面向防灾减灾场景的无人机高精度定位系统

High-precision positioning system for unmanned aerial vehicles in disaster prevention and reduction scenarios

针对现有的无人机定位主要依赖全球导航卫星系统(GNSS),在防灾减灾应用场景下GNSS可用卫星数量不足、多径效应强烈、无公网信号等问题,该文提出利用测量机器人的高精度跟踪测量功能对无人机进行定位的方法。选用Leica测量机器人和大疆四旋翼无人机构建了硬件系统;基于DJI Moblile SDK和Leica GeoCOM通讯协议,利用JAVA语言开发了Android端控制软件;基于室内标定的机载棱镜到相机中心转换关系,利用室外无人机低空摄影测量实验验证了系统精度。结果表明该系统可实现不依赖GNSS的无人机毫米级高精度定位。

Unmanned Aerial Vehicle(UAV)has been widely used in power inspection disaster prevention and reduction.However,the existing positioning method of the UAV mainly relies on the Global Satellite Navigation System(GNSS).In applications that require high positioning accuracy,the internet is usually required for RTK.In disaster prevention and mitigation application scenarios,an insufficient number of available GNSS satellites,strong multipath effects,and lack of public network signals,make high-precision positioning of UAV hard to achieve.Given this,this paper proposes a real-time dynamic positioning method for UAV using the high-precision robotic total station(RTS).A high-precision positioning system for UAV was constructed,including a Leica RTS and a DJI Quadrotor UAV.Based on the DJI mobile SDK and Leica GeoCOM protocol,an Android control software was developed using JAVA.The transformation relationship between the airborne prism and the center of the camera was established through indoor calibration and was validated through outdoor drone photogrammetry experiments.The results showed that this system can achieve high-precision positioning of drones with mm level accuracy in GNSS denied and no public network environments.