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炉内受热面智能检测无人机密闭空间精准定位技术

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针对当前炉内受热面智能检测无人机密闭空间精准定位过程中,所使用技术数据融合能力较差,导致无人机密闭空间精准定位误差较大、耗时较长的问题,提出新型炉内受热面智能检测无人机密闭空间精准定位技术.应用激光雷达设备,设定密闭空间无人机位姿估计算法.根据激光雷达数据特征,使用卡尔曼滤波器对无人机飞行原始数据以及采集到的软件数据进行融合处理.计算三维空间点云数据的真实尺寸,设计无人机密闭空间定位算法.构建技术应用测试环节,测试结果表明:此技术可进一步提升无人机定位精度,缩短无人机定位耗时.
Intelligent Detection of Heating Surface in Furnace and Precise Positioning Technology of Unmanned Aerial Vehicle in Confined Space
A new type of unmanned aerial vehicle(UAV)precise positioning technology for intelligent detection of heating surfaces in furnaces is proposed to address the issue of poor data fusion capabilities in the current process of precise positioning of unmanned aerial vehicles in en-closed spaces,resulting in significant positioning errors and long time consumption.Apply LiDAR equipment to set up pose estimation algo-rithms for unmanned aerial vehicles in confined spaces.Based on the characteristics of LiDAR data,a Kalman filter is used to fuse the original flight data of unmanned aerial vehicles and the collected software data.Calculate the true size of 3D point cloud data and design a drone con-fined space positioning algorithm.The construction technology application testing process,and the test results show that this technology can further improve the positioning accuracy of drones and shorten the positioning time of drones.

drone positioningKalman filtering algorithmdata fusionLiDARconfined spacepower plant boiler inspection

王明生

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国能宁夏鸳鸯湖第一发电有限公司,宁夏 银川 750410

无人机定位 卡尔曼滤波算法 数据融合 激光雷达 密闭空间 电站锅炉巡检

2024

工业加热
西安电炉研究所有限公司

工业加热

CSTPCD
影响因子:0.257
ISSN:1002-1639
年,卷(期):2024.53(9)