低空自主无人机数字孪生系统设计  

Design of digital twin system for low altitude autonomous UAV

作　　者：邹泽海 郑恩辉 丁凯 阙建飞 王继强 姚雨雯 ZOU Zehai;ZHENG Enhui;DING Kai;QUE Jianfei;WANG Jiqiang;YAO Yuwen(School of Mechanical and Electrical Engineering,China Jiliang University,Hangzhou 310000,China;Sichuan Highway Planning,Survey,Design and Research Institute Ltd.,Chengdu 610000,China)

机构地区：[1]中国计量大学机电工程学院,浙江杭州310000 [2]四川省公路规划勘察设计研究院有限公司,四川成都610000

出　　处：《现代电子技术》2024年第13期123-128,共6页Modern Electronics Technique

基　　金：浙江省教育厅科研资助项目(Y202353673)。

摘　　要：为了提高无人机在城市低空空域执行巡检、配送等任务的安全性和自主性,文中设计了一种基于数字孪生技术的无人机自主飞行系统。该系统综合物理空间和虚拟空间的数据,精准控制无人机的飞行。采用实景三维建模技术创建了高度逼真的虚拟空间,并通过通用横轴墨卡托(UTM)投影方法实现了虚拟空间与物理空间的高度对应。利用多传感器融合的同步定位与建图(SLAM)技术实现无人机的精确定位,并在虚拟空间中进行全局的三维路径规划用于控制无人机的飞行。实验结果表明,虚实空间的平均映射误差为0.38 m,这表明虚拟空间数据在保障无人机安全飞行方面具有可行性。通过在实际环境中的飞行测试,进一步验证了所设计的无人机数字孪生系统的有效性,可为小型自主无人机的设计与应用提供参考。An autonomous unmanned aerial vehicle(UAV)flight system based on digital twin technology is designed to improve the safety and autonomy performance of UAV in performing inspection and distribution tasks in urban low-altitude airspace.In the system,data from physical space and virtual space are synthesized to control the flight of the UAV precisely.A highly realistic virtual space is created with real 3D modeling technology.A high degree of correspondence between the virtual space and the physical space is achieved by the universal transverse Mercator(UTM)projection method.The simultaneous localization and mapping(SLAM)technique with multi-sensor fusion is used to achieve precise positioning of the UAV,and global 3D path planning in the virtual space is used to control the UAV flight.The experimental results show that the average mapping error of the virtual space is 0.38 meters,which indicates the feasibility of virtual space data in guaranteeing the safe flight of UAV.The effectiveness of the designed UAV digital twin system is further verified by flight tests in real environments,which can provide a reference for the design and application of small autonomous UAV.

关 键 词：无人机 数字孪生 虚实映射 自主飞行 精确定位 路径规划 

分 类 号：TN965-34[电子电信—信号与信息处理] V279[电子电信—信息与通信工程]