# US 12,190,739 B2 · Navigation correction for excessive wind > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,190,739 B2 - Document ID: US12190739B2 - Status: Granted - Kind: B2 - Application number: 17/730,569 - Filed: 2022-04-27 - Published: 2023-11-02 - Granted: 2025-01-07 - Earliest claimed: 2022-04-27 - Assignees: Snap Inc. - Applicants: Snap Inc. - Inventors: David G. Fliszar; Russell Douglas Patton - Web page: https://patentgrep.com/patent/US12190739B2 ## CPC - G05D 1/0204: {to counteract a sudden perturbation, e.g. cross-wind, gust} - G08G 5/34: for flight plan modification - B64C 39/024: {of the remote controlled vehicle type, i.e. RPV} - G08G 5/21: located onboard the aircraft - G08G 5/53: for cruising - G08G 5/55: for a single aircraft - G08G 5/57: for unmanned aircraft - G08G 5/59: in accordance with predefined flight zones, e.g. to avoid prohibited zones - G08G 5/74: for monitoring terrain - G08G 5/76: for monitoring atmospheric conditions - B64U 50/19: using electrically powered motors - B64U 2101/30: for imaging, photography or videography - B64U 2201/10: autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS] - G08G 5/80: Anti-collision systems - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93}) - B64C: AEROPLANES; HELICOPTERS - B64U: UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR ## Abstract Systems, computer readable medium and methods for navigation correction for excessive wind in an autonomous drone are disclosed. Excessive winds can be a particular problem for small autonomous drones as safety and retrieval of the autonomous drones is important and the autonomous drones often have limited thrust and batteries. Autonomous drones are disclosed that detect and correct flight plans when excessive winds are detected. The autonomous drone determines based on the severity of the excessive winds whether to return to a home position which is typically a position of a user of the autonomous drone or to land in place. If the excessive winds subside, then the autonomous drone returns to its original flight plan at the point where the autonomous drone was blown off course by the excessive winds. The autonomous drone detects excessive winds either directly by sensor data or inferentially by unanticipated movement of the autonomous drone. ## Claims ### Claim 1 A navigation system of an autonomous drone comprising: at least one processor; and a memory storing instructions that, when executed by the at least one processor, configure the a least one processor to perform operations comprising: causing an autonomous drone to take off from a home position based on a flight plan; navigating the autonomous drone in accordance with the flight plan; capturing images while navigating the autonomous drone in accordance with the flight plan; streaming, in near real time, the captured images to a host device; in response to detecting a wind speed exceeding a nominal threshold, determining an updated flight plan to return to the home position, navigating the autonomous drone in accordance with the updated flight plan, and suspending streaming the captured images until the autonomous drone returns to a position on the flight plan while being navigated in accordance with the updated flight plan; and in response to detecting the wind speed exceeding a critical threshold, navigating the autonomous drone to land in place. ### Claim 2 (depends on 1) The navigation system of claim 1 wherein the operations further comprise: in response to detecting the wind speed dropping below the critical threshold, determining a second updated flight plan to return to the home position, and navigating the autonomous drone in accordance with the second updated flight plan. ### Claim 3 (depends on 1) The navigation system of claim 1 wherein the operations further comprise: in response to detecting the wind speed dropping below the nominal threshold, determining a second updated flight plan to resume the flight plan, and navigating the autonomous drone in accordance with the second updated flight plan. ### Claim 4 (depends on 3) The navigation system of claim 3 wherein the second updated flight plan comprises: returning to a position of the flight plan from before the wind speed exceeded the nominal threshold. ### Claim 5 (depends on 4) The navigation system of claim 4 wherein the operations further comprise: capturing images while navigating the autonomous drone in accordance with the flight plan; and capturing images while navigating the autonomous drone in accordance with the second updated flight plan. ### Claim 6 (depends on 1) The navigation system of claim 1 wherein the operations further comprise: determining a first height of the autonomous drone during navigating the autonomous drone in accordance with the flight plan, and wherein navigating the autonomous drone to land in place further comprises: during navigating the autonomous drone to land in place, determining a second height of the autonomous drone; and in response to the second height exceeding a height threshold, determining an updated flight plan to a location not exceeding the height threshold. ### Claim 7 (depends on 1) The navigation system of claim 1 wherein the nominal threshold and the critical threshold are adjusted based on a situation of the autonomous drone. ### Claim 8 (depends on 7) The navigation system of claim 7 wherein the situation comprises one or more of: whether people other than a user of the autonomous drone are present, whether the autonomous drone is in an outside location or an inside location, whether there are restricted areas within a second threshold of the flight plan, whether the autonomous drone is in a city situation, suburb situation, or field situation, whether there are dangerous areas within a third threshold of the flight plan, or a safety setting of the autonomous drone. ### Claim 9 (depends on 1) The navigation system of claim 1 wherein the operations further comprise: in response to a determination that a level of a battery indicates the autonomous drone cannot finish the flight plan, determining the updated flight plan to return to the home position, and navigating the autonomous drone in accordance with the updated flight plan. ### Claim 10 (depends on 1) The navigation system of claim 1 wherein the operations further comprise: in response to sensor data indicating a motion exceeding a nominal motion threshold, determining the updated flight plan to return to the home position, and navigating the autonomous drone in accordance with the updated flight plan; and in response to the sensor data indicating a motion exceeding a critical motion threshold, navigating the autonomous drone to land in place. ### Claim 11 (depends on 1) The navigation system of claim 1 wherein the in response to detecting a wind speed exceeding the nominal threshold further comprises: reducing power to one or more components of the autonomous drone, wherein the one or more components comprise one or more of: photography camera, wireless connections, or input/output devices. ### Claim 12 (depends on 1) The navigation system of claim 1 wherein the operations further comprise: determining a deviation from the flight plan; in response to the deviation from the flight plan indicating a deviation exceeding a nominal deviation threshold, determining the updated flight plan to return to the home position, and navigating the autonomous drone in accordance with the updated flight plan; and in response to the deviation from the flight plan indicating a deviation exceeding a critical deviation threshold, navigating the autonomous drone to land in place. ### Claim 13 (depends on 1) The navigation system of claim 1 wherein the operations further comprise: accessing a selection of the flight plan based on a position of a control user interface device; and determining the flight plan based on the selection of the flight plan. ### Claim 14 (depends on 1) The navigation system of claim 1 wherein the wind speed is determined based on data from one or more of: a wind speed sensor, a difference in an expected position and an actual position of the autonomous drone, an accelerometer, a gyroscope, a navigation camera, an inertial measurement unit, a magnetic sensor, a height detector, by a value of a motor thrust command or output power command to the electrical motors compared with an expected value for a given performance, by the motor thrust command or the output power command to the electrical motors that exceeds a first threshold above an expected value, by the motor thrust command or the output power command to the electrical motors that exceeds a second threshold above the expected value, by the motor thrust command or the output power command to the electrical motors being at a maximum value for a third threshold period of time, or by the motor thrust command or the output power command to the electrical motors being at the maximum value for a fourth threshold period of time. ### Claim 15 (depends on 1) The navigation system of claim 1 wherein the updated flight plan is determined based on whether the autonomous drone is capturing images. ### Claim 16 A method performed on an autonomous drone, the method comprising: taking off from a home position based on a flight plan; navigating the autonomous drone in accordance with the flight plan; capturing images while navigating the autonomous drone in accordance with the flight plan; streaming, in near real time, the captured images to a host device; in response to detecting a wind speed exceeding a nominal threshold, determining an updated flight plan to return to the home position, navigating the autonomous drone in accordance with the updated flight plan, and suspending streaming the captured images until the autonomous drone returns to a position on the flight plan while being navigated in accordance with the updated flight plan; and in response to detecting the wind speed exceeding a critical threshold, navigating the autonomous drone to land in place. ### Claim 17 (depends on 16) The method of claim 16 wherein the method further comprises: in response to detecting the wind speed dropping below the critical threshold, determining a second updated flight plan to return to the home position, and navigating the autonomous drone in accordance with the second updated flight plan. ### Claim 18 A non-transitory computer-readable storage medium, the non-transitory computer-readable storage medium including instructions that, when executed by at least one processor of a navigation system of an autonomous drone, cause the at least one processor to perform operations comprising: taking off from a home position based on a flight plan; navigating the autonomous drone in accordance with the flight plan; capturing images while navigating the autonomous drone in accordance with the flight plan; streaming, in near real time, the captured images to a host device; in response to detecting a wind speed exceeding a nominal threshold, determining an updated flight plan to return to the home position, navigating the autonomous drone in accordance with the updated flight plan, and suspending streaming the captured images until the autonomous drone returns to a position on the flight plan while being navigated in accordance with the updated flight plan; and in response to detecting the wind speed exceeding a critical threshold, navigating the autonomous drone to land in place. ### Claim 19 (depends on 18) The non-transitory computer-readable storage medium of claim 18, wherein the operations further comprise: in response to detecting the wind speed dropping below the critical threshold, determining a second updated flight plan to return to the home position, and navigating the autonomous drone in accordance with the second updated flight plan.