| 摘要 |
The invention relates to remote control of an unmanned aerial vehicle, UAV, ( 100 ) from a control station ( 110 ) by means of a wireless command link ( 115 ). The UAV ( 100 ) may be controlled in an autonomous mode wherein it flies according to a primary route (R 1 , R 1 ') defined by a first set of predefined waypoints (WP 1 -WP 8 , IP). The UAV ( 100 ) may also be controlled in a manual mode wherein it flies according to an alternative primary route (R 1 ') defined in real-time by control commands received via the wireless command link ( 115 ). Flight control parameters are monitored in both modes, and in case a major alarm condition occurs, the UAV ( 100 ) is controlled to follow an emergency route (R 2 ') defined by a second set of predefined waypoints (HP 1 -HP 7 , TP 1 -TP 9 , IP). Particularly, a major alarm condition is activated if an engine failure is detected. Then, the emergency route (R 2 ') involves flying the UAV ( 100 ) to an air space above a termination waypoint (TP 9 ) on the ground at which it is estimated that the vehicle's ( 100 ) flight may be ended without injuring any personnel or causing uncontrolled material damages.
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