Disclosed is an unmanned aerial vehicle (UAV) positioning method based on a millimeter-wave radar, including a calibration stage and a positioning stage. The calibration stage includes: acquiring ground coordinates of the unmanned aerial vehicle; and extracting feature points from radar point cloud data and get the ground coordinates of the feature points. The positioning stage includes: acquiring radar point cloud data of a current frame and pre-processing; acquiring UAV motion data and fuse the data with radar point cloud data; extracting characteristic line segment from radar point cloud data; registering the characteristic line segment of the current frame with the characteristic line segment of the previous frame, and finding matching feature points and newly added feature points; and obtaining the ground coordinates of UAV and the ground coordinates of newly added feature points based on the ground coordinates of matched feature points on the map.


    Access

    Download


    Export, share and cite



    Title :

    UNMANNED AERIAL VEHICLE POSITIONING METHOD BASED ON MILLIMETER-WAVE RADAR


    Contributors:
    HE BIN (author) / LI GANG (author) / SHEN RUNJIE (author) / ZHOU YANMIN (author) / CHEN JIE (author) / SONG SHUPING (author)

    Publication date :

    2022-12-01


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / B64C AEROPLANES , Flugzeuge



    Anti-collision unmanned aerial vehicle based on millimeter wave radar and use method thereof

    CHEN TAO / LI GUIXIN / LIN JINXIA et al. | European Patent Office | 2022

    Free access

    Millimeter-wave radar for unmanned aerial vehicle swarming, tracking, and collision avoidance

    TIERNEY BRIAN / RODENBECK CHRISTOPHER T | European Patent Office | 2023

    Free access

    MILLIMETER-WAVE RADAR FOR UNMANNED AERIAL VEHICLE SWARMING, TRACKING, AND COLLISION AVOIDANCE

    TIERNEY BRIAN / RODENBECK CHRISTOPHER T | European Patent Office | 2020

    Free access

    POSITIONING OF UNMANNED AERIAL VEHICLES USING MILLIMETER-WAVE BEAM INFRASTRUCTURE

    SAKAGUCHI KEI / MAHLER KIM / HAUSTEIN THOMAS et al. | European Patent Office | 2019

    Free access

    POSITIONING OF UNMANNED AERIAL VEHICLES USING MILLIMETER-WAVE BEAM INFRASTRUCTURE

    SAKAGUCHI KEI / MAHLER KIM / HAUSTEIN THOMAS et al. | European Patent Office | 2018

    Free access