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Decision fusion method applied to obstacle avoidance system

A technology of decision fusion and obstacle avoidance, applied in radio wave measurement system, utilization of re-radiation, reflection/re-radiation of radio waves, etc., can solve delays in quick understanding of on-site disaster relief, UAV collision, UAV damage, etc. problem, to reduce the effect of decision-making risk

Inactive Publication Date: 2018-03-09
DALIAN ROILAND SCI & TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Due to the complex and unknown post-disaster scene environment, post-disaster shooting and recording of UAVs may cause UAVs to collide, cause damage to UAVs, and delay the rapid understanding of on-site disaster relief. Therefore, it is necessary to carry out post-disaster During the rescue process, ensure the flight safety of drones

Method used

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  • Decision fusion method applied to obstacle avoidance system
  • Decision fusion method applied to obstacle avoidance system
  • Decision fusion method applied to obstacle avoidance system

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Experimental program
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Effect test

Embodiment 1

[0058] This embodiment provides a decision fusion method applied in an obstacle avoidance system, including: a data fusion layer, a feature layer, a decision layer and a detection device;

[0059] The detection device includes:

[0060] Radar altitude sensor, which measures the vertical distance of the drone to the ground;

[0061] GPS / Beidou positioning sensor for real-time positioning to achieve fixed-point hovering and other tasks of the UAV, and can realize the measurement of the height of the UAV and the measurement of the relative speed of the UAV;

[0062] The AHRS module collects the flight attitude and navigation information of the UAV; the AHRS module includes the MEMS three-axis gyroscope, accelerometer and magnetometer, and the output data are three-dimensional acceleration, three-dimensional angular velocity and three-dimensional geomagnetic field strength.

[0063] The millimeter-wave radar sensor adopts a chirp triangular wave system to realize long-distance me...

Embodiment 2

[0070] As a further limitation to Embodiment 1: the data fusion layer processes the data collected by each sensor:

[0071] 1) The output data of the millimeter-wave radar sensor is the relative distance R1 between the UAV and the obstacle, the relative velocity V1, the angle between the obstacle and the normal line of the radar, including the azimuth θ1 and the pitch ψ1;

[0072] 2) The ultrasonic radar sensor inputs the relative distance R2 between the UAV and the obstacle;

[0073] 3) The binocular vision sensor outputs the object area S, azimuth θ2 and relative distance R3;

[0074] 4) The radar height sensor outputs the height value R4 between the UAV and the ground;

[0075] 5) The GPS / Beidou positioning sensor mainly obtains the altitude H2 and horizontal speed V2 of the UAV;

[0076] GPS data follows the NMEA0183 protocol, and the output information is standard and has a fixed format. Among them, GPGGA and GPVTG statements are closely related to UAV navigation. The...

Embodiment 3

[0083] As a supplement to Embodiment 1 or 2, the feature layer performs data fusion of the relative distance between the UAV and the obstacle, the data fusion of the relative height of the UAV and the ground, the data fusion of the relative speed of the UAV and the obstacle, and Obtain the attribute characteristics such as the size and shape of the obstacle;

[0084] The data fusion of the relative distance between the UAV and the obstacle is processed according to the distance range:

[0085] A. The distance is within the range of 0m to 10m. Ultrasonic radar sensor, binocular vision sensor and millimeter wave radar sensor are used for detection, but the relative accuracy of these radars is different. In the short range, the accuracy of ultrasonic is higher. However, in order to improve the accuracy of the calculation of height, weighted average is adopted, that is, the weighted value of α and β is introduced to carry out weighted average of ultrasonic radar sensor, bino...

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Abstract

The invention relates to a decision fusion method applied to an obstacle avoidance system. The method comprises steps that P1, firstly, the relative distance between an unmanned plane and an obstacleis determined, and the relative distance is divided into three parts which are in three ranges of being smaller than N1m, between N1m and N2m and between N2m and N3m; P2, secondly, after distance division, dangerous grade division is carried out according to the relative speed between the unmanned plane and the obstacle; P3, a height value between the unmanned plane and the ground is determined, and grade division of the height value H is carried out; P4, for the dangerous grade, step P3 operation is needed to carry out; for the alarm grade, step P3 operation after emergent speed reduction isneeded to carry out; for the prompting grade and the irrelevant grade, third-step determination is not needed, and the process returns for re-detection. The method is advantaged in that the more accurate obstacle data information is acquired, and more accurate obstacle avoidance decision and obstacle avoidance control can be carried out.

Description

technical field [0001] The invention belongs to the technical field of obstacle avoidance for unmanned aerial vehicles, and in particular relates to a decision fusion method applied in an obstacle avoidance system. Background technique [0002] In recent years, UAV technology has quickly become a new hotspot in research and development at home and abroad, and because UAV has the characteristics of high mobility, flexible operation, low cost, real-time image transmission and high resolution, UAV is widely used It has been used in various fields of society, such as disaster relief, power inspection, forestry fire prevention, agricultural spraying, vegetation protection, aerial photography, etc. [0003] In the post-disaster rescue scene, due to the many limitations of traditional means, UAV technology has been gradually developed. Post-disaster rescue drones are mainly used to observe and intervene in the rescue scene from the air in the fastest and most convenient way after ...

Claims

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Application Information

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IPC IPC(8): G01S13/93
CPCG01S13/933
Inventor 田雨农王鑫照
Owner DALIAN ROILAND SCI & TECH CO LTD
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