基于先验知识的烟囱内部作业飞行器定位方法

四旋翼无人飞行器在应用于火电厂大型烟囱内壁腐检测领域时,由于大型烟囱内部空间信息屏蔽的特性,使得传统的定位与通信方案无法满足四旋翼无人飞行器的飞行要求。为了解决此问题,应用二维环形激光雷达装置并结合烟囱结构的先验知识,设计了适用于烟囱内部作业的无人飞行器快速定位算法。同时设计了中继飞行器以提供烟囱内部作业飞行器与地面控制中心之间的数据通信服务。实验和仿真结果表明,该装置和方法能解决四旋翼无人飞行器在烟囱内部的定位和数据通信问题,为火电厂大型烟囱内壁腐蚀情况检测领域自动化程度的提高和后续研究打下基础。

A position method for UAV based on prior knowledge

When the four-rotor UAV is applied to the rot detection of large-scale chimney inner wall in thermal power plants,due to the characteristics of the spatial information shielding in the chimney,the traditional localization and communication scheme cannot meet the flight requirements of the UAV.In order to solve this problem,a fast localization algorithm of UAV,which suitable for the inner chimney image collecting aircraft,is designed by using two-dimensional ring laser radar device combined with prior knowledge of chimney structure.At the same time,the relay aircraft is designed to provide the data communication service between the working aircraft inside the chimney and the ground control center.The experimental and simulation results show that the device and method can solve the positioning and data communication problems of the four-rotor UAV in the interior of the chimney,and lay a foundation for the improvement of automating degree and the follow-up study of the corrosion detection situation of the large chimney inner wall of a thermal power plant.