Terrain prediction method, device and system of rotary microwave radar and unmanned aerial vehicle

Abstract

The invention discloses a terrain prediction method, device and system of a rotary microwave radar and an unmanned aerial vehicle. The method comprises the following steps: acquiring first position information of N target points measured by the rotary microwave radar in a rotation process and a radar scanning angle, wherein a rotating shaft of the rotating microwave radar is perpendicular to a heading axis of the unmanned aerial vehicle, converting the first position information of the N target points into second position information, and determining terrain parameters of the ground, such as gradient, height from the unmanned aerial vehicle to the ground and the like, according to the second position information of the N target points and a radar scanning angle. The rotating shaft of the rotating microwave radar is perpendicular to the heading axis of the unmanned aerial vehicle, so that the scanning range of the rotating microwave radar to the horizontal plane can be enlarged, the ground can be accurately and comprehensively measured, and the ground measurement accuracy is improved.

Description

technical field [0001] Embodiments of the present invention relate to the technical field of unmanned aerial vehicles, and in particular to a terrain prediction method, device, system and unmanned aerial vehicle of a rotating microwave radar. Background technique [0002] At present, drones can be used in many scenarios. For example, in the power industry, it is necessary to inspect cables in a large area and reconstruct 3D images of cables in real time. In terms of the second generation of agricultural drones, a 360° horizontal plane is proposed. function indicators. In these operating scenarios, most drones need to fly close to the ground and avoid accidentally hitting the ground when climbing. On relatively flat ground, based on the data of the Global Positioning System (GPS) and the Inertial Measurement Unit (IMU), the UAV can complete the above tasks more smoothly; The drone needs to adjust its actions in advance, such as climbing, descending, decelerating, braking, e...

AI Technical Summary

Problems solved by technology

However, in actual situations, due to the limited installation position of the rotating microwave radar, the measured target points cannot accurately and comprehensively reflect the ground information, thus affecting the accuracy of terrain prediction.

Images