Abstract: To estimate distance to a sound source with a characteristic spectrum, normalize the measured spectrum and compare with that predicted by absorption of sound under current atmospheric conditions.

Abstract: To improve range and approach speed measurements of targets moving relative to a camera using computer vision techniques, aim the camera away from the direction to the target to capture the target closer to the edge of the field of view.

Abstract: Using power line rights of way for UAV routing provides a direct, uninterrupted, aerially clear path to the vast majority of lots and buildings from nearby substations and generating stations. Segmenting or separating the UAV traffic by airframe glide ratio improves safety for people on the ground and utilization of the limited airspace. Further segmenting UAV traffic by airframe speed and size allows greater traffic throughput.

Abstract: FIG. 1 is a perspective view of transmission tower 10, phase conductors 12, insulators 14, and shield wires 16. They are to be inspected by unmanned aerial vehicle UAV 20 with embedded processor and memory 22, radio 24, location rover 26, and camera 28. Base station 30 has processor and memory 32, radio 34, and location base 36. The relative location between UAV 20 and base station 30 can be accurately calculated by location base 36 and location rover 26 communicating over radios 24 and 34. Camera 28 on UAV 20 is first used to capture two or more orientation images 38 and 39 of tower 10; lines 12 and 16; and insulators 14 from different vantage points. Terrestrial or close-range photogrammetry techniques are used create a three dimensional model of tower 10; lines 12 and 16; and insulators 14. Based on inspection resolution and safety objectives, a standoff distance 50 is determined.

Abstract: FIG. 1 shows airframe (10) with powertrain (11) supporting electromagnetic field strength sensor (12), reference electromagnetic field strength (14), comparator (16), and shutdown (18) flying along a transmission line with towers (40, 42, and 44), phase conductors (46, 48), and 50, and shield wires (52 and 54). Reference electromagnetic field strength (14) is adjusted before the flight to set the minimum electromagnetic field strength before shutdown (18) reduces the power to powertrain (11). The reference electromagnetic field strength (14) corresponding to a characteristic radial dimension (58), and thus virtual tunnel (22), outside of which airframe (10) cannot fly without automatic shutdown (18), regardless of the state of the autopilot, GPS signal, or radio link.

Abstract: FIG. 1 shows airframe (10) with powertrain (11) supporting electromagnetic field strength sensor (12), reference electromagnetic field strength (14), comparator (16), and shutdown (18) flying along a transmission line with towers (40, 42, and 44), phase conductors (46, 48), and 50, and shield wires (52 and 54). Reference electromagnetic field strength (14) is adjusted before the flight to set the minimum electromagnetic field strength before shutdown (18) reduces the power to powertrain (11). The reference electromagnetic field strength (14) corresponding to a characteristic radial dimension (58), and thus virtual tunnel (22), outside of which airframe (10) cannot fly without automatic shutdown (18), regardless of the state of the autopilot, GPS signal, or radio link.

Abstract: FIG. 1 is a perspective view of transmission tower 10, phase conductors 12, insulators 14, and shield wires 16. They are to be inspected by unmanned aerial vehicle UAV 20 with embedded processor and memory 22, radio 24, location rover 26, and camera 28. Base station 30 has processor and memory 32, radio 34, and location base 36. The relative location between UAV 20 and base station 30 can be accurately calculated by location base 36 and location rover 26 communicating over radios 24 and 34. Camera 28 on UAV 20 is first used to capture two or more orientation images 38 and 39 of tower 10; lines 12 and 16; and insulators 14 from different vantage points. Terrestrial or close-range photogrammetry techniques are used create a three dimensional model of tower 10; lines 12 and 16; and insulators 14. Based on inspection resolution and safety objectives, a standoff distance 50 is determined.

Abstract: Using power line rights of way for UAV routing provides a direct, uninterrupted, aerially clear path to the vast majority of lots and buildings from nearby substations and generating stations. Segmenting or separating the UAV traffic by airframe glide ratio improves safety for people on the ground and utilization of the limited airspace. Further segmenting UAV traffic by airframe speed and size allows greater traffic throughput.

Abstract: With reference to FIG. 1, camera 12 mounted on airframe 10 captures an image of first field of view 20 along first optical axis 21 aimed at first object of interest 23. During the time of exposure, airframe 10 flies first flight path arc 22 centered on first object of interest 23 with a radius substantially equal to the distance between camera 12 and first object of interest 23. Airframe 10 pivots camera 12 around first object of interest 23 while the shutter in camera 12 is open. This is repeated around each subsequent object of interest to produce a scalloped or slalom path, namely Forward Motion Compensated (FMC) flight path 33.

Abstract: FIG. 3 shows a representation on display 60 of a transmission line tower 42 supporting phase conductors 46, 48, 50 and shield wires 36 and 38 within right of way 58. The angle of view 56 of aerial camera 16 is illustrated by a cone originating at the lens in camera 16. The sample distance at different locations on the object of interest is displayed either as a tooltip 72 for an input device 62 represented by a cursor 70; or on the screen upon a touch for touch input. The operator interactively decides on the tradeoff between angle of view 56 and sample distance at different locations on the object of interest by manipulating the cone representing angle of view 56. After selecting angle of view 56 with a click or touch, it can be translated 74 or rotated 76 to plan to capture as much of the object of interest as possible while meeting sample distance objectives. When the operator is satisfied with the compromise, a click or tap on a save or next button 78 stores the geometry for flight segment 30.

Abstract: FIG. 1 shows an efficient flight path for airframe 10 with camera 16 flying along a transmission line utility corridor containing towers 40, 42, and 44. Between the towers the airframe is in a fast linear glide 18 to check the right of way for encroachment. Abreast of tower 42, the airframe spirals down 20 with power plant 11 off to take more detailed pictures. When the tower inspection is complete, power plant 11 is turned on to start a power climb 22 back up to prepare for glide 24 to the next tower 44, where the airframe again spirals down 26 for a closer inspection. On the return flight, a close-in conductor inspection is flown in catenary arcs with glides 28, 32 on the downslope and power climb 30, 34 on the upslope.

Abstract: With reference to FIG. 1, camera 12 mounted on airframe 10 captures an image of first field of view 20 along first optical axis 21 aimed at first object of interest 23. During the time of exposure, airframe 10 flies first flight path arc 22 centered on first object of interest 23 with a radius substantially equal to the distance between camera 12 and first object of interest 23. Airframe 10 pivots camera 12 around first object of interest 23 while the shutter in camera 12 is open. This is repeated around each subsequent object of interest to produce a scalloped or slalom path, namely Forward Motion Compensated (FMC) flight path 33.

Abstract: FIG. 1 shows airframe 10 with electromagnetic field sensor 12, adjustable reference electromagnetic field strength 14, comparator 16, parachute 18, parachute trigger 19, and inspection camera 20 inspecting a transmission line corridor containing towers 40, 42, and 44, phase conductors 46, 48, and 50, and shield wires 52 and 54. Reference electromagnetic field strength 14 is adjusted before the flight to set the minimum electromagnetic field strength before parachute trigger 19 deploys parachute 18. The reference electromagnetic field strength 14 corresponds to a radius, and thus virtual tunnel 22, outside of which airframe 10 cannot fly without deploying parachute 18, regardless of the state of the autopilot, GPS signal, or radio link.

Abstract: A light ranging device is mounted on a moveable platform, for example an airplane. The light ranging device may include an illumination source for providing a pulse of light, beam shaping optics to form a beam of light directed at a target, and collection optics for providing reflected light of the beam to a light-sensitive sensor array. A processor may determine range to the target based on spatial displacement of received light on the sensor array compared to expected position of the light due to platform movement.