High-precision positioning system for unmanned aerial vehicles in disaster prevention and reduction scenarios
Unmanned Aerial Vehicle(UAV)has been widely used in power inspection disaster prevention and reduction.However,the existing positioning method of the UAV mainly relies on the Global Satellite Navigation System(GNSS).In applications that require high positioning accuracy,the internet is usually required for RTK.In disaster prevention and mitigation application scenarios,an insufficient number of available GNSS satellites,strong multipath effects,and lack of public network signals,make high-precision positioning of UAV hard to achieve.Given this,this paper proposes a real-time dynamic positioning method for UAV using the high-precision robotic total station(RTS).A high-precision positioning system for UAV was constructed,including a Leica RTS and a DJI Quadrotor UAV.Based on the DJI mobile SDK and Leica GeoCOM protocol,an Android control software was developed using JAVA.The transformation relationship between the airborne prism and the center of the camera was established through indoor calibration and was validated through outdoor drone photogrammetry experiments.The results showed that this system can achieve high-precision positioning of drones with mm level accuracy in GNSS denied and no public network environments.
UAVrobotic total stationno public networkphotogrammetrydisaster prevention and reduction
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