A take-off method of a quad-rotor unmanned aerial vehicle in a low-speed moving platform

By calculating the glare index and dynamically adjusting the visual noise covariance in the takeoff control system of a quadcopter UAV, and combining it with the relative acceleration of the inertial measurement unit, the problem of state estimation divergence caused by visual measurement uncertainty under complex lighting conditions is solved, stable takeoff control is achieved, and the safety and robustness of the UAV in complex environments are improved.

CN122151912APending Publication Date: 2026-06-05BABU ZHIYAN TECHNOLOGY (QINZHOU) CO LTD
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2026-03-03
Publication Date
2026-06-05

AI Technical Summary

Technical Problem

Under complex lighting conditions, the existing technology for the takeoff control system of quadcopter UAVs suffers from state estimation divergence and takeoff control instability due to visual measurement uncertainties, which poses a risk of collision or flight accidents.

Method used

By calculating the overexposure ratio and gradient energy generation glare index of the downward view image, the visual measurement noise covariance is dynamically adjusted. The state prediction is constructed by combining the relative acceleration of the inertial measurement unit. The normalized confidence coefficient is used to limit the control response, and a multi-dimensional takeoff completion judgment logic is constructed to ensure the stability and safety of takeoff.

Benefits of technology

In complex lighting conditions, it effectively avoids positioning divergence caused by visual observation noise, ensuring stability and safety during takeoff, preventing violent shaking or excessive correction caused by false observation signals, and significantly improving the safety and robustness of takeoff on the move.

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Abstract

The application discloses a kind of low-speed mobile platform four rotor unmanned aerial vehicle take-off method, it is related to unmanned aerial vehicle control technical field, through the calculation of under-view image overexposure proportion and gradient energy to generate glare index, and combine re-projection error dynamic expansion visual measurement noise covariance.Utilize unmanned aerial vehicle relative acceleration and visual pose execution state fusion, output relative state estimation value, maintain state prediction when vision is inhibited.According to state estimation covariance, calculate the normalization confidence coefficient, use the coefficient to gain weight to lateral velocity command to limit control response, and generate thrust command.When relative height, lateral position error and system total confidence continuously satisfy preset condition, it is judged that take-off is completed.The application quantifies illumination interference to adaptively adjust estimation weight and control gain, effectively solves the take-off instability problem caused by visual positioning divergence under strong light reflection, improves the robustness and safety of dynamic take-off.
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