Application and Research of UAV Automatic Inspection and Positioning Control Technology
Hanhua Cao, Feng Ding, He Xiu, Changle Gu · 2023
In order to solve the problem of excessive deflection of UAV patrol angle and make the layout of patrol nodes more in line with the actual positioning requirements, the automatic patrol positioning control technology of UAV based on machine vision is studied. According to the principle of patrol coordinate transformation, the forward kinematics equation and inverse kinematics equation of UAV are solved respectively, and the patrol nodes of UAV based on machine vision are grasped and processed. On this basis, the extracted feature points are used to estimate the numerical level of pose between frames, and combined with relevant data, the positioning authority of the control host for the UAV inspection curve is determined, and the design of automatic inspection positioning control method for UAV based on machine vision is realized. Experimental results show that, compared with the detection algorithm based on Cascade R-CNN, under the action of machine vision technology, the deflection degree of UAV patrol angle is really well controlled, which can make the layout of patrol nodes more in line with the actual positioning requirements.