UAV Attitude Measurement Using Laser Scanning Targets
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Solution Overview
Problem
Aerial vehicles, such as UAVs, face challenges in accurately measuring their attitude without using highly accurate and expensive inertial measurement units (IMUs) due to weight and cost constraints.
Innovation Solution
A technique utilizing laser scanning data to calculate the attitude of an aerial vehicle by identifying multiple targets with distinct features, such as curvature or color, and using a total station to convert the data into a ground coordinate system, allowing for attitude determination without relying on a highly accurate IMU.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a highly accurate IMU is used to measure attitude of the aerial vehicle, then measurement precision is improved, but weight and cost increase
Solution Approach 1:
The patent replaces the mechanical inertial measurement system (IMU) with an optical measurement system. A laser scanner mounted on the ground scans the aerial vehicle's targets, and a data processor calculates attitude based on the scanned target positions. This substitution eliminates the need for heavy mechanical sensors on the aircraft while achieving high-precision attitude measurement through optical scanning and computational geometry.
Solution Approach 2:
The patent creates a spatial copy of the aerial vehicle's target positions through laser scanning. The laser scanner captures the three-dimensional positions of targets on the aircraft, and this copied spatial information is used to calculate attitude without requiring physical sensors on the vehicle. The scanning data serves as a digital replica that enables precise attitude determination.
2Measurement precision
If a highly accurate IMU is used to measure attitude of the aerial vehicle, then measurement precision is improved, but cost increases
Solution Approach 1:
The patent replaces expensive mechanical inertial sensors with a cost-effective optical scanning system. The ground-based laser scanner and data processor provide high-precision attitude measurement without the high costs associated with aerospace-grade IMUs. This substitution makes precision attitude measurement accessible for lighter, less expensive aerial vehicles.
Solution Approach 2:
The patent introduces passive reflective targets as intermediaries between the laser scanner and the aerial vehicle's attitude measurement. These simple, low-cost targets reflect laser light back to the scanner, enabling precise position detection without requiring active sensors or power sources on the aircraft. The targets serve as cost-effective mediators that facilitate accurate measurement.
3Measurement precision
If multiple targets with distinct features are used for attitude calculation, then measurement precision is improved, but device complexity increases
Solution Approach 1:
The patent uses targets with distinct color or reflective properties that can be easily identified by the laser scanner. The targets' optical characteristics (such as retroreflective vs. non-reflective, or different colors) provide clear identification features that simplify the data processing. This approach enables precise target recognition without complex identification mechanisms, maintaining system simplicity while improving measurement accuracy.
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
Enables accurate attitude measurement of aerial vehicles, facilitating efficient data processing and reducing the need for costly IMUs, thereby enhancing operational capabilities while minimizing equipment weight and power consumption.
Implementation Method 1
laser scanning data that is obtained by emitting laser scanning light from a laser scanner
Implementation Method 2
data of the laser scanning light reflected from the aerial vehicle
Data Source
AI summary
A technique is provided for measuring attitude of an aerial vehicle without using a highly accurate IMU. A total station (TS) for tracking a UAV includes a laser scanner. The laser scanner is made to emit laser scanning light to the UAV that is flying. The UAV has four identifiable targets, and identification and locating of the four targets are performed by means of laser scanning. The attitude of the UAV is calculated on the basis of the locations of the four targets.