PROBLEM TO BE SOLVED: To provide a system or the like capable of estimating the position of an unmanned aircraft for the purpose of controlling flight of the unmanned aircraft below a bridge or any other erection of a structure including the election.SOLUTION: An embodiment of the present invention is a position estimation system including an environment acquisition unit that acquires the position of an unmanned aircraft using a global sensor that measures an absolute position of an unmanned aircraft, a self-position estimation unit that uses a local sensor, which measures a relative position of an unmanned aircraft, to estimate the relative position of the unmanned aircraft with respect to an object existing around the unmanned aircraft, and outputs the relative position of the unmanned aircraft when the relative position estimated based on the likelihood of the estimation is determined to be effective, and an estimator that estimates the position and speed of the unmanned aircraft on the basis of the relative position in the event that the self-position estimation unit has outputted the relative position of the unmanned aircraft or on the basis of the position in the event that the environment acquisition unit has acquired the position.SELECTED DRAWING: Figure 1

    【課題】橋梁の下方などの架設部を有する構造物の該架設部下方において無人航空機の飛行を制御するために無人航空機の位置を推定することが可能な装置等を提供する。【解決手段】本発明の一態様は、位置推定装置であって、無人航空機の絶対位置を計測するためのグローバルセンサを用いて無人航空機の位置を取得する環境取得部と、無人航空機の相対位置を計測するためのローカルセンサを用いて無人航空機の周囲にある物体に対する無人航空機の相対位置を推定し、該推定の尤度に基づいて該推定された相対位置が有効であると判定された場合に無人航空機の相対位置を出力する、自己位置推定部と、自己位置推定部により無人航空機の相対位置が出力された場合は該相対位置に基づいて、かつ環境取得部により位置が取得された場合は該位置に基づいて、無人航空機の位置及び速度を推定する推定器と、を備える。【選択図】図1


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    Title :

    UNMANNED AIRCRAFT, POSITION ESTIMATION SYSTEM, FLIGHT CONTROL SYSTEM, POSITION ESTIMATION METHOD, CONTROL METHOD, AND PROGRAM


    Additional title:

    無人航空機、位置推定装置、飛行制御装置、位置推定方法、制御方法及びプログラム


    Contributors:

    Publication date :

    2018-11-15


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / B64C AEROPLANES , Flugzeuge / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen



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