基于力传感的系留无人机定位方法研究

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Title:

Research on the positioning method of tethered UAV using force sensing

作者:

林海涛¹, 张华¹, 李永龙^1,2, 汪双^1,2, 陈财富¹, 王皓冉³

1. 西南科技大学 信息工程学院，四川 绵阳 621000;
2. 清华四川能源互联网研究院，四川 成都 610000;
3. 清华大学 水沙科学与水利水电工程国家重点实验室，北京 100084

Author(s):

LIN Haitao¹, ZHANG Hua¹, LI Yonglong^1,2, WANG Shuang^1,2, CHEN Caifu¹, WANG Haoran³

1. School of Information Engineering, Southwest University of Science and Technology, Mianyang 621000, China;
2. Sichuan Energy Internet Research Institute, Tsinghua University, Chengdu 610000, China;
3. State Key Laboratory of Hydroscience and Engineering, Tsinghua University, Beijing 100084, China

关键词:

系留无人机; 悬链线; 绕线机; 室内定位; 力传感器; 激光雷达; 视觉

Keywords:

tethered UAV; catenary; winding machine; indoor positioning; force sensor; lidar; vision

分类号:

TP242.6

DOI:

10.11992/tis.201907015

摘要:

在无GPS或弱GPS环境下，系留无人机通常采用激光雷达或视觉进行定位，由于受距离和光线的影响，无法实现精准定位。针对该问题，提出了一种基于力传感的系留无人机绳缆定位方法。系留无人机在室内飞行时，绳缆的状态可等效于悬链线，通过建立系留无人机悬链线模型，可有效估计无人机所处空间位置。使用基于力传感器的无人机、硅胶绳缆、绕线机搭建测试平台，绳缆定位数据与MarveImind的Indoor“GPS”标定无人机的位置做误差对比分析。实验结果表明：基于力传感的系留无人机定位方法，相较于Fotokite Pro无人机绳缆定位方法，定位精度提升了70.86%。该定位方法的提出，有利于系留无人机在无GPS环境下的稳定飞行。

Abstract:

In a GPS denied environment, the localization can be achieved by different sensors such as Lidar and camera. Due to the influence of distance and light, precise localization cannot be achieved. Aiming at this problem, this paper proposes a force sensing based tethered UAV positioning method. When the tethered UAV is flying indoors, the state of the rope can be equivalent to the catenary line. By establishing the catenary model of the tethered UAV, the spatial location of the UAV can be effectively estimated. Using an UAV based on force sensor, a silicone cable, and a winder to build a test platform, using the tether positioning data and MarveImind’s Indoor “GPS” to calibrate the position of the UAV for error comparison analysis. The experimental results show that the positioning accuracy of the mooring drone based on force sensing is 70.85% higher than the Fotokite Pro UAV cable positioning method. The proposed positioning method is conducive to the stable flight of the tethered UAV in a GPS denied environment.