Precise recovery method and system of electric power inspection unmanned aerial vehicle

Abstract

The invention discloses a precise recovery method of an electric power inspection unmanned aerial vehicle. The method comprises the steps of: shooting an image of a landing platform according to a setperiod, and analyzing landing marks in the shot image; determining RTK (Real-Time-Kinematic) coordinates of a landing point by combining the recognized landing marks and the current RTK coordinates of an unmanned aerial vehicle; regulating the landing and flight paths of the unmanned aerial vehicle and controlling the unmanned aerial vehicle to be landed on the landing point by calculating the position deviation between the current RTK coordinates of the unmanned aerial vehicle and the RTK coordinates of the landing point after correction and the angle deviation between the nose direction ofthe unmanned aerial vehicle and the direction of the landing marks. According to the method, the visual navigation technology and the RTK differential positioning technology are combined to ensure therecovery precision of the unmanned aerial vehicle, the unmanned aerial vehicle is guided to rapidly and accurately land to the landing point by employing the differential positioning technology underthe condition that the visual navigation is invalid according to the position deviation of the current RTK coordinates of the unmanned aerial vehicle and the RTK coordinates of the landing point so as to improve the recovery speed, the precision and the stability of the unmanned aerial vehicle.

Description

technical field [0001] The invention relates to the technical field of UAV landing control, in particular to a precise recovery method and system for power inspection UAVs. Background technique [0002] In recent years, UAV (Unmanned Aerial Vehicle, UAV) has been a research hotspot in the field of aviation. It has the advantages of convenient use, low cost, high flight accuracy, flexible maneuverability, and easy intelligence, and has been more and more widely used. , such as military operations, geological exploration, logistics and transportation, video shooting, fire fighting and disaster relief, electric power inspection, agricultural plant protection and other fields, more and more fields have begun to use drones instead of manual operations. [0003] UAV autonomous landing technology is an important part of UAV fully automatic flight, improving the accuracy of navigation is of great significance for UAV autonomous landing. The traditional UAV autonomous landing techno...

AI Technical Summary

Problems solved by technology

At present, the recovery of drones mainly depends on the satellite navigation system, which is prone to interference from natural environments such as weather and signal conditions. Even if RTK (real-time dynamic difference method) positioning technology is used, there is still the problem of signal instability, and RTK itself has The centimeter-level error cannot fully meet the precision needs of the drone's precise recovery

[0005] Visual navigation technology is mainly to analyze and identify the video returned by the UAV camera, calculate the position of the UAV relative to the landing point in real time, and guide the aircraft to land. Compared with traditional satellite navigation technology, this technology has a lower cost. The advantages of low and high precision, but it is greatly affected by the weather (especially light, rain and fog) and lens imaging, and is limited by the lens field of view and position calculation delay, the UAV is easy to lose the landing marker during the landing process , thus affecting the landing speed and success rate

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