Building outer wall operation unmanned aerial vehicle accurate positioning method based on multi-sensor fusion

• Main Authors: DONG YUFAN, XI WENCHI, WANG JUNJIE, SUN JIAN, LIAO ZIJIN
• Format: Patent
• Language: Chinese; English
• Published: 13.10.2023
• Subjects: ANALOGOUS ARRANGEMENTS USING OTHER WAVES; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; GYROSCOPIC INSTRUMENTS; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES; MEASURING; MEASURING DISTANCES, LEVELS OR BEARINGS; NAVIGATION; PHOTOGRAMMETRY OR VIDEOGRAMMETRY; PHYSICS; RADIO DIRECTION-FINDING; RADIO NAVIGATION; SURVEYING; TESTING

The invention provides a building outer wall operation unmanned aerial vehicle accurate positioning method based on multi-sensor fusion, and the method comprises the following steps: collecting the operation data of an unmanned aerial vehicle through a sensor of a positioning system, and calculating the position and attitude information of the unmanned aerial vehicle through a fusion algorithm; converting a BIM model of a known building into a point cloud format, taking the BIM model as prior data, performing registration with point cloud data in the operation data, and determining positioning information of the unmanned aerial vehicle; and according to the obtained position and attitude of the unmanned aerial vehicle and the positioning information, constructing a residual constraint, and carrying out iterative optimization to obtain positioning result data of unmanned aerial vehicle operation. According to the method, the BIM model of the building is fully utilized, and through a multi-sensor fusion technol