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公开(公告)号：US20190004172A1
公开(公告)日：2019-01-03
申请号：US15639335
申请日：2017-06-30
Applicant: GoPro, Inc.
Inventor： Stepan Moskovchenko , Joseph Anthony Enke
Abstract: Ultrasonic ranging state management for a UAV is described. A transducer transmits an ultrasonic signal and receives an ultrasonic response thereto using a gain value. A noise floor estimation mechanism determines a noise floor estimate. A state mechanism sets an ultrasonic ranging state used by the transducer to a first ultrasonic ranging state. The transducer transmits an ultrasonic signal and responsively receive an ultrasonic response to the ultrasonic signal using a gain value according to the noise floor estimate. The state mechanism processes the ultrasonic response to determine whether to determine a new noise floor estimate, adjust the gain value used by the transducer, or change the ultrasonic ranging state of the UAV to a second ultrasonic ranging state. The configurations of the first and second ultrasonic ranging states differ as to, for example, power and gain levels used by the transducer to receive ultrasonic responses.
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公开(公告)号：US20180205730A1
公开(公告)日：2018-07-19
申请号：US15838275
申请日：2017-12-11
Applicant: GoPro, Inc.
Inventor： Joseph Anthony Enke , David Boone , Jeffrey S. Youel , Bich Nguyen , Mark Petersen , Kevin Fry
CPC classification number: H04L63/0876 , H04L61/1511 , H04L63/0492 , H04W12/06 , H04W52/0209 , Y02B70/30 , Y02D70/00 , Y02D70/142
Abstract: Conventional wireless interface (WiFi) controllers cannot resolve authentication for trusted client devices without calculation from a host processor. Leaving the host processor on or awaking it from a sleep state each time a non-authenticated trusted client device attempts to connect wastes power. A hostless authenticated wake service allows a host controller to enter a sleep state while the WiFi controller responds to multicast domain name service—service discovery (mDNS-SD) queries from trusted client devices. Once a client device is authenticated, the WiFi controller may respond to a trusted client request to awake the host processor for further command processing and service provision. Not only does this approach reduce power consumption by allowing the host processor to remain in the sleep state, it allows trusted client devices to discover its presence while ensuring security.
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公开(公告)号：US20180150984A1
公开(公告)日：2018-05-31
申请号：US15365697
申请日：2016-11-30
Applicant: GoPro, Inc.
Inventor： Joseph Anthony Enke
CPC classification number: G06T11/60 , B64C39/024 , B64D47/08 , G01C11/00 , G01C21/00 , G06T5/006 , G06T2207/30244 , G06T2207/30248
Abstract: A mapping system receives sensor data from an unmanned aerial vehicle. The mapping system further receives images from a camera of the unmanned aerial vehicle. The mapping system determines an altitude of the camera based on the sensor data. The mapping system calculates a footprint of the camera based on the altitude of the camera and a field of view of the camera. The mapping system constructs a localized map based on the images and the footprint of the camera.
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公开(公告)号：US20170168481A1
公开(公告)日：2017-06-15
申请号：US15373361
申请日：2016-12-08
Applicant: GoPro, Inc.
CPC classification number: G05D1/0022 , B64C39/024 , B64C2201/127 , B64C2201/146 , B64D47/08 , G01C5/06 , G01C17/02 , G01R29/0892 , G05D1/0016 , G05D1/0038 , H01Q1/28
Abstract: Disclosed is a configuration for displaying a user interface on a device (e.g., a remote controller) to assist a user in correctly orienting the device for improved communication with an aerial vehicle. Position information is received by device from the aerial vehicle. The remote controller detects its own position and orientation. Based on the orientation of the remote controller and the relative position of the remote controller and aerial vehicle, the remote controller displays an indication to the user to assist the user in orienting the remote controller so that one or more directional antennas of the remote controller are oriented for effective communication between the device and the aerial vehicle. Also disclosed is an antenna configuration within a housing of a remote controller. The antenna configuration includes two ceramic patch antennas.
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公开(公告)号：US12077292B2
公开(公告)日：2024-09-03
申请号：US17183212
申请日：2021-02-23
Applicant: GoPro, Inc.
Inventor： Joseph Anthony Enke
IPC: B64C39/02 , B64U10/13 , B64U101/30 , G05D1/00 , H04L67/12
CPC classification number: B64C39/02 , B64C39/024 , G05D1/0088 , B64U10/13 , B64U2101/30 , H04L67/12
Abstract: A pipeline in a controller may be configured to interface between sensors and actuators. The pipeline may elements such as drivers, filters, a combine, estimators, controllers, a mixer, and actuator controllers. The drivers may receive sensor data and pre-process the received sensor data. The filters may filter the pre-processed sensor data to generate filtered sensor data. The combine may package the filtered sensor data to generate packaged sensor data. The estimators may determine estimates of a position of a vehicle based on the packaged sensor data. The controllers may generate control signals based on the determined estimates. The mixer may modify the generated control signals based on limitations of the vehicle. The actuator controllers may generate actuator control signals based on the modified control signals to drive the actuators.
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Patent Agency Ranking
公开(公告)号：US11711572B2
公开(公告)日：2023-07-25
申请号：US17404764
申请日：2021-08-17
Applicant: GoPro, Inc.
Inventor： Joseph Anthony Enke , Anupam Joshi
IPC: H04N21/4402 , H04N7/18 , H04N21/4363 , B64C39/02 , H04L65/75 , H04N23/54 , B64U101/30
CPC classification number: H04N21/440281 , B64C39/024 , H04L65/762 , H04N7/185 , H04N21/43637 , H04N23/54 , B64U2101/30 , B64U2201/20
Abstract: Disclosed is a system and method for reducing the total latency for transferring a frame from the low latency camera system mounted on an aerial vehicle to the display of the remote controller. The method includes reducing the latency through each of the modules of the system, i.e. through a camera module, an encoder module, a wireless interface transmission, wireless interface receiver module, a decoder module and a display module. To reduce the latency across the modules, methods such as overclocking the image processor, pipelining the frame, squashing the processed frame, using a fast hardware encoder that can perform slice based encoding, tuning the wireless medium using queue sizing, queue flushing, bitrate feedback, physical medium rate feedback, dynamic encoder parameter tuning and wireless radio parameter adjustment, using a fast hardware decoder that can perform slice based decoding and overclocking the display module are used.
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公开(公告)号：US10942528B2
公开(公告)日：2021-03-09
申请号：US16214595
申请日：2018-12-10
Applicant: GoPro, Inc.
Inventor： Joseph Anthony Enke
IPC: G05D1/00 , G05D1/10 , B64C39/02 , G07C5/08 , G08G5/00 , G08G5/04 , H04L29/08 , G01C23/00 , H04B7/185 , H04W84/04 , H04W84/12
Abstract: Disclosed is a configuration to control automatic return of an aerial vehicle. The configuration stores a return location in a storage device of the aerial vehicle. The return location may correspond to a location where the aerial vehicle is to return. One or more sensors of the aerial vehicle are monitored during flight for detection of a predefined condition. When a predetermined condition is met a return path program may be loaded for execution to provide a return flight path for the aerial vehicle to automatically navigate to the return location.
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公开(公告)号：US10582259B2
公开(公告)日：2020-03-03
申请号：US15197579
申请日：2016-06-29
Applicant: GoPro, Inc.
Inventor： Joseph Anthony Enke , Anupam Joshi
IPC: H04N21/4402 , H04N7/18 , H04N5/225 , H04N21/4363 , B64C39/02 , H04L29/06
Abstract: Disclosed is a system and method for reducing the total latency for transferring a frame from the low latency camera system mounted on an aerial vehicle to the display of the remote controller. The method includes reducing the latency through each of the modules of the system, i.e. through a camera module, an encoder module, a wireless interface transmission, wireless interface receiver module, a decoder module and a display module. To reduce the latency across the modules, methods such as overclocking the image processor, pipelining the frame, squashing the processed frame, using a fast hardware encoder that can perform slice based encoding, tuning the wireless medium using queue sizing, queue flushing, bitrate feedback, physical medium rate feedback, dynamic encoder parameter tuning and wireless radio parameter adjustment, using a fast hardware decoder that can perform slice based decoding and overclocking the display module are used.
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公开(公告)号：US20200062397A1
公开(公告)日：2020-02-27
申请号：US16673355
申请日：2019-11-04
Applicant: GoPro, Inc.
Inventor： Joseph Anthony Enke , Benjamin Tankersley , Jean-Bernard Berteaux , Axel Murguet , Garance Bruneau
Abstract: A controller system of an aerial vehicle may receive environmental data from one or more sensors of the aerial vehicle and adjusts limits of the aerial vehicle given the environmental conditions. When the aerial vehicle receives an input, such as a flight input from a remote controller or an environmental input such as a gust of wind, the controller system calculates appropriate motor inputs that are provided to the thrust motors of the aerial vehicle such that the adjusted limits of the aerial vehicle are not exceeded. In calculating the appropriate input to the thrust motors, the controller system performs an iterative process. For example, for a given maximum torque that can be applied to the thrust motors, the controller system iteratively allocates the torque such that torque components that are important for the stability of the aerial are first fulfilled, whereas subsequent torque components may be fulfilled or scaled back.
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公开(公告)号：US10268210B2
公开(公告)日：2019-04-23
申请号：US15268447
申请日：2016-09-16
Applicant: GoPro, Inc.
Inventor： Joseph Anthony Enke
Abstract: A pipeline in a controller may be configured to interface between sensors and actuators. The pipeline may include elements such as drivers, filters, a combine, estimators, controllers, a mixer, and actuator controllers. The drivers may receive sensor data and pre-process the received sensor data. The filters may filter the pre-processed sensor data to generate filtered sensor data. The combine may package the filtered sensor data to generate packaged sensor data. The estimators may determine estimates of a position of a vehicle based on the packaged sensor data. The controllers may generate control signals based on the determined estimates. The mixer may modify the generated control signals based on limitations of the vehicle. The actuator controllers may generate actuator control signals based on the modified control signals to drive the actuators.
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