Design And Implementation Of UAV Ground Station Software For Urban Road Inspection

As an emerging means of traffic monitoring,unmanned aerial vehicle(UAV)demonstrates superiority in improving traffic efficiency of inspection and obtaining real-time road conditions within a wide range of sections,which is significant for the information construction of urban road.UAV patrol ground station,an important part of UAV patrol system,can monitor the process of urban road patrol in real time and control UAV to complete the patrol task reasonably.An UAV patrol ground station software for urban road inspection is designed,and it has great effect on improving the applicability and informatization level of urban road inspection ground station software.The main research work and results are as follows:(1)The UAV patrol system for urban road inspection is built,which includes an UAV with a camera and a patrol ground station.According to the functional and non-functional requirements of UAV patrol ground station software,the overall structure of the UAV patrol ground station software is designed on the basis of three-tier development model.(2)An improved A-Star-based UAV route planning algorithm is proposed to improve the search efficiency of nodes by considering the constraints such as maximum yaw angle of UAV and the threat of terrain obstacles.Meanwhile,a vehicle detection algorithm based on optical flow is designed,and the vehicle flow information is further counted by setting virtual detection lines.(3)In order to realize the UAV patrol inspection of urban roads,the main functions of UAV patrol ground station software are designed and developed,including UAV path planning,vehicle detection and traffic statistics,flight data receiving,control command sending,interface presentation and input validation,UDP communication protocol and data storage.The test results of UAV patrol ground station software show that the software can reach the design standards and meet the requirements of urban road patrol.