UAV Positioning via Color Card Geometric Analysis
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Solution Overview
Problem
Traditional positioning methods for unmanned aerial vehicles (UAVs) using color cards face high recognition errors due to color similarity and inability to accurately determine rotation angles, especially with light yellow and beige colors, and tetragonal color cards fail to effectively identify rotation and position of rotating UAVs.
Innovation Solution
A positioning method and device that capture photos of color cards with distinct patterns and colors, calculate geometric center and barycentric point coordinates, and determine rotation angles and flight speed by establishing a mapping relationship between recognized color card images and their corresponding targets, allowing for accurate navigation without satellite positioning signals.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional color cards with 10-20 colors are used for positioning, then the positioning method can be implemented, but the recognition error rate is high due to difficulty in distinguishing similar colors like light yellow and beige
Solution Approach 1:
The patent uses color cards with distinct, easily distinguishable colors and patterns instead of traditional 10-20 similar colors. The color cards are designed with high-contrast patterns and specific color combinations that are readily distinguishable by the UAV's vision system, eliminating the recognition errors caused by similar colors like light yellow and beige.
Solution Approach 2:
The positioning system divides the color card into multiple distinct regions with different colors and patterns. Each region serves as a unique identifier that helps the UAV accurately recognize and distinguish the color card from various angles and distances, improving both recognition accuracy and positioning reliability.
2Device complexity
If tetragonal color cards are used for positioning, then the positioning method can be simplified, but the system is unable to effectively identify rotation angle and position of rotating UAVs
Solution Approach 1:
The color card is designed with asymmetric patterns and non-uniform color distribution that create unique visual signatures for different rotation angles. The asymmetric design ensures that the UAV can distinguish the color card's orientation and calculate rotation angles accurately, even when the UAV or color card is rotating.
Solution Approach 2:
The patent adds rotational dimension information to the color card design by incorporating radial patterns and angularly-dependent color distributions. This allows the system to extract not only position information but also rotation angle information from the two-dimensional image, enabling accurate identification of rotating UAVs without increasing system complexity.
3Reliability
If satellite positioning signals are used, then global positioning can be achieved, but the system becomes dependent on external signals and may not work in signal-denied environments
Solution Approach 1:
The positioning system uses the UAV's own vision system to capture and process images of the color card, eliminating dependence on external satellite signals. The UAV autonomously calculates its position and orientation by analyzing the color card's known pattern and geometry, making the system self-sufficient and operational in signal-denied environments without increasing overall system complexity.
Data Source
AI summary
A positioning method for unmanned aerial vehicle is disclosed. A first photo and a second photo of a predetermined form are first obtained, a first color card image of a color card is recognized from the first photo, and a second color card image of the same color card is recognized from the second photo, wherein the predetermined form includes a number of color cards. A first geometric center point coordinate and a first barycentric point coordinate of the first color card image are calculated. A reference line on the color card is obtained by mapping the first geometric center point coordinate and the first barycentric point coordinate to the color card, and a rotation angle of the UAV based on the reference line is obtained. A positioning method to get the flight speed for the UAV and a positioning device is also disclosed.