# US 12,112,645 B2 · Unmanned aerial vehicle positioning method based on millimeter-wave radar > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,112,645 B2 - Document ID: US12112645B2 - Status: Granted - Kind: B2 - Application number: 17/870,592 - Filed: 2022-07-21 - Published: 2022-12-01 - Granted: 2024-10-08 - Earliest claimed: 2021-05-28 - Assignees: Tongji University - Applicants: Tongji University - Inventors: Bin He; Gang Li; Runjie Shen; Yanmin Zhou; Jie Chen; Shuping Song - Web page: https://patentgrep.com/patent/US12112645B2 ## CPC - G01S 13/933: of aircraft or spacecraft - G08G 5/55: for a single aircraft - B64C 39/024: {of the remote controlled vehicle type, i.e. RPV} - G01S 13/86: Combinations of radar systems with non-radar systems, e.g. sonar, direction finder - G01S 13/876: {Combination of several spaced transponders or reflectors of known location for determining the position of a receiver (G01S13/874 takes precedence)} - G01S 13/89: for mapping or imaging - G08G 5/53: for cruising - G08G 5/59: in accordance with predefined flight zones, e.g. to avoid prohibited zones - B64U 2201/10: autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS] - G08G 5/57: for unmanned aircraft - G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES - G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93}) - B64C: AEROPLANES; HELICOPTERS - B64U: UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR ## Abstract 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. ## Claims ### Claim 1 A positioning method of an unmanned aerial vehicle (UAV) based on a millimeter-wave radar, wherein the UAV is equipped with the millimeter-wave radar and an inertial measurement unit (IMU), comprising a calibration stage and a positioning stage; wherein the calibration stage comprises: S1, obtaining a map, radar point cloud data measured by the millimeter-wave radar, and ground coordinates of unmanned aerial vehicles; S2, pre-processing the radar point cloud data; extracting key points from the radar point cloud data, obtaining characteristic line segment based on the key points, and recording the key points on the characteristic line segment as feature points; S3, projecting the feature points on the map according to the ground coordinates of the UAV to obtain the ground coordinates of each feature point; wherein the positioning stage comprises: S4, acquiring the radar point cloud data of a current frame measured by the millimeter-wave radar, and pre-processing the radar point cloud data; S5, acquiring UAV motion data measured by IMU, and fusing the radar point cloud data with UAV motion data to obtain corrected radar point cloud data; S6, extracting key points from the radar point cloud data, obtaining characteristic line segment based on the key points, and recording the key points on the characteristic line segment as feature points; S7, registering the characteristic line segment of the radar point cloud data of the current frame with the characteristic line segment of the radar point cloud data of the previous frame, finding out the feature points matching the current frame with the previous frame, and marking them as a matched feature point, finding out a feature point increased by the current frame relative to the previous frame, and marking the point as newly added feature point; S8, obtaining the ground coordinates of the unmanned aerial vehicle and the ground coordinates of newly added feature points based on the ground coordinates of the matched feature points on the map; and S9, repeating S4. ### Claim 2 (depends on 1) The method according to claim 1, wherein the calibration stage further comprises: establishing a coordinate transformation matrix between radar point cloud data and UAV motion data measured by IMU according to the installation positions of the millimeter-wave radar and IMU, to complete the coordinate calibration. ### Claim 3 (depends on 1) The method according to claim 1, wherein pre-processing the radar point cloud data comprises obtaining undeflected point cloud data. ### Claim 4 (depends on 3) The method according to claim 3, wherein obtaining undeflected point cloud data comprises mapping three-dimensional radar point cloud data to a two-dimensional plane. ### Claim 5 (depends on 3) The method according to claim 3, wherein pre-processing the radar point cloud data comprises noise filtering. ### Claim 6 (depends on 5) The method according to claim 5, wherein noise filtering comprises eliminating discrete points in radar point cloud data by direct elimination method, and downsampling the radar point cloud data by a voxel grid filter. ### Claim 7 (depends on 5) The method according to claim 5, wherein pre-processing the radar point cloud data comprises point cloud registration. ### Claim 8 (depends on 7) The method according to claim 7, wherein point cloud registration comprises searching for the nearest point matching by iterative algorithm, and converting the coordinates of radar point cloud data at the beginning and end of the same frame into the same coordinate system. ### Claim 9 (depends on 1) The method according to claim 1, wherein S5 comprises: acquiring UAV motion data measured by IMU, comprising attitude angle, angular velocity and linear velocity; calculating a flight distance of UAV based on the attitude angle, angular velocity and linear velocity, and correcting the radar point cloud data based on the flight distance to obtain the corrected radar point cloud data. ### Claim 10 (depends on 1) The method according to claim 1, wherein extracting key points from radar point cloud data comprises: determining the first point of radar point cloud data as a key point; traversing the remaining radar point cloud data, and if a point meets condition 1 or condition 2, the point is the key point; condition 1: the Euclidean distance between the key point and the previous key point is greater than the preset threshold value of the point distance; condition 2: the key point does not fall on the straight line 1 connected by the last two key points, and the distance between the key point and the straight line 1 exceeds the preset point-line distance threshold. ### Claim 11 (depends on 1) The method according to claim 1, wherein obtaining the characteristic line segment based on the key points comprises obtaining the characteristic line segment by the straight line fitting method, and each line is obtained by fitting at least four key points. ### Claim 12 (depends on 1) The method according to claim 1, wherein S7 comprises: calculating an angle difference and a distance difference between the characteristic line segment of the current frame and the characteristic line segment of the previous frame; determining the two characteristic line segments are matched with each other if the angle difference and distance difference between the characteristic line segment of the current frame and the characteristic line segment of the previous frame are both smaller than a preset registration threshold; and determining feature points on a characteristic line segment are matched feature points if the characteristic line segment finds a matching characteristic line segment; determining feature points on a characteristic line segment are newly added feature points if the characteristic line segment does not find a matching characteristic line segment. ### Claim 13 (depends on 1) The method according to claim 1, wherein S8 comprises: updating the ground coordinates of the unmanned aerial vehicle according to the coordinate changes of the matched feature points in the previous frame and the current frame; calculating the ground coordinates of the newly added feature points on the map according to the coordinate relationship between the newly added feature points and the matched feature points in the current frame.