초록 ▼

An imaging method for capturing images using a sensor mounted on an unmanned aircraft comprises: acquiring a range of motion of the sensor relative to the aircraft; acquiring a specification of a linear path along the ground; acquiring parameter values relating to aircraft maneuverability; using the

An imaging method for capturing images using a sensor mounted on an unmanned aircraft comprises: acquiring a range of motion of the sensor relative to the aircraft; acquiring a specification of a linear path along the ground; acquiring parameter values relating to aircraft maneuverability; using the acquired information determining a procedure; performing, by the aircraft, the procedure and simultaneously capturing, by the sensor, a set of images. The procedure comprises the aircraft moving with respect to the path and the sensor moving with respect to the aircraft such that at some time each point along the path is coincident with a footprint of the sensor. Also, each point along the path is present within at least one of the captured images.

대표청구항 ▼

1. An imaging method for capturing images using a sensor mounted on an unmanned aircraft, the method comprising: acquiring, by one or more processors, a specification of possible positions and orientations relative to the aircraft to which the sensor may be moved;acquiring, by the one or more proces

1. An imaging method for capturing images using a sensor mounted on an unmanned aircraft, the method comprising: acquiring, by one or more processors, a specification of possible positions and orientations relative to the aircraft to which the sensor may be moved;acquiring, by the one or more processors, a specification of the manoeuvrability of the aircraft;acquiring, by the one or more processors, a specification of a linear path along the ground;using the specification of the manoeuvrability of the aircraft and the specification of the path, determining, by the one or more processors, that the path includes a portion having a radius of curvature that is smaller than a minimum turning radius of the aircraft;using the specification of the possible positions and orientations of the sensor relative to the aircraft, the specification of the path, and the specification of the manoeuvrability of the aircraft, determining, by the one or more processors, a route for the aircraft to follow and an imaging schedule for the sensor, wherein determining the route comprises, responsive to determining that the path includes a portion having a radius of curvature that is smaller than a minimum turning radius of the aircraft, including, in the route, a loop;following, by the aircraft, the route; andwhilst the aircraft follows the route, performing, by the sensor, the imaging schedule including the sensor moving with respect to the aircraft such that, for each point along the path, that point is coincident with a footprint of the sensor on the ground for at least some time during the procedure, and the sensor capturing images such that each point along the path is present within at least one of the captured images; wherein the portion of the path that has a radius of curvature that is smaller than a minimum turning radius of the aircraft is imaged as the aircraft flies along the loop. 2. The method according to claim 1, wherein the one or more processors are located on-board the aircraft. 3. The method according to claim 1, wherein the method further comprises acquiring, by the one or more processors, a specification of a volume of airspace; the step of determining the route and imaging schedule comprises using the specification of the volume of airspace; andthe route is wholly within the volume of airspace. 4. The method according to claim 1, wherein: the one or more processors are located on-board the aircraft; andthe method further comprises: for each image in the set, determining, by the one or more processors, a set of properties of that image;performing, by the one or more processors, a target detection process on the set of images to detect one or more first targets within the set of images;for each detected first target, determining, by the one or more processors, a set of properties of that first target;transmitting, by a transmitter on-board the aircraft, for use by an entity remote from the aircraft, the determined image properties;transmitting, by the transmitter, for use by the entity, the determined first target properties;by the entity, using the received image properties and first target properties, identifying a region of interest on the ground;sending, from the entity to the aircraft, a request for image data relating to the region of interest;receiving, by a receiver on-board the aircraft, the request; andin response to receiving the request, transmitting, by the transmitter, for use by the entity, the image data relating to the determined region of interest. 5. The method according to claim 1 further comprising: processing the captured images to detect, within at least one image, a second target;acquiring, by the one or more processors, a position on the ground of the detected second target;using the acquired specification of the possible positions and orientations of the sensor relative to the aircraft, the acquired position of the second target, and the specification of the manoeuvrability of the aircraft, determining, by the one or more processors, a procedure to be performed by the aircraft;performing, by the aircraft, the procedure; andwhilst the aircraft performs the procedure, capturing, by the sensor, a further set of images; wherein the procedure comprises the aircraft moving with respect to the second target and the sensor moving with respect to the aircraft such that the second target is coincident with a footprint of the sensor on the ground for the entire duration of the procedure; andcapturing the further set of images is performed such that the whole of the second target is present within each image in the further set. 6. The method according to claim 1 further comprising: processing the captured images to detect, within at least one image, a third target;acquiring, by the one or more processors, a position on the ground of the detected third target;acquiring, by the one or more processors, a specification of a direction relative to the aircraft in which an exhaust of the aircraft points;using the acquired position of the third target, the specification of the manoeuvrability of the aircraft, and the acquired specification of the direction, determining by the one or more processors, a further route for the aircraft; andfollowing, by the aircraft, the further route; wherein the determination of the further route comprises minimising a duration for which the exhaust of the aircraft is directed towards the third target. 7. The method according to claim 1, wherein the aircraft comprises a payload releasably attached to an aircraft; andthe method further comprises: processing the captured images to detect, within at least one image, a fourth target;acquiring, by the one or more processors, a position on the ground of the detected fourth target;acquiring, by the one or more processors, parameter values relating to properties of the payload;acquiring, by the one or more processors, parameter values relating to environmental conditions in which the aircraft is flying;using the acquired position of the fourth target, the acquired parameter values relating to properties of the payload, and the acquired parameter values relating to environmental conditions, determining, by the one or more processors, a position and a velocity for the aircraft;using the determined position and velocity for the aircraft, determining, by the one or more processors, a further procedure for the aircraft;performing, by the aircraft, the further procedure; andat a point in the further procedure that the aircraft has the determined position and velocity, releasing, by the aircraft, the payload; the determined position and a velocity for the aircraft are such that, were the aircraft to release the payload whilst located at the determined position and travelling at the determined velocity, the payload would land on the ground within a predetermined distance of the fourth target; andthe further procedure is such that, were the aircraft to perform the further procedure, at at least one instance during the further procedure, the aircraft would be located at the determined position and travelling at the determined velocity. 8. The method according to claim 1, the step of capturing the set of images comprises, for each image: acquiring, by one or more processors, a specification of a region on the ground to be imaged;measuring, by a position sensor fixedly mounted to a rigid support structure, a position of the position sensor;measuring, by an orientation sensor fixedly mounted to the rigid support structure, an orientation of the orientation sensor;using the measured position and orientation and using the acquired region specification, determining, a position and orientation for the sensor, the sensor being fixedly mounted to the rigid support structure; andcontrolling the aircraft and the orientation of the sensor on-board the aircraft such that the sensor has the determined position and orientation, thereby providing that a footprint of the sensor on the ground is coincident with the region on the ground to be imaged; andwhen the sensor has the determined position and orientation, capturing, by the sensor, one or more images of the area of the ground within the sensor footprint; wherein the rigid support structure is releasably coupled to the airframe of the aircraft. 9. The method according to claim 1, wherein the path along the ground follows the path of a terrain feature or a border of a country. 10. The method according to claim 1, wherein the aircraft is an autonomous unmanned aircraft. 11. An apparatus for capturing images, the apparatus comprising: a sensor mounted on-board an unmanned aircraft;one or more processors configured to: acquire a specification of possible positions and orientations relative to the aircraft to which the sensor may be moved;acquire parameter values relating to the manoeuvrability of the aircraft;acquire a specification of a linear path along the ground; using the specification of the manoeuvrability of the aircraft and the specification of the path, determine that the path includes a portion having a radius of curvature that is smaller than a minimum turning radius of the aircraft;using the acquired specification of the possible positions and orientations of the sensor relative to the aircraft, the acquired specification of the path, and the specification of the manoeuvrability of the aircraft, determine a route for the aircraft to follow and an imaging schedule for the sensor, wherein determining the route comprises, responsive to determining that the path includes a portion having a radius of curvature that is smaller than a minimum turning radius of the aircraft, including in the route including a loop; anda controller controlling the aircraft to follow the route;whereinthe sensor is configured to, whilst the aircraft follows the route, perform the imaging schedule including the sensor moving with respect to the aircraft such that, for each point along the path, that point is coincident with a footprint of the sensor on the ground for at least some time during the procedure, and the sensor capturing images such that each point along the path is present within at least one of the captured images, wherein the portion of the path that has a radius of curvature that is smaller than a minimum turning radius of the aircraft is imaged as the aircraft flies along the loop. 12. An aircraft comprising the apparatus according to claim 11. 13. The aircraft according to claim 12, wherein the aircraft is an unmanned aircraft. 14. A non-transitory computer-readable tangible media having instructions stored thereon that when executed on one or more processors cause the processor to operate in accordance with the method of claim 1.