Device, method and system for determining flight height of unmanned aerial vehicle

Patent metadata

Field	Value
Publication number	US-11568556-B2
Application number	US-202117159676-A
Country	US
Kind code	B2
Filing date	Jan 27, 2021
Priority date	Aug 10, 2020
Publication date	Jan 31, 2023
Grant date	Jan 31, 2023

Abstract

A method and system for determining flight height of an unmanned aerial vehicle (UAV) includes a determining device that includes a camera at bottom of the UAV carried on a three-axis self-stabilizing tripod head; and a carrier phase difference satellite positioning system (CPDSPS), a graphics processing computer (GPC) and a power supply system provided on top of the UAV The GPC is connected with the CPDSPS, the power supply system and the camera, respectively. An attitude and heading reference system (AHRS) is provided at the bottom of the three-axis self-stabilizing tripod head and connected with the GPC The GPC is configured to determine relative height of the UAV from a canopy of farmland surface crops according to position information acquired by the CPDSPS, attitude information acquired by the AHRS and ground orthographic image acquired by the camera, and determine flight height of the UAV according to the relative height.

First claim

We claim:

1. A method for determining the flight height of an unmanned aerial vehicle comprising:
acquiring a plurality of ground orthographic images in an agricultural operation area and position data and attitude data of an unmanned aerial vehicle at time of acquiring the plurality of ground orthographic images;
constructing a Gaussian difference pyramid according to pixel points in any two adjacent ground orthographic images;
determining feature points in any two adjacent ground orthographic images according to the Gaussian difference pyramid;
matching the feature points in two adjacent ground orthographic images to determine a matching feature point pair, comprising:
constructing a feature description vector corresponding to each feature point according to the feature points in the ground orthographic image;
determining a Euclidean distance between the feature points in one ground orthographic image and the feature points in another ground orthographic image according to the feature description vector corresponding to each feature point; and
taking the feature point pair whose Euclidean distance is less than the distance threshold as the matching feature point pair, wherein the matching feature point pair comprises two feature points and is located in different ground orthographic images;

determining a position of the matching feature point pair in space according to the matching feature point pair;
determining the position of the unmanned aerial vehicle in space according to the position data and attitude data of the unmanned aerial vehicle;
determining the relative height of the unmanned aerial vehicle from the canopy of farmland surface crops according to the position of the unmanned aerial vehicle in space and the position of the matching feature point pair in space; and
determining the flight height of the unmanned aerial vehicle according to the relative height.

2. The method for determining the flight height of an unmanned aerial vehicle according to claim 1 , wherein prior to constructing a Gaussian difference pyramid according to pixel points in any two adjacent ground orthographic images, the method further comprises:
calibrating pixel points in the ground orthographic image by using formulas x corrected =x(1+k 1 r 2 +k 2 r 4 +k 3 r 6 ), y corrected =y(1+k 1 r 2 +k 2 r 4 +k 3 r 6 ), x corrected =x+[2p 1 xy+p 2 (r 2 +2x 2 )] and y corrected =y+[p 1 (r 2 +2y 2 )+2p 2 xy];
wherein k 1 , k 2 , and k 3 are radial distortion factors, p 1 and p 2 are tangential distortion factors, x and y are pixel point coordinates, x corrected and y corrected are the coordinates of the calibrated pixel points, and r is the distance from the pixel point to the image center point.

3. A system for determining the flight height of an unmanned aerial vehicle, comprising:
a data acquiring module configured to acquire a plurality of ground orthographic images in an agricultural operation area and position data and attitude data of an unmanned aerial vehicle at time of acquiring the plurality of ground orthographic images;
a Gaussian difference pyramid constructing module configured to construct a Gaussian difference pyramid according to pixel points in any two adjacent ground orthographic images;
a feature point determining module configured to determine the feature points in any two adjacent ground orthographic images according to the Gaussian difference pyramid;
a matching feature point pair determining module configured to match the feature points in two adjacent ground orthographic images to determine a matching feature point pair, wherein the matching feature point pair determining module specifically comprises:
a feature description vector constructing unit configured to construct a feature description vector corresponding to each feature point according to the feature points in the ground orthographic image;
an Euclidean distance determining unit configured to determine the Euclidean distance between the feature points in one ground orthographic image and the feature points in another ground orthographic image according to the feature description vector corresponding to each feature point;
a matching feature point pair determining unit configured to take the feature point pair whose Euclidean distance is less than the distance threshold as the matching feature point pair, wherein the matching feature point pair comprises two feature points and is located in different ground orthographic images;

a position determining module of a matching feature point pair in space configured to determine the position of the matching feature point pair in space according to the matching feature point pair;
a position determining module of an unmanned aerial vehicle in space configured to determine the position of the unmanned aerial vehicle in space according to the position data and attitude data of the unmanned aerial vehicle;
a relative height determining module configured to determine the relative height of the unmanned aerial vehicle from a canopy of farmland surface crops according to the position of the unmanned aerial vehicle in space and the position of the matching feature point pair in space;
a flight height determining module configured to determine the flight height of the unmanned aerial vehicle according to the relative height.

4. The system for determining the flight height of an unmanned aerial vehicle according to claim 3 , further comprising:
a pixel point calibrating module configured to calibrate pixel points in the ground orthographic image by using formulas x corrected =x(1+k 1 r 2 +k 2 r 4 +k 3 r 6 ), y corrected =y(1+k 1 r 2 +k 2 r 4 +k 3 r 6 ), x corrected =x+[2p 1 xy+p 2 (r 2 +2x 2 )] and y corrected =y+[p 1 (r 2 +2y 2 )+2p 2 xy];
wherein k 1 , k 2 , and k 3 are radial distortion factors, p 1 and p 2 are tangential distortion factors, x and y are pixel point coordinates, x corrected and y corrected are the coordinates of the calibrated pixel points, and r is the distance from the pixel point to the image center point.

Assignees

• Univ Zhejiang

Inventors

• He Yong
• He Liwen
• Chu Bingquan

Classifications

• G06T7/60 Primary

  Analysis of geometric attributes · CPC title

• B64C2201/145

  Operations & Transport · mapped topic

• G01C5/02 Primary

  involving automatic stabilisation of the line of sight · CPC title

• G06T7/73 Primary

  using feature-based methods · CPC title

• G05D1/101

  specially adapted for aircraft · CPC title