Flying Vehicle Tracking Using Optical-Image Switching Without GPS

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Solution Overview

Problem

Existing flying vehicle systems face challenges in maintaining autonomous flight when GPS signals are unavailable or obstructed, leading to unstable flight conditions due to the inability to obtain positional information.

Innovation Solution

A method combining optical tracking using a retro-reflector and image tracking with an inertial measurement unit, where optical tracking is prioritized and switched to image tracking when necessary, allowing the flying vehicle to return to a last tracked position using inertial data if both methods fail, ensuring continuous positional information and stable flight.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Measurement precision

If optical tracking with retro-reflector is used for flying vehicle tracking, then measurement precision is improved, but reliability deteriorates when the flying vehicle deviates from tracking range

Engineering Contradiction:

Improvepositional information accuracyVSAvoidtracking continuity

Core Design Contradiction:

Measurement precisionVSReliability

Solution Approach 1:

The tracking system is segmented into two independent subsystems: optical tracking (using retro-reflector and total station) and image tracking (using camera). Each subsystem operates independently but complements the other, allowing the system to switch between them based on tracking conditions, thereby maintaining reliability while preserving measurement precision.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The system changes the tracking parameter dynamically by switching between optical tracking (high precision, narrow range) and image tracking (lower precision, wide range) based on whether the flying vehicle remains within the optical tracking range. This parameter change ensures continuous tracking reliability while maintaining measurement precision when conditions permit.

Inventive Principle:

Principle #35Parameter changes

2Measurement precision

If only optical tracking is used, then measurement precision is improved, but device complexity increases due to requiring retro-reflector and optical system

Engineering Contradiction:

Improvepositional information accuracyVSAvoidtracking system structure

Core Design Contradiction:

Measurement precisionVSDevice complexity

Solution Approach 1:

The camera serves multiple functions: it acts as both an imaging device for visual monitoring and as a tracking device for positional measurement. This multi-functionality reduces device complexity by eliminating the need for separate optical tracking equipment while maintaining measurement precision through the dual tracking approach.

Inventive Principle:

Principle #6Universality (Multi-functionality)

Solution Approach 2:

The system uses image copying from the camera to achieve tracking functionality, replacing the need for complex optical tracking equipment. By processing images captured by the camera, the system obtains positional information without requiring additional specialized hardware, thereby reducing device complexity while maintaining measurement precision.

Inventive Principle:

Principle #26Copying

3Ease of operation

If GPS is used for positional information, then ease of operation is improved, but reliability deteriorates in environments with radio wave obstruction

Engineering Contradiction:

Improveautonomous flight controlVSAvoidpositional information availability

Core Design Contradiction:

Ease of operationVSReliability

Solution Approach 1:

The optical tracking system and image tracking system serve as intermediary mechanisms between the flying vehicle and the ground control station. These intermediaries provide positional information through line-of-sight optical methods rather than radio waves, enabling autonomous flight operation in environments where GPS signals are obstructed while maintaining ease of operation.

Inventive Principle:

Principle #24Intermediary (Mediator)

Applied Scientific Principles

This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.

Function Achieved in This Case

Enables stable and reliable autonomous flight of flying vehicles even in environments where GPS signals are unavailable, by using a combination of optical and image tracking with inertial measurement to maintain positional accuracy.

Implementation Method 1

optical tracking in which a tracking light is projected to a retro-reflector of a flying vehicle with the retro-reflector, the tracking light is received

Methodology Applied

Scientific EffectRetro-reflection: Retroreflector

Data Source

PatentUS11009893B2Flying vehicle tracking method, flying vehicle image acquiring method, flying vehicle displaying method and flying vehicle guiding system

Publication Date: 2021.05.18 TOPCON CORPORATION

AI summary

The invention provides a flying vehicle tracking method, which comprises an optical tracking in which a tracking light is projected to a retro-reflector of a flying vehicle with the retro-reflector, the tracking light is received, and a tracking of the flying vehicle is performed based on a light receiving result, and an image tracking in which an image of the flying vehicle is acquired, the flying vehicle is detected from the image, and the tracking of the flying vehicle is performed based on a detection result, wherein the optical tracking and the image tracking are executed in parallel with each other, and in a case where the flying vehicle cannot be tracked by the optical tracking, the optical tracking is returned based on the detection result of the image tracking.