Research On Collaborative Mapping Technology Of Air-ground Unmanned System

The development of sensor technology,automatic control and communication has rapidly promoted the proccess of intelligent unmanned systems.As a synonym of system efficiency,collaborative function has been attracted more and more attention.In the existing means of environmental exploration,stand-alone mapping has achieved good results,but there is no major breakthrough in the direction of collaborative mapping,especially from the air-ground space.This paper mainly studies the direction of two-dimensional collaborative mapping under the unmanned air-ground system including unmanned aerial vehicle and unmanned ground vehicle platforms,laying a foundation for the subsequent development of more types and higher dimensional collaborative mapping functions.This paper first introduces the UAV point cloud map transformation function,including the use of raster map and point cloud map description in the system,and introduces the media octree model used in the transformation,and finally expounds the point cloud pre-processing function.Because in the practical application there are a lot of feature point located out of the exploration area,this article preprocesses the point cloud before conversion to select qualified point cloud to ensure the validity of the subsequent generation grid map,which is different from the traditional octree point cloud transformation function.Secondly,it introduces the raster map stitching technology of UGV,including the mathematical model construction of the problem,the description of the traditional feature detection algorithm and the nonlinear diffusion filter algorithm,and the performance comparison of the feature detection algorithm for raster map.The feature detection operator adopted in this paper is different from the traditional image feature detection operators such as SIFT and SURF.Under the condition of Non-Gaussian filter processing,the searching and matching of map features are realized accurately and quickly,and the matching error caused by Gaussian filter’s blurring of raster map information is avoided.Then,the collaborative mapping unit of the unmanned air-ground system is introduced.It will mainly introduce the module design and function design of the system,the system software and hardware composition,and the multi-machine communication mechanism.The unmanned air-ground system is the main implementation carrier of collaborative map construction.It’s overall design,system composition and communication mechanism directly affect the realization of the final collaborative map construction function as well as indexes such as precision and speed.The realization of unmanned air-ground system is also a main work content of this topic.Finally,the experimental part is introduced.With the help of the unmanned air-ground system,this paper carried out the experimental verification and performance analysis of the collaborative mapping function at the real level.The experimental results show that the proposed method can construct the integrated global map on the basis of guaranteeing the real-time and accuracy,and realize the function of cooperative mapping of the air-ground system.