Target Position Tracking with UAV-Camera Attitude Conversion
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Solution Overview
Problem
Existing methods for controlling unmanned aerial vehicles (UAVs) to follow targets based on visual tracking face challenges due to the mismatch between the UAV's attitude and the aerial camera's attitude, leading to errors in target positioning and tracking.
Innovation Solution
A method and device that determine the position of a target by calculating vector data from measurement points on the imaging system, using parameters like focal length and attitude, to accurately determine the distance and vertical height of the target, and adjust flight parameters accordingly, while also correcting for errors in the tracking algorithm.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If visual tracking based on image information is used to keep the target in the captured image, then the target can be maintained in the image frame, but it becomes difficult to control the UAV to follow the target accurately due to attitude mismatch between the UAV and aerial camera
Solution Approach 1:
The patent introduces an attitude conversion module as an intermediary that transforms the attitude parameters from the UAV's coordinate system to the aerial camera's coordinate system. This mediator resolves the coordinate system mismatch between the UAV platform and the camera, enabling accurate translation of image-based target positions to UAV control commands without direct conflict between the two different reference frames
Solution Approach 2:
The patent replaces the direct mechanical control linkage between visual tracking and UAV movement with a computational transformation system. Instead of mechanically coupling the camera's view direction directly to the UAV's flight control, the system uses mathematical coordinate transformations and attitude conversions to substitute the mechanical control path, allowing for precise position calculation through software-based coordinate system conversion
2Stability of the object's composition
If the UAV attitude and aerial camera attitude are mismatched, then the stabilizing platform can maintain camera stability, but errors occur in target positioning and tracking accuracy
Solution Approach 1:
The patent implements a feedback mechanism where the calculated target position from image information is continuously fed back through the attitude conversion module. The system uses the converted attitude parameters to adjust and refine the target position calculation, creating a closed-loop feedback system that compensates for attitude mismatches and maintains measurement accuracy despite platform stability requirements
Solution Approach 2:
The patent dynamically changes the attitude parameters by performing real-time coordinate transformations between the UAV's reference frame and the camera's reference frame. This parameter transformation approach allows the system to adapt to different attitude configurations and maintain accurate target positioning by continuously updating the coordinate system parameters based on current platform orientation
Data Source
AI summary
A method for determining position of a target includes determining at least two measurement points of the target, obtaining vector data of at least two direction vectors based on an imaging position of the target on an imaging system and parameter data of the imaging system, and determining a distance between the target and the imaging system according to the vector data and a current vertical height of the imaging system. Each of the at least two direction vectors is a vector from the imaging system to a corresponding one of the at least two measurement points.