Methods and system for controlling a movable object

Abstract

A computer-implemented method for controlling a controllable object includes determining a baseline change between a controlling object and the controllable object based on measurements from a first location sensor of the controlling object and a second location sensor of the controllable object, dynamically selecting a mapping function from a plurality of user configurable mapping functions based on context information, mapping the baseline change to a corresponding state change for the controllable object based at least in part on the selected mapping function, generating one or more control commands according to the mapping, and controlling the controllable object according to the one or more control commands.

What is claimed is: 
     
         1 . A computer-implemented method for controlling a controllable object, comprising:
 determining a baseline change between a controlling object and the controllable object based on measurements from a first location sensor of the controlling object and a second location sensor of the controllable object;   dynamically selecting a mapping function from a plurality of mapping functions based on context information, the plurality of mapping functions being user configurable;   mapping the baseline change to a corresponding state change for the controllable object based at least in part on the selected mapping function;   generating one or more control commands according to the mapping; and   controlling the controllable object according to the one or more control commands.   
     
     
         2 . The method of  claim 1 , wherein the plurality of mapping functions are pre-loaded in a memory of the controlling object or the controllable object before operation. 
     
     
         3 . The method of  claim 1 , wherein the plurality of mapping functions are updated when the controlling object or the controllable object is in operation or in airborne. 
     
     
         4 . The method of  claim 1 , wherein the context information includes at least one of time information, location information, characteristic of the controlling object or the controllable object, a surrounding environment, a current state of the controlling object or the controllable object, or a control mode of the controlling object or the controllable object. 
     
     
         5 . The method of  claim 4 , wherein the time information is associated with time of a day. 
     
     
         6 . The method of  claim 4 , wherein the surrounding environment is associated with a weather condition, an indoor or an outdoor environment, a complexity of the surrounding environment, or a level of interference or a signal-to-noise ratio (SNR) of the surrounding environment. 
     
     
         7 . The method of  claim 4 , wherein the characteristic of the controlling object or the controllable object are associated with types, weights, dimensions, capacities, ranges, fuel types, or propulsion mechanisms of the controlling object or the controllable object. 
     
     
         8 . The method of  claim 4 , wherein the current state of the controlling object or the controllable object is associated with current altitude, latitude, longitude, velocity, speed, orientation, heading, flight path, or status of one or more components of the controlling object or the controllable object. 
     
     
         9 . The method of  claim 4 , wherein the control mode includes at least one of a tracking/following control mode, a positional control mode, or a pattern-based control mode. 
     
     
         10 . The method of  claim 1 , further comprising:
 calculating an error value by comparing the determined baseline change with a target baseline change; and   minimizing the error value by adjusting a control variable of the one or more control commands to achieve the target baseline change.   
     
     
         11 . The method of  claim 1 , further comprising:
 correcting, calibrating, or improving accuracy of the measurements of the second location sensor of the controllable object using the measurement received from the first location sensor of the controlling object.   
     
     
         12 . The method of  claim 1 , wherein determining the baseline change comprises performing double-differencing on the measurements from the first location sensor and the second location sensor to obtain double-differenced measurements. 
     
     
         13 . A remote control terminal, comprising:
 a satnav receiver configured to receive satellite signals from one or more satellites;   a memory that stores one or more computer-executable instructions; and   one or more processors configured to access the memory and execute the computer-executable instructions to perform a method comprising:
 determining a baseline change between the remote control terminal and the controllable object based on measurements from a first location sensor of the remote control terminal and a second location sensor of the controllable object; 
 dynamically selecting a mapping function from a plurality of mapping functions based on context information, the plurality of mapping functions being user configurable; 
 mapping the baseline change to a corresponding state change of the controllable object based at least in part on the selected mapping function; 
 generating one or more control commands according to the mapping; and 
 controlling the controllable object according to the one or more control commands. 
   
     
     
         14 . The remote control terminal of  claim 13 , wherein the controllable object is an unmanned aerial vehicle (UAV). 
     
     
         15 . The remote control terminal of  claim 13 , wherein the plurality of mapping functions are pre-loaded in a memory of the remote control terminal or the controllable object before operation. 
     
     
         16 . The remote control terminal of  claim 13 , wherein the plurality of mapping functions are updated when the remote control terminal or the controllable object is in operation. 
     
     
         17 . The remote control terminal of  claim 13 , wherein the context information includes at least one of time information, location information, characteristic of the controlling object or the controllable object, a surrounding environment, a current state of the controlling object or the controllable object, or a control mode of the controlling object or the controllable object. 
     
     
         18 . The remote control terminal of  claim 13 , wherein the one or more processors are further configured to access the memory and execute the computer-executable instructions to perform the method comprising:
 calculating an error value by comparing the determined baseline change with a target baseline change; and   minimizing the error value by adjusting a control variable of the one or more control commands to achieve the target baseline change.   
     
     
         19 . The remote control terminal of  claim 13 , wherein the one or more processors are further configured to access the memory and execute the computer-executable instructions to perform the method comprising:
 correcting, calibrating, or improving accuracy of the measurements of the second location sensor of the controllable object using the measurement received from the first location sensor of the remote control terminal.   
     
     
         20 . One or more non-transitory computer-readable storage media storing computer-executable instructions that, when executed by a computing system, configure the computing system to perform operations comprising:
 determining a baseline change between a controlling object and a controllable object based on measurements from a first location sensor of the controlling object and a second location sensor of the controllable object;   dynamically selecting a mapping function from a plurality of mapping functions based on context information, the plurality of mapping functions being user configurable;   mapping the baseline change to a corresponding state change for the controllable object based at least in part on the selected mapping function;   generating one or more control commands according to the mapping; and   controlling the controllable object according to the one or more control commands.