阅读说明：本技术 具有监视数据管理的栓系无人机系统 (Tethered drone system with surveillance data management ) 是由 M·比斯 J-M·库隆 M·布拉维耶 于 2019-07-25 设计创作，主要内容包括：在一个实施例中,本公开提供一种事件审计方法。所述事件审计方法包含：在基站处从无人驾驶飞行器“UAV”的传感器接收传感器数据；基于所述传感器数据将控制信号传输到所述UAV；通信地耦合所述基站与外部证据库；格式化所述传感器数据的一部分；及将所述格式化传感器数据传输到所述外部证据库。在一些实施例中,所述基站经安装到锚交通工具。在一些实施例中,所述UAV经由系绳与所述基站通信地耦合。在一些实施例中,所述格式化所述传感器数据包含格式化传感器数据的第二部分以至少部分基于所述外部证据库的身份产生格式化传感器数据。(In one embodiment, the present disclosure provides an event auditing method. The event auditing method comprises the following steps: receiving sensor data from sensors of an Unmanned Aerial Vehicle (UAV) at a base station; transmitting a control signal to the UAV based on the sensor data; communicatively coupling the base station with an external evidence repository; formatting a portion of the sensor data; and transmitting the formatted sensor data to the external evidence repository. In some embodiments, the base station is mounted to an anchor vehicle. In some embodiments, the UAV is communicatively coupled with the base station via a tether. In some embodiments, the formatting the sensor data includes formatting a second portion of sensor data to generate formatted sensor data based at least in part on an identity of the external evidence base.)

1. An event auditing method, comprising:

receiving sensor data from at least one sensor of an Unmanned Aerial Vehicle (UAV) at a base station mounted to an anchor vehicle, the UAV communicatively coupled with the base station via a tether to receive sensor data;

transmitting power to the UAV via the tether;

formatting at least a portion of the sensor data to generate first formatted sensor data based at least in part on an identity of a first external evidence repository;

communicatively coupling the base station with the first external evidence repository; and

transmitting the first formatted sensor data to the first external evidence repository.

2. The method of claim 1, further comprising:

receiving, at the base station, a request to transition the UAV between a docked configuration and an airborne configuration; and

transmitting a control signal that transitions the UAV between the docked configuration and the airborne configuration.

3. The method of claim 2, wherein the request is received from a portable electronic device.

4. The method of claim 2, wherein the base station is coupled to a controller of the anchor vehicle, and wherein the request comprises data indicative of an operating state of the anchor vehicle.

5. The method of claim 1, further comprising:

communicatively coupling the base station with a dedicated emergency channel; and

transmitting at least a second portion of the sensor data in real-time via the dedicated emergency channel.

6. The method of claim 1, wherein the formatting comprises encrypting the portion of the sensor data.

7. The method of claim 1, wherein the formatting comprises selectively including metadata.

8. The method of claim 1, wherein the formatting comprises formatting the portion of the sensor data to comply with one or more evidence continuity criteria.

9. The method of claim 8, wherein the first external evidence repository comprises a remote server, and wherein the communicatively coupling comprises coupling via wireless communication.

10. The method of claim 9, wherein the base station is communicatively coupled to a Mobile Data Terminal (MDT) of the anchor vehicle, and wherein the MDT is communicatively coupled to the remote server via wireless communication.

11. The method of claim 10, wherein a second external evidence base comprises a storage medium for the MDT, and further comprising:

formatting the portion of the sensor data to produce second formatted sensor data; and

transmitting the second formatted sensor data to the second external evidence repository.

12. One or more non-transitory computer-readable media having computer-executable instructions recorded thereon configured to cause a computer processor to perform operations comprising:

receiving sensor data from at least one sensor of an Unmanned Aerial Vehicle (UAV) at a base station mounted to an anchor vehicle, the UAV communicatively coupled with the base station via a tether to receive sensor data;

transmitting power to the UAV via the tether;

formatting a second portion of the sensor data to generate first formatted sensor data based at least in part on an identity of a first external evidence repository;

communicatively coupling the base station with the first external evidence repository; and

transmitting the first formatted sensor data to the first external evidence repository.

13. The non-transitory computer-readable medium of claim 12, wherein the operations further comprise:

receiving, at the base station, a request to transition the UAV between a docked configuration and an airborne configuration; and

transitioning the UAV from the docked configuration to the airborne configuration.

14. The non-transitory computer-readable medium of claim 13, wherein the request is received from a portable electronic device.

15. The non-transitory computer-readable medium of claim 13,

wherein the base station is coupled to a controller of the anchor vehicle, an

Wherein the request includes data indicative of an operating state of the anchor vehicle.

16. The non-transitory computer-readable medium of claim 13, wherein the operations further comprise:

communicatively coupling the base station with a dedicated emergency channel; and

transmitting at least a second portion of the sensor data in real-time via the dedicated emergency channel.

17. The non-transitory computer-readable medium of claim 12, wherein the formatting comprises encrypting the second portion of the sensor data.

18. The non-transitory computer-readable medium of claim 12, wherein the formatting comprises selectively including metadata.

19. The non-transitory computer-readable medium of claim 12, wherein the formatting comprises formatting the second sensor data to comply with one or more evidence continuity criteria.

20. The non-transitory computer-readable medium of claim 19,

wherein the first external evidence repository comprises a remote server, an

Wherein the communicatively coupling comprises coupling via wireless communication.

21. The non-transitory computer-readable medium of claim 20,

wherein the base station is communicatively coupled to a Mobile Data Terminal (MDT), and

wherein the MDT is communicatively coupled to the remote server via wireless communication.

22. The non-transitory computer-readable medium of claim 21, wherein a second external evidence library comprises a storage medium for the MDT, and the operations further comprise:

formatting the second portion of the sensor data to produce second formatted sensor data; and

transmitting the second formatted sensor data to the second external evidence repository.

23. An event auditing system, comprising:

a base station mounted to an anchor vehicle, the base station including a controller communicatively coupled with a first external evidence base; and

an Unmanned Aerial Vehicle (UAV), coupled to the base station via a tether,

wherein the controller is configured to

Receive sensor data from at least one sensor of the UAV via the tether,

transmitting power to the UAV via the tether,

formatting a portion of the sensor data to generate formatted sensor data based at least in part on an identity of the first external evidence base, and

transmitting the first formatted sensor data to the first external evidence repository.

Background

The present disclosure relates to tie-down monitoring drone systems. More particularly, the present disclosure relates to systems and methods for event auditing and data storage.

Disclosure of Invention

In one embodiment, the present disclosure provides an event auditing method. In some embodiments, the event auditing method includes: receiving sensor data from sensors of an unmanned aerial vehicle ("UAV") at a base station; transmitting a control signal to the UAV based on the sensor data; communicatively coupling the base station with an external authentication repository; formatting a portion of the sensor data; and transmitting the formatted sensor data to the external evidence repository. In some embodiments, the base station is mounted to an anchor vehicle. In some embodiments, the UAV is communicatively coupled with the base station via a tether. In some embodiments, transmitting the control signal to the UAV is based on a first portion of sensor data. In some embodiments, the formatting the sensor data includes formatting a second portion of sensor data to generate formatted sensor data based at least in part on an identity of the external evidence base.

In some embodiments, the method further comprises: receiving a request to transition the UAV between a docked configuration and an airborne configuration; and transitioning the UAV between the docked configuration and the airborne configuration. In some embodiments, the request is received at the base station. In some embodiments, the request is received from a portable electronic device. In some embodiments, the base station is coupled to a controller of the anchor vehicle. In some embodiments, the request to transition the UAV includes data indicative of an operating state of the anchor vehicle. In some embodiments, the request includes a first portion of the sensor data.

In some embodiments, the formatting the sensor data comprises encrypting a second portion of the sensor data. In some embodiments, the formatting includes selectively including metadata. In some embodiments, the formatting comprises formatting the second sensor data to comply with one or more evidence continuity criteria. In some embodiments, the first external evidence repository comprises a remote server. In some embodiments, the communicatively coupling comprises coupling via wireless communication.

In some embodiments, the base station is communicatively coupled to a mobile data terminal ("MDT") of the anchor vehicle. In some embodiments, the MD is communicatively coupled to a remote server via wireless communication. In some embodiments, the second external evidence base comprises a storage medium for the MDT. In some embodiments, the method further includes formatting the second portion of the sensor data to generate second formatted sensor data. In some embodiments, the method further includes transmitting the second formatted sensor data to the second external evidence repository.

In some embodiments, the present disclosure provides one or more non-transitory computer-readable media having computer-executable instructions recorded thereon configured to cause a computer processor to perform various operations. In some embodiments, the operations include: receiving sensor data from at least one sensor of a UAV at a base station; transmitting a control signal to the UAV based on the sensor data; communicatively coupling the base station with an external evidence repository; formatting a portion of the sensor data; and transmitting the formatted sensor data to the external evidence repository. In some embodiments, the base station is mounted to an anchor vehicle. In some embodiments, the UAV is communicatively coupled with the base station via a tether. In some embodiments, said transmitting said control signal to said UAV is based, at least in part, on a first portion of said sensor data. In some embodiments, the formatting the second portion of the sensor data is based at least in part on an identity of the external evidence base.

In some embodiments, the operations further include receiving a request to transition the UAV between a docked configuration and an airborne configuration. In some embodiments, the operations further include transitioning the UAV between the docked configuration and the airborne configuration. In some embodiments, the request is received at the base station. In some embodiments, the request is received from a portable electronic device. In some embodiments, the base station is coupled to a controller of the anchor vehicle. In some embodiments, the request includes data indicative of an operating state of the anchor vehicle. In some embodiments, the request includes a first portion of sensor data.

In some embodiments, the formatting includes selectively including metadata. In some embodiments, the formatting includes encrypting the second portion of the sensor data. In some embodiments, the formatting conforms to one or more evidence continuity criteria. In some embodiments, the external evidence repository comprises a remote server. In some embodiments, the communicatively coupling comprises coupling via wireless communication. In some embodiments, the base station is communicatively coupled to an MDT. In some embodiments, the MDT is communicatively coupled to the remote server via wireless communication.

In some embodiments, the second external evidence base comprises a storage medium for the MDT. In some embodiments, the operations further include formatting the second portion of the sensor data to generate second formatted sensor data. In some embodiments, the operations further include transmitting the second formatted sensor data to the second external evidence repository.

In some embodiments, the present disclosure provides a system for event auditing. In some embodiments, the system includes a base station including a controller and a UAV. In some embodiments, the controller is communicatively coupled with an external evidence repository. In some embodiments, the UAV is coupled to the base station via a tether. In some embodiments, the controller is configured to receive sensor data from at least one sensor of the UAV. In some embodiments, the controller is configured to transmit control signals to the UAV to control a propulsion system of the UAV. In some embodiments, the transmitting the control signal is based at least in part on the sensor data. In some embodiments, the control signal is based at least in part on the sensor data. In some embodiments, the controller is configured to format a portion of the sensor data to generate formatted sensor data. In some embodiments, the formatting the sensor data is based at least in part on an identity of the external evidence base. In some embodiments, the controller is further configured to transmit the formatted sensor data to the external evidence repository.

In another embodiment, the present disclosure provides a { text } method.

Other aspects of the disclosure will become apparent by consideration of the detailed description and accompanying drawings.

Drawings

FIG. 1 illustrates an event auditing system, according to some embodiments.

FIG. 2 is a block diagram of an event auditing system, according to some embodiments.

FIG. 3 is a block diagram of an event auditing system, according to some embodiments.

Fig. 4 is a block diagram of an event auditing system in a broader ecosystem, according to some embodiments.

FIG. 5 is a flow diagram of an event auditing method according to some embodiments.

FIG. 6 is a flow diagram of an event auditing method according to some embodiments.

FIG. 7 is a flow diagram of an event auditing method according to some embodiments.

Detailed Description

Before any embodiments of the disclosure are explained in detail, it is to be understood that the disclosure is not limited in its application to the details of construction and the arrangement of components set forth in the following description or illustrated in the following drawings. The disclosure is capable of other embodiments and of being practiced or of being carried out in various ways.

FIG. 1 illustrates an event auditing system 100 according to some embodiments. The event auditing system 100 includes a base station 105, an unmanned aerial vehicle ("UAV") 110, and a tether 115 that extends between the base station 105 and the UAV 110. The base station 105 is mounted on the anchor vehicle 120 and may be integrated into the light bar, as shown. In the illustrated embodiment, the anchor vehicle 120 is a patrol car, but may be any other vehicle, such as an ambulance, fire truck, motorcycle, watercraft, or other emergency vehicle. The UAV includes a propulsion system that holds the UAV 110 in the air, and one or more cameras and sensors. The tether 115 is configured to secure the UAV 110 to the base station 105, as well as to transmit power from the base station 110 to the UAV 110, such as for a propulsion system. The tether 115 is also configured to transmit data signals between the base station 105 and the UAV 110, such as to cause the base station 105 to control a propulsion system or camera, or to receive data from a camera or sensor. Thus, deployment, flight, and recovery of the UAV 110 may be controlled by the base station 105. For example, the base station 105 may deploy the UAV 110 to monitor an area around the anchor vehicle 120, such as with cameras or sensors. Alternatively, the UAV 110 may maintain its own autonomous control while receiving power from the base station 105. In some embodiments, flight control and/or sensor control is cooperatively handled by the base station 105 and the UAV 110. When not in flight, the UAV 110 is configured to interface with the base station 105. The base station 105 includes a housing and cover system that holds the UAV 110 while the UAV 110 docks with the base station 105. For example, the housing may include a cover that protects the UAV 110 from tampering or inclement weather.

FIG. 2 illustrates a block diagram of an event auditing system 200, according to some embodiments. The event auditing system 200 includes a base station 205, a UAV210, and a tether 215 between the UAV210 and the base station 205. UAV210 includes a UAV housing 220, such as a lightweight aluminum, fiberglass, polymer, or carbon fiber shell. The UAV210 further includes a propulsion system 225, a UAV controller 230, a sensor array 235, and a power/data interface 240 coupled to the UAV housing 220. The propulsion system 225, UAV controller 230, and sensor array 235 are electronically coupled to the power/data interface 240 via an electronic link 245. The controller is electronically coupled to the propulsion system 225 and the sensor array 235 via an electronic link 245. Thus, power and/or data may be supplied directly from the power/data interface 240 to one or more of the propulsion system 225, the sensor array 235, and the controller, or may be mediated by the UAV controller 230. For example, power supplied via ethernet ("POE") may be received at the power/data interface 240 and supplied to the UAV controller 230. In some embodiments, the UAV controller 230, which may include various electronic memories, processors, embedded circuitry, and the like, receives the POE, separates the supplied power from the transmitted data, adapts the supplied power based on the voltage or current required by the propulsion system 225 and the sensor array 235, and provides the power and data to the propulsion system 225 and the sensor array 235.

In some embodiments, the UAV controller 230 receives sensor data from one or more sensors of the sensor array 235 and communicates the sensor data to the power/data interface 240. In other embodiments, the sensor array 235 communicates sensor data directly from one or more sensors to the power/data interface 240. In other embodiments, sensor data from a first plurality of sensors may be communicated from the sensor array 235 to the UAV controller 230, and sensor data from a second plurality of sensors is transmitted from the sensor array 235 to the power/data interface 240. For example, where the sensor array 235 includes accelerometers and one or more cameras, accelerometer data may be communicated to the UAV controller 230 while image data from the one or more cameras is communicated to the power/data interface 240. As another example, the image data may be communicated to both the UAV controller 230 and the power/data interface 240. Thus, the computational requirements of the system may be apportioned or scaled as needed between UAV controller 230 and the other controllers of system 200.

In some embodiments, the sensor array 235 includes a plurality of cameras disposed circumferentially around the underside of the UAV housing 220. In some embodiments, the sensor array 235 includes cameras configured differently for different ambient light conditions, distances, resolutions, frame rates, fields of view, and so forth. In some embodiments, the sensor array 235 further includes at least one sensor configured to detect a relative orientation between the UAV210 and the base station 205. In some embodiments, the relative orientation may be sensed with one or more magnetometers, accelerometers, GPS sensors, and the like. In other embodiments, the relative orientation may be sensed with one or more cameras. For example, various image and video analysis techniques may be applied to image data from multiple cameras to sense or determine the relative orientation between the UAV210 and the base station 205. Further, in some embodiments, one or more of the cameras may be controlled based on the relative orientation of the UAV210 or the relative orientation between the UAV210 and the base station 205.

The propulsion system 225 includes one or more thrust producing devices, such as various propellers, fans, jets, rockets, thrusters, and the like. The propulsion system 225 receives power and control signals from the power/data interface 240, the UAV controller 230, or a combination thereof to control the thrust vectors of the respective thrust producing devices. Thus, the propulsion system 225 is thus configured to provide continuous or indefinite flight to the UAV210, e.g., providing static or dynamic flight as desired. In some embodiments, the propulsion system 225 is controlled based on the relative orientation between the UAV210 and the base station 205. For example, the propulsion system 225 may be controlled to maintain a static position of the UAV210 relative to the base station 205 or to follow one or more paths relative to the base station 205.

In addition to the electronic link 245, the power/data interface 240 is communicatively coupled to the base station 205 via the tether 215. In the illustrated embodiment, the tether 215 includes a wired connection 215A configured to transmit POE between the base station 205 and the UAV 210. In some embodiments, the tether 215 may include discrete wired power and data connections. In some embodiments, the tether 215 includes a protective sheath 215B. In some embodiments, the sheath 215 is sheathed with a thermoplastic sheath, such as polyvinyl chloride (PVC). Alternatively or additionally, protective sheath 215B flexibly and mechanically couples UAV housing 220 to the base station housing. Thus, various stresses on the sheath 215 are distributed through the protective sheath 215B rather than being transferred to the wired connection 215A. In some embodiments, the tether 215 is directly connected to the base station housing 250. In other embodiments, the tether 215 is coupled to a spool 265, the spool 265 being coupled to the base station housing 250.

The base station housing 250 is configured to be mounted to an anchor vehicle (such as vehicle 120 of fig. 1) and is made of a resilient material, such as an aluminum, fiberglass, polymer, or carbon fiber shell. The base station housing 250 further includes a power/data interface 255, a motor 260 coupled to a spool 265, a cover system 270, and a base station controller 275 coupled to the power/data interface 255 and the motor 260. The base station controller 275 is further coupled to a power supply 280, a network interface 285, and a lid system 270. The power/data interface 255 is substantially similar to the power/data interface 240 of the UAV210 and is coupled to the wired connection 215A of the tether 215. In the illustrated embodiment, the power/data interface 255 is coupled to the wired connection 215A at the spool 265. Thus, power and data (e.g., POE) may be communicated between the power/data interface 255 of the base station 205 to the power/data interface 240 of the UAV210 via the tether 215. The spool 265 is further coupled to the motor 260 and is thereby configured for adjustment of the tether 215. Thus, the tether 215 may be extended or retracted as desired. In addition, the motor 260 and the spool 265 may be configured to apply a force to the protective sheath 215B of the tether 215. For example, the motor 260 and spool 265 may be configured to electronically brake in high winds or to retract a damaged UAV 210. Thus, deployment, flight, and recovery of UAV210 is improved. Although spool 265, motor 260, and electronic brakes are described and illustrated, any suitable tensioning or tether adjustment mechanism may be used as desired.

The base station controller 275 is coupled to the various components of the base station 205 via electrical links 290. The controller receives power from a power supply 280. In the illustrated embodiment, the power supply 280 is coupled to the electrical system of the vehicle to which the base station 205 is mounted, also adapting the power received from the vehicle based on the voltage/current requirements of one or more components of the base station 205 and/or the UAV 210. In some embodiments, the power supply 280 further includes one or more energy storage devices, such as lithium ion batteries.

The lid system 270 receives power from a power supply 280 and is configured to open and close a lid of the housing, such as a lid or a sectional door. When the UAV210 is docked with the base station 205, the cover is configured to enclose the base station 205, the tether 215, and the UAV 210. When the UAV210 is in an airborne configuration, the cover is configured to minimize interference with movement of the UAV210 or tether 215. In some embodiments, the lid system 270 includes one or more motors, resilient members, latches, or other devices configured to open the lid, close the lid, or maintain the lid in an open or closed position. The actuation of the lid system 270 is controlled by the base station controller 275. Thus, the UAV210 is securely held within the base station housing 250, for example, when the anchor vehicle is in motion.

The base station controller 275 includes various electronic processors and memory storing program instructions executable by the processors to perform the functionality described herein. The base station controller 275 is further coupled to a network interface 285. Network interface 285 is configured for wired and wireless electronic communication. For example, the network interface 285 may include one or more antennas and may be configured to communicate via one or more wireless networks using protocols such as Wi-Fi, bluetooth, WLAN, CDMA, and the like. In some embodiments, network interface 285 is communicatively coupled with an external data source. For example, the network interface 285 may be coupled with a mobile data terminal ("MDT") in the anchor vehicle via a wired connection, or may be coupled to a remote server via a mobile broadband network. In some embodiments, network interface 285 connects to the server via a virtual private network ("VPN") client that conforms to one or more encryption standards related to maintaining evidence continuity. For example, the VPN client may conform to Federal information processing standards ("FIPS") publication 140-2, (FIPS PUB 140-2). Thus, the base station controller 275 may securely communicate with both the UAV210 and external data sources using the tether 215 and the network interface 285, respectively.

The base station controller 275 is configured to control the UAV210, for example, in conjunction with the UAV controller 230, or independently. For example, the base station controller 275 may be configured to control one of the propulsion system 225 and the sensor array 235, while the UAV controller 230 controls the other of the propulsion system 225 and the sensor array 235. The base station controller 275 is configured to receive sensor data from the sensor array 235. In some embodiments, the base station controller 275 is configured to transmit the sensor data to an external data source in real time. For example, the base station controller 345 may be communicatively coupled with a dedicated emergency channel of a first responder, such as a first responder network authorizer, FirstNet, and transmit sensor data to FirstNet in real-time. In some embodiments, the base station controller 275 is configured to store the sensor data in one or more electronic memories of the base station controller 275. In a further embodiment, the base station controller 275 is configured to transmit the first portion of the sensor data in real time while storing the second portion in yet another electronic memory of the base station controller 275. Thus, the base station controller 275 may be configured to record redundancy (e.g., when the first portion and the second portion comprise substantially similar sensor data) or reduce broadband requirements (e.g., when the first portion of sensor data is less than the second portion of sensor data).

The base station controller 275 is further configured to receive data from an external data source. In some embodiments, the base station controller 275 is configured to control the UAV210 based at least in part on data from an external data source. For example, the base station controller 275 may transition the UAV210 from the docked configuration to the airborne configuration in response to receiving an event notification signal (e.g., an operating state of the anchor vehicle) or a request from a portable electronic device associated with a user of the anchor vehicle. The operating state may include any of a variety of operating states of the anchor vehicle, such as an operating state of a powertrain (e.g., park, neutral, drive, etc.), an operating state of an electrical system (e.g., off, driven, or driving), or any other operating state of the anchor vehicle. For example, the base station controller 275 may be configured to transition the UAV210 between the docked configuration and the airborne configuration in response to the anchor vehicle operating state changing from "driving" to "parked". As an additional example, the base station controller 275 may be configured to transition the UAV210 between airborne configurations in response to the anchor vehicle operating state changing from "slave" to "closed". Further, the operating state of the vehicle may include activation or deactivation of various steering and traction assist systems, such as in response to aggressive braking, turning, or loss of traction. In some embodiments, the base station controller 275 is configured to control the UAV210 based at least in part on sensor data received from the sensor array 235. For example, the base station controller 275 may transition the UAV210 from an airborne configuration to a docked configuration based on data from one or more sensors of the sensor array 235 indicating adverse environmental conditions.

FIG. 3 illustrates a particular embodiment of an event auditing system 300, also referred to as a monitoring system. The event auditing system 300 includes a base station or monitoring platform 302, a remote sensor platform or UAV304, and a tether 306 between the UAV304 and the base station 302. The UAV304 includes a UAV housing 308, such as a lightweight aluminum, fiberglass, polymer, or carbon fiber shell. UAV304 further includes a propulsion system 310, a UAV controller 312, an input/output ("I/O") interface 314, and a power/data interface 316 coupled to UAV housing 308. The propulsion system 310, UAV controller 312, and I/O interface 314 are electronically coupled to a power/data interface 316 via an electronic link 318. Additionally, UAV controller 312 is electronically coupled to propulsion system 310 and I/O interface 314 via electronic link 318. Thus, power and/or data may be supplied directly from the power/data interface 316 to one or more of the propulsion system 310, the I/O interface 314, and the UAV controller 312, or may be mediated by the UAV controller 312. For example, power supplied via ethernet ("POE") may be received at the power/data interface 316 and supplied to the UAV controller 312. In some embodiments, UAV controller 312, including one or more electronic memories 320, and one or more processors or embedded circuitry 322, and the like, receives the POE, separates the supplied power from the transmitted data, adapts the supplied power based on the voltage or current required by propulsion system 310 and I/O interface 314, and provides the power and data to propulsion system 310 and I/O interface 314.

In some embodiments, UAV controller 312 receives sensor data from one or more sensors 324 or cameras 326 of I/O interface 314 and communicates the sensor data to power/data interface 316. In other embodiments, the I/O interface 314 communicates sensor data directly from one or more sensors 324 or cameras 326 to the power/data interface 316. In other embodiments, sensor data from the first plurality of sensors 324 and the camera 326 may be communicated from the I/O interface 314 to the UAV controller 312, and sensor data from the second plurality of sensors 324 and the camera 326 is transmitted from the I/O interface 314 to the power/data interface 316. For example, where the I/O interface 314 includes an accelerometer and one or more cameras, accelerometer data may be communicated to the UAV controller 312 while image data from the one or more cameras is communicated to the power/data interface 316. As another example, the image data may be communicated to both the UAV controller 312 and the power/data interface 316. Thus, the computational requirements of the system may be distributed or scaled as needed between the processor or embedded circuitry 322 of the UAV controller 312 and the other controllers of the system.

In some embodiments, the I/O interface 314 includes a plurality of cameras 326 disposed circumferentially around the underside of the UAV housing 308. In some embodiments, the I/O interface 314 includes cameras configured differently for different ambient light conditions, distances, resolutions, frame rates, fields of view, and so forth. In some embodiments, the I/O interface 314 further includes at least one sensor 324 configured to detect a relative orientation between the UAV and the base station 302. In some embodiments, the relative orientation may be sensed with one or more magnetometers, accelerometers, GPS sensors, and the like. In other embodiments, the relative orientation may be sensed with one or more cameras 326. For example, various image and video analysis techniques may be applied to image data from the plurality of cameras 326 to sense or determine a relative orientation between the UAV304 and the base station 302. Further, in some embodiments, one or more of the cameras 326 may be controlled based on the relative orientation of the UAV304 or the relative orientation between the UAV304 and the base station 302.

Further, in some embodiments, at least one camera 326 is controlled to track an object or person. Similarly, UAV304 may be controlled to track an object or person. Thus, evidence collection, storage, and transmission may be improved.

In some embodiments, I/O interface 314 includes one or more visual indicators 336. In some embodiments, visual indicator 336 may be a visible LED, an infrared LED, or an ultraviolet LED. In some embodiments, the visual indicator 336 is configured to receive a control signal from the UAV controller 312, the power/data interface 316, or a combination thereof. The visual indicator 336 is configured to indicate one or more states of the UAV, base station, anchor vehicle, or a combination thereof. In some embodiments, the visual indicator 336 is further configured to provide illumination, such as a zone around the anchor vehicle and the base station, or an object in the field of view of one of the cameras 326.

In some embodiments, I/O interface 314 includes one or more of an ultrasonic sensor, a temperature sensor, an airspeed sensor, a barometric pressure sensor, and an orientation sensor 324. In further embodiments, the propulsion system 310 is controlled based at least in part on data signals received from the I/O interface 314. For example, the UAV304 may transition between an airborne configuration to a docked configuration in response to detecting an adverse environmental condition with the one or more sensors 324.

The propulsion system 310 includes at least one propeller 328 and a motor control unit ("MCU") 330. The MCU 330 includes at least one motor 332 and associated power conversion circuitry 334, for example to transform, invert, or rectify received power. The MCU 330 receives power and control signals from the power/data interface 316, the UAV controller 312, or a combination thereof. MCU 330 receives power and control signals at power conversion circuitry 334 and provides power to motor 332 to control the thrust vector of propeller 328. Thus, the propulsion system 310 is thus configured to provide continuous or indefinite flight to the UAV304, e.g., providing static or dynamic flight as desired. In some embodiments, the propulsion system 310 is controlled based on the relative orientation between the UAV304 and the base station 302. For example, the propulsion system 310 may be controlled to maintain a static position of the UAV304 relative to the base station 302 or to follow one or more paths relative to the base station 302.

In addition to the electronic link 318, the power/data interface 316 is communicatively coupled to the base station 302 via the tether 306. In the illustrated embodiment, the tether 306 includes a wired connection 306A configured to transmit POE between the base station 302 and the UAV 304. In some embodiments, the tether 306 may include a discrete wired power and data connection 306A. In some embodiments, the tether 306 comprises a protective sheath 306B. In some embodiments, the sheath 306 is sheathed with a thermoplastic sheath, such as polyvinyl chloride (PVC). Alternatively or additionally, the protective sheath 306B flexibly and mechanically couples the UAV housing 308 to the vehicle base housing 338, such as between a pair of respective coupling mechanisms on the UAV housing 308 and the vehicle base housing 338. Thus, various stresses on the sheath 306 are distributed through the protective sheath 306B rather than being transferred to the wired connection 306A. In some embodiments, the tether 306 is axially aligned with a center of mass of the UAV 304. For example, where the UAV304 is rotationally symmetric, the tether 306 may be configured to attach to the bottom of the UAV304 along a central axis. Thus, the torque generated by the attachment point of the propeller 328 about the tether 306 may be reduced. In some embodiments, the tether 306 is directly connected to the vehicle base housing 338. In other embodiments, the tether 306 is coupled to a spool 340, and the spool 340 is coupled to the vehicle base housing 338.

The vehicle base housing 338 is configured to be mounted to an anchor vehicle (such as anchor vehicle 120 of fig. 1) and is made of a resilient material, such as an aluminum, fiberglass, polymer, or carbon fiber shell. The vehicle base housing 338 further includes a power/data interface 342, an MCU 348 coupled to the spool 340, a lid system 344, and a base station controller 346 coupled to the power/data interface 342 and the MCU 348. The base station controller 346 is further coupled to the DC/DC circuitry 350, the network interface 352, and the lid system 344. The power/data interface 342 is substantially similar to the power/data interface 316 of the UAV304 and is coupled to the wired connection 306A of the tether 306. In the illustrated embodiment, the power/data interface 342 is coupled to the wired connection 306A at the spool 340. Thus, power and data (e.g., POE) may be communicated between the power/data interface 342 of the base station 302 to the power/data interface 316 of the UAV304 via the tether 306. The spool 340 is further coupled to the MCU 348 and is thereby configured for adjustment of the tether 306.

The MCU 348 includes a motor 354, associated power conversion circuitry 356, and a tensioning device 358, such as an electronic brake. Accordingly, the MCU 348 controls the motor 354 to extend or retract the tether 306 as needed. In addition, the MCU 348 is configured to control the motor 354 and the tensioning device 358 to apply a force to the protective sheath of the tether 306. For example, the MCU 348 and the spool 340 may be configured to electronically brake in high winds or retract the damaged UAV 304. Thus, deployment, flight, and recovery of UAV304 are improved. Although a spool, motor, and electronic brake are described and illustrated, any suitable tensioning or tether adjustment mechanism may be used as desired.

The base station controller 346 is coupled to the various components of the base station 302 via electrical links 360. The controller receives power from the DC/DC circuitry 350. In the illustrated embodiment, the DC/DC circuitry 350 is coupled to the electrical system of the anchor vehicle to which the base station 302 is mounted, also adapting the power received from the anchor vehicle based on the voltage/current requirements of the base station 302 and/or one or more components of the UAV 304. In some embodiments, DC/DC circuitry 350 further includes one or more energy storage devices, such as lithium ion batteries.

The lid system 344 receives power from the DC/DC circuitry 350 and is configured to open and close a lid 362 of the housing, such as a lid or a sectional door. The lid system 344 includes a lid actuator 364 configured to open and/or close the housing lid 362. When the UAV304 is docked with the base station 302, the housing cover 362 is configured to enclose the base station 302, the tether 306, and the UAV 304. When UAV304 is in an airborne configuration, housing cover 362 is configured to minimize interference with movement of UAV304 or tether 306. In some embodiments, the lid actuator 364 includes one or more motors, resilient members, latches, or other devices configured to open the lid, close the lid, or maintain the lid in an open or closed position. The actuation of the lid system 344 is controlled by a base station controller 346. Thus, UAV304 is safely retained within vehicle base housing 338, for example, when the anchor vehicle is in motion.

The base station controller 346 includes at least one electronic processor 366 and at least one electronic memory 368 configured to store program instructions executable by the processor 366 to perform the functionality described herein. The base station controller 346 is further coupled to a network interface 352. The network interface 352 is configured for wired and wireless electronic communication. For example, the network interface 352 may include one or more antennas and may be configured to communicate via one or more wireless networks using protocols such as Wi-Fi, bluetooth, WLAN, CDMA, and so forth. In some embodiments, network interface 352 is communicatively coupled with an external data source. For example, the network interface 352 may be coupled with a mobile data terminal ("MDT") in the anchor vehicle via a wired connection, or may be coupled to a remote server via a mobile broadband network. In some embodiments, the network interface 352 connects to the server via a virtual private network ("VPN") client that conforms to one or more encryption standards related to maintaining evidence continuity. For example, the VPN client may conform to Federal information processing standards ("FIPS") publication-2, (FIPS PUB-2). Thus, the base station controller 346 may securely communicate with the UAV304 and external data sources using the tether 306 and the network interface 352, respectively.

The base station controller 346 is configured to control the UAV304, e.g., in conjunction with the UAV controller 312, or independently. For example, the base station controller 346 may be configured to control one of the propulsion system 310 and the I/O interface 314, while the UAV controller 312 controls the other of the propulsion system 310 and the I/O interface 314. The base station controller 346 is configured to receive sensor data from the I/O interface 314. In some embodiments, the base station controller 346 is configured to transmit sensor data to an external data source in real time. In some embodiments, the base station controller 346 is configured to store sensor data in one or more electronic memories 368 of the base station controller 346 and/or the electronic memory 320 of the UAV. In a further embodiment, the base station controller 346 is configured to transmit the first portion of the sensor data in real time while storing the second portion in yet another electronic memory 368. Thus, the base station controller 346 may be configured to record redundancy (e.g., when the first portion and the second portion include substantially similar sensor data) or reduce broadband requirements (e.g., when the first portion of sensor data is less than the second portion of sensor data).

In some embodiments, the base station controller 346 is configured to transmit sensor data in response to detecting a predetermined wireless signal. In some embodiments, the predetermined wireless signal may be detected from the portable electronic device or from a security synchronization point, such as a wireless network of a police or fire department. Thus, the predetermined wireless signal may be detected by the network interface 352. The base station controller 346 then transmits the sensor data, for example, to a remote evidence repository or other external data source for secure storage.

The base station controller 346 is further configured to receive data from an external data source. In some embodiments, the base station controller 346 is configured to control the UAV304 based at least in part on data from an external data source. For example, the base station controller 346 may transition the UAV304 from the docked configuration to the airborne configuration in response to receiving an event notification signal (e.g., an operating state of the anchor vehicle) or a request from an electronic device, such as a button within the vehicle or on a base station, or a portable electronic device associated with a user of the vehicle. For example, in some embodiments, UAV210 transitions from the docked configuration to the aerial configuration in response to receiving an event notification signal indicating that a weapon near UAV210 (e.g., a pistol of a user associated with the anchor vehicle) has been removed from the smart pistol holster. Further, in some embodiments, the position and/or flight mode of the UAV210 can be controlled from an electronic device, such as a joystick or touch screen within the anchor vehicle, or a portable electronic device associated with a user of the anchor vehicle.

The operating state may include any of a variety of operating states of the anchor vehicle, such as an operating state of a transmission system (e.g., park, neutral, drive, etc.), an operating state of an electrical system (e.g., off, driven, or driving), or any other operating state of the anchor vehicle. For example, the base station controller 346 may be configured to transition the UAV304 between the docked configuration and the airborne configuration in response to the anchor vehicle operating state changing from "driving" to "parked". As an additional example, the base station controller 346 may be configured to transition the UAV304 between airborne configurations in response to the anchor vehicle operating state changing from "slave" to "closed". For example, a user of the anchor vehicle may request, e.g., with a portable electronic device, that the UAV304 transition between a docked location and an airborne location. Alternatively or additionally, data from external data sources may be used to control the flight mode or relative orientation of UAV 304. In some embodiments, the base station controller 346 is configured to control the UAV304 based at least in part on sensor data received from the I/O interface 314. For example, the base station controller 346 may transition the UAV304 from an airborne configuration to a docked configuration based on data from one or more sensors of the I/O interface 314 indicating adverse environmental conditions.

Fig. 4 illustrates an event auditing system in a law enforcement ecosystem 400, according to some embodiments. The larger ecosystem 400 includes a law enforcement agency 405, patrol vehicle 410, and hosting platform 415 communicating via a network 420. The network 420 includes various wireless and wired communication systems, such as the internet, configured to securely communicate between the institution 405, the patrol vehicle 410, and the hosted platform 415. The vehicle 410 includes an MDT 425, such as a laptop computer, router, and associated electronics, configured to communicate with the mechanism 405 via the network 420.

The anchor vehicle 410 includes various sensors 430 associated with the anchor vehicle, such as one or more tachographs, law enforcement recorders, or other imaging devices 430. An event auditing system 435 (e.g., substantially similar to systems 100, 200, or 300) is installed on the anchor vehicle 410. A portable electronic device 440, such as a police cell phone, is also associated with the anchor vehicle 410. Thus, each of the MDT 425, the audit system 435, and the portable electronic device 440 may be configured to communicate over a network, individually or in combination. For example, audit system 435 may be configured to connect to network 420 via MDT 425.

Law enforcement agency 405 includes a local server 445 coupled to network 420, including various processors and electronic memory devices. Hosting platform 415 includes a remote server 450 coupled to network 420, which includes various processors and electronic memory devices.

The MDT 425 is typically configured to receive image data captured by the anchor vehicle sensor 430. In some embodiments, MDT 425 is configured to transmit image data in real-time, e.g., to mechanism 405 and/or hosting platform 415 via network 420. In some embodiments, MDT 425 includes one or more electronic storage devices. In some embodiments, the MDT 425 is configured to store the image data in an electronic storage device. In some embodiments, audit system 435 is configured to capture sensor data, such as image data, from one or more sensors of audit system 435. In some embodiments, audit system 435 is configured to store sensor data in an electronic storage device of audit system 435. In some embodiments, audit system 435 is configured to transmit sensor data to an external evidence repository, such as the electronic storage of MDT 425, local server 445 of institution 405, and/or remote server 450 of hosting platform 415.

In some embodiments, audit system 435 is configured to combine sensor data from multiple sensors prior to transmission. For example, the audit system 435 may be configured to combine image data from multiple cameras into a panoramic or immersive live view data stream prior to transmission. In other embodiments, the audit system 435 is configured to maintain the sensor data in a discrete stream. For example, audit system 435 may receive multiple streams of image data from multiple cameras, and then each respective stream will be transmitted individually or independently. Therefore, forgery evidence or image data can be prevented. In some embodiments, one or more of audit system 435 and MDT 425 are configured to format at least a portion of sensor data from one or more of anchor vehicle sensor 430 and audit system 435, such as prior to storage and/or transmission via network 420. In some embodiments, formatting the data includes encrypting the data. In some embodiments, the respective data streams may be individually encrypted. In some embodiments, formatting includes formatting the sensor data to comply with one or more evidence continuity standards or monitoring chains (e.g., international criminal police organization, global standard 4.12 to combat spoilage in police forces). In some embodiments, formatting includes formatting based on the identity of an external evidence base, such as local server 445 or remote server 450. Because different hardware and software systems have different configurations, sensor data may be formatted to be correctly received by the target system.

FIG. 5 is a flow diagram of an event auditing method 500 according to some embodiments. At block 510, sensor data is received from at least one sensor of an unmanned aerial vehicle ("UAV") at a base station mounted to an anchor vehicle. In some embodiments, the UAV is communicatively coupled with the base station via a tether. The sensor data may include various sensor data from ultrasonic sensors, temperature sensors, airspeed sensors, barometric pressure sensors, orientation sensors, accelerometers, or any other suitable sensors. In some embodiments, the sensor data includes a plurality of image data streams from a respective plurality of cameras. At block 520, a control signal is transmitted to the UAV. In some embodiments, the control signal is transmitted from a base station. In some embodiments, the transmission of the control signal is based at least in part on the first portion of the sensor data. For example, during periods in which the UAV is in an airborne configuration, control signals may be transmitted based on airspeed, orientation, and acceleration data, while data from temperature sensors is simply recorded. At block 530, a base station is communicatively coupled with a first external evidence base. For example, the base station may be coupled with a remote server of the hosted platform via one or more of wireless communication and wired communication.

At block 540, a second portion of the sensor data is formatted to produce first formatted sensor data. For example, orientation data, acceleration data, temperature data, and image data may be formatted to generate formatted sensor data. Thus, the first portion of sensor data and the second portion of sensor data need not be mutually exclusive portions of data, but instead generally include data from one or more sensors. In some embodiments, the second portion of the sensor data is formatted based at least in part on an identity of the first external evidence repository. For example, different computer systems and servers may be configured to receive data having a particular format or formats. Thus, it may be advantageous to format the second data based at least in part on the identity of the external evidence repository. For example, the formatting may include encrypting the second portion of the sensor data.

In some embodiments, the sensor data from the respective sensors is encrypted in the respective data streams. For example, multiple streams of image data from a respective plurality of cameras may each be individually encrypted. In some embodiments, formatting includes selectively including metadata. For example, a portion of the sensor data may be used as metadata. For example, a timestamp or location of the UAV may be included with the sensor data. As another example, metadata included with the sensor data may likewise be encrypted. In some embodiments, the formatting includes formatting the second sensor data to comply with one or more evidence continuity criteria. Various national and international organizations have established standards that may be considered as acceptable in the court of law based on their evidence. In some embodiments, these standards include standards that specify capturing, storing, shipping, encrypting, auditing, and modifying data. Thus, formatting may include formatting the second sensor data to comply with one or more of these standards. Further, the encryption of the sensor data and the formatting of the sensor data may be performed in any order as desired. For example, the sensor data may first be encrypted and then formatted based at least in part on the identity of the external evidence repository. Alternatively, the sensor data may be formatted based at least in part on the identity of the external evidence repository and then encrypted. In further embodiments, the encryption and formatting may occur substantially simultaneously.

At block 550, the first formatted sensor data is transmitted to a first external evidence repository. For example, the base station may transmit the first formatted sensor data to a first external evidence repository in real-time. Alternatively, the base station may first store the sensor data (raw or formatted sensor data) in a storage device, such as a memory of the base station, and then later transmit the formatted sensor data to the first external evidence repository. For example, the base station may store the sensor data when the anchor vehicle is patrolling and then transmit the formatted sensor data after detecting a security synchronization point (a wireless network of a police department or a fire department).

FIG. 6 is a flow diagram of an event auditing method 600 according to some embodiments. At block 610, sensor data is received from at least one sensor of an unmanned aerial vehicle ("UAV") at a base station mounted to an anchor vehicle. In some embodiments, the UAV is communicatively coupled with the base station via a tether. The sensor data may include various sensor data from ultrasonic sensors, temperature sensors, airspeed sensors, barometric pressure sensors, orientation sensors, accelerometers, or any other suitable sensors. In some embodiments, the sensor data includes a plurality of image data streams from a respective plurality of cameras. At block 620, a control signal is transmitted to the UAV. In some embodiments, the control signal is transmitted from a base station. In some embodiments, the transmission of the control signal is based at least in part on the first portion of the sensor data. For example, during periods in which the UAV is in an airborne configuration, control signals may be transmitted based on airspeed, orientation, and acceleration data, while data from temperature sensors is simply recorded. At block 630, a base station is communicatively coupled with a first external evidence base. For example, the base station may be coupled with a remote server of the hosted platform via one or more of wireless communication and wired communication.

At block 640, a second portion of the sensor data is formatted to produce first formatted sensor data. For example, orientation data, acceleration data, temperature data, and image data may be formatted to generate formatted sensor data. Thus, the first portion of sensor data and the second portion of sensor data need not be mutually exclusive portions of data, but instead generally include data from one or more sensors. In some embodiments, the second portion of the sensor data is formatted based at least in part on an identity of the first external evidence repository. For example, different computer systems and servers may be configured to receive data having a particular format or formats. Thus, it may be advantageous to format the second data based at least in part on the identity of the external evidence repository. For example, the formatting may include encrypting the second portion of the sensor data.

In some embodiments, the sensor data from the respective sensors is encrypted in the respective data streams. For example, multiple streams of image data from a respective plurality of cameras may each be individually encrypted. In some embodiments, formatting includes selectively including metadata. For example, a portion of the sensor data may be used as metadata. For example, a timestamp or location of the UAV may be included with the sensor data. As another example, metadata included with the sensor data may likewise be encrypted. In some embodiments, the formatting includes formatting the second sensor data to comply with one or more evidence continuity criteria. Various national and international organizations have established standards that may be considered as acceptable in the court of law based on their evidence. In some embodiments, these standards include standards that specify capturing, storing, shipping, encrypting, auditing, and modifying data. Thus, formatting may include formatting the second sensor data to comply with one or more of these standards. Further, the encryption of the sensor data and the formatting of the sensor data may be performed in any order as desired. For example, the sensor data may first be encrypted and then formatted based at least in part on the identity of the external evidence repository. Alternatively, the sensor data may be formatted based at least in part on the identity of the external evidence repository and then encrypted. In further embodiments, the encryption and formatting may occur substantially simultaneously.

At block 650, the first formatted sensor data is transmitted to a first external evidence repository. For example, the base station may transmit the first formatted sensor data to a first external evidence repository in real-time. Alternatively, the base station may first store the sensor data (raw or formatted sensor data) in a storage device, such as a memory of the base station, and then later transmit the formatted sensor data to the first external evidence repository. For example, the base station may store the sensor data when the anchor vehicle is patrolling and then transmit the formatted sensor data after detecting a security synchronization point (a wireless network of a police department or a fire department).

At block 660, a request to transition a UAV between a docked configuration and an airborne configuration is received at a base station. The request to transition the UAV may be received at any time. In some embodiments, the request to transition is received from a portable electronic device. For example, a police associated with the anchor vehicle may transmit the request from a smartphone. In some embodiments in which the base station is coupled to the electrical system of the anchor vehicle, the request may include data indicative of an operating state of the anchor vehicle. For example, data indicating that the anchor vehicle has been placed in "park" may be received as a request to transition the UAV. At block 670, control signals are transmitted that transition the UAV between the docked configuration and the airborne configuration. For example, the control signal may be a control signal that transitions the UAV from a docked configuration to an airborne configuration. Alternatively, the control signal may be a control signal that transitions the UAV from an airborne configuration and a docked configuration.

FIG. 7 is a flow diagram of an event auditing method 700 according to some embodiments. At block 710, sensor data is received from at least one sensor of an unmanned aerial vehicle ("UAV") at a base station mounted to an anchor vehicle. In some embodiments, the UAV is communicatively coupled with the base station via a tether. The sensor data may include various sensor data from ultrasonic sensors, temperature sensors, airspeed sensors, barometric pressure sensors, orientation sensors, accelerometers, or any other suitable sensors. In some embodiments, the sensor data includes a plurality of image data streams from a respective plurality of cameras. At block 720, a control signal is transmitted to the UAV. In some embodiments, the control signal is transmitted from a base station. In some embodiments, the transmission of the control signal is based at least in part on the first portion of the sensor data. For example, during periods in which the UAV is in an airborne configuration, control signals may be transmitted based on airspeed, orientation, and acceleration data, while data from temperature sensors is simply recorded. At block 730, the base station is communicatively coupled with a first external evidence base. For example, the base station may be coupled with a remote server of the hosting platform via one or more of wireless and wired communications.

At block 740, a second portion of the sensor data is formatted to produce first formatted sensor data. For example, orientation data, acceleration data, temperature data, and image data may be formatted to generate formatted sensor data. Thus, the first portion of sensor data and the second portion of sensor data need not be mutually exclusive portions of data, but instead generally include data from one or more sensors. In some embodiments, the second portion of the sensor data is formatted based at least in part on an identity of the first external evidence repository. For example, different computer systems and servers may be configured to receive data having a particular format or formats. Thus, it may be advantageous to format the second data based at least in part on the identity of the external evidence repository. For example, the formatting may include encrypting the second portion of the sensor data.

In some embodiments, the sensor data from the respective sensors is encrypted in the respective data streams. For example, multiple streams of image data from a respective plurality of cameras may each be individually encrypted. In some embodiments, formatting includes selectively including metadata. For example, a portion of the sensor data may be used as metadata. For example, a timestamp or location of the UAV may be included with the sensor data. As another example, metadata included with the sensor data may likewise be encrypted. In some embodiments, the formatting includes formatting the second sensor data to comply with one or more evidence continuity criteria. Various national and international organizations have established standards that may be considered as acceptable in the court of law based on their evidence. In some embodiments, these standards include standards that specify capturing, storing, shipping, encrypting, auditing, and modifying data. Thus, formatting may include formatting the second sensor data to comply with one or more of these standards. Further, the encryption of the sensor data and the formatting of the sensor data may be performed in any order as desired. For example, the sensor data may be first encrypted and then formatted based at least in part on the identity of the external evidence repository. Alternatively, the sensor data may be formatted based at least in part on the identity of the external evidence repository and then encrypted. In further embodiments, the encryption and formatting may occur substantially simultaneously.

At block 750, the first formatted sensor data is transmitted to a first external evidence repository. For example, the base station may transmit the first formatted sensor data to a first external evidence repository in real-time. Alternatively, the base station may first store the sensor data (raw or formatted sensor data) in a storage device, such as a memory of the base station, and then later transmit the formatted sensor data to the first external evidence repository. For example, the base station may store the sensor data when the anchor vehicle is patrolling and then transmit the formatted sensor data after detecting a security synchronization point (a wireless network of a police department or a fire department).

At block 760, a second portion of the sensor data is formatted to produce second formatted sensor data. For example, the base station may be communicatively coupled to a mobile data terminal ("MDT") of the anchor vehicle via wired or wireless communication. In some embodiments, the MDT includes one or more storage devices. Thus, the second portion of the sensor data may be formatted for storage on the MDT. At block 770, the second formatted sensor data is transmitted to a second external evidence repository. For example, the second formatted sensor data may be transmitted to the MDT. Alternatively, the second formatted sensor data may be transmitted to a second remote server, for example, via wireless communication.

Accordingly, among other things, the present disclosure provides an event auditing system that includes a base station, a UAV, and a tether extending between the base station and the UAV. Various features and advantages of the disclosure are set forth in the following claims.