MAGNETIC NAVIGATION METHODS AND SYSTEMS UTILIZING POWER GRID AND COMMUNICATION NETWORK
First Claim
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1. An aerial vehicle with automatic navigation comprising:
- one or more DNV sensors spaced apart from each other and each configured to detect magnetic fields generated by stationary infrastructure, such one or more DNV sensors determining a magnetic vector based on the magnetic fields, such infrastructure spaced apart from the one or more DNV sensors and providing a magnetic signature that is capable of being mapped based on its characteristics and correlated to sensed magnetic vectors;
one or more electronic processors configured to receive the magnetic vector of the magnetic field and determine a presence of infrastructure based upon the magnetic vector; and
a navigation control configured to automatically navigate the aerial vehicle based upon the infrastructure and its weak magnetic fields detected and determined as magnetic vectors.
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Abstract
Methods and configurations are disclosed for exploiting characteristic magnetic signature of electrical power transmission and distribution lines for navigation.
29 Citations
51 Claims
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1. An aerial vehicle with automatic navigation comprising:
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one or more DNV sensors spaced apart from each other and each configured to detect magnetic fields generated by stationary infrastructure, such one or more DNV sensors determining a magnetic vector based on the magnetic fields, such infrastructure spaced apart from the one or more DNV sensors and providing a magnetic signature that is capable of being mapped based on its characteristics and correlated to sensed magnetic vectors; one or more electronic processors configured to receive the magnetic vector of the magnetic field and determine a presence of infrastructure based upon the magnetic vector; and a navigation control configured to automatically navigate the aerial vehicle based upon the infrastructure and its weak magnetic fields detected and determined as magnetic vectors. - View Dependent Claims (2, 3, 10, 11)
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4. An aerial vehicle with automatic navigation comprising:
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one or more DNV sensors spaced apart from each other and each configured to detect magnetic fields generated by stationary infrastructure, such one or more DNV sensors determining a plurality of magnetic vectors based on the magnetic fields, such infrastructure spaced apart from the one or more DNV sensors and providing a magnetic signature that is capable of being mapped based on its characteristics and correlated to sensed magnetic vectors; one or more electronic processors configured to; receive a plurality of magnetic vectors from the magnetometer corresponding to readings in the area; and determine a maximum magnitude from the plurality of magnetic vectors, wherein the maximum magnitude corresponds to a location of the current source; and a navigation control configured to automatically navigate the aerial vehicle based upon the infrastructure and its weak magnetic fields detected and determined as magnetic vectors. - View Dependent Claims (5, 6, 7, 9)
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8. The system of aerial vehicle 7, wherein the one or more electronic processors are further configured to:
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compare the second plurality of magnetic vectors to data corresponding to a known magnetic field generated by the current source; determine a target magnetic field corresponding with a set distance above the power source; determine altitude adjustment data based upon the comparison; and provide the altitude adjustment data to the navigation control; wherein the navigation control is further configured to adjust the altitude of the flying vehicle based upon the altitude adjustment data.
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12. A system for navigating a vehicle comprising:
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a magnetometer configured to detect a magnetic vector of a magnetic field; one or more electronic processors configured to; receive the magnetic vector of the magnetic field from the magnetometer; and determine a presence of a current source based upon the magnetic vector; and a navigation control configured to navigate the vehicle based upon the presence of the current source and the magnetic vector. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24)
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25. A method for navigating a vehicle comprising:
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detecting, using a magnetometer, a magnetic vector of a magnetic field; receiving, using one or more electronic processors, the magnetic vector of the magnetic field from the magnetometer; determining a presence of an infrastructure current source based upon the magnetic vector; and navigating, using a navigation control, the vehicle based upon the presence of the infrastructure current source and the determined magnetic vector. - View Dependent Claims (26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37)
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38. An aerial vehicle with automatic navigation comprising:
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one or more magnetic sensor means spaced apart from each other and each configured to detect magnetic fields generated by stationary infrastructure, such one or more magnetic sensor means determining a magnetic vector based on the magnetic fields, such infrastructure spaced apart from the one or more magnetic sensor means and providing a magnetic signature that is capable of being mapped based on its characteristics and correlated to sensed magnetic vectors; one or more processing means configured to receive the magnetic vector of the magnetic field and determine a presence of infrastructure based upon the magnetic vector; and a navigation control configured to automatically navigate the aerial vehicle based upon the infrastructure and its weak magnetic fields detected and determined as magnetic vectors.
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39. A non-transitory computer-readable medium having instructions stored thereon, the instructions comprising:
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instructions to detect a magnetic vector of a magnetic field using a magnetometer; instructions to receive the magnetic vector of the magnetic field from the magnetometer; instructions to determine a presence of a current source based upon the magnetic vector; and instructions to navigate the vehicle based upon the presence of the current source and the magnetic vector. - View Dependent Claims (40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51)
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Specification