Autonomous Patrol Technology and System on Leapfrog-Type Charging UAV-Automatic Positioning of UAV Based on GPS/RTK
Jiahao Lu, Jiahua Guan, Zitian Mai, Zhihao Li, Yaofeng Jian, Haojun Chen, Donglun Li, Qiting Zheng · 2023
In order to solve the problem of endurance in the process of unmanned aerial vehicle (UAV) line patrol, an autonomous UAV line patrol system based on leapfrog charging is designed and implemented. The key to achieving the goal of autonomous line patrol for UAVs is autonomous positioning technology and automatic charging control technology. This paper focuses on the research of autonomous positioning technology for UAVs based on GPS/RTK. First of all, the system structure and operating principle of leapfrog-type charging UAV is proposed, and the combined GPS/RTK navigation control module and automatic identification module are developed. Then, in order to ensure that the UAVs can precise positioning, accurate calibration of cameras and targets are studied. Finally, this paper conducts experimental simulations in the three main links of attitude solving, acceleration compensation and delay compensation in line patrol technology. The experimental results show that the attitude solving algorithm can accurately estimate the flight attitude of the UAVs in flight, and can compensate for the motion acceleration in a timely and fast manner. The delay compensation algorithm can effectively solve the problem of positioning sensor delay. When the barometer output altitude data is unhealthy, the system can identify the health of the data and automatically fuse the altitude data output by GPS. Therefore, the methods and research conclusions proposed in this paper have important engineering guiding significance for the autonomous line patrol of UAVs.