论无人机高精度定位与视觉自动跟踪融合技术

在电网系统中,输电线路是其核心组成部分,为进一步提升电力传输系统运行的稳定性和安全性,相关部门与企业必须构建更为完善的输电线路巡检系统。无人机在巡检过程中通常会面临着复杂环境和一些突发问题,如视线较差、障碍物分布过于集中等,实际运行时无人机就会无法有效躲避,并且在精度上也有所欠缺,在实际工作中就应引入位置信息融合即时定位与地图构建算法,在有效结合高精度定位信息和其他传感器获得详细参数的基础上,采用更为先进的动态跟踪技术和数据融合方法,利用逻辑数据融合实现对无人机飞行的精准控制,同时在及时收集和分析滤波器输出的位置信息后将其反馈给无人机设备的控制终端,控制终端的操作人员根据实际情况及时调整和改进无人机的飞行控制方式,有效地避开各类障碍物,大大提升无人机的导航能力和定位精度。该文便从相关理论的研究、基于RTK的多传感器融合和实验验证及分析3方面详细讨论无人机高精度定位和视觉自动跟踪融合技术。

In the power grid system,the transmission line is its core component.In order to further improve the stability and security of the power transmission system,relevant departments and enterprises must build a more perfect transmission line inspection system.UAV is usually faced with complex environment and some sudden problems in the process of inspection,such as poor line of sight,over-concentrated distribution of obstacles,etc.In actual operation,UAV will not be able to avoid effectively,and there is also a lack of accuracy.In practical work,the algorithm of location information fusion real-time positioning and map construction should be introduced,on the basis of effectively combining high-precision positioning information and other sensors to obtain detailed parameters.The more advanced dynamic tracking technology and data fusion method are adopted,and the precise control of UAV flight is realized by logic data fusion.at the same time,after collecting and analyzing the position information output of the filter in time,it is fed back to the control terminal of the UAV equipment,and the operator of the control terminal adjusts and improves the flight control mode of the UAV in time according to the actual situation to avoid all kinds of obstacles effectively.The navigation ability and positioning accuracy of UAV are greatly improved.In this paper,the fusion technology of high-precision positioning and visual automatic tracking of UAV is discussed in detail from three aspects:related theoretical research,multi-sensor fusion based on RTK and experimental verification and analysis.