US 12,130,640 B2
Flying object control apparatus
Naoki Kameyama, Tokyo (JP); Tomoe Ushiro, Tokyo (JP); Youhei Oono, Tokyo (JP); and Yuichiro Segawa, Tokyo (JP)
Appl. No. 16/973,205
Filed by NTT DOCOMO, INC., Tokyo (JP)
PCT Filed Jun. 26, 2019, PCT No. PCT/JP2019/025328
§ 371(c)(1), (2) Date Dec. 8, 2020,
PCT Pub. No. WO2020/004448, PCT Pub. Date Jan. 2, 2020.
Claims priority of application No. 2018-120797 (JP), filed on Jun. 26, 2018.
Prior Publication US 2021/0191429 A1, Jun. 24, 2021
Int. Cl. G05D 1/00 (2006.01); G08G 5/04 (2006.01); B64U 10/13 (2023.01); B64U 50/19 (2023.01); B64U 101/30 (2023.01); G01S 19/13 (2010.01)
CPC G05D 1/106 (2019.05) [G08G 5/04 (2013.01); B64U 10/13 (2023.01); B64U 50/19 (2023.01); B64U 2101/30 (2023.01); B64U 2201/00 (2023.01); B64U 2201/104 (2023.01); G01S 19/13 (2013.01)] 6 Claims
OG exemplary drawing
 
1. A flying object control apparatus comprising:
a processor configured to:
set a plurality of coordinate axes, the plurality of coordinate axes serving as a reference for identifying a position of a flying object, in a flight space that includes a space in which accuracy of positioning based on a radio signal transmitted from a satellite is equal to or smaller than a threshold;
identify the position of the flying object in the space, using different methods for the plurality of coordinate axes; and
control flight of the flying object based on the position identified by the processor;
wherein the plurality of coordinate axes includes a first coordinate axis that intersects with a structural object, and a second coordinate axis that does not intersect with the structural object; and
the processor is further configured to continuously identify a position on the first coordinate axis of the flying object, whereas the processor identifies a position on the second coordinate axis of the flying object at a frequency smaller than a frequency at which the position on the first coordinate axis is identified, or does not identify the position on the second coordinate axis of the flying object.