Unmanned aerial vehicle cluster belief propagation cooperative positioning method

• Main Authors: LIAO HONGBING, LIU PENG, DENG CHUANG, TIAN PEIPING, ZHOU WEI, LI KEFENG, LI YUNFENG, TONG RUYI, TANG NA, TANG DONGLAI, GOU GE, ZHANG LINGHAO, WANG YUEQI, QING DONG
• Format: Patent
• Language: Chinese; English
• Published: 14.06.2024
• Subjects: CALCULATING; COMPUTING; COUNTING; IMAGE DATA PROCESSING OR GENERATION, IN GENERAL; PHYSICS

The invention relates to the technical field of unmanned aerial vehicles, and discloses an unmanned aerial vehicle cluster belief propagation cooperative positioning method, which comprises the following steps: step 101, collecting unmanned aerial vehicle cluster information and high-voltage lead information of an overhead line; step 102, establishing an image restoration model; step 103, using known unmanned aerial vehicle poses and camera internal and external parameters to carry out registration on visual angles of different unmanned aerial vehicles, fusing the visual angles into the same three-dimensional space, and establishing a high-voltage wire three-dimensional model; step 104, optimizing the pose of the unmanned aerial vehicle; step 105, updating the confidence coefficient of the lead section of the high-voltage lead repaired by the image repair model; 106, outputting the optimized pose of the unmanned aerial vehicle and continuous images of all high-voltage wires in the overhead line; by constructi