3D Point Cloud Flight Control for GPS-Denied UAV Inspection
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Solution Overview
Problem
Unmanned aerial vehicles (UAVs) face challenges in maintaining a constant distance from structures during inspection tasks, especially in environments like tunnels or bridges, where navigation signals from satellites are difficult to receive, leading to difficulties in flight control.
Innovation Solution
A flight control technique using point cloud data from a motor-driven total station (TS) with a laser scanner, which measures three-dimensional coordinates and calculates a movable range to enable UAV flight control without relying on satellite navigation signals, allowing the UAV to maintain a constant distance from surfaces.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If satellite navigation signals are used for flight control, then flight control accuracy is improved, but the system becomes inapplicable in environments with poor satellite signal reception such as tunnels or bridges
Solution Approach 1:
The patent introduces a total station and laser scanner as intermediary devices that establish a ground-based coordinate system and measurement infrastructure. These intermediaries enable precise positioning in environments where satellite navigation fails, by creating an alternative reference framework through laser ranging and coordinate transformation.
Solution Approach 2:
The patent replaces the satellite-based electromagnetic signal system with a ground-based optical laser measurement system. By substituting the satellite navigation mechanism with a total station and laser scanner system, the invention achieves precise positioning in GPS-denied environments through optical ranging and coordinate geometry.
2Reliability
If a laser scanner is used to obtain point cloud data for flight control, then positioning capability in GPS-denied areas is improved, but device complexity increases
Solution Approach 1:
The patent makes the total station serve multiple functions: it acts as both the primary positioning device for the UAV and the coordinate system reference for the laser scanner. This multi-functionality reduces the need for separate reference infrastructure, thereby managing system complexity while maintaining reliable positioning capability.
Solution Approach 2:
The patent creates a digital copy of the physical environment through point cloud data acquisition. By generating and storing three-dimensional point cloud representations of the inspection space, the system enables virtual reference frameworks that can be processed and used for flight control without requiring complex real-time physical infrastructure.
3Measurement precision
If real-time point cloud data processing is performed to calculate movable range and target position, then flight control precision is improved, but computational time and processing load increase
Solution Approach 1:
The patent performs preliminary scanning to acquire point cloud data of the inspection space before flight control operations. By pre-acquiring the environmental data and establishing the coordinate framework in advance, the system reduces real-time computational requirements during actual flight control, as the reference framework is already prepared.
Solution Approach 2:
The patent extracts only the essential information from the complete point cloud data - specifically the movable range boundaries and optimal target positions - rather than processing the entire point cloud in real-time. This extraction of critical parameters reduces computational load while maintaining flight control precision.
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 UAVs to fly stably and maintain a consistent distance from surfaces in areas with poor satellite signal reception, such as tunnels or bridges, by using point cloud data for precise positioning and movement control.
Implementation Method 1
a laser scanner or a laser scanning part which obtains three-dimensional point cloud data of the target
Data Source
AI summary
A mobile body is controlled even in a place in which a navigation signal is difficult to receive from a navigation satellite. A three-dimensional information processing unit operates a device or a functional part which measures three-dimensional coordinates of a controlled target and operates a laser scanner or a laser scanning part which obtains three-dimensional point cloud data of the target. The unit includes a positioning section that operates the device or the functional part which measures the three-dimensional coordinates, to calculate the three-dimensional coordinates, and includes a scan controlling section that obtains the three-dimensional point cloud data from the laser scanner or the laser scanning part. The unit also includes a range calculator that calculates a movable range of the target from the three-dimensional coordinates and the three-dimensional point cloud data, and includes a controlled target position calculator that calculates a position of the target in the movable range.