Target-Relative UAV Control for Intuitive Moving Object Tracking
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Solution Overview
Problem
Controlling a movable platform, such as an unmanned aerial vehicle, to capture a target object, especially a moving object, is difficult due to reliance on the vehicle's nose direction or fixed direction as a reference, making it challenging for users to intuitively adjust controls for optimal photography.
Innovation Solution
A control method that converts control amounts into instructions based on the relative position of the platform and target object, using a coordinate system established by their connecting line, allowing intuitive control adjustments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If control amount is based on the forward direction of the body or a fixed direction as reference, then the control system structure is simple, but the ease of operation deteriorates because users cannot intuitively feel the relationship between control device operation and composition
Solution Approach 1:
The patent introduces an intermediary coordinate conversion module that translates control amounts from a body-fixed coordinate system to a target-relative coordinate system. This intermediary layer enables intuitive control without requiring users to understand complex coordinate transformations, as the system automatically handles the conversion based on the relationship between the movable platform and target object.
Solution Approach 2:
The patent dynamically changes the reference parameter from a fixed body direction to a variable target-relative direction. By continuously updating the coordinate transformation parameters based on the relative position and orientation between the movable platform and target object, the system adapts to different operational scenarios while maintaining intuitive control.
2Difficulty of detecting and measuring
If control amount is based on the forward direction of the body or a fixed direction as reference, then the control system is easy to implement, but the difficulty of detecting and measuring deteriorates because users cannot intuitively understand how to control the device to capture the target
Solution Approach 1:
The coordinate conversion module acts as an intermediary that bridges the gap between simple control inputs and complex target acquisition requirements. It automatically calculates and applies the necessary coordinate transformations, making the control relationship transparent to users without complicating the overall system implementation.
Solution Approach 2:
The system incorporates feedback by continuously monitoring the relative position and orientation between the movable platform and target object, then using this information to adjust the coordinate transformation parameters. This feedback loop enables users to intuitively control target capture while maintaining straightforward system implementation through automated parameter adjustment.
3Productivity
If the movable platform uses body direction as control reference, then the control device structure is simple, but the productivity deteriorates when capturing moving targets because users cannot quickly adjust to track the target
Solution Approach 1:
The patent transforms the static body-fixed coordinate reference into a dynamic target-relative coordinate reference that automatically adapts as the target moves. This dynamic coordinate system continuously updates its orientation based on the target's position, enabling rapid tracking of moving targets without requiring complex manual adjustments from the user.
Solution Approach 2:
The automated coordinate conversion module serves as an intermediary that handles the complexity of dynamic coordinate transformations, allowing users to maintain simple control operations while achieving high productivity in tracking and capturing moving targets.
Data Source
AI summary
A control method and device of a movable platform, a movable platform, and a storage medium are provided. The control method may include acquiring a control amount for controlling the movable platform; converting the control amount into control instruction of the movable platform based upon a position of the movable platform and a position of a target object photographed by the movable platform; and controlling the movable platform to move relative to the target object according to the control instruction.