Drone and multi-sensor fusion positioning method for bridge three-dimensional cruise detection

Abstract

The invention discloses a drone and a multi-sensor fusion positioning method for bridge three-dimensional cruise detection. The drone comprises a controller and k kinds of positioning sensors, whereineach kind of the positioning sensor is connected to the signal input end of the controller. The controller is configured with a multi-sensor fusion positioning program. The multi-sensor fusion positioning program is configured to perform a coordinate data fusion on the three-dimensional coordinate of the same point according to the m kinds of sensors, when 1<m<=k, outputs the spatial coordinate of the current cruising of the drone. The invention further provides a multi-sensor fusion positioning method for bridge three-dimensional cruise detection, and adopts the drone of the invention for bridge three-dimensional cruise detection to perform real-time positioning during the cruise process. The invention solves the technical problem that the accuracy of the drone relied on GPS positioningis low caused by instability of the satellite signal during the cruise detection process in the prior art.

Description

technical field [0001] The invention relates to the technical field of bridge detection, in particular to a method for positioning an unmanned aerial vehicle when using an unmanned aerial vehicle to perform automatic cruise detection. Background technique [0002] With the development of UAV technology, UAVs are widely used in various engineering technology fields, and UAV technology is gradually adopted in bridge inspection, especially flying and crawling amphibious robots. Flying and crawling amphibious robots have the functions of flying, crawling and Inhabit three states, and be able to switch between the three states, such as "a flying and wall-climbing amphibious robot and its control method CN103192987B", "a flying wall-climbing robot CN107539054A". At present, bridges are mainly inspected by manual remote control, which has the disadvantages of high operational difficulty, low efficiency, and easy missed inspections. In addition, there are heterogeneous areas such a...

AI Technical Summary

Problems solved by technology

[0005] Aiming at the deficiencies of the above-mentioned prior art, the present invention provides an unmanned aerial vehicle for three-dimensional cruising detection of bridges, which solves the problem that the unmanned aerial vehicle relies on GPS positioning due to unstable satellite signals during the cruising detection process in the prior art. low technical issues

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