US 11,897,607 B2
Unmanned aerial vehicle beyond visual line of sight control
Bernard J. Michini, San Francisco, CA (US); Logan Kaminski, San Francisco, CA (US); and Edward Dale Steakley, Cupertino, CA (US)
Assigned to Skydio, Inc., San Mateo, CA (US)
Filed by Skydio, Inc., Redwood City, CA (US)
Filed on Dec. 22, 2021, as Appl. No. 17/559,670.
Application 17/559,670 is a continuation of application No. 15/617,924, filed on Jun. 8, 2017, granted, now 11,242,143.
Claims priority of provisional application 62/349,590, filed on Jun. 13, 2016.
Prior Publication US 2022/0185471 A1, Jun. 16, 2022
This patent is subject to a terminal disclaimer.
Int. Cl. B64C 39/02 (2023.01); G05D 1/10 (2006.01); G05D 1/00 (2006.01); G05D 1/04 (2006.01); B64U 30/10 (2023.01); B64U 30/20 (2023.01); B64U 101/30 (2023.01)
CPC B64C 39/024 (2013.01) [G05D 1/0022 (2013.01); G05D 1/0033 (2013.01); G05D 1/106 (2019.05); B64U 30/10 (2023.01); B64U 30/20 (2023.01); B64U 2101/30 (2023.01); B64U 2201/10 (2023.01)] 20 Claims
OG exemplary drawing
 
1. A method, comprising:
receiving radio frequency signals associated with a first ground control station and a second ground control station while an unmanned aerial vehicle navigates under control of the first ground control station;
predicting, based on the radio frequency signals, a time at which a visual line of sight event associated with one or more of the first ground control station or the second ground control station is expected;
determining a handoff period for transferring control of the unmanned aerial vehicle to the second ground control station based on the predicted time; and
initiating transfer of control of the unmanned aerial vehicle from the first ground control station to the second ground control station during the handoff period.