The invention discloses a real-time landform following detection device for a thunder field detection unmanned aerial vehicle, and the device comprises an air pressure sensor, an RTK mobile station, an ultrasonic ranging module, and a millimeter wave radar. The method is used for a thunder field detection unmanned aerial vehicle composed of a flight control MCU, an attitude sensing module, a landform following module, a ground-air communication module, a power subsystem, an airborne thunder field detection subsystem and a power module. The system has the beneficial effects that a multi-sensor cooperative monitoring scheme is adopted, the advantageous performance of each sensor is fully played, and the measurement values of the air pressure sensor, the RTK mobile station, the ultrasonic ranging module and the millimeter wave radar are corrected in real time by using the estimation result of the attitude sensing module so as to realize real-time landform following in the thunder field detection process; the precision and the anti-interference capability of the monitoring quantity are improved, and the accuracy of data is ensured; the problems that the sensor is poor in stability and prone to being interfered due to the fact that a field thunder field is complex in terrain structure and covered with a large amount of dense vegetation are effectively solved.
本发明公开了一种雷场探测无人机实时地形地貌跟随检测装置,检测装置包括气压传感器、RTK移动站、超声波测距模块、毫米波雷达,用于由飞控MCU、姿态感知模块、地形地貌跟随模块、地空通信模块、动力子系统、机载雷场探测子系统、电源模块组成的雷场探测无人机。本发明的有益效果在于:采用多传感器协同监测的方案,充分发挥各传感器的优势性能,利用姿态感知模块的估计结果来实时修正气压传感器、RTK移动站、超声波测距模块、毫米波雷达的测量值以实现雷场探测过程中的实时地形地貌跟随,提高了监测量的精度和抗干扰能力,保证了数据的准确性;有效的解决了野外雷场因地形结构复杂、大量茂密植被覆盖引起的传感器稳定性差、易受干扰的问题。
Real-time terrain and landform following detection device of thunder field detection unmanned aerial vehicle
雷场探测无人机实时地形地貌跟随检测装置
2023-01-20
Patent
Electronic Resource
Chinese
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