基于自主纠偏检测技术在无人机自主巡检系统的设计与应用
The Design and Application of Autonomous Deviation Correcting Detection Technology in UAV Autonomous Patrol System
王倩 1李明 1李刚1
作者信息
- 1. 北京国网信通埃森哲信息技术有限公司,北京 100053
- 折叠
摘要
随着无人机在世界各个领域的广泛应用,关于无人机的自主巡航技术越来越受到社会各界的关注.文章将自主纠偏检测技术融入到无人机自主巡检系统的设计中,通过惯性测量模块,获取无人机飞行姿态的相关数据,然后在飞行数据记录模块记录无人机所接受到的数据,通过LED模块可以实现图片坐标化转换后的数据可视化,实时动态模块可实时掌握无人机的位置以及飞行状态,并通过Hough变换实现对圆的精准识别.实验表明,本文系统偏差范围最小只有0.19m,且纠偏用时也最少为4.03s.同时三种系统下本文系统对圆识别的精准度最高为99.31％,本文系统的速度控制数据输出曲线与期望值基本一致.由此可见,该系统不仅纠偏能力强、识别的精准度高,且具有良好的追踪功能.
Abstract
with the wide application of UAV in the world,the autonomous cruise technology of UAV is attracting more and more attention.In this paper,the technology of self-correcting devi-ation detection is integrated into the design of UAV autonomous patrol system,the data received by the UAV is then recorded in a flight data recorder module,which uses an LED module to da-ta visualization the converted image,the real-time dynamic module can grasp the position and flight status of UAV in real-time,and realize accurate circle recognition by Hough transform.The experiment shows that the system deviation range is only 0.19 m,and the correction time is 4.03 s at least.At the same time,the accuracy of the system is 99.31％,and the output curve of the speed control data is consistent with the expected value.It can be seen that the system not on-ly has strong ability of correcting deviation,high accuracy of recognition,but also has good tracking function.
关键词
无人机/自主巡检/自主纠偏技术/Hough变换/精准度Key words
UAV/Autonomous Patrol/Autonomous deviation correction technology/Hough transform/Accuracy引用本文复制引用
出版年
2024
NETL
NSTL
万方数据