Research On Unmanned Aerial Vehicle Collision Avoidance System For Bridge Detection

Bridge detection Unmanned aerial vehicles(UAVs)are a kind of unmanned aerial vehicle designed to detect the disease of the bridge.Generally,the four rotorcraft is used as the carrier of the unmanned aerial vehicle.With the traditional traditional bridge detection means such as the use of climbing or telescope compared to the use of bridge detection UAV for disease detection can be low cost,high flexibility,high mobility characteristics.And compared to the high cost of the car,the bridge detection UAV can be secondary development and the purpose of saving labor costs.Compared with the traditional bridge detection,the bridge detection UAV only need the operator to carry on the simple flight operation training to carry on the simple control to the bridge detection unmanned aerial vehicle,even if there is no related experience can also grasp the related skill.The main work of this paper is to discuss the modeling,design,control algorithm,navigation algorithm and anti-jamming controller of collision detection system for UAV detection.The main work of this paper is as follows:1.Design of Collision Avoidance System and Hardware Circuit Design of Collision Avoidance System.Firstly,the overall design of the unmanned aerial vehicle collision avoidance system based on the kinematic characteristics of the unmanned aerial vehicle(UAV)is analyzed,and the modules and the modules are analyzed.Then,according to the design of the bridge to detect the overall model of UAV,STM32f407 chip as the main control chip,design bridge detection UAV collision avoidance system.According to the requirements of collision avoidance system,MEMS gyroscope,accelerometer and magnetometer are used as the navigation system of collision avoidance system.Ultrasonic distance sensor and laser radar are used as collision avoidance sensors for collision avoidance system.The use of high precision and low precision barometer complementary as a bridge detection for UAV height measurement sensors.Design related hardware circuit,and do a lot of system hardware and software debugging work,and ultimately complete the system hardware design.2.Design of Control Algorithm for Unmanned Aerial Vehicle Collision Avoidance System.Firstly,the dynamic model of the aircraft is established according to the rotor dynamics model of the four rotor.The motion model of the aircraft is obtained by using the attitude matrix of the aircraft.Then it is an important part of this paper to design the control algorithm for the anti-collision system of UAV detection.Including the high-height algorithm of bridge detection UAV,based on the lidar collision avoidance algorithm,based on the ultrasonic collision avoidance algorithm,bridge detection UAV fixed-length flight algorithm.Which focuses on the bridge detection UAV collision avoidance algorithm,which is the collision avoidance system control algorithm core,but also the normal operation of the collision avoidance system protection.In this paper,the use of laser radar combined with ultrasonic control means,proposed for different occasions,collision avoidance control method.Design of Active Disturbance Rejection Controller for Air Disturbance.In this paper,an anti-jamming controller based on auto-disturbance-rejection control is proposed based on the requirement of bridge detection unmanned aerial vehicle(UAV)interference by various wind speed models in high altitude.In this paper,the auto-disturbance-rejection system is analyzed,and the anti-disturbance-rejection controller based on error control is designed for the interference of the unmanned aerial vehicle(UAV)at high altitude.The performance of the controller is simulated and analyzed.3.Design of navigation detection algorithm for unmanned aerial vehicle.The extended Kalman filter algorithm is introduced based on the MEMS inertial device,and the adaptive extended Kalman filter algorithm is introduced according to the principle of adding the state observer.Combined with the actual sampling data,the algorithm is simulated and analyzed.An adaptive gradient descent algorithm is designed.An extended Kalman filter algorithm based on adaptive gradient descent is proposed.The actual data are simulated and analyzed,and the design of the embedded software is provided.Finally,a high-precision and low-precision mixed barometer height algorithm is introduced,and the actual sampling data are simulated and calculated.4.Experimental data analysis and simulation results of bridge detection unmanned aerial vehicle collision avoidance system.Based on the collision avoidance control algorithm and navigation algorithm designed in the previous design,the performance test of the collision detection performance of the unmanned aerial vehicle(UAV)in normal flight is analyzed,and the performance of the fixed height algorithm and the collision avoidance algorithm is analyzed and demonstrated.