FLYING OBJECT CONTROL DEVICE AND FLYING OBJECT CONTROL METHOD

• Main Authors: KAWABATA SHUNICHI, OZAKI KENJI, SUGANUMA NAOTAKA, WARASHINA MASAHIKO, UEDA KOJI, SASAGAWA KENJI, SAKAMOTO NAOYA
• Format: Patent
• Language: English; Japanese
• Published: 01.05.2023
• Subjects: AEROPLANES; AIRCRAFT; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSIONTRANSMISSIONS IN AIRCRAFT; AVIATION; CONTROLLING; COSMONAUTICS; EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLYING SUITS; HELICOPTERS; PARACHUTES; PERFORMING OPERATIONS; PHYSICS; REGULATING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES; TRANSPORTING

To provide a flying object control device and a flying object control method that achieve high-precision self-position estimation with a simple configuration.SOLUTION: A flying object control device according to an embodiment comprises: a first storage unit that stores three-dimensional 3D map information consisting of point group data; a first photographing unit that generates an omnidirectional image by photographing all directions of a flying object; a first self-position estimation unit that generates first estimated position information indicating an absolute position of the flying object based on the omnidirectional image and the 3D map information; a second photographing unit that generates a moving image by photographing a predetermined direction from the flying object; a second self-position estimation unit that generates second estimated position information indicating a relative position of the flying object on the basis of a predetermined position based on the moving image; and a position monitoring unit that generates self-estimated position information indicating an estimated position of the flying object based on at least one of the first estimated position information and the second estimated position information.SELECTED DRAWING: Figure 2 【課題】シンプルな構成で高精度な自己位置推定を実現する飛行体制御装置、飛行体制御方法を提供すること。【解決手段】実施形態の飛行体制御装置は、点群データからなる三次元の３Ｄ地図情報を記憶する第１記憶部と、飛行体の全方位を撮影して全方位画像を生成する第１撮影部と、全方位画像と３Ｄ地図情報とに基づき飛行体の絶対位置を示す第１推定位置情報を生成する第１自己位置推定部と、飛行体から所定の方向を撮影した移動画像を生成する第２撮影部と、移動画像に基づいて所定の位置を基準とした飛行体の相対位置を示す第２推定位置情報を生成する第２自己位置推定部と、第１推定位置情報および第２推定位置情報の少なくとも一方に基づいて飛行体の推定位置を示す自己推定位置情報を生成する位置監視部と、を具備する。【選択図】図２