UAV slam technology based on extended Kalman filter to measure tilt angle system

An extended Kalman and technical measurement technology, which is applied in the field of UAV SLAM technology measurement tilt angle system, can solve the problems of cumbersome and complex measurement, low measurement accuracy, and inflexibility, so as to reduce workload, improve work efficiency, and improve The effect of accuracy

Active Publication Date: 2021-02-26
SOUTH CHINA UNIV OF TECH +1
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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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  • UAV slam technology based on extended Kalman filter to measure tilt angle system
  • UAV slam technology based on extended Kalman filter to measure tilt angle system
  • UAV slam technology based on extended Kalman filter to measure tilt angle system

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Embodiment Construction

[0024] The content of the present invention will be further described below in conjunction with the accompanying drawings.

[0025] Such as figure 1As shown, the UAV SLAM technology measurement inclination angle system based on extended Kalman filtering described in the present invention is used to measure the inclination angle of the power pole tower, including the power pole tower structure model database module, the unmanned aerial vehicle movement and measurement module, wireless Man-machine data processing module and tower model reconstruction module; the power tower structure model database module is used to classify power towers and construct corresponding power tower mathematical structure models, and design unmanned aerial vehicles according to the power tower mathematical structure model Initial inspection route; the motion and measurement module of the unmanned aerial vehicle can obtain the point cloud data of the environmental map and the power pole tower based on ...

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Abstract

The present invention relates to the field of unmanned aerial vehicles, and specifically provides an extended Kalman filter-based unmanned aerial vehicle synchronous positioning and map construction (SLAM) technology to measure the inclination angle system, including a power tower structure model database module, and an unmanned aerial vehicle movement and measurement module , UAV data processing module and tower model reconstruction module; UAV motion and measurement module can obtain environmental maps and point cloud data of power towers based on the simultaneous positioning and map construction of extended Kalman filter; the UAV data processing module is used To fit the central axis of the power tower and calculate the inclination angle. The invention can greatly reduce the workload of the measurement of the inclination angle of the power tower, improve the work efficiency of the inspection transmission line and the power tower, improve the working speed and intelligence, reduce the labor cost, time cost and work difficulty, and increase the inclination angle of the power tower The accuracy, stability and ease of use of the measurement are more simple and easy to use, and the inclination angle can be measured efficiently and intelligently.

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, ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C1/00G01C9/00G06T7/277G06T17/00
CPCG01C1/00G01C9/00G06T17/00G06T7/277
Inventor 柯峰王煜琛彭陶峰柯永达敬伟
Owner SOUTH CHINA UNIV OF TECH
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