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RTK Kalman filtering optimization method for unmanned aerial vehicles

A technology of Kalman filter and optimization method, which is applied in the direction of radio wave measurement system, satellite radio beacon positioning system, measurement device, etc., and can solve inaccurate positioning, large deviation of elevation information, low processing efficiency of manual inspection status discovery, etc. Problems, to achieve accurate position and elevation positioning, improve sensitivity and accuracy, and improve positioning accuracy

Pending Publication Date: 2019-11-19
海南电网有限责任公司 +1
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Problems solved by technology

[0002] With the development of industrial automation and UAV technology, the traditional manual power inspection method can no longer meet the current real-time, efficient and accurate operation requirements of the power grid. Very low processing efficiency
The development of science and technology drives the transformation of operation methods. UAV inspection will become the mainstream method of power inspection in the future. However, there are still certain technical difficulties in UAV inspection at present, such as automatic positioning, automatic navigation, image processing, etc. At present, The positioning technology and method used usually have the problem of large deviation of elevation information and inaccurate positioning, and the Kalman filter algorithm is a good solution

Method used

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  • RTK Kalman filtering optimization method for unmanned aerial vehicles
  • RTK Kalman filtering optimization method for unmanned aerial vehicles
  • RTK Kalman filtering optimization method for unmanned aerial vehicles

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[0054] In order to better understand the technical content of the present invention, specific embodiments are provided below, and the present invention is further described in conjunction with the accompanying drawings.

[0055] see figure 1, the invention discloses a RTK Kalman filter optimization method for unmanned aerial vehicle, it is characterized in that, comprises:

[0056] S1. The acquisition terminal located on the UAV collects several geodetic coordinates (X, Y, Z) of the UAV in the WGS-84 coordinate system, and establishes the state equation and observation equation of the Kalman filter under the nonlinear dynamic system , according to the state equation and observation equation of the Kalman filter, the Kalman filter model is established;

[0057] S2. Determine the initial state of the nonlinear dynamic system, that is, confirm the initial value of the state parameter, the initial value of the variance matrix and the initial variance matrix of the dynamic noise i...

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Abstract

The invention provides an RTK Kalman filtering optimization method for unmanned aerial vehicles, which comprises the following steps: an acquisition terminal located on an unmanned aerial vehicle acquires a plurality of geodetic coordinates of the unmanned aerial vehicle under a WGS-84 coordinate system, a state equation and an observation equation of Kalman filtering under a nonlinear dynamic system are established, and a Kalman filtering model is established according to the state equation and the observation equation of Kalman filtering; an initial state of the nonlinear dynamic system is determined, namely, a state parameter initial value, a variance matrix initial value and a dynamic noise initial variance matrix of an initial epoch are confirmed; and based on the state equation and the observation equation of the initial epoch, the state parameter initial value, the variance matrix initial value and the dynamic noise initial variance matrix are filtered by a Kalman filtering recursion equation to obtain a filtering value. The positioning precision of unmanned aerial vehicles can be improved.

Description

technical field [0001] The invention relates to the technical field of UAV positioning, in particular to an RTK Kalman filter optimization method and system for UAVs. Background technique [0002] With the development of industrial automation and UAV technology, the traditional manual power inspection method can no longer meet the current real-time, efficient and accurate operation requirements of the power grid. Processing efficiency is extremely low. The development of science and technology drives the transformation of operation methods. UAV inspection will become the mainstream method of power inspection in the future. However, there are still certain technical difficulties in UAV inspection at present, such as automatic positioning, automatic navigation, image processing, etc. At present, The positioning technology and method used usually have the problem of large deviation of elevation information and inaccurate positioning, and the Kalman filter algorithm is a good s...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S19/43
CPCG01S19/43
Inventor 刘佳陇吴育武劳全陈春邢铀陈永铧周川蒋卿叶盛
Owner 海南电网有限责任公司
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