蛙跳式充电的无人机自主巡线技术与系统(一):基于GPS/RTK的无人机自主定位

Technology and system of UAV autonomous line patrol based on leapfrog charging(Ⅰ):autonomous positioning of UAV based on GPS/RTK

为解决无人机巡线过程中的续航难题,设计实现基于蛙跳式充电的无人机自主巡线系统。作为第一部分,本文基于GPS/RTK的无人机自主定位展开研究。首先,针对南方电网公司提出的无人机无人操控自主巡线目标,搭建了蛙跳式充电平台,以提高无人机的续航能力;然后,为保证无人机能按预设航迹进行自主导航,并准确降落到地面平台进行充电,对无人机GPS/RTK组合导航模块中自主巡线关键技术进行了研究;最后,分别对巡线技术中姿态解算、加速度补偿及延时补偿这3个主要环节进行实验仿真。实验结果表明:姿态解算算法可以准确地估计无人机在飞行中的飞行姿态,并能适时快捷地补偿运动加速度;延时补偿算法能有效地解决定位传感器延时的问题;在气压计输出高度数据不健康时,系统能识别数据的健康状况,并自动融合GPS输出的高度数据。因此本文提出的方法和研究结论对无人机的自主巡线有着重要的工程指导意义。

For the purpose of solving the endurance problem in the process of unmanned aerial vehicle(UAV)line patrol,an autonomous line patrol system of UAV based on leapfrog charging is designed and implemented.As the first part,the autonomous positioning of UAV based on Global Positioning System/Real-time Kinematic(GPS/RTK)is studied in this paper.Firstly,aiming at the goal of UAV autonomous line patrol proposed by China Southern Power Grid Corporation,a leapfrog charging platform is built to improve the endurance of UAV.Then,in order to ensure that the UAV can conduct autonomous navigation according to the preset track and accurately land on the ground platform for charging,the key technologies of autonomous line patrol in the UAV GPS/RTK integrated navigation module are studied.Finally,the three main links of attitude calculation,acceleration compensation and delay compensation in line patrol technology are experimentally simulated.Experimental results show the attitude calculation algorithm can accurately estimate the flight attitude of UAV in flight and can quickly compensate the motion acceleration in time.The delay compensation algorithm can effectively solve the problem of positioning sensor delay.When the barometer output altitude data is unhealthy,the system can identify the health status of the data and automatically fuse the GPS output altitude data.Therefore,the methods and research conclusions proposed in this paper have important engineering guiding significance for the autonomous line patrol of UAV.