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Method of ultrasound telemetry for drones, with discrimination of spurious echos emanating from another drone

A technology of unmanned aircraft and ultrasound, applied in the field of distance estimation, can solve problems such as measurement interference

Inactive Publication Date: 2014-04-23
PARROT
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0009] The invention aims to solve the particular problem of measurement interference when several similar drones operate simultaneously

Method used

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  • Method of ultrasound telemetry for drones, with discrimination of spurious echos emanating from another drone
  • Method of ultrasound telemetry for drones, with discrimination of spurious echos emanating from another drone
  • Method of ultrasound telemetry for drones, with discrimination of spurious echos emanating from another drone

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Embodiment Construction

[0051] exist figure 1 In , a drone D1 flying at an altitude h above the ground S is shown. The unmanned aircraft D1 is provided with an electro-acoustic transducer T1 for transmitting / receiving ultrasonic waves to the ground.

[0052] A typical telemetry technique consists of transmitting a short burst of ultrasound (eg 300 μs) towards the ground and counting the return time after reflection from the ground to deduce therefrom the altitude h.

[0053]Particular difficulties arise when another drone D2 of similar design to the drone D1 is flying close to D1 . The drone is also provided with a transducer T2 similar to T1 which also emits ultrasonic bursts at a recurring frequency close to that of transducer T1 ultrasonic emissions.

[0054] The acoustic signal received by T1 is thus susceptible to interference from signal echoes emitted by T1 and reflected by D2 (which may be mistaken for the ground S) and, on the other hand and first, by ultrasonic waves emitted by T2 and det...

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Abstract

The method comprises: a) the emission of an ultrasound burst repeated at a predetermined recurrence frequency; and b) after each emission and for the duration of a time frame (n-1, n, n+1, . . . ) separating two consecutive emissions, the reception of a plurality of successive signal spikes appearing in the course of the same frame. These spikes include spurious spikes (E'n-1, E'n, E'n+1, . . . ) originating from the emitter of another drone, and a useful spike (En-1, En, En+1, . . . ) corresponding to the distance to be estimated. To discriminate these spikes, the following steps are executed: c) for two consecutive frames, comparison of the instants of arrival of the p spikes of the current frame with the instants of arrival of the q spikes of the previous frame and determination, for each of the p.q pairs of spikes, of a corresponding relative time gap; d) application to the p.q gaps determined in step c) of a selection criterion making it possible to retain just a single spike of the current frame; and e) estimation of the distance as a function of the instant of arrival of the spike thus retained.

Description

technical field [0001] The present invention relates to distance estimation by means of ultrasonic telemetry implemented by drones, and in particular to measuring the altitude above sea level when the drone is in flight. Background technique [0002] The drone has electro-acoustic transducers for emitting and receiving ultrasonic waves. The transducer emits short bursts of ultrasound, tens or hundreds of microseconds, and waits for an echo to bounce off the ground. The period of time separated from the burst emission and the echo reception enables the estimation of the length of the acoustic path traveled - the speed of sound is known - and thus the altitude of the drone. [0003] This measurement is repeated at close intervals, and the period of ultrasound burst transmission corresponds to a frequency known as the "recurrence frequency", generally associated with the operating frequency of the drone's inertial unit. The period of time separating the two bursts known as th...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01S15/10G01S15/88G01S7/537
CPCG01S15/101G01S7/537G01S15/88G01S7/023
Inventor B·波琼
Owner PARROT
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