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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

Inactive Publication Date: 2011-12-28
PARROT
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  • Abstract
  • Description
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  • Application Information

AI Technical Summary

Problems solved by technology

[0018] In summary, optical flow is an "all terrain" method capable of operating over a very wide range of speeds, but the results it gives are not always reliable nor very accurate, especially at low speeds

Method used

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

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Experimental program
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Embodiment Construction

[0047] The following is a description of how the invention performs.

[0048] figure 1 Among them, reference numeral 10 is an overall reference diagram of the unmanned aerial vehicle, such as a quadrotor helicopter, such as the AR.Drone model produced by Parrot SA in Paris, France. The drone 10 has four coplanar rotors 12 whose motors are independently controlled by an integrated flight and altitude control system.

[0049] The drone 10 also includes a forward looking first camera 14 for capturing pictures of the scene in the direction the drone is heading, and a looking down vertically oriented camera 16 adapted to take sequential digital pictures of the terrain 18 over which the drone is flying. The viewing angle of the camera, indicated at 20 in the figure, may have, for example, a diagonal of 64° and a resolution of 176×144 pixels (of course, these values ​​are given purely by way of example).

[0050] The UAV 10 is also provided with an ultrasonic altimeter 22 that tran...

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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.

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

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01P3/38A63H27/133
CPCG06T2207/30252G06T7/2073G06T2207/30212G01S15/93G06T7/207G01S15/86
Inventor T·德尔巴纳
Owner PARROT
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