METHODS AND SYSTEMS FOR DETERMINING A STATE OF AN UNMANNED AERIAL VEHICLE

摘要

The present invention provides methods and systems related to determine a state of the UAV by updating a determined state of UAV with a relative proportional relationship. The UAV may be provided with a monocular camera, a proximity sensor and a processor. The processor may determine external state information of the UAV based on image data captured by the monocular camera, and calculate a relative proportional relationship to be applied to the determined external state information. The updated external state information of the UAV may be more precise or even equal to the actual state information of the UAV, thus enabling more accurate control and navigation for the autonomous flight.

主权项

1. A method for determining an external state of an unmanned aerial vehicle (UAV), said method comprising:
determining, individually or collectively by one or more processors onboard the UAV, external state information of the UAV based on image data of an environment of the UAV captured by a monocular camera unit onboard the UAV; calculating, individually or collectively by the one or more processors onboard the UAV, a relative proportional relationship to be applied to the external state information of the UAV based at least in part on (1) a predetermined positional relationship between the monocular camera unit and a proximity sensor unit and (2) proximity data about the environment of the UAV that is acquired by the proximity sensor unit; and updating, individually or collectively by the one or more processors onboard the UAV, the external state information of the UAV at least by applying the relative proportional relationship to the external state.