Flying object control apparatus

Patent metadata

Field	Value
Publication number	US-12130640-B2
Application number	US-201916973205-A
Country	US
Kind code	B2
Filing date	Jun 26, 2019
Priority date	Jun 26, 2018
Publication date	Oct 29, 2024
Grant date	Oct 29, 2024

Abstract

The present invention aims to control position of flying object with respect to a structural object in a situation where it is difficult to perform positioning based on radio signals transmitted from a satellite. A position identification unit identifies position of flying object in troublesome GPS signal reception space, using different methods for coordinate axes. Specifically, position identification unit identifies position, on Z axis (first coordinate axis), of flying object in troublesome GPS signal reception space, based on distance from flying object to structural object (distance measured at time of position identification), and identifies positions, on X and Y axes (second coordinate axes), of flying object based on change in shape of structural object in respective axis directions of X and Y axes (second coordinate axes) (history of distance from flying object to bridge B measured multiple times until position identification).

First claim

What is claimed is:

1. A flying object control apparatus comprising:
a processor configured to:
set a plurality of coordinate axes, the plurality of coordinate axes serving as a reference for identifying a position of a flying object, in a flight space that includes a space in which accuracy of positioning based on a radio signal transmitted from a satellite is equal to or smaller than a threshold;
identify the position of the flying object in the space, using different methods for the plurality of coordinate axes; and
control flight of the flying object based on the position identified by the processor;
wherein the plurality of coordinate axes includes a first coordinate axis that intersects with a structural object, and a second coordinate axis that does not intersect with the structural object; and
the processor is further configured to continuously identify a position on the first coordinate axis of the flying object, whereas the processor identifies a position on the second coordinate axis of the flying object at a frequency smaller than a frequency at which the position on the first coordinate axis is identified, or does not identify the position on the second coordinate axis of the flying object.

2. The flying object control apparatus according to claim 1 ,
wherein the processor controls, at a point in time when at least one position, on the second coordinate axis, of the flying object is identified by the processor, flight of the flying object in an axis direction of the second coordinate axis based on the at least one position, whereas
the processor controls, in a period in which no position, on the second coordinate axis, of the flying object is identified by the processor, flight of the flying object in the axis direction of the second coordinate axis based on a position of the at least one position, on the second coordinate axis, of the flying object identified immediately before the start of the period.

3. The flying object control apparatus according to claim 1 ,
wherein the processor identifies the position, on the first coordinate axis, of the flying object based on a distance from the flying object to the structural object.

4. The flying object control apparatus according to claim 1 ,
wherein the processor identifies the position, on the second coordinate axis, of the flying object based on a change in a shape of the structural object in an axis direction of the second coordinate axis.

5. The flying object control apparatus according to claim 1 , wherein the processor is further configured to:
correct, based on a position, on a coordinate axis of the plurality of coordinate axes, of the flying object that is identified by the processor, another position, on the coordinate axis, of the flying object that has been identified during a period up to the identification of the position.

6. The flying object control apparatus according to claim 2 , wherein an upper limit set for the period in which the processor controls flight of the flying object based on the position identified immediately before the start of the period differs between the plurality of coordinate axes.

Assignees

• Ntt Docomo Inc

Inventors

• Kameyama Naoki
• Ushiro Tomoe
• Oono Youhei
• Segawa Yuichiro

Classifications

• G08G5/80

  Anti-collision systems · CPC title

• G08G5/57

  for unmanned aircraft · CPC title

• G08G5/22

  located on the ground · CPC title

• G08G5/55

  for a single aircraft · CPC title

• G08G5/53

  for cruising · CPC title