UAV Return Navigation Using Fused Velocity and Displacement Tracking
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Solution Overview
Problem
Unmanned aerial vehicles (UAVs) face accuracy issues in returning to their takeoff point due to poor GPS location precision, especially in environments with weak GPS signals or multipath effects, leading to inaccurate location determination and reduced flight efficiency.
Innovation Solution
A method that involves real-time fusion of velocity information to determine displacement relative to the takeoff location, calculating a return starting point, and controlling the UAV's return mode to accurately navigate back to the takeoff point using linear or original path return modes, without relying solely on GPS location information.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If GPS location information is used to determine takeoff point and return location, then the system is simple and low-cost, but the location precision is poor especially in environments with weak GPS signals
Solution Approach 1:
The patent combines GPS location information with visual odometry technology to create a fused positioning system. The visual odometry module captures images through the transparent cover of the takeoff point, processes them to obtain position information, and fuses this with GPS data to determine the actual takeoff location, thereby improving location precision while maintaining reasonable system complexity
Solution Approach 2:
The patent introduces a transparent cover as an intermediary element that allows visual odometry cameras to capture images of the takeoff point environment while protecting the sensing area. This transparent cover enables the visual odometry system to obtain position information without blocking the GPS signals or requiring direct line of sight to distant features
2Measurement precision
If only GPS location information is relied upon for return navigation, then the device complexity is low, but the returning accuracy is poor due to GPS signal degradation
Solution Approach 1:
The patent implements a feedback mechanism where the visual odometry system continuously monitors the UAV's position relative to the takeoff point during the return process. The system processes real-time images, compares the current position with the target position, and provides feedback for path correction, thereby improving returning accuracy
Solution Approach 2:
The patent performs preliminary actions by capturing and processing images of the takeoff point environment before the UAV departs. This pre-captured visual information is stored and used as a reference during the return navigation, enabling the system to accurately identify and navigate to the original takeoff location even when GPS signals are degraded
3Measurement precision
If real-time image processing and visual odometry are implemented, then the returning accuracy is improved, but the computational load and processing time increase
Solution Approach 1:
The patent applies partial action by selectively processing only the most critical image features and data points needed for position determination. Rather than processing every pixel and detail in the captured images, the system focuses on extracting key position information, thereby reducing computational load and processing time while maintaining adequate accuracy for return navigation
Data Source
AI summary
An unmanned aerial vehicle (UAV) return method and apparatus and a UAV. The method includes: performing real-time fusion to generate velocity information of the UAV; determining, through integrating the velocity information, displacement information of a current location of the UAV relative to a takeoff location; determining a return starting point location of the UAV according to the displacement information; obtaining a return instruction, and determining a return mode; and controlling, according to the return mode, the UAV to return from the return starting point location to the takeoff location. In the foregoing manner, the present invention resolves the technical problem of poor accuracy that a current UAV returns by relying on GPS location information, and improves the returning accuracy of the UAV.