UAV Height Control for Stable Target Tracking on Sloped Terrain
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Solution Overview
Problem
Existing UAV tracking technologies struggle to maintain stable height control when navigating complex and changing terrains, as they can only rely on visual recognition for forward and X-component velocity, making it difficult to track targets uphill or downhill effectively.
Innovation Solution
A method and apparatus for controlling a movable object, including a processor and memory, that obtain an expected height and a measured height relative to the ground, allowing for precise control of the object's height to maintain a stable relative position with respect to the target, even in complex terrains.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If visual recognition technology is used to control UAV velocity, then forward and X-component velocity can be obtained, but Z-component velocity control fails in complex terrains
Solution Approach 1:
The patent introduces an intermediary device (such as a GPS receiver, altitude sensor, or terrain mapping system) to provide Z-component velocity and height information. This intermediary supplements the visual recognition system, which lacks depth perception capability, enabling complete three-dimensional velocity control while maintaining the advantages of visual target acquisition and tracking.
2Adaptability or versatility
If UAV follows target on complex terrain, then tracking capability is improved, but height stability deteriorates
Solution Approach 1:
The patent implements a feedback control mechanism where the UAV continuously receives height information from intermediary sensors, compares the current height with the desired height, and adjusts its vertical velocity accordingly. This closed-loop control system enables the UAV to adapt to complex terrain variations while maintaining stable relative height with respect to the ground or target, resolving the contradiction between terrain adaptability and height stability.
3Device complexity
If visual recognition only is used, then system complexity is reduced, but tracking precision in 3D space deteriorates
Solution Approach 1:
The patent makes the UAV system multi-functional by integrating both visual recognition capabilities and intermediary sensing systems (GPS, altitude sensors, etc.). The visual system handles target acquisition and horizontal positioning, while the intermediary sensors provide vertical position and velocity information. This universal system can perform complete three-dimensional tracking, combining the strengths of different sensing modalities without significantly increasing overall system complexity.
Data Source
AI summary
A method for controlling a movable object includes obtaining an expected height of the movable object, obtaining a measured height of the movable object relative to a ground, and controlling a height of the movable object according to the expected height and the measured height.