	US 12,153,430 B2
	Adjusting a UAV flight plan based on radio frequency signal data
Bernard J. Michini, San Francisco, CA (US); Fabien Blanc-Paques, San Francisco, CA (US); and Logan Kaminski, San Francisco, CA (US)
Assigned to Skydio, Inc., San Mateo, CA (US)
Filed by Skydio, Inc., San Mateo, CA (US)
Filed on Jun. 7, 2023, as Appl. No. 18/330,942.
Application 18/330,942 is a continuation of application No. 17/478,090, filed on Sep. 17, 2021, granted, now 11,709,491.
Application 17/478,090 is a continuation of application No. 15/636,885, filed on Jun. 29, 2017, granted, now 11,150,654, issued on Oct. 19, 2021.
Claims priority of provisional application 62/357,294, filed on Jun. 30, 2016.
Prior Publication US 2023/0400853 A1, Dec. 14, 2023
Int. Cl. G08G 5/00 (2006.01); G01S 1/02 (2010.01); G05D 1/00 (2024.01); H04B 17/318 (2015.01); B64U 10/14 (2023.01); B64U 101/26 (2023.01); B64U 101/30 (2023.01); B64U 101/64 (2023.01)

CPC G05D 1/0088 (2013.01) [G01S 1/024 (2013.01); G05D 1/0094 (2013.01); G08G 5/006 (2013.01); G08G 5/0069 (2013.01); H04B 17/318 (2015.01); B64U 10/14 (2023.01); B64U 2101/26 (2023.01); B64U 2101/30 (2023.01); B64U 2101/64 (2023.01); B64U 2201/10 (2023.01); G08G 5/0034 (2013.01)]

18 Claims

1. A method, comprising:

receiving a flight plan of an unmanned aerial vehicle (UAV) for inspecting a structure that includes an RF transmitter;

surveying the structure based on the flight plan to collect RF signal data;

generating an RF map associated with the structure based on the collected RF signal data;

adjusting the flight plan based on the generated RF map to account for detected RF signal strengths by modifying a geofence for the UAV based on the detected RF signal strengths identified in the RF signal data; and

navigating the UAV according to the adjusted flight plan.