Method for adaptive mission execution on an unmanned aerial vehicle

1. A method for adaptive mission execution by an unmanned aerial vehicle (UAV), the method comprising:

receiving a set of mission parameters corresponding to an initial UAV mission, the mission parameters defining a first area to be imaged by a camera of the UAV;

initiating execution of the initial UAV mission;

collecting UAV operation data during flight of the UAV, the UAV operation data comprising aerial images captured during execution of the initial UAV mission;

during flight of the UAV, performing an analysis of the aerial images;

during flight of the UAV, calculating a set of modified mission parameters based on the set of mission parameters and the analysis of the aerial images, the set of modified mission parameters corresponding to a modified UAV mission;

in response to calculating the set of modified mission parameters, automatically executing the modified UAV mission on the UAV;

during execution of at least one of the initial UAV mission and the modified UAV mission, receiving a set of output voltages of the UAV, comprising, at each of a set of throttle settings receiving a respective output voltage of the UAV; and

based on the set of output voltages, determining a battery state of charge of the UAV.

2. The method of claim 1 , wherein:

the method further comprises, during flight of the UAV, receiving a flightpath from a second UAV, wherein the flightpath comprises a flightpath segment associated with imaging a first region of the first area;

calculating the set of modified mission parameters is performed based further on the flightpath; and

the modified mission parameters define a second area to be imaged by the camera, wherein the second area does not comprise the first region.

3. The method of claim 2 , wherein the flightpath segment defines a second UAV position over the first region.

4. The method of claim 2 , wherein the first area comprises the second area.

5. The method of claim 1 , wherein performing the analysis of the aerial images comprises detecting an unsatisfactory portion of a first image of the aerial images.

6. The method of claim 5 , wherein:

the first image depicts a first region of the first area, wherein the unsatisfactory portion is within the depiction of the first region; and

calculating the set of modified mission parameters comprises determining a modified flight path based on the unsatisfactory portion, wherein the modified flight path comprises a flightpath segment associated with re-imaging the first region and defining a UAV position over the first region.

7. The method of claim 5 , wherein:

the set of mission parameters comprises a first set of camera operation parameters associated with the camera;

calculating the set of modified mission parameters comprises determining, based on the first set of camera operation parameters and the unsatisfactory portion, a modified set of camera operation parameters associated with the camera; and

automatically executing the modified UAV mission comprises operating the camera based on the modified set of camera operation parameters.

8. The method of claim 5 , wherein the unsatisfactory portion comprises an image blur artifact.

9. The method of claim 5 , wherein the unsatisfactory portion comprises a depiction of a shadow.

10. The method of claim 1 , wherein:

the battery state of charge is indicative of a condition in which the UAV is incapable of completing the initial UAV mission due to insufficient energy; and

calculating the set of modified mission parameters is performed based further on the battery state of charge, wherein the UAV is expected to be capable of completing the modified UAV mission.

11. The method of claim 1 , further comprising:

throughout execution of the initial UAV mission and the modified UAV mission, sampling a set of usage parameters associated with the UAV, the set of usage parameters comprising at least one of: a motor speed parameter, a propeller usage parameter, a control surface actuator usage parameter, and a fuselage usage parameter;

for each usage parameter of the set, determining proximity of the usage parameter to a respective life limit associated with the usage parameter; and

in association with usage during at least one of the initial UAV mission and the modified UAV mission, pre-emptively replacing at least one of a motor, a propeller, a control surface actuator, and a fuselage of the UAV based on proximity of the usage parameter to the associated life limit.

12. The method of claim 11 , further comprising:

for each of a set of throttle settings, sampling a respective steady state temperature within a fuselage of the UAV; and

determining a maximum allowable throttle setting for at least one of the initial UAV mission and the modified UAV mission based upon the steady state temperatures.

13. The method of claim 1 , wherein:

the initial UAV mission comprises following an oil pipeline while taking a set of samples with a hydrocarbon sensor of the UAV; identifying a position of an anomaly in hydrocarbon levels, based upon analysis of the set of samples; and executing the modified UAV mission; and

the modified UAV mission comprises a flightpath centered substantially about the position of the anomaly.

14. A method for adaptive mission execution by an unmanned aerial vehicle (UAV), the method comprising:

at the UAV, executing a pre-mission flight test comprising entering a stalling configuration;

determining a set of UAV performance parameters based on the pre-mission flight test, wherein the set of UAV performance parameters comprises a stall speed parameter determined based on the stalling configuration;

receiving a set of mission parameters corresponding to an initial UAV mission, the mission parameters defining a first area to be imaged by a camera of the UAV, wherein the set of mission parameters are determined based on the set of UAV performance parameters;

initiating execution of the initial UAV mission;

collecting UAV operation data during flight of the UAV, the UAV operation data comprising aerial images captured during execution of the initial UAV mission;

performing an analysis of the aerial images;

calculating a set of modified mission parameters based on the set of mission parameters and the analysis of the aerial images, the set of modified mission parameters corresponding to a modified UAV mission; and

in response to calculating the set of modified mission parameters, automatically executing the modified UAV mission at the UAV.

15. The method of claim 14 , wherein:

executing the pre-mission flight test further comprises performing level flight substantially at a first altitude and substantially at full propulsive power; and

the set of UAV performance parameters further comprises a maximum airspeed parameter determined based on the level flight.

16. The method of claim 14 , wherein:

executing the pre-mission flight test further comprises performing a near-vertical climb substantially at full propulsive power; and

the set of UAV performance parameters further comprises a maximum thrust parameter determined based on the near-vertical climb.

17. The method of claim 14 , wherein:

executing the pre-mission flight test further comprises performing a cycling ramping of a motor of the UAV from a substantially no-power setting to a substantially full-power setting; and

the set of UAV performance parameters further comprises at least one of a motor torque curve and a motor efficiency curve determined based on the cycling ramping.

18. The method of claim 14 , wherein:

executing the pre-mission flight test further comprises performing a cycling of pitch, yaw, and roll; and

the set of UAV performance parameters further comprises at least one of a fuselage efficiency parameter and a fuselage weight parameter determined based on the cycling of pitch, yaw, and roll.

19. A method for adaptive mission execution by an unmanned aerial vehicle (UAV), the method comprising:

at the UAV, executing a pre-mission flight test comprising performing a cycling of pitch, yaw, and roll;

determining a set of UAV performance parameters based on the pre-mission flight test, wherein the set of UAV performance parameters comprises at least one of a fuselage efficiency parameter and a fuselage weight parameter determined based on the cycling of pitch, yaw, and roll;

receiving a set of mission parameters corresponding to an initial UAV mission, the mission parameters defining a first area to be imaged by a camera of the UAV, wherein the set of mission parameters are determined based on the set of UAV performance parameters;

initiating execution of the initial UAV mission;

collecting UAV operation data during flight of the UAV, the UAV operation data comprising aerial images captured during execution of the initial UAV mission;

performing an analysis of the aerial images;

calculating a set of modified mission parameters based on the set of mission parameters and the analysis of the aerial images, the set of modified mission parameters corresponding to a modified UAV mission; and

in response to calculating the set of modified mission parameters, automatically executing the modified UAV mission at the UAV.

20. A method for adaptive mission execution by an unmanned aerial vehicle (UAV), the method comprising:

at the UAV, executing a pre-mission flight test comprising performing a cycling ramping of a motor of the UAV from a substantially no-power setting to a substantially full-power setting;

determining a set of UAV performance parameters based on the pre-mission flight test, wherein the set of UAV performance parameters comprises at least one of a motor torque curve and a motor efficiency curve determined based on the cycling ramping;

receiving a set of mission parameters corresponding to an initial UAV mission, the mission parameters defining a first area to be imaged by a camera of the UAV, wherein the set of mission parameters are determined based on the set of UAV performance parameters;

initiating execution of the initial UAV mission;

collecting UAV operation data during flight of the UAV, the UAV operation data comprising aerial images captured during execution of the initial UAV mission;

performing an analysis of the aerial images;

calculating a set of modified mission parameters based on the set of mission parameters and the analysis of the aerial images, the set of modified mission parameters corresponding to a modified UAV mission; and

in response to calculating the set of modified mission parameters, automatically executing the modified UAV mission at the UAV.