Swerving filtering method for fixed-wing unmanned aerial vehicle-mounted laser radar system

Abstract

The invention provides a swerving filtering method for a fixed-wing unmanned aerial vehicle-mounted laser radar system. According to the method, whether a fixed-wing unmanned aerial vehicle is locatedat a swerving waypoint or not is judged; when the fixed-wing unmanned aerial vehicle is located at the swerving waypoint, all laser data of the swerving waypoint are automatically deleted; on the basis of the flight characteristics, swerving radius, speed characteristics and the like of the vertical take-off and landing fixed-wing unmanned aerial vehicle, an automatic swerving clipping algorithmis innovatively provided; since the vertical take-off and landing fixed-wing unmanned aerial vehicle has almost no horizontal speed in a taking-off and landing process; and taking-off and landing datacan be filtered out according to horizontal speed; the flight process of the fixed-wing unmanned aerial vehicle is basically uniform in speed, and a minimum swerving radius and speed during swervingare determined, and an algorithm and a scheme are formulated according to the characteristics; when three-dimensional laser point cloud is generated, swerving clipping and filtering are automaticallyachieved, and manual editing is not needed any more; full-automatic swerving data filtering and clipping are achieved; manual intervention is not needed; and data processing efficiency is greatly improved.

Description

technical field [0001] The invention relates to the technical field of UAV control, in particular to a turning filtering method for a fixed-wing UAV-borne laser radar system. Background technique [0002] Power grid construction is a project that spans large regions. From grid planning, survey, design, construction, to operation, management, maintenance, marketing, decision analysis, etc., there is a strong demand for regional spatial information. Due to the high precision and full three-dimensional characteristics of lidar measurement technology, it can provide powerful spatial data support for the refinement, scientificity and efficiency of power grid design and management. [0003] In recent years, with the gradual maturity of UAVs, it has become a trend for fixed-wing UAVs to replace manned aircraft equipped with lidar to complete large-scale operations. At present, the three-dimensional high-precision data of UAV-borne lidar is mainly used on a large scale, and channel...

AI Technical Summary

Problems solved by technology

The power line is a narrow, strip-shaped and curved channel, and the drone can only fly along the channel when patrolling the line.

Traditional map data processing methods rely entirely on manual editing and cropping, which is time-consuming and laborious, and it is impossible to judge which parts have high precision and which parts have low precision

Especially when the turn appears in the measurement area, and the turn overlaps with the straight line, the difficulty of manual editing and cropping is greatly increased

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