	US 12,222,219 B2
	UAV navigation calibration method, non-transitory computer-readable storage medium and UAV implementing the same
Sheng Yong, Shenzhen (CN); Xiaoyu Liu, Shenzhen (CN); Rui Zhou, Shenzhen (CN); and Yulong Que, Shenzhen (CN)
Assigned to Shenzhen Reolink Technology Co., Ltd., Shenzhen (CN)
Filed by Shenzhen Reolink Technology Co., Ltd., Shenzhen (CN)
Filed on Sep. 14, 2022, as Appl. No. 17/945,047.
Application 17/945,047 is a continuation in part of application No. 17/567,834, filed on Jan. 3, 2022, abandoned.
Claims priority of application No. 202110935274.X (CN), filed on Aug. 16, 2021.
Prior Publication US 2023/0048250 A1, Feb. 16, 2023
Int. Cl. G01C 25/00 (2006.01); B64C 39/02 (2023.01); G01C 21/20 (2006.01); G05D 1/00 (2006.01)

CPC G01C 25/00 (2013.01) [B64C 39/024 (2013.01); G01C 21/20 (2013.01); G05D 1/101 (2013.01); B64U 2201/10 (2023.01)]

6 Claims

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.