FR3055051A1 - ROTARY SAIL DRONE POSITIONING AND CONTROL DEVICE IN EXTERNAL ENVIRONMENT, SYSTEM AND METHOD THEREFOR - Google Patents

Abstract

The invention relates to a device for positioning and controlling (2) a rotary wing drone (1) in an external environment, comprising a communication module (20) configured to communicate with the rotary wing drone (1). ) and a display module (22), said rotary wing drone (1) comprising a communication module (10) configured to communicate with the positioning device (2), and a geolocation module (15), said device positioning and control device (2) being characterized in that it comprises a mapping module (25).

Description

® FRENCH REPUBLIC

NATIONAL INSTITUTE OF INDUSTRIAL PROPERTY © Publication number:

(to be used only for reproduction orders) (© National registration number

055 051

57731

COURBEVOIE © Int Cl ⁸ : G 05 D 1/10 (2017.01), G 01 S 19/31, G 06 T 17/05, A 63 H 30/04

A1 PATENT APPLICATION

©) Date of filing: 11.08.16. (© Applicant (s): HELPER-DRONE Joint-stock company (© Priority: simplified - FR. @ Inventor (s): DUMARTIN GERALD, FARGE FABIEN, GAVEND ANTHONY and GAVEND DAVID. (43) Date of public availability of the request: 16.02.18 Bulletin 18/07. ©) List of documents cited in the report preliminary research: Refer to end of present booklet (© References to other national documents ©) Holder (s): HELPER-DRONE Joint-stock company related: simplified. ©) Extension request (s): (© Agent (s): API CONSEIL.

104) DEVICE FOR POSITIONING AND CONTROLLING A DRONE WITH A TURNING WING IN AN OUTDOOR ENVIRONMENT, SYSTEM AND METHOD THEREOF.

FR 3 055 051 - A1 _ The invention relates to a positioning and control device (2) of a rotary-wing drone (1), in an outdoor environment, comprising a communication module (20) configured to communicate with the rotary-wing drone (1) and a display module (22), said rotary-wing drone (1) comprising a communication module (10) configured to communicate with the positioning device (2), and a communication module geolocation (15), said positioning and control device (2) being characterized in that it comprises a mapping module (25).

DEVICE FOR POSITIONING AND CONTROLLING A TURNING WHEEL DRONE IN AN OUTDOOR ENVIRONMENT, SYSTEM AND ASSOCIATED METHOD [0001] The invention belongs to the field of positioning and control devices for rotary wing drones. The present invention relates more particularly to a device for positioning rotary-wing drones, within an external environment, which can be integrated, for example, into a drone piloting system in a marine environment. The invention also relates to a positioning and piloting method, more particularly in a marine environment, of rotary-wing drones such as quadricopters.

[Prior Art] [0002] With more than 600 drownings in France per year in the marine environment and more particularly in coastal areas, the risk of fatal accident is real. However, in these environments, the possibilities of reaching people in distress are reduced and the chances of survival are highly dependent on the time between the start of the incident and the arrival of a rescuer or rescue means at the person level. in distress. In order to respond to these difficulties, these risk areas are subject to close monitoring. Thus, in France, swimming areas are generally under the supervision of several rescuers capable of providing assistance to swimmers in distress by swimming or using jet-ski type vehicles.

However, despite this monitoring, there are still many deaths by drowning in the marine environment, especially in coastal areas, and it is crucial to develop products capable of providing extremely rapid assistance to people in distress, by example to distressed swimmers.

Another difficulty in the coastal zone is that certain bathers are able to swim offshore and the rescuers can decide to initiate a rescue action while the bather is not in distress. Such unnecessary actions can be taken at the expense of other situations of real distress. Thus, there is a need for solutions to quickly reach target locations, for example at sea, to identify if these locations include people in distress.

[0005] In recent years, solutions based on drones have started to emerge. It is possible, for example, to cite application CN101522516 which describes a drone capable of delivering a buoy to a swimmer in distress. The piloting of these drones is generally done by sight. However, coastal areas are environments often bringing together a high density of people and therefore areas prohibited from overflight. Thus, because of these prohibitions, navigation in these environments typically comprises a first step consisting in reaching the water line via flight corridors and then from the water line, a second stage during which the drones can fly over bathers and fly in a straight line to the target location.

However, drones are difficult devices for operators to position in an environment and especially in a marine environment. This is all the more so in outdoor environments presenting unobstructed views and therefore comprising only a few visual cues allowing the operator to estimate the position of the drone. In fact, the perception and estimation of the depth is reduced in open areas such as plains, beaches or above water and this makes it difficult to precisely position the drone in its environment. Thus, operators risk on the one hand not respecting the flight lanes and on the other hand losing time during navigation because they can have difficulties in estimating the position of the target location or the position of the drone relative to the target location. However, for rescue applications for people in distress every second counts and it is necessary to arrive as quickly as possible within the reach of the presumed person in distress.

[0007] Certain solutions consist in proposing a display system representing a satellite view of the external environment on which is superimposed a representation of the position of the drone and of the position of the target. These methods, generally based on satellite photographs of highly urbanized areas, require many minutes to configure from a computer. In addition, the photographs on which they are based are frozen in time and are difficult to use due to the multitude of graphic elements present in the photograph that pollute it. Thus, such devices do not meet the need for rapidity in reaching a target location such as it may exist in a rescue context. In addition, the photographs are used in highly urbanized areas where the operator can fairly easily position the drone in its environment, so they do not meet the need to estimate the position of the target location and its position of the drone by compared to the target.

[0008] Thus, there is a need for:

on the one hand to minimize the time necessary for the drone to reach its target by facilitating for example the determination for the operator of the position of the drone relative to the target, and

- on the other hand, reduce the piloting manipulations carried out by the operator in order to allow him to organize other aspects of the rescue plan.

In order to respond to the problems associated with solutions of the prior art and in particular to propose a solution capable of rapidly positioning a rotary-wing drone in an outdoor environment, in particular a marine environment, the inventors have developed a positioning and control device for a drone. rotary wing in an outdoor environment, comprising a mapping module and a display module configured to selectively display a personalized map of the outdoor environment. Said device thus allows the operator to quickly visualize and position the drone in relation to the environment, even if the outside environment is clear and / or not urbanized.

The inventors have also developed a drone piloting system as well as an associated method allowing the operator to easily project himself into his external environment, in particular a marine environment, and to save precious seconds in order to reach presumed swimmers as quickly as possible. distress.

[Brief description of the invention] According to a first aspect, the invention relates to a device for positioning and controlling a rotary-wing drone, in an outdoor environment, comprising a display module and a module communication device configured to communicate with the rotary-wing drone, said rotary-wing drone comprising a communication module configured to communicate with the positioning and control device, and a geolocation module, said positioning and control device being characterized in what it includes a mapping module and that:

o the communication modules are configured to establish a connection between the rotary-wing drone and the mapping module, o the geolocation module is configured to measure the GNSS coordinates of the rotary-wing drone and send them to the mapping module, said module mapping is configured for:

load the pixel composition of an image file, said image file comprising a graphic representation of said external environment, associate with said pixel composition of the image file at least two anchor points, said anchor points comprising pixel coordinates associated with said image file and corresponding GNSS coordinates associated with the external environment, calculating the positions on the graphic representation of at least two personalized graphic elements associated with GNSS coordinates, said positions being a function of the GNSS coordinates of the personalized graphic elements and pixel coordinates and GNSS of the anchor points, calculate the position on the graphic representation of the rotary-wing drone, said position being a function of the GNSS coordinates of the rotary-wing drone and the pixel and GNSS coordinates of the anchor points, and transfer to the module d display positions s personalized graphic elements and the rotary-wing drone, said display module is configured to then selectively allow a personalized map of the external environment to be displayed, based on information received from the mapping module, said personalized map comprising a representation graphic of the external environment, at least two personalized graphic elements, a representation of the rotary-wing drone.

This positioning and control device allows in particular an operator to better estimate the position of the drone in its environment. In fact, the personalized graphic elements can serve as reference elements for positioning the drone but also for positioning a target location that it wishes to reach with the drone. Likewise, the fact that the graphic representation is not a photograph (aerial, terrestrial or satellite) but a representation of reality, such as for example a drawing, a vectorized image or even a modeling, allows the operator to benefit from '' a simplified representation compared to reality which again allows him to better estimate the position of the drone in its environment. This better estimate of the position of the drone will allow the operator, during the implementation of this system, to save seconds which will be precious for rescue applications for example.

According to other optional characteristics of the device:

- the personalized graphic elements can be selected from: a buoy, a danger zone such as a baine, a rock, a tree, a sandbank, a temporary passage corridor, a flag, a building preferably made of wood such as a watchtower, the top of a dune and a path. The objects behind the custom graphic elements mentioned above are not often geolocated and are not in conventional applications for positioning and controlling a rotary-wing drone. However, in the device proposed by the inventors, the geolocation and the representation of these personalized graphic elements in a personalized map allows the operator to make the most of the external environment which he must make the rotary-wing drone fly through. and so it saves him time.

the device further comprises a location module, and the display module further comprises a touch surface, said location module being configured to i) identify a point of contact on the touch surface, said point of contact being characterized by pixel coordinates, and ii) calculate the GNSS coordinates associated with the contact point from its pixel coordinates as well as pixel and GNSS coordinates associated with the anchor points and / or the custom graphic elements. This method of location by contact with the screen allows you to quickly position an additional element on the personalized map. The calculation of GNSS coordinates is done from the pixel coordinates / GNSS coordinates relationship of anchor points and / or custom graphic elements, this allows to quickly assign an estimated geolocation corresponding to the point of contact. For example, knowing the GNSS coordinates of the point of contact, the operator, in the case of a rescue operation, can directly transmit them to other rescuers and thus save precious seconds for the operation.

the device also comprises a tidal module configured to calculate the GNSS coordinates and the pixel coordinates of at least one position of the water front in said external environment at an instant t, from data relating to the water heights and / or the tidal coefficients in said external environment at an instant t ,. The calculated pixel coordinates of this or these waterfront positions can be transferred to the display module and then used by the display module to represent the waterfront in the personalized map of the external environment. The calculated GNSS coordinates of this or these waterfront positions can be transferred to a route module and then used by the route planner to calculate the shortest route to a target location. This tide calculation module has the advantage of allowing the position of a waterfront to be calculated at any time. In coastal environments, such a module coupled with the personalized map allows the operator to have a representation conforming to reality via the display module of the positioning and control device of the drone. It can thus better estimate the position of the drone and / or of a target location within the external environment.

The invention further relates to a rotary wing drone piloting system comprising i) a positioning and control device according to the invention, and ii) a rotary wing drone comprising a communication module configured to communicate with the positioning and control device, and a geolocation module, and allow piloting by said positioning and control device.

Advantageously, the rotary-wing drone comprises an attachment module and an on-board computer connected to the communication module, said on-board computer being configured to selectively actuate an attachment module, said attachment module retaining buoy. The rotary-wing drone piloting system according to the invention is particularly advantageous in the context of rescuing people in the coastal zone. Indeed, such a system will greatly benefit from the type of attachment module capable of dropping a buoy intended for persons presumed to be in distress.

The invention also relates to a method of positioning a rotary-wing drone, in an external environment, comprising:

establishing a connection between a positioning and control device and a rotary-wing drone, via two communication modules, establishing a connection between the rotary-wing drone and a mapping module of the positioning device and control,

- measurement and transmission of GNSS coordinates of the rotary-wing drone by a geolocation module to the mapping module,

- loading, into the mapping module, the pixel composition of an image file, said image file comprising a graphic representation of said external environment,

- the association of at least two anchor points to said pixel composition of the image file, said anchor points comprising pixel coordinates associated with said image file and corresponding GNSS coordinates associated with the external environment,

- the calculation of the positions on the graphic representation of at least two personalized graphic elements associated with GNSS coordinates, said positions being a function of the GNSS coordinates of the personalized graphic elements and the pixel and GNSS coordinates of the anchor points,

the calculation of the position on the graphic representation of the rotary-wing drone, said position being a function of the GNSS coordinates of the rotary-wing drone and the pixel and GNSS coordinates of the anchor points, and

- the transmission of the positions of the personalized graphic elements and of the rotary-wing drone from the mapping module to the display module,

- the display of a personalized map of the external environment by the display module, said display of a personalized map of the external environment comprising:

o the display of a graphic representation of the external environment, o the display of personalized graphic elements associated with coordinates

GNSS and positioned on the graphic representation of the external environment according to their GNSS coordinates, and o the display of a representation of the rotary-wing drone, positioned on the graphic representation of the external environment according to the GNSS coordinates of the rotary wing drone.

Such a method allows an operator to better estimate the position of the rotary-wing drone in its environment and to save seconds which will be precious for rescue applications for example. Preferably the external environment is a marine or lake environment.

According to other optional characteristics of the process:

It also includes a step of positioning a water front at an instant t, comprising:

- loading, into a tidal module of the positioning and control device, of data relating to water heights and / or tidal coefficients relating to the external environment,

- piloting for overflight by the rotary-wing drone of the water line at an instant h,

- the transmission to the tidal module of at least one GNSS coordinate associated with the water line at an instant h,

- Piloting for overflight by the rotary-wing drone of the water line at an instant t ₂ ,

- the transmission to the tidal module of at least one GNSS coordinate associated with the water line at an instant t ₂ ,

the calculation by the tidal module of the GNSS coordinates and the pixel coordinates of at least one position of the water front in said external environment at an instant t ,, said calculation taking into account the data relating to the water heights or the tidal coefficients in said external environment at times t, ti and t _{2 as} well as the GNSS coordinates associated with the water lines at times ti and t ₂ .

the display by the display module of a representation of the water front at an instant t ,, positioned on the graphic representation of the external environment as a function of the GNSS coordinates of at least one position of the water front water.

In outdoor environments, preferably marine and more particularly in coastal areas, such a step coupled with the display of the personalized map allows the operator to have a representation that conforms to reality. It can thus better estimate the position of the drone and / or of a target location within the marine environment.

- It also includes the positioning of a target location on the personalized map of the external environment, said positioning comprising the steps of:

o identify a contact point on a tactile surface of the display module, said contact point being characterized by pixel coordinates, o calculate the GNSS coordinates associated with the contact point from its pixel coordinates as well as pixel and GNSS coordinates associated with the anchor points and / or the personalized graphic elements, said GNSS coordinates associated with the contact point corresponding to the estimated GNSS coordinates of the target location, and the display of a graphic element representing the target location on the personalized map of the external environment at said point of contact on the tactile surface.

During this step, the operator only has to make contact with a touch surface of the display screen (e.g. with his finger or a stylus) in order to quickly position an additional element on the personalized card. Here too, GNSS coordinates are quickly calculated and, in the case of a rescue operation, the operator can directly transmit them to other rescuers and thus save precious seconds for the operation.

- It also includes a step of establishing a navigation route from a starting location to the target location comprising:

o the reception, by a route module of the positioning and control device, of the estimated GNSS coordinates of the target location, o the loading by the route module of the GNSS coordinates of at least one prohibited flight zone, o the calculation of a navigation plan including:

the calculation of a first stage of the navigation plan comprising no overflight of a prohibited flight area, and the calculation of a last stage of the navigation plan, said last stage comprising only a flight in a straight line, flying exclusively over an area d to the target location.

This step of the method according to the invention makes it possible to reduce the manipulations carried out by the operator and optimize the movement of the drone towards a target location. Thus, in the case of an urgent operation, such as a rescue operation, it increases the speed of intervention.

Other advantages and characteristics of the invention will appear on reading the following description given by way of illustrative and nonlimiting example, with reference to the appended Figures:

• Figure 1 shows the photograph of a rotary-wing drone that can be used in the context of the invention.

• Figures 2A and 2B show the composition diagrams of a rotary-wing drone (A) and of a positioning and control device (B) according to the invention.

• Figure 3 shows the diagram of a positioning and control process according to the invention.

• Figure 4 shows the diagram of a step for positioning the waterfront according to the invention.

• Figure 5 represents the diagram of a step of positioning a target location on the personalized map via a touch surface.

• Figure 6 shows the diagram of a step of calculating a navigation plan according to the invention.

• Figure 7 shows the personalized map of an outdoor environment according to the invention.

• Figure 8 shows the diagram of a process for creating a personalized map of an outdoor environment according to the invention.

[Description of the invention] In the following description, the term "rotary wing drone" means a flying device, with no pilot on board, the lift of which is provided by at least one rotor driven by a motor. . For example, a helicopter is equipped with a main rotor providing its lift and propulsion and a second tail rotor. A quadricopter is equipped with four rotors driven by their respective motors.

The term "outdoor environment" means an outdoor location in opposition to the interior of a building. Preferably, the invention finds application in outdoor environments with few referenced landmarks such as sparsely urbanized places such as mountain environments, plains or forests or marine environments and more particularly coastal areas.

By "graphic representation of the external environment" is meant a drawing or diagram of the external environment in which the drone is to operate. The term graphic representation is used in opposition to aerial photographs or satellite photographs. Thus, the graphic representation is not a real image but a representation of reality. This graphic representation can for example be a drawing, a diagram or an image representing the external environment where the drone is to be operated. The graphic representations according to the invention can be produced by various drawing software such as Photoshop, Inkscape, Gimp, Paintshop Pro. The graphic representation can also be a three-dimensional modeling of the external environment or a photo transformed in order to, for example, simplify it. The graphic representation can be saved in all formats corresponding to the images, for example: jpeg, png, tiff, bmp.

The expression “selectively display a card” within the meaning of the invention means that the display module is configured to display a card but that the operator can choose to display this card or other information on module d display such as a video stream. The operator can choose to display the personalized map or the graphic representation and to associate it with other information, for example in overlay (eg for graphic elements or data relating to the drone) or in parallel via sharing of the display surface (for example for video stream).

By "target location" is meant within the meaning of the invention, a location of interest, for example the position in the external environment that the operator wishes to be achieved by the rotary wing drone.

By "danger zone" is meant within the meaning of the invention a location, within the external environment, considered by rescuers as being associated with a greater risk of accident or greater mortality than the other locations of the external environment. "Associated with a higher risk" should be understood to be linked to a majority of accident cases or to be associated with the area with the highest number of accident or death cases.

By "baïne", also called tarpaulin, beach furrow and pre-littoral furrow, is meant within the meaning of the invention a basin formed in the coastal zone, visible at low tide and up to 100 meters wide and 4 to 5 meters deep. A baïne leads to the presence on the coastal zone of strong currents which can lead swimmers offshore. By "pixel coordinates" is meant the position of a pixel in an image as defined by an image file. This position is generally related to the pixel composition of the image file, that is to say to the resolution of the image, and to the position of said pixel relative to the other pixels in height and in width of the image. Pixel coordinates define a position in an image and therefore for example the position of a graphic element in a graphic representation.

By "GNSS coordinates" is meant the geolocation coordinates, expressed in latitude and longitude. GNSS coordinates (Global Navigation Satellite System) can also include height values which are not used in the context of pixel <> GNSS coordinate conversions according to the invention.

By "marine environment" is meant within the meaning of the invention an external environment comprising a sea or an ocean. For example, the marine environments according to the invention include coastal areas and areas in the open sea whether or not they are close to human settlements (e.g. oil platforms, cruise ships).

By "waterfront" is meant in the sense of the invention the demarcation between the land (the shore) and a water area, the water area can be for example a sea, an ocean or a big lake. In the case of the ocean or certain seas, the demarcation between land and water can change over time, for example either frequently in the presence of waves or on a larger scale in the presence of tides. In the case of frequent changes, for example due to waves, the waterfront corresponds to the average demarcation, for example over 5 minutes, between the land and the water area.

In the following description, the same references are used to designate the same elements.

According to a first aspect, the invention relates to a positioning and control device 2 of a rotary-wing drone 1, in an outdoor environment.

Figure 1 shows a rotary wing drone 1 that can be used in the context of the invention. As shown in FIG. 1, the rotary-wing drone 1 comprises a communication module 10, a geolocation module 15 and at least one rotor 13 driven by a motor 12.

The communication module 10 is configured to communicate with the positioning device 2. The communication can be done via radio waves and a two-way transmitter / receiver. Preferably, the two communication modules 10 and 20 communicate according to at least two different radio frequencies chosen over a frequency range from 2 to 6 GHz.

The geolocation module 15 is able to measure GNSS coordinates and configured to send the GNSS coordinates of the rotary-wing drone 1 to the positioning device 2 via the communication module 10. The rotary-wing drone used in the context of the invention comprises a device of the satellite positioning system type also called GNSS radio (Global Navigation Satellite System). This GNSS radio can for example be based on GPS, GLONASS, Galilelo, Compass, IRNSS, and / or QZSS systems. Preferably, the geolocation module according to the innovation is based on at least one GNSS radio system selected from: GPS, GLONASS, Galilelo and Compass. More preferably, the geolocation module according to the innovation is based on at least two GNSS radio systems selected from: GPS, GLONASS, Galilelo and Compass.

This drone comprises at least one rotor 13 driven by a controllable motor 12 for piloting the rotary wing drone 1 in attitude and speed. The engine or engines 12 are controlled by a flight controller 11 thus allowing piloting of the rotary-wing drone 1. The flight controller 11 can be configured to communicate with a navigation module 21 via the communication modules 10 and 20. The flight controller 11 is for example composed of an integrated circuit comprising a microprocessor and inputs / outputs linking it to external sensors (eg accelerometer, gyroscope, inertial unit, barometer) and to one or more batteries 14. Preferably, the drone comprises at least two rotors 13 and even more preferably at least four rotors 13. Thus, preferably the rotary-wing drone 1 used in the context of the invention is preferably a quadricopter.

The rotary wing drone 1 also includes one or more battery (ies)

14.

Figure 2 shows schematically the composition of a rotary wing drone 1 usable in the context of the invention (Figure 2A) and the positioning and control device 2 (Figure 2B) according to the invention.

The positioning and control device 2 comprises a communication module 20, a navigation module 21, and a display module 22.

The communication module 20 is configured to communicate with the rotary airfoil drone 1 via the communication module 10 of the drone 1. As seen previously, the communication module 20 exchanges with the drone via d 'a radio type link.

The navigation module 21 is configured to transmit to the flight controller 11 the information relating to pitch, elevation, yaw and roll so as to control the movements of the rotary wing drone 1.

The display module 22 can for example comprise a screen with a surface of at least 40 cm ² and a resolution preferably greater than 1024 * 768.

The mapping module 25 being configured for:

load the pixel composition of an image file, said image file comprising a graphic representation 31 of said external environment,

Different image file formats can be used. Preferably the image file format is selected from: jpeg, png, tiff, bmp. The image file must be made up of pixels. Indeed, those are the pixels which will make it possible to position personalized graphic elements 32 and the rotary-wing drone 1 on the graphic representation of the environment 31. The mapping module 25 is able to identify the composition in pixels, that is ie the resolution of the image file used to represent the external environment.

associate at least two anchor points 33 with said pixel composition of the image file, said anchor points 33 comprising pixel coordinates associated with said image file and corresponding GNSS coordinates associated with the external environment,

The mapping module is configured to link at least two anchor points 33 to the image file representing the external environment and more particularly to the pixel composition of the image file. This ability allows at least two points of the graphical representation 31 to be associated with GNSS coordinates.

calculating the positions on the graphic representation of at least two personalized graphic elements 32 associated with GNSS coordinates, said positions being a function of the GNSS coordinates of the personalized graphic elements 32 and the pixel and GNSS coordinates of the anchor points 33,

The mapping module is configured to calculate the pixel coordinates of the custom graphic elements 32 as a function of their GNSS coordinates on the one hand and the pixel and GNSS coordinates of the anchor points 33 on the other hand.

calculating the position on the graphic representation of the rotary-wing drone 1, said position being a function of the GNSS coordinates of the rotary-wing drone 1 and of the pixel and GNSS coordinates of the anchor points 33 and / or of the personalized graphic elements 32, and

The mapping module is configured to calculate the pixel coordinates of the rotary-wing drone 1 as a function of its GNSS coordinates on the one hand and the pixel and GNSS coordinates of the anchor points 33 and / or the pixel and GNSS coordinates on the other hand custom graphics 32.

transfer to the display module 22 the positions of the personalized graphic elements 32 and of the rotary-wing drone 1,

The mapping module is configured to transfer the calculated data to the display module 22 so that it displays the representations of the personalized graphic elements 32 and of the rotary-wing drone 1 superimposed on the graphic representation 31 of the external environment.

In addition, the display module 22 is configured to selectively display a personalized map 3 of the external environment. For this, the display module 22 includes means for selection by an operator of a personalized card 3, said display module 22 being configured to then selectively allow said personalized card 3 to be displayed from the external environment.

The personalized map 3 of the external environment according to the invention includes a graphical representation 31 of the external environment. The inventors have determined that the use of a personalized map 3 based on satellite photography gives poorer results in terms of performance and speed of execution of the rescue procedure than graphic representations. Indeed, the graphical representation 31 allows the operator to more easily take charge of the positioning and control device 2 and to obtain improved performance in terms of piloting the drone 1 in its external environment. The satellite photos may be of insufficient resolution and on the other hand the aerial photos or the satellite photos include numerous objects which pollute the operator's vision. Thus, the use of a personalized card 3 according to the invention including a graphic representation 31 is very advantageous during rescue actions but also during other applications where it is necessary to quickly position a drone in its environment (rescue at sea or on land, deposit of objects, for example emergency medicines, diagnosis of disaster site, etc.). Advantageously, the graphic representation 31 according to the invention is a pixelated image.

The graphical representation 31 of the external environment according to the invention generally represents areas of between 100 m ² and 15 km ² , preferably areas of between 500 m ² and 4 km ² Indeed, the use of '' Controlled size mapping enables faster execution. The graphic representation of the external environment can be saved via any type of image file.

The graphical representation 31 can for example represent a view along an axis forming an angle of 90 ° relative to the ground or ben, a view along an axis forming an angle less than 90 ° relative to the ground, preferably less than 75 °.

The display module 22 can also superimpose on the personalized map 3 an adjustable scale grid with standardized dimensions making it possible to quickly visualize the real distances separating the various personalized graphic elements. This adjustable scale grid can for example be configured to display steps from 1 m to 100 m.

In addition, the graphical representation 31 of the external environment includes at least two anchor points 33 associated with pixel coordinates and GNSS coordinates. These anchor points 33 are preferably located at the ends of the card. For example, they can correspond to the first pixel (e.g. top left) and the last pixel (bottom right). Preferably, the graphic representation 31 is not entirely geo-localized. Indeed, a geolocation of all the points of the graphic representation could lead to heaviness in the management of this image by the device. Furthermore, preferably only the GNSS coordinates of latitude and longitude are taken into account.

The graphical representation 31 can undergo transformations so as to further improve the handling by the operator. For example, the orientation of the map representing the external environment can be changed. Once the orientation has been changed, heading data will be associated with the map so that the control device is able to recalculate the GNSS coordinates exactly.

Similarly, the operator may need to zoom in on the map or the display device can represent this map in different formats / resolutions. This information can be stored on the positioning and control device 3. The personalized map 3 of the external environment according to the invention comprises personalized graphic elements 32 associated with GNSS coordinates. These personalized graphic elements 32 are positioned on the graphic representation 31 of the external environment as a function of their GNSS coordinates.

In places with few benchmarks referenced this allows adding graphic reference elements to facilitate for the operator the correspondence between a display on the screen and a display in the environment. Indeed, in open environments, the perception of depth may be distorted and the operator may have difficulty in directing the drone 1 quickly to a target location. One of the objectives of the invention is to propose to the operator, for example a rescuer, to best visualize the position of a target, for example a potential victim in particular with respect to the rotary-wing drone 1.

For this, the display module 22 is configured to display a personalized card 3 comprising personalized graphic elements 32. These personalized graphic elements 32 have preferably been configured by the operator and have been associated with corresponding GNSS coordinates. to objects present in the external environment. Preferably, the personalized graphic elements 32 that this personalized card 3 comprises are linked to objects in the external environment which are not generally referenced when establishing geolocation maps. For example, in contrast to buildings made of stone, these objects have a position that can evolve quite quickly. However, their presence in the personalized card 3 makes it easier for the operator to establish a correspondence between what he sees via the display device and his external environment. Thus, preferably, the personalized graphic elements 32 include personalized graphic elements corresponding to objects selected from: a buoy 32a, a danger zone 32b such as a baine, a rock 32c, a tree 32d, a temporary passage corridor 32e, a sandbank 32j, a flag 32f, a building preferably made of wood such as a watchtower 32g, the top of a dune 32h and a path 32i. More preferably, the personalized graphic elements 32 include personalized graphic elements corresponding to objects selected from: a buoy 32a, a danger zone 32b such as a baine, a sandbank 32j, a rock 32c, a tree 32d, a flag 32f and a path 32i.

Preferably, the personalized card 3 comprises at least four personalized graphic elements 32. More preferably, the personalized card 3 comprises at least eight personalized graphic elements 32. Even more preferably, the personalized card 3 comprises at least ten personalized graphic elements 32. The accumulation of these elements on a map can allow the operator to better immerse themselves in the map, improve their perception of depth and facilitate the creation of a correspondence between what he sees via the display device and its external environment. In rescue applications, this will allow him to arrive more quickly at his target to check his condition and act if necessary.

Finally, the personalized map 3 of the external environment according to the invention comprises a representation 35 of the rotary-wing drone 1, positioned on the graphic representation 31 of the external environment according to the GNSS coordinates of the rotary-wing drone 1 sent to the positioning device 2 via the communication module 10. In addition, the display module can be configured so that the altitude of the rotary-wing drone 1 is correlated with the representation dimensions of the drone to rotary wing 1 on the graphic representation 31. Preferably, the more the drone 1 evolves at a high altitude, the larger the representation of the rotary wing drone 1.

In addition to the transmission by the rotary wing drone of its GNSS coordinates, the transmission of data from the drone to the control device of the rotary wing drone may include metadata such as the date and time of the shots, the position GNSS, and the orientation of the nacelle to allow 3D modeling.

In particular, the positioning and control device 2 according to the invention may include other modules or means making it possible to reinforce its advantages over the problems of the state of the art.

Thus, the positioning and control device 2 according to the invention may further comprise a location module 24. This location module 24 is configured to identify a contact point 23a on a touch surface 23 of the module display 22. When the operator using a finger, a stylus or any other contact means on the touch surface 23 of the display module 22, the location module is configured to identify the pixel coordinates of this contact point 23a on the touch surface 23.

Then, the location module 24 is able to calculate the GNSS coordinates associated with the contact point 23a from its pixel coordinates as well as the pixel and GNSS coordinates associated with the anchor points 33. It can also use the pixel and GNSS coordinates associated with personalized graphic elements 32. Preferably, the calculation is made at the time of contact and the localization module does not include in memory the GNSS coordinates of all possible contact points on the touch surface 23 This saves resources. The calculation can for example be carried out by considering that the external environment represented by the graphical representation 31 is plane, thus neglecting the hemisphericity of the planet. This greatly reduces the complexity and therefore the computation time without having too strong consequences on the accuracy.

In addition, when converting pixel coordinates to GNSS coordinates, it is necessary to take into account the orientation of the graphical representation. Thus, if the latter is not oriented to the north, it is necessary to apply a transformation taking into account the course of the graphical representation 31.

Finally, the location module 24 can, advantageously, display a graphic element of position 34 at said contact point on the touch surface. This graphic element can be modified by the operator.

Advantageously, the positioning and control device 2 according to the invention may further comprise a tide module 27. The tide module 27 is configured to calculate the GNSS coordinates and the pixel coordinates of at least one position 37 of the water front in said external environment at an instant t. This calculation is carried out using data relating to the water depths and / or the tidal coefficients in said external environment at an instant t.

The data relating to the heights of water and / or the tidal coefficients in said external environment can be downloaded and then stored on the positioning and control device 2 of the rotary-wing drone 1 or else, they can be stored on a remote device (eg a server) and be consulted from time to time via a wifi or 3G / 4G connection for example.

The calculation can be carried out in several different ways which will be described in the description of the positioning step 200 of the water front.

Once calculated, the pixel coordinates of the at least one position 37 of the waterfront can be transmitted to the display module 22 and then be used to represent the waterfront in the personalized map 3 of the external environment according to the invention.

These pixel coordinates of at least one position 37 can also be used by a route module so as to take into account at a time t the position of the waterfront when establishing the route. This possibility can prove to be very advantageous in environments where the legislation imposes different constraints depending on the positioning of the drone relative to the waterfront (above ground or above water). Thus, if the drone has prohibited overflight areas on the ground or speed limits that are no longer applicable when the drone is above water, then determining the water front will allow the route module to propose an optimized route and thus save time. With such advantages, the tide module 27 can also be used in drone positioning and control devices different from that of the invention. Thus, according to one aspect, the invention relates to a device for positioning and controlling a drone with a rotating car 1 characterized in that it comprises a tidal module 27 according to the invention.

The control device according to the invention may also include:

a route module 26 configured to establish a navigation plan as described in the following description of the invention,

a storage means 23 which can store in particular personalized cards 3, a manual command module 29 configured to control the movement of the drone and which can comprise at least two joysticks,

a video module 28 configured to process the video signal coming from one or more camera (s) 14 carried by the drone 1. The video module 28 can for example transmit commands to move the angle of the camera, add information superimposed on the video stream or stabilize the video stream through reprocessing.

According to another aspect, the invention relates to a rotary wing drone piloting system comprising a positioning and control device (2) according to the invention and a rotary wing drone 1 capable of being controlled by said positioning device and control 2.

The rotary wing drone 1 according to the invention may have a weight of between 0.5 kg and 6 kg, preferably between 2 kg and 4 kg.

In addition, the rotary wing drone 1 according to the invention can advantageously comprise a fastening module 17 and an on-board computer 16 connected to the communication module 10 and configured to actuate the fastening module 17.

The on-board computer 16 can be used to control the various equipment installed on the drone and this independently of the flight controller 11.

The attachment module 17 is capable of carrying loads of several kilos, for example loads of between 0.1 and 8 kg, preferably loads of between 0.5 and 3 kg.

The attachment module comprises an opening / closing system that can be controlled remotely, in particular from the positioning and control device 2 of the drone 1. This opening / closing system can be based on a repulsion of magnets and includes a mechanical interlock thus preventing the actuator from supporting the load. In addition, the consumption of the booster remains zero and therefore does not affect the autonomy of the battery or batteries 14. The attachment module 17 can for example retain a buoy 18. [0075] In addition, the drone usable in the context of the invention can also include one or more camera (s) managed by the video module 28. A camera can generate a video stream which will be transmitted in real time, via communication modules 10 and 20 , to the positioning and control device 2. A camera is preferably mounted on a mobile system allowing it to pivot along a vertical axis so as to provide a 360 ° C vision author of the drone and this without the latter having to pivot . Likewise, the mobile system allows the camera to rotate along a horizontal axis, allowing it to film directly below the drone. Preferably, the field of vision of a camera is such that it makes it possible to film a circle of at least 50 meters in diameter at 100m altitude. In addition, the camera mounted on the drone according to the invention preferably has a zoom of 4 times or more. In addition, the video module 28 can store image or video data in the appropriate formats (Tiff, Jpeg, MP4, ...). Preferably, at least two cameras are installed on the rotary wing drone. For example, the drone can be equipped with a conventional camera for filming in the visible, or with a thermal camera. Indeed, in the context of rescue, it is advantageous to have a thermal camera, equipped with an infrared sensor, for example with a resolution preferably of at least 640 x 512 pixels for a range of 1km of day and a visible camera which can have a high resolution of 4Kx30 or 1080px60 type for a range of 2 kilometers by day. Alternatively, a single camera capable of filming in the visible and of capturing thermal data can be used.

Advantageously, the video module 28 is configured so as to add a graphic representation of targeting overlay to the video stream when the following two conditions are met:

- the drone is located at an altitude of at most 15 meters, preferably at most 10 meters and

- the camera generating the video stream films an area below the drone along an axis of about 90 ° (eg 90 ° plus or minus 15 °) relative to the ground or to the water area, i.e. - say when the video stream acquired by the camera corresponds approximately to the vertical position of the rotary-wing drone.

In a load release context in a target location (for example the release of a buoy in a rescue context), such a configuration of the video module 28 is particularly advantageous. Indeed, the operator will not have to check the altitude of the drone when it positions it above the target location, similarly the graphic representation of targeting will assure the operator that the load will be dropped proximity to the target location.

In addition, the rotary wing drone according to the invention may include:

- a parachute, preferably a non-pyrotechnic triggered parachute capable of being triggered by a command (preferably a dual independent control system) or in the event of a drone fault;

- ultrasonic sensors and / or stereoscopic cameras integrated into an anti-collision module;

- an independent circuit breaker module that can be triggered remotely,

- a rangefinder and means to acquire the altitude of the drone relative to the ground by means of the rangefinder,

- means to acquire the horizontal speed of the drone. The speed can be calculated with regard to GNSS data but other systems can be embarked on the drone so as to calculate the speed of the drone,

- a waterproof hull with flotation means, given that one of the applications of this system and the use of a drone in a marine environment, the latter may include flotation means as well as a waterproof hull making it possible to protect at least temporarily the drone in the event of a ditching;

- an automatic stabilization module in hover, in order to free the rescuer from the constraint of piloting the drone when he is close to a potential victim, the drone can include a flight stabilization module. This module can in particular identify the target and control the motors so that the drone maintains a given distance and altitude relative to the rescued person.

- A voice module, comprising a loudspeaker and a microphone making it possible to communicate with the people being near the drone.

FIG. 3 shows a method of positioning and controlling a rotary-wing drone 1 which can be implemented with the positioning and control device 2 according to the invention.

In fact, according to another aspect, the invention relates to a method of positioning and controlling a rotary-wing drone 1, in an outdoor environment, preferably in a non-urban environment such as for example in a marine, lake environment or in the plains, mountains, forests. More preferably, the invention relates to a method of positioning and controlling a rotary-wing drone 1, in a marine environment.

The method 100 for positioning and controlling a rotary wing drone 1 according to the invention comprises the establishment 110 of a connection between a positioning and control device 2 and a rotary wing drone 1, such as previously described.

The method 100 further comprises a set of steps, which can be implemented by a mapping module 25 and allowing rapid mapping of the external environment. This set includes:

establishment 121 of a connection between the rotary-wing drone 1 and a mapping module 25 of the positioning and control device 2, the measurement and transmission 122 of the GNSS coordinates of the rotary-wing drone 1 by a geolocation module 15 to the mapping module 25, the loading 123, into the mapping module 25, of the pixel composition of an image file, said image file comprising a graphic representation 31 of said external environment, the association 124 of at least two anchor points 33 to said pixel composition of the image file, said anchor points 33 comprising pixel coordinates associated with said image file and corresponding GNSS coordinates associated with the external environment, the calculation of the positions 125 on the graphic representation d '' at least two custom graphic elements 32 associated with GNSS coordinates, said positions being a function of coor GNSS data of the custom graphic elements 32 and the pixel and GNSS coordinates of the anchor points 33, the calculation of the position 126 on the graphic representation of the rotary-wing drone 1, said position being a function of the GNSS coordinates of the rotary-wing drone 1 and pixel and GNSS coordinates of the anchor points 33, and the transmission 127 of the positions of the personalized graphic elements 32 and of the rotary-wing drone 1 from the mapping module 25 to the display module 22.

The method 100 includes the display 130 of a personalized map 3 of the external environment by the display module 22. This display 130 of a personalized map 3 of the external environment can be broken down into several sub-steps :

display 131 of a graphic representation 31 of the external environment, said graphic representation 31 of the external environment including at least two anchor points 33 associated with pixel coordinates and GNSS coordinates, display 132 of the elements custom graphics 32 associated with GNSS coordinates and positioned on the graphic representation 31 of the external environment at their GNSS coordinates, and the display 135 of a representation 35 of the rotary-wing drone, positioned on the graphic representation 31 of the external environment as a function of the GNSS coordinates of the rotary-wing drone 1 sent to the positioning device 2 via the communication module 10.

The order of these substeps does not matter and preferably, the latter executing very quickly (for example in less than 1 second, preferably in less than 0.5 seconds), the operator will probably not be able to distinguish the order of execution of these substeps.

The method 100 may also include a display step 133, superimposed on the graphic representation 31, of an adjustable scale grid with standardized dimensions making it possible to quickly visualize the real distances separating the various personalized graphic elements. For example, this adjustable scale grid can be configured for steps from 1 m to 100 m.

The method 100 may also include a step 134 for modifying the orientation of the graphic representation 31 and therefore of the personalized card 3. In fact, an operator may wish to represent the personalized card at an angle not facing the North. The method 100 can also include a step of rotating the graphic representation 31.

After the connection step 110, the method 100 can also include a step 111 for verifying the state of the rotary-wing drone. For example, following the establishment of a connection between the drone 1 and the device 2, the latter transmits a module verification request. It includes for example a check of the state of the battery (ies) 14 as well as of the operating state of the GNSS radio and of the compass. If the parameters are validated, the control device will display via the display module a graphic representation 31 of the external environment and will add personalized graphic elements 32 to the superimposition of said card, otherwise an error message will be displayed by the display module 22.

Advantageously, the method 100 according to the invention further comprises a positioning step 200 of a water front at an instant ti. The precise location of the waterfront allows on the one hand to adapt the speed of the drone and its trajectory depending on whether or not it is above the water and on the other hand it allows via a device display to represent the coastal area so as to facilitate the location by the operator of the rotary-wing drone and / or of a target location.

Figure 4 shows the example of a seafront positioning step based on a prior survey of the water line. Thus, in particular, the positioning step 200 of a waterfront comprises the following substeps:

the loading 210, into a tide module 27 of the positioning and control device 2, of data relating to the heights of water and / or to the tidal coefficients relating to the marine environment,

The tidal coefficients and / or the water heights can be transferred to the tidal module 27 via a wireless connection such as a Bluetooth connection, wifi, 4G or any other very high speed mobile data transmission protocol. These tidal coefficients and / or these water heights can also be stored on the device 2.

- piloting for overflight 221 by the rotary-wing drone 1 of the water line at an instant t1, and the transmission 231 to the tide module 27 of at least one GNSS coordinate associated with the water line at an instant t1.

These two steps can be repeated as shown in Figure 4 so as to generate new data relating to t2. These steps can be repeated again, for example every day for a week so as to accumulate a large number of data representative of the water zone and thus improve the modeling of the water front. Preferably, the piloting steps for overflight are carried out at the time of high tides or low tides.

the calculation 240 by the tide module 27 of the GNSS coordinates and the pixel coordinates of at least one position 37 of the water front in said marine environment at an instant ti, said calculation taking into account the data relating to the water heights or to the tidal coefficients in said external environment at at times ti, t1 and t2 as well as the GNSS coordinates associated with the water lines at times t1 and t2.

The tide module then establishes from these points a modeling of the water line for example as a function of the tide coefficient, the hours of high and low tides, and the position on the beach. This modeling makes it possible to know at all times an estimated position of the water line on the external environment considered.

The step 200 of the method 100 can also include a display substep 250 by the display module 22 of a representation of the water front at an instant ti, positioned on the graphic representation 31 of the external environment as a function of the GNSS coordinates of at least one position 37 of the water front. This display can be produced by superimposing the personalized map 3, for example drawing a blue zone representing the body of water and separated from the earth by the water front.

In an outdoor environment, the operator and the drone control devices in general face the difficulty of positioning the waterfront. Indeed, in certain environments the position of the water front can present a difference of several tens of meters depending on the low tide or the high tide.

However, the waterfront is an extremely important benchmark for the operator in a process of positioning a target. Likewise, more generally, the position of the seafront can influence the piloting of the drone. Indeed, the regulations can impose constraints above the ground which are not the same as above water.

Under these conditions, the positioning of the waterfront in an external environment and more particularly in the coastal zone appears to be a particularly advantageous characteristic within the framework of the positioning and control method of a rotary-wing drone, but also within the framework of positioning and control process other than that of the invention. Thus, according to another aspect, the invention relates to a method for positioning and controlling a rotary-wing drone 1 characterized in that it comprises a step of positioning 200 of a water front at an instant t, according to the invention.

In the context of the display 132 of the personalized graphic elements 32 associated with GNSS coordinates, there are numerous methods of positioning the personalized graphic elements 32 on the graphic representation 31 of the external environment.

It is possible, for example, to enter the GNSS coordinates directly if they are known to the operator. However, in the context of so-called ephemeral custom graphic elements, it is quite rare for the operator to know the GNSS position of these elements.

Thus, preferably, it is possible to use a drone as a means of obtaining these coordinates. It is thus sufficient to position the drone in flight, above the object to be positioned as a personalized graphic element 31 in the personalized map 3 then to load the GNSS coordinates of the drone via the positioning and control device 2. For example, in as part of an application in a marine environment, for example around an oil platform, the operator can position the drone above positioning buoys and then initiate the acquisition of the drone's GNSS position. Similarly, in a coastal environment, the operator will be able to position the drone above the flags framing the bathing area, or even position itself above a bath and then start acquiring the GNSS position of the drone.

Thus, with reference to Figure 5 and preferably, the invention relates to a method 100 further comprising a step 300 of positioning a target location 39 on the personalized map 3 of the external environment.

Positioning 300 includes the steps of:

- Identify 340 a contact point 23a on a touch surface 23 of the display module 22; said contact point 23a being characterized by pixel coordinates,

- calculate 350 the GNSS coordinates associated with the contact point 23a from its pixel coordinates as well as the pixel and GNSS coordinates associated with the anchor points 33 or the personalized graphic elements 32, said GNSS coordinates associated with the contact point 23a corresponding to the GNSS coordinates estimated for the target location 39, positioning 300 may also include the sub-steps:

- loading 310 of a graphic representation 31 or of a personalized card 3 by the positioning and control device 2,

- verification 320 of the presence of GNSS coordinates within the graphic representation 31 or of the personalized card 3,

- verification 330 of the presence of personalized graphic elements 32 in the personalized card 3,

- 360 display of a graphic element of position 34 at said contact point on the touch surface.

It is also possible by this method to move a personalized graphic element 32.

Another method for precisely positioning an object in the external environment is to use the heading and distance data of this object as measured for example by a compass, binoculars with compass or rangefinder binoculars.

The heading and distance data are then used by the drone control device, in parallel with the operator's location data to determine the GNSS position of the object to be integrated into the map of the external environment. .

[00103] Thus, advantageously, the method 100 can also comprise a step 400 of positioning a target location 39 on the personalized map 3 of the external environment from heading and distance data.

Positioning 400 includes the steps of:

- Loading 410 of the GNSS reference coordinates,

- Loading 420 of the heading and distance data of a target object, said heading and distance data being acquired from a position corresponding to the reference GNSS coordinates,

- Calculate 430 the GNSS coordinates associated with the target object from its heading and distance data as well as the GNSS reference coordinates.

Thus, according to the invention, it is possible to position the personalized graphic elements 32 on the graphic representation 31 of the external environment. When using the personalized map 3 of the external environment for the first time or if the operator wishes to add or modify personalized graphic elements 32, the positioning and control device 2 gives him the possibility of adding or if necessary modify personalized graphic elements 32. For example, once the map is displayed on the control device, the operator can launch a function for adding personalized graphic elements.

The positioning steps and sub-steps described above can also be used in the context of a step of positioning a target on the personalized card 3. Thus, from a personalized card according to the invention , the operator is able to quickly position his target on the personalized map so as to quickly reach this target with the drone.

Advantageously, the invention also relates to a method 100 comprising a step 500 of establishing a navigation route making it possible to shorten the time necessary for positioning a drone close to a target. An embodiment of this step of establishing 500 of a navigation route is presented in FIG. 6.

Thus, the invention relates to a method 100 further comprising a step 500 of establishing a navigation route from a starting location to the target location 39, said step 500 comprising:

reception 510, by a route module 26 of the positioning and control device 2, of the estimated GNSS coordinates of the target location 39,

- the loading 520 by the route module 26 of the GNSS coordinates of at least one prohibited flight zone,

- establishment 540 of a navigation plan comprising:

o the calculation 541 of a first stage of the navigation plan comprising no overflight of a prohibited flight area, and o the calculation 543 a final stage of the navigation plan, said last stage comprising only a flight in a straight line, flying exclusively over a water area, to target location 39.

Once the target has been located, its GNSS and pixel coordinates are transmitted by the route module 26 to the navigation module 21 responsible for tracking the drone during its navigation. Preferably, the entire route from the starting point to the target location is sent to drone 1.

The journey calculated by a route module makes it possible to shorten the duration of the journey as much as possible while respecting the safety instructions established in the area considered. In addition, establishment 540 may comprise more than two stages and thus, several intermediate stages comprising no overflight of a prohibited flight area. This step 500 comprises the loading 520 by the route module 26 of the GNSS coordinates of at least one prohibited flight zone. However, this step can be replaced by loading at least one authorized flight area, which corresponds to an equivalent solution provided that the authorized area does not cover the entire area linked to the graphic representation 31.

When the external environment is positioned in a coastal area, it is advantageous that the steps for calculating the route take into account the position of the waterfront at the time t of creation of the route. Thus, step 500 may include a sub-step for loading 530 of the GNSS coordinates of at least one position on the seafront. In fact, the regulations stipulate prohibited overflight zones which evolve according to the water line. For example, in France, starting from a location above the ground, until it has reached the water line, a rotary-wing drone will have to evolve in a specific area far from vacationers.

Thus, if the information on the position of the water line at an instant t is not included in the calculation of the fastest route, the drone will be able to cross prohibited areas or then extend the distance traveled to reach its target.

Figure 7 shows an example of a personalized card 3 according to the invention dedicated to a coastal environment. It is based on the graphic representation 31, by an initially vector image having been transformed into a pixelated image, of two beaches comprising two swimming areas framed by flags 32f. The anchor points 33 are not visible to the operator. In addition to the various personalized graphic elements (e.g. buoy 32a, baïne 32b, rock 32c ...) the map includes information 38 relating to the drone overlay as well as at least one position of the waterfront 37.

FIG. 8 shows an example of a method for creating a personalized card according to the invention. According to another aspect, the invention relates to a process for creating a personalized card 3, said process comprising the steps of:

- Loading 710 on the positioning and control device 2 of an image file encoding a graphic representation of the external environment, said file can be stored on the device 2 or on a remote device (eg server) accessible by the device 2;

- Display 720 by the display module 22 of the graphical representation 31 of the external environment;

- Association 730 of the graphic representation 31 of the external environment with at least two anchor points 33 characterized in particular by pixel coordinates and GNSS coordinates;

- Addition 740 superimposed on the graphic representation 31 of personalized graphic elements 32, said addition comprising:

o The selection 741 of a graphic form (eg a symbol) for a personalized graphic element 32, o The positioning 742 of the graphic form of the personalized graphic element 32 on the graphic representation 31 comprising the anchor points 33, this positioning can be done for example by contact with the tactile surface 23, o The association 743 of the pixel coordinates resulting from the positioning 742, with the personalized graphic element 32, o The loading and association 744 of the GNSS coordinates with the element custom graphic 32,

- Addition 750 superimposed on the graphic representation 31 of a representation of the drone 2;

- Registration 750 of the personalized card 3.

The invention provides a personalized card 3 representative of the external environment in which the drone operates. Thus, one of the advantages of the invention is to allow an operator to follow the navigation of the rotary-wing drone on the personalized map 3. The position of the drone 1 on the personalized map 3 being updated for example with a time interval of less than 5 seconds, preferably less than 1 second.

Advantageously, the method according to the invention may include a navigation step by autopilot. The fact that the operator can rely on automated navigation between the starting point and the target allows him to free up time to carry out the other actions necessary for rescue (e.g. contacting a hospital).

In this embodiment, the automatic pilot module is configured so that the trajectories are a function of the navigation plan established by the route module 26 and that the speed is directly configured as a function of previously saved preferences. in the route module 26. Nevertheless, the operator is able to control this speed from instructions addressed, for example by the manual control module 29, to the positioning and drone control device. From such instructions, the speed of the drone can be increased, reduced or the drone can even be instructed to return to a previous position without breaking the navigation plan established by the route module 26. This advantage of a share of power while retaining the benefits of automatic navigation and an optimized trajectory, either to accelerate, to decelerate or even to go back if the operator has identified an object of interest to proximity to the drone (for example thanks to the video stream from the camera).

The invention finds its application in the positioning and control of a drone in an outdoor environment. The devices, systems and associated methods according to the invention are particularly advantageous when the operator must send the drone as quickly as possible to a target location. The invention is particularly suitable for use in a marine environment (ships, oil platforms) or in a coastal area (beaches). However, the invention may prove to be essential in certain large lake systems or on terrestrial environments that do not have a large number of visual structural references (e.g. plain, forest, mountain).

Claims (10)

Claims 1. Positioning and control device (2) of a rotary wing drone (1) in an outdoor environment, comprising a display module (22) and a communication module (20) configured to communicate with the drone rotary wing (1), said rotary wing drone (1) comprising a communication module (10) configured to communicate with the positioning and control device (2), and a geolocation module (15), said positioning device and control (2) being characterized in that it comprises a mapping module (25) and in that: o the communication modules (10, 20) are configured to establish a connection between the rotary-wing drone (1 ) and the mapping module (25), o the geolocation module (15) is configured to measure the coordinates GNSS of the rotary wing drone (1) and send them to the mapping module (25), - said mapping module (25) is configured to: load the pixel composition of an image file, said image file comprising a graphic representation (31) of said external environment, associate with said pixel composition of the image file at least two anchor points (33), said anchor points (33) comprising pixel coordinates associated with said image file and corresponding GNSS coordinates associated with the external environment, calculating the positions on the graphic representation of at least two personalized graphic elements (32) associated with GNSS coordinates, said positions being function of the GNSS coordinates of the custom graphic elements (32) and the pixel and GNSS coordinates of the anchor points (33), calculate the position on the graphic representation of the rotary-wing drone (1), said position being a function of the GNSS coordinates of the rotary-wing drone (1) and pixel and GNSS coordinates of the anchor points (33), and trans refer to the display module (22) the positions of the personalized graphic elements (32) and of the rotary-wing drone (1), - said display module (22) is configured to then selectively allow a personalized map (3) of the external environment to be displayed from information received from the mapping module, said personalized map (3) comprising a graphic representation ( 31) from the external environment, at least two personalized graphic elements (32), a representation of the rotary-wing drone (35). 2. Device according to claim 1, characterized in that the personalized graphic elements (32) can be selected from: a buoy (32a), a danger zone (32b) such as a baine, a rock (32c), a sandbank (32d), a tree (32d), a temporary passage corridor (32e), a flag (32f), a wooden building such as a watchtower (32g), the top of a dune (32h) and a path access (32i). 3. Device according to one of claims 1 or 2, characterized in that it further comprises a location module (24) and that the display module (22) further comprises a touch surface (23), said location module (24) being configured for: - identify a contact point (23a) on the touch surface (23); said contact point (23a) being characterized by pixel coordinates, and - calculate the GNSS coordinates associated with the contact point (23a) from its pixel coordinates as well as the pixel and GNSS coordinates associated with the anchor points (33) and / or the personalized graphic elements (32). 4. Device according to one of claims 1 to 3, characterized in that it further comprises a tide module (27) configured to calculate the GNSS coordinates and the pixel coordinates of at least one position (37) of the front of water in said external environment at an instant t, from data relating to water heights and / or tidal coefficients in said external environment at an instant t ,, said pixel coordinates of at least one position (37) of the water front being used by the display module to represent the water front in the personalized map (3) of the external environment. 5. A rotary wing drone piloting system, characterized in that it comprises: - a positioning and control device (2) according to one of claims 1 to 4, and - a rotary wing drone (1) comprising a communication module (10) configured to communicate with the positioning and control device (2), and a geolocation module (15), and allow piloting by said positioning device and control (2). 6. System according to claim 5, characterized in that the rotary-wing drone (1) comprises a fastening module (17) and an on-board computer (16) connected to the communication module (10), said on-board computer (16) being configured to selectively activate the attachment module (17), said attachment module (17) retaining a buoy (18). 7. Positioning method (100) of a rotary wing drone (1), in an external environment, said method comprising: the establishment (110) of a connection between a positioning and control device (2) and a rotary-wing drone (1), via two communication modules (10, 20), the establishment (121) of a connection between the rotary wing drone (1) and a mapping module (25) of the positioning and control device (2), - measurement and transmission (122) of the GNSS coordinates of the rotary-wing drone (1) by a geolocation module (15) to the mapping module (25), - loading (123), into the mapping module (25), of the pixel composition of an image file, said image file comprising a graphic representation (31) of said external environment, - the association (124) of at least two anchor points (33) to said pixel composition of the image file, said anchor points (33) comprising pixel coordinates associated with said image file and corresponding GNSS coordinates associated to the external environment, - calculating the positions (125) on the graphic representation of at least two personalized graphic elements (32) associated with GNSS coordinates, said positions being a function of the GNSS coordinates of the personalized graphic elements (32) and the pixel and GNSS coordinates of the anchor points (33), - calculating the position (126) on the graphic representation of the rotary-wing drone (1), said position being a function of the GNSS coordinates of the rotary-wing drone (1) and the pixel and GNSS coordinates of the anchor points (33 ), the transmission (127) of the positions of the personalized graphic elements (32) and of the rotary-wing drone (1) from the mapping module (25) to the display module (22), and - The display (130) of a personalized map (3) of the external environment by the display module (22) said the display (130) of a personalized map (3) of the external environment comprising : the display (131) of a graphic representation (31) of the external environment, said graphic representation (31) of the external environment including at least two anchor points (33) associated with pixel coordinates and GNSS coordinates, o the display (132) of the personalized graphic elements (32) associated with GNSS coordinates and positioned on the graphic representation (31) of the external environment at their GNSS coordinates, and o the display (135) a representation of the rotary-wing drone (35), positioned on the graphic representation (31) of the external environment as a function of the GNSS coordinates of the rotary-wing drone (1) sent to the positioning device (2) via the module communication (10). 8. Method according to claim 7, characterized in that it further comprises a positioning step (200) of a water front at an instant t, comprising: loading (210), into a tide module (27) of the positioning and control device (2), of data relating to the heights of water and / or to the tidal coefficients relating to the external environment, the control for overflight (221) by the rotary-wing drone (1) of the water line at an instant t1, the transmission (231) to the tidal module (27) of at least one GNSS coordinate associated with the line of water at an instant t1, piloting for overflight (222) by the rotary-wing drone (1) of the water line at an instant t2, the transmission (232) to the tide module (27) at least a GNSS coordinate associated with the water line at an instant t2, the calculation (240) by the tide module (27) of the GNSS coordinates and the pixel coordinates of at least one position (37) of the water front in said external environment at an instant ti, said calculation taking into account the data relating to water heights or tidal coefficients e in said external environment at times ti, t1 and t2 as well as the GNSS coordinates associated with the water lines at times t1 and t2. the display (250) by the display module (22) of a representation of the water front at an instant ti, positioned on the graphic representation (31) of the external environment as a function of the GNSS coordinates of at minus one position (37) of the water front. 9. Method according to one of claims 7 or 8, characterized in that it further comprises a step of positioning (300) a target location (39) on the personalized map (3) of the external environment, said positioning step (300) comprising: - the identification (340) of a contact point (23a) on a touch surface (23) of the display module (22); said contact point (23a) being characterized by pixel coordinates, - the calculation (350) of the GNSS coordinates associated with the contact point (23a) from its pixel coordinates as well as the pixel and GNSS coordinates associated with the anchor points (33) and / or the personalized graphic elements (32), said GNSS coordinates associated with the contact point (23a) corresponding to the estimated GNSS coordinates of the target location (39), - the display (360) of a graphic element representing the target location (39) on the personalized map (3) of the external environment at said contact point on the touch surface (23). 10. Method according to claim 9, characterized in that it further comprises a step of establishing (500) a navigation route from a starting location to the target location (39) comprising: - reception (510), by a route module (26) of the positioning and control device (2), of the estimated GNSS coordinates of the target location (39), - the loading (520) by the route module (26) of the GNSS coordinates of at least one prohibited flight zone, - the calculation (540) of a navigation plan including: o the calculation (541) of a first stage of the navigation plan comprising no overflight of a prohibited flight area, and o the calculation (543) of a last stage of the navigation plan, said last stage comprising only a flight in a straight line , flying exclusively over an area of water, towards the target location (39). 1/8