UAV Routing Map with Visual Tracking for GNSS Failure
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Solution Overview
Problem
Unmanned aerial vehicles (UAVs) face inoperability due to GNSS signal failure, which can render them incapable of maintaining flight paths, avoiding obstructions, and delivering payloads accurately.
Innovation Solution
Implementing a camera-based navigation system that generates and utilizes a three-dimensional map with tracking parameters to navigate when GNSS fails, allowing the UAV to determine its location and plan routes based on image analysis.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a GNSS-based primary navigation system is used to determine UAV location, then navigation accuracy is improved, but the system becomes vulnerable to signal failure and inoperability
Solution Approach 1:
The patent implements a backup navigation system using visual odometry and feature tracking that is prepared in advance to compensate for GNSS signal failure. This backup system includes pre-configured cameras, feature detection algorithms, and map-matching capabilities that activate when GNSS fails, ensuring continuous navigation capability without complete system inoperability.
Solution Approach 2:
The patent transitions between different navigation parameters and methods based on GNSS availability. When GNSS is available, the system uses satellite-based positioning; when GNSS fails, it switches to visual feature tracking parameters, camera-based location estimation, and map-matching algorithms, thereby adapting to changing conditions and maintaining operational reliability.
2Reliability
If a camera-based navigation system is implemented as backup, then reliability during GNSS failure is improved, but device complexity increases
Solution Approach 1:
The patent designs the camera-based navigation system to serve multiple functions: it acts as a backup navigation system during GNSS failure, provides visual recording capabilities, and can potentially serve as a primary navigation system in GNSS-denied environments. This multi-functionality justifies the added complexity by maximizing the utility of the camera subsystem.
Solution Approach 2:
The patent introduces a navigation management component that acts as an intermediary between the GNSS system and the camera-based visual odometry system. This intermediary seamlessly switches between navigation methods, manages data fusion, and coordinates system operations, thereby organizing the complexity rather than adding to it, and enabling reliable transitions between different navigation modes.
3Reliability
If visual odometry is used for location determination, then backup navigation capability is improved, but performance in areas lacking distinctive features deteriorates
Solution Approach 1:
The patent employs map-matching as an intermediary technique that bridges visual odometry and known geographic maps. The system compares visually detected features with pre-stored map data to correct and refine location estimates, thereby compensating for the inability of visual odometry alone to provide accurate positioning in featureless environments. This intermediary map-matching process significantly improves location determination accuracy when distinctive visual features are scarce.
Data Source
AI summary
An unmanned aerial vehicle (UAV) includes a propulsion system, a global navigation satellite system (GNSS) sensor, a camera and a controller. The controller includes logic that, in response to execution by the controller, causes the UAV to in response to detecting a loss of tracking by the GNSS sensor determine an estimated location of the UAV on a map based on a location image captured by the camera, determine a route to a destination using tracking parameters embedded in the map, wherein the map is divided into a plurality of sections and the tracking parameters indicate an ease of determining a location of the UAV using images captured by the camera with respect to each section, and control the propulsion system to cause the UAV to follow the route to the destination.