Aerial vehicle and orientation detection method using same
AssigneeIndustrial Technology Research Institute
InventorsYuan-Chu Tai, Chung-Hsien Wu, Yu-Kai Wang
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Abstract
An aerial vehicle including a body, a first ranging device, a second ranging device and a controller is provided. The first ranging device is disposed on the body and is configured to detect a first distance between the first ranging device and the reflector. The second ranging device is disposed on the body and is configured to detect a second distance between the second ranging device and the reflector. The controller is configured to obtain an included angle between a direction of the body and the reflector according to the first distance and the second distance.
Claims20
An aerial vehicle, comprising:
- a body:
- a first ranging device disposed on the body and configured to detect a first distance between the first ranging device and a surface of a reflector;
- a second ranging device disposed on the body and configured to detect a second distance between the second ranging device and the surface of the reflector;
- and
- a controller configured to obtain an included angle between a direction of the body and the reflector according to the first distance and the second distance;
- wherein the reflector is a physical reflector;
- wherein the first ranging device has a first signal emission surface, and the second ranging device has a second signal emission surface:
- a first angle is formed between a first normal direction of the first signal emission surface and a second normal direction of the second signal emission surface, and a second angle is formed between the first normal direction of the first signal emission surface and the direction:
- the controller is further configured to:
- obtain the included angle between the direction and the reflector according to the first distance, the second distance, the first angle and the second angle, wherein the second distance, the direction of the body and the surface of the reflector form a triangle.
A direction detecting method, comprising:
- detecting a first distance between the first ranging device and a surface of a reflector by a first ranging device of an aerial vehicle, wherein the reflector is a physical reflector;
- detecting a second distance between a second ranging device and the surface of the reflector by the second ranging device of the aerial vehicle;
- and
- obtaining an included angle between a direction of a body of the aerial vehicle and the reflector by a controller of the aerial vehicle according to the first distance and the second distance;
- wherein the first ranging device has a first signal emission surface, and the second ranging device has a second signal emission surface;
- a first angle is formed between a first normal direction of the first signal emission surface and a second normal direction of the second signal emission surface, and a second angle is formed between the first normal direction of the first signal emission surface and the direction;
- wherein obtaining the included angle between the direction of the body of the aerial vehicle and the reflector by the controller of the aerial vehicle according to the first distance and the second distance comprising:
- obtain the included angle between the direction and the reflector according to the first distance, the second distance, the first angle and the second angle, wherein the second distance, the direction of the body and the surface of the reflector form a triangle by the controller.
Dependencies are inferred from the claim text.