Position estimation device and position estimation method
AssigneeSony Corporation
InventorsKohtaro Sabe, Haruto Takeda, Peter Duerr, Satoru Shimizu, Tsutomu Sawada, Kousuke Suzuki
Life of this patent
Estimating the term…
Abstract
Provided is a device including: an acquisition unit that acquires information indicating a position estimation system selected from among a plurality of position estimation systems for estimating a position of a flight vehicle; and a position estimation unit that estimates the position of the flight vehicle from first information generated by using an inertial sensor of the flight vehicle and second information generated through the position estimation system based on a parameter for the position estimation system.
Claims13
A flight vehicle, comprising:
- a plurality of rotors;
- a Global Positioning System (GPS) receiver configured to receive a GPS signal from a GPS satellite;
- a lower side camera on a lower side of the flight vehicle, wherein an optical axis of the lower side camera is toward a vertical direction;
- an ultrasonic sensor configured to emit an ultrasonic wave toward the vertical direction and receive a reflected wave of the ultrasonic wave;
- and
- circuitry configured to:
- control a flight of the flight vehicle based on the plurality of rotors, wherein
- the flight corresponds to at least one of a hovering operation of the flight vehicle, a movement of the flight vehicle, and a turning operation of the flight vehicle, and
- the flight is based on flight route information;
- and
- estimate, during the flight in a flight area, a position of the flight vehicle based on at least the received GPS signal, the lower side camera, and the received reflected wave.
A method, comprising:
- in a flight vehicle that includes a plurality of rotors, a Global Positioning System (GPS) receiver, a lower side camera on a lower side of the flight vehicle, an ultrasonic sensor, and circuitry, wherein an optical axis of the lower side camera is toward a vertical direction:
- receiving, by the GPS receiver, a GPS signal from a GPS satellite;
- emitting, by the ultrasonic sensor, an ultrasonic wave toward the vertical direction and receiving a reflected wave of the ultrasonic wave;
- controlling, by the circuitry, based on the plurality of rotors, a flight of the flight vehicle, wherein
- the flight corresponds to at least one of a hovering of the flight vehicle, a movement of the flight vehicle, and a turning of the flight vehicle, and
- the flight is based on flight route information;
- and
- estimating, by the circuitry, during the flight in a flight area, a position of the flight vehicle based on at least the received GPS signal, the lower side camera, and the received reflected wave.
A non-transitory computer-readable medium having stored thereon computer-executable instructions, which when executed by a computer in a flight vehicle, cause the computer to execute operations, the operations comprising:
- receiving, by a Global Positioning System (GPS) receiver of the flight vehicle, a GPS signal from a GPS satellite, wherein
- the flight vehicle includes a lower side camera on a lower side of the flight vehicle, and
- an optical axis of the lower side camera is toward a vertical direction;
- emitting, by an ultrasonic sensor of the flight vehicle, an ultrasonic wave toward the vertical direction and receiving a reflected wave of the ultrasonic wave;
- controlling, by circuitry of the flight vehicle, a flight of the flight vehicle, wherein
- the flight corresponds to at least one of a hovering of the flight vehicle, a movement of the flight vehicle, and a turning of the flight vehicle, and
- the flight is based on flight route information;
- and
- estimating, by the circuitry of the flight vehicle, during the flight in a flight area, a position of the flight vehicle based on at least the received GPS signal, the lower side camera, and the received reflected wave.
Dependencies are inferred from the claim text.