基于卫星定位的激光清障瞄准和切割方法

Laser barrier removal aiming and cutting method based on satellite positioning

以清除输电线路或城市景观高处障碍物为目的,提出基于RTK高精度卫星定位的无人机激光清障瞄准和切割方法。该方法使用无人机搭载激光清障设备执行高空障碍物清除任务,通过RTK定位技术通过修正卫星GPS载波相位方式定位无人机飞行位置后,利用激光边界抛物线模型拟合激光切割点的边缘,得到激光切割障碍物时最佳拟合边界抛物线,实现人机激光清障瞄准。当无人机搭载激光清障装置瞄准障碍物后,用户使用激光清障控制程序,控制激光清障装置内的激光器,完成障碍物切割任务。

In order to remove the high barrier of transmission line or urban landscape,a laser barrier removal aiming and cutting method of UAV based on RTK high-precision satellite positioning is proposed.In this method,the UAV is equipped with laser barrier removal equipment to perform the high-altitude barrier removal task.After the UAV flight position is located by modifying the satellite GPS carrier phase through RTK positioning technology,the edge of the laser cutting point is fitted by using the laser boundary parabola model to obtain the best fitting boundary parabola when laser cutting the barrier,so as to realize the laser barrier removal aiming of the UAV.When the UAV is equipped with the laser barrier removal device to aim at the obstacle,the user uses the laser barrier removal control program to control the laser in the device to complete the barrier cutting task.