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Application of image-free control technology of VTOL UAV in path planning of unmanned agricultural machinery

Zhang Qiang;Gao Rui;Yu Guoqing;Liu Lijiao;Deng Qing;Liang Anbao;Beijing Xinwuhao Agricultural Technology Co.,LTD.;Institutions of Electrical and Information,Northeast Agricultural University;The Second Geodetic Surveying Brigade,Ministry of Natural Resources;  
[Purpose] To demonstrate the application prospect of droop UAV free image control technology in unmanned agricultural aircraft path planning.[Method] In this paper, after using the ground station system and flight control software developed independently by Northeast Agricultural University for aerial planning,aerial photography was automatically performed by a drooping UAV. Due to the incorporation of UAV high-precision inertial guidance and real-time differential technology,high-precision ground base maps are automatically generated under the conditions of no image control points and image control-free points.[Result] The analysis results show that the 10 detection points in this application experiment,△X,△Y and △H achieved the accuracy results of 0.026, 0.027 and 0.042 on average, respectively, and the accuracy of the 10 detection points were kept below 0.05 m. The results also verified the field operation effect of the unmanned agricultural machine after planning the path based on this aerial photography. The unmanned rice trans-planter can operate along the planned path better,and the operation path is standardized and neat.[Conclusion] The application result proves that the application of dropping drone free image control technology can fully meet the demand of unmanned agricultural operation, which can effectively improve the operation efficiency and reduce the labor cost,and has a broad application prospect.
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