Position estimation device and position estimation method

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, a lower side sensor different from the lower side camera, and circuitry:
• receiving, by the GPS receiver, a GPS signal from a GPS satellite;
• capturing, by the lower side camera, an image in a downward direction with respect to the flight vehicle;
• receiving, by the lower side sensor, an invisible signal for estimation of an altitude of the flight vehicle;
• controlling, by the circuitry, 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, or a turning operation of the flight vehicle, and
• the flight is based on flight route information;
• and
• controlling, by the circuitry, during the flight of the flight vehicle, a flight position of the flight vehicle based on the received GPS signal, the captured image, and the received invisible signal.

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:

• controlling a Global Positioning System (GPS) receiver of the flight vehicle to receive a GPS signal from a GPS satellite;
• controlling a lower side camera, on a lower side of the flight vehicle, to capture an image in a downward direction with respect to the flight vehicle;
• controlling a lower side sensor of the flight vehicle to receive an invisible signal for estimation of an altitude of the flight vehicle, wherein the lower side sensor is different from the lower side camera;
• controlling a flight of the flight vehicle based on a plurality of rotors of the flight vehicle, wherein
• the flight corresponds to at least one of a hovering operation of the flight vehicle, a movement of the flight vehicle, or a turning operation of the flight vehicle, and
• the flight is based on flight route information;
• and
• controlling, during the flight of the flight vehicle, a flight position of the flight vehicle based on the received GPS signal, the captured image, and the received invisible signal.