US 12,468,309 B2
Method and system for hovering control of unmanned aerial vehicle in tunnel
Bin He, Shanghai (CN); Gang Li, Shanghai (CN); Runjie Shen, Shanghai (CN); Jie Chen, Shanghai (CN); Zhipeng Wang, Shanghai (CN); Ping Lu, Shanghai (CN); and Yimin Lou, Shanghai (CN)
Assigned to TONGJI UNIVERSITY, Shanghai (CN)
Filed by TONGJI UNIVERSITY, Shanghai (CN)
Filed on Apr. 2, 2022, as Appl. No. 17/657,753.
Claims priority of application No. 202110372166.6 (CN), filed on Apr. 7, 2021.
Prior Publication US 2022/0326720 A1, Oct. 13, 2022
Int. Cl. G05D 1/00 (2024.01); B64U 10/13 (2023.01); G01S 17/08 (2006.01); G01S 17/933 (2020.01)
CPC G05D 1/0808 (2013.01) [G01S 17/08 (2013.01); G01S 17/933 (2013.01); G05D 1/046 (2013.01); G05D 1/106 (2019.05); B64U 10/13 (2023.01); B64U 2201/10 (2023.01)] 16 Claims
OG exemplary drawing
 
1. A method for hovering control of an unmanned aerial vehicle (UAV) in a tunnel, comprising:
acquiring hovering information of a hovering position of the UAV;
acquiring position information of a current position of the UAV; and
determining flight parameters based on the hovering information and the position information, wherein the flight parameters are used to control the UAV to move from the current position to the hovering position, wherein
the UAV comprises a controller, a horizontal lidar, a to-ground laser ranging sensor, a to-air laser ranging sensor, an inertial measurement unit (IMU), and a barometer, wherein
the acquiring the hovering information includes:
acquiring the hovering information based on measurement data obtained by the horizontal lidar, the to-ground laser ranging sensor, the to-air laser ranging sensor, the IMU and the barometer, the hovering information including a hovering horizontal position and a hovering height, the position information including a horizontal position, a horizontal velocity, a vertical altitude, and a vertical velocity, and
the acquiring the position information includes:
fusing the measurement data of the horizontal lidar with the measurement data of the IMU by using a filtering algorithm to obtain the horizontal position and the horizontal velocity;
based on the horizontal velocity and a preset velocity threshold, obtaining vertical altitude data from measurement data of one of the to-ground laser ranging sensor, the to-air laser ranging sensor and the barometer, including:
in response to the horizontal velocity is greater than or equal to the preset velocity threshold, obtaining the vertical altitude data based on the measurement data of the barometer; and
in response to the horizontal velocity is less than the preset velocity threshold and tunnel ground is within a measuring range of the to-ground laser ranging sensor, obtaining the vertical altitude data based on the measuring data of the to-ground laser ranging sensor; and
in response to the horizontal velocity is less than the preset velocity threshold, the tunnel ground is not within the measuring range of the to-ground laser ranging sensor, and a tunnel top surface is within the measuring range of the to-air laser ranging sensor, obtaining the vertical altitude data based on the measuring data of the to-air laser ranging sensor; and
in response to the horizontal velocity is less than the preset velocity threshold, and the tunnel ground and the tunnel top surface are not within the measurement range of the to-ground laser ranging sensor and the to-air laser ranging sensor, obtaining the vertical altitude data based on the measurement data of the barometer;
fusing the vertical altitude data with the IMU measurement data by using the filtering algorithm to obtain the vertical altitude and the vertical velocity;
determining flight parameters based on the hovering information and the position information comprises:
obtaining a first flight parameter based on the hovering horizontal position, the horizontal position and the horizontal velocity; and
obtaining a second flight parameter based on the hovering height, the vertical altitude and the vertical velocity; wherein the controller controls the UAV to move from the current position to the hovering position based on the first flight parameter and the second flight parameter.