UAV Hover Control Using Visual Keyframes to Prevent Shaking
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Solution Overview
Problem
Conventional UAV hover control methods often cause dramatic shaking due to the need to reverse migration velocity, leading to instability and inaccuracies in maintaining a hover state, especially when dealing with changes in illumination or accumulated errors over time.
Innovation Solution
A hover control method and system that uses an image frame as a keyframe when the UAV's flight velocity satisfies a preset condition, allowing for precise control by matching feature information and adjusting flight velocity and direction to maintain a stable hover, without requiring reverse compensation for migration velocity, and updates the keyframe periodically to account for illumination changes and error accumulation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If conventional feedback-based hover control is used to maintain zero integral velocity, then the UAV can achieve hover state, but the UAV experiences dramatic shaking and instability
Solution Approach 1:
The patent replaces the conventional velocity feedback control mechanism with an image-based visual servoing system. Instead of relying on velocity sensors and integral control, the system uses image frames to detect feature points and calculate position deviations, substituting mechanical/sensor-based control with vision-based control to eliminate shaking caused by velocity compensation
Solution Approach 2:
The patent introduces image frames and feature point detection as an intermediary between the UAV's motion and the control system. The feature points in the image serve as a mediator to indirectly measure position and velocity, avoiding direct velocity feedback that causes shaking while still enabling precise hover control
2Measurement precision
If velocity feedback control is used to achieve hover, then the control system can maintain hover state, but measurement precision and accuracy deteriorate due to error accumulation and illumination changes
Solution Approach 1:
The patent implements a feedback mechanism using image frames where feature points are continuously tracked. The system calculates position deviations by comparing current feature point positions with reference positions, and adjusts control inputs based on this feedback to maintain accurate hover positioning while compensating for illumination changes through periodic keyframe updates
Solution Approach 2:
The patent performs preliminary action by capturing keyframes when velocity conditions are satisfied and using these as reference frames before illumination changes or error accumulation occur. This preliminary capture of stable reference images allows the system to compensate for subsequent changes and maintain measurement precision
Data Source
AI summary
An unmanned aerial vehicle (UAV) includes a power device communicatively configured to provide power for the UAV and one or more processors coupled to the power device. The one or more processors are configured to obtain a flight velocity of the UAV corresponding to the power, obtain an image frame as a keyframe in response to that the flight velocity satisfies a preset condition, and control the UAV to hover using the keyframe as a reference object.