基于大型稀疏线性方程的农业植保无人机导航系统  

Navigation System of Agricultural Plant Protection UAV Based on Large Sparse Linear Equation

作　　者：张之红 Zhang Zhihong(School of Mechanical and Electrical Engineering,Zhengzhou Tourism College,Zhengzhou 450000,China)

机构地区：[1]郑州旅游职业学院机电工程学院,郑州450000

出　　处：《农机化研究》2023年第7期201-205,共5页Journal of Agricultural Mechanization Research

基　　金：河南省科技厅科技攻关项目(212102210058)。

摘　　要：采用视觉处理技术和大型稀疏线性方程组计算方法,对农业植保无人机导航系统进行了研究,为了高效、精准地对飞行过程中的目标障碍物进行定位,实现对无人机飞行轨迹的动态规划,在视觉处理技术的基础上,采用加速稳健特征SURF融合技术,对目标位置进行再次的定位求解和校正。实验结果表明:农用植保无人机从起点(0,0,-20)飞行到目标点(0,100,10),在有障碍物的情况下,可以准确地进行避障和导航,具有一定的可行性和有效性。It studies the navigation system of agricultural plant protection UAV by using visual processing technology and large sparse linear equations.In order to locate the target obstacles in the flight process efficiently and accurately and realize the dynamic planning of UAV flight trajectory,based on visual processing technology,this paper adopts accelerated robust feature surf fusion technology,the target position is solved and corrected again.The experimental results show that the agricultural plant protection UAV can accurately avoid obstacles and navigate from the starting point(0,0,-20)to the target point(0,100,10),which is feasible and effective.

关 键 词：农业植保无人机 视觉处理 稀疏线性方程组 避障 导航 

分 类 号：S252.3[农业科学—农业机械化工程]