Drone Action Control via Waypoint-Based Position Estimation Switching
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Solution Overview
Problem
Conventional drones face challenges in performing mission flights with appropriate flight control due to the inability to adjust self-position estimation accuracy dynamically, leading to inconsistent flight performance across different waypoints.
Innovation Solution
An action control device and method that selectively chooses between various self-position estimation units based on indexes, allowing for adaptive flight control by switching between GPS-based and Vision-based estimation systems to match the required accuracy and speed at each waypoint.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If GPS sensor is used for self-position estimation, then the estimation can be used in a wide range, but the accuracy of estimating the self-position is low
Solution Approach 1:
The patent implements dynamic switching between GPS and vision sensors based on the mobile object's current state (position, speed, altitude). The system transitions from static sensor selection to dynamic adaptation, choosing the optimal sensor according to real-time operational conditions, thereby resolving the contradiction between wide range and high accuracy.
Solution Approach 2:
The system changes the operational parameters by switching between different sensors (GPS and vision) based on varying conditions such as position, speed, and altitude. This parameter-based selection allows the system to optimize position estimation accuracy for each specific operational context.
2Measurement precision
If vision sensor is used for self-position estimation, then the accuracy of estimating the self-position is high, but the range in which the vision can be effectively used is narrow
Solution Approach 1:
The system dynamically selects between vision and GPS sensors based on real-time operational parameters. When the mobile object is within the vision sensor's effective range (appropriate position, speed, and altitude), the system switches to vision mode for high accuracy. When outside this range, it transitions to GPS mode, thereby extending the overall operational range while maintaining high accuracy where possible.
Solution Approach 2:
The patent creates a universal position estimation system that can operate in both vision-based and GPS-based modes. By integrating multiple sensors and implementing conditional switching logic, the system achieves multi-functionality, allowing it to effectively operate across a wide range of conditions while maintaining high accuracy when vision conditions are favorable.
3Device complexity
If the same self-position estimation system is used through the entire mission flight, then the system configuration is simple, but it is difficult to perform appropriate flight control according to the situation while changing the estimation accuracy
Solution Approach 1:
The patent transforms the static sensor selection approach into a dynamic one by continuously monitoring operational parameters (position, speed, altitude) and switching sensors accordingly. This dynamic adaptation enables the system to provide appropriate flight control for different mission phases while maintaining relatively simple system architecture through automated decision-making logic.
Data Source
AI summary
The present disclosure relates to action control device and an action control method and a program that enable more appropriate action control to be achieved.An EKF processing unit selects a self-position estimation unit used to estimate a position of a drone from a plurality of the self-position estimation units which is different in estimation accuracy on the basis of waypoints that are indexes when the drone acts, and obtains a state of the drone. Then, a navigator controls an action of the drone according to an action plan created in advance on the basis of the state of the drone. The present technology can be applied to, for example, a mission flight control device that controls a mission flight of a drone.