US 12,243,433 B2
Systems and methods for indoor positioning of unmanned aerial vehicles
Derek Wade Ohlarik, Flemington, NJ (US); and Aamir Husain, Jersey City, NJ (US)
Assigned to Verizon Patent and Licensing Inc., Basking Ridge, NJ (US)
Filed by Verizon Patent and Licensing Inc., Basking Ridge, NJ (US)
Filed on May 25, 2022, as Appl. No. 17/664,939.
Prior Publication US 2023/0386350 A1, Nov. 30, 2023
Int. Cl. G08G 5/00 (2006.01); B64C 39/02 (2023.01); H04W 4/38 (2018.01)
CPC G08G 5/0069 (2013.01) [B64C 39/024 (2013.01); G08G 5/0034 (2013.01); H04W 4/38 (2018.02); B64U 2201/10 (2023.01)] 20 Claims
OG exemplary drawing
 
1. A method, comprising:
receiving, by a device, spatial data corresponding to an interior of a building and objects located in the interior of the building;
generating, by the device, a digital map of the interior of the building based on the spatial data,
wherein the digital map includes a first grid based on an XYZ coordinate system;
overlaying, by the device, a second grid over the digital map to generate a geographic coordinate map of the interior of the building,
wherein the second grid is based on a geographic coordinate system,
wherein the geographic coordinate system includes longitude and latitude components that are relative to the interior of the building;
receiving, by the device and from a sensor mounted on an uncrewed aerial vehicle (UAV), sensor data indicating three-dimensional geographic points;
comparing, by the device, the sensor data to the geographic coordinate map to localize the UAV on the geographic coordinate map;
generating, by the device and after localizing the UAV on the geographic coordinate map, coordinate data indicating a plurality of geographic coordinates associated with the geographic coordinate map,
wherein the plurality of geographic coordinates are formatted in a global positioning system (GPS) coordinate format, and a National Marine Electronics Association (NMEA) format; and
transmitting, by the device and to a controller of the UAV, at least a subset of the coordinate data,
wherein transmitting the at least the subset of the coordinate data includes:
transmitting, to the controller of the UAV, flight path data indicating an indoor flight path.