Magnetic navigation methods and systems utilizing power grid and communication network

• US 9,824,597 B2
• Filed: 01/21/2016
• Issued: 11/21/2017
• Est. Priority Date: 01/28/2015
• Status: Active Grant

• Current Assignee: Lockheed Martin Corporation (Martin Marietta Corporation)
• Original Assignee: Lockheed Martin Corporation (Martin Marietta Corporation)
• Inventors: Sekelsky, Stephen M.
• Primary Examiner(s): CHEUNG, CALVIN K
• Application Number:
  US15/003,206
• Publication Number:
  US 20170110015A1
• Time in Patent Office: 670 Days
• CPC Class Codes: B60L 2200/10 Air crafts
• CPC Class Codes: B60L 2240/622 by satellite navigation
• CPC Class Codes: B60L 53/32 by charging in short intervals along the itinerary, e.g. during short stops
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• CPC Class Codes: B64U 10/25 Fixed-wing aircraft VTOL aircraft B64U10/20
• CPC Class Codes: B64U 2101/00 UAVs specially adapted for particular uses or applications
• CPC Class Codes: B64U 2101/26 for manufacturing, inspections or repairs
• CPC Class Codes: B64U 2201/10 autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
• CPC Class Codes: B64U 2201/20 Remote controls
• CPC Class Codes: B64U 50/34 In-flight charging photovoltaics B64U50/31
• CPC Class Codes: G01C 21/20 Instruments for performing navigational calculations G01C21/24, G01C21/26 take precedence
• CPC Class Codes: G01R 1/06705 Apparatus for holding or moving single probes for moving multiple probe heads or ICs under test G01R31/2886
• CPC Class Codes: G01R 31/085 in power transmission or distribution lines, e.g. overhead
• CPC Class Codes: G01R 31/58 Testing of lines, cables or conductors testing of electric windings G01R31/72
• CPC Class Codes: G01R 33/032 using magneto-optic devices, e.g. Faraday or Cotton-Mouton effect
• CPC Class Codes: G05D 1/0202 specially adapted to aircraft
• CPC Class Codes: G05D 1/0265 using buried wires
• CPC Class Codes: G05D 1/042 specially adapted for aircraft
• CPC Class Codes: G05D 1/106 Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones
• CPC Class Codes: G08G 5/0069 specially adapted for an unmanned aircraft
• CPC Class Codes: H02G 1/02 : for overhead lines or cables
• CPC Class Codes: Y02T 10/70 : Energy storage systems for electromobility, e.g. batteries
• CPC Class Codes: Y02T 10/7072 : Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
• CPC Class Codes: Y02T 10/72 : Electric energy management in electromobility
• CPC Class Codes: Y02T 90/12 : Electric charging stations
• CPC Class Codes: Y02T 90/14 : Plug-in electric vehicles
• CPC Class Codes: Y02T 90/16 : Information or communication technologies improving the operation of electric vehicles

Abstract

Methods and configurations are disclosed for exploiting characteristic magnetic signature of electrical power transmission and distribution lines for navigation.

Claims

1. An aerial vehicle with automatic navigation comprising:

one or more diamond nitrogen vacancy (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 characteristics of the magnetic signature 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.

2. The aerial vehicle of claim 1, wherein the navigation control is further configured to navigate to an initial position.

3. The aerial vehicle of claim 2, wherein the navigation control is further configured to navigate the vehicle in a pattern over an area.

4. The vehicle of claim 1, wherein the vehicle is a ground vehicle.

5. The vehicle of claim 1, wherein the vehicle is a submersible vehicle.

6. A vehicle with automatic navigation comprising:

one or more diamond nitrogen vacancy (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 characteristics of the magnetic signature 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 vehicle based upon the infrastructure and its weak magnetic fields detected and determined as magnetic vectors.

7. The vehicle of claim 6, wherein the location of the vehicle is a position directly above the current source.

8. The vehicle of claim 7, wherein the one or more electronic processors are further configured to:

receive a second plurality of real-time magnetic vectors from the magnetometer; and

determine a course correction for the vehicle based upon the second plurality of magnetic vectors.

9. The vehicle of claim 8, wherein the vehicle is a flying vehicle.

10. The vehicle of claim 9, wherein the one or more electronic processors are further configured to:

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.

11. The vehicle of claim 7, wherein the one or more electronic processors are further configured to:

determine a target magnetic field corresponding with a set distance laterally offset from an initial point relative to the current source;

compare the second plurality of magnetic vectors to data corresponding to a known magnetic field generated by the current source;

determine lateral adjustment data based upon the comparison; and

provide the lateral adjustment data to the navigation control;

wherein the navigation control is further configured to adjust the position of the vehicle based upon the lateral adjustment data.

12. A system for navigating a vehicle comprising:

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;

wherein the navigation control is further configured to navigate to an initial position.

13. The system of claim 12, wherein the navigation control is further configured to navigate the vehicle in a pattern over an area.

14. The system of claim 13, wherein the one or more electronic processors are further 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.

15. The system of claim 14, wherein the location of the vehicle is a position directly above the current source.

16. The system of claim 15, wherein the one or more electronic processors are further configured to:

receive a second plurality of real-time magnetic vectors from the magnetometer;

determine a course correction for the vehicle based upon the second plurality of magnetic vectors.

17. The system of claim 16, wherein the vehicle is a flying vehicle.

18. The system of claim 17, wherein the one or more electronic processors are further configured to:

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.

19. The system of claim 15, wherein the one or more electronic processors are further configured to:

determine a target magnetic field corresponding with a set distance laterally offset from an initial point relative to the current source;

compare the second plurality of magnetic vectors to data corresponding to a known magnetic field generated by the current source;

determine lateral adjustment data based upon the comparison; and

provide the lateral adjustment data to the navigation control;

wherein the navigation control is further configured to adjust the position of the vehicle based upon the lateral adjustment data.

20. A system for navigating a vehicle comprising:

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;

wherein the vehicle is a ground vehicle.

21. A system for navigating a vehicle comprising:

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;

wherein the vehicle is a submersible vehicle.

22. A system for navigating a vehicle comprising:

a plurality of magnetometers configured to detect a plurality of magnetic vectors of a magnetic field;

one or more electronic processors configured to;

receive the plurality of magnetic vectors of the magnetic field from the plurality of magnetometers; and

determine a presence of a current source based upon the plurality of magnetic vectors; and

a navigation control configured to navigate the vehicle based upon the presence of the current source and the magnetic vector.

23. The system of claim 22, wherein the one or more processors are configured to determine the presence of the current source based upon a first magnetic vector and a second magnetic vector of the plurality of magnetic vectors.

24. A method for navigating a vehicle comprising:

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;

navigating the vehicle, using a navigation control, to an initial position; and

navigating, using the navigation control, the vehicle based upon the presence of the infrastructure current source and the magnetic vector.

25. The method of claim 24, further comprising navigating the vehicle, using the navigation control, in a pattern over an area.

26. The method of claim 25, further comprising:

receiving a plurality of magnetic vectors from the magnetometer corresponding to reading in the area; and

determining a maximum magnitude from the plurality of magnetic vectors, wherein the maximum magnitude corresponds to a location of the current source.

27. The method of claim 26, wherein the location of the vehicle is a position directly above the current source.

28. The method of claim 27, further comprising:

receiving a second plurality of real-time magnetic vectors from the magnetometer;

determining a course correction for the vehicle based upon the second plurality of magnetic vectors.

29. The method of claim 28, wherein the vehicle is a flying vehicle.

30. The method of claim 29, further comprising:

comparing the second plurality of magnetic vectors to data corresponding to a known magnetic field generated by the current source;

determining a target magnetic field corresponding with a set distance above the power source;

determining altitude adjustment data based upon the comparison; and

adjusting the altitude of the flying vehicle based upon the altitude adjustment data.

31. The method of claim 27, further comprising:

determining a target magnetic field corresponding with a set distance laterally offset from an initial point relative to the current source;

comparing the second plurality of magnetic vectors to data corresponding to a known magnetic field generated by the current source;

determining lateral adjustment data based upon the comparison; and

adjusting the position of the vehicle based upon the lateral adjustment data.

32. A method for navigating a vehicle comprising:

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 magnetic vector;

wherein the vehicle is a ground vehicle.

33. A method for navigating a vehicle comprising:

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 magnetic vector;

wherein the vehicle is a submersible vehicle.

34. A method for navigating a vehicle comprising:

detecting a plurality of magnetic vectors of a magnetic field using a plurality of magnetometers;

receiving, using one or more electronic processors, the plurality of magnetic vectors of the magnetic field from the plurality of magnetometers;

determining a presence of an infrastructure current source based upon the plurality of magnetic vectors; and

navigating, using a navigation control, the vehicle based upon the presence of the infrastructure current source and the plurality of magnetic vectors.

35. The method of claim 34, wherein determining the presence of the current source is based upon at least two magnetic vectors of the plurality of magnetic vectors.

36. An aerial vehicle with automatic navigation comprising:

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 characteristics of the magnetic signature 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.

37. A non-transitory computer-readable medium having instructions stored thereon, the instructions comprising:

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;

instructions to navigate a vehicle based upon the presence of the current source and the magnetic vector; and

instructions to navigate to an initial position.

38. The non-transitory computer-readable medium of claim 37, further comprising instructions to navigate the vehicle in a pattern over an area.

39. The non-transitory computer-readable medium of claim 38, further comprising:

instructions to receive a plurality of magnetic vectors from the magnetometer corresponding to reading in the area; and

instructions to determine a maximum magnitude from the plurality of magnetic vectors, wherein the maximum magnitude corresponds to a location of the current source.

40. The non-transitory computer-readable medium of claim 39, wherein the location of the vehicle is a position directly above the current source.

41. The non-transitory computer-readable medium of claim 40, further comprising:

instructions to receive a second plurality of real-time magnetic vectors from the magnetometer;

instructions to determine a course correction for the vehicle based upon the second plurality of magnetic vectors.

42. The non-transitory computer-readable medium of claim 41, wherein the vehicle is a flying vehicle.

43. The non-transitory computer-readable medium of claim 42, further comprising:

instructions to compare the second plurality of magnetic vectors to data corresponding to a known magnetic field generated by the current source;

instructions to determine a target magnetic field corresponding with a set distance above the power source;

instructions to determine altitude adjustment data based upon the comparison; and

instructions to adjust the altitude of the flying vehicle based upon the altitude adjustment data.

44. The non-transitory computer-readable medium of claim 40, further comprising:

instructions to determine a target magnetic field corresponding with a set distance laterally offset from an initial point relative to the current source;

instructions to compare the second plurality of magnetic vectors to data corresponding to a known magnetic field generated by the current source;

instructions to determine lateral adjustment data based upon the comparison; and

instructions to adjust the position of the vehicle based upon the lateral adjustment data.

45. A non-transitory computer-readable medium having instructions stored thereon, the instructions comprising:

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 a vehicle based upon the presence of the current source and the magnetic vector;

wherein the vehicle is a ground vehicle.

46. A non-transitory computer-readable medium having instructions stored thereon, the instructions comprising:

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 a vehicle based upon the presence of the current source and the magnetic vector;

wherein the vehicle is a submersible vehicle.

47. A non-transitory computer-readable medium having instructions stored thereon, the instructions comprising:

instructions to detect a plurality of magnetic vectors of a magnetic field using a plurality of magnetometers;

instructions to receive the plurality of magnetic vectors of the magnetic field from the plurality of magnetometers;

instructions to determine a presence of a current source based upon the plurality of magnetic vectors; and

instructions to navigate a vehicle based upon the presence of the current source and the plurality of magnetic vectors.

48. The non-transitory computer-readable medium of claim 47, wherein determining the presence of the current source is based upon at least two magnetic vectors of the plurality of magnetic vectors.