CN113238576A - Positioning method for unmanned aerial vehicle and related device - Google Patents
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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- G—PHYSICS
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
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- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
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- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
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- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/106—Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones
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Abstract
The application discloses a mapping positioning method based on an unmanned aerial vehicle and a related device. The method comprises the steps that in the flying process of the unmanned aerial vehicle, the IMU module, the laser radar positioning module and the RTK positioning module are subjected to resolution on the basis of data obtained by the positioning resolution module, pose data of the unmanned aerial vehicle in a world coordinate system are calculated and output through a mileometer of the laser radar positioning module; and fusing the pre-integration position in the IMU module, the pose data in the laser radar positioning module, the GPS position and the course data in the RTK positioning module in real time to obtain the pose data of the unmanned aerial vehicle in a world coordinate system in real time. The technical problem of unmanned aerial vehicle realize fixing a position effectively, build the picture when indoor outer switching has been solved in this application. The indoor and outdoor free switching and indoor map positioning functions are realized through the application.
Description
Technical Field
The application relates to the field of unmanned aerial vehicle positioning and image construction, in particular to a positioning method and a related device for an unmanned aerial vehicle.
Background
Unmanned aerial vehicles, especially industrial unmanned aerial vehicles, have been developed at a high speed in recent years, and the application of industrial unmanned aerial vehicles has been developed from initial aerial survey and disaster relief to current indoor fire relief, coal inventory in coal plants, tunnel survey and the like.
However, when the unmanned aerial vehicle is freely switched indoors and outdoors and performs real-time mapping and positioning indoors, the relocation basically fails due to large change of environment.
To the problem that unmanned aerial vehicle realized effectively fixing a position, building the picture when switching indoor outer among the correlation technique, the effectual solution has not been proposed yet at present.
Disclosure of Invention
The main purpose of the present application is to provide a positioning method and related apparatus for an unmanned aerial vehicle, so as to solve the problem of effective positioning and mapping when the unmanned aerial vehicle is switched indoors and outdoors.
In order to achieve the above object, according to one aspect of the present application, there is provided a positioning method for a drone.
The unmanned aerial vehicle includes: the IMU module is used for sending the attitude data of the unmanned aerial vehicle to the positioning analysis module; the laser radar positioning module is used for scanning point cloud data and sending the point cloud data to the positioning analysis module; the RTK positioning module is used for sending the GPS positioning data and the course data to the positioning analysis module and receiving rtcm data of the RTK base station; the positioning analysis module is used for receiving a control instruction transmitted by the ground station and rtcm data of the RTK base station; the data transmission module is used for sending the map data obtained by the analysis of the positioning analysis module and the flight data of the unmanned aerial vehicle to a ground station; the flight control module is used for receiving the first packed data sent by the positioning analysis module; the flight control module is further configured to receive second packed data sent by the positioning analysis module, and send a control instruction to the unmanned aerial vehicle, where the control instruction is determined according to the first packed data and the second packed data, and the first packed data and the second packed data are different types of data; the method comprises the following steps: in the flying process of the unmanned aerial vehicle, the position and orientation data of the unmanned aerial vehicle in a world coordinate system are calculated based on the data obtained by the positioning analysis module, the IMU module, the laser radar positioning module and the RTK positioning module and are output through a mileage meter of the laser radar positioning module; wherein the odometer output is further configured to generate a lidar map from the point cloud data; converting the GPS position and the course data acquired from the RTK positioning module into the world coordinate system according to the origin position coordinate of the unmanned aerial vehicle in the world coordinate system; and fusing the pre-integration position in the IMU module, the pose data in the laser radar positioning module, the GPS position and the course data in the RTK positioning module in real time to obtain the pose data of the unmanned aerial vehicle in the world coordinate system in real time.
Further, still include: the indoor map is built in advance through an odometer of the laser radar positioning module, and map data of a partial area are obtained; and establishing a target area map according to the positioning data and the course data acquired by the RTK positioning module when the unmanned aerial vehicle flies and the map data of the partial area, so as to acquire all the map data of the target area.
Further, in the process of flying the unmanned aerial vehicle, the positioning analysis module is used for solving the pose data of the unmanned aerial vehicle in the world coordinate system based on the data obtained by the RTK positioning module, the laser radar positioning module and the IMU module, and the pose data is output through a odometer of the laser radar positioning module, and the method further includes: the attitude data of the laser radar positioning module is calculated out in real time through integration of the data obtained from the IMU; correcting laser radar point cloud data caused by the unmanned aerial vehicle motion distortion according to the attitude data; extracting characteristic points from the corrected laser radar point cloud data and matching; and outputting the laser radar map obtained after the feature points of all frames are matched through the odometer of the laser radar positioning module.
Further, after outputting the laser radar map obtained after matching the feature points of all frames by the odometer of the laser radar positioning module, the method further comprises the step of improving the pose accuracy output by the laser radar odometer: and carrying out rough matching of the laser odometer according to the next frame or a plurality of frames of new point laser point cloud data and the previous frame of laser point cloud data, and simultaneously carrying out precise matching with the laser radar map.
Further, still include: and resolving in real time through a preset obstacle avoidance algorithm to obtain pose data through the positioning analysis module, and guiding the unmanned aerial vehicle to avoid the obstacle on the flight path.
Further, the method for optimizing the positioning accuracy of the RTK positioning module comprises: when the unmanned aerial vehicle is positioned outdoors based on the RTK base station and the RTK mobile station, the position of the RTK base station antenna is fixed in a piling mode, and the coordinates of the current RTK base station antenna are recorded; and erecting the RTK base station at a position where the pile is fixed, and inputting the coordinates of the RTK base station antenna to the RTK base station when the map is established.
Further, the method for optimizing the positioning accuracy of the RTK positioning module comprises: and determining system position information of the RTK base station antenna based on a third-party positioning system, and acquiring the system position information through the third-party positioning system when a map is established.
In order to achieve the above object, according to another aspect of the present application, there is provided a positioning device for a drone, the drone comprising: the IMU module is used for sending the attitude data of the unmanned aerial vehicle to the positioning analysis module; the laser radar positioning module is used for scanning point cloud data and sending the point cloud data to the positioning analysis module; the RTK positioning module is used for sending the GPS positioning data and the course data to the positioning analysis module and receiving rtcm data of the RTK base station; the positioning analysis module is used for receiving a control instruction transmitted by the ground station and rtcm data of the RTK base station; the data transmission module is used for sending the map data obtained by the analysis of the positioning analysis module and the flight data of the unmanned aerial vehicle to a ground station; the flight control module is used for receiving the first packed data sent by the positioning analysis module; the flight control module is further configured to receive second packed data sent by the positioning analysis module, and send a control instruction to the unmanned aerial vehicle, where the control instruction is determined according to the first packed data and the second packed data, and the first packed data and the second packed data are different types of data; the device comprises: the mapping module is used for solving the pose data of the unmanned aerial vehicle in a world coordinate system based on the data obtained by the positioning analysis module to the IMU module, the laser radar positioning module and the RTK positioning module in the flying process of the unmanned aerial vehicle and outputting the pose data through a mileometer of the laser radar positioning module; wherein the odometer output is further configured to generate a lidar map from the point cloud data; the coordinate conversion module is used for converting the GPS position and the course data acquired in the RTK positioning module into the world coordinate system according to the origin position coordinate of the unmanned aerial vehicle in the world coordinate system; and the fusion positioning module is used for fusing the pre-integration position in the IMU module, the pose data in the laser radar positioning module, the GPS position and the course data in the RTK positioning module in real time to obtain the pose data of the unmanned aerial vehicle in the world coordinate system in real time.
Further, the apparatus further comprises: the pre-mapping module is used for mapping the indoor space in advance through the odometer of the laser radar positioning module and acquiring map data of a partial area; and the whole image establishing module is used for establishing an image of a target area according to the positioning data and the course data acquired by the RTK positioning module when the unmanned aerial vehicle flies and the map data of the partial area so as to acquire all the map data of the target area.
In order to achieve the above object, according to still another aspect of the present application, there is provided a drone, including: the IMU module is used for sending the attitude data of the unmanned aerial vehicle to the positioning analysis module; the laser radar positioning module is used for scanning point cloud data and sending the point cloud data to the positioning analysis module; the RTK positioning module is used for sending the GPS positioning data and the course data to the positioning analysis module and receiving rtcm data of the RTK base station; the positioning analysis module is used for receiving a control instruction transmitted by the ground station and rtcm data of the RTK base station; the data transmission module is used for sending the map data obtained by the analysis of the positioning analysis module and the flight data of the unmanned aerial vehicle to a ground station; the flight control module is used for receiving the first packed data sent by the positioning analysis module; the flight control module is further configured to receive second packed data sent by the positioning analysis module, and send a control instruction to the unmanned aerial vehicle, where the control instruction is determined according to the first packed data and the second packed data, and the first packed data and the second packed data are different types of data.
In the positioning method and the related device for the unmanned aerial vehicle in the embodiment of the application, in the flying process of the unmanned aerial vehicle, the IMU module, the laser radar positioning module and the RTK positioning module are subjected to resolution on the basis of data obtained by the positioning resolution module to calculate the pose data of the unmanned aerial vehicle in a world coordinate system and output through a mileometer of the laser radar positioning module; wherein the odometer output is further configured to generate a lidar map from the point cloud data; converting the GPS position and the course data acquired from the RTK positioning module into the world coordinate system according to the origin position coordinate of the unmanned aerial vehicle in the world coordinate system; and fusing the pre-integration position in the IMU module, the pose data in the laser radar positioning module, the GPS position and the course data in the RTK positioning module in real time to obtain the pose data of the unmanned aerial vehicle in the world coordinate system in real time. Thereby realized when environmental change, the technological effect that unmanned aerial vehicle can pinpoint, and then solved well unmanned aerial vehicle and realized effectively fixing a position, the technical problem of establishing the picture when indoor outer switching. In addition, the laser radar map in the target area can be displayed in real time.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, serve to provide a further understanding of the application and to enable other features, objects, and advantages of the application to be more apparent. The drawings and their description illustrate the embodiments of the invention and do not limit it. In the drawings:
fig. 1 is a schematic diagram of an implemented hardware structure of a positioning method for a drone according to an embodiment of the present application;
fig. 2 is a schematic flow chart of a positioning method for a drone according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of a positioning device for a drone according to an embodiment of the present application;
fig. 4 is a schematic view of the working principle between the airborne modules in the positioning method for the unmanned aerial vehicle according to the embodiment of the application;
fig. 5 is a schematic flow chart of real-time mapping and position calculation of the drone in the positioning method for the drone according to the embodiment of the present application;
fig. 6 is a schematic diagram of outdoor indoor free switching in a positioning method for a drone according to an embodiment of the present application;
fig. 7 is a schematic structural diagram of a drone used in a positioning method of the drone according to an embodiment of the present application;
fig. 8 is a schematic structural diagram of a ground station used in a positioning method for a drone according to an embodiment of the present application.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In this application, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings. These terms are used primarily to better describe the present application and its embodiments, and are not used to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation.
Moreover, some of the above terms may be used to indicate other meanings besides the orientation or positional relationship, for example, the term "on" may also be used to indicate some kind of attachment or connection relationship in some cases. The specific meaning of these terms in this application will be understood by those of ordinary skill in the art as appropriate.
Furthermore, the terms "mounted," "disposed," "provided," "connected," and "sleeved" are to be construed broadly. For example, it may be a fixed connection, a removable connection, or a unitary construction; can be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements or components. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
The inventor discovers that the difficulty of the indoor unmanned aerial vehicle is mainly focused on sensing the environment and establishing a map in real time in the existing environment, real-time positioning is realized on the basis of the established map, and positioning data is used by the unmanned aerial vehicle. At the same time, if the drone needs to repeatedly perform indoor tasks, it also involves the relocation of the map. However, at present, no complete solution perfectly solves the problem of free switching of the unmanned aerial vehicle indoors and outdoors and real-time mapping and positioning indoors. Most of the relocation requirements are very high, the point cloud acquired by the unmanned aerial vehicle needs to be compared with the previous mapping point cloud, and if the environment is greatly changed, the relocation basically fails.
Based on the above, the application provides a set of unmanned aerial vehicle positioning system and a mapping positioning method based on an unmanned aerial vehicle, and aims to realize real-time mapping and positioning from outdoor to indoor. By carrying two sets of positioning systems and one set of rtk positioning and orientation system on the unmanned aerial vehicle, the initial position and the course of the unmanned aerial vehicle are provided by the rtk positioning system, and the other set of laser radar positioning system realizes indoor map building and positioning. The ground station can be sent through fast biography module in real time to the map that laser radar established on the unmanned aerial vehicle, and the ground station operator can see indoor scene according to the map of real-time passback subaerial, and operating personnel can set up unmanned aerial vehicle's guide position on the map again simultaneously, guide unmanned aerial vehicle flight. And storing the established map, loading the stored map after the unmanned aerial vehicle is started next time, setting guide points on the map, and executing all the guide points in a full-automatic manner after the airplane takes off.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
As shown in fig. 1, the hardware structure implemented by the mapping and positioning method based on the unmanned aerial vehicle of the present application includes: unmanned aerial vehicle 100, ground station 200. Wherein, the unmanned aerial vehicle 100 includes many, can be industry unmanned aerial vehicle or consumer grade unmanned aerial vehicle, does not limit in this application. The ground station 200 may include one or more. Through ground station 200 cooperates unmanned aerial vehicle 100 realizes freely switching indoor outdoor and establishing the picture location indoor in real time. Two sets of positioning systems and one set of rtk positioning and orientation system are carried on the unmanned aerial vehicle 100, the initial position and the course of the unmanned aerial vehicle are provided by the rtk positioning system, and the other set of laser radar positioning system realizes indoor map building and positioning. The ground station can be sent through fast biography module in real time to the map that laser radar established on the unmanned aerial vehicle, and the ground station operator can see indoor scene according to the map of real-time passback subaerial, and operating personnel can set up unmanned aerial vehicle's guide position on the map again simultaneously, guide unmanned aerial vehicle flight. And storing the established map, loading the stored map after the unmanned aerial vehicle is started next time, setting guide points on the map, and executing all the guide points in a full-automatic manner after the airplane takes off.
As shown in fig. 2 and 7, the unmanned aerial vehicle includes:
the IMU module is used for sending the attitude data of the unmanned aerial vehicle to the positioning analysis module;
the laser radar positioning module is used for scanning point cloud data and sending the point cloud data to the positioning analysis module;
the RTK positioning module is used for sending the GPS positioning data and the course data to the positioning analysis module and receiving rtcm data of the RTK base station;
the positioning analysis module is used for receiving a control instruction transmitted by the ground station and rtcm data of the RTK base station;
the data transmission module is used for sending the map data obtained by the analysis of the positioning analysis module and the flight data of the unmanned aerial vehicle to a ground station;
the flight control module is used for receiving the first packed data sent by the positioning analysis module;
the flight control module is further configured to receive second packed data sent by the positioning analysis module, and send a control instruction to the unmanned aerial vehicle, where the control instruction is determined according to the first packed data and the second packed data, and the first packed data and the second packed data are different types of data;
the method comprises the following steps S201 to S204:
step S201, in the process of flying the unmanned aerial vehicle, resolving the pose data of the unmanned aerial vehicle in a world coordinate system based on the data obtained by the positioning resolving module to the IMU module, the laser radar positioning module and the RTK positioning module and outputting the pose data through a mileometer of the laser radar positioning module; wherein the odometer output is further configured to generate a lidar map from the point cloud data;
step S202, converting the GPS position and course data acquired from the RTK positioning module into the world coordinate system according to the origin position coordinate of the unmanned aerial vehicle in the world coordinate system;
step S203, fusing the pre-integration position in the IMU module, the pose data in the laser radar positioning module, the GPS position and the course data in the RTK positioning module in real time to obtain the pose data of the unmanned aerial vehicle in the world coordinate system in real time.
From the above description, it can be seen that the following technical effects are achieved by the present application:
in the flying process of the unmanned aerial vehicle, the position and orientation data of the unmanned aerial vehicle in a world coordinate system are calculated based on the data obtained by the positioning analysis module, the IMU module, the laser radar positioning module and the RTK positioning module and are output through a mileage meter of the laser radar positioning module; wherein the odometer output is further configured to generate a lidar map from the point cloud data; converting the GPS position and the course data acquired from the RTK positioning module into the world coordinate system according to the origin position coordinate of the unmanned aerial vehicle in the world coordinate system; and fusing the pre-integration position in the IMU module, the pose data in the laser radar positioning module, the GPS position and the course data in the RTK positioning module in real time to obtain the pose data of the unmanned aerial vehicle in the world coordinate system in real time. Thereby realized when environmental change, the technological effect that unmanned aerial vehicle can pinpoint, and then solved well unmanned aerial vehicle and realized effectively fixing a position, the technical problem of establishing the picture when indoor outer switching. In addition, the laser radar map in the target area can be displayed in real time.
The unmanned aerial vehicle comprises: the device comprises an IMU module, a laser radar positioning module, an RTK positioning module, a positioning analysis module, a data transmission module and a flight control module. The ground station transmits the instruction and rtcm data of the RTK base station to the positioning analysis module through the data transmission module, and the positioning analysis module transmits map data and data related to the unmanned aerial vehicle to the ground station through the data transmission module; the point cloud data scanned by the laser radar is sent to a positioning analysis module IMU through a network port, and the attitude data is sent to the positioning analysis module through a USB; the RTK mobile station module sends GPS positioning data and course data to the positioning analysis module through a serial port, and simultaneously the positioning analysis module transmits rtcm data transmitted by the ground station to the RTK mobile station module through the serial port; the high-performance positioning resolving module is used for establishing a map and resolving a position in real time by utilizing data of an IMU (inertial measurement Unit), data of an RTK (real-time kinematic) and data of a laser radar, and sending the position and course data to the flight control module through one of the serial ports, wherein the serial port is named as a positioning data communication serial port; the positioning analysis module is communicated with the flight control module through a second path of serial port, and sends control command information to the airplane at the same time, and the path of serial port is named as a control data communication serial port.
In the step S201, in the process of flying the unmanned aerial vehicle, the positioning analysis module analyzes and calculates the pose data of the current unmanned aerial vehicle in the world coordinate system based on the relevant data obtained by the IMU module, the lidar positioning module, and the RTK positioning module. Meanwhile, the pose data are output through a milemeter of the laser radar positioning module, and a laser radar map generated according to the point cloud data collected by the laser radar positioning module is output on the milemeter.
As an optional implementation manner of this embodiment, a laser radar map generated according to the point cloud data collected by the laser radar positioning module is also output on the odometer and is visualized for the user of the ground station. In the step S202, the GPS position and the heading data acquired by the RTK positioning module are converted into the world coordinate system according to the origin position coordinate of the current unmanned aerial vehicle in the world coordinate system.
As an optional implementation manner of this embodiment, the positioning analysis module integrates the coordinate system of the laser radar odometer and the GPS satellite positioning coordinate system in the RTK positioning module, and the result of the integration is that the coordinate system of the laser radar odometer is synchronized into the GPS global coordinate system (world coordinate system). That is, the drone may determine the current coordinates relative to the GPS coordinate system even if there are no GPS signals indoors.
In step S203, based on EKF pose calculation, after performing real-time fusion on the pose data in the lidar positioning module and the GPS position and the heading data in the RTK positioning module at the pre-integrated position in the IMU module, the pose data of the unmanned aerial vehicle in the world coordinate system in real time is output. The positioning position information of the unmanned aerial vehicle is determined.
As a preference in the present embodiment, the present invention further includes: the indoor map is built in advance through an odometer of the laser radar positioning module, and map data of a partial area are obtained; and establishing a target area map according to the positioning data and the course data acquired by the RTK positioning module when the unmanned aerial vehicle flies and the map data of the partial area, so as to acquire all the map data of the target area.
In a specific implementation, when the graph is established, not all the establishment is performed at the beginning. But the indoor is mapped in advance through the odometer of the laser radar positioning module and partial area map data is obtained. Secondly, target area mapping is carried out according to the positioning data and the course data acquired by the RTK positioning module when the unmanned aerial vehicle flies and the map data of the partial area, so as to acquire all the map data of the target area.
It should be noted that in an open place outdoors, due to the fact that the position and pose data error of the laser odometer is large, the RTK positioning and orientation data are basically used as a main source for the unmanned aerial vehicle to solve the position outdoors, the RTK positioning and orientation can lose lock after the unmanned aerial vehicle enters the room, the position data accuracy of the laser radar is high, and the position and pose data of the laser radar odometer are basically used as a main source for the unmanned aerial vehicle to solve the position indoors.
Preferably, in this embodiment, in the process of flying the unmanned aerial vehicle, the positioning analysis module is used to solve the pose data of the unmanned aerial vehicle in the world coordinate system based on the data obtained by the RTK positioning module and output the pose data through a odometer of the laser radar positioning module, and the method further includes: the attitude data of the laser radar positioning module is calculated out in real time through integration of the data obtained from the IMU; correcting laser radar point cloud data caused by the unmanned aerial vehicle motion distortion according to the attitude data; extracting characteristic points from the corrected laser radar point cloud data and matching; and outputting the laser radar map obtained after the feature points of all frames are matched through the odometer of the laser radar positioning module.
During specific implementation, attitude data of the laser radar positioning module is solved in real time through integration of the data obtained from the IMU, and laser radar point cloud data caused by motion distortion of the unmanned aerial vehicle (motion distortion caused by non-uniform motion of the unmanned aerial vehicle) is further corrected according to the attitude data. And then, extracting characteristic points from the corrected laser radar point cloud data and matching. The matching of the feature points mainly comprises the steps of extracting angle features, line features and surface features according to the curvature of the point cloud, and registering according to the angle features, the line features and the surface features of the previous frame of point cloud. And finally, outputting the laser radar map obtained after the feature points of all frames are matched through a speedometer of the laser radar positioning module.
As a preferable example in this embodiment, after outputting, by the odometer of the lidar positioning module, the lidar map obtained after matching the feature points of all frames, the method further includes a step of improving the pose accuracy output by the lidar odometer: and carrying out rough matching of the laser odometer according to the next frame or a plurality of frames of new point laser point cloud data and the previous frame of laser point cloud data, and simultaneously carrying out precise matching with the laser radar map.
During specific implementation, rough matching of the laser odometer is carried out according to the next frame or a plurality of frames of new point laser point cloud data and the previous frame of laser point cloud data, and the function of improving the pose accuracy output by the laser radar odometer is achieved.
As a preference in the present embodiment, the present invention further includes: and resolving in real time through a preset obstacle avoidance algorithm to obtain pose data through the positioning analysis module, and guiding the unmanned aerial vehicle to avoid the obstacle on the flight path.
During specific implementation, a path for guiding the unmanned aerial vehicle is solved in real time through a set obstacle avoidance algorithm (3D-VFH), and obstacles are automatically avoided.
As a preferable aspect in the present embodiment, the method for optimizing the positioning accuracy of the RTK positioning module includes: when the unmanned aerial vehicle is positioned outdoors based on the RTK base station and the RTK mobile station, the position of the RTK base station antenna is fixed in a piling mode, and the coordinates of the current RTK base station antenna are recorded; and erecting the RTK base station at a position where the pile is fixed, and inputting the coordinates of the RTK base station antenna to the RTK base station when the map is established.
During the concrete implementation, because the GPS coordinate precision of single-point is about 3m, this precision can't satisfy outdoor indoor unmanned aerial vehicle's location demand, so need improve GPS's positioning accuracy. The mode that an RTK base station is combined with an RTK mobile station is used in the unmanned aerial vehicle, the positioning accuracy is within 10cm, and if the system does not need to fly again after a map is saved, the positioning accuracy of the system can be met. How to save the map for the next flight, the position of the RTK base station antenna is piled and fixed, the coordinate of the current base station antenna is recorded, when the map is used for flying again next time, the base station needs to be erected at the piled position, and the coordinate of the base station during map building is input into the RTK base station, so that the precision of map saving can be guaranteed.
As a preferable aspect in the present embodiment, the method for optimizing the positioning accuracy of the RTK positioning module includes: and determining system position information of the RTK base station antenna based on a third-party positioning system, and acquiring the system position information through the third-party positioning system when a map is established.
In specific implementation, in order to improve the positioning accuracy of the GPS, rtcm data are acquired through a 4G module and an account number of a third-party system when a base station is erected in a first map building process based on a global positioning coordinate system provided by the third-party system; and then, according to the obtained absolute position of the base station antenna, the map can be loaded again later, the absolute position of the base station antenna also needs to be obtained by searching when the base station is erected, the base station antenna can be erected at will, and piling and fixing are not needed.
It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer-executable instructions and that, although a logical order is illustrated in the flowcharts, in some cases, the steps illustrated or described may be performed in an order different than presented herein.
According to an embodiment of the present application, there is also provided a positioning device for a drone for implementing the above method, as shown in fig. 3 and described in fig. 7, the drone including:
the IMU module is used for sending the attitude data of the unmanned aerial vehicle to the positioning analysis module;
the laser radar positioning module is used for scanning point cloud data and sending the point cloud data to the positioning analysis module;
the RTK positioning module is used for sending the GPS positioning data and the course data to the positioning analysis module and receiving rtcm data of the RTK base station;
the positioning analysis module is used for receiving a control instruction transmitted by the ground station and rtcm data of the RTK base station;
the data transmission module is used for sending the map data obtained by the analysis of the positioning analysis module and the flight data of the unmanned aerial vehicle to a ground station;
the flight control module is used for receiving the first packed data sent by the positioning analysis module;
the flight control module is further configured to receive second packed data sent by the positioning analysis module, and send a control instruction to the unmanned aerial vehicle, where the control instruction is determined according to the first packed data and the second packed data, and the first packed data and the second packed data are different types of data;
the device includes:
the mapping module 301 is configured to solve pose data of the unmanned aerial vehicle in a world coordinate system based on data obtained by the positioning analysis module for the IMU module, the lidar positioning module, and the RTK positioning module in the process of flying the unmanned aerial vehicle, and output the pose data through a odometer of the lidar positioning module; wherein the odometer output is further configured to generate a lidar map from the point cloud data;
a coordinate transformation module 302, configured to transform, according to an origin position coordinate of the unmanned aerial vehicle in the world coordinate system, the GPS position and the heading data acquired in the RTK positioning module into the world coordinate system;
and the fusion positioning module 303 is configured to fuse the pre-integration position in the IMU module, the pose data in the lidar positioning module, and the GPS position and the course data in the RTK positioning module in real time to obtain the pose data of the unmanned aerial vehicle in the world coordinate system in real time.
In the mapping module 301 in the embodiment of the present application, in the process of flying the unmanned aerial vehicle, the positioning analysis module analyzes the relevant data obtained by the IMU module, the lidar positioning module, and the RTK positioning module to calculate the pose data of the current unmanned aerial vehicle in the world coordinate system. Meanwhile, the pose data are output through a milemeter of the laser radar positioning module, and a laser radar map generated according to the point cloud data collected by the laser radar positioning module is output on the milemeter.
As an optional implementation manner of this embodiment, a laser radar map generated according to the point cloud data collected by the laser radar positioning module is also output on the odometer and is visualized for the user of the ground station.
In the coordinate transformation module 302 in the embodiment of the present application, the GPS position and the heading data acquired by the RTK positioning module are transformed into the world coordinate system according to the origin position coordinate of the current unmanned aerial vehicle in the world coordinate system.
As an optional implementation manner of this embodiment, the positioning analysis module integrates the coordinate system of the laser radar odometer and the GPS satellite positioning coordinate system in the RTK positioning module, and the result of the integration is that the coordinate system of the laser radar odometer is synchronized into the GPS global coordinate system (world coordinate system). That is, the drone may determine the current coordinates relative to the GPS coordinate system even if there are no GPS signals indoors.
In the fusion positioning module 303 in the embodiment of the present application, based on EKF pose calculation, after the position data in the lidar positioning module, the GPS position and the heading data in the RTK positioning module are fused in real time by using the pre-integration position in the IMU module, the pose data of the unmanned aerial vehicle in the world coordinate system in real time is output. The positioning position information of the unmanned aerial vehicle is determined.
As a preference in the present embodiment, the present invention further includes:
a pre-mapping module 304, which maps the indoor space in advance through the odometer of the laser radar positioning module and obtains map data of a partial area;
a full map establishing module 305, configured to perform target area mapping according to the positioning data and the heading data acquired by the RTK positioning module when the unmanned aerial vehicle is flying, and the partial area map data, so as to acquire all target area map data.
In a specific implementation, when the graph is established, not all the establishment is performed at the beginning. But the indoor is mapped in advance through the odometer of the laser radar positioning module and partial area map data is obtained. Secondly, target area mapping is carried out according to the positioning data and the course data acquired by the RTK positioning module when the unmanned aerial vehicle flies and the map data of the partial area, so as to acquire all the map data of the target area.
It should be noted that in an open place outdoors, due to the fact that the position and pose data error of the laser odometer is large, the RTK positioning and orientation data are basically used as a main source for the unmanned aerial vehicle to solve the position outdoors, the RTK positioning and orientation can lose lock after the unmanned aerial vehicle enters the room, the position data accuracy of the laser radar is high, and the position and pose data of the laser radar odometer are basically used as a main source for the unmanned aerial vehicle to solve the position indoors.
It will be apparent to those skilled in the art that the modules or steps of the present application described above may be implemented by a general purpose computing device, they may be centralized on a single computing device or distributed across a network of multiple computing devices, and they may alternatively be implemented by program code executable by a computing device, such that they may be stored in a storage device and executed by a computing device, or fabricated separately as individual integrated circuit modules, or fabricated as a single integrated circuit module from multiple modules or steps. Thus, the present application is not limited to any specific combination of hardware and software.
In order to better understand the flow of the mapping and positioning method based on the unmanned aerial vehicle, the following explains the technical solution with reference to a preferred embodiment, but is not limited to the technical solution of the embodiment of the present application.
The unmanned aerial vehicle can be freely switched indoors and outdoors and can be positioned indoors and in real time in a map building manner. Specifically, two sets of positioning systems and one set of RTK positioning and orientation system are carried on the unmanned aerial vehicle, the initial position and the course of the unmanned aerial vehicle are provided by the RTK positioning system, and the other set of laser radar positioning system realizes indoor map building and positioning.
As shown in fig. 4, the schematic view of the working principle between airborne modules in the mapping and positioning method based on the unmanned aerial vehicle in the embodiment of the present application is shown.
Fig. 7 is a schematic structural diagram of an unmanned aerial vehicle in a mapping positioning method based on the unmanned aerial vehicle according to an embodiment of the present application, where the unmanned aerial vehicle includes: the system comprises a laser radar positioning module 101, a high-performance positioning resolving module 102, an RTK positioning module 103, a high-precision IMU module 104, a data transmission module 105, an RTK master antenna 106, an RTK slave antenna 107 and a flight control module (not shown).
Fig. 8 is a schematic structural diagram of a ground station in a mapping and positioning method based on a drone according to an embodiment of the present application. The ground station includes: ground station display screen 201, ground station industrial computer 202, RTK base station module 203, ground station data transmission module 204, 4G module 205, RTK base station antenna 206.
An embodiment of the present application further provides that a drone 100 includes:
the IMU module is used for sending the attitude data of the unmanned aerial vehicle to the positioning analysis module;
the laser radar positioning module is used for scanning point cloud data and sending the point cloud data to the positioning analysis module;
the RTK positioning module is used for sending the GPS positioning data and the course data to the positioning analysis module and receiving rtcm data of the RTK base station;
the positioning analysis module is used for receiving a control instruction transmitted by the ground station and rtcm data of the RTK base station;
the data transmission module is used for sending the map data obtained by the analysis of the positioning analysis module and the flight data of the unmanned aerial vehicle to a ground station;
the flight control module is used for receiving the first packed data sent by the positioning analysis module;
the flight control module is further configured to receive second packed data sent by the positioning analysis module, and send a control instruction to the unmanned aerial vehicle, where the control instruction is determined according to the first packed data and the second packed data, and the first packed data and the second packed data are different types of data.
Fig. 5 is a schematic flow chart illustrating the real-time mapping and position resolving of the unmanned aerial vehicle in the mapping and positioning method based on the unmanned aerial vehicle according to the embodiment of the present application, which specifically includes the following steps:
and step S501, switching to a laser radar positioning module.
And step S502, point cloud motion distortion processing.
Step S503, point cloud feature extraction.
And step S504, adopting a laser radar odometer.
In step S505, a laser radar map is generated.
And step S506, resolving the laser radar pose.
In the steps, the high-performance positioning resolving module resolves the pose of the unmanned aerial vehicle in an XYZ coordinate system according to the point cloud data of the laser radar, the position and course data of the RTK and the high-precision IMU data. The attitude of the laser radar is solved by IMU data in real time through integration, and the motion distortion caused by the non-uniform motion of the unmanned aerial vehicle is corrected by the laser radar point cloud data through the attitude data solved by the IMU. After point cloud data is corrected, extracting feature points from the point cloud data, mainly extracting angular features, line features and surface features according to the curvature of the point cloud, and registering according to the angular features, the line features and the surface features of the previous frame of point cloud, so that a laser odometer is realized, and attitude and position data are output in real time. After key features of all frames are matched, a laser radar map is formed, after new point cloud data of several frames come, rough matching of the laser odometer is carried out on the point cloud data of the previous frame, and accurate matching is also needed to be carried out on the point cloud data and the laser radar map so as to improve the pose accuracy output by the laser radar odometer.
Step S507, the IMU integrates the pose.
Step S508, RTK position data and RTK heading data.
Step S509, XYZ world coordinates.
And step S510, resolving the EKF pose.
In the above steps, after the RTK position and the course data are obtained, the GPS position and the course data are converted into an XYZ coordinate system according to a flying point (origin of the XYZ coordinate system) of the unmanned aerial vehicle. And finally, EKF pose resolving is carried out, and pose data of the unmanned aerial vehicle in an XYZ coordinate system are fused in real time through the pre-integration position of the IMU, the positioning and course data of the RTK and the pose data of the laser radar. In an open place outdoors, due to the fact that the position and pose data of the laser odometer are large in error, RTK positioning and orientation data are basically used as a main source for unmanned aerial vehicle position resolving outdoors, the RTK positioning and orientation data are unlocked after the unmanned aerial vehicle enters the room, the position data accuracy of the laser radar is high, and the position and pose data of the laser radar odometer are basically used as a main source for unmanned aerial vehicle position resolving indoors.
Fig. 6 is a schematic diagram of outdoor-indoor free handover in a mapping positioning method based on a drone according to an embodiment of the present application.
Taking outdoor as outdoor and indoor as factory building as examples, the outdoor and indoor free switching in the mapping positioning method is implemented in the following way:
as shown in fig. 6, the effect of guiding the unmanned aerial vehicle to take off from the outside, be guided into the room by the ground station, and pass through the ground station in the room is simplified. Where the circle and the number therein represent a guidance point, the ellipse and the letter therein represent an obstacle, and the dotted line represents the actual path of the ground station where the drone executes. The coordinate system of the system is a right-handed regular coordinate system with X forward, Y left, and Z up. Y points in the direction of true north (270 °), the origin of the coordinate system, defining the first departure point before the map is not built, the coordinates of this point being (0,0,0), the leading point No. 1 in the figure (solid circle).
Since the guidance point No. 1 (solid circle) and No. 2 are located outdoors, and the positioning of the high-performance positioning module is provided by GPS data at this time, it is necessary to convert all GPS position data received outdoors by the high-performance positioning module into an XYZ coordinate system with the GPS coordinate of the point No. 1 (solid circle) as a reference point and the coordinate of the point in the XYZ coordinate system being (0,0, 0). All position calculations are done in a high performance position calculation module.
Before the built map is not loaded, after the unmanned aerial vehicle is started, the unmanned aerial vehicle can build a map according to GPS data and data of the laser radar, the built map is transmitted to the ground station in real time, and an operator can set a guide point on the map. After the airplane is unlocked, the ground station switches the airplane to a guiding mode, sends No. 1 guiding points to the airplane, guides the unmanned aerial vehicle to take off, and after the unmanned aerial vehicle hovers above the No. 1 guiding points, ground operators set No. 2 guiding points on a map. Since there is no obstacle between the guidance point No. 1 and the guidance point No. 2, the unmanned aerial vehicle flies from the guidance point No. 1 to the guidance point No. 2 in the form of a straight line.
At guide point number 2, the lidar has already begun to map the indoor, and a part of the built indoor map will appear on the ground station very soon. When an indoor map is displayed on the ground, the ground station operator sets the guide point No. 3. Unmanned aerial vehicle is at the in-process from No. 2 to No. 3 guide point flight, and the RTK state can lose the lock, and high performance location is solved the module and can be switched course and location data to the location data that laser radar built the picture location in real time this moment, and the coordinate system still belongs to the XYZ coordinate system.
When the unmanned aerial vehicle hovers to the No. 3 guide point, the indoor map is basically established and completed, and the ground station operator can sequentially guide the unmanned aerial vehicle to fly to the No. 4, 5 and 6 guide points. Because the obstacle A exists between the No. 4 and No. 5 guide points, the high-performance positioning resolving module can resolve the path of the guided unmanned aerial vehicle in real time through a set obstacle avoidance algorithm (3D-VFH) to automatically avoid the obstacle.
When the unmanned aerial vehicle hovers at the No. 6 guide point, the ground station operator can continue to set 3- >2- >1 guide points to guide the unmanned aerial vehicle to fly back to the flying point, then switch the unmanned aerial vehicle to enter the land mode, and descend to the ground at the GPS positioning. Secondly, the ground station operator can also send the message of returning to the journey to unmanned aerial vehicle, and the optimal path is calculated to high accuracy location resolving module, keeps away the obstacle and returns to the journey. The ground station operator sends a command to the unmanned aerial vehicle through the ground station to store a current map, and the map is named as a plant map.
When the map is built, the unmanned plane takes off again, and the secondary unmanned plane is placed at the position of the No. 1 point in the dotted line circle. The ground station operator can load a factory building map in the unmanned aerial vehicle through a ground station command, the factory building map is transmitted back to the ground station, the ground station has a complete map for first map building, and the unmanned aerial vehicle can calculate the coordinate of the current aircraft in an XYZ coordinate system according to the GPS coordinate corresponding to the origin of the XYZ coordinate system of the map and the GPS coordinate of the current aircraft. After having the map, ground station operator can set up the guide point that oneself needs, and the setting is accomplished the back, unblock unmanned aerial vehicle, switches to the guide mode, and unmanned aerial vehicle guide hovers above No. 1 guide point (dotted line circle) after taking off, inspects subsequent guide point, guides the flight in proper order. After the pilot point is finished flying, the next command of the ground station operator is waited.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. A positioning method for a drone, characterized in that said drone comprises:
the IMU module is used for sending the attitude data of the unmanned aerial vehicle to the positioning analysis module;
the laser radar positioning module is used for scanning point cloud data and sending the point cloud data to the positioning analysis module;
the RTK positioning module is used for sending the GPS positioning data and the course data to the positioning analysis module and receiving rtcm data of the RTK base station;
the positioning analysis module is used for receiving a control instruction transmitted by the ground station and rtcm data of the RTK base station;
the data transmission module is used for sending the map data obtained by the analysis of the positioning analysis module and the flight data of the unmanned aerial vehicle to a ground station;
the flight control module is used for receiving the first packed data sent by the positioning analysis module;
the flight control module is further configured to receive second packed data sent by the positioning analysis module, and send a control instruction to the unmanned aerial vehicle, where the control instruction is determined according to the first packed data and the second packed data, and the first packed data and the second packed data are different types of data;
the method comprises the following steps:
in the flying process of the unmanned aerial vehicle, the position and orientation data of the unmanned aerial vehicle in a world coordinate system are calculated based on the data obtained by the positioning analysis module, the IMU module, the laser radar positioning module and the RTK positioning module and are output through a mileage meter of the laser radar positioning module; wherein the odometer output is further configured to generate a lidar map from the point cloud data;
converting the GPS position and the course data acquired from the RTK positioning module into the world coordinate system according to the origin position coordinate of the unmanned aerial vehicle in the world coordinate system;
and fusing the pre-integration position in the IMU module, the pose data in the laser radar positioning module, the GPS position and the course data in the RTK positioning module in real time to obtain the pose data of the unmanned aerial vehicle in the world coordinate system in real time.
2. The method of claim 1, further comprising:
the indoor map is built in advance through an odometer of the laser radar positioning module, and map data of a partial area are obtained;
and establishing a target area map according to the positioning data and the course data acquired by the RTK positioning module when the unmanned aerial vehicle flies and the map data of the partial area, so as to acquire all the map data of the target area.
3. The method according to claim 2, wherein during the flight of the drone, the positioning and resolving module resolves the pose data of the drone in the world coordinate system based on the data obtained by the positioning and resolving module, the lidar positioning module, and the RTK positioning module and outputs the pose data through a odometer of the lidar positioning module, and further comprising:
the attitude data of the laser radar positioning module is calculated out in real time through integration of the data obtained from the IMU;
correcting laser radar point cloud data caused by the unmanned aerial vehicle motion distortion according to the attitude data;
extracting characteristic points from the corrected laser radar point cloud data and matching;
and outputting the laser radar map obtained after the feature points of all frames are matched through the odometer of the laser radar positioning module.
4. The method of claim 3, further comprising the step of improving the pose accuracy of the lidar odometer output after outputting the lidar map obtained after matching the feature points for all frames by the odometer of the lidar positioning module:
and carrying out rough matching of the laser odometer according to the next frame or a plurality of frames of new point laser point cloud data and the previous frame of laser point cloud data, and simultaneously carrying out precise matching with the laser radar map.
5. The method of claim 1, further comprising:
and resolving in real time through a preset obstacle avoidance algorithm to obtain pose data through the positioning analysis module, and guiding the unmanned aerial vehicle to avoid the obstacle on the flight path.
6. The method of claim 1, wherein optimizing the positioning accuracy of the RTK positioning module comprises:
when the unmanned aerial vehicle is positioned outdoors based on the RTK base station and the RTK mobile station, the position of the RTK base station antenna is fixed in a piling mode, and the coordinates of the current RTK base station antenna are recorded;
and erecting the RTK base station at a position where the pile is fixed, and inputting the coordinates of the RTK base station antenna to the RTK base station when the map is established.
7. The method of claim 6, wherein optimizing the positioning accuracy of the RTK positioning module comprises:
and determining system position information of the RTK base station antenna based on a third-party positioning system, and acquiring the system position information through the third-party positioning system when a map is established.
8. A positioning device for an unmanned aerial vehicle is characterized in that,
the unmanned aerial vehicle includes:
the IMU module is used for sending the attitude data of the unmanned aerial vehicle to the positioning analysis module;
the laser radar positioning module is used for scanning point cloud data and sending the point cloud data to the positioning analysis module;
the RTK positioning module is used for sending the GPS positioning data and the course data to the positioning analysis module and receiving rtcm data of the RTK base station;
the positioning analysis module is used for receiving a control instruction transmitted by the ground station and rtcm data of the RTK base station;
the data transmission module is used for sending the map data obtained by the analysis of the positioning analysis module and the flight data of the unmanned aerial vehicle to a ground station;
the flight control module is used for receiving the first packed data sent by the positioning analysis module;
the flight control module is further configured to receive second packed data sent by the positioning analysis module, and send a control instruction to the unmanned aerial vehicle, where the control instruction is determined according to the first packed data and the second packed data, and the first packed data and the second packed data are different types of data;
the device comprises:
the mapping module is used for solving the pose data of the unmanned aerial vehicle in a world coordinate system based on the data obtained by the positioning analysis module to the IMU module, the laser radar positioning module and the RTK positioning module in the flying process of the unmanned aerial vehicle and outputting the pose data through a mileometer of the laser radar positioning module; wherein the odometer output is further configured to generate a lidar map from the point cloud data;
the coordinate conversion module is used for converting the GPS position and the course data acquired in the RTK positioning module into the world coordinate system according to the origin position coordinate of the unmanned aerial vehicle in the world coordinate system;
and the fusion positioning module is used for fusing the pre-integration position in the IMU module, the pose data in the laser radar positioning module, the GPS position and the course data in the RTK positioning module in real time to obtain the pose data of the unmanned aerial vehicle in the world coordinate system in real time.
9. The apparatus of claim 8, further comprising:
the pre-mapping module is used for mapping the indoor space in advance through the odometer of the laser radar positioning module and acquiring map data of a partial area;
and the whole image establishing module is used for establishing an image of a target area according to the positioning data and the course data acquired by the RTK positioning module when the unmanned aerial vehicle flies and the map data of the partial area so as to acquire all the map data of the target area.
10. An unmanned aerial vehicle, comprising:
the IMU module is used for sending the attitude data of the unmanned aerial vehicle to the positioning analysis module;
the laser radar positioning module is used for scanning point cloud data and sending the point cloud data to the positioning analysis module;
the RTK positioning module is used for sending the GPS positioning data and the course data to the positioning analysis module and receiving rtcm data of the RTK base station;
the positioning analysis module is used for receiving a control instruction transmitted by the ground station and rtcm data of the RTK base station;
the data transmission module is used for sending the map data obtained by the analysis of the positioning analysis module and the flight data of the unmanned aerial vehicle to a ground station;
the flight control module is used for receiving the first packed data sent by the positioning analysis module;
the flight control module is further configured to receive second packed data sent by the positioning analysis module, and send a control instruction to the unmanned aerial vehicle, where the control instruction is determined according to the first packed data and the second packed data, and the first packed data and the second packed data are different types of data.
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| CN114046792B (en) * | 2022-01-07 | 2022-04-26 | 陕西欧卡电子智能科技有限公司 | Unmanned ship water surface positioning and mapping method, device and related components |
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