Aircraft winding inspection device and positioning method thereof, and storage medium
A technology for inspection devices and positioning methods, applied to measuring devices, re-radiation of electromagnetic waves, and utilization of re-radiation, etc., can solve problems such as satellite rejection, inapplicability to airport environments, and low reliability of GPS positioning
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[0047]The main solution of the embodiment of the present application is: control the machine-around inspection device to run around the aircraft, and establish the laser radar point cloud map of the aircraft wheel in the aircraft coordinate system according to the lidar point cloud of the wheel obtained at different times; during the inspection process, Perform point cloud matching on the laser radar point cloud of the machine wheel under the coordinate system of the walk-around inspection device and the laser radar point cloud map, and obtain the transformation of the laser radar point cloud of the machine wheel in the coordinate system of the walk-around inspection device A conversion matrix to the aircraft coordinate system; determining the pose of the walk-around inspection device in the aircraft coordinate system according to the conversion matrix.
[0048] Since the existing technology mainly adopts the satellite / inertial sensor fusion method for the positioning of the or...
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