Magnetic navigation methods and systems utilizing power grid and communication network

Patent metadata

Field	Value
Publication number	US-9824597-B2
Application number	US-201615003206-A
Country	US
Kind code	B2
Filing date	Jan 21, 2016
Priority date	Jan 28, 2015
Publication date	Nov 21, 2017
Grant date	Nov 21, 2017

Abstract

Methods and configurations are disclosed for exploiting characteristic magnetic signature of electrical power transmission and distribution lines for navigation.

First claim

What is claimed is:

1. An aerial vehicle with automatic navigation comprising:
one or more diamond nitrogen vacancy (DNV) sensors spaced apart from each other and each configured to detect magnetic fields generated by stationary infrastructure, such one or more DNV sensors determining a magnetic vector based on the magnetic fields, such infrastructure spaced apart from the one or more DNV sensors and providing a magnetic signature that is capable of being mapped based on characteristics of the magnetic signature and correlated to sensed magnetic vectors;
one or more electronic processors configured to receive the magnetic vector of the magnetic field and determine a presence of infrastructure based upon the magnetic vector; and
a navigation control configured to automatically navigate the aerial vehicle based upon the infrastructure and its weak magnetic fields detected and determined as magnetic vectors.

2. The aerial vehicle of claim 1 , wherein the navigation control is further configured to navigate to an initial position.

3. The aerial vehicle of claim 2 , wherein the navigation control is further configured to navigate the vehicle in a pattern over an area.

4. The vehicle of claim 1 , wherein the vehicle is a ground vehicle.

5. The vehicle of claim 1 , wherein the vehicle is a submersible vehicle.

6. A vehicle with automatic navigation comprising:
one or more diamond nitrogen vacancy (DNV) sensors spaced apart from each other and each configured to detect magnetic fields generated by stationary infrastructure, such one or more DNV sensors determining a plurality of magnetic vectors based on the magnetic fields, such infrastructure spaced apart from the one or more DNV sensors and providing a magnetic signature that is capable of being mapped based on characteristics of the magnetic signature and correlated to sensed magnetic vectors;
one or more electronic processors configured to:
receive a plurality of magnetic vectors from the magnetometer corresponding to readings in the area; and
determine a maximum magnitude from the plurality of magnetic vectors, wherein the maximum magnitude corresponds to a location of the current source; and

a navigation control configured to automatically navigate the vehicle based upon the infrastructure and its weak magnetic fields detected and determined as magnetic vectors.

7. The vehicle of claim 6 , wherein the location of the vehicle is a position directly above the current source.

8. The vehicle of claim 7 , wherein the one or more electronic processors are further configured to:
receive a second plurality of real-time magnetic vectors from the magnetometer; and
determine a course correction for the vehicle based upon the second plurality of magnetic vectors.

9. The vehicle of claim 8 , wherein the vehicle is a flying vehicle.

10. The vehicle of claim 9 , wherein the one or more electronic processors are further configured to:
compare the second plurality of magnetic vectors to data corresponding to a known magnetic field generated by the current source;
determine a target magnetic field corresponding with a set distance above the power source;
determine altitude adjustment data based upon the comparison; and
provide the altitude adjustment data to the navigation control;
wherein the navigation control is further configured to adjust the altitude of the flying vehicle based upon the altitude adjustment data.

11. The vehicle of claim 7 , wherein the one or more electronic processors are further configured to:
determine a target magnetic field corresponding with a set distance laterally offset from an initial point relative to the current source;
compare the second plurality of magnetic vectors to data corresponding to a known magnetic field generated by the current source;
determine lateral adjustment data based upon the comparison; and
provide the lateral adjustment data to the navigation control;
wherein the navigation control is further configured to adjust the position of the vehicle based upon the lateral adjustment data.

12. A system for navigating a vehicle comprising:
a magnetometer configured to detect a magnetic vector of a magnetic field;
one or more electronic processors configured to:
receive the magnetic vector of the magnetic field from the magnetometer; and
determine a presence of a current source based upon the magnetic vector; and

a navigation control configured to navigate the vehicle based upon the presence of the current source and the magnetic vector;
wherein the navigation control is further configured to navigate to an initial position.

13. The system of claim 12 , wherein the navigation control is further configured to navigate the vehicle in a pattern over an area.

14. The system of claim 13 , wherein the one or more electronic processors are further configured to:
receive a plurality of magnetic vectors from the magnetometer corresponding to readings in the area; and
determine a maximum magnitude from the plurality of magnetic vectors, wherein the maximum magnitude corresponds to a location of the current source.

15. The system of claim 14 , wherein the location of the vehicle is a position directly above the current source.

16. The system of claim 15 , wherein the one or more electronic processors are further configured to:
receive a second plurality of real-time magnetic vectors from the magnetometer;
determine a course correction for the vehicle based upon the second plurality of magnetic vectors.

17. The system of claim 16 , wherein the vehicle is a flying vehicle.

18. The system of claim 17 , wherein the one or more electronic processors are further configured to:
compare the second plurality of magnetic vectors to data corresponding to a known magnetic field generated by the current source;
determine a target magnetic field corresponding with a set distance above the power source;
determine altitude adjustment data based upon the comparison; and
provide the altitude adjustment data to the navigation control;
wherein the navigation control is further configured to adjust the altitude of the flying vehicle based upon the altitude adjustment data.

19. The system of claim 15 , wherein the one or more electronic processors are further configured to:
determine a target magnetic field corresponding with a set distance laterally offset from an initial point relative to the current source;
compare the second plurality of magnetic vectors to data corresponding to a known magnetic field generated by the current source;
determine lateral adjustment data based upon the comparison; and
provide the lateral adjustment data to the navigation control;
wherein the navigation control is further configured to adjust the position of the vehicle based upon the lateral adjustment data.

20. A system for navigating a vehicle comprising:
a magnetometer configured to detect a magnetic vector of a magnetic field;
one or more electronic processors configured to:
receive the magnetic vector of the magnetic field from the magnetometer; and
determine a presence of a current source based upon the magnetic vector; and

a navigation control configured to navigate the vehicle based upon the presence of the current source and the magnetic vector;
wherein the vehicle is a ground vehicle.

21. A system for navigating a vehicle comprising:
a magnetometer configured to detect a magnetic vector of a magnetic field;
one or more electronic processors configured to:
receive the magnetic vector

Assignees

• Lockheed Corp

Inventors

• Sekelsky Stephen M

Classifications

• B64U2201/20

  Remote controls · CPC title

• B64U2201/10

  autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS] · CPC title

• G01R31/58

  Testing of lines, cables or conductors (testing of electric windings G01R31/72) · CPC title

• Y02T90/14

  Plug-in electric vehicles · CPC title

• Y02T90/16

  Information or communication technologies improving the operation of electric vehicles · CPC title