Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Eine Plattform für die Wissenschaft: Bauingenieurwesen, Architektur und Urbanistik
Bridge detection unmanned aerial vehicle visual navigation method based on label assistance
The invention discloses a bridge detection unmanned aerial vehicle visual navigation method based on label assistance, and the method comprises the steps: laying a plurality of positioning two-dimensional code labels on a to-be-detected bridge at intervals along a flight route of an unmanned aerial vehicle; in the flight process of the unmanned aerial vehicle, continuously observing the surface of the to-be-detected bridge through a camera on the unmanned aerial vehicle, and when the camera observes the positioning two-dimensional code label, querying a corresponding coordinate value combination according to the positioning two-dimensional code label; determining a first conversion relation matrix between the positioning two-dimensional code label and the camera according to the coordinate value combination; combining the first conversion relation matrix, the second conversion relation matrix and the coordinate value combination to solve the first position information of the unmanned aerial vehicle; using the first position information to replace the second position information of the unmanned aerial vehicle obtained through the VIO, and continuing the navigation of the unmanned aerial vehicle; according to the method, drift errors generated by a VIO algorithm can be eliminated, the positioning precision is improved, and the workload of back-end optimization is reduced.
本发明公开了一种基于标签辅助的桥梁检测无人机视觉导航方法，沿无人机飞行路线，在待检测桥梁上间隔布设多个定位二维码标签；在无人机的飞行过程中，通过无人机上的相机持续观测待检测桥梁表面，当相机观测到定位二维码标签时，根据定位二维码标签查询对应的坐标值组合；根据坐标值组合确定定位二维码标签与相机之间的第一转换关系矩阵；结合第一转换关系矩阵、第二转换关系矩阵和坐标值组合解算无人机的第一位置信息；使用第一位置信息替代通过VIO获得的无人机的第二位置信息，继续进行无人机导航；本发明可以消除VIO算法产生的漂移误差，提升定位精度，减少后端优化的工作量。
Bridge detection unmanned aerial vehicle visual navigation method based on label assistance
The invention discloses a bridge detection unmanned aerial vehicle visual navigation method based on label assistance, and the method comprises the steps: laying a plurality of positioning two-dimensional code labels on a to-be-detected bridge at intervals along a flight route of an unmanned aerial vehicle; in the flight process of the unmanned aerial vehicle, continuously observing the surface of the to-be-detected bridge through a camera on the unmanned aerial vehicle, and when the camera observes the positioning two-dimensional code label, querying a corresponding coordinate value combination according to the positioning two-dimensional code label; determining a first conversion relation matrix between the positioning two-dimensional code label and the camera according to the coordinate value combination; combining the first conversion relation matrix, the second conversion relation matrix and the coordinate value combination to solve the first position information of the unmanned aerial vehicle; using the first position information to replace the second position information of the unmanned aerial vehicle obtained through the VIO, and continuing the navigation of the unmanned aerial vehicle; according to the method, drift errors generated by a VIO algorithm can be eliminated, the positioning precision is improved, and the workload of back-end optimization is reduced.
本发明公开了一种基于标签辅助的桥梁检测无人机视觉导航方法，沿无人机飞行路线，在待检测桥梁上间隔布设多个定位二维码标签；在无人机的飞行过程中，通过无人机上的相机持续观测待检测桥梁表面，当相机观测到定位二维码标签时，根据定位二维码标签查询对应的坐标值组合；根据坐标值组合确定定位二维码标签与相机之间的第一转换关系矩阵；结合第一转换关系矩阵、第二转换关系矩阵和坐标值组合解算无人机的第一位置信息；使用第一位置信息替代通过VIO获得的无人机的第二位置信息，继续进行无人机导航；本发明可以消除VIO算法产生的漂移误差，提升定位精度，减少后端优化的工作量。
Bridge detection unmanned aerial vehicle visual navigation method based on label assistance
一种基于标签辅助的桥梁检测无人机视觉导航方法
ZHANG YIZHAI (Autor:in) / YANG QILEI (Autor:in) / HUANG PANFENG (Autor:in) / ZHANG FAN (Autor:in) / LIU ZHENGXIONG (Autor:in)
17.09.2021
Patent
Elektronische Ressource
Chinesisch
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