基于Mission Planner的无人机自主导航测量系统设计与实现
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1.吉林大学地球探测科学与技术学院;2.吉林省水利水电勘测设计研究院

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P237

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国家自然科学基金(40971187)第一作者:马晨皓(1997—),男,汉族,黑龙江七台河人,硕士研究生。研究方向:3S技术及应用。E-mail:270139669@qq.com。 *通信作者:邸健(1996—),男,汉族,辽宁铁岭人,硕士,助理工程师。研究方向:3S技术及应用。E-mail:1451939105@qq.com。 ,杨国东1 ,邸 健2* ,张旭晴1


Design and implementation of unmanned aerial vehicle autonomous navigation measurement system based on Mission Planner
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1.College of GeoExploration Science and Technology,Jilin University;2.China;3.Jilin Hydropower Planning Design Lnstitute

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    摘要:

    针对目前测量工具价格较为昂贵、测量手段多采用人工采集的方式,设计一款基于Mission Planner开源地面站和GNSS相结合的无人机自主导航测量系统。该系统由四旋翼无人机、APM控制器、Mission Planner地面站和PPK后差分系统构成,共设计手动和自动导航两种控制方式。自动导航模式中可通过Mission Planner地面测控系统的地图模块、数据交互模块,实现无人机按照设计预设航线进行飞行,并获取目标点的空间三维坐标。通过GNSS-BDS/GPS系统定位试验和自动导航对比试验得出,此套自动测量系统静态达到厘米级的定位精度,自动导航模式下的定位精度达到分米级。最终将其应用到点位坐标测量中,该系统所测得数据误差控制在10cm内,满足测量工作中的基本需求。本文可对今后开展全自主测量技术设备的研发提供理论基础和实践参考。

    Abstract:

    In view of the high price of current measurement tools and the method of manual acquisition, an unmanned aerial vehicle autonomous navigation measurement system based on the combination of Mission Planner open source ground station and GNSS is designed. The system consists of a quadrotor UAV, an APM controller, a Mission Planner ground station and a post-PPK differential system. Two control modes of manual and automatic navigation are designed. In the automatic navigation mode, the map module and data interaction module of the Mission Planner ground measurement and control system can be used to realize the flight of the UAV in accordance with the designed preset route and obtain the three-dimensional coordinates of the target points. Through the positioning test of GNSS-BDS/GPS system and the comparison test of automatic navigation, it is concluded that the positioning accuracy of this automatic measurement system can reach centimeter level in static state, and the positioning accuracy can reach decimeter level in automatic navigation mode. Finally, it is applied to the point position coordinate measurement, and the error of the measured data is controlled within 10cm, which meets the basic requirements of the measurement work. This paper can provide theoretical basis and practical reference for the research and development of fully autonomous measurement technology equipment in the future.

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马晨皓,杨国东,邸 健,等. 基于Mission Planner的无人机自主导航测量系统设计与实现[J]. 科学技术与工程, , ():

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  • 收稿日期:2021-07-13
  • 最后修改日期:2022-04-05
  • 录用日期:2022-04-18
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