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Aerial robot combined positioning method

A combined positioning and robot technology, applied in the field of navigation, can solve problems such as inaccurate positioning information of overhead robots, and achieve the effect of ensuring positioning accuracy and reliability and improving positioning accuracy.

Pending Publication Date: 2020-06-16
YUNNAN POWER GRID CO LTD ELECTRIC POWER RES INST
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AI Technical Summary

Problems solved by technology

[0005] This application provides a combined positioning method for aerial robots to solve the technical problem of inaccurate positioning information of aerial robots when the GPS signal is abnormal

Method used

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Embodiment Construction

[0024] In order to enable those skilled in the art to better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described The embodiments are only some of the embodiments of the present application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts shall fall within the scope of protection of this application.

[0025] Such as figure 1 As shown, the embodiment of the present application provides a combined positioning method for aerial robots, including:

[0026] S100: Collect GPS data information, and use a moving average estimation method to perform moving average processing on the GPS historical data information to obtain position estimati...

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Abstract

The application discloses an aerial robot integrated positioning method. Data fusion is carried out on GPS and inertial navigation positioning information of an aerial maintenance robot by adopting aKalman filter and optimal estimation is performed on positioning errors, so that correction of integrated navigation errors is realized, and the positioning precision is improved. Meanwhile, an improved neural network is introduced, and a problem that the positioning precision of the overhead maintenance robot becomes poor under the condition that GPS signal receiving is abnormal is solved. When aGPS signal is shielded, the navigation error is predicted by improving the neural network, so that the positioning precision and reliability of the maintenance robot when the GPS signal is unavailable are ensured, and a technical problem that the positioning information of the aerial robot is inaccurate when the GPS signal is abnormal is solved.

Description

technical field [0001] The present application relates to the field of navigation technology, in particular to a combined positioning method for aerial robots. Background technique [0002] Under the action of mechanical and environmental factors, high-voltage substation lines may be damaged or malfunctioned in different situations, such as broken or rusted lines, loose or falling hardware bolts, loose or damaged joints, and foreign objects attached to the wires, etc. If these possible faults and potential safety hazards cannot be discovered and eliminated in time, it will lead to the loss of electrical equipment or even personnel safety accidents. At this stage, in order to meet the needs of line maintenance and overcome the difficulties caused by manual operations, researchers have begun to design and realize overhead line maintenance robots with intelligent maintenance methods, hereinafter referred to as overhead robots. [0003] Navigation and positioning is a necessary...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16G01C25/00G01S19/49
CPCG01C21/165G01S19/49G01C25/005
Inventor 刘荣海郭新良沈锋郑欣杨迎春蔡晓斌虞鸿江王洪武弓旭强周静波孔旭晖何运华焦宗寒宋玉锋许宏伟杨雪滢陈国坤代克顺
Owner YUNNAN POWER GRID CO LTD ELECTRIC POWER RES INST
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