公开(公告)号：US11932397B2

公开(公告)日：2024-03-19

申请号：US17945749

申请日：2022-09-15

Applicant: Verity AG

Inventor： Markus Hehn ,  Luciano Beffa

IPC: B64C19/02 ,  B64C11/00 ,  B64C27/04 ,  B64C39/02 ,  G05D1/00 ,  G05D1/04 ,  H04N7/18

CPC classification number: B64C39/024 ,  B64C11/00 ,  B64C19/02 ,  B64C27/04 ,  G05D1/0094 ,  G05D1/042 ,  H04N7/188

Abstract: According to the present invention there is provided a method of taking a measurement using a sensor mounted on an aerial vehicle, the aerial vehicle having one or more propellers and one or more motors which are selectively operable to drive the one or more propellers to rotate to cause the vehicle to fly, and a sensor mounted on the aerial vehicle, the method comprising the steps of, operating the one or more motors to drive the one or more propellers to cause the vehicle to fly; at a first time instant, slowing down or turning off said one or more motors; while the one or more motors are slowed down or turned off, taking a measurement using said sensor; at a second time instant, which is after the measurement has been taken using the sensor, operating the one or more motors again to drive the one or more propellers to cause the vehicle to fly. There is further provided a corresponding aerial vehicle.

公开(公告)号：US20230333572A1

公开(公告)日：2023-10-19

申请号：US18210886

申请日：2023-06-16

Applicant: Verity AG

Inventor： Luciano Beffa ,  Markus Hehn

IPC: G05D1/10 ,  G01C21/16 ,  G01C21/18 ,  G01C22/00

CPC classification number: G05D1/106 ,  G01C21/165 ,  G01C21/18 ,  G01C22/00 ,  B64C39/024

Abstract: The system receives position information in both an internal coordinate frame and an external coordinate frame. The system uses a comparison of position information in these flames to determine orientation information. The system determines one or more orientation hypotheses, and analyzes the position information based on these hypotheses. The system may include on-board accelerometers, gyroscopes, or both that provide the measurements in the internal coordinate frame. These measurements may be integrated otherwise processed to determine position, velocity, or both. Measurements in the external frame are provided by GPS sensors or other positioning systems. Position information is transformed to a common coordinate frame, and an error metric is determined. Based on the error metric, the system estimates a likelihood metric for each hypothesis, and determines a resulting hypothesis based on the maximum likelihood or a combination of likelihoods.

公开(公告)号：US11485492B2

公开(公告)日：2022-11-01

申请号：US16485362

申请日：2018-02-16

Applicant: Verity AG

Inventor： Markus Hehn ,  Luciano Beffa

IPC: B64C19/02 ,  G05D1/00 ,  G05D1/04 ,  B64C39/02 ,  B64C11/00 ,  B64C27/04 ,  H04N7/18

Abstract: An aerial vehicle and a method of taking a measurement using a sensor mounted on an aerial vehicle. The aerial vehicle has one or more propellers and one car more motors which are selectively operable to drive the one or more propellers to rotate to cause the vehicle to fly. A sensor is mounted on the aerial vehicle. The method includes operating the one or more motors to drive the one or more propellers to cause the vehicle to fly. At a first time instant, the one or more motors are slowed down or turned off. When the one or more motors are slowed down or turned off, a measurement is taken using the sensor; at a second time instant, which is after the measurement has been taken using sensor, operating the one or more motors again to drive the one or more propellers to cause the vehicle to fly.

公开(公告)号：US11681303B2

公开(公告)日：2023-06-20

申请号：US17258134

申请日：2019-07-08

Applicant: Verity AG

Inventor： Luciano Beffa ,  Markus Hehn

IPC: G05D1/10 ,  G01C21/16 ,  G01C21/18 ,  G01C22/00 ,  B64C39/02

CPC classification number: G05D1/106 ,  G01C21/165 ,  G01C21/18 ,  G01C22/00 ,  B64C39/024 ,  B64U2201/10

Abstract: The system receives position information in both an internal coordinate frame and an external coordinate frame. The system uses a comparison of position information in these frames to determine orientation information. The system determines one or more orientation hypotheses, and analyzes the position information based on these hypotheses. The system may include on-board accelerometers, gyroscopes, or both that provide the measurements in the internal coordinate frame. These measurements may be integrated or otherwise processed to determine position, velocity, or both. Measurements in the external frame are provided by GPS sensors or other positioning systems. Position information is transformed to a common coordinate frame, and an error metric is determined. Based on the error metric, the system estimates a likelihood metric for each hypothesis, and determines a resulting hypothesis based on the maximum likelihood or a combination of likelihoods.