System and method for controlling an unmanned air vehicle

Patent metadata

Field	Value
Publication number	US-9758239-B2
Application number	US-201214111162-A
Country	US
Kind code	B2
Filing date	Apr 13, 2012
Priority date	Apr 14, 2011
Publication date	Sep 12, 2017
Grant date	Sep 12, 2017

Abstract

A geodetic measuring system having a geodetic measuring unit having a beam source for emitting a substantially collimated optical beam. The measuring system also has an automotive, unmanned, controllable air vehicle having an optical module. An evaluation unit is also provided, wherein the evaluation unit is configured in such a manner that an actual state of the air vehicle, as determined by a position, an orientation and/or a change in position, can be determined in a coordinate system from interaction between the optical beam and the optical module. The measuring system has a control unit for controlling the air vehicle, wherein the control unit is configured in such a manner that control data can be produced using an algorithm on the basis of the actual state, which can be continuously determined in particular, and a defined desired state, and the air vehicle can be automatically changed to the desired state.

First claim

What is claimed is:

1. A geodetic measuring system comprising:
a stationary, ground-based geodetic measuring instrument embodied as a total station, a theodolite, or an industrial laser tracker, comprising:
a base;
a support rotatable by motor relative to the base about a vertical axis;
a beam source for emitting a substantially collimated optical beam;
a sighting unit pivotable by motor relative to the support about a horizontal axis;
angle measurement sensors for determining the alignment of the support with respect to the base, and the sighting unit with respect to the support; and
a distance meter using the optical beam;
wherein the support and the sighting unit are configured for aligning an emission direction of the optical beam;

a helicopter-like self-propelled, unmanned aerial vehicle movable in a controlled fashion and positionable at a substantially fixed position, comprising:
an optical module embodied as a reflector for reflecting the optical beam, wherein a distance from the measuring instrument to the optical module can be determined by the distance meter, and an actual position of the aerial vehicle can be continuously derived from the distance and the emission direction of the beam;
a sensor unit having an accelerometer configured to detect inertia values, and a magnetometer configured to detect geographic alignment;
an evaluation unit for determining an actual state of the aerial vehicle in a coordinate system from an interaction of the optical beam with the optical module and the sensor unit, wherein the actual state is defined by the actual position and the geographic alignment, and optionally also a change in position; and
a control unit configured in such a way that, on the basis of an algorithm depending on the actual state and a defined intended state, control data for controlling the aerial vehicle is produced, by which the aerial vehicle is brought into the intended state.

2. The geodetic measuring system as claimed in claim 1 , wherein the control data is produced and the aerial vehicle is brought into a defined tolerance range about the intended state, in an automatically controlled fashion by means of the control data.

3. The geodetic measuring system as claimed in claim 1 , wherein the control unit is configured in such a way that, on the basis of an algorithm depending on the actual state, is determined continuously.

4. The geodetic measuring system as claimed in claim 1 , wherein the geodetic measuring instrument comprises a ranging functionality.

5. The geodetic measuring system as claimed in claim 1 , wherein:
when determining the actual state, it is possible to take account of at least one of:
an actual position,
an actual alignment and
an actual velocity of the aerial vehicle
when defining the intended state, it is possible to take account of at least one of:
an intended position,
an intended alignment and
an intended velocity.

6. The geodetic measuring system as claimed in claim 5 , wherein the aerial vehicle has at least one of:
an inclination sensor,
a rate sensor, and
a velocity sensor,
for determining at least one of:
the actual alignment, and
the actual velocity,
of the aerial vehicle in the coordinate system.

7. The geodetic measuring system as claimed in claim 5 , wherein: the aerial vehicle has a marking specifying the actual alignment in at least one of:
a defined pattern,
a pseudo-random pattern,
a barcode, and
a light-emitting diode, and
the measuring system has a RIM camera for taking an image of the aerial vehicle, wherein at least one of:
a contour, and
pixel-dependent distance data,
in respect of the aerial vehicle is derived from the image and the actual alignment and the distance in the coordinate system is determined therefrom.

8. The geodetic measuring system as claimed in claim 5 , wherein: the aerial vehicle has a marking specifying the actual alignment in a defined pattern, pseudo-random pattern, a barcode and a light-emitting diode, and
the measuring system has a camera for detecting the marking and for determining the actual alignment of the aerial vehicle in the coordinate system from the position and arrangement of the marking.

9. The geodetic measuring system as claimed in claim 1 , wherein the optical module is embodied by a beam detection unit and the optical beam is received by the beam detection unit, wherein a beam offset from a zero position and an angle of incidence of the beam is determined continuously by means of the beam detection unit for at least partly determining the actual state, and the control unit is configured in such a way that the aerial vehicle is positioned and aligned, depending on the beam offset and/or the angle of incidence of the beam.

10. The geodetic measuring system as claimed in claim 9 , wherein the aerial vehicle is coupled to the beam by the beam detection unit and is guided along the beam and by a change in the emission direction of the beam.

11. The geodetic measuring system as claimed in claim 10 , wherein a horizontal laser plane is defined by a rotation of the beam and the aerial vehicle is, by means of the beam detection unit in a defined fashion relative to guide plane or parallel to the guide plane, at least one of:
positioned, and
guided.

12. The geodetic measuring system as claimed in claim 11 , wherein the beam detection unit is pivoted on the aerial vehicle in such a defined fashion that the beam is received.

13. The geodetic measuring system as claimed in claim 1 , wherein the control unit is configured in such a way that the aerial vehicle is moved depending on the actual state and a specific flight route, wherein the flight route is determined by at least one of:
a start point and an end point and by a number of waypoints automatically, and
a defined position of a flight axis.

14. The geodetic measuring system as claimed in claim 13 , wherein a movement of the aerial vehicle is optimized taking into account the actual state.

15. The geodetic measuring system as claimed in claim 14 , wherein information relating to at least one of:
the actual state,
the actual position,
the actual alignment,
the actual velocity,
the angle of incidence,
the beam offset, and
the distance to the measuring instrument,
is fed to a Kalman filter and the movement of the aerial vehicle is controlled taking into account parameters calculated by the Kalman filter.

16. The geodetic measuring system as claimed in claim 1 , wherein a position and alignment of the measuring instrument is predetermined in a global coordinate system, wherein at least one of:
the position is predetermined by a known setup point of the measuring instrument, and
the position and alignment is determined by calibration on the basis of known target points.

17. The geodetic measuring system as claimed in claim 16 , wherein the coordinate system is referenced with the global coordinate system such that the actual state of the aerial vehicle is determined in the global coordinate system; and one of:
for producing the control data, actual state information, intended state information and the distance between the measuring instrument and the aerial vehicle, and
the control data,
is transmitted between the measuring instrument and the aerial vehicle,

wherein the state information is transmitted by one of:
radio link,
a wired fashion, and
being modulated onto the beam; and
the measuring system has a remote control unit for controlling the aerial vehicle, wherein one of:
the state information, and
the control data,
is transm

Assignees

• Metzler Bernhard
• Siercks Knut
• Hexagon Technology Ct Gmbh

Inventors

• Metzler Bernhard
• Siercks Knut

Classifications

• B64U2201/20

  Remote controls · CPC title

• G01C15/002

  Active optical surveying means (optical plumbing G01C15/105) · CPC title

• B64C13/20 Primary

  using radiated signals · CPC title

• G05D1/0033

  by having the operator tracking the vehicle either by direct line of sight or via one or more cameras located remotely from the vehicle · CPC title

• G01S5/0036

  of measured values, i.e. measurement on mobile and position calculation on base station · CPC title