To improve accuracy of self-position estimation and allow a drone to stably fly.SOLUTION: In autonomous flight control method of an unmanned flying object according to the present disclosure comprises the steps of: estimating a flight position of the unmanned flying object on the basis of sensor information obtained from at least one sensor mounted in the unmanned flying object during a flight of the unmanned flying object; performing control on a drive unit of the unmanned flying object on the basis of a difference between a flight accumulation position of the unmanned flying object obtained based on repetition of estimation of the flight position and a flight planned path of the unmanned flying object; and correcting information on the flight accumulation position of the unmanned flying object on the basis of the result of image processing with respect to a marker provided along the flight planned path imaged by the camera mounted in the unmanned flying object and position information in a real space, of the marker.SELECTED DRAWING: Figure 1

    【課題】自己位置推定の精度を向上させ安定的にドローンを飛行させること。【解決手段】本開示による無人飛行体の自律飛行制御方法は、前記無人飛行体の飛行中に、前記無人飛行体に搭載される少なくとも一のセンサから得られるセンサ情報に基づいて、前記無人飛行体の飛行位置を推定することと、前記飛行位置の推定の繰り返しに基づき得られる前記無人飛行体の飛行累積位置と、前記無人飛行体の飛行予定経路との差に基づいて、前記無人飛行体の駆動部に対する制御を行うことと、前記無人飛行体に搭載されるカメラにより撮像される前記飛行予定経路に沿って設けられるマーカに対する画像処理の結果と、前記マーカの実空間上の位置情報とに基づいて、前記無人飛行体の飛行累積位置の情報を補正することと、を含む。【選択図】図1


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    Title :

    AUTONOMOUS FLIGHT CONTROL METHOD, AUTONOMOUS FLIGHT CONTROL APPARATUS AND AUTONOMOUS FLIGHT CONTROL SYSTEM


    Additional title:

    自律飛行制御方法、自律飛行制御装置および自律飛行制御システム


    Contributors:
    OGAWA YUJI (author) / IKEDA KEISUKE (author) / ITO SOICHIRO (author) / IWAI MASAKI (author)

    Publication date :

    2023-05-18


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B64U / B64C AEROPLANES , Flugzeuge / B64D Ausrüstung für Flugzeuge , EQUIPMENT FOR FITTING IN OR TO AIRCRAFT / 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 / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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