Method for estimating the horizontal velocity of unmanned aerial vehicles, especially those capable of performing hovering flight under autopilot

A technology of automatic driving and unmanned aerial vehicles, applied in the field of driving unmanned aerial vehicles, can solve the problems of inaccuracy and unreliable results
CN102298070AInactive Publication Date: 2011-12-28PARROT
4 Cites 52 Cited by

Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
PARROT
Publication Date
2011-12-28
Estimated Expiration
Not applicable · inactive patent

Smart Images

  • Figure 1
    Figure 1
  • Figure 2
    Figure 2
  • Figure 3
    Figure 3
Patent Text Reader

Abstract

The invention refers to a method for assessing the horizontal speed of a drone, particularly of a drone capable of hovering on automatic pilot. The method operates by estimating the differential movement of the scene picked up by a vertically-oriented camera. Estimation includes periodically and continuously updating a multiresolution representation of the pyramid of images type modeling a given picked-up image of the scene at different, successively-decreasing resolutions. For each new picked-up image, an iterative algorithm of the optical flow type is applied to said representation. The method also provides responding to the data produced by the optical-flow algorithm to obtain at least one texturing parameter representative of the level of microcontrasts in the picked-up scene and obtaining an approximation of the speed, to which parameters a battery of predetermined criteria are subsequently applied. If the battery of criteria is satisfied, then the system switches from the optical-flow algorithm to an algorithm of the corner detector type.
Need to check novelty before this filing date? Find Prior Art

Description

technical field

[0001] The present invention relates to flying drones, especially rotor drones such as helicopters, quadrotors and the like. Background technique

[0002] A typical example of this type of drone is the AR.Drone produced by Parrot SA in Paris, France, which is a quadrotor helicopter equipped with a series of sensors (3-axis accelerometer and gyroscope, altimeter). The drone is also provided with a front camera that takes pictures of the scene in the direction the drone is heading, and a vertically oriented camera that takes pictures of the terrain the drone is flying over.

[0003] The drone can be piloted by the user via a remote control device connected by radio to the drone. The UAV is also provided with an automatic system for stable hovering flight, which is used in particular to enable the UAV to reach an equilibrium point in an automated manner and, once said equilibrium point has been reached, to provide the Trimming corrections are provided by corre...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More