UAV and multi-sensor fusion positioning method for three-dimensional cruise inspection of bridges
A multi-sensor fusion and UAV technology, which is applied in the field of UAV positioning, can solve the problems of low UAV accuracy and unstable satellite signals, and achieve the effect of reducing the amount of computation and improving positioning accuracy
Inactive Publication Date: 2021-05-04
CHONGQING JIAOTONG UNIVERSITY +1
View PDF12 Cites 0 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
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
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0045] An unmanned aerial vehicle for three-dimensional cruise detection of bridges, characterized in that: the unmanned aerial vehicle includes a controller and k kinds of positioning sensors, and each positioning sensor is connected to the signal input end of the controller; A multi-sensor fusion positioning program is configured, and the multi-sensor fusion positioning program is used to perform coordinate data fusion on the three-dimensional coordinates of the same point according to m types of sensors, 1<m≤k, so as to output the spatial coordinates of the current cruising of the drone.
[0046] In this specific embodiment, the multi-sensor fusion positioning program calculates the coordinates of the same point in the X, Y, and Z three-axis directions according to the following steps:
[0047] Step 101: Calculate the coordinate standard deviation of each sensor in the m kinds of sensors on the same point and the same direction, according to the following formula:
[0048] ...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
The invention discloses an unmanned aerial vehicle used for three-dimensional cruise detection of bridges. The unmanned aerial vehicle includes a controller and k types of positioning sensors, and each positioning sensor is connected to the signal input end of the controller; A multi-sensor fusion positioning program is configured, and the multi-sensor fusion positioning program is used to perform coordinate data fusion on the three-dimensional coordinates of the same point according to m types of sensors, 1<m≤k, so as to output the spatial coordinates of the current cruising of the drone. The present invention also provides a multi-sensor fusion positioning method for three-dimensional cruise detection of bridges. The UAV used for three-dimensional cruise detection of bridges according to the present invention performs real-time positioning during the cruise process. The invention solves the technical problem in the prior art that the positioning accuracy of the UAV relying on GPS is low due to the unstable satellite signal in the cruise detection process.
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...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/00G01C21/16G01S19/42G01S19/45G01S19/47G01S15/08
CPCG01C21/00G01C21/165G01S15/08G01S19/42G01S19/45G01S19/47
Inventor 杨建喜周应新张林磊樊思林张开洪吴尚峰陈楠男胡兴云
Owner CHONGQING JIAOTONG UNIVERSITY