WO2019158880A1

WO2019158880A1 - Device for scalable tactical mapping in an exterior environment, associated system and method

Info

Publication number: WO2019158880A1
Application number: PCT/FR2019/050355
Authority: WO
Inventors: Anthony GAVEND; David GAVEND
Original assignee: Helper-Drone
Priority date: 2018-02-15
Filing date: 2019-02-15
Publication date: 2019-08-22
Also published as: FR3077875A1

Abstract

The invention relates to a device for scalable tactical mapping of an exterior environment, characterised in that it comprises - a structuring module, configured to create a positioning reference frame comprising GNSS coordinates, the positioning reference frame comprising a primary matrix associated with one or more secondary matrices, a first secondary matrix having a lower resolution than the primary matrix and each interior space of the first secondary matrix comprising a data synthesis of said primary matrix for this interior space, - a communication module configured to receive a plurality of images of the exterior environment taken from an aircraft, - an image processing module configured to calculate, for at least one image, the features of at least two points for anchoring said image on the positioning reference frame, each anchoring point being at least characterised by pixel coordinates and GNSS coordinates, transforming said image so that the GNSS coordinates of at least two anchoring points correspond to the GNSS coordinates of the positioning reference frame, and - a display module configured to display a scalable tactical map of the exterior environment comprising the display of a superposition of the positioning reference frame and the transformed image of the exterior environment.

Description

Evolutionary tactical mapping device in an outdoor environment, system and method therefor

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

[Prior art]

[0002] During natural disasters or events requiring emergency human intervention (eg forest fires, urban fires, avalanches, industrial risks, flood risks), it is desirable to have an up-to-date map of the intervention zone. Indeed, such a map makes it possible to precisely evaluate the areas at risk. Geographic information systems (GIS) thus make it possible to know, and visualize on tactical maps, the positioning of natural geographical features and residential areas. The use of GIS will allow the installation of equipment and the planning of forecast plans.

The realization of GIS map can go through the assembly of a plurality of satellite images. This practice is also called orthophotography and a method of orthophotography is presented in patent application US9600740. Traditional methods of orthophotography generally rely on the identification of the junction areas between images and seek to minimize the boundaries between the aggregated images forming a map. Nevertheless, such a procedure is often time-consuming and consumes many computing resources. Thus, it is generally not possible to have a map representing an area of intervention that would be up to date.

In addition, these cards are generally made from satellite photographs and have an update frequency of the order of 5 years. It is therefore common that during an intervention, such cards do not reflect the reality of the field. Because of this, there are still many unforeseen to manage during emergency response due to incomplete plot data. It is therefore crucial to develop products capable of providing a tactical map extremely quickly to the operators in charge of an emergency response. Indeed, in emergency contexts, particularly in the In the context of natural disasters or large-scale fires, it is necessary to have a real-time overview of the disaster, resources and targets.

Other solutions, such as that mentioned in the document US2012 / 007982 consist in proposing an evolutionary mapping device based on the superposition of two images of the same geographical area captured at two different times. To do this, such an evolutionary mapping device comprises means making it possible to select a first reference image and then to position a plurality of second images taken in real time by an aircraft in order to provide an overview at a given moment. of said geographical area, the scene of a disaster or a natural disaster. Such an evolutionary mapping device makes it possible to obtain a comparison between an aerial view of a geographical area before it has been affected by a disaster or a natural disaster. However, although such a device can generate a map to identify the topographic evolution of a geographical area, it has the disadvantage of using a reference image whose acquisition remains uncertain because often requiring an internet connection and as long as the plurality of second images are not sufficient to cover the reference image, the operators will not be able to know whether they can rely on the information displayed. 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 regularly and in real time during an emergency response .

[0006] 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 drone movement is often done on the basis of satellite photography which are expensive to establish and can not be easily updated in real time. In addition, from these intervention contexts there may be areas that the drone should not be allowed to fly over and the drone route calculation in complex environments can be slowed down, thus slowing down the analysis of the area of the drone. intervention.

Some solutions, such as the document US2016 / 1 17853, 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, usually based on satellite photographs of highly urbanized areas, require many minutes for their configuration from a computer. In addition, the photographs on which they rest are fixed in time. Thus, such devices do not meet the need for an evolutionary tactical map 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 quite easily position the drone in its environment, they do not meet the need to estimate the position of the target location and its position of the drone by relative to the target.

Finally, some solutions, such as that mentioned in the document US2007 / 00195094, propose a mapping and navigation device for a land vehicle making it possible to capture a plurality of images and to partially update map data of a geographical area. , said data being stored in a recording medium. The main function of such a device is to allow the update of a route, or more generally of the topology of a geographical area and to provide a user with an updated map, in real time, without having to update the map. day all the file containing all the map data. For this, the geographic data has a block hierarchical data structure, each of the blocks comprising a plurality of decreasing resolution matrices and describing a part of the geographical area. Such a document proposes the updating of a map but does not propose the establishment and the use in an emergency intervention context of an evolutionary tactical map of an external environment.

In addition, it would also be desirable for several people to be able to simultaneously inform the card that it is automatically by informing their position is manually by integrating new elements on the map such as for example a new start of fire unidentified person or a person to be rescued.

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

[001 1] Thus, there is a need for a solution to quickly create a tactical map reflecting the state of the situation, scalable (eg can be updated in real time) and to visualize available resources and targets identified. For example, in the event of a fire, it could be extremely useful for firefighters and rescuers in general to have a map of the environment on which would be positioned in real time the line of fire, people potentially in danger. hazards (targets) as well as resources such as watercraft or response vehicles. [Technical problem]

The invention therefore aims to overcome the disadvantages of the prior art. In particular, the invention aims to provide a device for quickly creating a tactical map of the external environment constituting for example an intervention area and scalable so as to allow its update in real time.

The invention further aims to provide a scalable tactical map creation system implementing an aircraft and a scalable tactical map creation method for quickly creating a map forming a faithful representation of an environment outside.

[Brief description of the invention]

To this end, the invention relates to a scalable tactical mapping device 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 evolutionary tactical mapping device being characterized in that it comprises a structuring module, configured to create a positioning reference system comprising GNSS coordinates, preferably said positioning reference system comprises a primary matrix, associated with one or more secondary matrices, a first secondary matrix having a lower resolution than the primary matrix and each interior space of the first secondary matrix comprising a synthesis of data of said primary matrix for this interior space, and that:

the communication module is configured to:

receiving a plurality of images of the external environment taken from the aircraft, and for

receiving 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 image acquisition module during the generation of the image; picture,

the image processing module is configured to: calculating, for at least one image of the plurality of images, characteristics of at least two anchor points of said image on the positioning reference frame, each anchor point being characterized by pixel coordinates and GNSS coordinates ,

transforming said image so that, once the transformed image has been superimposed with the positioning reference system, the GNSS coordinates on the positioning reference frame of a projection of the at least two anchor points correspond to the GNSS coordinates of the at least two anchor points. two anchor points, and

transmitting, to the display module, the at least one transformed image, the positioning reference system and the characteristics of at least two anchor points of the image, and

the display module, is configured to display an evolutionary 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 rapidly 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 the search and improvement of the junction areas between the images, the device relies on a positioning reference system comprising GNSS coordinates with which is superimposed (s) one or more images to which GNSS coordinates have also been associated. The transformation of the image so as to match all the GNSS coordinates makes it possible to quickly form a tactical map of the external environment. In addition, the speed of integration of new images makes this card scalable and consider updating it in real time.

According to other optional features 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 enabling a dichotomous search type analysis. the positioning reference system comprises at least two reference points characterized by pixel coordinates and GNSS coordinates. However, advantageously, it is not entirely georeferenced. Preferably it comprises 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 repository is not entirely georeferenced and has a limited number of reference points makes it possible to accelerate the processes using such a positioning reference system. Thus, especially in an emergency context this allows the device a high reactivity.

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 changing the map in real time because it is not necessary to wait for the return of the aircraft to establish the tactical map.

the transformation of the image may comprise: the reduction of the size of the image, the symmetrical or non-symmetrical deformation of the image. Such a transformation advantageously makes it possible for the surface of the transformed image to correspond to the surface defined by the GNSS coordinates on the positioning reference system so as to generate a tactical map in which the images assemble to form a representation of the external environment and allow a better rendering.

the device further comprises a locator module and the display module further comprises a tactile surface, said locator module being configured to: identify a point of contact on the tactile 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 the pixel and GNSS coordinates associated with the GNSS coordinates of the positioning frame, preferably at the 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. Since the GNSS coordinates are computed from the GNSS coordinates / pixel co-ordinates of the GNSS coordinates of the positioning reference system, such as the reference points, it is possible to quickly attribute 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 to other rescuers and thus gain valuable seconds for the operation.

the device further 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 L, from GNSS coordinate data and / or pixel coordinates of at least one position of the demarcation front at an instant to and at a time ti, said pixel and / or GNSS coordinates of the at least one calculated position of the demarcation edge being used by the module display to represent the predicted demarcation front on the evolutionary tactical map of the external environment. This prediction module has the advantage of allowing the calculation at each moment of the position of a demarcation front. In a context of natural disaster, such a module coupled to the tactical map allows the operator to have a tactical map in conformity with reality via the display module of the mapping device and can also predict the evolution of the danger zone and thus, for example, to better estimate the desirable position of rescue within the external environment.

the evolutionary tactical map comprises 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 faster information on the height of the aircraft.

The invention further relates to an evolutionary 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 provided with an infrared sensor or a camera capable of filming in the visible and 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 rescue or fire from still unidentified.

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

- Creation, by the structuring module, of a positioning reference comprising GNSS coordinates, preferably said positioning reference comprises a primary matrix, associated with one or more secondary matrices, a first secondary matrix having a lower resolution than the matrix primary and each interior space of the first secondary matrix comprising a data synthesis of said primary matrix for this interior space,

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: an altitude datum, a GNSS coordinate datum and an orientation datum of the image acquisition module when the generation of the image,

Calculating, by the image processing module, for at least one image of the plurality of images, the characteristics of at least two anchor 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, the GNSS coordinates on the positioning reference of a projection of at least two anchor points correspond to the GNSS coordinates of the two or more anchor points,

Transmitting, to the display module of the at least one transformed image, the positioning reference system and the characteristics of at least two anchor points of the image, and

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

According to other optional features of the method, it further comprises a temporal data recording step associated with the images and a delayed display step of the tactical map and its evolution over time. In another aspect, the invention relates to a method for determining an aircraft route from an evolutionary tactical map of the external environment, characterized in that the evolutionary tactical map includes a positioning reference system. having a primary matrix associated with one or more secondary matrices, a first secondary matrix having a lower resolution than the primary matrix and each interior space of the first secondary matrix comprising a data synthesis of said primary matrix for that interior space, the other matrices secondary cells having a lower resolution than the first secondary matrix and each interior space of the other secondary matrices comprising a data synthesis of a secondary matrix of higher resolution for this interior space, the method being characterized in that it comprises the steps of :

Reception of GNSS coordinates of aircraft position and GNSS coordinates of the target location,

Definition of a first trajectory, preferably rectilinear, between the position of the aircraft and the target location,

Search and identification of the interior spaces, of one of the other secondary matrices traversed by the first trajectory and comprising a data synthesis including a prohibited flight zone,

Loading of the interior spaces of the first secondary matrix corresponding to a previously identified interior space of one of the other secondary matrices, preferably it is only the interior spaces of the first secondary matrix corresponding to a previously identified interior space of one of the other secondary matrices that are loaded, the first secondary matrix is therefore preferably loaded only in part,

Search and identification of the interior spaces, of the first secondary matrix, traversed by the first trajectory and comprising a data synthesis including a prohibited flight zone,

Loading of the interior spaces of the primary matrix corresponding to a previously identified interior space of the first secondary matrix, preferably it is only the interior spaces of the primary matrix corresponding to a previously identified interior space of the first secondary matrix that are loaded. , the primary matrix is therefore preferably only partially loaded, Search and identification of a portion of trajectory to avoid an overflight of prohibited flight zone, - Modification of the first trajectory so as to include the identified portion of trajectory to avoid a prohibited flight zone overflight and determine the route for the aircraft.

Such a method makes it possible to load only part of the information of the matrices of high resolution and in particular that a part of the primary matrix and thus allows considerable gains of time during the determination of the route of a drone. Thus, it is particularly suitable for use with an evolutionary tactical map according to the invention or an evolutionary tactical map generated according to a method of the invention.

Other advantages and features of the invention will become apparent on reading the following description given by way of illustrative and nonlimiting example, with reference to the appended figures which represent:

FIG. 1, a block diagram of a mapping system according to the invention,

FIGS. 2A and 2B, a positioning reference system according to the invention, FIG. 2B presenting a perspective view of the matrices that can compose the reference frame.

3, a diagram of the card creation method according to the invention, the dashed steps are optional,

FIG. 4, an illustrative diagram of the card creation method according to an embodiment of the invention of a part of the steps,

FIG. 5, a functional illustration of an evolutionary tactical map according to one embodiment of the invention,

FIG. 6, a schematic illustration of an evolutionary tactical map according to one embodiment of the invention,

FIGS. 7A to 7F, schematic illustrations of a positioning reference system in the context of determining a route,

• Figure 8, a diagram of the method of determining a route according to the invention.

[Description of the invention]

In the following description, the term "tactical map" in the sense of the invention, a representation of a geographical space that may include additional graphic elements to the geography such as lines representing phenomena that may or may not moving, symbols that can represent resources, targets or punctual phenomena such as the epicenter of an earthquake, or texts to specify the nature of other graphic elements. The term "tactical map evolutionary" in the sense of the invention, a representation of a geographical space that can change over time. This can be done by modifying additional elements or by modifying the representation to include real-time changes in geographic space.

The term "change in real time" in the sense of the invention, the fact that the changes are representative of the reality of the environment. Thus, preferably real-time modifications make it possible to integrate changes in 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 than 5 minutes. 2 minutes.

The term "external environment" means an outside location in opposition to the interior of a building. Preferably, the invention finds application in outdoor environments that may be the scene of emergency intervention such as highly urbanized or otherwise un-urbanized places such as mountain environments, plains or forests or marine environments and coastal areas.

The term "aircraft" means a device capable of climbing and moving in altitude, within the Earth's atmosphere. Unlike a satellite, the aircraft can not move in outer space. An aircraft may 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, without a pilot on board, whose lift is provided by at least one rotor driven by a motor. For example a helicopter, is equipped with a main rotor ensuring its levitation and propulsion and a second tail rotor. A quadricopter is equipped with four rotors driven by their respective engines.

By "GNSS coordinates" is meant the geolocation coordinates, expressed in latitude and longitude. The Global Navigation Satellite System (GNSS) coordinates may also include height values that may or may not be used in the context of GNSS coordinates <> 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 relative to the other pixels in height and width of the image . The pixel coordinates define a position in a pixel matrix, such as the position of a graphic element in an image. By "substantially equal" in the sense of the invention, a value varying from less than 30% relative to the value compared, preferably less than 20%, even more preferably less than 10%. .

For the purposes of the invention, the term "target location" means a location of interest, for example the position in the external environment that the operator wishes to be reached by the aircraft.

For the purposes of the invention, the term "danger zone" means a location, within the external environment, considered by lifeguards to be associated with a greater risk of accident or greater mortality than the other locations of the outdoor environment. By "associated with greater risk" is meant to be related to a majority of accident cases or associated with the area with the greatest number of accident or death cases.

By "demarcation front" is meant within the meaning of the invention the demarcation between two areas for example a non-burned area and a burned area or the land (the shore) and a water zone, the zone 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 may change over time, for example in the presence of tide or with the progression of the fire. In the case of a 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 "treat", "calculate", "determine", "display", "extract" "compare" or more broadly "executable operation", within the meaning of the invention, an action performed by a device or a processor unless the context indicates otherwise. In this regard, the 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 (electronic) quantities. ) 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 a data processing to perform a particular function directly or indirectly (eg after a conversion operation to another code). Program code examples may include, but are not limited to, a sub-code. program, function, executable application, source code, object code, library and / or any other sequence of instructions designed for execution on a computer system.

For the purposes of the invention, the term "processor" means 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.

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 tactical mapping evolutionary of an external environment.

1 schematically represents a tactical mapping system 2 that is scalable to an external environment comprising: an aircraft 10, the device 100 according to the invention and another connected device 20.

In addition, as shown in FIG. 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 operated 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 be via radio waves and a two-way transmitter / receiver. Preferably, the two communication modules 11 and 10 communicate in 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 a plurality of images and metadata but can also be used for the exchange of data to control the aircraft.

In addition, the aircraft that can be used in the context of the invention also comprises an image acquisition module 12. The image acquisition module 12 may comprise one or more photographic apparatus (s) (s) ) or one or more camera (s).

The image acquisition module 12 used in the context of the invention may be configured to detect electromagnetic radiation (for example, visible, infrared and / or ultraviolet light) and generate image data on the screen. basis of the electromagnetic radiation detected. The image acquisition module 12 may comprise a charge coupled device (CCD) sensor or a complementary metal-oxide-semiconductor sensor (CMOS, "Complementary"). Metal Oxide Semiconductor, 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 may comprise one or more images, which may be static images (for example, photographs), dynamic images (for example, video), or combinations appropriate of these. The 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 may be defined by the number of pixels in an image. In some embodiments, the resolution of the image may 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 pixels. ^* 1080 pixels, 3840 ^* 2160 pixels, 4096 ^* 2160 pixels, 7680 ^* 4320 pixels, or 15360 ^* 8640 pixels. In some embodiments, the camera may be a 4K camera or a camera with a higher resolution. The image acquisition module 12 can capture a sequence of images at a specific capture rate. In some embodiments, the image sequence may 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 fps. 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 image sequence may be captured at a speed less than or equal to approximately 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 rate may be varied according to an operator's command.

Preferably, the image acquisition module 12 comprises one or more camera (s). A camera can be a video camera or a movie that captures the dynamic image data (for example, video). A camera can capture both dynamic image data and static images. A camera can switch between capturing dynamic image data and static images. A camera can generate a video stream that will be transmitted in real time, via the communication modules 1 1 and 1 10, to the mapping device 100. A camera is preferably mounted on a mobile system enabling it to pivot along a vertical axis so as to provide a 360 ° view around the aircraft without the latter having to rotate. Similarly, the mobile system allows a rotation of the camera along a horizontal axis, allowing it to film in line with the aircraft. Preferably, the field of view of a camera is such that it can film a circle of at least 50 meters in diameter at 100 meters altitude. In addition, the camera mounted on the aircraft preferably has a zoom of 4 or more times. In addition, the image acquisition module 12 can store the 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 can be equipped with a conventional camera for filming in the visible, or a thermal camera. Indeed, in the context of tactical mapping, it is advantageous to have a thermal camera, equipped with an infrared sensor, for example a resolution preferably of at least 640 x 512 pixels for a range of 1 km daylight and a camera in the visible that can have a high resolution type 4Kx30 or 1080px60 for a range of 2 km day. Alternatively, a single camera capable of filming in the visible and 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 1 1. The aircraft used in the context of the invention comprises a satellite positioning system type device 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 (ie 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 for determining the orientation of the aircraft and more particularly the orientation of the image acquisition module. The nacelle orientation and aircraft orientation data 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 aircraft. image acquisition module 12.

Preferably, the aircraft 10 is a rotary wing drone, this drone comprises at least one rotor driven by a controllable engine to control the drone in attitude and speed. The engine (s) are controlled by a flight controller thus enabling steering of the rotary wing drone. The flight controller may be configured to communicate with a navigation module 180 via the communications modules 1 1 and 1 10. The flight controller is for example composed of an integrated circuit comprising a microprocessor and inputs / outputs linking it to external sensors (eg accelerometer, gyroscope, inertia control 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 quadrocopter.

The mapping device 100 comprises a communication module 1 10, 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 1 1 of the aircraft 10. As seen above, the communication module 1 10 exchanges with the aircraft 10 by via a radio type link.

The communication module 1 10 is configured to receive a plurality of images of the external environment taken from the aircraft 10 preferably while the aircraft is still flying. The plurality of images may correspond to a video stream or 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 comprises a structuring module 140 configured to create a positioning reference frame 300 comprising GNSS coordinates.

As shown in FIG. 2A, the positioning reference frame 300 comprises at least two reference points 301, 302 characterized at least by pixel coordinates and GNSS coordinates. That is, a reference point comprises 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 may correspond to the first pixel 301 (e.g., top left) and last pixel 302 (bottom right). Advantageously, the positioning reference frame 300 is not entirely geolocated. In fact, a geolocation of all the points of the positioning reference frame 300 could lead to a heaviness in the management of this positioning reference system 300 by the mapping device 100. Thus, the calculation of a GNSS coordinate on the positioning reference is done punctually from the reference points 301, 302 and the device does not have in memory the GNSS coordinates of all the possible points of the positioning reference frame 300. This allows him to save resources. The calculation can for example be made by considering that the external environment corresponding to the positioning reference frame 300 is flat, thereby neglecting the hemisphericity of the planet. This can reduce the complexity and thus the computation time without having too great consequences on the accuracy. Alternatively, the hemisphericity of the planet can be taken into account for example via the application of a Vincenty formula that consumes only few resources.

The positioning reference system 300 preferably has the form of a grid. The grid is formed of a succession of lines that may or may not be parallel. As shown in FIG. 2A, preferably, the gate is formed of a first series of parallel lines having an identical spacing between each adjacent line and a second series of parallel lines having an identical spacing between each adjacent line; the second series of lines being perpendicular to the first line series. These lines allow to delimit several interior spaces. Each delimited area of the grid may be associated with a GNSS coordinate or each intersection of the grid may be associated with a GNSS coordinate. Preferably, each defined zone of the grid is associated with a GNSS coordinate positioned in the center of each zone.

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 encompassing 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 thus encompassing the interior space centered on point 315.

The grid may take the form of a polygon, such as a quadrilateral or a pentagon, a circle or 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 consists of several matrices 310, 320, 320 of decreasing resolution. It has a primary matrix 310 having the highest resolution and therefore where the number of interior spaces is the highest. This primary matrix forms in particular the interior space centered on point 315. This primary matrix 310 preferably comprises topography data and advantageously no-fly data. This matrix is close to the structures already used and consists of a rather heavy file with many data.

Preferably, within the positioning reference frame 300, this primary matrix 310 is associated with one or more secondary matrices 320,330. These secondary matrices 320, 303 comprise at least two GNSS coordinates 301, 302 for example positioned at two ends of the reference frame 300 and a reduced resolution with respect to the resolution of the primary matrix 310. For example, as shown in FIG. 2B, the primary matrix has 144 interior spaces while the first secondary matrix 320 has 36 interior spaces including the interior space centered on the point 325 and the second secondary matrix 330 has 4 interior spaces the interior space centered on the point 335. Within the secondary matrices , the topographic data correspond to a synthesis of the topographic data recorded for the higher resolution matrix. For example, the secondary matrix 330 of the lowest resolution, will comprise for each of these 4 interior spaces a synthesis of the information of the matrices of higher resolution 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 search type analysis, it is possible from a geolocation to know the characteristics adjacent geolocation. This requires a search starting with the lower resolution matrix and then going to the higher resolution matrices. Such a feature is particularly useful for accelerating the navigation of an aircraft and more particularly of a rotary wing drone, and more broadly the processing of information contained in the positioning reference system 300, particularly in an intervention context of emergency. It is then not necessary to analyze all the information of the positioning repository but only a 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 flat file or database file.

The positioning reference system 300 is preferably associated with flight authorization data. The flight authorization data stipulates whether an area may or may not be overflown and at what minimum altitude an area is to 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 anchoring points 21 1, 212 of said image 210 on the repository 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 system, the GNSS coordinates of the at least two anchor points 21 1 , 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 21 1, 212 correspond to the GNSS coordinates of the at least two anchor points 21 1, 212.

The image processing module 120 is also configured to transmit, to the display module 130, the at least one transformed image 250, the reference frame of 300 positioning and the characteristics of at least two anchor points 21 1, 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 a superposition of the positioning reference 300 and the transformed image 250 of the external environment. It may for example comprise a screen with an area of at least 40 cm ² and a resolution preferably greater than 1024 ^* 768.

In addition, the mapping device according to the invention may include one or more man-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 orders entered at keyboard to perform displays and optionally select with the mouse or a touchpad items displayed on the screen. Thus, the display module may comprise a touch surface. An exemplary embodiment is a touch screen for selecting 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 may be configured to display a representation of the aircraft 10. Said representation being for example positioned on the map 1 of the external environment according to the GNSS coordinates of the aircraft 10 sent to the mapping device 100 via the communication module 1 1. Advantageously, the display module 130 can be configured in such a way that the dimensions of the representation of the aircraft 10 on the tactical evolutionary map 1 are correlated with the altitude of the aircraft 10. 10 aircraft is moving at a high altitude, the greater the representation of the aircraft 10 is large.

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 locator module is configured to identify the pixel coordinates of this touch 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 done at the moment of contact and the location module does not have in memory the GNSS coordinates of all possible points of contact on the touch surface. This allows him to save resources. For example, the calculation can be done by considering that the external environment represented by the graphic representation is flat, thus neglecting the hemisphericity of the planet.

In addition, when converting the 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 course of the map.

In places with few reference points 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 allow to add to the map context elements to strengthen the "tactical" aspect of the map. One of the objectives of the invention is to propose to an operator, for example a firefighter, to better visualize the position of a fire line or a target, for example a potential victim. Adding these items to Map 1 improves the planning and timing of an intervention.

For this, the tactical mapping device 100 may advantageously comprise a positioning module 160 configured to display on the scalable tactical map 1 additional graphic elements 41 1, 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 men present in the external environment. Thus, the positioning module 160 may further 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 himself in the map, to improve his perception of depth and to facilitate the creating a correspondence between what he sees via the display device and its external environment. These elements also make it possible to plan displacements or actions taking into account the position of the set of targets and resources on the map.

Advantageously, the mapping device according to the invention may 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 position of a demarcation front (eg front of flames or front of water) in said external environment at a time t.

The calculation can be performed in several different ways that will be described in the description of the positioning step of a demarcation front.

Once calculated, the pixel coordinates of the at least one position 41 1 of the demarcation front can be transmitted to the display module 130 and then be used to represent the demarcation front in the evolutionary tactical map 1 of the external environment according to the invention.

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

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

The scalable tactical mapping device 100 according to the invention may also comprise:

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 comprise at least two joysticks. The various 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, for example a single module cumulating all the functions described here. Similarly, these means can be divided into several electronic cards or collected on a single electronic card. In addition, when an action is taken to a device or module, it is actually performed by a microprocessor of the device or module controlled by instruction codes stored in a memory. Similarly, if an action is taken to an application, it is actually performed 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 transmits 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 tactical mapping evolution 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 further comprise, as shown in FIG. 1, other connected devices 20. These other connected devices 20 may comprise 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 GPS personal beacons for locating speakers or transport vehicles or intervention such as canadairs.

Advantageously, the aircraft 10 is a rotary wing drone and the evolutionary tactical mapping system according to the invention is able to control 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 may advantageously comprise an on-board computer connected to the communication module. The onboard computer can control the different equipment installed on the drone and this independently of the flight controller. The rotary wing drone according to the invention may also comprise an attachment module for example controlled by an onboard computer. The attachment module is able to carry loads of several kilos, for example loads between 0.1 and 50 kg, preferably loads between 0.5 and 10 kg.

The attachment module comprises 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 preventing the servomotor from supporting the load. In addition, the consumption of the servomotor remains zero and therefore does not affect the autonomy of the battery (s). The attachment module may for example hold a buoy.

Advantageously, the image acquisition module 12 is configured to add, in superposition to the video stream, a graphic representation of targeting when the two following conditions are met: the drone is located at an altitude of plus 15 meters, preferably not more than 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 °) with respect to the surface , that is to say when the video stream acquired by the camera corresponds to about the plumb of the rotary wing drone.

In a context of load dumping on a target location (for example the dropping 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 will position it above the target location, and the graphic representation of targeting will ensure the operator that the load will be well dropped to near the target location.

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

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

ultrasonic sensors and / or stereoscopic cameras integrated in an anti-collision module,

an independent circuit breaker module that can be triggered remotely,

a range finder and means for acquiring the altitude of the drone relative to the ground using the range finder, means for acquiring the horizontal speed of the drone. The speed can be calculated with regard to the GNSS data but other systems can be embedded on the drone so as to calculate the speed of the drone,

a watertight hull with flotation means, since one of the applications of this system and the use of a drone in a marine environment, the latter may comprise flotation means and a watertight hull for protecting at least temporarily the drone in case of landing,

an automatic stabilization module hovering in order to release the rescuer from the constraint of piloting the drone when it is close to a potential victim, the drone may include a flight stabilization module. This module can in particular identify the target and control the engines so that the drone maintains a distance and a given altitude relative to the person rescued and / or

- A voice module, including a speaker and a microphone to communicate with people in the vicinity of 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 exemplary implementation of the creation method 500 according to the invention.

Indeed, according to another aspect, the invention relates to a method 500 for creating an evolutive tactical map 1, preferably in an outdoor environment such as for example in urban environment, marine, lake or plain, mountain , forests.

The card creation method 500 may in particular be preceded by the establishment of a connection between a mapping device 100 and an aircraft 10, as described above. The scalable 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 card creation method 500 comprises the following steps:

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

Receiving 520, for example by the communication module 1 10, a plurality of images of the external environment taken from an aircraft, Receipt 530, for example by the communication module 1 10, of metadata, said metadata comprising for each image of the plurality of images: an altitude data, a GNSS coordinate data and a module orientation data. acquisition of images 12 during the generation of the image,

- Calculation 540, for example by the image processing module 120, for at least one image 210 of the plurality of images, characteristics of at least two anchoring points 21 1, 212 of said image on the repository of positioning, each anchor 21 1, 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 superimposed with the positioning reference system 300, the GNSS coordinates on the positioning reference frame 300 a projection of the at least two anchor points 21 1, 212 correspond to the GNSS coordinates of the at least two anchoring points 21 1, 212, and

- Transmission 560, to the display module 130, of the at least one transformed image 250, the positioning reference frame 300 and the characteristics of at least two anchor points 21 1, 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 an overlay of the positioning reference frame 300 and the transformed image 250 of the environment outside.

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

Following this first creation step, the device can create the positioning reference 300 and in particular its different matrices. This includes as described above the definition of at least two reference points 301, 302.

The method then comprises the reception 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 to a video stream from which it is possible to extract images. In addition, the reception is advantageously performed while the aircraft is still in flight. Thus, it is not necessary to have recovered the aircraft 10 in order to start processing the images and to associate them with the positioning reference system 300. In the context of emergency operation this allows a reactivity that it 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 actual situation in the external environment.

[00104] The selection of the 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, the aircraft can be configured to automatically generate and select the images to be integrated.

[00105] Advantageously, the method includes receiving a plurality of thermal images. Preferably, the method includes receiving a plurality of thermal images and a plurality of images in the visible.

The reception 530 of metadata can be performed 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 and the aircraft at the time of shooting.

[00108] Advantageously, the metadata includes a temporal data item corresponding to the moment of generation of the image. The time data may correspond to a time stamp with date and time, but may 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 derived from orientation data. of the aircraft at the time of shooting and a possible nacelle.

[001 10] The shooting corresponds to the moment when an image has been acquired by an image acquisition module. [001 1 1] The calculation step 540 of the characteristics of at least two anchor points of the image is preferably from the position of the aircraft when shooting, the position including here the latitude, longitude and altitude as well as from the orientation of the image acquisition module. It is also possible to take into account dimensions of the image. In addition, the calculation can take into account any lens deformations of the image acquisition module. The calculation 540 can also be performed on an image that has been previously modified following its acquisition. Indeed, it is sometimes necessary to remove the edges of an image whose quality is reduced due to deformations caused by the lens of the image acquisition module.

[001 12] Advantageously, the calculation is made from the position, according to GNSS coordinates, of the aircraft 10 when shooting as well as from the orientation of the image acquisition module 12 .

[001 13] As mentioned, each anchor point is at least characterized by pixel coordinates and GNSS coordinates. That is, an anchor includes the pixel position data in the image (x, y) and the GNSS coordinates (e.g., latitude, longitude, altitude).

[001 14] Figure 4 shows an image 210 subject to a calculation step 540 causing the generation of four anchor points 21 1, 212,213,214. The anchor points 21 1, 212, 213, 214 are preferably located at the ends of the image 210. For example, they may correspond to the first pixel (eg top left) and the last pixel (bottom right) ) of the image 210. Alternatively, as shown in Figure 5, the anchor points 231, 232, 233 can be positioned inside the image.

[001] Preferably, the image 210 is not entirely geolocated. Indeed, a geolocation of all the points of the image 210 could lead to a 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.

[001 16] The transformation step 550 of the image is preferably done just before the display. The transformation of the image aims at modifying the surface of the image 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 shooting or the orientation of the aircraft, it is likely that the surface of the image received does not correspond to the area it must occupy on the 300 positioning repository. The image 210 must then undergo a transformation step in such a way that its size integrates with the positioning reference system 300 and, where appropriate, with the other transformed images 260, 270, 280 already superimposed.

[001 17] The transformation may comprise the reduction of the size, the symmetrical or non-symmetrical deformation of the image. Preferably, the transformation consists of modifications selected from: resizing, cropping, and anamorphosis.

[001 18] Indeed, it is not necessary or desirable in a context of urgency and intervention to modify for example the color tones of the different images so as to improve the rendering of the final map.

For example, FIG. 4 shows the area 350 that the image 210 occupies on the positioning reference frame 300 with respect to the GNSS coordinates of its anchor points and the GNSS coordinates of the positioning reference frame 300. This surface does not correspond to the surface of the 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.

[00120] Preferably, the transformation consists exclusively in reducing the size of the image and in its deformation. Thus, although this may allow 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 time 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 area of the transformed image 250 corresponds to the pixel area defined by the GNSS coordinates of the anchor points on the reference frame 300. positioning.

Indeed, in the absence of transformation of the image 210, it is likely that only some of the anchor points of the image are correctly positioned on the positioning reference system. For example, if a first anchor point is used to position the image, the first anchor point will have a pixel coordinate corresponding to GNSS coordinates of the positioning repository identical to the GNSS coordinates of that first anchor point. On the other hand, for the second anchor point of this image, in the absence of a transformation, it is probable that its pixel coordinates will correspond to GNSS coordinates of the positioning reference which will be different from the GNSS coordinates of this second point of view. anchorage. The transmission step 560 can be done within the same device but it is also possible to consider a treatment of the images on a first housing and the display on a second housing

The display 570 of an evolutionary tactical map can be broken down into several sub-steps:

the display of the positioning reference frame 300, said positioning frame including at least two reference points 301, 302 associated with pixel coordinates and GNSS coordinates,

displaying at least one transformed image 250 whose pixels are associated with anchor points 21 1, 212 in superposition with the positioning reference frame 300, displaying at least one additional graphical representation superimposed with the 300 repository of positioning, and / or

the display of a representation of the aircraft, superimposed with the positioning reference system 300 according to the GNSS coordinates of the aircraft 10.

The order of these substeps is not important 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 reference system 300 can take the form, for its display, of an adjustable scale scale to standardized dimensions for quickly visualize the actual distances separating the various additional graphic elements. For example, this scale scale grid can be configured for steps from 1m to 100m.

The display of at least one transformed image is made in such a way that the GNSS coordinates of the pixel positions on the positioning reference frame 300 of all the anchoring points 21 1, 212 correspond to the GNSS coordinates of the dots. anchoring 21 1, 212. In this context, the GNSS coordinates of the pixel positions on the positioning reference frame 300 of all the anchor points 21 1, 212 are preferably calculated from the reference points 301, 302.

The method 500 may also comprise a step of modifying the orientation of the evolutive tactical map 1. Indeed, an operator may wish to represent the evolutionary tactical map 1 at an angle not facing north. The method 500 may also include a step of rotation of the evolutive tactical map 1. [00128] Preferably, as shown in FIG. 5, the method 500 according to the invention may 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 displaying at least two transformed images, and even more preferably at least three transformed images.

Advantageously, the card creation method 500 according to the invention may also include the display 580 of additional graphic elements associated with GNSS coordinates.

These additional graphic elements are for example superimposed on the positioning reference system 300 and on the transformed images 250. Preferably, the additional graphic elements that this map 1 comprises are linked to objects of the external environment that are not generally referenced. when establishing classic geolocation maps. Nevertheless, their presence in the tactical map 1 may allow the operator to more easily establish a correspondence between what he sees via the display device and its external environment or to better plan an operation.

Preferably, as shown in FIG. 6, the additional graphic elements comprise graphic elements corresponding to objects selected from: a danger zone such as a fire line 41 1, 431 equipment and infrastructures (rescue centers) , vehicles and emergency equipment ...), road networks 422, artificial (cisterns, swimming pools, ...) or natural (pond, lakes, streams, ...) reservoirs. More preferably, the additional graphic elements comprise additional graphic elements corresponding to objects selected from: a marine current, a demarcation line and a vehicle.

In addition, it would also be desirable for several people to be able to simultaneously inform the tactical card 1 that it is automatic by informing for example their position is manually by integrating new elements on the card 1 such as for example a new start of unidentified fire or a person to rescue.

As part of the display of additional graphic elements associated with GNSS coordinates, there are numerous methods for 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. Nevertheless, in the context of additional graphic elements said to be ephemeral, it is rare for the operator to know the GNSS position of these elements.

[00135] Thus, preferably, it is possible to use an aircraft 10, such as a rotary wing drone as a means of obtaining these coordinates. It suffices to position the aircraft 10 in flight, above the object to be positioned as an additional graphic element in the evolutionary tactical map 1 and 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 may position the aircraft above a rescue vehicle or a dwelling and then initiate the acquisition of the GNSS position of the aircraft.

[00136] Alternatively, when another connected object 20 is associated with the method according to the invention, it can be represented on the scalable tactical map 1 via an additional graphic element. In this case, it has a geolocation module 23 able to transmit 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 pixel position. the additional graphic element on the evolutionary tactical map 1. For example, a tablet-type connected object may allow an operator to add additional graphic elements such as a new fire starter or a person to be rescued previously unrecognized.

The method may 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 a time t ,. The prediction of the position of a demarcation front makes it possible to know at any moment an estimated or predicted position of a demarcation front within the external environment under consideration. There is therefore a prediction, via this modeling, of the position of the demarcation front as a function of time. For example in the case of a fire, the demarcation front may be a front of flames.

The prediction of the position of a demarcation front at a time t, for example by the prediction module 170, may for example comprise the following steps: - Loading the GNSS coordinates and / or the pixel coordinates of at least one position 41 1 of a demarcation front in said external environment at a time to

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

41 1 of a demarcation front in said external environment at a time ti,

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

412 of a demarcation front in said external environment at a time fc, from GNSS coordinates data and / or pixel coordinates of at least one position 41 1 of the demarcation front at a moment to and at a time ti,

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

In addition, the creation process 500 may include a step of recording the generated data. Such a recording step may for example comprise 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 different matrices that can compose the reference frame. 300 positioning and topographic and / or no-fly data. Such data is generally stable, especially at the level of an emergency response.

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

images 210 associated with the characteristics of their anchoring points 21 1, 212 as well as a temporal datum, and

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

Thus, preferably, the method 500 according to the invention may comprise a temporal data recording step, in particular associated with the images 210 and a delayed display step of the tactical card 1 and its evolution in the weather. In this offline display, preferably, the additional graphic elements are also integrated. In addition, the creation process 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 may 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 cartography, the latter transmits a module verification request. It includes, for example, a check of the state of the battery (s) as well as the operating status of the GNSS radio and the compass. If the parameters are validated, the control device will display via the display module a graphical representation of the external environment and will add on top of said card additional graphic elements, otherwise an error message will be displayed by the module. display.

The card creation method 500 may comprise the measurement and transmission of the GNSS coordinates of the aircraft 10 to the mapping device 100.

In addition, while waiting for images of the external environment, the mapping method 500 may comprise the loading of an image file, said image file comprising a graphic representation of said external environment. Thus, as and when shooting and 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 shows an example of a scalable tactical card 1 according to the invention dedicated to an intervention in an intervention context. It relies on the display of a positioning repository 300 superimposed with a plurality of images and additional graphic elements. The additional graphic elements here are a flame front 41 1, a predicted flame front 412, a dwelling 421, a road 422, a vehicle 431 and a canadair 432.

The invention makes it possible to have an evolutionary 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 enable 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 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. Similarly, the images on the map 1 can be updated with a time interval of less than one hour, preferably less than 30 minutes.

[00149] Advantageously, the method 500 also comprises a step of establishing a navigation route.

Indeed, according to another aspect, the invention relates to a method or a step of establishing a navigation route to shorten the time required for the positioning of an aircraft within the external environment. This method will be described in connection with FIGS. 7A to 7F and FIG. 8.

[00151] The step of establishing a navigation route may comprise:

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

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

- the establishment of a navigation plan including:

the loading of a secondary matrix 330 of the positioning reference frame 300,

o the identification of an interior space of the secondary matrix 330 having a prohibited flight zone or altitude higher than the predetermined flight altitude,

o the loading of the interior spaces of a secondary matrix 320 of higher resolution corresponding to the previously identified interior space, and o calculating a step of the navigation plane comprising no flying over prohibited area.

Once the target 802 is localized, 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 departure point to the target location is sent to the aircraft 10.

The path calculated for example by a route module can shorten the maximum journey time while respecting the security guidelines established on the area. In addition, the establishment of a navigation plan may comprise more than two steps and thus, several intermediate steps including no overflight of prohibited flight zone 860. This step comprises the loading by the route module of the GNSS coordinates of at least one prohibited flight zone 860.

In this embodiment, the autopilot module is configured so that the trajectories are a function of the navigation plane established by the route module and the speed is directly configured according to preferences previously recorded in the route module. Nevertheless, 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 receive the instruction to return to a previous position and without breaking the navigation plan established by the route module. This has the advantage of being able to maintain the benefits of an automatic navigation and an optimized trajectory, ie to accelerate, decelerate or even backtrack if the operator has an identity. interest near the drone (for example, thanks to the video stream of the camera).

The determination of an aircraft route from an evolutionary tactical map of the external environment may also comprise, as shown in FIG. 7A, a step of generating a first trajectory 810. includes the identification of inner spaces 850 on a secondary matrix having data relating to a prohibition of theft of this interior space as shown in Figure 7B.

If a prohibited interior space 850 is identified in the secondary matrix 330 then a part and only a part of a higher resolution matrix is loaded, in particular these are the data relating to the identified interior space 850 which are loaded. , as shown in FIG. 7C, so as to identify in this new secondary matrix 320 interior spaces 851 containing data relating to a prohibition of theft. A part and only a part of a higher resolution matrix, possibly the primary matrix 310 is then loaded, in particular it is the data of the interior space 851 previously identified which are loaded so as to identify in this primary matrix 310 interior spaces 852 with data relating to a prohibition of theft. There is then search and identification of a portion of trajectory 81 1 to avoid a forbidden flight zone overflight as shown in Figure 7E. Finally, there is modification of the first trajectory 810 so as to include the identified portion of trajectory 81 1 to avoid a forbidden flight zone overflight and determine the route 820 for the aircraft. The tactical map 1 evolutionary can undergo transformations so as to further improve the grip by the operator. For example, the orientation of the representative map of the external environment can be modified. Once the orientation is changed, a heading datum will be associated with the map so that the mapping device is able to accurately recalculate the GNSS coordinates.

[00159] Similarly, the operator may need to zoom in on the card or the display device may represent this card in different format / resolution. This information can be stored on the mapping device 100.

The scalable 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 scalable 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 reference frame 300 of positioning. 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 a map the evolutionary tactic 1 according to the invention. Indeed, having a scalable tactical map 1 with embedded images 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 an evolutionary 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, objects deposit for example emergency medicines, diagnosis of damaged site ...). In addition, the possibility of integrating different graphical elements into the map makes it possible to contextualize the environment and further improve the management of a possible crisis situation.

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

Claims

claim

A device (100) for scalable tactical mapping of an external environment comprising a communication module (1 10) configured to communicate with an aircraft (10), an image processing module (120) and a display module (130), said aircraft (10) comprising a communication module (1 1) configured to communicate with the mapping device (100), an image acquisition module (12) and a geolocation module (13), said evolutionary tactical mapping device (100) being characterized in that it comprises a structuring module (140), configured to create a positioning repository (300) comprising GNSS coordinates, said positioning reference system (300) comprises a matrix primary (310), associated with one or more secondary matrices (320,330), a first secondary matrix (320) having a lower resolution than the primary matrix (310) and each interior space of the first re secondary matrix comprising a synthetic matrix to said primary data for this inner space, and in that:

the communication module (1 10) is configured to:

receiving metadata, said metadata comprising for each image (210) of the plurality of images: an altitude data item, a GNSS coordinate data item and an orientation data item of the image acquisition module (12) when the generation of the image,

the image processing module (120) is configured to:

calculating, for at least one image of the plurality of images, characteristics of at least two anchor points (21 1, 212) of said image (210) on the positioning reference system (300), each point of anchoring being characterized by pixel coordinates and GNSS coordinates, o transforming said image (210) so that, once the transformed image (250) superimposed with the positioning reference frame (300), the GNSS coordinates on the reference system (300) for positioning a projection of the at least two anchor points (21 1, 212) corresponds to the GNSS coordinates of the at least two anchor points (21 1, 212), and transmitting, to the display module (130), the at least one transformed image (250), the positioning reference system (300) and the characteristics of at least two anchor points (21 1, 212) of the image, and

the display module (130) is configured to display an evolutionary tactical map of the external environment comprising the display of a superimposition of the positioning reference system (300) and the transformed image (250) of the external environment.

2. Device (100) for mapping according to claim 1, characterized in that the other secondary matrices (330) have a lower resolution than the first secondary matrix (320) and each inner space of the other secondary matrices comprises a synthesis of data d a secondary matrix of higher resolution for this interior space.

3. Device (100) for mapping according to one of claims 1 or 2, characterized in that the positioning reference system (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 (1 10) is configured to receive a plurality of images of the external environment taken from the aircraft (10) while the aircraft is still flying.

5. Device (100) for mapping according to any one of claims 1 to 4, characterized in that the transformation of the image may comprise: the reduction of the size of the image, the symmetrical or unsymmetrical deformation of the 'picture.

6. Device (100) for mapping according to any one of claims 1 to 5, characterized in that it further comprises a locator module (150) and in that the display module (130) further comprises a touch surface (131), said locator module (150) configured to:

identifying a point of contact on the touch surface (131); said contact point being characterized by pixel coordinates, and calculate the GNSS coordinates associated with the contact point from its pixel coordinates as well as the pixel and GNSS coordinates associated with the GNSS coordinates of the positioning reference frame (300).

7. The mapping device (100) according to claim 1, further comprising a prediction module configured to calculate the GNSS coordinates and / or the least one position (412) of a demarcation edge in said external environment at an instant fc, from GNSS coordinate data and / or pixel coordinates of at least one position (41 1) of the demarcation edge at a time at and instant ti, said pixel and / or GNSS coordinates of the at least one calculated boundary position (412) being used by the display module to represent the predicted demarcation edge on the evolutive tactical map ( 1) the external environment.

8. Device (100) for mapping according to any one of claims 1 to 7, characterized in that the map (1) tactical evolutionary comprises a representation of the aircraft (10) and in that the display module ( 130) is configured such that the dimensions of the representation of the aircraft (10) are correlated with the altitude of the aircraft (10).

9. Device (100) for mapping according to any one of claims 1 to 8, characterized in that the positioning reference is not fully georeferenced.

10. Device (100) for mapping according to any one of claims 1 to 9, characterized in that the secondary matrices (320,330) comprise at least two GNSS coordinates (301, 302) for example positioned at two ends of the repository (300 ) and a resolution reduced with respect to the resolution of the primary matrix (310).

1 1. System (2) for tactical evolutionary mapping, characterized in that it comprises a mapping device (100) according to one of claims 1 to 10, and an aircraft (10) comprising a communication module (1 1) configured to communicating with the mapping device (100), an image acquisition module (12) and a geolocation module (13).

12. The system of claim 1 1, characterized in that the aircraft (10) comprises a thermal camera provided with an infrared sensor or a camera capable of filming in the visible and capturing thermal data.

13. System according to claim 1 1 or 12, characterized in that the image acquisition module (12) is configured to superimpose on the video stream a graphical representation of targeting when the following two conditions are met: the aircraft (10) is located at an altitude of not more than 15 meters, and the camera generating the video stream films an area below the aircraft (10) along an axis of approximately 90 ° to the area.

14. Method (500) for creating an evolutionary tactical map (1) of the external environment, by a mapping device (100), said mapping device (100) comprising a structuring module (140), a module communication device (1 10), an image processing module (120), and a display module (130), said method (200) comprising the steps of:

- Creating (510), by the structuring module (140), a positioning reference system (300) comprising GNSS coordinates, said positioning reference system (300) comprises a primary matrix (310) associated with one or more matrices secondary (320,330), a first secondary matrix (320) having a lower resolution than the primary matrix (310) and each interior space of the first secondary matrix comprising a data synthesis of said primary matrix for this interior space,

Receiving (520), by the communication module (1 10), a plurality of images of the external environment taken from an aircraft (10),

Reception (530) by the communication module (1 10) 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 acquiring images (12) during the generation of the image,

- Calculation (540), by the image processing module (120), for at least one image (210) of the plurality of images, characteristics of at least two anchor points (21 1, 212) said image (210) on the positioning reference frame (300), each anchor point (21 1, 212) being characterized by pixel coordinates and GNSS coordinates, Transforming (550), by the image processing module (120), 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 (21 1, 212) correspond to the GNSS coordinates of the at least two anchor points (21 1, 212), and

- Transmission (560) to the display module (130) of the at least one transformed image (250), the reference frame (300) and the characteristics of at least two anchor points (21 1, 212) of the image, and

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

15. Creation method (500) according to claim 14, characterized in that it furthermore comprises a step of recording temporal data associated with the images (210) and a step of displaying the map (1) offline. tactical and its evolution in time.

16. A method for determining an aircraft route (820) from an evolutionary tactical map of the external environment, characterized in that the evolutionary tactical map comprises a positioning reference system (300) comprising a primary matrix (310). ) associated with one or more secondary matrices (320,330), a first secondary matrix (320) having a lower resolution than the primary matrix (310), and each interior space of the first secondary matrix comprising a data synthesis of said primary matrix for that interior space,

the other secondary matrices (330) having a lower resolution than the first secondary matrix (320) and each interior space of the other secondary matrices comprising a data synthesis of a secondary matrix of higher resolution for this interior space,

the method being characterized in that it comprises the steps of:

Reception (910) of position GNSS coordinates (801) of the aircraft and GNSS coordinates of the target location (802), - Definition (920) of a first trajectory (810) between the position (801) of the aircraft and the target location (802),

- Search and identification (930) of the interior spaces (850), of one of the other secondary matrices (330) traversed by the first trajectory (810) and comprising a data synthesis including a forbidden flight zone (860),

- Loading (940) interior spaces of the first secondary matrix (320) corresponding to a previously identified interior space (850) of one of the other secondary matrices (330),

Search and identification (950) of the interior spaces (851), of the first secondary matrix (320) traversed by the first trajectory and comprising a data synthesis including a prohibited flight zone,

- Loading (960) interior spaces (852) of the primary matrix (310) corresponding to a previously identified interior space of the first secondary matrix (320),

- Search and identification (970) of a portion of trajectory to avoid an overflight zone (853) prohibited flight,

- Modification (980) of the first trajectory (810) so as to integrate the

identified portion of trajectory (81 1) to avoid a forbidden flight zone overflight (860) and to determine the route (820) for the aircraft.