprise Group <NUM> Small Unmanned Aircraft Systems (SUASs). A Group <NUM> SUAS comprises a back-packable UAV that can be used for Intelligence, Surveillance and Reconnaissance (ISR). The communication relays are disposed in the UAVs without any modifications to the UAVs' physical structures, and may support various waveforms (e.g., an Adaptive Networking Wideband Waveform (ANW2®C) and Tactical Networking Waveform (TNW)).

The communication relays of the present are each provided with a locator (e.g., a Global Positioning System (GPS) locator) which is powered by a power source other than the UAV's main power source. In effect, the communication relays facilitate one's ability to locate the UAVs relatively quickly and efficiently when the UAVs crash due to their loss of main power (e.g., unintentionally).

In this regard, it should be appreciated that currently when a Group <NUM> SUAS is lost, a large search team is required to search a given geographical area. The Group <NUM> SUAS does have a GPS receiver onboard, but the GPS receiver typically provides poor resolution for receiving the downed aircraft largely due to the last GPS location occurring when the aircraft was still in flight and potentially thousands of feet above and miles from the impact site. If the aircraft contains classified information and/or equipment, then it must be found prior to an adverse entity. The present solution provides a means to quickly locate a downed aircraft, thereby decreasing the likelihood that the aircraft will be first found by the adverse party.

The locator of the communication relay also facilitates: the provision of additional Situational Awareness (SA) to UAV operators and other network users since they can now see locations of the UAVs using web applications. The locator is independent from the UAV's positioning system and navigation bus, which eliminates the possibility of corrupting aircraft control methods and provides redundant position data for the aircraft. The communication relay includes a power source so that it is independent from the UAV's power bus. This allows the communication relay and locator to continue operation after the UAV crashes and/or loses power. By providing a power source with the communication relay, the positioning system will not impact the UAV's battery flight time. The locator is mounted above the UAV's fuselage after performing a pre-flight balance check on the aircraft and functions as a counterbalance to correct the UAV's Center of Gravity (CoG). The locator is mounted in such a way that ensures the UAV's fuselage is not modified (e.g., using double sided Velcro or adhesive tape).

Referring now to <FIG>, there is provided an illustration of a system <NUM> implementing the present solution. System <NUM> comprises a plurality of UAV(s) <NUM>, communication device(s) <NUM>, <NUM>, ground control station(s) <NUM>, and/or a server <NUM>. The UAV <NUM> does not have any onboard human pilot, crew members and/or passengers. The UAV can include, but is not limited to, an autonomous aerial vehicle and/or a remotely-piloted aerial vehicle. In the remotely-piloted scenarios, an operator <NUM> (e.g., a Remote Pilot In Command (RPIC)) can remotely control flight operations of the UAV by using ground control station <NUM> that is communicatively coupled to an internal circuit <NUM> of the UAV <NUM> via command and control link <NUM>. The internal circuit <NUM> includes the avionics payload. The avionics payload comprises avionic electronics, i.e., hardware and/or software facilitating positioning, navigation, timing and other functionalities of the UAV. The UAV can have any classification (e.g., a Group <NUM>-<NUM> classification, and/or size classification (e.g., very small, small, medium, and/or large).

During flight, the UAV <NUM> can act as an airborne relay to wirelessly connect to communication unit(s) <NUM> (e.g., terrestrial radios) located on the ground at locations in which wireless communications therefrom are masked or screened by the LoS obstructions (e.g., distance, terrain (e.g., foliage and mountains) and human made objects (e.g., buildings)). In this regard, a communications relay <NUM> is provided with the UAV. The communications relay <NUM> may communicate over a secure communications link <NUM> (e.g., a Small Secure Data Link (SSDL)), use various frequency bands (e.g., Ultra High Frequency (UHF) and Very Hight Frequency (VHF) bands), support a variety of frequencies and waveforms, and extend the range between users <NUM> for voice and data communications (e.g., text messages and/or imagery data) beyond the LoS range of the communication unit(s) <NUM>. The communication unit(s) <NUM> can include, but is(are) not limited to, radio transceiver(s), personal computer(s), portable computer(s), desktop computer(s), smart device(s) (e.g., a smart phone), tablet(s), and/or wearable device(s) (e.g., a smart watch and/or smart goggles).

The voice and data communications may be provided to remote devices such as computing device(s) <NUM> and/or server(s) <NUM> via network <NUM>. Network <NUM> can include, but is not limited to, a radio network, a cellular network, and/or the Internet. The remote devices can process and/or output the voice and data communications to users <NUM> thereof. The voice communications, data communications and/or analytics relating thereto can be stored in a datastore <NUM>.

Referring now to <FIG>, there is shown an illustrative architecture for the UAV <NUM> of <FIG>. The internal circuit <NUM> is disposed inside the fuselage <NUM> of the UAV, and the communication relay <NUM> is disposed in an existing compartment <NUM> formed in the fuselage <NUM> of the UAV. The compartment <NUM> is accessible from the outside of the aircraft (e.g., via a door or removable panel). A more detailed block diagram of the internal circuit <NUM> and communication relay <NUM> is provided in <FIG>.

As shown in <FIG>, the internal circuit <NUM> comprises a computing device <NUM>, sensor(s) <NUM>, an engine <NUM>, a flight control system <NUM>, a communication system <NUM>, a power source <NUM>, elevators/flaps/ailerons/rudders <NUM>, and landing gear <NUM>. The internal circuit <NUM> can include more or less components than those shown and listed.

The computing device <NUM> comprises processor(s) that execute(s) instructions to perform the at least the following operations: receiving and processing Position, Navigation and Timing (PNT) data from the sensor(s) <NUM>; and/or facilitating flight operations by providing the PNT data and/or a flight plan to the flight control system <NUM> and/or the ground control station via communication system <NUM>. The PNT data ensures that the operator and/or the UAV knows the UAV's current position at any given time. The flight plan ensures that the UAV knows its destination relative to its current position which is useful especially in autonomous aircraft applications.

The sensor(s) <NUM> can include, but are not limited to, a LiDAR system, a radar system, a sonar system, a camera, a locator (e.g., GPS device), an altitude sensor, and/or an eLORAN device. It should be noted that the locator of internal circuit <NUM> does provide information that facilitate the operator's <NUM> in determining the location of the UAV. However, this location is only available to the operator <NUM> and not the users <NUM>, <NUM>. Thus, this locator does not provide the users <NUM>, <NUM> with any SA.

The communication system <NUM> provides a means to transmit PTN data and/or other information to the ground control station, and to receive command and control information from the ground control station. The command and control information is passed from the communication system <NUM> to the computing device <NUM> and/or the flight control system <NUM>. The flight control system <NUM> controls operations of the engine <NUM>, elevator/flaps/aileron/rudders <NUM>, and/or landing gear <NUM> in accordance with the commands and control information received from the ground control station.

The components <NUM>-<NUM>, <NUM>, <NUM> are supplied power from a main power source <NUM>. The main power source <NUM> can include, but is not limited to, a battery and/or an energy harvesting circuit (e.g., comprising a super capacitor to store harvested energy from heat, wind, light, RF signals, etc.). The power is supplied from the main power source <NUM> to components <NUM>-<NUM> via a power bus <NUM>.

The communication relay <NUM> is independent from the internal circuit <NUM> and consists a standalone payload for the UAV. As such, the communication relay <NUM> is provided with another power source <NUM> such that it is not supplied power from the main power source <NUM> of the UAV via power bus <NUM>. Power source <NUM> can include, but is not limited to, a battery (e.g., a Lithium Polymer (LiPo) battery) and/or an energy harvesting circuit. Such a power source arrangement ensures that the components <NUM>, <NUM> of the communication relay <NUM> continue to operate when the internal circuit <NUM> is no longer being supplied power from the main power source <NUM>. The components include a radio <NUM> and a locator <NUM>. The locator <NUM> can include, but is not limited to, a GPS device. Notably, the locator <NUM> provides a means to allow all users <NUM>, <NUM> in a communication relay link to know the location of the UAV at any given time, and therefore provides these users with additional SA information. Antennas <NUM>, <NUM> are respectively provided for the radio <NUM> and locator <NUM>.

Referring now to <FIG>, there is shown an illustrative architecture for a computing device <NUM>. The communication unit(s) <NUM> of <FIG>, ground control station <NUM> of <FIG>, server <NUM> of <FIG>, computing device(s) <NUM> of <FIG> and/or computing device <NUM> of <FIG> is/are the same as or similar to computing device <NUM>. As such, the discussion of computing device <NUM> is sufficient for understanding the components <NUM>, <NUM>, <NUM>, <NUM> of <FIG> and computing device <NUM> of <FIG>.

Computing device <NUM> may include more or less components than those shown in <FIG>. However, the components shown are sufficient to disclose an illustrative solution implementing the present solution. The hardware architecture of <FIG> represents one implementation of a representative computing device configured to receive information, process the receive information, transmit information and/or control operations of a UAV, as described herein. As such, the computing device <NUM> of <FIG> implements at least a portion of the method(s) described herein.

Some or all components of the computing device <NUM> can be implemented as hardware, software and/or a combination of hardware and software. The hardware includes, but is not limited to, one or more electronic circuits. The electronic circuits can include, but are not limited to, passive components (e.g., resistors and capacitors) and/or active components (e.g., amplifiers and/or microprocessors). The passive and/or active components can be adapted to, arranged to and/or programmed to perform one or more of the methodologies, procedures, or functions described herein.

As shown in <FIG>, the computing device <NUM> comprises a user interface <NUM>, a Central Processing Unit (CPU) <NUM>, a system bus <NUM>, a memory <NUM> connected to and accessible by other portions of computing device <NUM> through system bus <NUM>, a system interface <NUM>, and hardware entities <NUM> connected to system bus <NUM>. The user interface can include input devices and output devices, which facilitate user-software interactions for controlling operations of the computing device <NUM>. The input devices include, but are not limited to, a physical and/or touch keyboard <NUM>. The input devices can be connected to the computing device <NUM> via a wired or wireless connection (e.g., a Bluetooth® connection). The output devices include, but are not limited to, a speaker <NUM>, a display <NUM>, and/or light emitting diodes <NUM>. System interface <NUM> is configured to facilitate wired or wireless communications to and from external devices (e.g., network nodes such as access points, etc.).

At least some of the hardware entities <NUM> perform actions involving access to and use of memory <NUM>, which can be a Random Access Memory (RAM), a disk drive, flash memory, a Compact Disc Read Only Memory (CD-ROM) and/or another hardware device that is capable of storing instructions and data. Hardware entities <NUM> can include a disk drive unit <NUM> comprising a computer-readable storage medium <NUM> on which is stored one or more sets of instructions <NUM> (e.g., software code) configured to implement one or more of the methodologies, procedures, or functions described herein. The instructions <NUM> can also reside, completely or at least partially, within the memory <NUM> and/or within the CPU <NUM> during execution thereof by the computing device <NUM>. The memory <NUM> and the CPU <NUM> also can constitute machine-readable media. The term "machine-readable media", as used here, refers to a single medium or multiple media (e.g., a centralized or distributed database, and/or associated caches and servers) that store the one or more sets of instructions <NUM>. The term "machine-readable media", as used here, also refers to any medium that is capable of storing, encoding or carrying a set of instructions <NUM> for execution by the computing device <NUM> and that cause the computing device <NUM> to perform any one or more of the methodologies of the present disclosure.

Referring now to <FIG>, there are provided illustrations that are useful for understanding how the communication relay <NUM> is disposed in the UAV <NUM> without causing any modifications to the fuselage <NUM>. One or more cavities <NUM> are provided in the fuselage <NUM> and are accessible to a user via, for example, an access means (e.g., a door, a removable plate or a removable panel). The cavity <NUM> can have a generally rectangular shape defined by a bottom wall <NUM>, sidewalls <NUM>, <NUM>, <NUM>, <NUM> and the access means (not shown).

Foam <NUM> is provided on all sides of the cavity (bottom, sides and top) so as to encompass the communication relay <NUM>. The foam <NUM> is provided to: (i) prevent any damage to the communication relay <NUM> due to shock (e.g., due to UAV landing), vibration and/or external forces being applied to the UAV (e.g., as a result of being dropped and/or crashing into the ground or other object); and (ii) prevent damage to the fuselage <NUM> by the communication relay <NUM> in the event of a UAV crash or other event which causes the communication relay <NUM> to move within the UAV. Thus, the foam <NUM> can comprise a plurality of foam sheets (e.g., six foam sheets - one for the top, bottom and four sidewalls), a foam sleeve, or a foam box with a foam lid/cover. The communication relay <NUM> can be encompassed by the foam (e.g., via insertion to the foam box) prior to being inserted into cavity <NUM>. Once inserted, the cavity is sealed, for example, by closing the door or re-coupling the plate/panel to the fuselage <NUM> (e.g., via screws, latches or snaps). The foam is selected in accordance with a given application for ensuring that the communication relay <NUM> is not damaged upon impact or application of force to the UAV.

The foam <NUM> also facilitates installation of the communication relay <NUM> in the UAV without requiring modification (e.g., the drilling of mounting holes) to the fuselage <NUM>. The foam <NUM> provides a compression or friction fit to join the communication relay <NUM> and the fuselage <NUM>. The compression or friction fit ensures that the communication relay <NUM> does not move relative to the fuselage <NUM> during flight.

A component <NUM> is coupled to the communication relay <NUM> prior to being inserted into the fuselage. The component <NUM> provides a heat sink to transfer heat generated by the communication relay <NUM> to an environment surrounding the UAV, a ground plane for the radio <NUM>, and an antenna mount for the radio antenna <NUM>. Notably, the radio antenna <NUM> is located outside of the fuselage <NUM>. In this regard, the component <NUM> extends from inside the cavity (compartment or bay) <NUM> through an aperture <NUM> formed in the fuselage <NUM> to a surrounding environment. Component <NUM> can include a single part (e.g., an L-bracket) or a plurality of parts (e.g., a planar plate and a plate with a flange) coupled to each other via couplers (e.g., screws or bolts) (as shown in <FIG>). In both cases, the component comprises a proximal end <NUM> and a distal end <NUM>. The radio antenna <NUM> is mounted on and structurally supported by the distal end <NUM> of the component <NUM>. The distal end <NUM> and radio antenna <NUM> are located outside of the fuselage <NUM> when the communication relay <NUM> is installed in the UAV. In some scenarios, the radio antenna <NUM> is positioned to be to the side of or below the fuselage <NUM>.

The antenna <NUM> of the locator <NUM> is also disposed outside of the UAV in a manner that does not require modification to its fuselage <NUM>. For example, the antenna <NUM> is coupled to an external surface of the fuselage <NUM> via double sided Velcro or adhesive tape. The present solution is not limited in this regard. In some scenarios, antenna <NUM> is coupled to the top surface of the fuselage <NUM>.

Referring now to <FIG>, there are provided illustrations that are useful for understanding how a locator (e.g., locator <NUM> of <FIG>) provided with a communications relay can be used as a counter balance to correct the CoG of a UAV (e.g., UAV <NUM> of <FIG>). The CoG can be changed by placing the antenna (e.g., antenna <NUM> of <FIG>) of the locator on the fuselage (e.g., fuselage <NUM> of <FIG>) so that a location <NUM> of the aircraft's CoG is modified or otherwise corrected. For example, the locator's antenna is disposed on the fuselage at a location that causes the UAV's CoG to move relative to a longitudinal axis <NUM> of the UAV and/or a lateral axis <NUM> of the UAV, whereby the CoG resides at a location <NUM> within allowable range/limits for flight.

Referring now to <FIG>, there is provided a flow diagram of an illustrative method <NUM> for operating a UAV (e.g., UAV <NUM> of <FIG>) and precisely locating the UAV when power is no longer being supplied thereto (e.g., to its navigation equipment). Method <NUM> begins with <NUM> and continues with <NUM> where a pre-flight balance check for the UAV is performed. The UAV's CoG is determined in <NUM> based on results of the pre-flight balance check. Next in <NUM>, a location at which the communication relay (e.g., communication relay <NUM> of <FIG>) is to be disposed in the UAV's fuselage (e.g., fuselage <NUM> of <FIG>) is determined. For example, a determination is made that the communication relay is to be disposed in a particular cavity (compartment or bay) (e.g., cavity <NUM> of <FIG>) of the fuselage. The communication relay is then disposed at the determined location without any modifications to the UAV's physical structure, as shown by <NUM>. This can be achieved, for example, using foam (e.g., foam <NUM> of <FIG>) to create a compression or friction fit between the communication relay and the fuselage.

In <NUM>, the locator (e.g., locator <NUM> of <FIG>) of the communication relay is optionally used to correct the UAV's CoG. For example, an antenna (e.g., antenna <NUM> of <FIG>) of the locator is coupled to an external surface of the fuselage that causes the UAV's CoG to move relative to a longitudinal axis (e.g., axis <NUM> of FIG. ) of the UAV and/or a lateral axis (e.g., axis <NUM> of <FIG>) of the UAV.

In <NUM>, the UAV and the communication relay are activated (e.g., turned on). A first power source (e.g., main power source <NUM> of <FIG>) is used in <NUM> to power an internal circuit (e.g., internal circuit <NUM> of <FIG>) of the UAV. A second power source (e.g., power source <NUM> of <FIG>) is used in <NUM> to power the communication relay. Thereafter, method <NUM> continues with <NUM>-<NUM> and <NUM>-<NUM>. Operations <NUM>-<NUM> and operations <NUM>-<NUM> are performed in parallel or concurrently as shown in <FIG>.

Operations <NUM>-<NUM> involve: performing flight operations by the internal circuit of the UAV to control craft positioning and navigation; and periodically or continuously determining and reporting a location of the UAV from the internal circuit to a ground control station. Operations <NUM>-<NUM> involve: performing relay operations by the communication relay to extend a range between users on the ground for voice and data communications; and periodically or continuously determining and reporting a location of the UAV from the locator provided with the communication relay to users in a communication relay link.

In some scenarios, the supply of power may be discontinued (e.g., unintentionally) from the first power source to the internal circuit of the UAV as shown by <NUM>. When this happens, the sensor(s) (e.g., sensor(s) <NUM> of <FIG>) of the internal circuit will no longer periodically or continuously determine and report the location of the UAV to the ground control station. However, the communication relay will continue to perform the relay operations. The locator provided therewith will also continue to perform the location determining/reporting operations, as shown by <NUM>. In this way, the UAV can be located more quickly when crashed or otherwise unintentionally landed as compared to the time it takes for a conventional UAV to be located in similar situations. Subsequently, <NUM> is performed where method <NUM> ends or other operations are performed.

Referring now to <FIG>, there is shown a flow diagram of an illustrative method <NUM> for operating and/or locating a UAV (e.g., UAV <NUM> of <FIG>). Method <NUM> begins with <NUM> and continues with <NUM> where a payload is physically joined with a fuselage (e.g., fuselage <NUM> of <FIG>) of the UAV without any modification to the fuselage. The payload may be physically joined with the fuselage via a compression fit or a frictional fit in a cavity (e.g., cavity <NUM> of <FIG>) of the UAV. Foam (e.g., foam <NUM> of <FIG>) may be used to physically join the payload with the fuselage without any modification to the fuselage. The foam may also be used protect the payload from damage due to shock and vibration.

The payload comprises a communication relay (e.g., communication relay <NUM> of <FIG> with a radio <NUM> of <FIG>) and a locator (e.g., locator <NUM> of <FIG>). The communication relay is configured to perform relay operations to extend a range between users (e.g., users <NUM>, <NUM> of <FIG>) of a communication relay link (e.g., link <NUM> of <FIG>) for voice and data communications. An antenna (e.g., antenna <NUM> of <FIG>) of the communication relay resides outside of the fuselage when the payload is physically joined with the fuselage.

The locator is configured to perform location operations to determine and report a location of the UAV to the users of the communication relay link. An antenna (e.g., antenna <NUM> of <FIG>) of the locator may be used as a counterbalance to correct the UAV's CoG, as shown by <NUM>. In this regard, the antenna may be attached to an exterior surface of the fuselage at a particular location for providing the counterbalance. This attachment may be performed without any modification to the fuselage.

A power source (e.g., power source <NUM> of <FIG>) is used in <NUM> to supply power to the payload. The power source is independent from a main power source (e.g., main power source <NUM> of <FIG>) used to supply power to avionic electronics of the UAV. In <NUM>, a locator (e.g., sensor <NUM> of <FIG>) of the avionics equipment performs operations to determine and report a location of the UAV to a ground station (e.g., ground station <NUM> of <FIG>). In <NUM>, relay operations are performed by the communication relay of the payload to extend a range between users of the communication relay link for voice and data communications. In <NUM>, location operations are performed by a locator of the payload to determine and report a location of the UAV to the users of the communication relay link.

In <NUM>, the supply of power from the main power source to the avionics equipment is discontinued (e.g., unintentionally). When this occurs, the locator of the avionics equipment discontinues its performance of the location operations as shown by <NUM>. However, the relay operations by the communication relay and the location operations by the first locator continue to be performed as shown <NUM>. Subsequently, <NUM> is performed where method <NUM> ends or other operations are performed.

Claim 1:
A method (<NUM>) for locating an unmanned aerial vehicle (<NUM>), comprising:
causing (<NUM>) a physical joining of a payload with a fuselage (<NUM>) of the
unmanned aerial vehicle without any modification to the fuselage, the payload comprising a communication relay (<NUM>) configured to perform (<NUM>) relay operations to extend a range between users of a communication relay link for voice and data communications and a first locator configured to perform (<NUM>) location operations to determine and report a location of the unmanned aerial vehicle to the users of the communication relay link; characterized by
using (<NUM>) a power source (<NUM>) to supply power to the payload that is independent from a main power source (<NUM>) used to supply power to avionic electronics (<NUM>) of the unmanned aerial vehicle; and
continuing (<NUM>) to perform the relay operations by the communication relay and the location operations by the first locator, when power is no longer being supplied (<NUM>) to the avionic electronics by the main power source of the unmanned aerial vehicle.