APPARATUS AND METHOD FOR UNMANNED AERIAL VEHICLE GROUND PROXIMITY DETECTION, LANDING AND DESCENT
First Claim
1. A proximity detector, comprising:
- a displacement sensor providing a displacement value;
a velocity sensor providing a velocity value; and
integration logic, configured to;
receive a first displacement value from the displacement sensor,integrate a velocity value received from the velocity sensor,determine an estimated displacement value based on the integrated velocity value and the first displacement value,determine a difference between the estimated displacement value and a second displacement value received from the displacement sensor, andresponsive to the difference being less than a difference threshold, output the second displacement value.
1 Assignment
0 Petitions
Accused Products
Abstract
A proximity detector, unmanned aerial vehicle (UAV), and method for outputting a displacement are provided. The proximity detector includes a velocity sensor, a displacement sensor, and integration logic. The integration login is configured to receive displacement values from the displacement sensor and integrate velocity values received from the velocity sensor. Based on the integrated velocity value and a first displacement value, the integration logic determines an estimated displacement value. A difference is determined between the estimated displacement value and a second displacement value. If the difference is less than a difference threshold, the second displacement value is output. The UAV and/or other vehicles may utilize the proximity sensor to provide data for vehicle control and operation, including maneuvering and landing the vehicle.
67 Citations
20 Claims
-
1. A proximity detector, comprising:
-
a displacement sensor providing a displacement value; a velocity sensor providing a velocity value; and integration logic, configured to; receive a first displacement value from the displacement sensor, integrate a velocity value received from the velocity sensor, determine an estimated displacement value based on the integrated velocity value and the first displacement value, determine a difference between the estimated displacement value and a second displacement value received from the displacement sensor, and responsive to the difference being less than a difference threshold, output the second displacement value. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
-
-
11. A method of outputting a displacement, comprising:
-
receiving a plurality of velocity values and a plurality of displacement values; determining an estimated displacement value based on a first displacement value of the plurality of displacement values and at least one of the plurality of velocity values; determining a difference between the estimated displacement value and a second displacement value of the plurality of displacement values; and responsive to the difference being less than a difference threshold, outputting an output displacement value. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18)
-
-
19. An unmanned aerial vehicle (UAV), comprising:
-
a propulsion unit; and a proximity detector, comprising; a displacement sensor, configured to determine a displacement value, a velocity sensor, configured to determine a velocity value, a processor, data storage, and machine-language instructions, stored in the data storage and configured to instruct the processor to perform functions including; receiving a first displacement value from the displacement sensor, wherein the displacement value represents an above-ground-level value, integrating a velocity value received from the velocity sensor over time, wherein the velocity value represents a velocity along a fixed axis corresponding to the above-ground-level value, determining an estimated displacement value based on the integrated velocity value and the first displacement value, determining a difference between the estimated displacement value and a second displacement value received from the displacement sensor, and responsive to the difference being less than a difference threshold and the estimated displacement value being less than a displacement threshold, determining the UAV is proximate to ground. - View Dependent Claims (20)
-
Specification