Lightweight laser inertial mileage weighing and positioning method for electric power inspection unmanned aerial vehicle platform

Abstract

The invention discloses a lightweight laser inertial odometer repositioning method for an electric power inspection unmanned aerial vehicle platform, which has the effects that firstly, global positioning information is acquired by using a high-precision real-time dynamic carrier phase difference technology, initial coarse registration between a point cloud map coordinate system and an unmanned aerial vehicle starting coordinate system is realized, and a reliable pose initial value is provided; secondly, constructing a dynamic quality feedback and adjustment closed loop in a fine registration stage: calculating an average effective residual error and an effective matching rate of matching of a current laser point cloud frame and a map in real time so as to quantitatively evaluate registration quality; and if the registration quality is lower than a preset threshold value, searching is automatically carried out in a limited attitude space, an optimal attitude correction amount is searched by taking the comprehensive quality score as an optimization target, and a global pose is corrected according to the optimal attitude correction amount. And finally, after the registration quality meets the requirement, updating the global map, completing accurate alignment of the global map and the coordinate system of the current radar frame, and providing accurate initial state input for a subsequent laser inertial odometer.

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