Thermal Optical Odometry for GPS-Denied UAV Navigation
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Solution Overview
Problem
Autonomous vehicles, particularly UAVs, face challenges in navigating GPS-denied environments with limited visibility, as existing solutions require significant light or heavy equipment, limiting their payload capacity and effectiveness in low-light or no-light conditions.
Innovation Solution
Implementing a thermal optical odometry system that uses a thermal imaging camera and ranging sensor to calculate the vehicle's position and velocity without GPS, by matching points of interest in thermal images and adjusting direction based on angular velocity and altitude measurements, allowing navigation in low to no light conditions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If imaging systems requiring minimum light and visibility are used, then navigation capability is improved, but the system cannot operate in low-light or no-light conditions
Solution Approach 1:
The patent changes the operational parameter from visible light to thermal infrared radiation. The thermal imaging camera detects thermal signatures in the infrared spectrum, allowing the system to navigate in complete darkness, smoke, fog, and other environments where visible light-based systems fail, thus expanding operational environment range while maintaining navigation reliability
Solution Approach 2:
The patent replaces visible light-based optical systems with thermal infrared detection systems. This substitution enables the navigation system to function independently of visible light conditions by detecting thermal radiation emitted or reflected by objects, resolving the contradiction between navigation reliability and adaptability to different lighting conditions
2Reliability
If heavy equipment is used to achieve navigation in challenging environments, then navigation reliability is improved, but payload capacity is reduced
Solution Approach 1:
The patent replaces heavy GPS-dependent navigation equipment and visible light imaging systems with a compact thermal imaging-based odometry system. The thermal camera combined with optical flow algorithms provides GPS-denied navigation capability with significantly reduced weight, improving payload capacity while maintaining navigation reliability in challenging environments
Solution Approach 2:
The patent uses a lightweight thermal imaging camera instead of heavy mechanical navigation systems. The system creates optical flow maps from thermal images to determine vehicle position and orientation, achieving reliable navigation with minimal equipment weight, thus preserving payload capacity
3Measurement precision
If GPS and external aids are used for navigation, then navigation accuracy is improved, but the system cannot operate in GPS-denied environments
Solution Approach 1:
The patent implements a self-contained navigation system that uses the vehicle's own thermal imaging camera to capture sequential images and compute optical flow. This self-service approach eliminates dependence on external GPS satellites or beacon systems, enabling accurate navigation in GPS-denied environments while maintaining environmental adaptability
Solution Approach 2:
The patent introduces thermal imaging-based optical flow computation as an intermediary between the vehicle's motion and navigation determination. By calculating pixel displacement between sequential thermal images and converting it to velocity and position information, the system achieves GPS-independent navigation accuracy while operating in diverse environmental conditions
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 autonomous vehicles to navigate accurately in GPS-denied environments with limited visibility, enhancing their operational flexibility and reliability by reducing the need for heavy equipment and improving navigation in low-light conditions.
Implementation Method 1
receive a first thermal image with first corresponding information
Data Source
AI summary
Thermal imaging odometry and navigation systems and related techniques are provided to improve the operational flexibility of autonomous/unmanned vehicles. A thermal imaging odometry system includes a thermal imaging module configured to be coupled to an unmanned vehicle, a ranging sensor system fixed to the thermal imaging module, and a logic device. The thermal imaging module provides thermal imagery of a scene in view of the unmanned vehicle and centered about an optical axis of the thermal imaging module, where the optical axis is fixed relative to an orientation of the unmanned vehicle. The ranging sensor system provides ranging sensor data indicating a standoff distance between the thermal imaging module and a surface intersecting the optical axis of the thermal imaging module. The logic device receives thermal images of the scene and corresponding ranging sensor data and determines an estimated relative velocity of the unmanned vehicle.