CN-122009558-A - Geographic surveying unmanned aerial vehicle system equipped with landing gear

CN122009558ACN 122009558 ACN122009558 ACN 122009558ACN-122009558-A

Abstract

The invention relates to the technical field of unmanned aerial vehicle geographical mapping, in particular to a geographical mapping unmanned aerial vehicle system for configuring landing gear, which comprises a ground support state acquisition module, a landing gear vibration monitoring module, a fuselage structure disturbance recognition module, a centroid trend calculation module, an airborne magnetic field compensation module, a cradle head synchronous regulation and control module, a multi-source data fusion module and a flight mapping execution module, wherein the ground support state acquisition module, the landing gear vibration monitoring module, the fuselage structure disturbance recognition module, the centroid trend calculation module, the airborne magnetic field compensation module and the cradle head synchronous regulation and control module are all in signal connection with the multi-source data fusion module. The invention can synchronously decouple and compensate multiple disturbance factors of the unmanned aerial vehicle in a complex field mapping scene, weaken the negative influence of the self structure and working condition change of the unmanned aerial vehicle on the mapping precision, and greatly improve the precision and reliability of geographical mapping data of complex sites such as beach, mining areas, slopes and the like.

Inventors

WANG QIANG
WANG TAO
HUO HAORAN

Assignees

聊城中衡勘测地理信息有限公司

Dates

Publication Date: 20260512
Application Date: 20260407

Claims (9)

1. The geographical mapping unmanned aerial vehicle system with the landing gear is characterized by comprising a ground support state acquisition module, a landing gear vibration monitoring module, a fuselage structure disturbance identification module, a centroid trend calculation module, an airborne magnetic field compensation module, a cradle head synchronous regulation and control module, a multi-source data fusion module and a flight mapping execution module; the ground support state acquisition module is used for acquiring body attitude creep data caused by uneven support rigidity of the non-flat field; The landing gear vibration monitoring module is used for collecting low-frequency micro-vibration signals induced by damping hysteresis of the landing gear vibration reduction component; the fuselage structure disturbance recognition module is used for recognizing modal coupling resonance characteristics of the fuselage multi-rotor structure at a specific rotating speed; the centroid trend calculation module is used for calculating the centroid deviation trend information of the machine body according to the change of the battery electric quantity; the airborne magnetic field compensation module is used for collecting stray magnetic field disturbance data formed by wiring in the machine body and calculating course deviation; the cradle head synchronous regulation and control module is used for detecting the attitude phase lag characteristic of the cradle head vibration reduction component and calibrating a camera trigger time sequence; The multi-source data fusion module is used for carrying out fusion processing on the multi-path state data and generating a comprehensive compensation control instruction; The flight mapping execution module is an unmanned aerial vehicle self flight control unit and is used for adjusting flight attitude parameters and mapping operation logic according to the comprehensive compensation control instruction, and large-scale ground equipment is not needed in the whole process.
2. The system according to claim 1, wherein the ground support state acquisition module performs data acquisition by acquiring rigidity distribution parameters of each support point of the airport by a light inclination sensor of a central frame of the airport, extracting creep curves of rolling and pitching angles of the airport on the basis of the rigidity distribution parameters, eliminating static inclination interference formed by the gradient of the airport, locking time nodes for stabilizing the creep of the attitude, and transmitting calibration references to the multi-source data fusion module.
3. The system of claim 2, wherein the landing gear vibration monitoring module performs signal processing by intercepting the landing stage deformation response signal, decomposing the signal and extracting the damping hysteresis time domain vibration component, screening the low frequency characteristic frequency band interfering with the IMU attitude solution, sending the vibration interference to the fusion module for preprocessing, and processing by adopting an L2 regularized attitude comprehensive compensation formula: Wherein, the To correct the attitude angle of the rear body; the original attitude angle of the IMU of the unmanned aerial vehicle is set; a sum operator; is the total disturbance factor; is the first A personal factor weighting coefficient; is the first An individual factor attitude deviation amount; penalty coefficients for regularization; Is a weighted coefficient vector; Is squared as a two-norm.
4. The system of claim 3, wherein the fuselage structure disturbance recognition module performs recognition by collecting rotor speed and fuselage high-frequency vibration data, matching the corresponding relationship between the speed and the resonance amplitude, dividing a dangerous speed interval in which resonance is likely to occur, and issuing a speed adjustment command to the flight mapping execution module.
5. The system of claim 4, wherein the centroid trend calculation module performs an offset calculation by collecting real-time power change parameters of the battery management system, fitting a mapping relationship between power attenuation and centroid displacement, calculating a long-endurance centroid accumulated offset, uploading the offset compensation to the fusion module, and calculating a discrete discriminant centroid correction formula using a logistic function: Wherein, the Is the mass center offset of the whole machine; Is the centroid offset scaling factor; The change rate of the residual electric quantity of the unmanned aerial vehicle battery is set; The length of the installation axis of the battery in the unmanned plane body is set; Is a natural constant; mapping coefficients for the deformation of the fuselage structure; Additional centroid offsets are created for the deformation of the fuselage structure.
6. The system of claim 5, wherein the on-board magnetic field compensation module performs magnetic field correction by acquiring machine cable, electrically-modulated peripheral magnetic field data via the magnetic sensor, comparing the magnetic compass output to a standard geomagnetic difference, resolving machine intrinsic magnetic field disturbance components, updating heading resolution model correction parameters, and setting disturbance limits according to the GJB 151B.
7. The system of claim 6, wherein the pan-tilt synchronization control module performs calibration by detecting a pan-tilt damping member attitude lag time, matching a camera preset imaging and actual visual axis pointing time, correcting a magnetic field disturbance induced timing offset, outputting a calibrated trigger command, and calibrating a timing synchronization compensation formula using a logarithmic probability model: Wherein, the The actual triggering time of the camera after compensation is obtained; presetting an imaging trigger time for an unmanned aerial vehicle mapping system; The gesture lag time length is brought to the tripod head vibration reduction component; Is a natural constant; Mapping coefficients for magnetic field timing; Timing offsets for fuselage stray magnetic fields are induced.
8. The system of claim 7, wherein the multi-source data fusion module performs data integration by integrating six factors including attitude creep, vibration, resonance, centroid, magnetic field and time sequence, normalizing compensation parameters, generating global control instructions adapted to complex scenes, issuing the instructions to the flight mapping execution module, and fusing by using a Bayesian posterior global fusion formula: Wherein, the method comprises the steps of, Is a global control correction; a sum operator; is the first The posterior probability of the working condition corresponding to each disturbance factor; is the first And the single factor compensation quantity corresponding to the disturbance factors.
9. The system of claim 8, wherein the flight mapping execution module performs closed loop strict timing steps of the flight control unit executing the post-correction pose and acquisition logic, returning airborne operating condition data after a single leg is completed, comparing the mapping data deviations before and after correction, and iteratively updating the next leg compensation coefficients.

Description

Geographic surveying unmanned aerial vehicle system equipped with landing gear Technical Field The invention relates to the technical field of unmanned aerial vehicle geographic mapping, in particular to a geographic mapping unmanned aerial vehicle system with landing gear. Background Traditional geographical survey unmanned aerial vehicle adopts many rotor flight deck more, carries on RTK, IMU and survey camera, accomplishes automatic aerial survey data acquisition according to predetermineeing the route, and flight control and gesture correction mainly develop around conventional factors such as wind speed, flight gesture, cloud platform steady image, can realize general topography survey operation under open flat ground and conventional meteorological condition. In complex special scenes such as beach, side slopes, mining areas, soft soil and the like, the unmanned aerial vehicle needs to take off and land on a non-flat site and execute high-precision mapping near the ground by depending on the existing damping landing gear. The working conditions have higher requirements on initial attitude reference, flight micro-stability and space-time synchronization precision, and landing gear ground support characteristics, fuselage inherent structural characteristics and aircraft-mounted system dynamic changes can directly act on the whole mapping process and influence the result precision. However, the existing unmanned aerial vehicle mapping system in actual operation has the following disadvantages: First, landing gear is when the uneven place support of ground rigidity, easily produces fuselage tilting creep and damping post damping hysteresis, and then causes IMU low frequency micro vibration, directly causes the survey and drawing initial attitude to have systematic deviation, influences survey and drawing benchmark's uniformity. Secondly, modal coupling resonance is easy to occur in a specific rotating speed interval of the multi-arm structure of the machine body, slow drifting of the mass center of the machine body can be brought about by continuous discharge of a battery, a magnetic compass measurement precision can be interfered by a stray magnetic field formed by wiring in the machine body, attitude phase lag can be generated due to nonlinear rigidity of a tripod head damping ball, and due to superposition of multiple factors, insufficient flying attitude stability, poor synchronism between positioning and exposure time can be caused, finally, air-to-three resolving precision is reduced, point cloud matching effect is poor, and engineering requirements of high-precision geographic mapping are difficult to meet. Based on this, there is a need to design a geographical mapping unmanned aerial vehicle system that adapts to the shock absorbing landing gear. Disclosure of Invention The technical scheme includes that the geographical mapping unmanned aerial vehicle system for configuring the landing gear comprises a ground support state acquisition module, a landing gear vibration monitoring module, a fuselage structure disturbance identification module, a centroid trend calculation module, an airborne magnetic field compensation module, a cradle head synchronous regulation and control module, a multi-source data fusion module and a flight mapping execution module. The system comprises a ground support state acquisition module, a landing gear vibration monitoring module, a fuselage structure disturbance identification module, a centroid trend calculation module, an airborne magnetic field compensation module and a cradle head synchronous regulation and control module, which are all in signal connection with a multi-source data fusion module. The multi-source data fusion module is in signal connection with the flight mapping execution module and outputs the comprehensive control instruction to the flight mapping execution module. The flight mapping execution module is in signal connection with the cradle head synchronous regulation module and outputs mapping time sequence instructions to the cradle head synchronous regulation module. The fuselage structure disturbance recognition module is in signal connection with the centroid trend calculation module and outputs deformation data. The airborne magnetic field compensation module is in signal connection with the cradle head synchronous regulation and control module and outputs time sequence offset data. The flight mapping execution module is in signal connection with the multi-source data fusion module and the fuselage structure disturbance recognition module and returns a flight state/rotor rotation speed feedback signal. The flight mapping execution module is in signal connection with the unmanned aerial vehicle power system and outputs flight control gesture/rotating speed instructions. The cradle head synchronous regulation and control module is in signal connection with the aerial survey camera of the unmanned aerial vehicle and controls the shutter to tri