Methods and systems for localization within an environment include determining a topology estimate of nodes located in a dynamic indoor environment, based on distances measured between the nodes. Rigid k-core sub-graphs of the topology estimate are generated to determine relative localizations of the nodes. Relative localizations are transformed into absolute localizations to generate a map of positions of the nodes within the environment. A feature of the map is deployed to a device in the environment.

Heating a battery and cooling an electric power conversion device are achieved together. This mobile body includes an electric motor, a battery, a thermoelectric conversion element, an electric power conversion device, and a controller. The electric motor is a driving source. The electric power conversion device is configured to convert electric power outputted from the battery into driving electric power for the electric motor. The electric power conversion device is disposed in direct contact or in indirect contact with the battery with the thermoelectric conversion element interposed therebetween. The controller is configured to control electric power to be supplied to the thermoelectric conversion element. The controller controls, in a case where the battery is in a predetermined low-temperature state, the electric power to be supplied to the thermoelectric conversion element to cause a surface of the thermoelectric conversion element coupled to the battery to serve as a heat dissipation surface.

Heating a battery and cooling an electric power conversion device are achieved together. This mobile body includes an electric motor, a battery, a thermoelectric conversion element, an electric power conversion device, and a controller. The electric motor is a driving source. The electric power conversion device is configured to convert electric power outputted from the battery into driving electric power for the electric motor. The electric power conversion device is disposed in direct contact or in indirect contact with the battery with the thermoelectric conversion element interposed therebetween. The controller is configured to control electric power to be supplied to the thermoelectric conversion element. The controller controls, in a case where the battery is in a predetermined low-temperature state, the electric power to be supplied to the thermoelectric conversion element to cause a surface of the thermoelectric conversion element coupled to the battery to serve as a heat dissipation surface.

Provided is a drone according to the present invention. The drone may include a fuselage in which a battery is mounted and a forward direction is set in an x-axis; a plurality of rotors disposed about the fuselage in four or more, each rotational axis of which is aligned in a z-axis direction; an x-axis tilting mechanism unit formed to tilt the plurality of rotors about an axis parallel to the x-axis; a y-axis tilting mechanism unit formed to tilt the plurality of rotors about an axis parallel to the y-axis; a first drive motor unit driving the y-axis tilting mechanism unit; a second drive motor unit driving the x-axis tilting mechanism unit; a control unit configured to implement a plurality of flight modes by controlling the first rotor, the second rotor, the third rotor, the fourth rotor, the first drive motor unit, and the second drive motor unit, and a wing part installed on an upper portion of the fuselage and formed in a form of an air foil to provide lift.

Provided is a drone according to the present invention. The drone may include a fuselage in which a battery is mounted and a forward direction is set in an x-axis; a plurality of rotors disposed about the fuselage in four or more, each rotational axis of which is aligned in a z-axis direction; an x-axis tilting mechanism unit formed to tilt the plurality of rotors about an axis parallel to the x-axis; a y-axis tilting mechanism unit formed to tilt the plurality of rotors about an axis parallel to the y-axis; a first drive motor unit driving the y-axis tilting mechanism unit; a second drive motor unit driving the x-axis tilting mechanism unit; a control unit configured to implement a plurality of flight modes by controlling the first rotor, the second rotor, the third rotor, the fourth rotor, the first drive motor unit, and the second drive motor unit, and a wing part installed on an upper portion of the fuselage and formed in a form of an air foil to provide lift.

Flying body including body portion and a plurality of propellers radially disposed to be laterally symmetrical from body portion is provided with: a plurality of motors respectively rotating the plurality of propellers; a plurality of power storage packs respectively supplying currents to the plurality of motors; and sub power storage pack connected to the plurality of power storage packs by power wirings, respectively. The same number of motors of the plurality of motors are installed on each of the left and right sides, and the same number of power storage packs of the plurality of power storage packs are installed on each of the left and right sides. Sub power storage pack is installed on a lateral center line of body portion.

The present invention provides a flying apparatus that can accurately measure a weight of a transported objected in a simple configuration. The flying apparatus 10 includes rotors 11, motors 12, a flight sensor 13, an electric power conversion unit 14, and a computation control unit 15. The flight sensor 13 measures physical quantities acting on a fuselage base portion 16. The computation control unit 15 generates instruction signals based on the physical quantities to cause the fuselage base portion 16 to be at a predetermined position in a predetermined attitude. The electric power conversion unit 14 adjusts amounts of electric power supplied to the motors 121 and the like based on the received instruction signals. Moreover, the computation control unit 15 calculates an estimated weight that is an estimation value of a weight of the transported object, based on magnitudes of the instruction signals.

The present invention provides a flying apparatus that can accurately measure a weight of a transported objected in a simple configuration. The flying apparatus 10 includes rotors 11, motors 12, a flight sensor 13, an electric power conversion unit 14, and a computation control unit 15. The flight sensor 13 measures physical quantities acting on a fuselage base portion 16. The computation control unit 15 generates instruction signals based on the physical quantities to cause the fuselage base portion 16 to be at a predetermined position in a predetermined attitude. The electric power conversion unit 14 adjusts amounts of electric power supplied to the motors 121 and the like based on the received instruction signals. Moreover, the computation control unit 15 calculates an estimated weight that is an estimation value of a weight of the transported object, based on magnitudes of the instruction signals.

A system for fly by view in an electric aircraft, where the system includes an electric aircraft, where the electric aircraft further includes at least a flight component mechanically coupled to the electric aircraft, a battery assembly and at least on video transmitter coupled to the electric aircraft, where the at least one video transmitter is configured to transmit a pilot stream to a first-person-view headset. The system also includes a first-person-view headset, where the first-person-view headset is configured to receive the pilot stream from at least one video transmitter, and display the pilot stream to a user, where displaying the pilot stream includes displaying a flight time remaining metric as a function of the remaining charge of the battery, and displaying a flight component output metric as a function of the performance of the flight component.

Nuclear Aircraft Transportation System “KARAVAN” with its components is represented by a group of inventions in the technical and organizational relations. The main and basic invention is Nuclear Aircraft Transportation System “KARAVAN” (NATS). This invention includes two other ones: Aircraft Thrust Nuclear Power Plant, (ATNPP), which in turn includes—Thermal Power Cycle of ATNPP, (TPC ATNPP). In addition, the represented group of inventions is made up of two more inventions: Maintenance System of ATNPP, (MS ATNPP) and Emergency Response System of NATSK, (ERS NATSK).

The concept of practical implementation of the presented group of inventions involves the fact that ATNPP, which is a large unmanned drone aircraft “Tiagach”, supplies the aero-train composed of a number of passenger liners and cargo transport planes using electric motors with traction electric energy in the air.

The power supply of such an aero-train is based on the onboard Nuclear Power Plant of the aircraft “Tiagach”. In this case, the transmission of electric power to the towed electric aircraft of the aero-train is carried out by means of electric split feeders and cables, connecting and disconnecting of which between airplanes of the aero-train is carried out in the air, by analogy with refueling of airplanes in the air with JP fuel.

During the flight of the aero-train on a logistically optimized route, electric airplanes can detach from and attach to the aero-train, taking off and landing along the flight route of the aero-train using their own electric accumulators. In addition, extra ATNPP may be included in the aero-train during its flight, if it is necessary to increase the thrust. At the same time, due to the use of nuclear power, such ATNPP can remain in the air for a conditionally indefinite period of time.

The invention is aimed at creating cost-effective air freight and passenger traffic.