Method for automatic and fine operation and obstacle avoidance of plant-protecting unmanned aerial vehicle based on BDS and INS

Abstract

The invention discloses a plant-protecting unmanned aerial vehicle based on a BDS and an INS. The unmanned aerial vehicle comprises an unmanned aerial vehicle body, a flight controller, an onboard controller and a power unit, wherein both the flight controller and the onboard controller are installed on the unmanned aerial vehicle body, the flight controller comprises a BDS receiver, an IMU and apower module, the BDS receiver, the IMU and the power module transmits information with the onboard controller in real time, the onboard controller receives BDS data, difference calculation is conducted on a measured unmanned aerial vehicle space position and a ground base station to make the unmanned aerial vehicle accurately move according to a flight path, the IMU measures an actual motion trail to obtain flight parameters and adjust a flight attitude of the unmanned aerial vehicle through a power device. The unmanned aerial vehicle also comprises operating path planning software, a homeward voyage processing module and a laser range finder. In addition, the invention also discloses a method for automatic and fine operation and obstacle avoidance of the plant-protecting unmanned aerialvehicle based on the BDS and the INS. The plant-protecting unmanned aerial vehicle has the advantages that the flight path is accurately controlled by utilizing a Beidou navigation system and an inertial navigation device, can perform fine operation and utilize a built-in obstacle avoidance algorithm to prevent obstacle collision.

Description

technical field [0001] The invention belongs to the technical field of unmanned aerial vehicles and relates to a high-precision positioning method and an obstacle avoidance method of a plant protection unmanned aerial vehicle, in particular to an automatic fine operation and an obstacle avoidance method of a plant protection unmanned aerial vehicle based on BDS and INS. Background technique [0002] In the prior art, plant protection drones are usually operated by a single drone controlled by an operator. This method completely relies on the operator's observation to control the working path, but in a large working area, the error is very large, which greatly reduces the working quality, and the working path is extremely irregular, which will cause some areas to miss spraying and some areas to be blocked. Repeated spraying, and the efficiency of plant protection operations is very low. Moreover, in the prior art, the obstacle avoidance technology mainly uses laser radar, gr...

AI Technical Summary

Problems solved by technology

This method completely relies on the operator's observation to control the working path, but in a large working area, the error is very large, which greatly reduces the working quality, and the working path is extremely irregular, which will cause some areas to miss spraying and some areas to be blocked. Repeated spraying, and the efficiency of plant protection operations is very low

Moreover, in the prior art, the obstacle avoidance technology mainly uses laser radar, graphics camera, sensor, etc. to identify obstacles, and uses simple reflection signals to determine obstacles, but it is impossible to determine the best path to effectively avoid obstacles.

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