Title:
無人航空機位置推定方法及びシステム
Document Type and Number:
Japanese Patent JP6663606
Kind Code:
B2
Abstract:
PROBLEM TO BE SOLVED: To provide an unmanned aircraft position estimation method and system for estimating a position where an unmanned aircraft flies, even when a GPS signal cannot be received, without significantly increasing a weight of the unmanned aircraft.SOLUTION: A two-dimensional laser radar 2 with small power consumption is mounted on an unmanned aircraft 1, and two-dimensional measurement data is acquired from a surface where the unmanned aircraft flies. The two-dimensional measurement data is input to a learned neural network 3 which is prepared in advance, for quickly inspecting in which virtual rectangular prism cell the unmanned aircraft exists, so that, by performing pattern matching with the two-dimensional measurement data in the determined cell, the position can be quickly identified at a pin point. Compared with a case in which, pattern matching is performed between whole area of a three-dimensional land form pattern and the two-dimensional measurement data, a position of the unmanned aircraft can be quickly estimated.SELECTED DRAWING: Figure 1
Inventors:
Hamanaka Masatoshi
Application Number:
JP2016044819A
Publication Date:
March 13, 2020
Filing Date:
March 08, 2016
Export Citation:
Assignee:
Kyoto University
International Classes:
B64C13/20; B64C39/02; G01C15/00; G01C21/04
Domestic Patent References:
| JP4274710A | ||||
| JP2007322138A | ||||
| JP2014149621A |
Foreign References:
| US4939663 | ||||
| US6853332 | ||||
| WO2015105597A2 | ||||
| US6466888 |
Attorney, Agent or Firm:
西浦 ▲嗣▼晴