Orjales Félix, Losada-Pita Javier, Paz-Lopez Alejandro, Deibe Álvaro
Integrated Group for Engineering Research, Universidade da Coruña, 15403 A Coruña, Spain.
CITIC Research Center, Universidade da Coruña, 15071 A Coruña, Spain.
Sensors (Basel). 2021 Mar 21;21(6):2194. doi: 10.3390/s21062194.
UAVs often perform tasks that require flying close to walls or structures and in environments where a satellite-based location is not possible. Flying close to solid bodies implies a higher risk of collisions, thus requiring an increase in the precision of the measurement and control of the UAV's position. The aerodynamic distortions generated by nearby walls or other objects are also relevant, making the control more complex and further placing demands on the positioning system. Performing wall-related tasks implies flying very close to the wall and, in some cases, even touching it. This work presents a Near-Wall Positioning System (NWPS) based on the combination of an Ultra-wideband (UWB) solution and LIDAR-based range finders. This NWPS has been developed and tested to allow precise positioning and orientation of a multirotor UAV relative to a wall when performing tasks near it. Specific position and orientation control hardware based on horizontal thrusters has also been designed, allowing the UAV to move smoothly and safely near walls.
无人机常常执行一些任务，这些任务要求无人机贴近墙壁或建筑物飞行，且所处环境无法使用基于卫星的定位。贴近固体飞行意味着碰撞风险更高，因此需要提高无人机位置测量与控制的精度。附近墙壁或其他物体产生的空气动力学畸变也很关键，这使得控制更加复杂，对定位系统提出了更高要求。执行与墙壁相关的任务意味着要非常贴近墙壁飞行，在某些情况下甚至要接触墙壁。本文介绍了一种基于超宽带（UWB）解决方案和激光雷达测距仪相结合的近壁定位系统（NWPS）。该NWPS已经过开发和测试，以便在多旋翼无人机靠近墙壁执行任务时，能够实现其相对于墙壁的精确位置和方向定位。还设计了基于水平推进器的特定位置和方向控制硬件，使无人机能够在墙壁附近平稳、安全地移动。
