# US 12,222,219 B2 · UAV navigation calibration method, non-transitory computer-readable storage medium and UAV implementing the same

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- Number: US 12,222,219 B2
- Document ID: US12222219B2
- Status: Granted
- Kind: B2
- Application number: 17/945,047
- Filed: 2022-09-14
- Published: 2023-02-16
- Granted: 2025-02-11
- Earliest claimed: 2021-08-16
- Assignees: Shenzhen Reolink Technology Co., Ltd.
- Applicants: Shenzhen Reolink Technology Co., Ltd.
- Inventors: Sheng Yong; Xiaoyu Liu; Rui Zhou; Yulong Que
- Web page: https://patentgrep.com/patent/US12222219B2

## CPC

- G01C 25/00: Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass (testing, calibrating or compensating compasses G01C17/38)
- B64C 39/024: {of the remote controlled vehicle type, i.e. RPV}
- G01C 17/28: Electromagnetic compasses (with north seeking magnetic elements and having electric pick-offs G01C17/26)
- G01C 17/38: Testing, calibrating, or compensating of compasses
- G01C 21/20: Instruments for performing navigational calculations (G01C21/24, G01C21/26 take precedence)
- G05D 1/101: {specially adapted for aircraft}
- G05D 1/46: Control of position or course in three dimensions [3D]
- B64U 2201/10: autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
- G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S)
- B64C: AEROPLANES; HELICOPTERS
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- B64U: UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR

## Abstract

This application discloses a calibration method for navigation of an unmanned aerial vehicle (UAV), a non-transitory computer-readable storage medium and a UAV implementing the same. The calibration method includes: collecting, during a flight of the UAV, reference data during two measurements of a reference vector performed by a vector sensor; acquiring a zero-point offset M0 of the vector sensor according to the reference data; acquiring original data Rk of any vector measured by the vector sensor; acquiring valid data Vk according to the zero-point offset M0 and the original data Rk; and control headings and postures of the UAV according to the valid data Vk. With the calibration method in this application, the valid data Vk is defined as a vector data acquired after a zero-point error of the original data Rk is eliminated, which is more closely approximated to an actual value of a to-be-measured vector.

## Claims

### Claim 1

An unmanned aerial vehicle (UAV), comprising:
a vector sensor for measuring headings and postures of the UAV;
one or more processors configured to: collect, during a flight of the UAV, reference data during two measurements of a reference vector performed by the vector sensor, wherein modulus of the reference vector is known;
acquire a zero-point offset of the vector sensor according to the reference data, wherein the zero-point offset is a vector difference between a theoretical zero-point position and a measurement zero-point position of the vector sensor;
acquire original data of any vector measured by the vector sensor based on the measurement zero-point position;
acquire valid data based on the theoretical zero-point position according to the zero-point offset M0]] and the original data, define the valid data as a vector data acquired after a zero-point error of the original data is eliminated; and
control headings and postures of the UAV according to the valid data;
wherein during the two measurements of the reference vector performed by the vector sensor, postures of the vector sensor are different, the reference data comprises a known reference vector value, an angular displacement vector from the posture of the vector sensor during a first measurement to the posture during a second measurement, first measurement data acquired by the vector sensor during the first measurement of the reference vector, and second measurement data acquired by the vector sensor during the second measurement of the reference vector; and
wherein the processors are further configured to acquire the zero-point offset according to the reference vector value, the angular displacement vector, the first measurement data, and the second measurement data.

### Claim 2 (depends on 1)

The unmanned aerial vehicle (UAV) according to claim 1, wherein the reference data further comprises a plurality of sets of reference data; and
the one or more processors are further configured to: acquire a plurality of reference offsets according to the plurality of sets of reference data; and
acquire the zero-point offset according to the plurality of reference offsets.

### Claim 3

A calibration method for navigation of an unmanned aerial vehicle (UAV), the UAV including a vector sensor for measuring headings and postures of the UAV, the calibration method comprising:
collecting, during a flight of the UAV, reference data during two measurements of a reference vector performed by the vector sensor, wherein modulus of the reference vector is known,
acquiring a zero-point offset of the vector sensor according to the reference data, wherein the zero-point offset is a vector difference between a theoretical zero-point position and a measurement zero-point position of the vector sensor;
acquiring original data of any vector measured by the vector sensor based on the measurement zero-point position;
acquiring valid data based on the theoretical zero-point position according to the zero-point offset and the original data, defining the valid data as a vector data acquired after a zero-point error of the original data, is eliminated; and
controlling headings and postures of the UAV according to the valid data;
wherein during the two measurements of the reference vector performed by the vector sensor, postures of the vector sensor are different, the reference data comprises a known reference vector value, an angular displacement vector from the posture of the vector sensor during a first measurement to the posture during a second measurement, first measurement data acquired by the vector sensor during the first measurement of the reference vector, and second measurement data acquired by the vector sensor during the second measurement of the reference vector; and
wherein the acquiring the zero-point offset of the vector sensor according to the reference data comprises: acquiring the zero-point offset according to the reference vector value, the angular displacement vector, the first measurement data, and the second measurement data.

### Claim 4 (depends on 3)

The calibration method according to claim 3, wherein the reference data further comprises a plurality of sets of reference data; and
the acquiring a zero-point offset of the vector sensor according to the reference data comprises:
acquiring a plurality of reference offsets according to the plurality of sets of reference data; and
acquiring the zero-point offset according to the plurality of reference offsets.

### Claim 5 (depends on 3)

A non-transitory computer-readable storage medium, storing a computer program, wherein when the computer program is executed by one or more processors, the calibration method according to claim 3 is implemented.

### Claim 6 (depends on 5)

The non-transitory computer-readable storage medium according to claim 5, wherein the reference data comprises a plurality of sets of reference data; and
the acquiring a zero-point offset of the vector sensor according to the reference data comprises: acquiring a plurality of reference offsets according to the plurality of sets of reference data; and
acquiring the zero-point offset according to the plurality of reference offsets.