METHODS AND SYSTEM FOR CONTROLLING A MOVABLE OBJECT

• US 20190286169A1
• Filed: 05/17/2019
• Published: 09/19/2019
• 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 11,092,694 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

A computer-implemented method for controlling a controllable object includes 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 change in a navigation path of the controllable object based at least in part on a mapping function, generating one or more control commands according to the mapping, and controlling the controllable object to effect the state change according to the one or more control commands.

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 change in a navigation path of the controllable object based at least in part on a mapping function;

generating one or more control commands according to the mapping; and

controlling the controllable object to effect the state change according to the one or more control commands.

2. The method of claim 1, wherein determining the baseline change comprises performing double-differencing on the measurements from the first location sensor and the second location sensor to obtain double-differenced measurements.

3. The method of claim 1, wherein the change in the navigation path comprises a change from a first type of navigation path to a second type of navigation path.

4. The method of claim 1, wherein the change in the navigation path comprises changing an attribute of a predetermined pattern.

5. The method of claim 4, wherein the attribute comprises a radius.

6. The method of claim 1, wherein the mapping function is dynamically selected from a plurality of mapping functions.

7. The method of claim 6, wherein the selection of the mapping function is based at least in part on characteristics of the controlling object or the controllable object, or a surrounding environment.

8. The method of claim 1, further comprising mapping the baseline change to an activation or a deactivation of a predefined routine of the controllable object.

9. The method of claim 1, further comprising mapping the baseline change to an operation of a component or a payload of the controllable object.

10. The method of claim 9, wherein the operation comprises obtaining sensing data by the component or the payload.

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 the controllable object based on measurements from a first location sensor of the remote control terminal and a second location sensor of the controllable object;

mapping the baseline change to a corresponding change in a navigation path of the controllable object based at least in part on a mapping function;

generating one or more control commands according to the mapping; and

controlling the controllable object to effect the state change according to the one or more control commands.

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 performing double-differencing on the measurements from the first location sensor and the second location sensor to obtain double-differenced measurements.

14. The remote control terminal of claim 11, wherein the change in the navigation path comprises a change from a first type of navigation path to a second type of navigation path.

15. The remote control terminal of claim 11, wherein the change in the navigation path comprises changing an attribute of a predetermined pattern.

16. The remote control terminal of claim 15, wherein the attribute comprises a radius.

17. The remote control terminal of claim 11, wherein the mapping function is dynamically selected from a plurality of mapping functions based at least in part on characteristics of the remote control terminal or the controllable object, or a surrounding environment.

18. The remote control terminal of claim 11, wherein the method further comprises mapping the baseline change to an activation or a deactivation of a predefined routine of the controllable object.

19. The remote control terminal of claim 11, wherein the method further comprises mapping the baseline change to an operation of a component or a payload of the controllable object.

20. One or more non-transitory computer-readable storage media storing computer-executable instructions that, when executed by a computing system, configure the computing system to perform operations 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 change in a navigation path of the controllable object based at least in part on a mapping function;

generating one or more control commands according to the mapping; and

controlling the controllable object to effect the state change according to the one or more control commands.