Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

In-tunnel unmanned aerial vehicle positioning system and method based on double single-line laser radars

A single-line laser radar and positioning system technology, applied in the radio wave measurement system, electromagnetic wave re-radiation, utilization of re-radiation, etc., can solve the problems of high cost and inability to three-dimensional positioning, and achieve low cost, light weight, and small amount of calculation Effect

Pending Publication Date: 2022-01-11
STATE GRID XINYUAN +1
View PDF0 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] To sum up, the existing positioning of drones in tunnels has the problems of high cost of using multi-line 3D lidar, and the problem that 3D positioning cannot be achieved by using single-line 2D lidar

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • In-tunnel unmanned aerial vehicle positioning system and method based on double single-line laser radars
  • In-tunnel unmanned aerial vehicle positioning system and method based on double single-line laser radars
  • In-tunnel unmanned aerial vehicle positioning system and method based on double single-line laser radars

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0041] The present invention will be further described below in conjunction with the accompanying drawings and embodiments, but not as a basis for limiting the present invention.

[0042] Example. The UAV positioning system in the tunnel based on dual single-line lidars includes a multi-rotor UAV, an onboard processor, and two orthogonally placed single-line lidars; Directly above and on the right side; the onboard processor has the function of processing the positioning algorithm of the multi-rotor UAV, and the onboard processor is set in the multi-rotor UAV; the onboard processor is connected to the flight controller.

[0043] The scanning surface of the single-line laser radar directly above the multi-rotor UAV is a horizontal plane, and the normal line of the scanning surface on the right side of the multi-rotor UAV is perpendicular to the direction of the nose of the multi-rotor UAV.

[0044] The on-board processor is connected with the flight controller through Mavros; ...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses an in-tunnel unmanned aerial vehicle positioning system and method based on double single-line laser radars. The positioning system comprises a multi-rotor unmanned aerial vehicle, an airborne processor and two orthogonally placed single-line laser radars. The single-line laser radars are respectively arranged right above and on the right side of the multi-rotor unmanned aerial vehicle; the positioning method comprises the following steps of: initializing an environment map: completing the initialization of the environment map through the single-line laser radars; calculating a coordinate occupancy value; acquiring a horizontal pose; acquiring a vertical pose; and acquiring a three-dimensional pose of the multi-rotor unmanned aerial vehicle; compared with a positioning method adopting a multi-line laser radar, the two orthogonal single-line laser radars adopted by the invention are lower in cost and lighter in weight, a large unmanned aerial vehicle with large load capacity is not needed, and the burden on a multi-rotor unmanned aerial vehicle is smaller and the power consumption is lower; three-dimensional positioning of the multi-rotor unmanned aerial vehicle can be realized only by two single-line laser radars. The system has the advantages of low cost and capability of three-dimensionally positioning the unmanned aerial vehicle by adopting the single-line two-dimensional radars.

Description

technical field [0001] The invention relates to an unmanned aerial vehicle positioning system, in particular to an unmanned aerial vehicle positioning system in a tunnel based on a double-single-line laser radar and a method thereof. Background technique [0002] In recent years, with the development of micro-electromechanical systems, the performance of multi-rotor UAVs has been continuously improved. Multi-rotor UAVs have the advantages of simple structure, good maneuverability, vertical take-off and landing, and fixed-point hovering, and are widely used in every industry. Large-scale infrastructure construction, such as closed industrial scenes such as hydropower high-pressure water pipelines and tunnels, must be regularly inspected to ensure the safety of production and operation. In response to this problem, the use of drones for inspections has become a new solution. However, in closed industrial scenes, the GPS signal is not strong or even blocked, and the drone can...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Applications(China)
IPC IPC(8): G01S17/88G01S17/06G01C21/20G01C22/00
CPCG01S17/88G01S17/06G01C21/206G01C22/00
Inventor 沈浩田伟陈艳超姜泽界楼勇朱中山
Owner STATE GRID XINYUAN
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com