公开(公告)号：US20160290809A1

公开(公告)日：2016-10-06

申请号：US15087883

申请日：2016-03-31

Applicant: PARROT DRONES

Inventor： Pierre Eline ,  Francois Callou

IPC: G01C21/16 ,  G06T7/20 ,  B64C39/02

CPC classification number: G01C21/165 ,  B64C39/024 ,  B64C2201/127 ,  G06T7/20 ,  G06T2207/10016

Abstract: A vertical-view camera (16) delivers an image signal (ScamV) of the ground overflown by the drone. Gyrometric sensors (102) measure the Euler angles (φ, θ, Ψ) characterizing the attitude of the drone and delivering a gyrometric signal (Sgyro) representative of the instantaneous rotations. Rotation compensation means (136) receive the image signal and the gyrometric signal and deliver retimed image data, compensated for the rotations, then used to estimate the horizontal speeds of the drone. The camera and the inertial unit are piloted by a common clock (160), and it is provided a circuit (170) for determining the value of the phase-shift between the gyrometric signal and the image signal, and to apply this phase-shift value at the input of the rotation compensation means (136) to resynchronize the image signal onto the gyrometric signal before computation of the retimed image data.

Abstract translation: 垂直摄像机（16）通过无人机传送溢出的地面的图像信号（ScamV）。 气象传感器（102）测量表征无人机姿态的欧拉角（φ，θ，Ψ），并传送代表瞬时旋转的陀螺仪信号（Sgyro）。 旋转补偿装置（136）接收图像信号和陀螺仪信号，并传送重新定时的图像数据，补偿旋转，然后用于估计无人机的水平速度。 照相机和惯性单元由公共时钟（160）引导，并且其被提供有用于确定陀螺仪信号和图像信号之间的相移值的电路（170），并且应用该相移 在所述旋转补偿装置（136）的输入处的值被重新同步到所述重新定标图像数据的计算之前的所述陀螺仪信号。

公开(公告)号：US09797728B2

公开(公告)日：2017-10-24

申请号：US15087883

申请日：2016-03-31

Applicant: PARROT DRONES

Inventor： Pierre Eline ,  Francois Callou

IPC: G06K9/00 ,  G01C21/16 ,  B64C39/02 ,  G06T7/20

CPC classification number: G01C21/165 ,  B64C39/024 ,  B64C2201/127 ,  G06T7/20 ,  G06T2207/10016

Abstract: A vertical-view camera (16) delivers an image signal (ScamV) of the ground overflown by the drone. Gyrometric sensors (102) measure the Euler angles (φ, θ, Ψ) characterizing the attitude of the drone and delivering a gyrometric signal (Sgyro) representative of the instantaneous rotations. Rotation compensation means (136) receive the image signal and the gyrometric signal and deliver retimed image data, compensated for the rotations, then used to estimate the horizontal speeds of the drone. The camera and the inertial unit are piloted by a common clock (160), and it is provided a circuit (170) for determining the value of the phase-shift between the gyrometric signal and the image signal, and to apply this phase-shift value at the input of the rotation compensation means (136) to resynchronize the image signal onto the gyrometric signal before computation of the retimed image data.