Mobile body control device and mobile body control method

Patent metadata

Field	Value
Publication number	US-12169244-B2
Application number	US-202017623813-A
Country	US
Kind code	B2
Filing date	Jul 1, 2020
Priority date	Jul 10, 2019
Publication date	Dec 17, 2024
Grant date	Dec 17, 2024

Abstract

The influence of multipath on the positioning calculation based on positioning signals transmitted from satellites is reduced. A self-position is estimated using a positioning calculation result based on a positioning signal transmitted from a satellite. Movement of a mobile body is controlled on the basis of the estimated self-position. A multipath reduction action signal is output when the mobile body is in a multipath environment. The mobile body is controlled so as to take a multipath reduction action when the mobile body is in a predetermined movement state and the multipath reduction action signal is output.

First claim

The invention claimed is:

1. A mobile body control device, comprising:
a self-position estimation unit configured to estimate a self-position based on a positioning calculation result, wherein the positioning calculation result is based on a positioning signal transmitted from a satellite;
a movement control unit configured to control movement of a mobile body based on the self-position; and
a multipath reduction action signal output unit configured to output a multipath reduction action signal based on the mobile body is in a multipath environment, wherein
the movement control unit is further configured to control the mobile body to take a multipath reduction action based on the mobile body is in a specific movement state and the multipath reduction action signal is output.

2. The mobile body control device according to claim 1 , further comprising:
an environment confirmation unit configured to output obstacle information associated with surrounding obstacles, wherein
the movement control unit is further configured to change the multipath reduction action based on the obstacle information.

3. The mobile body control device according to claim 2 , wherein
the mobile body is a drone,
the specific movement state is a hovering state, and
the multipath reduction action is one of turning, spiral, or vertical movement.

4. The mobile body control device according to claim 1 , further comprising:
a mode setting unit configured to set a mode to output the multipath reduction action signal based on the mobile body is in the multipath environment.

5. The mobile body control device according to claim 1 , further comprising:
a user notification unit configured to notify, based on the mobile body that is in the multipath environment, a user to confirm output of the multipath reduction action signal by the multipath reduction action signal output unit.

6. A mobile body control method, comprising:
estimating a self-position based on a positioning calculation result, wherein the positioning calculation result is based on a positioning signal transmitted from a satellite;
controlling movement of a mobile body based on the self-position; and
outputting a multipath reduction action signal based on the mobile body is in a multipath environment, wherein
the controlling movement of the mobile body comprises controlling the mobile body to take a multipath reduction action based on the mobile body is in a specific movement state and the multipath reduction action signal is output.

7. A non-transitory computer-readable medium having stored thereon, computer-executable instructions which, when executed by a processor, cause the processor to execute operations, the operations comprising:
estimating a self-position based on a positioning calculation result, wherein the positioning calculation result is based on a positioning signal transmitted from a satellite;
controlling movement of a mobile body based on the self-position; and
outputting a multipath reduction action signal based on the mobile body is in a multipath environment, wherein
the controlling movement of the mobile body comprises controlling the mobile body to take a multipath reduction action based on the mobile body is in a specific movement state and the multipath reduction action signal is output.

Assignees

• Sony Group Corp

Inventors

• Takahashi Yusuke
• Toyoura Masataka
• Watanabe Ryo

Classifications

• G05D1/621

  responding to weather conditions, e.g. storms or wind shear · CPC title

• B64U2201/20

  Remote controls · CPC title

• B64U30/26

  Ducted or shrouded rotors · CPC title

• B64U10/13

  Flying platforms · CPC title

• G01C21/20

  Instruments for performing navigational calculations (G01C21/24, G01C21/26 take precedence) · CPC title