Methods and system for controlling a movable object

1. A computer-implemented method for controlling a controllable object, comprising:

determining a change in a baseline between a controlling object and the controllable object based on measurements from a first location sensor of the controlling object and a second location sensor of the controllable object, determining the baseline change comprising performing double-differencing on the measurements from the first location sensor and the second location sensor to obtain double-differenced measurements;

mapping the baseline change to a corresponding state change for the controllable object based at least in part on a mapping function;

generating one or more control commands according to the mapping; and

controlling the controllable object to effect the state change according to the one or more control commands.

2. The method of claim 1 , wherein the controllable object is an unmanned aerial vehicle (UAV).

3. The method of claim 1 , wherein the controlling object is a UAV.

4. The method of claim 1 , wherein the first location sensor and the second location sensor are satnav receivers.

5. The method of claim 1 , wherein determining the baseline change comprises determining a baseline between the controlling object and the controllable object with centimeter level or sub-centimeter level accuracy.

6. The method of claim 4 , wherein:

the measurements from the first location sensor are from multiple satellites;

the measurements from the second location sensor are from the multiple satellites;

performing double-differencing on the measurements from the first location sensor and the second location sensor comprises:

performing satellite-differencing on the measurements that are from different ones of the multiple satellites to obtain satellite-differenced measurements for the first location sensor and the second location sensor, and performing receiver-differencing on the satellite-differenced measurements of different ones of the first location sensor and the second location sensor to obtain the double-differenced measurements; or

performing receiver-differencing on the measurements that are from different ones of the first location sensor and the second location sensor to obtain receiver-differenced measurements for the multiple satellites, and performing satellite-differencing on the receiver-differenced measurements of different ones of the multiple satellites to obtain the double-difference measurements; and

determining the baseline change further comprises:

fixing carrier phase ambiguities based on the double-differenced measurements.

7. The method of claim 1 , wherein the state change for the controllable object is a change in position and the control commands are position control commands.

8. The method of claim 1 , wherein the state change for the controllable object comprises an activation or a deactivation of a predefined routine of the controllable object.

9. The method of claim 1 , wherein the state change for the controllable object comprises changing an operation of a component or a payload of the controllable object.

10. The method of claim 1 , further comprising:

determining an updated baseline between the controllable object and the controlling object after generating the one or more control commands; and

generating one or more additional control commands to effect the state change for the controllable object based on the updated baseline.

11. A remote control terminal, comprising:

a satnav receiver configured to receive satellite signals from one or more satellites;

a memory that stores one or more computer-executable instructions; and

one or more processors configured to access the memory and execute the computer-executable instructions to perform a method comprising:

determining a change in a baseline between the remote control terminal and a controllable object based on measurements from the satnav receiver and measurements from another satnav of the controllable object, determining the baseline change comprising performing double-differencing on the measurements from the satnav receiver and the another satnav receiver to obtain double-differenced measurements;

mapping the baseline change to a corresponding state change for the controllable object based at least in part on a mapping function;

generating one or more control commands according to the mapping; and

controlling the controllable object to effect the state change according to the one or more control commands.

12. The remote control terminal of claim 11 , wherein the controllable object is an unmanned aerial vehicle (UAV).

13. The remote control terminal of claim 11 , wherein determining the baseline change further comprises:

fixing carrier phase ambiguities based on the double-differenced measurements.

14. The remote control terminal of claim 11 , wherein the state change for the controllable object is a change in position and the control commands are position control commands.

15. The remote control terminal of claim 11 , wherein the state change for the controllable object is a change in velocity and the control commands are velocity control commands.

16. The remote control terminal of claim 11 , wherein the state change for the controllable object comprises changing an operation of a component or a payload of the controllable object.

17. The remote control terminal of claim 11 , wherein the state change for the controllable object comprises a change in an attribute of a navigation path of the controllable object.

18. The remote control terminal of claim 11 , wherein the method further comprises:

determining an updated baseline between the remote control terminal and the controllable object after generating the one or more control commands; and

generating one or more additional control commands to effect the state change for the controllable object based on the updated baseline.

19. An unmanned aerial vehicle (UAV), comprising:

a satnav receiver configured to receive satellite signals from one or more satellites;

a memory that stores one or more computer-executable instructions; and

one or more processors configured to access the memory and execute the computer-executable instructions to perform a method comprising:

determining a change in a baseline between a controlling object and the UAV based on measurements from the satnav receiver and measurements from another satnav of the controlling object, determining the baseline change comprising performing double-differencing on the measurements from the satnav receiver and the another satnav receiver to obtain double-differenced measurements;

mapping the baseline change to a corresponding state change for the UAV based at least in part on a mapping function;

generating one or more control commands according to the mapping; and

controlling the UAV to effect the state change according to the one or more control commands.

20. The UAV of claim 19 , wherein determining the baseline change further comprises:

fixing carrier phase ambiguities based on the double-differenced measurements.

21. The UAV of claim 19 , wherein the method further comprises:

determining an updated baseline between the UAV and the controlling object after execution of the one or more control commands; and

generating one or more additional control commands to effect the state change for the UAV based on the updated baseline.

22. A control system, comprising:

a memory that stores one or more computer-executable instructions; and

one or more processors configured to access the memory and execute the computer-executable instructions to perform a method comprising:

determining a change in a baseline between a controlling object and a controllable object based on measurements from a first location sensor of the controlling object and a second location sensor of the controllable object, determining the baseline change comprising performing double-differencing on the measurements from the first location sensor and the second location sensor to obtain double-differenced measurements;

mapping the baseline change to a corresponding state change for the controllable object based at least in part on a mapping function;

generating one or more control commands according to the mapping; and

controlling the controllable object to effect the state change according to the one or more control commands.

23. The control system of claim 22 , wherein the controllable object is an unmanned aerial vehicle (UAV).

24. The control system of claim 22 , wherein the first location sensor and the second location sensor are satnav receivers.

25. The control system of claim 22 , wherein determining the baseline change comprises determining a baseline between the controlling object and the controllable object with centimeter level or sub-centimeter level accuracy.

26. The control system of claim 24 , wherein determining the baseline change further comprises:

fixing carrier phase ambiguities based on the double-differenced measurements.

27. The control system of claim 22 , wherein the state change for the controllable object is a change in position and the control commands are position control commands.

28. The control system of claim 22 , wherein the state change for the controllable object comprises an activation or a deactivation of a predefined routine of the controllable object.

29. The control system of claim 22 , wherein the state change for the controllable object comprises changing an operation of a component or a payload of the controllable object.

30. The control system of claim 22 , wherein the method further comprising:

determining an updated baseline between the controllable object and the controlling object after generating the one or more control commands; and

generating one or more additional control commands to effect the state change for the controllable object based on the updated baseline.