公开(公告)号：US20170199269A1

公开(公告)日：2017-07-13

申请号：US14966870

申请日：2015-12-11

Applicant: University of Kansas

Inventor： Christopher T. Allen ,  Shawn Shahriar Keshmiri ,  Masud Al Aziz

IPC: G01S5/10 ,  B64C39/02 ,  G01S5/02

CPC classification number: G01S19/48 ,  G01S5/12

Abstract: Systems, methods, apparatuses and computer-readable storage media for navigating an unmanned aerial vehicle (UAV) using signals of opportunity are disclosed. The UAV may include a receiver for detecting a plurality of signals at two or more receiver elements. The UAV may estimate an angle of arrival (AoA) for at least two signals of the plurality of signals, and may estimate a position of the receiver based, at least in part, on the AoA for each of the at least two signals. Known locations of the transmitters that are transmitting the at least two signals may be used in conjunction with the AoAs to determine the estimate of the position of the receiver. More than two signals may be used to localize the estimated position of the receiver.

公开(公告)号：US09945931B2

公开(公告)日：2018-04-17

申请号：US14966870

申请日：2015-12-11

Applicant: University of Kansas

Inventor： Christopher T. Allen ,  Shawn Shahriar Keshmiri ,  Masud Al Aziz

IPC: G01S5/10 ,  G01S5/02 ,  B64C39/02

CPC classification number: G01S19/48 ,  G01S5/12

Abstract: Systems, methods, apparatuses and computer-readable storage media for navigating an unmanned aerial vehicle (UAV) using signals of opportunity are disclosed. The UAV may include a receiver for detecting a plurality of signals at two or more receiver elements. The UAV may estimate an angle of arrival (AoA) for at least two signals of the plurality of signals, and may estimate a position of the receiver based, at least in part, on the AoA for each of the at least two signals. Known locations of the transmitters that are transmitting the at least two signals may be used in conjunction with the AoAs to determine the estimate of the position of the receiver. More than two signals may be used to localize the estimated position of the receiver.

公开(公告)号：US09008869B2

公开(公告)日：2015-04-14

申请号：US14069641

申请日：2013-11-01

Applicant: University of Kansas

Inventor： Christopher T. Allen ,  Trenton Shuey ,  Rongqing Hui

IPC: G01C5/00 ,  G01B9/08 ,  B64D45/00

CPC classification number: G01B9/08 ,  B64D45/00 ,  G01C5/005

Abstract: A low-altitude altimeter (10) and a method of determining low altitudes for unmanned aerial vehicles (24). The altimeter includes at least two illuminators (12, 14), at least one sensor (16), and a computing device (18). The illuminators (12, 14) emit signals which are received by the sensor (16) in such a way that an angle at which they are received is determinable by the computing device (18). The computing device (18) processes each signal received by the sensor (16), determines the angle at which the sensor (16) received the signal, and, based thereon, determines the altitude of the unmanned aerial vehicle (24). When a first pair of illuminators are arranged along a fuselage axis, and a second pair of illuminators are arranged orthogonally to that axis, the computing device can combine first and second altitude, pitch angle, and roll angle measurements to provide a more refined altitude determination.

Abstract translation: 一种低空高度计（10）和一种确定无人驾驶飞行器低空的方法（24）。 高度计包括至少两个照明器（12,14），至少一个传感器（16）和计算设备（18）。 照明器（12,14）发射由传感器（16）接收的信号，使得它们被接收的角度由计算装置（18）确定。 计算装置（18）处理由传感器（16）接收的每个信号，确定传感器（16）接收信号的角度，并且基于此确定无人驾驶飞行器（24）的高度。 当第一对照明器沿着机身轴线布置，并且第二对照明器与该轴线正交布置时，计算装置可以组合第一和第二高度，俯仰角和侧倾角测量值，以提供更精确的高度确定 。