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Method for locating unmanned aerial vehicle in diversion culvert based on single-line laser

A positioning method and UAV technology, applied in the direction of navigation calculation tools, etc., can solve the problems of UAV deviating from the route, UAV positioning deviation, high noise of visual images, etc., to achieve accelerated processing speed, high-precision positioning, precision high effect

Active Publication Date: 2020-10-30
TONGJI UNIV
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Problems solved by technology

However, the visual images collected by the visual positioning system in this patent contain relatively high noise, and there will be large deviations in the positioning of the drone, which may cause the drone to deviate from the route and cause the risk of crashing. Therefore, in the energy storage There is an urgent need for a UAV positioning method that can realize the precise positioning of UAVs in culverts in hydropower stations.

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  • Method for locating unmanned aerial vehicle in diversion culvert based on single-line laser
  • Method for locating unmanned aerial vehicle in diversion culvert based on single-line laser
  • Method for locating unmanned aerial vehicle in diversion culvert based on single-line laser

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Embodiment Construction

[0067] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present invention.

[0068] A single-line laser-based UAV positioning method in water diversion culverts, the process is as follows figure 1 shown, including:

[0069] Step 1: Construct a point cloud model of the diversion culvert;

[0070] Specifically: obtain the parameter information of the water diversion culvert according to the CAD image of the water diversion culvert, construct a 3D model according to the parameter information of the culvert, and then generate a point ...

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Abstract

The invention relates to a method for locating an unmanned aerial vehicle in a diversion culvert based on single-line laser. The method comprises the steps: step 1, constructing a point cloud model ofa diversion culvert; step 2, acquiring height information and original attitude data acquired by an unmanned aerial vehicle; step 3, obtaining unmanned aerial vehicle position data through a positionobtaining sub-method, and obtaining optimized unmanned aerial vehicle attitude data through an attitude obtaining sub-method; and step 4, obtaining accurate positioning of the unmanned aerial vehiclein the diversion culvert according to the position data of the unmanned aerial vehicle and the optimized attitude data. Compared with the prior art, the method has the advantages of high positioningprecision, high processing speed and the like.

Description

technical field [0001] The invention relates to the technical field of precise positioning of unmanned aerial vehicles in diversion culverts, in particular to a single-line laser-based positioning method of unmanned aerial vehicles in diversion culverts. Background technique [0002] A pumped-storage power station is a hydropower station that uses the electric energy when the power load is low to pump water to the upper reservoir, and then discharges water to the lower reservoir to generate electricity during the peak period of the power load, also known as an energy-storage hydropower station. It can convert the excess electric energy when the grid load is low into high-value electric energy during the peak period of the grid, and is also suitable for frequency modulation, phase modulation, and stabilizing the cycle and voltage of the power system. It has received widespread attention from the industry. In the past, manual entry into the diversion culvert was usually used ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/20
CPCG01C21/20Y02T10/40
Inventor 董延超王浩天宁少淳冀玲玲
Owner TONGJI UNIV
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