实时运动定位 (RTK) 的可靠性,用于低成本无人机在全球导航卫星系统 (GNSS) 关键环境中的导航
Luca Tavasci1, Francesco Nex2, Stefano Gandolfi1
1Department of Civil, Chemical, Environmental and Materials Engineering (DICAM), Alma Mater Studiorum, University of Bologna, Viale Risorgimento 2, 40136 Bologna, Italy.
Sensors (Basel, Switzerland)
|September 28, 2024
概括
本研究评估了无人机在具有挑战性的环境中的实时动态全球导航卫星系统 (RTK GNSS) 定位. 结果为在墙壁和桥梁等障碍物附近安全无人机导航提供了实际建议.
科学领域:
- * 机器人和自主系统
- * 地质工程工程学
- *导航和定位系统 *导航和定位系统
背景情况:
- *无人机 (UAV) 越来越多地用于测量,通常在建筑物附近的复杂环境中.
- *实时动态全球导航卫星系统 (RTK GNSS) 提供高精度,但易受信号退化影响.
- * 城市峡谷和道等关键操作条件对无人机的RTK GNSS精度构成挑战.
研究的目的:
- * 评估轻型无人机上的低成本RTK GNSS模块的性能限制.
- * 在模拟基础设施检查的苛刻场景中评估定位准确性.
- * 确定影响RTK GNSS在受限制环境中的质量因素.
主要方法:
- * 在三个关键场景中模拟无人机轨迹:靠近高墙,在道和桥下.
- *各种参数,包括GNSS中断的持续时间,飞行动态和障碍物近距离.
- * 基于低成本GNSS模块收集的数据分析了定位质量.
主要成果:
- *RTK GNSS定位质量在有限的天空可见性和多路径效应条件下显著降低.
- * 特定的飞行动力学和障碍物大小与降低的定位精度相关.
- *确定了影响安全航行的信号中断的关键值.
结论:
- * 无人机上的低成本RTKGNSS在复杂的操作环境中面临重大限制.
- * 通过使用标准软件和GNSS参数来获得安全无人机操作的实际建议.
- * 该研究指导用户管理与基础设施附近无人机导航相关的风险.
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