Multi-rotor unmanned aerial vehicle viewpoint determination method based on sun illumination condition

Abstract

The invention discloses a multi-rotor unmanned aerial vehicle viewpoint determination method based on a sun illumination condition, and the method comprises the following steps: considering a hoveringerror caused by the performance of a multi-rotor unmanned aerial vehicle during hovering photographing, and calculating the actual photographing size of a to-be-tested component through combining with the hovering error; establishing a function relationship between the attribute information of the to-be-tested component on the power tower and the parameters of airborne cameras of a multi-rotor unmanned aerial vehicle; establishing a function relationship between a shooting distance from the to-be-tested component to the multi-rotor unmanned aerial vehicle and a shooting focal length accordingto different types of airborne cameras; and considering a sun illumination condition, and optimizing a determination algorithm of a viewpoint position. The problems that when the multi-rotor unmannedaerial vehicle inspects the power tower, the manually selected viewpoint position is inaccurate, the imaging of the to-be-tested component is incomplete, and the influence of sun illumination is notconsidered during shooting are effectively solved.

Description

Technical field [0001] The present invention belongs to the technical field inspection multi rotor UAV, UAV rotor specifically refers to the multi-viewpoint based on generation of solar illumination condition determining method. Background technique [0002] At present, my country's energy demand for electricity is increasing, widely distributed power tower and complex terrain. Due to the high electricity tower complex terrain of these areas manual inspection costs, coupled with physical safety inspection staff likely to pose a threat, so multi-rotor UAV patrol towers used in power more widely. [0003] In multi-rotor UAV power tower inspection process, the inspection viewpoint mainly manual positioning mode is selected, leading to inaccurate viewpoint selection can not be measured accurately capture components. In actual shooting, the present multi-rotor UAV precision hover performance of error caused by itself, so the image photographed by the photographing to the presence of t...

AI Technical Summary

Problems solved by technology

[0004] Aiming at the deficiencies of the above-mentioned prior art, the purpose of the present invention is to provide a method for determining the viewpoint of a multi-rotor UAV based on sunlight conditions, which effectively solves the problem of manual selection of viewpoint positions when the multi-rotor UAV inspects power poles. Accuracy, incomplete imaging of the components under test, and failure to consider the influence of sunlight when shooting

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