UAV Attitude Control Using Visual-SLAM and Triaxial Sensor Fusion
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Solution Overview
Problem
Aerial vehicles face instability due to unreliable detection values from geomagnetic and inertial sensors, particularly in environments with strong magnetic or electric fields, which can lead to incorrect attitude estimation and unstable flight.
Innovation Solution
A control device and method that incorporate an optical sensor and a triaxial sensor to estimate the attitude of an aerial vehicle, using a combination of detection values from both sensors based on positional information to stabilize flight, with the ability to switch between sensor inputs based on altitude, distance, or deviation thresholds.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If geomagnetic sensor or inertial sensor is used for attitude estimation, then attitude estimation can be achieved, but the detection value becomes unreliable in environments with strong magnetic or electric fields
Solution Approach 1:
The patent combines detection values from both the optical sensor (first attitude estimation unit) and the triaxial sensor (second attitude estimation unit) to estimate the aerial vehicle's attitude. By merging the results from both sensors through a flight control unit, the system achieves reliable attitude estimation even when one sensor provides unreliable data in environments with strong magnetic or electric fields.
2Reliability
If only optical sensor is used for attitude estimation, then reliability in magnetic fields is improved, but measurement precision may be insufficient in certain conditions
Solution Approach 1:
The system merges optical sensor data (which is reliable in magnetic fields) with triaxial sensor data (which provides high precision under normal conditions) through the flight control unit. This combination allows the system to maintain high measurement precision when the triaxial sensor is reliable, while ensuring reliability when the optical sensor is needed.
Solution Approach 2:
The flight control unit dynamically adjusts the weighting and selection of sensor data based on flight conditions, altitude, and detected reliability. The system transitions between relying more on the optical sensor or the triaxial sensor depending on the operational context, optimizing both precision and reliability.
3Reliability
If multiple sensors and attitude estimation units are used, then reliability of flight control is improved, but device complexity increases
Solution Approach 1:
The flight control unit serves multiple functions: it processes data from both attitude estimation units, determines the reliability of detection values, switches between sensors based on flight conditions, and controls the overall flight. This multi-functionality reduces the need for separate dedicated components for each function.
Solution Approach 2:
The system includes a determination unit that automatically assesses the reliability of sensor detection values and makes switching decisions without external intervention. The flight control unit self-adjusts based on flight conditions, altitude, and sensor performance, reducing the need for complex external control systems.
Data Source
AI summary
A first attitude estimation unit 16 estimates an attitude of an UAV 1 by performing a Visual-SLAM on the basis of detection values detected by an imaging unit 14, and a second attitude estimation unit 17 estimates an attitude of the UAV 1 on the basis of detection values detected by a rotation angle detection unit 15. And then a control unit 18 controls the attitude of the UAV 1 by utilizing a first attitude estimation result from the first attitude estimation unit 16 and a second attitude estimation result from the second attitude estimation unit 17 at a ratio based on positional information of the UAV 1.