NAVIGATION BASED ON AT LEAST ONE SENSOR AND A THREE DIMENSIONAL MAP
First Claim
1. A method for navigation of an aerial vehicle, the method comprising providing a sensor image from an aerial vehicle sensor and repeatedly, until at least one predetermined criterion is reached, performing the steps:
- setting input data comprising information related to pitch angle, roll angle, yaw angle and three-dimensional position of the aerial vehicle;
providing a two-dimensional image from a database based on the input data, where the database comprises three-dimensional geo-referenced information of the environment,comparing the sensor image and the two dimensional image from the database; and
using the input data for which the two images correspond best to each other for determining at least one of the following quantities pitch angle, roll angle, yaw angle and three-dimensional position of the aerial vehicle.
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Accused Products
Abstract
The invention relates to a method for navigation of an aerial vehicle. The method comprises providing a sensor image from an aerial vehicle sensor. The method also comprises to repeatedly, until at least one predetermined criterion is reached, perform the step of setting input data, where the input data comprises information related to pitch angle, roll angle, yaw angle and three-dimensional position of the aerial vehicle, the step of providing a two-dimensional image from a database based on the input data, where the database comprises three-dimensional geo-referenced information of the environment, and the step of comparing the sensor image and the two dimensional image from the database. The method further comprises using the input data for which the two images correspond best to each other for determining at least one of the following quantities pitch angle, roll angle, yaw angle and three-dimensional position of the aerial vehicle.
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Citations
24 Claims
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1. A method for navigation of an aerial vehicle, the method comprising providing a sensor image from an aerial vehicle sensor and repeatedly, until at least one predetermined criterion is reached, performing the steps:
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setting input data comprising information related to pitch angle, roll angle, yaw angle and three-dimensional position of the aerial vehicle; providing a two-dimensional image from a database based on the input data, where the database comprises three-dimensional geo-referenced information of the environment, comparing the sensor image and the two dimensional image from the database; and using the input data for which the two images correspond best to each other for determining at least one of the following quantities pitch angle, roll angle, yaw angle and three-dimensional position of the aerial vehicle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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16. A system for navigation of an aerial vehicle, the system comprising
a database containing three-dimensional geo-referenced information of the environment, at least one aerial vehicle sensor providing a sensor image, and a processing unit configured to: -
receive the sensor image, to set input data comprising information related to pitch angle, roll angle, yaw angle and a three-dimensional position of the aerial vehicle, provide two-dimensional images from the database based on the input data, compare the sensor image with a two-dimensional images from the database, to decide which of the two-dimensional images corresponds best to the sensor image, determine at least one of the following quantities pitch angle, roll angle, yaw angle and three-dimensional position of the aerial vehicle based on the input data for which the best correspondence was achieved between one of the two-dimensional images and the sensor image, and communicate said at least one quantity. - View Dependent Claims (17, 18, 19, 20, 21, 22)
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23. A non-transitory computer program comprising a program code for navigation of an aerial vehicle, the computer program comprising the step of providing a sensor image from an aerial vehicle sensor and repeatedly, until at least one predetermined criterion is reached, performing the steps:
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setting input data comprising information related to pitch angle, roll angle, yaw angle and three-dimensional position of the aerial vehicle; providing a two-dimensional image from a database based on the input data, where the database comprises three-dimensional geo-referenced information of the environment; comparing the sensor image and the two dimensional image from the database; and using the input data for which the two images correspond best to each other for determining at least one of the following quantities pitch angle, roll angle, yaw angle and three-dimensional position of the aerial vehicle.
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24. Computer program product comprising a program code stored on a non-transitory computer readable media for navigation of an aerial vehicle, comprising the step of providing a sensor image from an aerial vehicle sensor and repeatedly, until at least one predetermined criterion is reached, performing the steps:
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setting input data comprising information related to pitch angle, roll angle, yaw angle and three-dimensional position of the aerial vehicle; providing a two-dimensional image from a database based on the input data, where the database comprises three-dimensional geo-referenced information of the environment; comparing the sensor image and the two dimensional image from the database; and using the input data for which the two images correspond best to each other for determining at least one of the following quantities pitch angle, roll angle, yaw angle and three-dimensional position of the aerial vehicle.
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Specification