The invention discloses an amphibious unmanned aerial vehicle underwater three-dimensional point cloud scanning sonar detection system and method, an unmanned aerial vehicle adopts a water-air amphibious four-axis heavy-load unmanned aerial vehicle, a sonar detector adopts a three-dimensional point cloud scanning sonar, and specifically, the three-dimensional point cloud scanning sonar detection system adopts a three-dimensional point cloud scanning sonar detector. The water-air amphibious four-axis heavy-load unmanned aerial vehicle and the three-dimensional point cloud scanning sonar are organically integrated, the unmanned aerial vehicle takes off from a ground station, leaps to areas such as river banks where the unmanned aerial vehicle is difficult to pass and lands on the water surface, the three-dimensional point cloud scanning sonar is used for detecting the underwater terrain, and meanwhile when water flow with the large flow speed is encountered, the unmanned aerial vehicle can be used for detecting the underwater terrain. The flight system of the unmanned aerial vehicle is utilized to enable the unmanned aerial vehicle to hover on the water surface to resist water flow, so that the stability of the unmanned aerial vehicle is ensured, and the detection accuracy of underwater topography is improved. In addition, a Kalman filtering algorithm is adopted to filter data of the gyroscope and the accelerometer, real-time attitude information is obtained, the compensation amount of the attitude information is calculated, and safe take-off and landing of the unmanned aerial vehicle in a non-static state are achieved by compensating the rotating speed of the motor.
本发明公开了两栖无人机水下三维点云扫描声呐探测系统及方法,本申请的无人机采用水空两栖四轴大载重无人机,本申请的声呐探测器采用三维点云扫描声呐,具体地,本申请通过将水空两栖四轴大载重无人机与三维点云扫描声呐有机集成,无人机从地面站起飞,飞跃河岸等难以通行的区域降落至水面上,利用三维点云扫描声呐进行水下地形的探测,同时,当遇到较大流速水流时,利用无人机的飞行系统使无人机悬停在水面上以抵抗水流,保证无人机的平稳,提高水下地形的探测精准度。此外,本申请采用卡尔曼滤波算法对陀螺仪和加速度计数据进行滤波并获取实时姿态信息,计算姿态信息的补偿量,通过补偿电机转速,以实现无人机在非静止状态下的安全起降。
Amphibious unmanned aerial vehicle underwater three-dimensional point cloud scanning sonar detection system and method
两栖无人机水下三维点云扫描声呐探测系统及方法
2025-05-09
Patent
Electronic Resource
Chinese
UNMANNED AERIAL VEHICLE WITH UNDERWATER SONAR SCANNING CAPABILITY
European Patent Office | 2022
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