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Aerial autonomous navigation method for electronic boundary point of GNSS (Global Navigation Satellite System) shielding area

A technology of autonomous navigation and occlusion area, which is applied in the interpretation of photos, radio wave measurement system, satellite radio beacon positioning system, etc., and can solve the problem of low navigation and positioning

Pending Publication Date: 2022-05-10
江苏集萃未来城市应用技术研究所有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to provide an air autonomous navigation method for electronic boundary points in GNSS occluded areas, capable of building an inertial navigation fusion GNSS high-precision, low-dynamic, self-adaptive tight fusion model, and breaking through the INS-assisted whole-cycle ambiguity resolution and cycle-slip detection and repair The problem is integrated into the UAV platform to realize the advantages of centimeter-level UAV high-precision positioning information collection, which solves the influence of the navigation and positioning model itself that cannot avoid gross errors. The greater the gross error, the lower the accuracy of navigation and positioning. INS assistance Issues with Integer Cycle Ambiguity Resolution and Cycle Slip Detection and Repair

Method used

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Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0034] Install a high-definition camera on the body of the aerial work robot, adjust the parameters of the high-definition camera, and take high-definition images from different positions in the flight; extract the feature points of the RGB image, and combine the corresponding depth images to construct a three-dimensional point feature map. The points are called map points; along with the motion of the aerial work robot, the high-definition camera is taken at different positions: extract the feature points of the RGB images taken at different positions, and based on its descriptor and the map in the three-dimensional point feature map constructed in step 2 Match points; use GNSS and INS speed information combined with navigation information to solve; when GNSS and INS cannot independently locate, the system relies on the coordinated positioning of aerial drones and ground robots; upload the information collected by air-ground robots to the platform ; The information collected i...

Embodiment 2

[0036] In embodiment one, add following operation:

[0037]Install a high-definition camera on the body of the aerial work robot, adjust the parameters of the high-definition camera, and take high-definition pictures from different positions in the flight; The UAV body is blocked, and the internal parameters of the high-definition camera are calibrated before the UAV takes off. The internal parameters include the internal parameters of the depth camera, the position parameters of the RGB camera and the depth camera bracket, and shoot the target in the RGB image to extract the RGB image. , and combined with the corresponding depth map to construct a three-dimensional point feature map. The points in the three-dimensional point feature map are called map points; The corresponding relationship between the position point and the map point, to deal with the target of the occluded aerial work robot, mark the operation target with a rectangular frame through manual or item recognitio...

Embodiment 3

[0039] Install a high-definition camera on the body of the aerial work robot, adjust the parameters of the high-definition camera, and take high-definition pictures from different positions in the flight; The UAV body is blocked, and the internal parameters of the high-definition camera are calibrated before the UAV takes off. The internal parameters include the internal parameters of the depth camera, the position parameters of the RGB camera and the depth camera bracket, and shoot the target in the RGB image to extract the RGB image. , and combined with the corresponding depth map to construct a three-dimensional point feature map. The points in the three-dimensional point feature map are called map points; The corresponding relationship between the position point and the map point, to deal with the target of the occluded aerial work robot, mark the operation target with a rectangular frame through manual or item recognition technology, and define the world coordinate system ...

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PUM

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Abstract

The invention discloses an air autonomous navigation method for an electronic boundary point in a GNSS (Global Navigation Satellite System) shielding area, which comprises the following steps of: installing a high-definition camera on a body of an air operation robot, adjusting parameters of the high-definition camera, and shooting high-definition images from different positions in flight; extracting feature points of the RGB image; the beneficial effects of the invention are that the space-ground robot is set to collect information cooperatively, and the collected information is used to establish the positioning model, so that the problems that the navigation positioning model itself cannot avoid the influence of gross error, the larger the gross error is, the lower the navigation positioning precision is, and the INS assists the integer ambiguity calculation and cycle slip detection and repair are solved; the air autonomous navigation method for the electronic boundary point of the GNSS shielding area has the advantages that an inertial navigation fusion GNSS high-precision low-dynamic self-adaptive tight fusion model is constructed, the problems of INS-assisted integer ambiguity resolving and cycle slip detection and repair are solved, the method is integrated to an unmanned aerial vehicle platform, and centimeter-level unmanned aerial vehicle high-precision positioning information collection is achieved.

Description

technical field [0001] The invention relates to the technical field of autonomous aerial navigation of robots, in particular to an autonomous aerial navigation method for electronic boundary points in GNSS occluded areas. Background technique [0002] Global navigation satellite system, also known as space-based PNT system, refers to a space navigation and positioning technology that uses navigation satellites in space to navigate and position ground, ocean and space users. Satellite navigation and positioning technology has basically replaced radio astronomy and traditional geodetic technology, and promoted the development of new navigation research. In the next few years, GNSS system will enter a new stage23. With the application of GNSS navigation systems in various fields, especially in the aviation field, receiver autonomous integrity detection technology plays a pivotal role, and its integrity determines whether the navigation system can be used. Therefore, the study o...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S19/47G01C11/08
CPCG01S19/47G01C11/08
Inventor 王庆王春雨牛运丰
Owner 江苏集萃未来城市应用技术研究所有限公司