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1.发明申请公开(公告)号：US20190197292A1
公开(公告)日：2019-06-27
申请号：US15963027
申请日：2018-04-25
Applicant: X Development LLC
Inventor： Dinuka Abeywardena , Damien Jourdan
Abstract: Systems and methods for image based localization for unmanned aerial vehicles (UAVs) are disclosed. In one embodiment, a method for navigating a UAV includes: flying a UAV along a flight path; acquiring an image of a ground area along the flight path with a camera carried by the UAV; and sending the image to a base station. The method further includes receiving navigation data from the base station, based upon a comparison of the image of the ground area to at least one terrestrial map of the flight path.
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公开(公告)号：US20190329898A1
公开(公告)日：2019-10-31
申请号：US16008460
申请日：2018-06-14
Applicant: X Development LLC
Inventor： Kevin Jenkins , Damien Jourdan
Abstract: A technique for controlling vertical propulsion units of an aerial vehicle includes determining whether an initial thrust command output vector results in a thrust command clipping of one of the vertical propulsion units. The vertical propulsion units are physically organized into propulsion rings including an inner ring and an outer ring. Torque associated with the initial thrust command output vector is transferred from each the vertical propulsion units in the outer ring to the vertical propulsion units in the inner ring when the thrust command clipping of one of the vertical propulsion units in the outer ring occurs. A revised thrust command output vector is determined after transferring the torque. The vertical propulsion units are driven according to the revised thrust command output vector.
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公开(公告)号：US10513341B2
公开(公告)日：2019-12-24
申请号：US16008460
申请日：2018-06-14
Applicant: X Development LLC
Inventor： Kevin Jenkins , Damien Jourdan
Abstract: A technique for controlling vertical propulsion units of an aerial vehicle includes determining whether an initial thrust command output vector results in a thrust command clipping of one of the vertical propulsion units. The vertical propulsion units are physically organized into propulsion rings including an inner ring and an outer ring. Torque associated with the initial thrust command output vector is transferred from each the vertical propulsion units in the outer ring to the vertical propulsion units in the inner ring when the thrust command clipping of one of the vertical propulsion units in the outer ring occurs. A revised thrust command output vector is determined after transferring the torque. The vertical propulsion units are driven according to the revised thrust command output vector.
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公开(公告)号：US20190080142A1
公开(公告)日：2019-03-14
申请号：US15703948
申请日：2017-09-13
Applicant: X Development LLC
Inventor： Dinuka Abeywardena , Damien Jourdan
CPC classification number: G06K9/0063 , B64C2201/028 , B64C2201/123 , B64C2201/127 , B64C2201/141 , B64C2201/146 , B64D47/08 , G01C11/06 , G01C21/32 , G05D1/101
Abstract: Described is a method that involves operating an unmanned aerial vehicle (UAV) to begin a flight, where the UAV relies on a navigation system to navigate to a destination. During the flight, the method involves operating a camera to capture images of the UAV's environment, and analyzing the images to detect features in the environment. The method also involves establishing a correlation between features detected in different images, and using location information from the navigation system to localize a feature detected in different images. Further, the method involves generating a flight log that includes the localized feature. Also, the method involves detecting a failure involving the navigation system, and responsively operating the camera to capture a post-failure image. The method also involves identifying one or more features in the post-failure image, and determining a location of the UAV based on a relationship between an identified feature and a localized feature.
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