Teleoperation of unmanned aerial vehicles is hampered by communication delay, which causes feedback from command inputs to take considerable time to be displayed to the operator. For an international internet connection, round trip latencies can reach 500 ms. The satellite connections used for military unmanned aerial vehicles can have latencies in the order of seconds. This delay presents a substantial control problem, which has been solved in the past by control abstraction (instead of “roll left” the aircraft might be instructed “go to these coordinates”). Manual control remains difficult. This study borrows the client-side prediction concept from multiplayer video games to attempt to address the control delay to allow manual control. An estimate of the change in the vehicle state due to the commands that are yet to affect the feedback is computed and then the feedback that the pilot receives is modified to reflect this predicted change. Because of this change, the pilot can see immediately the effect of the control inputs. This study has explored the concept and built a prototype system functional in real time for flight testing with qualitative results presented.

中文翻译：

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具有延迟的无人机手动控制的预测反馈增强

无人机的远程操作受到通信延迟的阻碍，这导致来自命令输入的反馈需要相当长的时间才能显示给操作员。对于国际互联网连接，往返延迟可以达到 500 毫秒。用于军用无人机的卫星连接可能有几秒钟的延迟。这种延迟提出了一个实质性的控制问题，过去已经通过控制抽象解决了这个问题（而不是“向左滚动”，飞机可能会被指示“转到这些坐标”）。手动控制仍然很困难。本研究借鉴了多人视频游戏中的客户端预测概念，试图解决控制延迟以允许手动控制。由于尚未影响反馈的命令而导致的车辆状态变化的估计被计算，然后飞行员接收到的反馈被修改以反映该预测变化。由于这种变化，飞行员可以立即看到控制输入的效果。本研究探索了这一概念，并构建了一个原型系统，用于实时飞行测试，并提供定性结果。