无人机高精度定位和视觉自动跟踪融合技术  

UAV High-precision Positioning and Visual Automatic Tracking Fusion Technology

作　　者：陈玉权 翟学锋[1] 宋煜[1] 吴媚 张星炜 曹世鹏 CHEN Yu-quan;ZHAI Xue-feng;SONG Yu;WU Mei;ZHANG Xing-wei;CAO Shi-peng(JiangSu Frontier Electric Technology Co.,Ltd.,Nanjing 211102,China;Allcorehatress(Beijing)Technology Co.,Ltd.,Beijing 100080,China)

机构地区：[1]江苏方天电力技术有限公司,南京211102 [2]众芯汉创(北京)科技有限公司,北京100080

出　　处：《组合机床与自动化加工技术》2021年第9期103-106,共4页Modular Machine Tool & Automatic Manufacturing Technique

摘　　要：输电线路是电网系统的重要组成部分,是支撑国民生产和生活的运输命脉,因此通过线路巡检来保证电力传输安全至关重要。针对无人机在巡检过程中遇到障碍物集中、视线差等复杂环境时难以做到高精度合理避障的不足,研究引入位置信息融合即时定位与地图构建算法,使用扩展卡尔曼滤波器作为数据融合方法,采用实时动态技术,结合了高精度的定位信息与其他传感器获得的参数,在飞行控制中进行逻辑数据融合,将滤波器输出的位姿信息反馈到无人机飞行控制终端,来提高无人机的定位精度与导航能力,以此调整飞行控制方式与飞行机制,做到准确避障,实现自主飞行。Transmission line is an important part of the power grid system,which is the lifeblood of national production and life.Therefore,it is very important to ensure the safety of power transmission through line inspection.Aiming at the problem that it is difficult for UAV to avoid obstacles with high precision and reasonable in complex environment such as obstacle concentration and poor line of sight,this paper studies the introduction of location information fusion,real-time positioning and map building algorithm,using extended Kalman filter as data fusion method,using real-time dynamic technology,combining high-precision positioning information with other sensors In order to improve the positioning accuracy and navigation ability of UAV,we can adjust the flight control mode and flight mechanism to avoid obstacles accurately and realize autonomous flight.

关 键 词：无人机 自主巡检 SLAM 实时动态技术 扩展卡尔曼滤波器 

分 类 号：TH165[机械工程—机械制造及自动化] TG659[金属学及工艺—金属切削加工及机床]