Bridge detecting unmanned aerial vehicle system in non-satellite navigating and positioning environment

Abstract

The invention discloses a bridge detecting unmanned aerial vehicle system in a non-satellite navigating and positioning environment. The bridge detecting unmanned aerial vehicle system comprises an unmanned aerial vehicle flight platform, an airborne combined positioning module, an airborne monitoring module and a ground station control system, wherein the unmanned aerial vehicle flight platform comprises an unmanned aerial vehicle body, a power supply, a power module, a flight controller and an airborne wireless communication terminal; the airborne combined positioning module comprises a microinertia measuring unit, an ultra-wideband navigating and positioning module, an optical flow measuring module and a barometer; the airborne monitoring module comprises an airborne environment monitoring sensor, a vision sensor and a radar sensor; and the ground station control system comprises a wireless ground infrastructure, ground station planning control software and ground station data processing software. The bridge detecting unmanned aerial vehicle system adopts an integrated navigating and positioning way based on UWB, MIMU, OF and RAR, improves the positionability and the navigatingand positioning accuracy of an unmanned aerial vehicle in a global satellite navigating and positioning environment, and preforms close-distance obstacle observation in a complex bridge environment through the optical flow module.

Description

technical field [0001] The invention relates to the technical fields of bridge detection and unmanned aerial vehicle navigation and positioning, in particular to a bridge detection unmanned aerial vehicle system in a non-satellite navigation and positioning environment. Background technique [0002] In recent years, my country's transportation construction has developed rapidly, and large-scale bridges have been completed one after another. my country accounts for more than 50% of the global long-span bridges. The health detection of bridges is related to the safety of transportation and the safety of people's lives and properties. The current commonly used detection methods are manual visual inspection or the use of bridge inspection vehicles, both of which have certain limitations: manual visual inspection will have problems such as detection blind spots and low monitoring efficiency, while using bridge inspection vehicles is expensive, poor in mobility, and affects the u...

AI Technical Summary

Problems solved by technology

[0004] In view of the limitations of navigation, positioning and autonomous obstacle avoidance in the existing UAV platform in the bridge monitoring environment, the present invention provides a bridge detection UAV system, which is designed for local combined navigation, positioning and obstacle avoidance in a non-GNSS environment under the bridge Program

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