CAJ | 학술논문

提出了一种使用四旋翼飞行器作为测量平台的地形边界与面积估计算法.该算法采用紧耦合闭环组合导航系统(捷联惯性导航系统与全球卫星定位系统)获取待测地形边界点的定位数据，分别使用Pauta准则与扩展卡尔曼粒子滤波方法剔除异常数据与处理定位数据.算法在得到的最终定位数据的基础上，估算待测地形与面积.飞行器使用前视和下视摄像头确定飞行方向和选择边界点.使用该算法可以实现不规则的凸多边形、凹多边形和弧段等地形的精确估计，估计误差可以在±1.2%以内.实际飞行实验结果验证了该算法的可行性和准确性.
제출료일충사용사선익비행기작위측량평태적지형변계여면적고계산법.해산법채용긴우합폐배조합도항계통(첩련관성도항계통여전구위성정위계통)획취대측지형변계점적정위수거，분별사용Pauta준칙여확전잡이만입자려파방법척제이상수거여처리정위수거.산법재득도적최종정위수거적기출상，고산대측지형여면적.비행기사용전시화하시섭상두학정비행방향화선택변계점.사용해산법가이실현불규칙적철다변형、요다변형화호단등지형적정학고계，고계오차가이재±1.2%이내.실제비행실험결과험증료해산법적가행성화준학성.
An algorithm was proposed to estimate the boundary and area of terrains with the quadrotor aircraft as the measuring instrument. The tightly coupled closed-loop integrated navigation system (strap-down inertial navigation system and global positioning system)was used to collect the positioning data.The Pauta criterion and EKPF (extended Kalman particle filter) were used to exclude the anomalous positioning data and dispose the remaining positioning data respectively.The boundary and area were estimated using the proposed algorithm based on the final positioning data.The front facing and bottom facing cameras of the aircraft were used to determine the flight direction and select the boundary points.This algorithm could be used to estimate irregular convex polygons,concave polygons and segmental arcs.The estimation error was limited within ± 1 . 2%.The actual flight test results indicated the feasibility and accuracy of the proposed algorithm.