補助用UAV群を用いた相対位置計測に基づくUAVによる構造物外観自動計測の実現

相対位置計測精度が点検用UAVの位置制御と外観点検タスクに及ぼす影響

抄録

The authors aim to realize the automatic structure measurement system using multiple Unmanned Aerial Vehicles (UAVs). Normally, in environments near facilities such as under the bridges, it is difficult to localize the self-position of UAV to blocking of GNSS signal and multipath. In order to solve this problem, our proposed system consists of some subsidiary UAVs that assist localization of an inspection UAV. Subsidiary UAVs are located to be able to receive GNSS signals and capture the inspection UAV, and estimates the position of the inspection UAV using GNSS information and relative measurement information between UAVs. In this paper, as a basic verification of system realization, under the premise that subsidiary UAVs are in a known position, we control the inspection UAV on the measurement information obtained from the fixed camera and perform inspection experiment.