METHODS AND SYSTEM FOR CONTROLLING A MOVABLE OBJECT

• US 20180284815A1
• Filed: 04/13/2018
• Published: 10/04/2018
• Est. Priority Date: 02/08/2017
• Status: Active Grant

• Current Assignee: SZ DJI Technology Co., Ltd. (d/b/a DJI) (iFlight Technology Company Limited)
• Original Assignee: SZ DJI Technology Co., Ltd. (d/b/a DJI) (iFlight Technology Company Limited)
• Inventors: CUI, Liuzheng, WU, Di, ZHANG, Wei, SONG, Jianyu, SHI, Renli
• Granted Patent: US 10,324,475 B2
• Time in Patent Office: Days
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• CPC Class Codes: B64U 10/13 Flying platforms
• CPC Class Codes: B64U 2201/104 using satellite radio beacon positioning systems, e.g. GPS
• CPC Class Codes: B64U 2201/20 Remote controls
• CPC Class Codes: B64U 30/20 Rotors; Rotor supports
• CPC Class Codes: G01S 19/44 Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method
• CPC Class Codes: G05D 1/0016 characterised by the operator's input device input arrangements for computing systems in general G06F3/00
• CPC Class Codes: G05D 1/104 involving a plurality of aircrafts, e.g. formation flying traffic control systems for aircraft G08G5/00

Abstract

Techniques are provided for controlling a movable object such as a UAV. A baseline change between a controlling object and a controllable object can be determined with centimeter or sub-centimeter accuracy based on satnav measurements from the controlling object and the controllable object. The baseline change can be mapped to a state change for the controllable object. Control commands can be generated for effecting the state change for the controllable object.

Claims

1. A computer-implemented method for controlling a controllable object, comprising:

determining a change in a baseline between a controlling object and the controllable object based on measurements from a first location sensor of the controlling object and a second location sensor of the controllable object;

mapping the baseline change to a corresponding state change for the controllable object based at least in part on a mapping function; and

generating one or more control commands to effect the state change for the controllable object.

2. The method of claim 1, wherein the controllable object is an unmanned aerial vehicle (UAV).

3. The method of claim 1, wherein the controlling object is a UAV.

4. The method of claim 1, wherein the first location sensor and the second location sensor are satnav receivers

5. The method of claim 1, wherein determining the baseline change comprises determining a baseline between the controlling object and the controllable object with centimeter level or sub-centimeter level accuracy.

6. The method of claim 4, wherein determining the baseline change comprises:

obtaining double-differenced measurements based on the measurements from the first location sensor and the second location sensor; and

fixing carrier phase ambiguities based on the double differenced measurements. The method of claim 1, wherein the state change for the controllable object is a change in position and the control commands are position control commands.

8. The method of claim 1;

wherein the state change for the controllable object comprises an activation or a deactivation of a predefined routine of the controllable object.

9. The method of claim 1;

wherein the state change for the controllable object comprises changing an operation of a component or a payload of the controllable object.

10. The method of claim 1, further comprising:

determining an updated baseline between the controllable object and the controlling object after generating the one or more control commands; and

generating one or more additional control commands to effect the state change for the controllable object based on the updated baseline.

14. The remote control terminal of claim 1 wherein the state change for the controllable object is a change in position and the control commands are position control commands.

16. The remote control terminal of claim 1 wherein the state change for the controllable object comprises changing an operation of a component or a payload of the controllable object.

11. A remote control terminal, comprising:

a satnav receiver configured to receive satellite signals from one or more satellites;

a memory that stores one or more computer-executable instructions; and

one or more processors configured to access the memory and execute the computer-executable instructions to perform a method comprising;

determining a change in a baseline between the remote control terminal and a controllable object based at least in part on measurements from the satnav receiver;

mapping the baseline change to a corresponding state change for the controllable object based at least in part on a mapping function; and

generating one or more control commands to effect the state change for the controllable object.

12. The remote control terminal of claim 11, wherein the controllable object is an unmanned aerial vehicle (UAV).

13. The remote control terminal of claim 11, wherein determining the baseline change comprises:

receiving additional measurements from the controllable object; and

fixing carrier phase ambiguities based on the measurements from the satnav receiver and the additional measurements from the controllable object.

15. The remote control terminal of claim 11, wherein the state change for the controllable object is a change in velocity and the control commands are velocity control commands.

17. The remote control terminal of claim 11, wherein the state change for the controllable object comprises a change in an attribute of a navigation path of the controllable object.

18. The remote control terminal of claim 11;

wherein the method further comprises;

determining an updated baseline between the remote control terminal and the controllable object after generating the one or more control commands; and

generating one or more additional control commands to effect the state change for the controllable object based on the updated baseline.

19. An unmanned aerial vehicle (UAV), comprising:

a satnav receiver configured to receive satellite signals from one or more satellites;

a memory that stores one or more computer-executable instructions; and

one or more processors configured to access the memory and execute the computer-executable instructions to perform a method comprising;

determining a change in a baseline between a controlling object and the UAV based at least in part on measurements from the satnav receiver;

mapping the baseline change to a corresponding state change for the UAV based at least in part on a mapping function; and

generating one or more control commands to effect the state change for the UAV.

20. The UAV of claim 19, wherein determining the baseline change comprises:

receiving additional measurements from the controlling object; and

fixing carrier phase ambiguities based on the measurements from the satnav receiver and the additional measurements from the controlling object.

21. The UAV of claim 19, wherein the method further comprises:

determining an updated baseline between the UAV and the controlling object after execution of the one or more control commands; and

generating one or more additional control commands to effect the state change for the UAV based on the updated baseline.

22. A control system, comprising:

a memory that stores one or more computer-executable instructions; and

one or more processors configured to access the memory and execute the computer-executable instructions to perform a method comprising;

determining a change in a baseline between a controlling object and a controllable object based on measurements from a first location sensor of the controlling object and a second location sensor of the controllable object;

mapping the baseline change to a corresponding state change for the controllable object based at least in part on a mapping function; and

generating one or more control commands to effect the state change for the controllable object.

23. The control system of claim 22, wherein the controllable object is an unmanned aerial vehicle (UAV).

24. The control system of claim 22, wherein the first location sensor and the second location sensor are satnav receivers.

25. The control system of claim 22, wherein determining the baseline change comprises determining a baseline between the controlling object and the controllable object with centimeter level or sub-centimeter level accuracy.

26. The control system of claim 24, wherein determining the baseline change comprises:

obtaining double-differenced measurements based on the measurements from the first location sensor and the second location sensor; and

fixing carrier phase ambiguities based on the double differenced measurements.

27. The control system of claim 22, wherein the state change for the controllable object is a change in position and the control commands are position control commands.

28. The control system of claim 22, wherein the state change for the controllable object comprises an activation or a deactivation of a predefined routine of the controllable object.

29. The control system of claim 22, wherein the state change for the controllable object comprises changing an operation of a component or a payload of the controllable object.

30. The control system of claim 22, wherein the method further comprising:

determining an updated baseline between the controllable object and the controlling object after generating the one or more control commands; and

generating one or more additional control commands to effect the state change for the controllable object based on the updated baseline.