【作者】 陆源； 程向红；

【Author】 LU Yuan,CHENG Xiang-hong (School of Instrument Science and Engineering,Southeast University,Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology of Ministry of Education,Southeast University,Nanjing 210096)

【机构】 东南大学仪器科学与工程学院,微惯性仪表与先进导航技术教育部重点实验室；

【摘要】 散货码头和热电厂时常需要对库存量进行统计,这是生产管理的一个重要的组成部分。散货码头、大型热电厂的露天堆放面积可达上百公顷。对于这种规模的散货如果采用普通方式的皮带秤称量需要耗费巨大的人力、物力,往往是难以实现的。因此,有必要设计一种快捷简便、高效费比的测量手段。针对该应用背景,本文提出一种基于无人机、激光测距和惯性导航技术的散货体积测量系统解决方案。将点测量激光测距模组安装到旋翼无人机的双轴平台上,以中精度的捷联惯导系统给无人机和平台提供姿态基准。无人机按照规划的航线飞过测量区域,激光测距模组测量预设的扫描轨迹并结合无人机的高程计算得到测量点的高程数据,将数据积分后得到存货的总体积。文章最后通过数学仿真验证了该方案原理的可行性。更多还原

【Abstract】 Bulk cargo terminals and thermal power plants need taking stock regularly which is an important part of the daily management.The storage of the bulk cargo terminal and thermal power plant often covers an area of hundred hectares.Measuring the weight and the volume of the storage with belt conveyer scale will take a lot of efforts and cost,which is almost impossible to carry out.Therefore,it’s necessary to design a new measuring method which is simple and cost-effective.In this paper,a large-volume measurement system based on unmanned aerial vehicle(UAV),laser range finder and strapdown inertial navigation technology is presented.The laser range finding module is placed on a 2-axile rotation platform of the UAV. The attitude of the UAV is offered by the inertial measurement unit(IMU).The UAV travels along the area with the planned route and scans the area.The height of the scanned points will be calculated from the measured distances and the height of the UAV.The volume could be acquired by calculating the integration of the measurement points.The effectiveness of the solution is demonstrated by the simulation result.更多还原