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使用机载传感器进行自动化基础设施检查的无人机任务定义与实施

Drone Mission Definition and Implementation for Automated Infrastructure Inspection Using Airborne Sensors.

作者信息

Besada Juan A, Bergesio Luca, Campaña Iván, Vaquero-Melchor Diego, López-Araquistain Jaime, Bernardos Ana M, Casar José R

机构信息

Information Processing and Telecommunication Center, Universidad Politécnica de Madrid, 28035 Madrid, Spain.

C-315.1, ETSI Telecomunicación, Avenida Complutense 30, 28035 Madrid, Spain.

出版信息

Sensors (Basel). 2018 Apr 11;18(4):1170. doi: 10.3390/s18041170.

DOI:10.3390/s18041170
PMID:29641506
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC5949034/
Abstract

This paper describes a Mission Definition System and the automated flight process it enables to implement measurement plans for discrete infrastructure inspections using aerial platforms, and specifically multi-rotor drones. The mission definition aims at improving planning efficiency with respect to state-of-the-art waypoint-based techniques, using high-level mission definition primitives and linking them with realistic flight models to simulate the inspection in advance. It also provides flight scripts and measurement plans which can be executed by commercial drones. Its user interfaces facilitate mission definition, pre-flight 3D synthetic mission visualisation and flight evaluation. Results are delivered for a set of representative infrastructure inspection flights, showing the accuracy of the flight prediction tools in actual operations using automated flight control.

摘要

本文介绍了一种任务定义系统及其支持的自动化飞行过程，该系统能够使用空中平台，特别是多旋翼无人机来实施离散基础设施检查的测量计划。任务定义旨在相对于基于航点的现有技术提高规划效率，使用高级任务定义原语并将它们与现实飞行模型相链接，以便提前模拟检查。它还提供可由商用无人机执行的飞行脚本和测量计划。其用户界面便于任务定义、飞行前3D合成任务可视化和飞行评估。给出了一组具有代表性的基础设施检查飞行的结果，展示了飞行预测工具在使用自动飞行控制的实际操作中的准确性。

https://cdn.ncbi.nlm.nih.gov/pmc/blobs/3810/5949034/716be4234a66/sensors-18-01170-g018.jpg
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https://cdn.ncbi.nlm.nih.gov/pmc/blobs/3810/5949034/716be4234a66/sensors-18-01170-g018.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/3810/5949034/4a3ad6b08dac/sensors-18-01170-g001.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/3810/5949034/be94306a3202/sensors-18-01170-g002.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/3810/5949034/709cabd88c83/sensors-18-01170-g003.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/3810/5949034/e0d0c5866f22/sensors-18-01170-g004.jpg
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https://cdn.ncbi.nlm.nih.gov/pmc/blobs/3810/5949034/06ee06eda458/sensors-18-01170-g006.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/3810/5949034/e2db0676bc78/sensors-18-01170-g007.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/3810/5949034/fad289b0c1da/sensors-18-01170-g008.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/3810/5949034/8f8b21b8afc1/sensors-18-01170-g009.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/3810/5949034/a9fd112c5381/sensors-18-01170-g010.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/3810/5949034/a369c74484ea/sensors-18-01170-g011.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/3810/5949034/8ec8d11bf5dc/sensors-18-01170-g012.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/3810/5949034/02f5fc4d535f/sensors-18-01170-g013.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/3810/5949034/498ee1903328/sensors-18-01170-g014.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/3810/5949034/54a1a96d11b7/sensors-18-01170-g015.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/3810/5949034/54a25be509c9/sensors-18-01170-g016.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/3810/5949034/9c800f899274/sensors-18-01170-g017.jpg
https://cdn.ncbi.nlm.nih.gov/pmc/blobs/3810/5949034/716be4234a66/sensors-18-01170-g018.jpg

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