UAV Depth Calculation Using Air Pressure Sensor and Single Camera
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Solution Overview
Problem
Current UAV systems face challenges in accurately determining depth and scale factors without GPS, particularly in environments with low or no GPS coverage, due to the complexity and computational expense of existing depth measurement methods like stereo vision and monocular vision systems.
Innovation Solution
A method for calculating the distance to a target feature using an image sensor-equipped UAV, which involves capturing images at different altitudes and using pixel coordinates and air pressure sensor measurements to calculate depth, with equations tailored to various camera orientations, allowing for efficient depth estimation without additional hardware.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If stereo vision system with two cameras is used to calculate depth, then measurement precision is improved, but device complexity increases and weight requirements are not met
Solution Approach 1:
The patent extracts the depth measurement function from a complex stereo vision system and implements it using a single camera combined with an air pressure sensor. The air pressure sensor measures altitude changes, which are then used to calculate depth information without requiring multiple cameras, thereby reducing system complexity while maintaining measurement precision.
Solution Approach 2:
The patent introduces an air pressure sensor as an intermediary device to facilitate depth measurement. The air pressure sensor provides altitude change data that serves as a mediator between the single camera and the depth calculation process, enabling accurate depth measurement without the complexity of a stereo vision system.
2Device complexity
If monocular vision depth estimation with Kalman filter is used, then device complexity is reduced, but productivity decreases due to computational expense and time requirements
Solution Approach 1:
The patent performs preliminary measurement by using the air pressure sensor to capture altitude change data before the depth calculation process. This preliminary action provides ready-to-use depth information directly from the air pressure sensor, eliminating the need for computationally expensive Kalman filter processing and enabling faster depth calculation.
Solution Approach 2:
The patent replaces the computational mechanics of the Kalman filter with a more efficient approach using air pressure sensor data. Instead of performing complex iterative calculations, the system uses direct air pressure measurements to determine depth, substituting mechanical computation with a more efficient measurement-based approach.
3Device complexity
If air pressure sensor is used to measure altitude change, then device complexity is reduced and weight requirements are met, but measurement precision may be affected by environmental factors
Solution Approach 1:
The patent implements a feedback mechanism where the air pressure sensor continuously monitors altitude changes and provides real-time data to the depth calculation process. This feedback loop allows the system to adjust for environmental variations and maintain measurement precision despite external factors affecting the air pressure readings.
Solution Approach 2:
The air pressure sensor acts as an intermediary that measures altitude changes and translates them into depth information. By using this intermediary measurement approach, the system achieves accurate depth calculation while keeping the overall device complexity low and meeting weight requirements for MAVs.
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
This method provides accurate and computationally efficient depth measurement for UAVs, enabling stable flight and navigation in GPS-denied areas with reduced system complexity and weight.
Implementation Method 1
measuring a first aviation altitude (PA)... and measuring a second aviation altitude (PB)
Data Source
AI summary
The present invention relates to a system and a method for measuring and determining the depth, offset and translation in relation to one or several features in the field of view of an image sensor equipped UAV. The UAV comprises at least an autopilot system capable of estimating rotation and translation, processing means, height measuring means and one or more imaging sensor means. Given the estimated translation provided by the autopilot system, the objective of the present invention is achieved by the following method; capturing an image, initiating a change in altitude, capturing a second image, comparing the images and the change in height provided by the sensor to produce a scale factor or depth. If depth is estimated, then calculating the scale factor from the depth, and calculating the actual translation with the resulting scale factor.