Trajectory-based sensor planning

Patent metadata

Field	Value
Publication number	US-10228703-B2
Application number	US-201515514909-A
Country	US
Kind code	B2
Filing date	Nov 11, 2015
Priority date	Nov 11, 2014
Publication date	Mar 12, 2019
Grant date	Mar 12, 2019

Abstract

According to an aspect of the invention, a method of trajectory-based sensor planning for a vehicle includes receiving an indication of a planned change in a trajectory of the vehicle. A processing subsystem determines a current field of view of a directional sensor and a planned adjustment in the current field of view of the directional sensor relative to the vehicle to align with the planned change in the trajectory of the vehicle. The planned adjustment in the current field of view of the directional sensor is initiated prior to changing the trajectory of the vehicle.

First claim

The invention claimed is:

1. A method of trajectory-based sensor planning for a vehicle, the method comprising:
receiving an indication of a planned change in a trajectory of the vehicle;
determining, by a processing subsystem, a current field of view of a directional sensor, wherein the current field of view of the directional sensor is determined based on sensor constraints, a current positioning of an actuation system, a zoom level, and sensor configuration information associated with the directional sensor;
determining, by the processing subsystem, a planned adjustment in the current field of view of the directional sensor relative to the vehicle to align with the planned change in the trajectory of the vehicle; and
initiating the planned adjustment in the current field of view of the directional sensor prior to changing the trajectory of the vehicle.

2. The method of claim 1 , wherein the indication of the planned change in the trajectory of the vehicle is from a path planner that generates a series of waypoints defining a series of expected vehicle locations at anticipated times.

3. The method of claim 2 , further comprising:
determining, by the processing subsystem, a desired field of view of the directional sensor relative to one or more of the waypoints; and
computing the planned adjustment based on the desired field of view.

4. The method of claim 1 , further comprising:
comparing the planned change in the trajectory of the vehicle with the current field of view of the directional sensor; and
determining the planned adjustment in the current field of view of the directional sensor based on a difference between the planned change in the trajectory of the vehicle and the current field of view of the directional sensor.

5. The method of claim 1 , further comprising:
changing a zoom setting of the directional sensor based on the planned change in the trajectory of the vehicle.

6. The method of claim 1 , wherein the current field of view of the directional sensor is adjusted by an actuation system, and further comprising:
determining an actuator slew rate to reach a desired orientation of the directional sensor while keeping the current field of view of the directional sensor aligned with the planned change in the trajectory of the vehicle; and
outputting an actuation command to the actuation system based on the actuator slew rate.

7. The method of claim 6 , further comprising:
modifying the planned adjustment in the current field of view of the directional sensor based on detecting a change in a configuration setting of the directional sensor; and
outputting a modified actuation command to the actuation system of the directional sensor based on modifying the planned adjustment in the current field of view of the directional sensor.

8. The method of claim 6 , wherein the actuation command comprises one or more of: an angular position and a slew command.

9. A system for trajectory-based sensor planning for a vehicle, the system comprising:
a processing subsystem; and
memory having instructions stored thereon that, when executed by the processing subsystem, cause the system to:
receive an indication of a planned change in a trajectory of the vehicle;
determine a current field of view of a directional sensor, wherein the current field of view of the directional sensor is determined based on sensor constraints, a current positioning of an actuation system, a zoom level, and sensor configuration information associated with the directional sensor;
determine a planned adjustment in the current field of view of the directional sensor relative to the vehicle to align with the planned change in the trajectory of the vehicle; and
initiating the planned adjustment in the current field of view of the directional sensor prior to changing the trajectory of the vehicle.

10. The system of claim 9 , wherein the indication of the planned change in the trajectory of the vehicle is from a path planner that generates a series of waypoints defining a series of expected vehicle locations at anticipated times, and the instructions when executed by the processing subsystem, further cause the system to:
determine a desired field of view of the directional sensor relative to one or more of the waypoints; and
compute the planned adjustment based on the desired field of view.

11. The system of claim 9 , wherein the instructions when executed by the processing subsystem, further cause the system to:
compare the planned change in the trajectory of the vehicle with the current field of view of the directional sensor; and
determine the planned adjustment in the current field of view of the directional sensor based on a difference between the planned change in the trajectory of the vehicle and the current field of view of the directional sensor.

12. The system of claim 9 , wherein the instructions when executed by the processing subsystem, further cause the system to change a zoom setting of the directional sensor based on the planned change in the trajectory of the vehicle.

13. The system of claim 9 , wherein the current field of view of the directional sensor is adjusted by an actuation system and the instructions when executed by the processing subsystem, further cause the system to:
determine an actuator slew rate to reach a desired orientation of the directional sensor while keeping the current field of view of the directional sensor aligned with the planned change in the trajectory of the vehicle; and
output an actuation command to the actuation system based on the actuator slew rate.

14. The system of claim 13 , wherein the instructions when executed by the processing subsystem, further cause the system to:
modify the planned adjustment in the current field of view of the directional sensor based on a detected change in a configuration setting of the directional sensor; and
output a modified actuation command to the actuation system of the directional sensor based on a modification of the planned adjustment in the current field of view of the directional sensor.

15. The system of claim 9 , wherein the vehicle is an unmanned aerial vehicle, and the directional sensor and the system are onboard the unmanned aerial vehicle.

16. The system of claim 9 , wherein the sensor constraints define features associated with at least one of: a field of view, a zoom capability of the directional sensor and positional and rate of change constraints for the actuation system.

17. The system of claim 9 , wherein the directional sensor support a scanning mode between a pair of angular positions as endpoints defined relative to a reference frame of an autonomous unmanned aerial vehicle.

18. The system of claim 9 , wherein the processing subsystem further causes the system to create a sensor plan in view of a path plan with respect to vehicle constraints and sensor constraints.

19. The method of claim 1 , wherein the sensor constraints define features associated with at least one of: a field of view, a zoom capability of the directional sensor and positional and rate of change constraints for the actuation system.

20. The method of claim 1 , further comprising creating a sensor plan in view of a path plan with respect to vehicle constraints and sensor constraints.

Assignees

• Sikorsky Aircraft Corp

Inventors

• Stathis Christopher
• Cherepinsky Igor

Classifications

• G05D1/0094

  involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target · CPC title

• G08G5/0021

  Physics · mapped topic

• B60R1/12

  Mirror assemblies combined with other articles, e.g. clocks · CPC title

• G05D1/102 Primary

  specially adapted for vertical take-off of aircraft · CPC title

• G01S17/88

  Lidar systems specially adapted for specific applications · CPC title