Position estimation device and position estimation method
AssigneeSony Group 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.
Claims18
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 camera of the flight vehicle, wherein
- the camera is configured to capture an image,
- a flight area of the flight vehicle includes a first area and a second area,
- the first area is an area in which a sufficient GPS signal reaches from the GPS satellite, and
- the second area is an area in which an insufficient GPS signal reaches from the GPS satellite;
- a first sensor configured to receive a signal indicating an altitude of the flight vehicle;
- and
- circuitry configured to:
- control a flight of the flight vehicle based on the plurality of rotors, and
- estimate a position of the flight vehicle based on one of the GPS signal, or the image captured by the camera and the signal received by the first sensor.
A method, comprising:
- in a flight vehicle that includes a plurality of rotors, a Global Positioning System (GPS) receiver, a camera of the flight vehicle, a sensor different from the camera, and circuitry:
- receiving, by the GPS receiver, a GPS signal from a GPS satellite;
- capturing, by the camera, an image;
- receiving, by the sensor, a signal indicating an altitude of the flight vehicle;
- controlling, by the circuitry, a flight of the flight vehicle based on the plurality of rotors, wherein
- a flight area of the flight vehicle includes a first area and a second area,
- the first area is an area in which a sufficient GPS signal reaches from the GPS satellite, and
- the second area is an area in which an insufficient GPS signal reaches from the GPS satellite;
- and
- estimating, by the circuitry, a position of the flight vehicle based on one of the GPS signal, or the image captured by the camera and the signal received by the sensor.
A non-transitory computer-readable medium having stored thereon computer-executable instructions, which when executed by a processor of a flight vehicle, cause the processor to execute operations, the operations comprising:
- receiving, by a GPS receiver, a GPS signal from a GPS satellite;
- capturing, by a camera, an image;
- receiving, by a sensor, a signal indicating an altitude of the flight vehicle;
- controlling, by circuitry, a flight of the flight vehicle based on a plurality of rotors, wherein
- a flight area of the flight vehicle includes a first area and a second area,
- the first area is an area in which a sufficient GPS signal reaches from the GPS satellite, and
- the second area is an area in which an insufficient GPS signal reaches from the GPS satellite;
- and
- estimating, by the circuitry, a position of the flight vehicle based on one of the GPS signal, or the image captured by the camera and the signal received by the sensor.
Dependencies are inferred from the claim text.