专利摘要:
The invention relates to a drone comprising a barometric sensor (30) capable of delivering an altitude signal of the drone; an attitude measuring sensor (34) of said drone capable of estimating at least one attitude angle of the drone and altitude determination means (38) capable of delivering an altitude value of the drone expressed in a terrestrial reference absolute. The drone includes a relative wind speed sensor (36) adapted to measure the relative wind speed, and the altitude determination means (38) includes a predetermined altitude compensation data storage device (40), a altitude estimator (42) receiving as input the signals delivered by the attitude measuring sensor (34) and the relative wind speed sensor (36) and the barometric sensor (30) and combining these signals with the altitude compensation data stored in the storage device (40) for outputting the estimated altitude value of the drone.
公开号:FR3047064A1
申请号:FR1650605
申请日:2016-01-26
公开日:2017-07-28
发明作者:Nicolas Texier;Nicolas Martin;Mathieu Babel
申请人:Parrot Drones SAS;
IPC主号:
专利说明:

The invention relates to drones, especially rotary-wing drones such as quadcopters and the like and fixed-wing drones. The fixed-wing drones are provided with at least one rotor driven by at least one respective engine.
The rotary wing drones are provided with multiple rotors driven by respective engines controllable differentially to control the drone attitude and speed.
A typical example of such a drone is YAR.Drone, the Bebop Drone or the Bebop 2 from ParrotSA, Paris, France, which is a quadricopter equipped with a series of sensors (accelerometers, three-axis gyrometers, altimeter), a frontal camera capturing an image of the scene towards which the drone is directed, and a vertical aiming camera capturing an image of the terrain overflown.
The WO 2010/061099 A2 and EP 2 364 757 A1 (Parrot SA) describe such a drone and its driving principle via a phone or multimedia player with touch screen and built-in accelerometer, for example a cellular phone. iPhone type or a multimedia player or tablet type iPod Touch or iPad (trademarks of Apple Inc., USA). The drone is piloted by the user by means of signals emitted by the inclination detector of the aircraft, inclinations which will be replicated by the drone: for example, to advance the drone the user inclines his aircraft according to his axis. pitch, and to deport the drone right or left it inclines the same device relative to its axis of roll. In this way, if the drone is commanded to tilt or "dive" downward (tilt at a pitch angle), it will progress forward with a speed that is higher as the tilt important; conversely if it is controlled so as to "pitch up" in the opposite direction, its speed will gradually slow down and then reverse by going backwards. In the same way, for an inclination control along a roll axis the drone will lean to the right or left, causing a linear displacement in horizontal translation to the right or to the left. The user has other commands displayed on the touch screen, including "up / down" (throttle control) and "right swivel / left swivel" (pivoting of the drone around its yaw axis). The invention relates more particularly to the evaluation of the altitude at which the drone moves.
"Altitude" means the value of the instantaneous position of the drone in the vertical direction, considered in a fixed landmark such as a Galilean landmark, the zero altitude of which corresponds to the position of the drone on the ground, at the time of its lift-off. This "altitude" is therefore an absolute size.
The drone such as the AR.Drone described in the aforementioned documents is equipped with an ultrasonic rangefinder also called US sensor comprising an electro-acoustic transducer for transmitting and receiving ultrasound. This transducer emits a brief burst of ultrasound a few tens or hundreds of microseconds, then waits for the return of the acoustic echo sent after reflection on the ground. The time interval between the emission of the salvo and the reception of the echo makes it possible, knowing the speed of the sound, to estimate the length of the acoustic path traveled and thus to evaluate the distance separating the drone from the reflecting surface. In reality, since the beam of the US sensor is relatively wide (typically a cone of approximately 55 ° aperture), the transducer most often receives a multiplicity of echoes, and discriminates among these echoes that which corresponds to the point the closest. This measurement is iterated at short intervals, with a typical recurrence frequency of 25 Hz ultrasound bursts.
Such an altitude estimator implementing an ultrasonic range finder is described for example in EP 2 400 460 A1 (Parrot SA), where it is used in particular for calculating a scale factor to be applied to successive images of the field. overflown by the drone, used in particular to appreciate the horizontal speed of this one with respect to the ground, in combination with the accelerometric data.
The result provided by an ultrasonic rangefinder, hereinafter called "distance", is in any case a relative size, depending on the relief of the terrain overflown by the drone. Indeed, the measured distance may differ from the altitude (in the sense indicated above), in particular when the drone comes to pass over an obstacle, for example if it overflies, at constant altitude, a table or a wall: during the duration of this overflight, the distance measured by the ultrasonic rangefinder will decrease sharply, even though the altitude will not have changed.
If one sticks only to the indications of the rangefinder, it is therefore likely to make the drone "field monitoring", which is not the goal, especially in rough terrain when it is only desired to maintain altitude at a stable value. The invention aims to solve a number of problems resulting from this phenomenon, as well as other disadvantages peculiar to ultrasonic telemetry sensors.
These sensors have the following characteristics: - the measurement produced is only a relative measure of altitude (distance measurement, telemetry); - in real situation, the measurement is very parasitized, because of multiple echoes returned by the ground, more or less reflective ground and frequent disappearances of the signal for example when the drone flies over an absorbing ground (scrub ...); - the range is limited, about 6 m in the case of YAR. Drone described in the aforementioned documents, and beyond this value the telemetric signal disappears abruptly; - On the other hand, the measurement is very fast, it can be repeated at a high frequency (typically 25 Hz), and its accuracy is excellent, of the order of a few centimeters on a measurement scale ranging from a few tens of centimeters to several meters. .
To overcome these drawbacks, it is possible to use in combination with the rangefinder sensor another type of sensor, namely a pressure sensor, or barometric sensor as described in EP 2 644 240.
A barometric sensor makes it possible to measure pressure variations during flight, variations that are correlated with altitude variations. It is thus possible to obtain an absolute measurement of the altitude by integrating these variations from a zero altitude at the time of takeoff.
A barometric sensor has the following characteristics: - it provides an absolute measurement, independent of the terrain overflown; - it is usable at high altitude, without upper limit; - On the other hand, it is slow and not precise, insofar as it is necessary to integrate pressure variations; - Furthermore, it is subject to aerodynamic disturbances, especially at low altitude due to the ground effect, when the drone rotors produce significant turbulence making unusable the signals delivered by the pressure sensor.
Indeed, the barometric sensor is a pressure sensor measuring the static pressure which gives an indication of the altitude. This altitude should be absolute and independent of the movement of the drone.
In addition, drones, by their size, have integration constraints of the different sensors fitted to the drone since they must be positioned on small electronic cards (the smallest possible) and be positioned in small locations. In addition, these dimensional constraints of the drone have an impact on the constraints of weight, autonomy, stability and cost. All of these constraints mean that the barometric sensor is very often positioned in a cavity, the closed cavity being made using relatively soft materials.
Such an assembly has the following disadvantage. During the flight of the drone, the relative speed of the air applies a dynamic pressure on the outer surface of the drone causing a deformation of the structure of the drone and changes the static pressure inside the cavity, especially within the cavity housing the barometric sensor. The static pressure of the cavity containing the barometric sensor being modified, the altitude detected by the barometric sensor is therefore erroneous.
Thus, the object of the invention is to propose a drone comprising altitude determination means provided with means for possibly readjusting the detected altitude measurement, which makes it possible to solve this difficulty in all circumstances. The invention proposes for this purpose a drone comprising a barometric sensor capable of delivering an altitude signal of the drone; at least one attitude measuring sensor of said drone capable of estimating at least one attitude angle of the drone, and altitude determination means capable of delivering an altitude value of the drone expressed in an absolute landmark.
Characteristically, according to the invention, the drone comprises at least one relative wind speed sensor capable of measuring the relative wind speed, and the altitude determination means comprise: a compensation data memory device; predetermined altitude, - an altitude estimator receiving as input the signals delivered by said at least one attitude measuring sensor and by said at least one relative wind speed sensor and by the barometric sensor and combining these signals with the altitude compensation data stored in the storage device for outputting the estimated altitude value of the drone.
According to various advantageous subsidiary characteristics: the altitude estimator is able to periodically determine the estimated altitude as a function of the signals delivered by the at least one attitude measuring sensor and by said at least one relative wind speed sensor. and by the barometric sensor. attitudes of said drone include pitching and / or rolling. - The predetermined altitude compensation data storage device comprises altitude compensation data previously determined by means of disturbance measurements caused on said drone. the altitude estimator comprises a device for determining the compensation to be applied and a device for calculating the estimated altitude. the device for determining the compensation to be applied determines the compensation to be applied from the signals delivered by the at least one attitude measuring sensor and by the at least one relative wind speed sensor and by combining these signals with the data altitude compensation stored in the storage device and the estimated altitude calculation device comprises means capable of adding the altitude delivered by the barometric sensor and the compensation to be applied to determine the estimated altitude. 0
An embodiment of the device of the invention will now be described with reference to the appended drawings.
Figure 1 is an overview showing the drone and associated remote control device for remote control.
Figure 2 is a block diagram of the main bodies of the drone for estimating the altitude of the drone according to the invention. Figure 3 is a block diagram of the various organs of the altitude determination means according to the invention.
Figure 4 is a flowchart for determining the estimated altitude according to the invention.
Figure 5 is a timing diagram showing the estimated altitude measurement after correction according to the invention. 0
In FIG. 1, reference numeral 10 generally designates a drone, for example a quadrocopter type rotary wing drone such as the AR.Drone, the Bebop Drone, the aforementioned Bebop 2 described in WO 2010/061099 A2 and EP 2 364 757 A1, as well as FR 2 915 569 A1 (which describes in particular the system of gyrometers and accelerometers used by the drone) and EP 2 431 084 A1 (which notably describes the manner of controlling predetermined trajectories).
According to the invention, the drone can be a fixed-wing drone.
The drone 10 illustrated in FIG. 1 comprises four coplanar rotors 12 whose engines are controlled independently by an integrated navigation and attitude control system.
The drone is provided with a first front-facing camera 14 making it possible to obtain an image of the scene towards which the drone is oriented, as well as a second camera with a vertical aim, pointing downwards to capture successive images of the terrain. overflown and used in particular to evaluate the speed of the drone with respect to the ground in combination with accelerometric data, thanks to software that estimates the displacement of the scene captured by the camera from one image to the next and applies to this estimated displacement a scale factor according to the measured altitude. This technique is described in detail in the aforementioned EP 2 400 460 A1, to which reference may be made for further details.
As shown in FIG. 1, the drone 10 is controlled by a remote remote control device 16 provided with a touch screen 18 displaying the image embedded by one of the cameras of the drone, with in superposition a certain number of symbols permitting the activation of control commands by simply touching a user's finger 20 on the touch screen 18. The apparatus 16 is provided with inclination sensors for controlling the attitude of the drone. In addition, the remote control device can display status data of the drone, including the altitude of the drone.
For the bidirectional exchange of data with the drone, the remote remote control device 16 is also provided with radio link means, for example Wi-Fi network type (IEEE 802.11) or Bluetooth (registered trademarks). The remote control unit 16 is advantageously constituted by a mobile phone or multimedia player with touch screen and built-in accelerometer, for example an iPhone-type cell phone, an iPod Touch-type music player or an iPad-type multimedia tablet, which are devices incorporating the various control devices necessary for displaying and detecting steering commands, viewing the image captured by the front camera, and bi-directional data exchange with the drone via Wi-Fi or Bluetooth .
The piloting of the drone 10 consists in making it evolve by controlling the engines in a differentiated manner to generate, as the case may be, movements of: a) rotation about a pitch axis, to advance or retreat the drone; and / or b) rotation around a roll axis, to shift the drone to the right or to the left; and / or c) rotation about a yaw axis, to rotate the main axis of the drone to the right or to the left; and / or d) translation downwards or upwards by changing the speed of the gasses so as to respectively reduce or increase the altitude of the drone.
The drone also has an automatic and autonomous hover stabilization system ("fixed point" configuration, autopiloted), activated especially when the user removes his finger from the touch screen of the device, or automatically at the end of the take-off phase, or in case of interruption of the radio link between the aircraft and the drone. The drone then moves to a state of levitation where it will be immobilized and stabilized automatically, without any intervention of the user.
In figure 2, it is represented the principal organs of the drone allowing the estimation of the altitude of the drone. These bodies are present on any type of drone, including rotary wing drones and fixed-wing drones. The drone 10 comprises an onboard 30 barometric sensor capable of delivering a signal of altitude variation of the drone and thus provide measurements that give the altitude of the drone relative to the ground.
The barometric sensor is very often positioned in a closed cavity, the cavity being made by means of relatively flexible materials. The drone 10 further comprises an attitude estimator 32 making it possible to obtain measurements of the behavior of the drone. For this purpose, it comprises one or more attitude measuring sensors 34. Examples of sensors are the inertial sensors (accelerometers and gyrometers) making it possible to measure with a certain accuracy the angular speeds and at least one angle of attitude of the drone, that is, the Euler angles describing the inclination of the drone with respect to a horizontal plane of a fixed terrestrial reference.
In addition, the drone, in particular the attitude estimator 32, comprises at least one relative wind speed sensor 36 capable of measuring the relative wind speed.
According to the invention, the drone 10 also has altitude determination means of the UAV 38 capable of delivering an altitude value of the drone expressed in an absolute landmark.
Since the barometric sensor 30 is very often positioned in a cavity whose structure is likely to be deformed during the flight of the drone, the static pressure inside the cavity will vary during the flight of the drone and therefore the altitude detected by the barometric sensor 30 is therefore erroneous.
As illustrated in FIG. 3, in order to correct the altitude detected by the barometric sensor 30 of the drone, whatever the drone, that is to say in particular with fixed wing or rotary wing, the means for determining altitude 38 comprise an altitude estimator 42 able to estimate the real altitude of the drone from data of attitude of the drone and relative wind speed and also from altitude compensation data stored in a storage device 40 for outputting the estimated altitude value of the drone.
According to one embodiment, the device for storing predetermined altitude compensation data 40 comprises, for a set of possible attitudes of the drone and of particular relative wind speeds, height compensation data previously determined by means of measurements. disturbance caused on said drone. In particular, these compensation data are determined, for example, by measurements carried out on test benches, in particular in the wind tunnel, in order to determine the difference between the altitude detected by the barometric sensor 30 and the actual altitude, in particular as a function of data of attitude of the drone and relative wind speed.
According to a particular embodiment of the determination of the compensation data, a mapping is created in the wind tunnel integrating the values measured by the barometric sensor 30, called raw measurements, under different conditions of relative wind speed and attitude of the drone.
In order to reduce the measurement errors of the barometric sensor 30, a plurality of raw measurements can be made for each condition of relative wind speed and attitude of the drone, then an average of these measured raw values is made.
Thus, gross measurements of the barometric sensor 30 are made for a set of attitudes of the drone, that is to say of pitch angle and / or roll angle and for different relative wind speeds.
The measurements are made in a particular room that has a given pressure.
Thus, for each measured raw value, the static pressure drift in the housing of the barometer is determined during each test and it is thus determined the correction to be made to the gross altitude measurement detected by the barometric sensor for each attitude of the barometer. drone relative to the relative wind speed.
Altitude compensation data is thus established for a set of UAV attitudes and for a set of relative wind speed data.
The table below illustrates an example of compensation data to be applied to the altitude value detected by the barometric sensor when the drone has a roll of 40 ° and no pitch angle.
Thus, according to this example, when the drone has a roll angle of 40 ° and the relative wind speed is -30m / s then the altitude detected by the barometric sensor must be adjusted by -10m.
Similarly according to this example, when the drone has a roll angle of -40 ° and the relative wind speed is -1 Om / s then the altitude detected by the barometric sensor must be adjusted by -2m.
As shown in FIG. 3, the altitude determination means 38 comprise an altitude estimator 42, receiving as input the signals delivered by the at least one attitude measuring sensor 34 of said drone and by said at least one sensor of relative wind speed 36 and by the barometric sensor 30 and combining these signals with the altitude compensation data stored in the storage device 40 to output said estimated altitude value of the drone.
According to a particular embodiment, the drone 10 comprises a device for converting the pressure measurement 44 delivered by the barometric sensor into a detected altitude measurement. According to an exemplary embodiment, the device for converting the pressure measurement is included in the altitude estimator. According to an alternative embodiment, the device for converting the pressure measurement 44 is located upstream of the altitude estimator 42.
According to a particular embodiment, the altitude estimator 42 comprises a device for determining the compensation to be applied 46 and an estimated altitude calculation device 48.
The device for determining the compensation to be applied determines the compensation to be applied to the detected altitude, based on the signals delivered by the at least one attitude measuring sensor 34 and by said at least one relative wind speed sensor. and combining these signals with the altitude compensation data stored in the predetermined altitude compensation data storage device 40.
According to a particular embodiment of the compensation determination device 46, the latter determines for each attitude angle, in particular the pitch angle and the roll angle, the compensation to be applied to the detected altitude. The total compensation to be applied corresponds to the sum of the compensations determined for each angle of attitude of the drone. Thus, the compensation determining device 46 thus delivers the total compensation determined to be applied to the altitude detected by the barometric sensor 30.
According to a particular embodiment, when the signals delivered by said at least one attitude measuring sensor 34 of said drone and by said at least one relative wind speed sensor 36 do not correspond to data stored in the storage device 40 but are between stored data, then an interpolation of the compensation data is performed from the stored relative attitude and relative wind speed data in order to best determine the compensation to be applied to the detected altitude. by the barometric sensor.
The device for calculating the estimated altitude 48 comprises means capable of adding the altitude delivered by the barometric sensor 30 or by the conversion device of the pressure measurement 44 and the compensation determined by the compensation determining device 46 to estimate the altitude of the drone.
According to a particular embodiment, the altitude estimator 42 is able to determine periodically or on demand the altitude of the drone as a function of the signals delivered by the at least one attitude sensor of the drone and by said at least one sensor. relative wind speed and the barometric sensor.
FIG. 4 is a diagram of steps for illustrating the precedent of determining the estimated altitude according to the invention, implemented in particular in the altitude determination means 38.
This method comprises a step 50 for receiving signals from the barometric sensor corresponding to the altitude detected by the barometric sensor.
This step is followed by the step 52 of receiving signals delivered by the attitude measuring sensor including pitching and / or rolling. Step 52 is followed by step 54 of receiving a signal for measuring the relative wind speed. Step 54 is followed by a step 56 of determining the compensation to be applied to the altitude detected from the attitude measurements of the drone and the measurement of the relative wind speed.
According to a particular embodiment, the determination of the compensation is carried out for each of the angles of attitude of the drone, in particular for pitching and rolling. Thus, if the drone has a pitch angle and no roll angle, then a single compensation value will be determined. If on the contrary, the drone has a pitch angle and a roll angle, then it is determined two compensations to be applied, one for each angle of attitude of the drone. Thus, the total compensation to be applied is then determined by the sum of the compensations determined. Step 56 is followed by a step 58 for calculating the estimated altitude from the altitude detected in step 50 and the compensation to be applied determined in step 56. In particular, the estimated altitude is the sum of the altitude detected and the compensation to be applied determined.
This process is implemented whenever it is necessary to know the altitude at the fairest of the drone. According to another embodiment, it can be implemented regularly, for example every second. It should be noted that steps 50 to 52 may be executed in a different order or in parallel. The altitude estimated by the altitude determination means 38 is provided at the input of the attitude estimator device 32. The latter implements, for example, a state estimator of the "Kalman filter" type, which is a filter with infinite impulse response that estimates the states of a dynamic system (the drone in this case) from a series of input measures. The general principles of this technique can be found for example in R. E. Kalman, A New Approach to Linear Filtering and Prediction Problem, Transactions of the ASME - Journal of Basic Engineering, Vol. 82 (1960).
Figure 5 illustrates the estimated altitude of the drone from the altitude determination means according to the invention.
FIG. 5 illustrates in line referenced A the measurement of the altitude detected by the barometric sensor 30 while the line referenced B presents the actual altitude obtained by a geolocation device (GPS device). It can be observed that during a very dynamic flight of the drone, the measurement of the barometric sensor 30 is very disturbed compared to the altitude measurement performed by a geolocation device. After application of the altitude determination method by the altitude determination means 38 according to the invention, the estimated altitude of the drone is represented by a line referenced C. It can be observed that the estimated altitude according to the invention is very close to the value of the altitude measured by the geolocation device.
权利要求:
Claims (6)
[1" id="c-fr-0001]
1. Drone comprising - a barometric sensor (30) capable of delivering an altitude signal of the drone; at least one attitude measuring sensor (34) of said drone capable of estimating at least one angle of attitude of the drone, and altitude determining means (38) capable of delivering an altitude value of the drone expressed. in an absolute terrestrial reference, characterized in that the drone comprises at least one relative wind speed sensor (36) capable of measuring the relative wind speed, and the altitude determination means (38) comprise: - a device for storing predetermined altitude compensation data (40), - an altitude estimator (42) receiving as input the signals delivered by said at least one attitude measuring sensor (34) and said at least one sensor relative wind speed (36) and the barometric sensor (30) and combining these signals with the altitude compensation data stored in the storage device (40) to output the estimated altitude value of the drone.
[2" id="c-fr-0002]
2. Drone of claim 1, wherein the altitude estimator (42) is able to periodically determine the estimated altitude based on the signals delivered by said at least one attitude measuring sensor and by said at least one Relative wind speed sensor and by the barometric sensor.
[3" id="c-fr-0003]
3. Drone according to any one of the preceding claims, characterized in that attitudes of said drone comprise pitch and / or roll.
[4" id="c-fr-0004]
A drone according to any one of the preceding claims, characterized in that the predetermined-state compensation data storage device (40) comprises altitude compensation data previously determined by means of disturbance measurements caused on said drone.
[5" id="c-fr-0005]
5. Drone according to any one of the preceding claims, characterized in that the altitude estimator (42) comprises a device for determining the compensation to be applied (46) and an estimated altitude calculation device (48). ).
[6" id="c-fr-0006]
6. Drone according to claim 5, characterized in that the device for determining the compensation to be applied (46) determines the compensation to be applied from the signals delivered by the at least one attitude measuring sensor and by said at least one relative wind speed sensor and combining these signals with the altitude compensation data stored in the storage device (40) and the estimated altitude calculation device (48) includes means for adding the altitude delivered by the barometric sensor (30) and the compensation to be applied to determine the estimated altitude.
类似技术:
公开号 | 公开日 | 专利标题
EP3199916B1|2018-11-14|Altitude estimator for drones
EP2644240B1|2014-10-08|Altitude estimator for rotary-wing drone with multiple rotors
EP2933775B1|2016-12-28|Rotary-wing drone provided with a video camera supplying stabilised image sequences
EP2831685A1|2015-02-04|Method for controlling a multi-rotor rotary-wing drone, with cross wind and accelerometer bias estimation and compensation
EP2613214B1|2017-08-02|Method for controlling a rotary-wing drone to operate photography by an on-board camera with minimisation of interfering movements
EP3076258B1|2018-08-01|Drone provided with a video camera with compensated vertical focussing of instantaneous rotations for estimating horizontal speeds
EP2613213A1|2013-07-10|Intuitive piloting method of a drone by means of a remote control device
EP2998818A1|2016-03-23|Method for dynamic control of a rotary-wing drone launched departure
FR3000813A1|2014-07-11|Rotary wing drone i.e. quadricopter, has image analysis unit implementing Kalman filter estimator having representation of dynamic model of drone, with input of horizontal speed, position, linear acceleration, rotation and altitude signals
EP3276591A1|2018-01-31|Drone with an obstacle avoiding system
EP3273318B1|2021-07-14|Autonomous system for collecting moving images by a drone with target tracking and improved target positioning
WO2006129003A2|2006-12-07|Method and device for locating a terminal in a wireless local area network
FR2964573A1|2012-03-16|METHOD FOR CONTROLLING A MULTI-ROTOR ROTOR SAILING DRONE
EP3217658A1|2017-09-13|Method for encoding and decoding video of a drone, and devices thereof
EP3112803A1|2017-01-04|Camera unit capable of being installed in a drone for mapping a terrain and method for managing the collection of images by a camera unit
EP1407214A2|2004-04-14|Device, and related method, for determining the direction of a target
EP3273317A1|2018-01-24|Autonomous system for taking moving images, comprising a drone and a ground station, and associated method
FR2915569A1|2008-10-31|Sensor e.g. accelerometer, calibrating method for e.g. drone, involves summing and integrating values to obtain total result, dividing result by known value to obtain estimation of bias, and calibrating sensor using bias
FR3087134A1|2020-04-17|OBSTACLE DETECTION ASSEMBLY FOR DRONE, DRONE HAVING SUCH AN OBSTACLE DETECTION ASSEMBLY, AND OBSTACLE DETECTION METHOD
FR3007840A1|2015-01-02|METHOD FOR DETECTING A FAILURE OF AT LEAST ONE SENSOR PRESENTED ON AN AIRCRAFT USING AN ANEMO-INERTIAL LOOP AND ASSOCIATED SYSTEM
FR3067196A1|2018-12-07|ELECTRONIC DEVICE FOR DETERMINING THE DISTANCE OF A DRONE IN RELATION TO AN OBSTACLE WITH FILTERING ADAPTED TO THE SPEED OF THE DRONE, DRONE, DETERMINATION METHOD AND COMPUTER PROGRAM
FR2981149A1|2013-04-12|Aircraft, has attitude measurement device including optical sensor that captures images of stars, where attitude measurement device measures attitude of aircraft at both day and night from images taken by sensor
FR2513373A1|1983-03-25|IMPROVEMENTS IN GYROSCOPIC NAVIGATION FACILITIES WITH STEERING OR STABILIZATION FUNCTIONS
EP3333539A1|2018-06-13|Electronic control device for controlling a drone, related drone, controlling method and computer program
EP3168645A1|2017-05-17|Loading of ephemeris data in a drone
同族专利:
公开号 | 公开日
EP3199916A1|2017-08-02|
FR3047064B1|2018-03-02|
EP3199916B1|2018-11-14|
JP2017178301A|2017-10-05|
CN106996768A|2017-08-01|
US20170211933A1|2017-07-27|
US10228245B2|2019-03-12|
引用文献:
公开号 | 申请日 | 公开日 | 申请人 | 专利标题
US5349347A|1993-03-29|1994-09-20|Alliedsignal Inc.|Method and apparatus for correcting dynamically induced errors in static pressure, airspeed and airspeed rate|
US6819983B1|2002-12-03|2004-11-16|Rockwell Collins|Synthetic pressure altitude determining system and method with wind correction|
EP2644240A1|2012-03-30|2013-10-02|Parrot|Altitude estimator for rotary-wing drone with multiple rotors|
US6798378B1|2002-11-22|2004-09-28|Garmin Ltd.|Device and method for displaying track characteristics|
FR2915569A1|2007-04-26|2008-10-31|Parrot Sa|Sensor e.g. accelerometer, calibrating method for e.g. drone, involves summing and integrating values to obtain total result, dividing result by known value to obtain estimation of bias, and calibrating sensor using bias|
US20110213554A1|2008-06-25|2011-09-01|Ian George Archibald|Method and system for screening an area of the atmosphere for sources of emissions|
FR2938774A1|2008-11-27|2010-05-28|Parrot|DEVICE FOR CONTROLLING A DRONE|
FR2957266B1|2010-03-11|2012-04-20|Parrot|METHOD AND APPARATUS FOR REMOTE CONTROL OF A DRONE, IN PARTICULAR A ROTATING SAIL DRONE.|
FR2961601B1|2010-06-22|2012-07-27|Parrot|METHOD FOR EVALUATING THE HORIZONTAL SPEED OF A DRONE, IN PARTICULAR A DRONE SUITABLE FOR AUTOPILOT STATIONARY FLIGHT|
FR2964573B1|2010-09-15|2012-09-28|Parrot|METHOD FOR CONTROLLING A MULTI-ROTOR ROTOR SAILING DRONE|
US20160180126A1|2014-10-05|2016-06-23|Kashif SALEEM|Method and System for Assets Management Using Integrated Unmanned Aerial Vehicle and Radio Frequency Identification Reader|
US10232938B2|2015-07-01|2019-03-19|W.Morrison Consulting Group, Inc.|Unmanned supply delivery aircraft|
US9592910B1|2015-12-18|2017-03-14|Amazon Technologies, Inc.|Geometrically reconfigurable propellers|
FR3048843A1|2016-03-09|2017-09-15|Parrot Drones|METHOD FOR ENCODING AND DECODING A VIDEO AND ASSOCIATED DEVICES|WO2018175252A1|2017-03-23|2018-09-27|Interdigital Patent Holdings, Inc.|Altitude path-loss based power control for aerial vehicles|
RU2674283C1|2017-08-30|2018-12-06|Виктор Дарьевич Свет|Helicopter landing ensuring system |
JP6964012B2|2018-02-16|2021-11-10|グローブライド株式会社|Aircraft winch controller and air vehicle|
JP6981893B2|2018-02-16|2021-12-17|グローブライド株式会社|Aircraft winch data display system and air vehicle and winch data processing method|
US20190324447A1|2018-04-24|2019-10-24|Kevin Michael Ryan|Intuitive Controller Device for UAV|
WO2020019331A1|2018-07-27|2020-01-30|深圳市大疆创新科技有限公司|Method for height measurement and compensation by barometer, and unmanned aerial vehicle|
CN109282787B|2018-11-08|2021-01-01|浙江工业大学|Unmanned aerial vehicle flying height step detecting system|
WO2021217329A1|2020-04-27|2021-11-04|深圳市大疆创新科技有限公司|Altitude detection method, method and device for determining compensation, and unmanned aerial vehicle|
法律状态:
2017-01-20| PLFP| Fee payment|Year of fee payment: 2 |
2017-07-28| PLSC| Publication of the preliminary search report|Effective date: 20170728 |
2018-01-11| PLFP| Fee payment|Year of fee payment: 3 |
2019-01-10| PLFP| Fee payment|Year of fee payment: 4 |
2020-10-16| ST| Notification of lapse|Effective date: 20200910 |
优先权:
申请号 | 申请日 | 专利标题
FR1650605A|FR3047064B1|2016-01-26|2016-01-26|ALTITUDE ESTIMATOR FOR DRONE|FR1650605A| FR3047064B1|2016-01-26|2016-01-26|ALTITUDE ESTIMATOR FOR DRONE|
EP17150667.8A| EP3199916B1|2016-01-26|2017-01-09|Altitude estimator for drones|
CN201710037212.0A| CN106996768A|2016-01-26|2017-01-18|Height Estimation device for unmanned plane|
JP2017009194A| JP2017178301A|2016-01-26|2017-01-23|Altitude estimation device for drone|
US15/416,213| US10228245B2|2016-01-26|2017-01-26|Altitude estimator for a drone|
[返回顶部]