| CPC G01S 19/485 (2020.05) [G01S 19/26 (2013.01); G01S 19/40 (2013.01)] | 20 Claims |
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1. A computer-implemented method for validating a position of an unmanned aerial vehicle (UAV), the method comprising:
receiving map data for a location, the map data comprising labeled data for a plurality of landmarks in a vicinity of the location;
generating image data for the location, the image data being derived from images of the vicinity generated by the UAV including at least a subset of the plurality of landmarks;
determining a visual position of the UAV using the image data and the map data;
determining a Global Navigation Satellite System (GNSS) position of the UAV;
generating an error signal using the visual position and the GNSS position; and
validating the GNSS position in accordance with the error signal satisfying a transition condition that is used to determine when to localize the UAV based on the visual position or the GNSS position,
wherein generating the error signal comprises generating an error vector using the visual position and the GNSS position, and wherein the transition condition comprises a threshold magnitude of the error vector above which the GNSS position is deemed invalid.
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