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公开(公告)号：SE543432C2
公开(公告)日：2021-02-16
申请号：SE1950805
申请日：2019-06-27
Applicant: VRICON SYSTEMS AB
Inventor： HAGLUND LEIF , BECKMAN THOMAS
Abstract: The present disclosure relates to a method and system for navigation of an aerial vehicle. The method (100) comprises providing (110) a sensor image from an aerial vehicle sensor and repeatedly, until at least one predetermined criterion is reached: set (120) input data comprising information related to pitch angle, roll angle, yaw angle and three-dimensional position of the aerial vehicle; provide (130) at least one two-dimensional perspective view image based on the input data; and compare (140) the sensor image and the at least one two-dimensional perspective view image. When a-predetermined criterion is reached, the input data for the two-dimensional perspective view image is used for determining a value for at least one of pitch angle, roll angle, yaw angle and three-dimensional position of the aerial vehicle. The comparing step (140) comprises matching the sensor image and the at least one low ambient light two-dimensional perspective view image formed from texture data representing a surface of Earth under low ambient light conditions.
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公开(公告)号：SE1950805A1
公开(公告)日：2020-12-28
申请号：SE1950805
申请日：2019-06-27
Applicant: VRICON SYSTEMS AB
Inventor： HAGLUND LEIF , BECKMAN THOMAS
Abstract: The present disclosure relates to a method and system for navigation of an aerial vehicle. The method (100) comprises providing (110) a sensor image from an aerial vehicle sensor and repeatedly, until at least one predetermined criterion is reached, performing the steps: setting (120) input data comprising information related to pitch angle, roll angle, yaw angle and three-dimensional position of the aerial vehicle; providing (130) at least one twodimensional perspective view image based on the input data, where the at least one twodimensional perspective view image is obtained from a database comprisingthree-dimensional geo-referenced information of the environment, said three-dimensional geo-referenced information comprising texture data; and comparing (140) the sensor image and the at least one two-dimensional perspective view image. When at least one of the at least one predetermined criterion is reached, a determining step (150) of using the input data for the two-dimensional perspective view image best corresponding to the sensor image is performed to determine a value for at least one of the following quantities pitch angle, roll angle, yaw angle and three-dimensional position of the aerial vehicle, wherein the texture data comprises a first set of texture data representing a surface of Earth under low ambient light conditions, and the comparing step (140) comprises matching the sensor image and the at least one low ambient light two-dimensional perspective view image formed from the first set of texture data.
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