Multi-dimensional map

• US 9,965,964 B2
• Filed: 08/11/2015
• Issued: 05/08/2018
• Est. Priority Date: 08/11/2015
• Status: Active Grant

• Current Assignee: HERE Global B.V. (HERE Holding Corporation)
• Original Assignee: HERE Global B.V. (HERE Holding Corporation)
• Inventors: Bernhardt, Bruce, Sheynman, Arnold, Xu, Jingwei
• Primary Examiner(s): Jos, Basil T.
• Application Number:
  US14/823,208
• Publication Number:
  US 20170046960A1
• Time in Patent Office: 1,001 Days
• CPC Class Codes: B64U 2201/00 UAVs characterised by their flight controls
• 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: G01C 21/005 with correlation of navigation data from several sources, e.g. map or contour matching G01C21/30 takes precedence
• CPC Class Codes: G01C 21/20 Instruments for performing navigational calculations G01C21/24, G01C21/26 take precedence
• CPC Class Codes: G01C 21/3826 Terrain data
• 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 5/0021 located in the aircraft
• CPC Class Codes: G08G 5/0034 Assembly of a flight plan
• CPC Class Codes: G08G 5/0039 Modification of a flight plan
• CPC Class Codes: G08G 5/006 in accordance with predefined flight zones, e.g. to avoid prohibited zones
• CPC Class Codes: G08G 5/0069 specially adapted for an unmanned aircraft
• CPC Class Codes: G08G 5/0086 for monitoring terrain radar or analogous systems specially adapted for terrain avoidance G01S13/935

Abstract

A method including retrieving a multi-dimensional map from a navigation system memory; determining an aerial route between two locations based at least partially upon the multi-dimensional map; and storing the aerial route in the navigation system memory. The multi-dimensional map includes terrain information and object information. The object information includes information regarding location and size of objects extending above ground level. The objects are in uncontrolled airspace, and the object information includes height information regarding a height above ground level of at least some of the objects. The aerial route is limited to the uncontrolled airspace, where the aerial route is over and around at least some of the objects, and where the aerial route is determined, at least partially, based upon the height information of the objects.

Claims

1. A method comprising:

retrieving a multi-dimensional map from a navigation system memory, where the multi-dimensional map comprises terrain information and object information, where the object information comprises information regarding location and size of objects extending above ground level, where the objects are in uncontrolled airspace, and where the object information includes height information regarding a height above ground level of at least some of the objects;

determining an aerial route between two locations based at least partially upon the multi-dimensional map, where the aerial route is limited to the uncontrolled airspace, where the aerial route is over and around at least some of the objects, where the aerial route is determined, at least partially, based upon the height information of the objects and comprises aerial traffic lanes for safety and privacy, and wherein the aerial route is determined by precluding at least one area of possible aircraft flight based on time of day; and

storing the aerial route in the navigation system memory.

2. A method comprising:

selecting a destination for an unmanned aerial vehicle;

performing the method as in claim 1, where the destination is one of the two locations; and

the unmanned aerial vehicle flying autonomously from a first one of the locations to the destination with use of the aerial route stored in the navigation system memory and with use of position information retrieved by the unmanned aerial vehicle during flight.

3. A method as in claim 2 further comprising dynamically changing the aerial route during flight of the unmanned aerial vehicle based upon input received during flight.

4. A method as in claim 2 further comprising dynamically changing speed and altitude of an unmanned aerial vehicle during flight based upon input received during flight for collision avoidance with other unmanned aerial vehicles in case of an intersection of the aerial route with another aerial route.

5. A method as in claim 1 where determining an aerial route comprises avoiding an aircraft flight restricted area.

6. A method as in claim 1 where determining an aerial route comprises limiting the aerial route to predetermined flight areas in the uncontrolled airspace.

7. A method as in claim 1 where determining an aerial route comprises determining ascent and descent safety takeoff and landing areas at the two locations.

8. A method as in claim 1, wherein the aerial traffic lanes are dynamically managed to alter at least one of direction of the aerial traffic lanes or closure of the aerial traffic lanes.

9. A method as in claim 1, wherein the aerial traffic lanes comprise time zone restrictions to prohibit use at predetermined times of day.

10. An apparatus comprising:

at least one processor; and

at least one non-transitory memory including computer program code, the at least one memory and the computer program code configured to, with the at least one processor, cause the apparatus to;

retrieve a multi-dimensional map from a navigation system memory, where the multi-dimensional map comprises terrain information and object information, where the object information comprises information regarding location and size of objects extending above ground level, where the objects are in uncontrolled airspace, and where the object information includes height information regarding a height above ground level of at least some of the objects;

determine an aerial route between two locations based at least partially upon the multi-dimensional map, where the aerial route is limited to the uncontrolled airspace, where the aerial route is over and around at least some of the objects, and where the aerial route is determined, at least partially, based upon the height information of the objects and comprises aerial traffic lanes for safety and privacy, and wherein the aerial route is determined by precluding at least one area of possible aircraft flight based on time of day; and

store the aerial route in the navigation system memory.

11. An apparatus as in claim 10 where the at least one memory and the computer program code are configured to, with the at least one processor, cause the apparatus to:

select a destination for an unmanned aerial vehicle, where the destination is one of the two locations; and

the unmanned aerial vehicle flying autonomously from a first one of the locations to the destination with use of the aerial route stored in the navigation system memory and with use of position information retrieved by the unmanned aerial vehicle during flight.

12. An apparatus as in claim 11 where the at least one memory and the computer program code are configured to, with the at least one processor, cause the apparatus to dynamically change the aerial route during flight of the unmanned aerial vehicle based upon input received during flight.

13. An apparatus as in claim 10 where the at least one memory and the computer program code are configured to, with the at least one processor, cause the apparatus to determine the aerial route comprising avoiding an aircraft flight restricted area.

14. An apparatus as in claim 10 where the at least one memory and the computer program code are configured to, with the at least one processor, cause the apparatus to determine the aerial route comprising limiting the aerial route to predetermined flight areas in the uncontrolled airspace.

15. An apparatus as in claim 10 where the at least one memory and the computer program code are configured to, with the at least one processor, cause the apparatus to determine the aerial route comprising determining ascent and descent safety takeoff and landing areas at the two locations.

16. A non-transitory program storage device readable by a machine, tangibly embodying a program of instructions executable by the machine for performing operations, the operations comprising:

retrieving a multi-dimensional map from a navigation system memory, where the multi-dimensional map comprises terrain information and object information, where the object information comprises information regarding location and size of objects extending above ground level, where the objects are in uncontrolled airspace, and where the object information includes height information regarding height above ground level of at least some of the objects;

determining an aerial route between two locations based at least partially upon the multi-dimensional map, where the aerial route is limited to the uncontrolled airspace, where the aerial route is over and around at least some of the objects and comprises aerial traffic lanes for safety and privacy, where the aerial route is determined, at least partially, based upon the height information of the objects, and wherein the aerial route is determined by precluding at least one area of possible aircraft flight based on time of day; and

storing the aerial route in the navigation system memory.