Fixed-Camera UAV Imaging Through Transient Attitude Maneuvers
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Solution Overview
Problem
Existing methods for acquiring images from arbitrary perspectives using UAVs with fixed imagers are limited by the need for mechanical pan-tilt systems, which increase weight, complexity, and cost, and require pre-planned flight paths, restricting the types of perspectives that can be achieved.
Innovation Solution
A method utilizing the agility of small UAVs with automatic navigation and attitude control means to deviate from predefined flight paths, allowing transient maneuvers to achieve desired image perspectives without a pan-tilt system, by computing and executing complex movements using GPS, IMU, and sensors to orient the camera effectively.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a pan-tilt system is used to direct the camera from arbitrary perspectives, then the ability to acquire slanted images from arbitrary perspectives is improved, but the weight, complexity, and cost of the UAV system increase
Solution Approach 1:
The patent replaces the mechanical pan-tilt system with an automated flight control system that uses GPS positioning, inertial sensors, and programmable flight paths to achieve arbitrary perspective imaging. The UAV autonomously maneuvers to precise positions and orientations using electronic control rather than mechanical camera mounting adjustments, thereby eliminating the pan-tilt mechanism while maintaining the ability to capture images from any desired perspective
Solution Approach 2:
The patent makes the UAV itself perform the function previously required by the pan-tilt system. By programming the UAV's flight control system to execute complex maneuvers and position the aircraft at specific coordinates and attitudes, the UAV body serves multiple functions: it provides both the platform for flight and the means to achieve arbitrary camera orientations, eliminating the need for separate mechanical directing mechanisms
2Adaptability or versatility
If a pan-tilt system is used to change camera orientation, then arbitrary perspectives are achieved, but the size and robustness of small UAVs deteriorate
Solution Approach 1:
The patent substitutes the heavy mechanical pan-tilt apparatus with a software-based flight control system that guides the entire UAV to achieve the desired camera orientation. This replacement eliminates the weight of motors, gears, and mechanical linkages required for pan-tilt operation, while the orientation flexibility is achieved through the UAV's ability to maneuver in three-dimensional space and maintain precise attitudes using electronic flight control
3Ease of operation
If pre-planned straight flight paths to waypoints are used, then navigation simplicity is maintained, but the ability to achieve desired image perspectives is limited
Solution Approach 1:
The patent transforms the static, pre-planned straight flight path into a dynamic, adaptive trajectory system. The flight control system continuously adjusts the UAV's path in real-time based on the desired image perspective requirements, allowing the aircraft to execute curved paths, pause at optimal positions, and adjust its attitude dynamically. This dynamic approach maintains ease of operation through automated control while dramatically expanding the range of achievable image perspectives
Solution Approach 2:
The patent implements a feedback mechanism where the desired image perspective parameters serve as input to the flight control system, which then autonomously calculates and executes the appropriate flight maneuvers. The system uses GPS positioning and inertial sensor feedback to continuously monitor the UAV's position and orientation, adjusting the flight path in real-time to achieve the target perspective without requiring manual intervention or complex pre-planning
Data Source
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AI summary
Method for acquiring images of a photographic target from arbitrary perspectives with an unmanned aerial vehicle (UAV) equipped with at least one image acquisition device having a fixed acquisition direction with respect to the vehicle, said unmanned aerial vehicle (UAV) having automatic navigation means allowing to reach an arbitrary location and automatic attitude control means allowing to transiently reach an arbitrary orientation in space, said photographic target being outside the current field of view of the acquisition device while the UAV flies along its predefined flying path, this method comprising the steps of: - from a set of parameters pertaining to the desired photographic target, desired perspective and from the relative orientation of the image acquisition device with respect to the UAV, computing a target UAV position and an orientation in space required to acquire a desired slanted image - navigating using the automatic navigation means to said target UAV position, - temporarily modifying the attitude (at least one of the pitch, roll or yaw angle) of the UAV in order to modify the acquisition direction to point toward the photographic target, - acquiring images while the attitude of the UAV is modified and when the acquisition direction points toward the photographic target with the desired perspective, - starting a recovery phase by controlling the UAV back to cruise attitude and navigate back along the predefined flying path.