Research On Positioning System And Operation Planning Of Plant Protection UAV

With the continuous improvement of agricultural automation,as the emerging technology of plant protection UAV has also been widespread concern,its autonomous operation technology has also become one of the hot technology in the field of research.However,Due to plant protection work environment has particularity,The shortcomings of prone to interference and loss for GPS positioning signal gradually highlighted,positioning signal loss for the UAV autonomous flight is very dangerous;to using wifi,differential base station,UWB and other positioning system have some limitations,such as the existence of signal strength range,system complexity,low precision,high cost,etc.For the current small plant protection UAV positioning system,need to take into account the factor such as low cost,low power consumption,high precision,safety and reliability,etc.In this paper,the problem of positioning system failure caused by instability or absence of GPS signal and the problem of the optimal return point planning in the path planning are studied.Firstly,this paper analyzes the development situation of plant protection UAV and its positioning system,and proposes two solutions for solving the problem that the GPS positioning signal is susceptible to interference in the plant protection work environment,selects the solution using airborne vision.In this solution,monocular vision is selected,and a multi-sensor fusion positioning method based on video stream is designed,and verified the positioning effect.The validity of localization is proved.Secondly,an adaptive complementary filtering fusion algorithm is proposed,which combines the data of GPS module positioning data and 3D module positioning data to solve the problem of positioning signal loss due to drift and absence of GPS signal,and designed a experiment to verify the positioning effect.Experimental results show that the algorithm is effective.Finally,based on solving the problem of locating signal missing,a design algorithm of the minimum energy return point planning of UAV is proposed.The algorithm is based on the reciprocating path of plant protection work,The number of vehicles carried in each flight is different,and different return points are planned for each aircraft carrier.The shortest return route is selected from all the different return situations.The effectiveness of the algorithm is proved by the simulation experiment,and to a large extent reduce the labor costs and resource consumption.And Which provides a good idea for realizing energy saving and emission reduction in the development process of plant protection UAV automation.