Method and apparatus for determining the position of unmanned vehicles and unmanned aerial vehicles - Patents.com

Abstract

A method for determining a position of an unmanned vehicle (UV) is provided. The method includes receiving positioning signals from a plurality of GNSS satellites. The method further includes estimating the position of the UV based on (i) a three-dimensional model of the UV's environment and (ii) potential signal paths for each of the positioning signals, at least some of the potential signal paths including reflections of the positioning signals by one or more objects in the UV's environment.

Description

[Technical field]

[0001] This disclosure relates to determining the position of an unmanned vehicle (UV). In particular, embodiments relate to a method and apparatus for determining the position of a UV. Other embodiments relate to unmanned aerial vehicles (UAVs). [Background technology]

[0002] Global Navigation Satellite Systems (GNSS), such as the Global Positioning System (GPS), are often used to provide absolute, globally referenced position information for autonomous vehicles such as drones, autonomous cars, etc. However, the radio signals that such systems rely on can be blocked or reflected by large structures in the robot's environment, leading to poor quality or total confusion of position estimates.

[0003] Therefore, improvements in location determination may be required. Summary of the Invention [Problem to be solved by the invention]

[0004] This need is met by an apparatus and a method according to the independent claims. Advantageous embodiments are specified in the dependent claims. [Means for solving the problem]

[0005] According to a first aspect, the present disclosure provides a method for determining a position of a UV, the method including receiving positioning signals from a plurality of GNSS satellites, the method further including estimating a position of the UV based on (i) a three-dimensional model of an environment of the UV and (ii) potential signal paths for each of the positioning signals. At least some of the possible signal paths include reflections of the positioning signal by one or more objects in the UV environment.

[0006] According to a second aspect, the present disclosure provides a non-transitory machine-readable medium having stored thereon a program having a program code for controlling a UV to perform a method for determining a position of the UV as described herein, when the program is executed on a processor or programmable hardware of the UV.

[0007] According to a third aspect, the present disclosure provides an apparatus for determining a position of a UV. The apparatus includes a receiver circuit configured to receive positioning signals from a plurality of satellites of a GNSS. The apparatus further includes a processing circuit configured to estimate a position of the UV based on (i) a three-dimensional model of an environment of the UV and (ii) a potential signal path for each of the positioning signals. At least a portion of the potential signal paths for each of the positioning signals include reflections of the positioning signals by one or more objects in the environment of the UV.

[0008] According to a fourth aspect, the present disclosure provides a UAV comprising an apparatus for determining a position of the UAV as described herein. [Brief description of the drawings]

[0009] Some examples of apparatus and / or methods are described below, by way of example only, and with reference to the accompanying drawings, in which: [Figure 1] 1 shows a flowchart of an example of a method for determining UV positions. [Diagram 2] 1 shows an example of a UAV in an environment. [Diagram 3] An example of a 2D representation of the 3D model of the UAV's environment is shown below. [Figure 4] 1 shows an example architecture for estimating UV positions. [Diagram 5] 1 shows another example of a UAV in an environment. [Figure 6] 1 illustrates an example of a UAV equipped with equipment for determining the location of the UAV. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Various examples will now be described more fully with reference to the accompanying drawings, in which several examples are shown and in which the thicknesses of lines, layers and / or regions are exaggerated for clarity.

[0011] Thus, while the further examples are capable of various modifications and alternative forms, some specific examples thereof are shown in the drawings and will be described in detail below. However, this detailed description is not intended to limit the further examples to the specific forms described. The further examples may include all modifications, equivalents, and alternatives falling within the scope of the present disclosure. Identical or similar reference numerals refer to similar or similar components throughout the description of the figures, which may be implemented in the same or modified form when compared to one another while providing the same or similar functionality.

[0012] When an element is referred to as being "connected" or "coupled" to another element, these elements may be directly connected or may be coupled via one or more intervening elements. When two elements A and B are combined using "or", unless otherwise expressly or implicitly defined, this should be understood as disclosing all possible combinations, i.e., only A, only B, or only A and B. Alternative phrases for the same combination are "at least one of A and B" or "A and / or B." The same applies mutatis mutandis to combinations of two or more elements.

[0013] Terms used herein for the purpose of describing particular examples are not intended to limit further examples. Whenever singular forms such as "a" and "the" are used and only a single component is used, it is not explicitly or implicitly defined as "required" but further examples may also use multiple components to implement the same functionality. Similarly, when functionality is later described as being implemented using multiple components, further examples may implement the same functionality using a single component or processing entity. It will be understood that the term "including," "comprising," or "having" specifies the presence of stated features, integers, steps, operations, processes, acts, elements and / or components, but does not preclude the presence or grouping of one or more other features, integers, steps, operations, processes, acts, elements and / or components.

[0014] Unless otherwise defined, all terms (including technical and scientific terms) used herein are used in the ordinary sense of the art to which the example belongs.

[0015] 1 shows a flow chart of a method 100 for determining the location of a UV. For simplicity, the proposed method is described primarily with UAVs. However, it should be noted that the technique is not limited to UAVs and may be used with other unmanned vehicles, such as unmanned ground vehicles (UGVs), as well.

[0016] An exemplary scene including UAV 200 is shown in Fig. 2. As can be seen in Fig. 2, UAV 200 is located between two multi-storey buildings 210 and 220. Also shown are four satellites 230-1, ..., 230-4 of a GNSS, such as GPS, GLObalnaja NAwigazionnaja Sputnikowaja Sistema (GLONASS), Galileo or Beidou. Each of the four satellites 230-1, ..., 230-4 provides one or more positioning signals (positioning signals) that enable geospatial positioning for UAV 200. In particular, UAV 200 may accurately measure the time (and additional quantities, such as Doppler shift) it takes for a location signal (e.g., a radio frequency signal) to travel from a satellite to a receiver in UAV 200.

[0017] 2, the geometry of the buildings 210 and 220 in the environment (surrounding area) of the UAV 200 affects the propagation of the positioning signals. For example, the positioning signals of the four satellites 230-1, ..., 230-4 may be blocked or reflected by objects in the environment of the UAV 200 such that the UAV 200 is unable to receive some of the positioning signals or can only receive reflected positioning signals. 2, the positioning signal 231-1 of satellite 230-1 is reflected by building 220 such that there is no line-of-sight propagation of the positioning signal 231-1 to UAV 200. The positioning signal 231-4 of satellite 230-4 is completely blocked by building 220 such that UAV 200 cannot receive the positioning signal 231-4. Only the positioning signals 231-2 and 231-3 of satellites 230-2 and 230-3 are not affected by the environment of UAV 200, resulting in line-of-sight propagation of the positioning signal 231-1 to UAV 200.

[0018] If the positioning signal of any of the satellites 230-1, ..., 230-4 is blocked, the UAV 200 cannot be used to determine its position. If the positioning signal of one of the satellites 2301, ..., 230-4 is reflected, treating the positioning signal like a non-reflected signal (i.e., assuming line-of-sight propagation) will result in an incorrect estimate of the distance to the satellite, leading to an incorrect position estimate.

[0019] It should be noted that the buildings 210 and 220 shown in Fig. 2 are just examples of objects in the environment of the UAV 200. Any large natural or man-made object (structure) between the GNSS satellites and the UAV 200 may completely block or reflect the satellite positioning signal. For example, such objects may be high-rise buildings in a city, large rocks in mountain areas, valleys, dams, etc.

[0020] Method 100 allows for more accurate determination of a position of a UV, such as UAV 200, even in the presence of objects in the UV's environment. Referring back to Figure 1, method 100 includes receiving (102) positioning signals from multiple satellites of a GNSS (e.g., as shown in Figure 2). Further, method 100 includes estimating (determining) (104) a position of the UV based on (i) a three-dimensional model of the UV's environment and (ii) potential signal paths for each of the positioning signals. At least some of the possible signal paths include reflections of the positioning signal by one or more objects in the UV environment. In other words, at least some of the possible signal paths are signal paths that reproduce reflections of the positioning signal by one or more objects in the UV environment. The three-dimensional model of the UV environment includes information regarding at least the positions, orientations, and shapes of objects in the UV environment.

[0021] The location of the UV may be estimated based on a three-dimensional model of the UV's environment and possible signal paths that replicate the reflections of the positioning signals, and the information provided by the reflected positioning signals may be used to determine the location of the UV. By varying the current position (or estimate) of the UV and taking into account the three-dimensional model of the UV's environment and the a priori known positions of the satellites, possible signal paths for each of the positioning signals may be determined (e.g., using a probabilistic model). Among the possible signal paths for each of the positioning signals, the respective most likely signal path may be determined based on the positioning signals (or information derived / related thereto). Thus, the distance of the UV to the satellite from which the positioning signal arrives at the UV via one or more reflections may also be determined correctly (or at least with high accuracy compared to conventional approaches). Compared to conventional approaches, the reflected positioning signals may thus also be used for accurate position determination. Therefore, all received position signals can be used for positioning. For example, positioning signals 231-1, 231-2 and 231-3 may all be used for determining the position of UAV 200 according to the proposed technique.

[0022] A two-dimensional representation of an exemplary three-dimensional model of the landscape depicted in Figure 2 is shown in Figure 3. As can be seen in Figure 3, the geometry of buildings 210 and 220 present in the real world is modeled by objects 310-1, 310-2, and 320 in the three-dimensional model of the environment of UAV 200. Furthermore, objects 310 and 320 are semantically labeled. Objects 310-1, 310-2, and 320 are labeled as buildings.

[0023] By labeling objects in the 3D model of the UAV 200's environment, the influence of objects (structures) on the position signals of the GNSS satellites 230-1, ..., 230-4 can be predicted. As shown in Figure 1, the objects may be semantically labeled with information about the material class of the respective object (e.g., materials suitable for building, glass, concrete, steel, stone, rock, etc.). Alternatively or additionally, the objects may be semantically labeled with information about the radio frequency properties of the respective object (e.g., radio frequency reflectivity, radio frequency absorption, etc.).

[0024] 3, the 3D model of the UAV 200's environment includes only static objects to model the buildings 210 and 220. In other examples, the 3D model of the UV's environment may include at least one moving (dynamic) object to model a dynamic (moving) object in the real world, such as a car. For example, a car moving through the UV's environment may reflect a positioning signal (e.g., a GPS signal) in different directions over time, further affecting its Doppler shift. A semantic model of the UV's environment, including one or more dynamic objects (e.g., modeling geometry, pose, material properties and velocity), may allow predicting the effect of moving vehicles, so that the UV's position estimation may be further improved. In other words, some implementations may take into account the effect of dynamically moving objects.

[0025] As shown in FIG. 1, the method 100 may further include determining (106) a three-dimensional model of the UV's environment based on sensor data from one or more sensors in the UV. For example, determining 106 a three-dimensional model of the UV's environment and estimating 104 the UV's position may be performed simultaneously. In some examples, the UV's one or more sensors include at least an optical sensor (e.g., a still or video camera) and an inertial measurement unit (IMU). Optionally or alternatively, the UV's one or more sensors may include, for example, a magnetometer, a barometer, a radar sensor, a LIDAR sensor, or other sensors.

[0026] An example of an architecture for simultaneously estimating 104 the position of a UV (e.g., a UAV 200) to determine 106 a 3D model of the UV's environment is shown in FIG.

[0027] A simultaneous localization and mapping, SLAM algorithm 410 is used to determine a 3D representation of the UV's environment based on sensor data 401, 402 of the optical sensors and the IMU. Optionally, sensor data from additional sensors (e.g., barometer, radar sensor, etc.) may be provided to the SLAM algorithm to determine the 3D representation of the UV's environment. In addition to the 3D representation of the UV's environment, the SLAM algorithm determines a pose estimate 404 and a velocity estimate 405 for the UV.

[0028] Further, an image classification algorithm 420 is used to classify the at least one object in the UV environment represented by the sensor data of the light sensor 401 into one of a plurality of predefined categories. To determine the category of the object, the sensor data 401 is evaluated by the image classification algorithm 420. That is, upon classification, the at least one object in the UV environment is based on the sensor data of the light sensor 401. For example, unsupervised, semi-supervised, or supervised classification (e.g., using convolutional neural networks) can be used for image classification. The output of the image classification algorithm 420 is semantic labels 406 for objects in the three-dimensional representation 403 of the UV environment indicating their respective classified categories. As mentioned above, the predefined categories may be radio frequency characteristics and / or material classes.

[0029] At least one object in the 3D representation of the UV environment is semantically labeled with a classified category to obtain a 3D model of the UV environment 430.

[0030] The SLAM algorithm 410 is used in conjunction with a particle filter 440 that represents a probabilistic model of possible signal paths for each of the positioning signals received from the GNSS satellites. The particle filter 440 receives as inputs pose estimates 404 and velocity estimates 405 for the UV from the SLAM algorithm 410, a 3D model 430 of the UV's environment, satellite positions 407, and information 408 related to the positioning signals. The positions 407 of the satellites are known a priori. The information 408 relating to the positioning signals may be, for example, the positioning signals themselves or quantities derived therefrom (e.g., time of arrival in the UV, propagation time from the satellites to the UV, etc.).

[0031] A particle filter 440 is used to determine a respective most likely signal path among the possible signal paths for each of the positioning signals. The particle filter 440 may be understood as a probabilistic model that includes the possibility that the positioning signals are reflected in various ways or not reflected at all. Based on the attitude estimate 404 and the velocity estimate 405 relative to the UV, a respective most likely signal path among the possible signal paths for each of the positioning signals may be determined by the particle filter using a three-dimensional model 430 of the UV's environment, the satellite positions 407, and information related to the positioning signals 408. In other words, the path of the reflected positioning signal may be estimated by the particle filter 440. Thus, the particle filter 440 makes it possible to maximize the posterior probability of the current pose estimate with respect to the UVs.

[0032] The output of the particle filter 440 is used by the SLAM algorithm 410 to update the pose and velocity estimates 404 and 405 of the SLAM algorithm 410. In other words, the pose estimate 404 and velocity estimate 405 of the SLAM algorithm 410 are updated based on the respective most likely signal paths among the possible signal paths for each of the positioning signals. The position indicated by the updated pose estimate of the SLAM algorithm 410 is determined to be the UV position.

[0033] Additionally, the 3D model 430 of the UV's environment is updated based on the updated pose estimate and the updated velocity estimate of the SLAM algorithm 410 .

[0034] The data exchanged via the dotted line in the example of FIG. 4 may include uncertainty information.

[0035] The architecture shown in FIG. 4 may enable the position of the UV, and the geometry and characteristics of the UV's environment to be estimated simultaneously with the path of the positioning signal from the satellite (which has a known position).

[0036] The proposed technique may allow combining information from all available (i.e., received) positioning signals via a semantically annotated, globally referenced model of the UV's environment, which may be obtained by SLAM in combination with semantic classification of image data, as mentioned above. Using the (priori known) positions of the satellites together with the 3D shape, position and orientation of obstacles (given by a model of the UV environment) in the path of the positioning signals may provide information to improve the accuracy of the position information, even for signals that arrive at the UV GNSS receiver via one or more re-reflections. The semantic information added to the estimated geometry of the environment (given by a model of the UV environment) makes it possible to predict the influence of objects (structures) on the positioning signals (e.g. whether the objects will absorb or reflect the positioning signals).

[0037] The proposed technique visually estimates the position, orientation, shape and material of (large) objects / structures in UV environments to directly predict and take into account their influence on the positioning signals emitted by GNSS satellites, thus potentially improving the accuracy of GNSS-based position estimation in environments with large structures, such as large buildings in cities or large rocks in mountainous areas.

[0038] It should be noted that in the example of FIG. 4, a particle filter 440 is used, but in alternative examples, another filter such as a Kalman filter or an expectation maximization filter may be used.

[0039] Compared to traditional approaches, the proposed technique allows to extract position and velocity information from positioning signals reflected by objects / structures in UV environments. Figure 5 shows an example of a scene where a UAV 500 is flying under a road bridge 510. There is no direct line of sight to any of the four GNSS satellites 520-1,...,520-4. The positioning signals 521-2 and 521-3 of satellites 520-2 and 520-3 are blocked by the road bridge 510. The positioning signals 521-1 and 521-4 of satellites 520-1 and 520-4 are reflected by the soil 530. In a situation such as that shown in Fig. 5, the proposed technique makes it possible to obtain additional information from the positioning signals 521-1 and 521-4 in order to update the estimated position of the UAV 500. A semantically annotated 3D model of the environment of the UAV 500 makes it possible to predict the reflections of the positioning signals 521-1 and 521-4 so that the position can be accurately estimated from the positioning signals 521-1 and 521-4.

[0040] An example of a UV using position determination according to the proposed technique is further illustrated in Fig. 6. In Fig. 6, the UV is a UAV 600 depicted as a multi-rotor drone (e.g., quadcopter or bicopter) with multiple rotors 640-1, 640-2. However, it is noted that the UV is not limited to this. In general, the UV may be any type of UGV or UAV, such as a monocopter, a fixed-wing UAV (e.g., planar or vertical take-off and landing, VTOL, aircraft), or an autonomous vehicle.

[0041] The UAV 600 comprises an apparatus 610 for determining a position of the UAV 600. The apparatus 610 comprises a receiver circuit 611 coupled to a receiving antenna 630 and configured to receive position signals 601 from multiple satellites of a GNSS (e.g., GPS). Additionally, the apparatus 610 comprises a processing circuit 612. For example, the processing circuit 612 may be a single dedicated processor, a single shared processor, or multiple individual processors, some or all of which may be shared digital signal processor hardware, an application specific integrated circuit, or a field programmable gate array. The processing circuit 612 can optionally be coupled to, for example, read-only memory for storing software, random access memory, and / or non-volatile memory. The device 610 can further include other hardware, conventional and / or custom.

[0042] Processing circuitry 612 receives data associated with the received positioning signal 601 and, optionally, further data from one or more sensors of the UAV (e.g., optical sensor 620 or an IMU). Processing circuitry 612 processes the data according to the techniques described above to determine the position of the UAV 600.

[0043] The UAV 600 may further include other hardware, conventional and / or custom (e.g., an antenna for receiving control signals of a remote control).

[0044] The following examples relate to further embodiments. (1) A method for determining a position of an unmanned vehicle UV, comprising: receiving positioning signals from a plurality of satellites of a global navigation satellite system; (i) estimating a position of the UV based on a three-dimensional model of the UV's environment and (ii) potential signal paths for each of the positioning signals; Including, At least some of the possible signal paths include reflections of the positioning signal by one or more objects in a UV environment. method. (2) The method according to (1), Objects within the 3D model of the UV environment are semantically labeled with information regarding their radio frequency characteristics and / or material class. method. (3) The method according to (1) or (2), The 3D model of the UV environment contains only static objects method. (4) The method according to (1) or (2), The three-dimensional model of the UV environment includes at least one moving object. method. (5) The method according to any one of (1) to (4), determining (106) a three-dimensional model of the UV environment based on sensor data from one or more sensors in the UV; method. (6) The method according to (5), The one or more sensors of the UV include at least an optical sensor and an inertial measurement unit. method. (7) The method according to (6), determining a three-dimensional model of the UV's environment based on sensor data of the optical sensors and the inertial measurement unit and determining a three-dimensional representation of the UV's environment using a simultaneous localization, mapping, and SLAM algorithm; classifying at least one object in a UV environment represented by the sensor data of the optical sensor into one of a plurality of predefined categories based on the sensor data of the optical sensor; semantically labeling said at least one object in the three-dimensional representation of the UV environment with said classified categories to obtain a three-dimensional model of the UV environment; Includes method. (8) The method according to (7), The predefined categories are radio frequency characteristics and / or material classes. method. (9) The method according to (7) or (8), a possible signal path for each of the positioning signals is represented by a particle filter; The method includes determining a respective most likely signal path among the possible signal paths for each of the positioning signals using the particle filter. method. (10) The method according to (9), The particle filter receives as input attitude and velocity estimates relative to the UV from the SLAM algorithm, a 3D model of the UV's environment, the positions of the satellites, and information related to the positioning signals. method. (11) The method according to (9) or (10), The method further includes updating attitude and velocity estimates of the SLAM algorithm based on a respective most likely signal path among possible signal paths for each of the positioning signals. method. (12) The method according to (11), The step of estimating the position of the UV includes determining the position indicated by the updated pose estimate of the SLAM algorithm as the position of the UV. method. (13) The method according to (11) or (12), and updating a 3D model of the UV environment based on the updated pose estimate and the updated velocity estimate of the SLAM algorithm. method. (14) The method according to any one of (1) to (13), Run by UV method. (15) The method according to any one of (1) to (14), UV is an unmanned aerial vehicle (UAV). method. (16) The method according to (15), The UAV is a multi-rotor drone method. (17) A program having a program code for controlling an unmanned vehicle to perform a method for determining the position of an unmanned vehicle according to any one of (1) to (16) when the program is executed on a processor or programmable hardware of the unmanned vehicle. Non-transitory machine-readable media. (18) An apparatus for determining the position of an unmanned vehicle UV, comprising: a receiver circuit configured to receive positioning signals from a plurality of satellites of a global navigation satellite system; (i) a three-dimensional model of an environment of the UV; and (ii) a processing circuit configured to estimate a position of the UV based on a potential signal path for each of the positioning signals. Equipped with At least a portion of the possible signal paths for each of the positioning signals includes reflections of the positioning signals by one or more objects in the UV environment. device. (19) An unmanned aerial vehicle (UAV) equipped with equipment for determining the position of the unmanned vehicle UV described in (18). (20) An unmanned aerial vehicle according to (19), The unmanned aerial vehicle (UAV) is a multi-rotor drone. unmanned aircraft.

[0045] Aspects and features described in connection with one or more of the embodiments and figures detailed above may also be combined with one or more of the other examples to replace similar features of the other examples or to introduce additional features to the other examples.

[0046] The specification and drawings merely illustrate the principles of the present disclosure. Moreover, all examples described herein are expressly intended to be for illustrative purposes only, primarily to aid the reader in understanding the principles of the present disclosure, as well as the concepts that the inventors have contributed to further advancing the art. All statements made herein are intended to describe the principles, aspects, and examples of the present disclosure, as well as specific examples thereof, and to encompass equivalents thereof.

[0047] Block diagrams may, for example, illustrate high level circuit diagrams embodying the principles of the present disclosure. Similarly, flow charts, flow diagrams, state transition diagrams, pseudo code may represent various processes, operations or steps, for example, substantially represented on a non-transitory machine-readable medium (e.g., floppy disk, DVD, Blu-Ray, CD, ROM, PROM, EPROM, EEPROM, or FLASH memory) and executed by a processor or programmable hardware, whether or not such processor or programmable hardware is explicitly shown. Methods disclosed in the specification or claims may be performed by an apparatus having means for performing the respective actions of those methods.

[0048] It should be understood that the disclosure of multiple acts, processes, operations, steps, or functions disclosed in this specification or claims should not be construed as being in a particular order, unless expressly or implicitly stated, for example, for technical reasons. Thus, the disclosure of multiple acts or functions will not limit them to a particular order, unless such acts or functions are interchangeable for technical reasons. Furthermore, in some instances, a single act, function, process, operation, or step may include or be divided into multiple sub-acts, functions, processes, operations, or steps, respectively. Such sub-acts may be included and may be part of the disclosure of the single act, unless expressly excluded.

[0049] Additionally, the following claims are hereby incorporated into the Detailed Description, where each claim may stand on its own as a separate example. Although each claim may stand on its own as a separate example, it should be noted that although a dependent claim may refer in a number of claims to a specific combination with one or more other claims, other examples may also include combinations with the subject matter of the dependent or independent claims. Such combinations are expressly suggested herein unless it is specified that a particular combination is not intended. Furthermore, it is intended that features of one claim be included in other independent claims even if that claim is not directly dependent on that claim.

Claims

1. A method (100) for determining a position of an unmanned vehicle UV, comprising: receiving (102) positioning signals from a plurality of satellites of a global navigation satellite system; (i) estimating (104) a position of the UV based on a three-dimensional model of the UV's environment and (ii) potential signal paths for each of the positioning signals; Including, at least some of the possible signal paths include reflections of the positioning signal by one or more objects in a UV environment; a possible signal path for each of the positioning signals is represented by a particle filter; the particle filter receives as input attitude and velocity estimates relative to the UV from a SLAM algorithm, a 3D model of the UV's environment, the positions of the satellites, and information related to the positioning signals; The method includes determining a respective most likely signal path among the possible signal paths for each of the positioning signals using the particle filter. method.

2. 2. The method of claim 1 , Objects within the 3D model of the UV environment are semantically labeled with information regarding their radio frequency characteristics and / or material class. method.

3. 2. The method of claim 1 , The 3D model of the UV environment contains only static objects method.

4. 2. The method of claim 1 , The three-dimensional model of the UV environment includes at least one moving object. method.

5. 2. The method of claim 1 , determining (106) a three-dimensional model of the UV environment based on sensor data from one or more sensors in the UV; method.

6. 6. The method of claim 5, The one or more sensors of the UV include at least an optical sensor and an inertial measurement unit. method.

7. 7. The method of claim 6, determining a three-dimensional model of the UV environment includes determining a three-dimensional representation of the UV environment using a simultaneous localization and mapping, SLAM algorithm based on sensor data from the optical sensor and the inertial measurement unit; classifying at least one object in a UV environment represented by the sensor data of the optical sensor into one of a plurality of predefined categories based on the sensor data of the optical sensor; semantically labeling said at least one object in the three-dimensional representation of the UV environment with said classified categories to obtain a three-dimensional model of the UV environment; Includes method.

8. 8. The method of claim 7, The predefined categories are radio frequency characteristics and / or material classes. method.

9. 8. The method of claim 7, The method further includes updating attitude and velocity estimates of the SLAM algorithm based on a respective most likely signal path among possible signal paths for each of the positioning signals. method.

10. 10. The method of claim 9, The step of estimating the position of the UV includes determining the position indicated by the updated pose estimate of the SLAM algorithm as the position of the UV. method.

11. 10. The method of claim 9, and updating a 3D model of the UV environment based on the updated pose estimate and the updated velocity estimate of the SLAM algorithm. method.

12. 2. The method of claim 1 , Run by UV method.

13. 2. The method of claim 1 , UV is an unmanned aerial vehicle (UAV). method.

14. 14. The method of claim 13, The UAV is a multi-rotor drone method.

15. When the program is executed on a processor or programmable hardware of the unmanned vehicle, in order to carry out the method for determining the position of an unmanned vehicle according to claim 1, A program having a program code for controlling an unmanned vehicle is stored. Non-transitory machine-readable media.

16. An apparatus (610) for determining a position of an unmanned vehicle UV, comprising: a receiver circuit (611) configured to receive positioning signals from a plurality of satellites of a global navigation satellite system; a processing circuit (612) configured to estimate a position of the UV based on (i) a three-dimensional model of the UV's environment and (ii) potential signal paths for each of the positioning signals; Equipped with at least a portion of the possible signal paths for each of the positioning signals include reflections of the positioning signals by one or more objects in a UV environment; a possible signal path for each of the positioning signals is represented by a particle filter; the particle filter is configured to receive as input attitude and velocity estimates relative to the UV from a SLAM algorithm, a three-dimensional model of an environment of the UV, the positions of the satellites, and information related to the positioning signals; The processing circuitry (612) is configured to use the particle filter to determine a respective most likely signal path among the possible signal paths for each of the positioning signals. device.

17. An unmanned aerial vehicle (600) comprising a device (610) for determining the position of an unmanned vehicle UV according to claim 16.

18. 18. The unmanned aerial vehicle of claim 17, The unmanned aerial vehicle (600) is a multi-rotor drone. unmanned aircraft.

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