Spatial navigation system and method for programmable flying objects

A method of determining the position of a flying toy moving object in a space, comprising:

• determining a first distance from a sonic receiver mounted on the moving object to a first sonic transmitter located at a ground station unit, wherein the step of determining the first distance comprises:
• emitting an infrared light signal from the moving object to an infrared light receiver located at the ground station unit;
• initiating a time counter upon transmitting the infrared light signal;
• receiving a first sonic signal from the first sonic transmitter;
• stopping the time counter upon receiving the first sonic signal;
• and
• multiplying a predetermined speed constant by a time indicated by the time counter;
• determining a second distance from the sonic receiver mounted on the moving object to a second sonic transmitter located at the ground station unit;
• determining a third distance from the sonic receiver mounted on the moving object to a third sonic transmitter located at the ground station unit;
• utilizing the first distance, the second distance and the third distance to determine the position of the moving object in relation to the ground station unit,
• controlling through a remote control system using radio frequency modulation with signals corresponding to user input at least one of the yaw, roll, pitch motion, and also the throttle of the flying space unit, and the control is through moving navigation keys and a control stick to convey control signals to a microprocessor, the microprocessor in turn emits signals to the flying space unit through radio frequency signals from a radio transmitter and antenna;
• and
• wherein the first sonic transmitter, the second sonic transmitter and the third sonic transmitter are located relative to each other such that lines between them form a triangular configuration, and the infrared light signal receiver is located in the triangle, the first, second, and third transmitters being mounted in a single housing, the moving object including a motive system, multiple propellers being operable by the motive system, and the propellers being arranged laterally relative to each other and being directed generally to be in a horizontal plane when the object is flying.

A method of determining the position of a moving flying object in a space, comprising:

• determining a first distance from an ultrasonic receiver mounted on the moving object to a first ultrasonic transmitter located at a ground station unit, wherein the step of determining the first distance comprises:
• emitting an infrared light signal from the moving object to an infrared light receiver located at the ground station unit;
• initiating a time counter upon transmitting the infrared light signal;
• receiving a first ultrasonic signal from the first ultrasonic transmitter;
• stopping the time counter upon receiving the first ultrasonic signal;
• and
• multiplying a predetermined speed constant by a time indicated by the time counter;
• determining a second distance from the ultrasonic receiver mounted on the moving object to a second ultrasonic transmitter located at the ground station unit;
• determining a third distance from the ultrasonic receiver mounted on the moving object to a third ultrasonic transmitter located at the ground station unit;
• utilizing the first distance, the second distance and the third distance to determine the position of the moving object in relation to the ground station unit;
• controlling through a remote control system using radio frequency modulation with signals corresponding to user input at least one of the yaw, roll, pitch motion, and also the throttle of the space unit, and the control is through moving navigation keys and a control stick to convey control signals to a microprocessor, the microprocessor in turn emits radio frequency signals to the space unit through a radio transmitter and antenna;
• and
• the first sonic transmitter, the second sonic transmitter and the third sonic transmitter are located relative to each other such that lines between them form an equilateral triangular configuration, and the infrared light signal receiver being located at the center of the triangle.

A method of determining the position of a moving flying toy object in a space, comprising:

• determining a first distance from an ultrasonic receiver mounted on the moving object to a first sonic transmitter located at a ground station unit, wherein the step of determining the first distance comprises:
• emitting an infrared light signal from the moving object to an infrared light receiver located at the ground station unit;
• initiating a time counter upon transmitting the infrared light signal;
• receiving a first sonic signal from the first sonic transmitter;
• stopping the time counter upon receiving the first sonic signal;
• and
• multiplying a predetermined speed constant by a time indicated by the time counter;
• determining a second distance from the sonic receiver mounted on the moving object to a second sonic transmitter located at the ground station unit;
• determining a third distance from the sonic receiver mounted on the moving object to a third sonic transmitter located at the ground station unit;
• utilizing the first distance, the second distance and the third distance to determine the position of the moving object in relation to the ground station unit,
• controlling through a remote control system using radio frequency modulation with signals corresponding to user input at least one of the yaw, roll, pitch motion, and also the throttle of the space unit, and the control is through moving navigation keys and a control stick to convey control signals to a microprocessor, the microprocessor in turn emits signals to the space unit through radio frequency signals from a radio transmitter and antenna;
• and
• wherein the first sonic transmitter, the second sonic transmitter and the third sonic transmitter are located relative to each other such that lines between them form an equilateral triangular configuration, and the infrared light signal receiver is located in the triangle, the first, second, and third transmitters being mounted in a single housing, and the moving object includes a motive system, the motive system having multiple propellers operable by the motive system, the propellers being arranged laterally relative to each other and being directed generally to be in a horizontal plane when the object is flying, and the propellers being surrounded by circumferentially protective rings.