RTK Kalman filtering optimization method for unmanned aerial vehicles

A technology of Kalman filter and optimization method, which is applied in the direction of radio wave measurement system, satellite radio beacon positioning system, measurement device, etc., and can solve inaccurate positioning, large deviation of elevation information, low processing efficiency of manual inspection status discovery, etc. Problems, to achieve accurate position and elevation positioning, improve sensitivity and accuracy, and improve positioning accuracy
CN110471095APending Publication Date: 2019-11-19海南电网有限责任公司 +1
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
海南电网有限责任公司
Publication Date
2019-11-19

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Abstract

The invention provides an RTK Kalman filtering optimization method for unmanned aerial vehicles, which comprises the following steps: an acquisition terminal located on an unmanned aerial vehicle acquires a plurality of geodetic coordinates of the unmanned aerial vehicle under a WGS-84 coordinate system, a state equation and an observation equation of Kalman filtering under a nonlinear dynamic system are established, and a Kalman filtering model is established according to the state equation and the observation equation of Kalman filtering; an initial state of the nonlinear dynamic system is determined, namely, a state parameter initial value, a variance matrix initial value and a dynamic noise initial variance matrix of an initial epoch are confirmed; and based on the state equation and the observation equation of the initial epoch, the state parameter initial value, the variance matrix initial value and the dynamic noise initial variance matrix are filtered by a Kalman filtering recursion equation to obtain a filtering value. The positioning precision of unmanned aerial vehicles can be improved.
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Description

technical field

[0001] The invention relates to the technical field of UAV positioning, in particular to an RTK Kalman filter optimization method and system for UAVs. Background technique

[0002] With the development of industrial automation and UAV technology, the traditional manual power inspection method can no longer meet the current real-time, efficient and accurate operation requirements of the power grid. Processing efficiency is extremely low. The development of science and technology drives the transformation of operation methods. UAV inspection will become the mainstream method of power inspection in the future. However, there are still certain technical difficulties in UAV inspection at present, such as automatic positioning, automatic navigation, image processing, etc. At present, The positioning technology and method used usually have the problem of large deviation of elevation information and inaccurate positioning, and the Kalman filter algorithm is a good s...

Claims

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