FR3077875A1 - EVOLUTIVE TACTICAL MAPPING DEVICE IN EXTERNAL ENVIRONMENT, SYSTEM AND METHOD THEREOF - Google Patents

Abstract

The invention relates to an evolutionary tactical mapping device of an external environment characterized in that it comprises - a structuring module, configured to create a positioning reference system comprising GNSS coordinates, - a communication module configured to receive a plurality of images of the external environment taken from an aircraft, - an image processing module configured to calculate, for at least one image, characteristics of at least two anchor points of said image on the reference frame of positioning, each anchor point being at least characterized by pixel coordinates and GNSS coordinates, transforming said image so that the GNSS coordinates of the at least two anchor points correspond to the GNSS coordinates of the positioning reference system; display module configured to display a scalable tactical map of the external environment including the display e of a superposition of the positioning reference system and the transformed image of the external environment.

Description

Scalable tactical mapping device in an external environment, associated system and method [0001] The invention belongs to the field of mapping devices. The present invention relates more particularly to an evolving tactical mapping device, within an external environment, which can be integrated for example into a mapping system comprising an aircraft such as a rotary wing drone. The invention also relates to a method for evolving tactical mapping, more particularly in an emergency response context and from aircraft such as quadcopters.

[Prior Art] [0002] During a natural disaster or event requiring emergency human intervention (eg forest fires, urban fires, avalanches, industrial risks, flood risks), it is desirable to have a updated map of the intervention area. Indeed, such a map makes it possible to precisely assess risk areas. Geographic information systems (GIS) thus make it possible to know, and visualize on tactical maps, the positioning of natural geographic elements and areas of habitation. The use of GIS will allow the installation of equipment and the planning of forecast plans.

Producing a GIS map can involve assembling a plurality of satellite images. This practice is also called orthophotography and a method of orthophotography is presented in patent application US9600740. Conventional methods of orthophotography are generally based on the identification of the areas of junction between images and seek to minimize the boundaries between the aggregated images forming a map. However, such a procedure is often time consuming and consumes many computing resources. Thus, it is generally not possible to have a map representing an intervention area that is up to date.

In addition, these maps are generally made from satellite photographs and have an update frequency of around 5 years. It is therefore frequent that during an intervention, such maps do not reflect the reality on the ground. Because of this, there are still many unexpected things to deal with during emergency procedures because of patchy patch data. It is therefore crucial to develop products capable of bringing a tactical map extremely quickly to the operators in charge of an emergency response. Indeed, in emergency contexts, especially in the

0580-HLP03-FR in the event of natural disasters or large-scale fires, it is necessary to have a real-time overview of the disaster, resources and targets.

[0005] Helicopters or rotary-wing drones are already used in emergency response contexts, however, they only provide video-type information and not a tactical map of the area of interest. Indeed, the management of the movement of drones is often carried out on the basis of satellite photography which are costly to establish and cannot be easily updated in real time. In addition, from these intervention contexts there may be areas that the drone must not be authorized to fly over and the calculation of the drone's route in complex environments can be slowed down, thus slowing down the analysis of the area of intervention.

Some solutions, such as document US2016 / 117853, 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 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. Thus, such devices do not meet the need for a scalable tactical map of an external environment, that is to say a map that can be updated in real time, as it may exist in a context of rescue or emergency response. 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.

In addition, it would also be desirable for several people to be able to inform the map in parallel, whether this is automatically by entering their position or manually, by integrating new elements on the map such as, for example, a new start of fire. unidentified or a person to rescue.

Another difficulty in emergency intervention contexts is to be able to follow the movement of resources so as to best coordinate the actions of each.

[0009] Thus, there is a need for a solution making it possible to quickly create a tactical map reflecting the state of the situation, evolving (eg being able to be updated in real time) and making it possible to visualize the available resources and the identified targets. . For example, in the event of a fire, it could be extremely useful for firefighters and rescuers in general to have an environmental map on

0580-HLP03-FR which would be positioned in real time the line of fire, potentially endangered people (targets) as well as resources such as Canadian aircraft or intervention vehicles.

[Technical problem] The invention therefore aims to remedy the drawbacks of the prior art. In particular, the object of the invention is to propose a device making it possible to quickly create a tactical map of the external environment constituting, for example, an intervention area and scalable so as to allow its updating in real time.

The invention further aims to provide a system for creating an evolving tactical map using an aircraft as well as a method for creating an evolving tactical map making it possible to quickly create a map forming a faithful representation of an environment. outside.

[Brief Description of the Invention] To this end, the invention relates to a device for evolving tactical mapping of an external environment comprising a communication module configured to communicate with an aircraft, an image processing module and a display module, said aircraft comprising a communication module configured to communicate with the mapping device, an image acquisition module and a geolocation module, said evolving tactical mapping device being characterized in that it comprises a structuring module, configured to create a positioning reference frame comprising GNSS coordinates, and in that:

- the communication module is configured to:

o receive a plurality of images of the external environment taken from the aircraft, and to o receive metadata, said metadata comprising for each image of the plurality of images: an altitude datum, a GNSS coordinate datum and orientation data of the image acquisition module during the generation of the image,

- the image processing module is configured to:

0580-HLP03-FR o calculate, for at least one image of the plurality of images, characteristics of at least two anchoring points of said image on the positioning reference frame, each anchoring point being characterized by coordinates pixel and GNSS coordinates, o transform said image so that, once the transformed image is superimposed with the positioning reference frame, the GNSS coordinates on the positioning reference frame of a projection of at least two anchor points correspond to the GNSS coordinates of the at least two anchor points, and o transmit, to the display module, the at least one transformed image, the positioning reference and the characteristics of at least two anchor points of the image , and

- the display module, is configured to display a scalable tactical map of the external environment, including the display of an overlay of the positioning reference frame and the transformed image of the external environment.

Unlike the devices of the prior art, the device according to the invention makes it possible to quickly modify and position images so as to form a tactical map of the external environment. Indeed, while the methods of the prior art are based on finding and improving the junction zones between the images, the device relies on a positioning reference frame comprising GNSS coordinates with which is are superimposed. one or more images to which GNSS coordinates have also been associated. Transforming the image to match all GNSS coordinates quickly creates a tactical map of the outside environment. In addition, the speed of integration of new images makes it possible to make this card scalable and to envisage its update in real time.

According to other optional characteristics of the device:

- the positioning reference system consists of several matrices of decreasing resolution. This makes it possible to speed up the processing of the information contained in the positioning repository by allowing a dichotomous type of analysis.

0580-HLP03-FR the positioning reference frame comprises at least two reference points characterized by pixel coordinates and GNSS coordinates. However, advantageously, it is not entirely georeferenced. Preferably it has between 2 and 100 reference points, more preferably between 2 and 50 reference points and even more preferably only two reference points. The fact that the positioning reference frame is not entirely georeferenced and includes a limited number of reference points makes it possible to speed up the processes using such a positioning reference frame. Thus, especially in an emergency context, this allows the device to be highly responsive.

- the communication module is configured to receive a plurality of images of the external environment taken from the aircraft while the aircraft is still in flight. Thus, there is a saving of time and the possibility of evolving the map in real time since there is no need to wait for the return of the aircraft to establish the tactical map.

- the transformation of the image can include: reduction of the size of the image, symmetrical or non-symmetrical deformation of the image. Such a transformation advantageously allows the surface of the transformed image to correspond to the surface defined by the GNSS coordinates on the positioning reference frame so as to generate a tactical map within which the images come together to form a representation of the external environment and allow a better rendering.

- The device further comprises a location module and the display module further comprises a touch surface, said location module being configured to: identify a point of contact on the touch surface; said contact point being characterized by pixel coordinates, and calculating the GNSS coordinates associated with the contact point from its pixel coordinates as well as pixel and GNSS coordinates associated with the GNSS coordinates of the positioning reference frame, preferably at pixel and GNSS coordinates reference points. Such a location by contact with the screen allows for example to quickly position an additional graphic element on the tactical map. The calculation of the GNSS coordinates being made from the relation pixel coordinates / GNSS coordinates of the GNSS coordinates of the positioning reference frame such as the reference points, this makes it possible to quickly assign an estimated geolocation corresponding to the

0580-HLP03-FR contact point. 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 prediction module configured to calculate the GNSS coordinates and / or the pixel coordinates of at least one position of a demarcation front in said external environment at an instant t, from GNSS coordinate data and / or pixel coordinates of at least one position of the demarcation front at an instant to and at an instant ti, said pixel and / or GNSS coordinates of the at least one calculated position of the demarcation front being used by the module d display to represent the demarcation front predicted on the evolving tactical map of the external environment. This prediction module has the advantage of allowing the position of a demarcation front to be calculated at all times. In the context of a natural disaster, such a module coupled to the tactical map allows the operator to have a tactical map conforming to reality via the display module of the mapping device and it can also predict the evolution of the danger zone and thus, for example, better estimate the desirable position of the emergency services within the external environment.

- the evolving tactical map includes a representation of the aircraft and the display module is configured in such a way that the dimensions of the representation of the aircraft are correlated with the altitude of the aircraft. This allows the operator to have information on the height of the aircraft more quickly.

The invention further relates to an evolving tactical mapping system, characterized in that it comprises a mapping device according to the invention, and an aircraft comprising a communication module configured to communicate with the mapping device, a image acquisition module and a geolocation module. Advantageously, the aircraft comprises a thermal camera fitted with an infrared sensor or a camera capable of filming in the visible and of capturing thermal data. Thus, it is possible to produce tactical maps including thermal data so as to facilitate, for example, the identification of people to be rescued or the start of fire not yet identified.

The invention further relates to a method of creating a scalable tactical map of the external environment, by a mapping device, said mapping device comprising a structuring module, a module for communication, an image processing module, and a display module, said method comprising the steps of:

- Creation, by the structuring module, of a positioning repository comprising GNSS coordinates,

Reception, by the communication module, of a plurality of images of the external environment taken from an aircraft,

Reception, by the communication module, of metadata, said metadata comprising for each image of the plurality of images: altitude data, GNSS coordinate data and orientation data from the image acquisition module during of the generation of the image,

- Calculation, by the image processing module, for at least one image of the plurality of images, of the characteristics of at least two anchoring points of said image on the positioning reference frame, each anchoring point being characterized by pixel coordinates and GNSS coordinates,

- Transformation, by the image processing module, of said image so that, once the transformed image superimposed with the positioning reference frame, the GNSS coordinates on the positioning reference frame of a projection of at least two anchor points correspond to the GNSS coordinates of at least two anchor points,

- Transmission, to the display module of at least one transformed image, of the positioning repository and of the characteristics of at least two anchoring points of the image, and

- Display of an evolving tactical map of the external environment by the display module, said evolving tactical map comprising a superposition of the positioning reference frame and of the transformed image of the external environment.

According to other optional features of the method, it further comprises a step of recording time data associated with the images and a step of delayed display of the tactical map and its evolution over time.

0580-HLP03-FR [0018] 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 which represent:

• Figure 1, a block diagram of a mapping system according to the invention, • Figures 2A and 2B, a positioning reference frame according to the invention, Figure 2B presenting a perspective view of the matrices that can compose the reference frame .

• Figure 3, a diagram of the card creation process according to the invention, the dotted steps are optional, • Figure 4, an illustrative diagram of the map creation process according to an embodiment of the invention of part of the steps, • Figure 5, a functional illustration of a scalable tactical map according to an embodiment of the invention, • Figure 6, a schematic illustration of a scalable tactical map according to an embodiment of the 'invention.

[Description of the invention] In the following description, the term “tactical map” within the meaning of the invention means a representation of a geographical space which may include graphic elements additional to the geography such as lines representing phenomena which may or may not move, symbols which may represent resources, targets or specific phenomena such as the epicenter of an earthquake, or texts allowing the nature of other graphic elements to be specified.

The term “evolving tactical map” within the meaning of the invention means a representation of a geographic space that can change over time. This evolution can be done by a modification of the additional elements or by a modification of the representation so as to include modifications in real time of the geographical space.

By "modify in real time" within the meaning of the invention, the fact that the modifications are representative of the reality of the environment. Thus, preferably modifications in real time make it possible to integrate modifications into the tactical map in less than 30 minutes, preferably in less than 15 minutes, more preferably in less than 5 minutes and even more preferably in less 2 minutes.

0580-HLP03-FR [0022] The term "outdoor environment" means an outdoor location in opposition to the interior of a building. Preferably, the invention finds an application in external environments which can be the theater of an emergency intervention such as highly urbanized places or on the contrary little urbanized like mountain environments, plains or forests or marine environments. and coastal areas.

The term "aircraft" means a device capable of rising and moving at altitude, within the Earth's atmosphere. Unlike a satellite, the aircraft cannot move in outer space. An aircraft can be with or without a pilot on board. Preferably, the aircraft is a rotary wing drone.

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.

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 may or may not be used in the context of pixel-to-coordinate conversions according to the invention.

By "pixel coordinates" is meant the position of a pixel in a pixel matrix such as for example an image file. This position is generally related to the pixel composition of the pixel matrix, that is to say to the resolution of the matrix, and to the position of said pixel with respect to the other pixels in height and in width of the image. . Pixel coordinates define a position in a pixel matrix, such as the position of a graphic element in an image.

By “substantially equal” within the meaning of the invention, a value varying by less than 30% relative to the compared value, preferably by less than 20%, even more preferably by less than 10 %.

By "target location" is meant in the sense of the invention, a location of interest, for example the position in the external environment that the operator wishes to be reached by the aircraft.

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 other locations of the external environment. By "associated with a greater risk", it is necessary to understand related to

0580-HLP03-FR a majority of accident cases or associated with the area with the highest number of accident or death cases.

By "demarcation front" is meant within the meaning of the invention the demarcation between two zones, for example a non-burnt area and a burnt area or the earth (the shore) and a water area, the area d water can be for example a sea, an ocean or a large lake. The demarcation front preferably corresponds to a water front, a lava front, a mud front or a fire front. The demarcation front can change over time, for example either in the presence of a tide or with the progression of the fire. In the case of rapid evolution, for example due to waves, the waterfront corresponds to the average demarcation for example over 5 minutes between the two zones.

The term "process", "calculate", "determine", "display", "extract", "compare" or more broadly "executable operation", within the meaning of the invention, an action performed by a device or processor unless the context indicates otherwise. In this regard, operations relate to actions and / or processes of a data processing device, for example a computer system or an electronic computing device, which manipulates and transforms the data represented as physical quantities (electronic ) in the memories of the computer system or other devices for storing, transmitting or displaying information. These operations can be based on applications or software.

The terms or expressions "application", "software", "program code", and "executable code" mean any expression, code or notation, of a set of instructions intended to cause processing. data to perform a particular function directly or indirectly (eg after a conversion operation to another code). Examples of program code may include, but are not limited to, a subroutine, function, executable application, source code, object code, library, and / or any other sequence of instructions designed for execution on a computer system.

By "processor" is meant, within the meaning of the invention, at least one hardware circuit configured to execute operations according to instructions contained in a code. The hardware circuit can be an integrated circuit. Examples of a processor include, but are not limited to, a central processing unit, a graphics processor, an application specific integrated circuit (ASIC) and a programmable logic circuit.

0580-HLP03-FR [0034] The term "coupled", within the meaning of the invention, connected, directly or indirectly with one or more intermediate elements. Two elements can be coupled mechanically, electrically or linked by a communication channel.

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

According to a first aspect, the invention relates to a device 100 for evolving tactical mapping of an external environment.

Figure 1 schematically shows a system 2 for the evolving tactical mapping of an external environment comprising: an aircraft 10, the device 100 according to the invention and another connected device 20.

In addition, as shown in Figure 1, the aircraft 10 comprises a communication module 11, an image acquisition module 12 and a geolocation module 13.

The communication module 11 is configured to communicate with the mapping device 100. Preferably, the communication is carried out via a wireless protocol such as wifi, 3G, 4G, and / or Bluetooth. These data exchanges can take the form of sending and receiving files, possibly encrypted and associated with a specific receiver key. Communication can take place via radio waves and a two-way transmitter / receiver. Preferably, the two communication modules 11 and 110 communicate according to at least two different radio frequencies chosen over a frequency range from 1 MHz to 6 GHz, preferably from 10 MHz to 1000 MHz. The communication module allows on the one hand the transmission of a plurality of images and metadata but can on the other hand also serve for the exchange of data making it possible to control the aircraft.

In addition, the aircraft usable in the context of the invention also includes an image acquisition module 12. The image acquisition module 12 may include one or more camera (s) ) or one or more cameras.

The image acquisition module 12 used in the context of the invention can be configured to detect electromagnetic radiation (for example, visible, infrared and / or ultraviolet light) and generate image data on the basis of the electromagnetic radiation detected. The image acquisition module 12 can include a

0580-HLP03-FR sensor with charge transfer device (CCD, "Charge Coupled Device" in English terminology) or a complementary metal-oxide-semiconductor sensor (CMOS, "Complementary Metal Oxide Semiconductor" in terminology) Anglo-Saxon) which generates electrical signals in response to wavelengths of light. The resulting electrical signals can be processed to produce image data. The image data generated by the image acquisition module 12 can include one or more images, which can be static images (for example, photographs), dynamic images (for example, video), or combinations appropriate of these. Image data can be polychromatic (e.g. RGB, CMYK, HSV) or monochromatic (e.g. grayscale, black and white, sepia). The image acquisition module 12 may include a lens configured to direct light onto an image sensor. The image acquisition module 12 can capture an image or a sequence of images at a specific image resolution. In some embodiments, the resolution of the image can be defined by the number of pixels in an image. In some embodiments, the image resolution can be greater than or equal to about 352 * 420 pixels, 480 * 320 pixels, 720 x 480 pixels, 1280 * 720 pixels, 1440 * 1080 pixels, 1920 * 1080 pixels, 2048 * 1080 pixels, 3840 * 2160 pixels, 4096 * 2160 pixels, 7680 * 4320 pixels, or 15360 * 8640 pixels. In some embodiments, the camera can be a 4K camera or a camera with higher resolution. The image acquisition module 12 can capture a sequence of images at a specific capture speed. In some embodiments, the image sequence can be captured by standard video rates, such as about 24 p (24 frames per second in progressive scan), 25 p (25 frames per second), 30 p, 48 p, 50 p, 60 p, 72 p, 90 p, 100 p, 120 p, 300 p, 50 i (50 frames per second in interlaced scanning) or 60 i. In some embodiments, the sequence of images can be captured at a speed less than or equal to about one image every 0.0001 seconds, 0.0002 seconds, 0.0005 seconds, 0.001 seconds, 0.002 seconds, 0.005 seconds, 0.01 seconds, 0.02 seconds, 0.05 seconds. 0.1 seconds, 0.2 seconds, 0.5 seconds, 1 second, 2 seconds, 5 seconds or 10 seconds. In some embodiments, the capture speed can be changed based on an operator command.

Preferably, the image acquisition module 12 includes one or more camera (s). A camera can be a video camera or a film that captures dynamic image data (for example, video). A camera can capture both dynamic and static image data. A camera can switch between capturing dynamic image data and static images. A camera can generate a stream

0580-HLP03-FR video which will be transmitted in real time, via communication modules 11 and 110, to the mapping device 100. 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 around the aircraft without this having to pivot. Likewise, the mobile system allows the camera to rotate along a horizontal axis, allowing it to film directly above the aircraft. Preferably, the field of vision of a camera is such that it makes it possible to film a circle at least 50 meters in diameter at 100 meters above sea level. In addition, the camera mounted on the aircraft preferably has a zoom of 4 times or more. In addition, the image acquisition module 12 can store image or video data in the appropriate formats (Tiff, Jpeg, MP4, ...).

Preferably, at least two cameras are installed on the aircraft. For example, the aircraft may be equipped with a conventional camera for visible filming, or with a thermal camera. In fact, in the context of tactical mapping, it is advantageous to have a thermal camera, equipped with an infrared sensor, for example with a resolution preferably of at least 640 × 512 pixels for a range of 1 km from day and a visible camera which can have a high resolution of the 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.

The geolocation module 13 is able to measure GNSS coordinates and configured to send the GNSS coordinates of the aircraft 10 to the mapping device 100 via the communication module 11. The aircraft used in the context of the invention includes 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, Galileo, Compass, IRNSS, and / or QZSS systems. Preferably, the geolocation module 13 according to the innovation is based on at least one GNSS radio system selected from: GPS, GLONASS, Galileo and Compass. More preferably, the geolocation module 13 according to the invention is based on at least two GNSS radio systems selected from: GPS, GLONASS, Galileo and Compass. This aircraft is advantageously geolocated in 3D (i.e. longitude, latitude, altitude) and permanently, that is to say with an update rate of its geolocation less than 10 seconds, preferably less than 5 seconds.

In addition, the aircraft 10 may include an orientation calculation module 14 making it possible to determine the orientation of the aircraft and more particularly the orientation of the image acquisition module. The nacelle orientation and orientation data for

0580-HLP03-FR the aircraft can be used to determine the orientation of the image acquisition module

12. The nacelle is a means that can be integrated into an aircraft so as to support an image acquisition module 12.

Preferably, the aircraft 10 is a rotary wing drone, this drone comprises at least one rotor driven by a controllable motor to pilot the drone in attitude and speed. The engine or engines are controlled by a flight controller, thus enabling piloting of the rotary-wing drone. The flight controller can be configured to communicate with a navigation module 180 via the communication modules 11 and 110. The flight controller is for example composed of an integrated circuit comprising a microprocessor and inputs / outputs linking it to sensors external (eg accelerometer, gyroscope, inertial unit, barometer) and one or more batteries. Preferably, the drone comprises at least two rotors and even more preferably at least four rotors. Thus, preferably the rotary wing drone used in the context of the invention is preferably a tricopter or a quadricopter.

The mapping device 100 includes a communication module 110, an image processing module 120, a display module 130 and a structuring module 140.

The communication module 110 is configured to communicate with the aircraft 10 via the communication module 11 of the aircraft 10. As seen previously, the communication module 110 exchanges with the aircraft 10 by the via a radio type link.

The communication module 110 is configured to receive a plurality of images of the external environment taken from the aircraft 10 preferably while the aircraft is still in flight. The plurality of images can correspond to a video stream or to a series of photographs. Preferably, the plurality of images corresponds to a video stream. It is then possible to extract images from the video stream. Preferably, the images are captured using the image acquisition module 12, at different times and each image comprises a plurality of pixels.

The device 100 also includes a structuring module 140 configured to create a positioning reference frame 300 comprising GNSS coordinates.

As shown in FIG. 2A, the positioning reference system 300 comprises at least two reference points 301, 302 characterized at least by

0580-HLP03-FR pixel coordinates and GNSS coordinates. That is, a reference point includes the pixel position data in the repository (x, y) and the GNSS coordinates (e.g. latitude, longitude, altitude).

These reference points 301,302 are preferably located at the ends of the positioning reference frame 300. For example, they can correspond to the first pixel 301 (e.g. top left) and the last pixel 302 (bottom right). Advantageously, the positioning reference frame 300 is not entirely geolocated. Indeed, a geolocation of all the points of the positioning reference frame 300 could lead to heaviness in the management of this positioning reference frame 300 by the mapping device 100. Thus, the calculation of a GNSS coordinate on the positioning reference frame is done punctually from the reference points 301,302 and the device does not include in memory the GNSS coordinates of all the possible points of the positioning reference frame 300. This saves resources. The calculation can for example be carried out by considering that the external environment corresponding to the positioning reference frame 300 is plane, thus neglecting the hemisphericity of the planet. This can reduce the complexity and therefore the computation time without having too strong consequences on the accuracy. Alternatively, the hemisphericity of the planet can be taken into account for example through the application of a Vincenty formula which consumes few resources.

The positioning reference frame 300 preferably has the form of a grid. The grid is formed by a succession of lines which may or may not be parallel. As shown in FIG. 2A, preferably, the grid is formed of a first series of parallel lines having an identical spacing between each adjacent line and of a second series of parallel lines having an identical spacing between each adjacent line; the second series of lines being perpendicular to the first series of lines. These lines make it possible to delimit several interior spaces. Each delimited area of the grid can be associated with a GNSS coordinate or each intersection of the grid can be associated with a GNSS coordinate. Preferably, each delimited area of the grid is associated with a GNSS coordinate positioned at the center of each of the areas. For example, in FIG. 2A, point 315 corresponds to the center of an interior space positioned at the bottom and right end of the positioning reference frame 300; point 325 corresponds to the center of an interior space including the interior space centered on point 315; point 335 corresponds to the center of an interior space encompassing the interior space centered on point 325 and therefore encompassing the interior space centered on point 315.

0580-HLP03-FR [0055] The grid can take the form of a polygon, such as a quadrilateral or a pentagon, a circle or even an ellipse. Preferably, the grid has a quadrilateral shape such as a square or a rectangle. This grid can be displayed and represent, for example, areas between 0.1 km ² and 50 km ² , preferably between 1 km ² and 25 km ² .

As illustrated in FIG. 2B, the positioning reference frame 300 is made up of several matrices 310,320,330 of decreasing resolution. It comprises a primary matrix 310 having the highest resolution and therefore where the number of interior spaces is the highest. This primary matrix in particular forms the interior space centered on point 315. This primary matrix 310 preferably includes topography data and advantageously no-fly data. This matrix is close to the structures already used and consists of a fairly large file containing a lot of data.

Preferably, within the positioning repository 300, this primary matrix 310 is associated with one or more secondary matrices 320,330. These secondary matrices 320, 330 include at least two GNSS coordinates 301, 302 for example positioned at two ends of the reference frame 300 and a reduced resolution compared to the resolution of the primary matrix 310. For example, as presented in FIG. 2B, the primary matrix comprises 144 interior spaces while the first secondary matrix 320 comprises 36 interior spaces including the interior space centered on point 325 and the second secondary matrix 330 comprises 4 interior spaces interior space centered on point 335. Within secondary matrices, the topographic data correspond to a synthesis of the topographic data recorded for the higher resolution matrix. For example, the lowest resolution secondary matrix 330, will include for each of these 4 interior spaces a synthesis of the information from the highest resolution matrices such as for example for one of the four interior spaces the highest altitude of each of the 9 spaces of the secondary matrix 320 or the highest altitude of each of the 36 spaces of the primary matrix 310. Thus, thanks to a dichotomous research type analysis, it is possible from a geolocation to know the characteristics of the adjacent geolocation. This goes through a search starting with the lower resolution matrix and then going to the higher resolution matrices. Such a functionality is particularly useful for accelerating the navigation of an aircraft and more particularly of a rotary-wing drone, and more generally the processing of information contained in the positioning reference frame 300, particularly in the context of intervention of emergency. It is therefore not necessary to analyze all of the

0580-HLP03-FR information from the positioning reference system but only part of the information. Thus, mapping and action planning are greatly accelerated.

The matrices are for example defined by at least two GNSS coordinates 301,302 for example positioned at two ends of the positioning reference frame 300 and by a resolution.

The matrices can take the format of a flat file or of a database file.

The positioning repository 300 is preferably associated with flight authorization data. The flight authorization data stipulates whether or not an area can be overflown and at what minimum altitude an area must be overflown. The positioning reference frame 300 is also preferably associated with topographic data.

The image processing module 120 is configured to calculate, for at least one image of the plurality of images, characteristics of at least two anchor points 211,212 of said image 210 on the positioning reference frame 300 , each anchor point being at least characterized by pixel coordinates and GNSS coordinates. The image processing module 120 is also configured to transform said image 210 so that, once the image is superimposed with the positioning reference frame, the GNSS coordinates of the at least two anchor points 211, 212 correspond to the GNSS coordinates of the positioning reference frame 300. More particularly, that the GNSS coordinates on the reference frame 300 for positioning a projection of the at least two anchor points 211, 212 correspond to the GNSS coordinates of the at least two anchor points 211, 212.

The image processing module 120 is also configured to transmit, to the display module 130, the at least one transformed image 250, the positioning reference frame 300 and the characteristics of at least two anchor points 211, 212 of the image.

The functionalities of the image processing module 120 will be described further in connection with the method according to the invention.

The display module 130 is configured to display a scalable tactical map of the external environment comprising the display of an overlay of the positioning reference frame 300 and of the transformed image 250 of the external environment. It may for example include a screen with a surface of at least 40 cm ² and a resolution preferably greater than 1024 * 768.

0580-HLP03-FR [0066] In addition, the mapping device according to the invention may include one or more human-machine interfaces. The human-machine interface, within the meaning of the invention, corresponds to any element allowing a human being to communicate with a particular computer and without this list being exhaustive, a keyboard and means allowing in response to the orders entered at the keyboard to display and optionally select with the mouse or a touchpad items displayed on the screen. Thus, the display module can include a touch surface. An exemplary embodiment is a touch screen making it possible to select directly on the screen the elements touched by the finger or an object and possibly with the possibility of displaying a virtual keyboard.

In addition, the display module 130 can be configured to display a representation of the aircraft 10. Said representation being for example positioned on the map 1 of the external environment as a function of the GNSS coordinates of the aircraft 10 sent to the mapping device 100 via the communication module 11. Advantageously, the display module 130 can be configured in such a way that the dimensions of the representation of the aircraft 10 on the evolving tactical map 1 are correlated with the altitude of the aircraft 10. Preferably, the more the aircraft 10 evolves at a high altitude, the larger the representation of the aircraft 10.

The mapping device 100 according to the invention may further comprise a location module 150. This location module 150 is configured to identify a point of contact on a touch surface of the display module 130. When the operator using a finger, a stylus or any other means of contact on the touch surface of the display module 130, the location module is configured to identify the pixel coordinates of this contact point on the touch surface.

Then, the location module 150 is able to calculate the GNSS coordinates associated with the contact point from its pixel coordinates as well as the pixel and GNSS coordinates associated with the reference points 301,302 of the positioning reference frame 300. Alternatively, it can also use the pixel and GNSS coordinates associated with additional graphic elements.

Preferably, the calculation is made at the time of contact and the location module does not have in memory the GNSS coordinates of all the possible contact points on the touch surface. This saves resources. The calculation can for example be carried out by considering that the external environment represented by the graphic representation is plane, thus neglecting the hemisphericity of the planet.

0580-HLP03-FR [0071] In addition, when converting pixel coordinates to GNSS coordinates, it is necessary to take into account the orientation of the card 1. Thus, if the latter is not oriented towards the north, it is necessary to apply a transformation taking into account the heading of the map.

In places with few benchmarks referenced or in an intervention context involving in particular several groups of operators, it may be useful to add additional graphic elements. This can, for example, add contextual elements to the map to enhance the "tactical" aspect of the map. One of the objectives of the invention is to propose to an operator, for example a firefighter, to visualize at best the position of a line of fire or of a target, for example a potential victim. Adding these elements to Map 1 improves the planning and course of an intervention.

For this, the tactical mapping device 100 can advantageously include a positioning module 160 configured to display on the evolving tactical map 1 additional graphic elements 411,412,431,432. These additional graphic elements have preferably been configured by an operator and have been associated with GNSS coordinates corresponding to objects or humans present in the external environment. Thus, the positioning module 160 can also be configured to create and position these additional graphic elements.

Preferably, the card 1 comprises at least three additional graphic elements. More preferably, the tactical map 1 comprises at least five additional graphic elements.

The accumulation of these elements on a map 1 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 they see. via the display device and its external environment. These elements also make it possible to plan trips or actions taking into account the position of all the targets and resources on the map.

Advantageously, the mapping device according to the invention can further comprise a prediction module 170. The prediction module 170 is configured to calculate the GNSS coordinates and the pixel coordinates of at least one

0580-HLP03-FR position of a demarcation front (e.g. flame front or water front) in said external environment at an instant t.

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

Once calculated, the pixel coordinates of the at least one position 411 of the demarcation front can be transmitted to the display module 130 and then be used to represent the demarcation front in the evolving tactical map 1 of the environment. exterior according to the invention.

The tactical mapping device 100 can also comprise a navigation module 180. The navigation module 180 can be configured to transmit to the flight controller information relating to pitch, elevation, yaw and roll of so as to control the movements of the aircraft.

The tactical mapping device 100 can also comprise a storage module 190, which can store in particular the evolving tactical map 1. The storage module 190 may include a transient memory and / or a non-transient memory. The non-transient memory can be a medium such as a CDrom, a memory card, or a hard disk, for example hosted by a remote server.

The device 100 for evolving tactical mapping according to the invention may also include:

a route module configured to establish a navigation plan as described in the following description of the invention, and a manual control module configured to control the movement of the aircraft 10 and which may include at least two joysticks .

The different modules of the mapping device according to the invention or of the aircraft are shown separately in FIG. 1 but the invention can provide various types of arrangement such as, for example, a single module combining all of the functions described here. Likewise, these means can be divided into several electronic cards or else combined on a single electronic card. In addition, when an action is lent to a device or module, it is in fact carried out by a microprocessor of the device or module controlled by instruction codes stored in a memory. Likewise, if you take action on an application, it is actually

0580-HLP03-FR carried out by a microprocessor of the device in a memory of which the instruction codes corresponding to the application are recorded. When a device or module sends or receives a message, this message is sent or received by a communication interface.

According to another aspect, the invention relates to a system 2 for evolving tactical mapping of the external environment comprising a mapping device 100 according to the invention and an aircraft capable of generating a plurality of images of the environment outside.

The mapping system may also include, as shown in FIG. 1, other connected devices 20. These other connected devices 20 may include a communication module 21, an image acquisition module 22, a geolocation module. 23 and an orientation calculation module 24. These other connected devices are, for example, equipment such as personal GPS beacons making it possible to locate responders or transport or intervention vehicles such as Canadian aircraft.

Advantageously, the aircraft 10 is a rotary wing drone and the evolving tactical mapping system according to the invention is capable of controlling the rotary wing drone.

The rotary wing drone according to the invention may have a weight of between 0.5 kg and 100 kg, preferably between 1 kg and 50 kg.

In addition, the rotary-wing drone according to the invention can advantageously include an on-board computer connected to the communication module. The on-board computer can be used to control the various equipment installed on the drone, independently of the flight controller.

The rotary-wing drone according to the invention may also include a fastening module, for example controlled by an on-board computer. The attachment module is capable of carrying loads of several kilos, for example loads of between 0.1 and 50 kg, preferably loads of between 0.5 and 10 kg.

The attachment module includes an opening / closing system that can be controlled remotely, in particular from the mapping device. This opening / closing system can be based on a repulsion of magnets and includes a mechanical locking thus avoiding the servomotor to support the load. In addition, consumption

0580-HLP03-FR of the servomotor remains zero and therefore does not affect the autonomy of the battery (ies). The attachment module can for example hold a buoy.

Advantageously, the image acquisition module 12 is configured so as to add a graphical targeting representation over the video stream when the following two conditions are met: the drone is located at an altitude of at plus 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 surface , that is to 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 image acquisition module 12 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 can 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

0580-HLP03-FR 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 and / or

- 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 500 for creating a scalable tactical map 1 that can be implemented with the mapping device 100 according to the invention. FIG. 4 represents an example of implementation of the creation method 500 according to the invention.

In another aspect, the invention relates to a method 500 for creating a scalable tactical map 1, preferably in an outdoor environment such as, for example, in an urban, marine, lakeside or lowland, mountain environment. , forests.

The method 500 for creating a map can be preceded in particular by the establishment of a connection between a mapping device 100 and an aircraft 10, as described above. The evolving tactical mapping device 100 includes a structuring module 140, a communication module 110, an image processing module 120, and a display module 130.

As illustrated in FIGS. 3 and 4, the method 500 for creating a card comprises the following steps:

- Creation 510, for example by the structuring module 140, of a positioning repository 300 comprising GNSS coordinates,

Reception 520, for example by the communication module 110, of a plurality of images of the external environment taken from an aircraft,

Reception 530, for example by the communication module 110, of metadata, said metadata comprising for each image of the plurality of images: an altitude data, a GNSS coordinate data and an orientation data of the acquisition module 12 images when generating the image,

- Calculation 540, for example by the image processing module 120, for at least one image 210 of the plurality of images, of the characteristics of at least two anchoring points 211, 212 of said image on the positioning reference frame, each anchor point 211, 212 being at least characterized by pixel coordinates and GNSS coordinates,

- Transformation 550, for example by the image processing module 120, of said image 210 so that, once the transformed image 250 is superimposed with the

0580-HLP03-FR positioning reference frame 300, the GNSS coordinates on the positioning reference frame 300 of a projection of the at least two anchor points 211, 212 correspond to the GNSS coordinates of the at least two anchor points 211, 212, and

- Transmission 560, to the display module 130, of at least one transformed image 250, of the positioning reference frame 300 and of the characteristics of at least two anchor points 211, 212 of the transformed image, and

- Display 570 of a scalable tactical map 1 of the external environment by the display module 130, said display or said card 1 comprising a superposition of the positioning reference frame 300 and of the transformed image 250 of the environment outside.

The creation 510 of a positioning reference frame 300 is preferably done from a GNSS coordinate advantageously representing the center of the external environment to be represented and from a distance datum which can for example correspond to the radius of a positioning reference frame 300 of circular shape or the length of one side of a positioning reference frame 300 of square shape.

Following this first stage of creation, the device can create the positioning repository 300 and in particular its different matrices. As previously described, this includes the definition of at least two reference points 301,302.

The method then comprises receiving 520 of a plurality of images of the external environment taken from an aircraft. This reception preferably corresponds to the reception of several photographs or else to a video stream from which it is possible to extract images. In addition, reception is advantageously carried out while the aircraft is still in flight. Thus, it is not necessary to have recovered the aircraft 10 in order to be able to start processing the images and associate them with the positioning repository 300. In the context of emergency operations, this enables reactivity which is not possible to implement with conventional solutions. Indeed, with the method according to the invention, the images can be integrated into the tactical map 1 in real time so as to have a vision of the real situation in the external environment.

The selection of images 210 to be integrated can be done manually by an operator. Manual selection can be performed using an input device, for example, a tablet, a mobile device, or a personal computer. In some cases,

0580-HLP03-FR the aircraft can be configured to automatically generate and select the images to be integrated.

Advantageously, the method includes receiving a plurality of thermal images. Preferably, the method includes receiving a plurality of thermal images and a plurality of visible images.

The reception 530 of metadata can be carried out in parallel with the reception 520 of a plurality of images.

In addition to the transmission by the aircraft of its GNSS coordinates, the transmission of data from the aircraft 10 to the mapping device 100 can include metadata such as the date and time of the shots, the GNSS position of the aircraft at the time of shooting, the altitude of the aircraft at the time of shooting, and the orientation of the nacelle as well as of the aircraft at the time of shooting.

Advantageously, the metadata include temporal data corresponding to the time of generation of the image. The time data can correspond to a date and time stamp, but can also correspond only to the shooting time.

The metadata can also include, for each of the images, data on the orientation of the image acquisition module 12. The orientation data of the image acquisition module is preferably obtained from orientation data of the aircraft at the time of shooting and of a possible gondola.

The shooting corresponds to the moment when an image has been acquired by an image acquisition module.

The step 540 of calculating the characteristics of at least two anchoring points of the image is preferably done from the position of the aircraft during the shooting, the position here including the latitude , longitude and altitude as well as from the orientation of the image acquisition module. It is also possible to take into account the dimensions of the image. In addition, the calculation can take into account any lens deformations of the image acquisition module. Calculation 540 can also be carried out on an image having been previously modified following its acquisition. Indeed, it is sometimes necessary to remove the edges of an image whose quality is reduced following deformations caused by the lens of the image acquisition module.

Advantageously, the calculation is done from the position, according to GNSS coordinates, of the aircraft 10 during the shooting as well as from the orientation of the acquisition module of images 12.

As mentioned, each anchor point is at least characterized by pixel coordinates and GNSS coordinates. That is, an anchor point includes pixel position data in the image (x, y) and GNSS coordinates (e.g. latitude, longitude, altitude).

FIG. 4 shows an image 210 which is the subject of a calculation step 540 involving the generation of four anchor points 211,212,213,214. The anchor points 211, 212, 213, 214 are preferably located at the ends of the image 210. For example, they can correspond to the first pixel (eg at the top left) and the last pixel (at the bottom right) of the image 210. Alternatively, as shown in FIG. 5, the anchor points 231, 232, 233 can be positioned inside the image.

Preferably, the image 210 is not entirely geolocated. Indeed, a geolocation of all the points of the image 210 could cause heaviness in the management of this image by the mapping device 100. Furthermore, preferably, only the GNSS coordinates of latitude and longitude are taken into account.

The image transformation step 550 is preferably done just before the display. Image transformation aims to modify the image surface so that the surface of the transformed image corresponds to the surface defined by the GNSS coordinates on the positioning reference frame 300. Indeed, depending on the altitude, the angle of the shot or the orientation of the aircraft, it is likely that the surface of the image received does not correspond to the surface it must occupy on the positioning reference frame 300. The image 210 must then undergo a transformation step so that its size is integrated with the positioning reference frame 300 and if necessary with the other transformed images 260, 270, 280 already superimposed.

The transformation may include reduction in size, symmetrical or non-symmetrical deformation of the image. Preferably, the transformation consists of modifications selected from: resizing, croping, and anamorphosis.

In fact, it is neither necessary nor desirable in an emergency and intervention context to modify, for example, the color tones of the different images so as to improve the rendering of the final map.

Figure 4 shows for example the surface 350 that the image 210 should occupy on the positioning reference frame 300 with regard to the GNSS coordinates of its points

0580-HLP03-FR of anchors and GNSS coordinates of the positioning reference frame 300. This surface does not correspond to the surface of image 210 before transformation. Thus, during the transformation 550, the image 210 is deformed so that the surface of the transformed image 250 coincides with the positioning reference frame 300.

Preferably, the transformation consists exclusively in reducing the size of the image and in its deformation. Thus, although this may allow a better rendering, it is not necessary to modify the color tones of the image. Preferably, the image is transformed just before its display, that is to say in a period of less than 30 seconds, preferably less than 10 seconds and more preferably less than 5 seconds before a first display. More particularly, the transformation aims to modify the surface of the image 210 so that the pixel surface of the transformed image 250 corresponds to the pixel surface defined by the GNSS coordinates of the anchor points on the repository 300 positioning.

Indeed, in the absence of transformation of the image 210, it is likely that only some of the anchoring points of the image are correctly positioned on the positioning reference frame. For example, if a first anchor point is used to position the image, the first anchor point will have a pixel coordinate corresponding to the GNSS coordinates of the positioning reference frame identical to the GNSS coordinates of this first anchor point. On the other hand, for the second anchor point of this image, in the absence of transformation, it is likely that its pixel coordinates will correspond to GNSS coordinates of the positioning reference frame which will be different from the GNSS coordinates of this second point of anchorage.

The transmission step 560 can be done within the same device but it is also possible to envisage processing the images on a first housing and the display on a second housing. The display 570 of a scalable tactical map can be broken down into several sub-steps:

the display of the positioning reference frame 300, said positioning reference frame including at least two reference points 301,302 associated with pixel coordinates and GNSS coordinates, the display of at least one transformed image 250 of which pixels are associated with points anchor 211,212 superimposed on the positioning reference frame 300,

0580-HLP03-FR the display of at least one additional graphic representation superimposed with the positioning reference frame 300, and / or the display of a representation of the aircraft, superimposed with the positioning reference frame 300 as a function of the GNSS coordinates of the aircraft 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 positioning repository 300 can take the form, for its display, of an adjustable scale grid with standardized dimensions making it possible to quickly view the actual distances separating the various additional graphic elements. For example, this adjustable scale grid can be configured for steps from 1 m to 100 m.

The display of at least one transformed image is done in such a way that the GNSS coordinates of the pixel positions on the reference frame 300 for positioning all the anchor points 211,212 correspond to the GNSS coordinates of the anchor points 211,212 . In this context, the GNSS coordinates of the pixel positions on the positioning reference frame 300 for all the anchor points 211, 212 are preferably calculated from the reference points 301, 302.

The method 500 may also include a step of modifying the orientation of the evolving tactical card 1. In fact, an operator may wish to represent the evolving tactical map 1 at an angle not facing north. The method 500 can also include a step of rotation of the evolving tactical card 1.

Preferably, as shown in FIG. 5, the method 500 according to the invention can be repeated several times so as to display several transformed images 250, 260, 270, 280. More preferably, the method 500 according to the invention comprises the display of at least two transformed images, and even more preferably at least three transformed images.

Advantageously, the method 500 for creating a map according to the invention can also include the display 580 of additional graphic elements associated with GNSS coordinates.

0580-HLP03-FR These additional graphic elements are for example superimposed on the positioning reference frame 300 and the transformed images 250. Preferably, the additional graphic elements that this card 1 comprises are linked to objects in the external environment which are generally not referenced when drawing up conventional geolocation maps. However, their presence in tactical map 1 can make it easier for the operator to match what he sees via the display device to his external environment or to better plan an operation.

Preferably, as shown in FIG. 6, the additional graphic elements include graphic elements corresponding to objects selected from: a danger zone such as a line of fire 411, equipment 431 and infrastructures (rescue centers, intervention vehicles and equipment ...), road networks 422, artificial water tanks (cisterns, swimming pools, ...) or natural (pond, lakes, rivers, ...). More preferably, the additional graphic elements comprise additional graphic elements corresponding to objects selected from: a sea current, a line of demarcation and a vehicle.

In addition, it would also be desirable for several people to be able to inform the tactical map 1 in parallel, whether this is automatic, for example by informing their position, or manually by integrating new elements on the map 1, such as for example. an unidentified new fire start or someone to rescue.

In the context of the display of additional graphic elements associated with GNSS coordinates, there are many methods of positioning additional graphic elements on the positioning reference frame 300.

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 additional graphic elements, it is quite rare for the operator to know the GNSS position of these elements.

Thus, it is preferably possible to use an aircraft 10, such as a rotary-wing drone as a means of obtaining these coordinates. It is therefore sufficient to position the aircraft 10 in flight, above the object to be positioned as an additional graphic element in the evolving tactical map 1, then to load the GNSS coordinates of the aircraft via the mapping device 100. For example , in the context of an application in a forest environment, for example in the context of a fire, the operator

0580-HLP03-FR will be able to position the aircraft over an emergency vehicle or a dwelling and then start to acquire the GNSS position of the aircraft.

Alternatively, when another connected object 20 is associated with the method according to the invention then it can be represented on the evolving tactical map 1 via an additional graphic element. In this case, it has a geolocation module 23 capable of transmitting the GNSS coordinates of the other connected object 20. These GNSS coordinates are then used to calculate from the GNSS coordinates of the positioning reference frame 300, the position in pixels of the additional graphic element on the evolving tactical map 1. For example, a connected tablet-type object can allow an operator to add additional graphic elements such as a new fire start or a rescuer not previously identified.

The method can also include a step of moving an additional graphic element.

Advantageously, the method 500 according to the invention further comprises a step of predicting the position of a demarcation front at an instant t. The prediction of the position of a demarcation front makes it possible to know at all times an estimated or predicted position of a demarcation front within the external environment considered. There is therefore a prediction, via this modeling, of the position of the demarcation front as a function of time. For example, in the event of a fire, the front line may be a front of flames.

The prediction of the position of a demarcation front at an instant t ,, for example by the prediction module 170, can for example comprise the following steps:

- Load GNSS coordinates and / or pixel coordinates of at least one position

411 of a demarcation front in said external environment at an instant to

- Load GNSS coordinates and / or pixel coordinates of at least one position

411 of a demarcation front in said external environment at an instant ti,

- Calculate GNSS coordinates and / or pixel coordinates of at least one position

412 of a demarcation front in said external environment at an instant t, from GNSS coordinate data and / or pixel coordinates of at least one position 411 of the demarcation front at an instant to and at an instant ti,

- Display by the display module 130 of a representation of the demarcation front superimposed with the positioning reference frame 300 and at least one transformed image 250.

0580-HLP03-FR [00136] In addition, the creation method 500 can include a step of recording the generated data. Such a recording step can for example include the recording on a storage module 190 of the positioning reference data 300, including for example the characteristics of the reference points 301, 302 as well as the resolution of the various matrices that can compose the reference 300 of positioning and topographic and / or no-fly data. Such data is generally stable, especially at the scale of an emergency response.

The recording step can also include the recording of so-called dynamic data which will change depending on the course of an intervention. Thus, such a recording step can for example include recording on a storage module 190:

- images 210 associated with the characteristics of their anchor points 211, 212 as well as with a temporal datum, and

- additional graphic representations associated with at least one temporal datum and GNSS coordinates.

Thus, preferably, the method 500 according to the invention may include a step of recording time data, in particular associated with the images 210 and a step of delayed display of the tactical map 1 and its evolution in time. During this delayed display, preferably, the additional graphic elements are also integrated.

In addition, the creation method 500 may include a step of establishing a connection between the card creation device 100 and the aircraft 10, via two communication modules.

After the connection step, the method can also include a step of verifying the state of the aircraft 10. For example, following the establishment of a connection between the aircraft 10 and the device 100 mapping, the latter transmits a module verification request. It includes for example a check of the state of the battery (ies) as well as the operating state of the GNSS radio and the compass. If the parameters are validated, the control device will display via the display module a graphic representation of the external environment and will add overlay

0580-HLP03-FR said card additional graphics, otherwise an error message will be displayed by the display module.

[00141] The method 500 for creating a map can comprise the measurement and transmission of the GNSS coordinates of the aircraft 10 to the mapping device 100.

In addition, while awaiting images of the external environment, the mapping method 500 can comprise the loading of an image file, said image file comprising a graphic representation of said external environment. Thus, as the picture is taken and the integration of transformed images 250, the graphic representation is replaced by the transformed images of the external environment, preferably integrated in real time.

FIG. 6 presents an example of an evolving tactical map 1 according to the invention dedicated to an intervention in an intervention context. It is based on the display of a positioning reference frame 300 superimposed with a plurality of images and additional graphic elements. Additional graphics here are a flame front 411, a predicted flame front 412, a home 421, a road 422, a vehicle 431 and a canadair 432.

The invention provides a scalable tactical map 1 representative of the external environment in which the aircraft operates and this almost in real time. Thus, one of the advantages of the invention is to allow an operator to have up-to-date information on the external environment so as, for example, to better plan an intervention. The position of the aircraft 10 and / or of additional graphic elements on the map 1 can be updated for example with a time interval of less than 5 seconds, preferably less than 1 second. Likewise, the images on the card 1 can be updated with a time interval of less than an hour, preferably less than 30 minutes.

Advantageously, the method 500 also includes a step of establishing a navigation route making it possible to shorten the time necessary for positioning an aircraft within the external environment.

The step of establishing a navigation route can include:

- the reception, by a route module of the mapping device 100, of the GNSS coordinates estimated for the target location,

0580-FR-HLP03

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

- the establishment of a navigation plan including:

o the loading of a secondary matrix 330 of the positioning repository 300, o the identification of an interior space of the secondary matrix 330 comprising a prohibited flight zone or an altitude greater than the predetermined flight altitude, o the loading of the interior spaces of a secondary matrix 320 of higher resolution corresponding to the interior space previously identified, and o calculation of a step of the navigation plan comprising no overflight of prohibited flight area.

Once the target has been located, its GNSS and pixel coordinates are transmitted, by the route module, to the navigation module in charge of tracking the aircraft, preferably a rotary-wing drone during its navigation. . Preferably, the entire route from the starting point to the target location is sent to the aircraft 10.

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 in question. In addition, the establishment of a navigation plan may include more than two stages and thus, several intermediate stages including no overflight of prohibited flight area.

This step includes the loading by the route module of the GNSS coordinates of at least one prohibited flight zone.

In this embodiment, the autopilot module is configured so that the trajectories are a function of the navigation plan established by the route module and that the speed is directly configured according to preferences previously saved in the route module. However, the operator is able to control this speed from instructions addressed, for example by the manual control module, to the device according to the invention. 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. This has the advantage on the one hand 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 identity an object of interest near the drone (for example thanks to the video stream from the camera).

0580-HLP03-FR [00151] The evolving tactical card 1 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 mapping 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 mapping device 100.

The evolutionary tactical map 1 of the external environment according to the invention advantageously comprises additional graphic elements associated with GNSS coordinates. These additional graphic elements are superimposed with the positioning reference system 300 as a function of their GNSS coordinates.

The evolving tactical map 1 of the external environment according to the invention comprises a plurality of transformed images 250,260,270,280 of the external environment superimposed with a positioning reference frame 300. The use of a map based on a satellite photograph gives less good results in terms of performance and speed of execution of the emergency response procedure than the use of an evolutionary tactic 1 map according to the invention. In fact, having an evolving tactical map 1 comprising images integrated almost in real time allows the operator on the one hand to obtain improved performance in terms of piloting the aircraft 10 in its external environment and on the other hand to take into account all the factors necessary for planning and monitoring an intervention. Thus, the use of a scalable tactical card 1 according to the invention including a plurality of transformed images is very advantageous during emergency intervention but also for other applications where it is necessary to quickly study an environment (rescue at sea or on land, deposit of objects, for example emergency medicines, diagnosis of disaster site, etc.). In addition, the possibility of integrating various additional graphic elements onto the map makes it possible to contextualize the environment and further improve the management of a possible crisis situation.

The invention finds its application in real-time mapping of an external environment. The devices, systems and associated methods according to the invention are particularly advantageous when the operator has to plan or follow an emergency intervention at a critical site, for example following a natural disaster.

Claims (12)

1. Device (100) for evolving tactical mapping of an external environment comprising a communication module (110) configured to communicate with an aircraft (10), an image processing module (120) and a display module ( 130), said aircraft (10) comprising a communication module (11) configured to communicate with the mapping device (100), an image acquisition module (12) and a geolocation module (13), said device (100) of evolving tactical mapping, characterized in that it comprises a structuring module (140), configured to create a positioning reference frame (300) comprising GNSS coordinates, and in that: - the communication module (110) is configured to: o receive a plurality of images of the external environment taken from the aircraft, and to o receive metadata, said metadata comprising for each image (210) of the plurality of images: an altitude data, a data of GNSS coordinates and orientation data of the image acquisition module (12) during the generation of the image, - the image processing module (120) is configured to: o calculate, for at least one image of the plurality of images, characteristics of at least two anchor points (211, 212) of said image (210) on the positioning reference frame (300), each anchor point being characterized by pixel coordinates and GNSS coordinates, o transforming said image (210) so that, once the transformed image (250) is superimposed with the positioning reference frame (300), the GNSS coordinates on the reference frame (300 ) positioning of a projection of the at least two anchor points (211,212) correspond to the GNSS coordinates of the at least two anchor points (211,212), and o transmit, to the display module (130), the au at least one transformed image (250), the positioning reference frame (300) and the characteristics of at least two anchor points (211,212) of the image, and the display module (130) is configured to display a scalable tactical map of the external environment comprising the display of an overlay of the positioning reference frame (300) and of the transformed image (250) of the outdoor environment. 0580-FR-HLP03 2. Device (100) for mapping according to claim 1, characterized in that the positioning reference frame (300) consists of several matrices (310,320,330) of decreasing resolution. 3. Device (100) for mapping according to one of claims 1 or 2, characterized in that the positioning reference frame (300) comprises at least two reference points (301, 302) characterized by pixel coordinates and GNSS coordinates . 4. Device (100) for mapping according to any one of claims 1 to 3, characterized in that the communication module (110) is configured to receive a plurality of images of the external environment taken from the aircraft ( 10) while the aircraft is still in flight. 5. Device (100) for mapping according to any one of claims 1 to 4, characterized in that the transformation of the image may include: the reduction of the size of the image, the symmetrical or non-symmetrical deformation of the image. 'picture. 6. Device (100) for mapping according to any one of claims 1 to 5, characterized in that it further comprises a location module (150) and in that the display module (130) further comprises a touch-sensitive surface (131), said location module (150) being configured to: o identify a point of contact on the touch surface (131); said contact point being characterized by pixel coordinates, and o calculating the GNSS coordinates associated with the contact point from its pixel coordinates as well as pixel and GNSS coordinates associated with the GNSS coordinates of the positioning reference frame (300). 7. Device (100) for mapping according to any one of claims 1 to 6, characterized in that it further comprises a prediction module (170) configured to calculate the GNSS coordinates and / or the pixel coordinates of at at least one position (412) of a demarcation front in said external environment at an instant t, from GNSS coordinate data and / or pixel coordinates of at least one position (411) of the demarcation front at an instant to and at an instant ti, 0580-HLP03-FR said pixel and / or GNSS coordinates of the at least one calculated position (412) of the demarcation front being used by the display module to represent the demarcation front predicted on the evolving tactical map (1) from the outside environment. 8. Device (100) for mapping according to any one of claims 1 to 7, characterized in that the evolving tactical map (1) comprises a representation of the aircraft (10) and in that the display module ( 130) is configured in such a way that the dimensions of the representation of the aircraft (10) are correlated with the altitude of the aircraft (10). 9. An evolving tactical mapping system (2), characterized in that it includes a mapping device (100) according to one of claims 1 to 8, and an aircraft (10) comprising a configured communication module (11) to communicate with the mapping device (100), an image acquisition module (12) and a geolocation module (13). 10. System according to claim 9, characterized in that the aircraft (10) comprises a thermal camera fitted with an infrared sensor or a camera capable of filming in the visible and of capturing thermal data. 11. Method (500) for creating an evolving tactical map (1) of the external environment, by a mapping device (100), said mapping device (100) comprising a structuring module (140), a module communication module (110), an image processing module (120), and a display module (130), said method (200) comprising the steps of: - Creation (510), by the structuring module (140), of a positioning repository (300) comprising GNSS coordinates, Reception (520), by the communication module (110), of a plurality of images of the external environment taken from an aircraft (10), Reception (530), by the communication module (110), of metadata, said metadata comprising for each image of the plurality of images: an altitude datum, a GNSS coordinate datum and an orientation datum of the module d 'acquisition of images (12) during the generation of the image, 0580-FR-HLP03 - Calculation (540), by the image processing module (120), for at least one image (210) of the plurality of images, of the characteristics of at least two anchor points (211, 212) of said image (210) on the positioning reference frame (300), each anchor point (211, 212) being characterized by pixel coordinates and GNSS coordinates, - Transformation (550), by the image processing module (120), of said image (210) so that, once the transformed image (250) is superimposed with the positioning reference frame (300), the GNSS coordinates on the reference frame (300) for positioning a projection of the at least two anchor points (211, 212) correspond to the GNSS coordinates of the at least two anchor points (211,212), and - Transmission (560), to the display module (130), of the at least one transformed image (250), of the reference frame (300) of positioning and of the characteristics of at least two anchor points (211,212) of the image, and - Display (570) of a scalable tactical map (1) of the external environment, by the display module (130), said scalable tactical map (1) comprising a superposition of the reference frame (300) for positioning and the transformed image (250) of the external environment. 12. A method (500) of creation according to claim 11, characterized in that it further comprises a step of recording time data associated with the images (210) and a step of delayed display of the card (1) tactical and its evolution over time.