Ground control point assignment and determination system

• US 9,835,453 B2
• Filed: 10/27/2016
• Issued: 12/05/2017
• Est. Priority Date: 03/08/2016
• Status: Active Grant

• Current Assignee: Skydio, Inc.
• Original Assignee: Unmanned Innovation Inc (Delair SAS)
• Inventors: Michini, Bernard J., Bethke, Brett Michael, Blanc-Paques, Fabien
• Primary Examiner(s): Black, Thomas G
• Assistant Examiner(s): Nolan, Peter D
• Application Number:
  US15/336,569
• Publication Number:
  US 20170259912A1
• Time in Patent Office: 404 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 10/14 with four distinct rotor axes, e.g. quadcopters
• 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 2101/30 for imaging, photography or videography
• CPC Class Codes: B64U 2101/60 for transporting passengers; for transporting goods other than weapons
• CPC Class Codes: B64U 2201/00 UAVs characterised by their flight controls
• CPC Class Codes: B64U 2201/20 Remote controls
• CPC Class Codes: G01C 15/02 Means for marking measuring points
• CPC Class Codes: G01C 15/06 Surveyors' staffs; Movable markers
• CPC Class Codes: G05D 1/0011 associated with a remote control arrangement
• CPC Class Codes: G05D 1/0094 involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
• CPC Class Codes: G05D 1/223 Command input arrangements on the remote controller, e.g. joysticks or touch screens
• CPC Class Codes: G05D 1/689 Pointing payloads towards fixed or moving targets positioning towed, pushed or suspended implements G05D1/672
• CPC Class Codes: G08G 5/0013 with a ground station
• CPC Class Codes: G08G 5/003 Flight plan management
• CPC Class Codes: G08G 5/0034 Assembly of a flight plan
• CPC Class Codes: G08G 5/0069 specially adapted for an unmanned aircraft

Abstract

Methods, systems, and apparatus, including computer programs encoded on computer storage media, for ground control point assignment and determination. One of the methods includes receiving information describing a flight plan for the UAV to implement, the flight plan identifying one or more waypoints associated with geographic locations assigned as ground control points. A first waypoint identified in the flight plan is traveled to, and an action to designate a surface at the associated geographic location is designated as a ground control point. Location information associated with the designated surface is stored. The stored location information is provided to an outside system for storage.

Claims

1. A ground control point marker comprising:

a top portion having a pattern thereon, the pattern configured to be recognizable in aerial images obtained by an unmanned aerial vehicle;

a Global Navigation Satellite System (GNSS) receiver, wherein the GNSS receiver obtains geospatial position information of a location where the ground control point marker is placed on a ground surface; and

a transmitter configured to wirelessly transmit the geospatial position information and an identifier of the ground control point marker to a separate computer system

wherein the top portion comprises a display with a plurality of lights, wherein the display is configured to display the pattern, and wherein the pattern comprises variable shapes, numbers, letters or figures.

2. The ground control point marker of claim 1, wherein a shape of the ground control point marker is circular, square or rectangular.

3. The ground control point marker of claim 1, wherein the display comprises an LED panel.

4. The ground control point marker of claim 1, wherein the ground control point marker determines a distance to different ground control point markers, and in response to the distance being less than a threshold distance, the ground control point marker displays a pattern different from a pattern displayed on the different ground control point markers.

5. The ground control point marker of claim 1, further comprising:

one or more sensors configured to determine information associated with the ground control point marker being level.

6. A method comprising:

placing a plurality of ground control point markers on a ground surface, each ground control point marker comprising;

a top portion having a pattern thereon, the pattern configured to be recognizable in aerial images obtained by an unmanned aerial vehicle;

a Global Navigation Satellite System (GNSS) receiver, wherein the GNSS receiver obtains geospatial position information of a location where the ground control point marker is placed on a ground surface; and

a transmitter configured to wirelessly transmit the geospatial position information and an identifier of the ground control point marker to a separate computer system,

wherein for at least one ground control point market, the top portion comprises a display configured to display the pattern, and wherein the pattern comprises variable shapes, numbers, letters or figures;

obtaining by the respective ground control point markers their respective geospatial position information; and

transmitting the respective geospatial position information and identifiers of each of the ground control point markers to a separate computer system.

7. The method of claim 6, further comprising:

obtaining aerial images including images of the plurality of the ground control point markers; and

generating ortho-rectified imagery of the obtained aerial images using the geospatial position information of the ground control point markers.

8. The method of claim 6, wherein a shape of a particular ground control point marker of the plurality of ground control point markers is circular, square or rectangular.

9. The method of claim 6, wherein the pattern of a respective ground control marker is of a different pattern from the other ground control markers.

10. The method of claim 6, wherein the display of the at least one ground control point marker comprises an LED panel.

11. The method of claim 6, wherein a particular ground control point marker determines a distance to different ground control point markers, and in response to the distance being less than a threshold distance, the particular ground control point marker displays a pattern different from a pattern displayed on the different ground control point markers.

12. The method of claim 6, wherein each ground control point marker further comprises:

one or more sensors configured to determine information associated with the ground control point marker being level.

13. An unmanned aerial vehicle (UAV) system comprising:

an unmanned aerial vehicle (UAV) comprising one or more processors, the UAV configured to;

place a ground control point marker on a surface, the ground control point marker being usable as a ground control point; and

the ground control point marker, the ground control point marker comprising;

an upper portion having a pattern thereon, the pattern being recognizable from an aerial view,

a Global Navigation Satellite System (GNSS) receiver, wherein the GNSS receiver obtains location information of the ground control point marker, and

a transmitter configured to receive the location information from the GNSS receiver and wirelessly transmit the location to the UAV,

wherein the upper portion comprises a display configured to display the pattern, and wherein the pattern comprises variable shapes, numbers, letters or figures.

14. The system of claim 13, wherein the UAV is further configured to:

carry the ground control point marker to a waypoint;

descend towards the surface; and

place the ground control point marker on the surface at the waypoint.

15. The system of claim 13, wherein the UAV is further configured to:

determine a level surface on which the UAV is to be placed; and

place the ground control point marker on the level surface.

16. The system of claim 13,

wherein the UAV is further configured to:

receive information, from the ground control point marker, indicating that the ground control point marker is on a level surface,

and wherein the ground control point marker further comprises;

one or more sensors configured to determine information associated with the ground control point marker being level.

17. An unmanned aerial vehicle (UAV) system comprising:

an unmanned aerial vehicle (UAV) comprising one or more processors, the UAV configured to;

place a ground control point marker on a surface,

determine, using a Global Navigation Satellite System (GNSS) receiver of the UAV, location information associated with the ground control point marker, and

provide the determined location information to an outside system for storage as being associated with a ground control point; and

the ground control point marker, the ground control point marker comprising;

an upper portion having a pattern thereon, the pattern being recognizable from an aerial view,

wherein the upper portion comprises a display configured to display the pattern, and wherein the pattern comprises variable shapes, numbers, letters or figures.

18. The system of claim 17, wherein determining location information associated with the ground control point marker comprises:

navigating over the ground control point marker, and while navigating, receiving information indicating that the UAV is over a centroid of the ground control point marker, wherein the ground control point marker determines, using one or more sensors, a time at which the UAV is over the centroid; and

recording a timestamp associated with receiving the information.

19. The system of claim 18, wherein the UAV obtains location information of the UAV while navigating over the ground control point marker, and wherein the UAV determines location information of the centroid of the ground control point marker based on the recorded timestamp.

20. The system of claim 17, wherein the UAV is further configured to:

carry the ground control point marker to a waypoint;

descend towards the surface; and

place the ground control point marker on the surface at the waypoint.

21. The system of claim 17, wherein the UAV comprises a Global Navigation Satellite System receiver, and wherein the receiver comprises a Real Time Kinetic (RTK) receiver or a Post Processing Kinetic (PPK) receiver.