基于目视遥控的无人机直线飞行与航线作业试验

Experiment of Straight and Airline Flight Operation for Farmland Based on UAV in Visual Remote Mode

为了得到在无导航目视遥控模式下农用无人机的直线飞行特性、检验农田作业航线的人为即时规划情况和评价实际作业质量及效果,设计了基于GPS的坐标采集无线传输系统,以水稻田边界直线为参照,通过目视和经验遥控无人机分别进行循直线飞行试验和基于作业幅宽的航线规划飞行试验。结果表明目视遥控模式下难以控制无人机沿直线飞行;人为即时规划的航线与理论航线偏离严重;在理想喷雾条件下估算出的作业遗漏率为17.1%,重复作业占8.2%,区域外浪费占0.7%;同时,目视遥控模式下无人机的高度及速度表现出无规律随机性。因此在无导航情况下,仅凭目视和经验遥控无人机难以做到精准作业。以GPS导航为主、能根据田块实际大小智能优化并生成作业航线的自主飞行作业模式是未来农用无人机进行精准作业的发展方向。

To get the straight flight features of agricultural UAV（unmanned aerial vehicle） ,and to verify and evaluate the artificial path planning and the actual operating results in visual remote flight mode, a wireless transmission system based on GPS was designed. The handier took the straight boundary of paddy field as a reference by using remote control UAV based on visual and experience. Straight flight experiment and the real-time path planning flight experiment were implemented on the base of the paddy field boundary. The results showed that it was difficult to control the UAV flying in a straight line in visual remote control mode, and the artificial planning route deviated from the ideal flight path significantly for the reason of no reference. It was estimated that the skip rate was 17.1% , duplication operation occupied 8.2% , and outside wasted region accounted for 0.7%. Meanwhile, the height and speed of the UAV had a characteristic of erratic randomness in visual remote flight mode. Therefore, in case of no navigation, it is difficult for handler to implement precise operation by means of visual and experience alone. Autonomous flight mode with GPS navigation, intelligent optimization and generates flight trajectory, is the direction for future development of UAV applied in precision farming.