Subaru Corporation

Fuji Jukogyo Kabushiki Kaisha

Akihiro Yamane

Yoichi Onomura

Akitoshi Sakaguchi

Kumiko Kindaichi

Yutaka Sasaki

Toshiyuki Narahashi

Satoshi Okada

Mitsuru Kono

Naoaki Itabashi

Takahiro Kumamoto

Yukinobu Tomonaga

Shinei Takahashi

Takeshi Fukurose

Yu Itabashi

Takayuki Oguri

Takashi Nagayama

Kentaro Kudo

Takeshi Kibayashi

An aircraft includes a vessel checker, an image generator, an appearance determining unit, and an information transmitter. The vessel checker identifies a suspicious vessel candidate by comparing a marine vessel detected by a marine search radar with a marine vessel transmitting data with an automatic identification system. The image generator generates an image by photographing the suspicious vessel candidate after the aircraft approaches the suspicious vessel candidate in accordance with a route for approaching the suspicious vessel candidate. The appearance determining unit determines whether the suspicious vessel candidate in the image has an appearance characteristic of a suspicious vessel. The information transmitter transmits, to an external apparatus, information indicating that the suspicious vessel candidate has the appearance characteristic of the suspicious vessel if the suspicious vessel candidate has the appearance characteristic of the suspicious vessel.

Aircraft for identifying a suspicious vessel

A deceiving signal detection system includes a first antenna, a second antenna, and a signal processor. The first antenna is configured to receive at least four radio wave signals. The signal processor determines that the radio wave signals are the deceiving signals by determining that a relative positional relation between the first antenna and the second antenna calculated on a basis of the radio wave signals deviates from an actual relative positional relation between the first antenna and the second antenna by more than a predetermined amount, and also determines whether an orientation of the aircraft determined based on positions of the first antenna and the second antenna matches an orientation of the aircraft calculated based on an inertial navigation system.

Deceiving signal detection system and deceiving signal detection method

A navigation system includes a receiver and a signal processor. The receiver is mounted on a second aircraft. The second aircraft is an acquisition target of location information. The receiver is configured to receive a navigation signal from each of three or more first aircrafts. The navigation signal includes the location information on a location of the corresponding first aircraft. The navigation signal is transmitted as a radio signal from a navigation apparatus mounted on each of the three or more first aircrafts. The signal processor is mounted on the second aircraft. The signal processor is configured to calculate a location of the second aircraft on the basis of the navigation signal.

Navigation system, navigation method, and aircraft

A flying object position measuring apparatus includes an optical sensor, a storage, an orientation calculator, and a position calculator. The optical sensor obtains an image of a flying object. The flying object performs flight along a ballistic trajectory. The storage stores, in advance, basic trajectory information regarding a basic trajectory of the flying object. The basic trajectory information includes position information of a start point at which the flying object starts the flight. The orientation calculator calculates an orientation of the flying object as viewed from the optical sensor on the basis of the image obtained by the optical sensor. The position calculator calculates, as a position of the flying object, an intersection of a plane of rotation with the orientation of the flying object. The plane of rotation is a plane based on a rotation of the basic trajectory around a vertical axis that travels through the start point.

Flying object position measuring apparatus, flying object position measuring method, and non-transitory storage medium

There is provided a navigation system, comprising: a buoy on a water surface movably anchored to a bottom; a plurality of at least three transmitters fixed to the bottom or at different positions in the water for transmitting signals to specify the positions; a receiver, being disposed with the buoy, configured to receive signals transmitted by the plurality of transmitters; a signal processor, being disposed with the buoy, configured to specify the position of the buoy, based on the signals received by the receiver, and generate a navigation signal indicating the position of the buoy, and a radio, being disposed with the buoy, configured to transmit the navigation signal generated in the signal processor wirelessly, the navigation signal being receivable by a radio in a mobile body.

Navigation system and navigation method

A position measuring apparatus includes an imaging device and a controller, and is mounted on one or more mobile objects and configured to measure a position of a target. The imaging device is configured to acquire images of the target from a plurality of locations that are different from each other. The controller is configured to measure, on the basis of the images of the target, one or both of orientations of the target as viewed from the respective locations and distances to the target from the respective locations, correct one of the measured orientations of the target and the measured distances to the target to thereby reduce a difference between times at which the respective images are acquired at the respective locations, and calculate an estimated position of the target, on a basis of one of the corrected orientations of the target and the corrected distances to the target.

Position measuring method, position measuring apparatus, and position measuring system

A self-position measuring device includes an information generator, a position extractor, and a navigation method selector. The information generator generates estimated information that is expected to be obtained when at least one of the ground information and the celestial information is obtained, at each of multiple reference points generated on the basis of measured inertial navigation position. The position extractor checks at least the one of the ground information and the celestial information against the estimated information at each of the multiple reference points and extracts a position of a specific reference point corresponding to specific estimated information with a highest matching degree. The navigation method selector selects, on the basis of the specific reference point, a navigation method with less navigational error as a navigation method for measuring the self-position.

Self-position measuring device, self-position measuring method, and non-transitory storage medium

An operation management apparatus includes a surrounding environment estimating unit, an energy calculator, and a time changer. The surrounding environment estimating unit is configured to estimate a surrounding environment at a returning start time of a movable body. The energy calculator is configured to search, based on the surrounding environment, a returning route along which the movable body performs the returning, to a first position from a second position, that is started at the returning start time, and calculate an energy amount necessary for the returning. The time changer is configured to advance the returning start time by a predetermined time period until the energy amount reaches or falls below a predetermined value. The surrounding environment estimating unit and the energy calculator are configured to respectively perform the estimation of the surrounding environment and the calculation of the energy amount, each time the time changer changes the returning start time.

Operation management apparatus, operation management method, and non-transitory recording medium

A travel path setting apparatus includes an information acquiring unit, a memory, a predictable scenario creating unit, and a path searching unit. The information acquiring unit acquires surrounding information on a surrounding situation of a movable body. The memory stores a probability model related to the surrounding situation of the movable body. The predictable scenario creating unit creates, on a basis of the surrounding information and the probability model, a plurality of predictable scenarios for each of a plurality of predetermined times in future. The predictable scenarios are each the surrounding situation of the movable body that is predicted for corresponding one of the predetermined times. The path searching unit searches for and sets the travel path on a basis of the predictable scenarios created by the predictable scenario creating unit.

Travel path setting apparatus, method of setting travel path, and recording medium

A stereo distance measuring apparatus includes a first optical camera and a second optical camera, a position-posture calculator, an image corrector, and a stereo distance measuring unit. The first and second optical cameras are provided in an elastic structure part of an aircraft and separated from each other. The first and second optical cameras constitute a stereo camera. The position-posture calculator calculates, on the basis of a displacement amount of the elastic structure part, first and second position-posture information regarding positions and postures of the first and second optical cameras, respectively. The image corrector generates first and second corrected images by correcting, on the basis of the first and second position-posture information, positions and orientations of images taken by the first and second optical cameras, respectively. The stereo distance measuring unit calculates a distance to a photographing target, on the basis of the first and second corrected images.

Stereo distance measuring apparatus, stereo distance measuring method, and computer readable medium

A path searching apparatus includes: a path searching unit that searches for an optimal path of a movable body that performs traveling from a start node to a goal node by performing a path searching process based on A-Star algorithm, and a predicting unit that predicts a surrounding situation of the movable body at each of times in future. The path searching unit determines whether a first surrounding situation involves a change from a second surrounding situation, on a basis of the predicted surrounding situation, and upon determining that the first surrounding situation involves the change, updates an estimated smallest cost value h* of a node on which the searching has been already performed, on a basis of the first surrounding situation.

Path searching apparatus, path searching method, and recording medium

An automatic takeoff and landing apparatus for an aircraft for realizing a takeoff run and performing an ascending flight of the aircraft up to a target altitude at takeoff; and for realizing an approaching flight and performing a landing run of the aircraft at landing.

Automatic takeoff and landing apparatus for aircraft, and methods for performing an automatic takeoff and an automatic landing of an aircraft

An automatic landing apparatus for an aircraft includes: an altitude sensor; an airspeed sensor; an attitude angle sensor; a direction sensor; a position sensor; a landing command inputting section; and a control device, including: an approaching flight control section for realizing an approaching flight along a predetermined path by controlling a propulsion device and a control surface, in response to a landing command; a flare control section for controlling the propulsion device to provide a minimum output and controlling the control surface to perform a flare when the altitude of the aircraft becomes less than a predetermined landing altitude; and a landing run control section for realizing a landing run by controlling the propulsion device to maintain the minimum output and controlling the control surface to maintain the attitude angle and the traveling direction of the aircraft when the airspeed of the aircraft becomes less than a predetermined landing speed.

Automatic aircraft takeoff and landing apparatus and method for accomplishing the same

A navigation apparatus with image recognition, includes: an imaging section for obtaining a stereo image of a target spot; an inertial information detecting section for measuring an attitude angle of a body and an acceleration of the body; an image process calculating section for calculating a relative position of the body with respect to the target spot based on the stereo image and the attitude angle; and a navigation calculating section for calculating navigation information based on the attitude angle, the acceleration and the relative position.

Navigation apparatus and navigation method with image recognition

An unmanned helicopter includes an altitude control device for giving a command of a collective pitch blade angle based on an altitude change rate command, etc., and performing altitude control of an airframe and takeoff device, upon reception of a takeoff start command from the ground, for causing the airframe to take off and climbing the airframe to a first altitude while increasing the collective pitch blade angle without performing the altitude control of the altitude control device and then causing the altitude control device to start the altitude control. The unmanned helicopter further includes descending device for causing the airframe to descend to a second altitude while changing descent rate command of the altitude control device and giving a descent rate command smaller than the descent rate command to the second altitude to the altitude control device for causing the airframe to descend from the second altitude to the ground.

Growing community of inventors

Tokyo, Japan

Akihiro Yamane