Gopro, Inc.

Fabio Diem

Sammy Omari

Lukas Schmid

Pascal Gohl

Axel Murguet

Garance Bruneau

Tim Oberhauser

Thomas Gubler

Jean-Bernard Berteaux

Controlling an unmanned aerial vehicle may include obtaining a first image from a fixed orientation image capture device of the unmanned aerial vehicle, obtaining a second image from an adjustable orientation image capture device of the unmanned aerial vehicle, obtaining feature correlation data based on the first image and the second image, obtaining relative image capture device orientation calibration data based on the feature correlation data, the relative image capture device orientation calibration data indicating an orientation of the adjustable orientation image capture device relative to the fixed orientation image capture device, obtaining relative object orientation data based on the relative image capture device orientation calibration data, the relative object orientation data representing a three-dimensional orientation of an external object relative to the adjustable orientation image capture device, and controlling a trajectory of the unmanned aerial vehicle in response to the relative object orientation data.

Relative image capture device orientation calibration

Disclosed is a system and method for calibrating a magnetometer. The method comprises responsive to a determination that a magnetic inclination is less than a threshold, measuring first magnetic field data by detecting a magnetic field with the magnetometer through a first rotation path, measuring second magnetic field data by detecting the magnetic field with the magnetometer through a second rotation path, and determining calibration values for the magnetometer based on the measured first magnetic field data and the measured second magnetic field data.

Adaptive compass calibration based on local field conditions

Disclosed is a system and method for calibrating a magnetometer of a compass. With a global navigation satellite system receiver, a current position is determined. The determined position is used to determine a magnetic inclination (e.g., by a global magnetic field model such as the World Magnetic Model). The calibration system may perform different calibration sequences based on the magnetic inclination. In a first calibration sequence, performed responsive to a determination that a magnetic inclination (or the absolute value of the magnetic inclination) is less than a threshold, magnetic field data is measured by the magnetometer as it is rotated through horizontal rotation paths. If the magnetic inclination is greater than the threshold, magnetic field data is measured by the magnetometer as it is rotated through vertical rotation paths. The measured magnetic field data may be used to determine calibration values for the magnetometer compass.

The disclosure describes systems and methods for detecting an aerial vehicle landing. One method includes performing at least two of a plurality of landing tests to detect the landing of the aerial vehicle. The plurality of landing tests include a static test, a thrust test, and a shock test. Upon a detection of the landing by one of the at least two landing tests performed, the method further includes performing a free-fall test to detect a free fall of the aerial vehicle. The free fall of the aerial vehicle is a change in altitude of the aerial vehicle above an altitude change threshold. Upon a lack of a detection of the free fall by the free-fall test, the method includes setting a landed state for the aerial vehicle. Upon a detection of the free fall by the free-fall test, the method includes setting an in-air state for the aerial vehicle.

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Zurich, Switzerland

Fabio Diem