Unmanned aerial vehicle SLAM technology inclination angle measurement system based on extended Kalman filtering

Abstract

The invention relates to the field of unmanned aerial vehicles, and particularly provides an unmanned aerial vehicle simultaneous localization and mapping (SLAM) technology inclination angle measurement system based on extended Kalman filtering. The unmanned aerial vehicle SLAM technology inclination angle measurement system comprises an electric tower structure model database module, an unmannedaerial vehicle motion and measurement module, an unmanned aerial vehicle data processing module and a tower model reconstruction module, wherein the unmanned aerial vehicle motion and measurement module can obtain point cloud data of an environment map and an electric power tower based on simultaneous localization and mapping of extended Kalman filtering; and the unmanned aerial vehicle data processing module is used for fitting a central axis of the electric power tower and calculating an inclination angle. The unmanned aerial vehicle SLAM technology inclination angle measurement system can greatly reduce the workload of measurement of the inclination angle of the electric power tower, improves the working efficiency of inspection of a power transmission line and the electric power tower,improves the operation speed and intelligent degree, reduces the labor cost, time cost and work difficulty, improves the accuracy, stability and usability of measurement of the inclination angle of the power tower, is simpler and easier to use, and realizes efficient and intelligent measurement of the inclination angle.

Description

technical field [0001] The invention relates to the field of unmanned aerial vehicles, and specifically provides an extended Kalman filter (EKF)-based unmanned aerial vehicle SLAM (synchronous positioning and map construction) technology for measuring inclination angle system. Background technique [0002] The power pole tower in the power line is a pole-shaped or tower-shaped structure that supports the overhead transmission line conductor and the overhead ground wire and keeps a certain distance between them and the earth. It usually adopts steel structure, wood structure and reinforced concrete structure. The centrality of the tower is related to the safety and reliability of power operation; during construction and installation, the centrality must be ensured to ensure the safe and reliable operation of the line. However, after the power line has been in operation for many years, changes in the basic geological conditions will cause uneven settlement of the power tower, ...

AI Technical Summary

Problems solved by technology

[0005] Aiming at the disadvantages of cumbersome and complex measurement, inflexibility, and low measurement accuracy when measuring or monitoring the inclination angle of power poles and towers in the existing technology, a UAV SLAM technology based on extended Kalman filter is provided to measure the inclination angle system

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