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US 12,468,309 B2Granted
Method and system for hovering control of unmanned aerial vehicle in tunnel
AssigneeTongji University
InventorsBin He, Gang Li, Runjie Shen, Jie Chen, Zhipeng Wang, Ping Lu, Yimin Lou
Life of this patent
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Abstract
The embodiment of this present disclosure provides a control method of unmanned aerial vehicle (UAV) hovering in tunnel, which comprises the following steps: acquiring hovering information of hovering position of UAV; acquiring the position information of the current position of the UAV; determining flight parameters based on hovering information and position information. The flight parameters are used to control the UAV to move from the current position to the hovering position.
Claims16
A method for hovering control of an unmanned aerial vehicle (UAV) in a tunnel, comprising:
- acquiring hovering information of a hovering position of the UAV;
- acquiring position information of a current position of the UAV;
- and
- determining flight parameters based on the hovering information and the position information, wherein the flight parameters are used to control the UAV to move from the current position to the hovering position, wherein
- the UAV comprises a controller, a horizontal lidar, a to-ground laser ranging sensor, a to-air laser ranging sensor, an inertial measurement unit (IMU), and a barometer, wherein
- the acquiring the hovering information includes:
- acquiring the hovering information based on measurement data obtained by the horizontal lidar, the to-ground laser ranging sensor, the to-air laser ranging sensor, the IMU and the barometer, the hovering information including a hovering horizontal position and a hovering height, the position information including a horizontal position, a horizontal velocity, a vertical altitude, and a vertical velocity, and
- the acquiring the position information includes:
- fusing the measurement data of the horizontal lidar with the measurement data of the IMU by using a filtering algorithm to obtain the horizontal position and the horizontal velocity;
- based on the horizontal velocity and a preset velocity threshold, obtaining vertical altitude data from measurement data of one of the to-ground laser ranging sensor, the to-air laser ranging sensor and the barometer, including:
- in response to the horizontal velocity is greater than or equal to the preset velocity threshold, obtaining the vertical altitude data based on the measurement data of the barometer;
- and
- in response to the horizontal velocity is less than the preset velocity threshold and tunnel ground is within a measuring range of the to-ground laser ranging sensor, obtaining the vertical altitude data based on the measuring data of the to-ground laser ranging sensor;
- and
- in response to the horizontal velocity is less than the preset velocity threshold, the tunnel ground is not within the measuring range of the to-ground laser ranging sensor, and a tunnel top surface is within the measuring range of the to-air laser ranging sensor, obtaining the vertical altitude data based on the measuring data of the to-air laser ranging sensor;
- and
- in response to the horizontal velocity is less than the preset velocity threshold, and the tunnel ground and the tunnel top surface are not within the measurement range of the to-ground laser ranging sensor and the to-air laser ranging sensor, obtaining the vertical altitude data based on the measurement data of the barometer;
- fusing the vertical altitude data with the IMU measurement data by using the filtering algorithm to obtain the vertical altitude and the vertical velocity;
- determining flight parameters based on the hovering information and the position information comprises:
- obtaining a first flight parameter based on the hovering horizontal position, the horizontal position and the horizontal velocity;
- and
- obtaining a second flight parameter based on the hovering height, the vertical altitude and the vertical velocity;
- wherein the controller controls the UAV to move from the current position to the hovering position based on the first flight parameter and the second flight parameter.
20 more elements
A system for hovering control of a UAV in a tunnel, comprising:
- at least one storage medium including a set of instructions;
- and
- at least one processor in communication with the at least one storage medium, wherein when executing the instructions, the at least one processor is configured to direct the system to perform operations including:
- acquiring hovering information of a hovering position of the UAV;
- acquiring position information of a current position of the UAV;
- and
- determining flight parameters based on the hovering information and the position information, wherein the flight parameters are used to control the UAV to move from the current position to the hovering position, wherein
- the position information is determined based on a first position, and the first position is determined based on measurement data of an inertial measurement unit acquired when the UAV is at the current position;
- the position information is determined by determining a reference area based on the first position, and determining the position information based on a vertical distance of the first position and vertical data of reference points in the reference area;
- wherein the vertical data of the reference points includes vertical coordinates of a tunnel top located at a tunnel top and vertical coordinates of a tunnel bottom corresponding to the reference points and a vertical distance from the tunnel top to the tunnel bottom;
- wherein determining the position information based on a vertical distance of the first position and vertical data of reference points in the reference area includes:
- for each reference points, determining a distance between the tunnel top and the tunnel bottom based on the vertical data of the reference points;
- determining a distance between the tunnel top and the tunnel bottom corresponding to the current position of the UAV based on a vertical to-ground sensor and a to-air laser ranging sensor;
- determining an optimal reference point by determining a difference between the distance between the tunnel top and tunnel bottom corresponding to the current position of the UAV and the distance between the tunnel top and the tunnel top corresponding to each of the reference points;
- and
- taking a position of the optimal reference point as the position information.
13 more elements
Dependencies are inferred from the claim text.