公开(公告)号：US12112645B2

公开(公告)日：2024-10-08

申请号：US17870592

申请日：2022-07-21

Applicant: TONGJI UNIVERSITY

Inventor： Bin He ,  Gang Li ,  Runjie Shen ,  Yanmin Zhou ,  Jie Chen ,  Shuping Song

IPC: G08G5/00 ,  B64C39/02

CPC classification number: G08G5/006 ,  B64C39/024 ,  B64U2201/10

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.