# US 11,029,158 B2 · System and method for movable object tracking and analysis

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- Number: US 11,029,158 B2
- Document ID: US11029158B2
- Status: Granted
- Kind: B2
- Application number: 16/244,223
- Filed: 2019-01-10
- Published: 2019-05-16
- Granted: 2021-06-08
- Earliest claimed: 2016-07-11
- Assignees: Sz Dji Technology Co., Ltd.
- Applicants: Sz Dji Technology Co., Ltd.
- Inventors: Arnaud Thiercelin; Dhanushram Balachandran; Robert Schlub; Hai Vo; Di Wu; Andrew Barinov
- Web page: https://patentgrep.com/patent/US11029158B2

## CPC

- G01C 21/20: Instruments for performing navigational calculations (G01C21/24, G01C21/26 take precedence)
- G06F 11/3058: {Monitoring arrangements for monitoring environmental properties or parameters of the computing system or of the computing system component, e.g. monitoring of power, currents, temperature, humidity, position, vibrations (thermal management in cooling arrangements of a computing system G06F1/206)}
- G06F 11/3476: {Data logging (G06F11/14, G06F11/2205 take precedence)}
- G01P 15/02: by making use of inertia forces {using solid seismic masses}(G01P15/14 takes precedence)
- G01S 19/13: Receivers
- G05B 19/042: using digital processors (G05B19/05 takes precedence)
- G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S)
- G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N)
- G01P: MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT (measuring or recording blood flow A61B5/02, A61B8/06; monitoring speed or deceleration of electrically-propelled vehicles B60L3/00; vehicle lighting systems adapted to indicate speed B60Q1/54; determining position or course in navigation, measuring ground distance in geodesy or surveying G01C; combined measuring devices for measuring two or more variables of movement G01C23/00; measuring velocity of sound G01H; measuring velocity of light G01J7/00; measuring direction or velocity of solid objects by reception or emission of radiowaves or other waves and based on propagation effects, e.g. Doppler effect, propagation time, direction of propagation, G01S; measuring speed of nuclear radiation G01T; measuring acceleration of gravity G01V; {measuring or recording the speed of trains B61L23/00; speed indicators incorporated in motor vehicles B60K35/00; measuring frequency or phase G01R; traffic control G08G})
- G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G)

## Abstract

A system for tracking and analyzing performance of a movable object and methods of making and using the same. Movable object performance can be tracked by creating a process log for a movable object manager of the movable object, and creating a movement record of the movable object for comparison to the process log. The process log can include, for example, records of application call processes to a movable object interface, protocol call processes transmitted to and from the movable object, and/or metadata. A movable object event can be analyzed by correlating the process log with the movement record. The present systems and methods are particularly suitable for tracking and analysis of unmanned aerial vehicles (UAV).

## Claims

### Claim 1

A method of movable object event analysis, comprising:
obtaining a process log for a movable object manager of a movable object, the movable object manager operating in a software environment;
obtaining a movement record of the movable object from two or more sensors including two or more of a global positioning system (GPS) sensor, a motion sensor, an inertial measurement unit (IMU), a proximity sensor, an image sensor, an attitude and heading reference system (AHRS), a radar sensor, a lidar sensor, an ultrasound sensor, and an infrared sensor;
analyzing a movable object event of the movable object by correlating the process log with the movement record to determine a cause of the movable object event; and
taking a remedial action based on the determined cause of the movable object event.

### Claim 2 (depends on 1)

The method of claim 1, wherein said obtaining the process log comprises obtaining the process log having a first record of application call processes to a movable object interface of the movable object manager, and the first record comprises applications call processes to an interface of a movable object software development kit (SDK).

### Claim 3 (depends on 1)

The method of claim 1, wherein said obtaining the process log comprises obtaining the process log having a second record of protocol call processes transmitted to and from the movable object.

### Claim 4 (depends on 1)

The method of claim 1, wherein said obtaining the process log comprises obtaining the process log having a third record of metadata associated with the movable object.

### Claim 5 (depends on 4)

The method of claim 4, wherein the third record comprises metadata of at least one of an imaging device, a gimbal, a remote controller, a mobile device, and a user application associated with the movable object.

### Claim 6 (depends on 1)

The method of claim 1, wherein said obtaining the process log comprises obtaining the process log upon detection of the movable object event and said obtaining the process log comprises obtaining the process log upon detection of a collision or crash of the movable object.

### Claim 7 (depends on 1)

The method of claim 1, wherein the two or more sensors include an inertial measurement unit (IMU) of the movable object and a global positioning system (GPS) of the movable object.

### Claim 8 (depends on 1)

The method of claim 1, wherein said analyzing comprises correlating a time of the movable object event in the movement record to a time of an entry in the process log and said analyzing comprises detecting a cause of a collision or crash of the movable object.

### Claim 9 (depends on 8)

The method of claim 8, wherein said detecting comprises determining that the movable object event is caused by a user application when the time of the movable object event is correlated with a time of an application call process of the user application, or, determining that the movable object event is caused by a movable object interface of the movable object manager when the time of the movable object event is correlated with a time of a protocol call process, but not correlated with a time of an application call process.

### Claim 10 (depends on 1)

The method of claim 1, wherein the movable object is an unmanned aerial vehicle (UAV).

### Claim 11

A movable object, comprising:
one or more processors configured for:
creating a process log for a movable object manager of the movable object, the movable object manager operating in a software environment;
creating a movement record of the movable object from two or more sensors including two or more of a global positioning system (GPS) sensor, a motion sensor, an inertial measurement unit (IMU), a proximity sensor, an image sensor, an attitude and heading reference system (AHRS), a radar sensor, a lidar sensor, an ultrasound sensor, and an infrared sensor for comparison to the process log; and
in response to detecting an event of collision or crash of the movable object:
transmitting the process log and the movement record to a user terminal or a movable object monitoring station; and
taking a remedial action based on a cause of the movable object event determined by the user terminal or the movable object monitoring station by correlating the process log with the movement record.

### Claim 12 (depends on 11)

The movable object of claim 11, wherein said creating the process log comprises creating the process log having a first record of application call processes to a movable object interface of the movable object manager and first record comprises applications calls processes that are application call processes to a movable object component.

### Claim 13 (depends on 11)

The movable object of claim 11, wherein said creating the process log comprises creating the process log having a second record of protocol call processes transmitted to and from the movable object and encrypting the protocol call processes.

### Claim 14 (depends on 11)

The movable object of claim 11, wherein said creating the process log comprises creating the process log having a third record of metadata associated with the movable object and the third record comprises metadata of at least one of an imaging device, a gimbal, a remote controller, a mobile device, and a user application associated with the movable object.

### Claim 15 (depends on 14)

The movable object of claim 14, wherein said creating the process log comprises creating the process log upon detection of an event that is a collision or crash of the movable object.

### Claim 16 (depends on 11)

The movable object of claim 11, wherein the movable object is an unmanned aerial vehicle (UAV).

### Claim 17

A system of movable object event analysis, comprising:
one or more microprocessors; and
an analyzer running on the one or more microprocessors, wherein the analyzer operates to:
obtain a process log for a movable object manager of a movable object, the movable object manager operating in a software environment;
obtain a movement record of the movable object from two or more sensors including two or more of a global positioning system (GPS) sensor, a motion sensor, an inertial measurement unit (IMU), a proximity sensor, an image sensor, an attitude and heading reference system (AHRS), a radar sensor, a lidar sensor, an ultrasound sensor, and an infrared sensor;
analyze a movable object event of the movable object by correlating the process log with the movement record to determine a cause of the movable object event; and
take a remedial action based on the determined cause of the movable object event.

### Claim 18 (depends on 17)

The system of claim 17, wherein said analyzer operates to obtain the process log having a first record of application call processes to a movable object interface of the movable object manager and the first record comprises applications calls processes that are application call processes to a movable object mission.

### Claim 19 (depends on 17)

The system of claim 17, wherein said analyzer operates to obtain the process log having a second record of protocol call processes transmitted to and from the movable object.

### Claim 20 (depends on 17)

The system of claim 17, wherein said analyzer operates to obtain the process log having a third record of metadata associated with the movable object and the third record comprises metadata of at least one of an imaging device, a gimbal, a remote controller, a mobile device, and a user application associated with the movable object.