US 12,125,395 B2
Navigation devices
Jianyu Song, Shenzhen (CN); Zhenzhou Lai, Shenzhen (CN); Yongkang Tao, Shenzhen (CN); and Yiping Jiang, Shenzhen (CN)
Assigned to SZ DJI TECHNOLOGY CO., LTD., Shenzhen (CN)
Filed by SZ DJI TECHNOLOGY CO., LTD., Shenzhen (CN)
Filed on Oct. 1, 2020, as Appl. No. 17/060,650.
Application 17/060,650 is a continuation of application No. PCT/CN2018/081578, filed on Apr. 2, 2018.
Prior Publication US 2021/0020053 A1, Jan. 21, 2021
Int. Cl. G08G 5/00 (2006.01); B64C 39/02 (2023.01); G01C 19/5776 (2012.01); G01C 21/10 (2006.01); G01C 21/16 (2006.01); G05D 1/00 (2006.01); B64U 10/13 (2023.01)
CPC G08G 5/0069 (2013.01) [B64C 39/024 (2013.01); G01C 19/5776 (2013.01); G01C 21/10 (2013.01); G01C 21/1654 (2020.08); G01C 21/1656 (2020.08); G05D 1/101 (2013.01); B64U 10/13 (2023.01)] 19 Claims
OG exemplary drawing
 
1. A movable object, comprising:
an actuator to move the movable object;
a processor configured to control the actuator and movements of the movable object; and
at least one sensor, the sensor having a coordinate system not in complete alignment with a coordinate system of the movable object,
wherein the sensor senses a state of the movable object and the processor controls the actuator and the movements of the movable object based on the sensed state,
wherein the at least one sensor comprises a multi-axis inertial measurement sensor, which measures accelerations and/or angular velocity along multiple axes of the coordinate system of the multi-axis inertial measurement sensor respectively, at least one of the multiple axes of the coordinate system of the multi-axis inertial measurement sensor is parallel to an axis of the coordinate system of the movable object, or none of the multiple axes of the coordinate system of the multi-axis inertial measurement sensor is parallel to any axis of the coordinate system of the movable object,
wherein the processor obtains the measured accelerations and/or angular velocity along the multiple axes of the coordinate system of the multi-axis inertial measurement sensor and converts the measured accelerations and/or angular velocity along the multiple axes of the coordinate system of the multi-axis inertial measurement sensor into one or more of the posture, velocity, and position information of the movable object, and
wherein the multi-axis inertial measurement sensor is mounted on the movable object such that a sensing range in a vertical direction in the movable object's coordinate system is greater than a sensing range along any axis of the sensor's coordinate system.