技术领域technical field
本发明涉及无人机巡检，特别是涉及一种基于RTK定位的无人机自主巡检系统及方法。The invention relates to unmanned aerial vehicle inspection, in particular to an autonomous inspection system and method for an unmanned aerial vehicle based on RTK positioning.
背景技术Background technique
随着电网的建设和无人机技术的发展，使用无人机进行电力巡检已成为一大热点，现有的巡检方式主要有两种：一是由无人机飞手控制无人机绕杆塔飞行拍照，但这种方式极其依赖飞手的技术，甚至需要额外的云台手进行辅助拍照，如果要对同一杆塔进行定期巡检，无疑会增加安全隐患，而且由飞手控制飞行很难保证每次杆塔拍照部位的一致性，增加了后期数据分析的工作量；二是根据杆塔的GPS信息和详细参数如杆塔类型、电压等级、杆塔高度、绝缘子材质等来生成航点路径，从而引导无人机自主巡检。这种方式必须需要相关部门配合来提供精准的数据，相对繁琐，具有一定的限制，而且若提供的数据出现偏差可能使飞机撞塔，风险极大。With the construction of the power grid and the development of drone technology, the use of drones for power inspections has become a hot spot. There are two main inspection methods: one is controlled by drone pilots Fly around the tower to take pictures, but this method is extremely dependent on the pilot's technology, and even requires an additional gimbal hand to assist in taking pictures. If you want to conduct regular inspections on the same tower, it will undoubtedly increase safety hazards, and it is very difficult for the pilot to control the flight. It is difficult to ensure the consistency of each tower photo location, which increases the workload of later data analysis; the second is to generate waypoint paths based on the GPS information of the tower and detailed parameters such as tower type, voltage level, tower height, insulator material, etc., so that Guide drones to conduct autonomous inspections. This method requires the cooperation of relevant departments to provide accurate data, which is relatively cumbersome and has certain limitations. Moreover, if there is a deviation in the provided data, the aircraft may crash into the tower, which is extremely risky.
发明内容Contents of the invention
本发明的目的在于克服现有技术的不足，提供一种基于RTK定位的无人机自主巡检系统及方法，记录飞手控制下无人机的飞行轨迹和云台相机的操作信息，发送给地面站进行筛选后生成航点任务，作为无人机自主巡检的依据，解决了无人机定期巡检对飞手过度依赖的问题，无需提前获知杆塔信息就能生成自主巡检的航点路径，引导无人机进行自主飞行和云台相机操作，且能够保证每次塔杆拍照部位的一致性，降低了安全隐患，为后期的数据分析提供了便利。The purpose of the present invention is to overcome the deficiencies in the prior art, provide a kind of UAV autonomous inspection system and method based on RTK positioning, record the flight track of the UAV under the control of the pilot and the operation information of the pan-tilt camera, and send it to After screening by the ground station, the waypoint task is generated as the basis for the autonomous inspection of the UAV, which solves the problem of excessive dependence on the pilot for the regular inspection of the UAV, and can generate the waypoint for the autonomous inspection without knowing the tower information in advance The path guides the UAV to carry out autonomous flight and gimbal camera operation, and can ensure the consistency of each tower pole photo location, reducing potential safety hazards and providing convenience for later data analysis.
本发明的目的是通过以下技术方案来实现的： 一种基于RTK定位的无人机自主巡检系统，包括地面端系统和无人机系统；所述无人机系统包括多旋翼无人机、飞控子系统、机载无线通讯模块和挂载于多旋翼无人机上的任务载荷子系统，所述地面端系统包括遥控器和地面站；The purpose of the present invention is achieved through the following technical solutions: a RTK positioning-based unmanned aerial vehicle autonomous inspection system, including a ground terminal system and an unmanned aerial vehicle system; the unmanned aerial vehicle system includes a multi-rotor unmanned aerial vehicle, The flight control subsystem, the airborne wireless communication module and the task load subsystem mounted on the multi-rotor UAV, the ground end system includes a remote controller and a ground station;
所述飞控子系统包括飞控模块和RTK定位模块，飞控模块分别与机载无线通讯模块、多旋翼无人机、RTK定位模块和任务载荷子系统连接；所述任务载荷子系统包括云台和设置于云台上的相机，云台用于根据来自飞控模块的指令控制相机的拍摄角度，相机与机载无线通讯模块连接，机载无线通讯模块分别与遥控器和地面站连接；The flight control subsystem includes a flight control module and an RTK positioning module, and the flight control module is connected with an airborne wireless communication module, a multi-rotor drone, an RTK positioning module and a task load subsystem respectively; the task load subsystem includes a cloud The platform and the camera arranged on the platform, the platform is used to control the shooting angle of the camera according to the instructions from the flight control module, the camera is connected to the airborne wireless communication module, and the airborne wireless communication module is connected to the remote controller and the ground station respectively;
所述遥控器，用于供飞手对无人机进行远程控制操作，生成控制数据传输给飞控模块；The remote controller is used for the pilot to remotely control the UAV, and generate control data for transmission to the flight control module;
所述飞控模块，用于根据飞手控制下遥控器发送的数据，控制多旋翼无人机的飞行和云台的转动，并保存无人机飞行的轨迹和云台相机的操作信息，将这些信息发给地面站进行处理，或是根据地面站发送过来的航点任务信息控制无人机系统进行自主巡检；The flight control module is used to control the flight of the multi-rotor drone and the rotation of the pan-tilt according to the data sent by the remote controller under the control of the pilot, and save the trajectory of the drone's flight and the operating information of the pan-tilt camera, and The information is sent to the ground station for processing, or the UAV system is controlled for autonomous inspection according to the waypoint task information sent by the ground station;
所述地面站，用于对飞手控制下无人机飞行的轨迹和云台相机的操作信息进行筛选，生成航点任务进行保存，并将航点任务发送给无人机系统进行自主巡检。The ground station is used to screen the flight trajectory of the UAV under the control of the pilot and the operation information of the gimbal camera, generate waypoint tasks for storage, and send the waypoint tasks to the UAV system for autonomous inspection .
所述机载无线通讯模块包括：数据传输单元，用于建立飞控模块与地面端系统的数据传输通道，接收来自遥控器和地面站的数据，传输给飞控模块，或是将飞控模块保存的无人机飞行轨迹和云台相机操作信息传输到地面站；图像传输单元，用于建立任务载荷子系统与地面端系统的图像传输通道，将相机拍摄到的图像信息实时传输到地面站。The airborne wireless communication module includes: a data transmission unit, which is used to establish a data transmission channel between the flight control module and the ground terminal system, receive data from the remote controller and the ground station, and transmit it to the flight control module, or transmit the data to the flight control module The saved flight trajectory of the UAV and the operation information of the gimbal camera are transmitted to the ground station; the image transmission unit is used to establish an image transmission channel between the mission load subsystem and the ground system, and transmit the image information captured by the camera to the ground station in real time .
所述地面端系统还包括与地面站连接的显示屏，用于对相机拍摄到的实时图像进行显示。The ground terminal system also includes a display screen connected to the ground station for displaying real-time images captured by the camera.
所述遥控器包括：飞行控制模块，用于供飞手对无人机的飞行进行远程控制操作，生成飞行控制数据；云台控制模块，用于供飞手对云台相机的拍照方位进行控制操作，生成拍照方位控制数据；命令发送模块，用于与机载无线通讯模块交互，将飞行控制数据和拍照方位控制数据传输给飞控模块。The remote controller includes: a flight control module, used for the pilot to remotely control the flight of the unmanned aerial vehicle, and generate flight control data; a cloud platform control module, used for the pilot to control the camera orientation of the cloud platform camera Operation, to generate camera orientation control data; the command sending module is used to interact with the airborne wireless communication module, and transmit the flight control data and camera orientation control data to the flight control module.
所述飞控模块包括：遥控响应模块，用于根据飞手控制下遥控器发送的数据，控制多旋翼无人机的飞行和云台的转动；轨迹保存模块，用于根据各个航点对应的RTK定位信息，确定并保存无人机飞行的轨迹和各个航点对应的云台相机操作信息，将这些信息通过机载无线通讯模块发送到地面站；自主巡航模块，用于根据地面站发送过来的航点任务控制无人机系统进行自主巡检。The flight control module includes: a remote control response module, which is used to control the flight of the multi-rotor UAV and the rotation of the gimbal according to the data sent by the remote controller under the control of the pilot; RTK positioning information, determine and save the flight trajectory of the UAV and the operation information of the gimbal camera corresponding to each waypoint, and send these information to the ground station through the airborne wireless communication module; the autonomous cruise module is used to send it according to the ground station Waypoint mission control UAV system for autonomous inspection.
所述地面站包括：地面站通讯模块，用于与机载无线通讯模块交互实现数据传输；筛选模块，用于在飞手通过遥控器控制无人机巡检时，对飞控模块发送回的无人机飞行的轨迹和云台相机的操作信息进行筛选；任务生成模块，用于根据筛选结果，生成航点任务，保存后发送给飞控模块；图像展示模块，用于将无人机系统中相机发送的数据在显示屏上进行实时显示。The ground station includes: a ground station communication module, which is used to interact with the airborne wireless communication module to realize data transmission; a screening module, which is used to send back information to the flight control module when the pilot controls the drone inspection through the remote control The trajectory of the UAV flight and the operation information of the gimbal camera are screened; the task generation module is used to generate waypoint tasks according to the screening results, and then sent to the flight control module after saving; the image display module is used to display the UAV system The data sent by the camera is displayed in real time on the display.
所述的航点任务包括自主巡检轨迹，以及在自主巡检轨迹中，各个航点所对应的云台相机操作信息。The waypoint task includes the autonomous inspection track, and the pan/tilt camera operation information corresponding to each waypoint in the autonomous inspection track.
优选地，所述无人机系统和地面端系统还包括用于供电的系统电源，所述相机使用集成了相机控制板和电源模块的一体化电池，电源模块使用DC/DC降压模块，尺寸小，输入范围大，输出电压稳定，无人机系统电源经过电源模块降压后，可以直接为相机进行供电，无需进行繁琐的电池更换操作。优选地，所述的还相机可以包括带WiFi的SD卡，在地面站也设置有相应的WiFi模块时，能够直接将拍摄到的图像传回地面站。Preferably, the UAV system and the ground system also include a system power supply for power supply, the camera uses an integrated battery integrating a camera control board and a power module, and the power module uses a DC/DC step-down module, the size of which is Small size, large input range, and stable output voltage. After the power supply of the UAV system is stepped down by the power module, it can directly supply power to the camera without cumbersome battery replacement operations. Preferably, the return camera may include an SD card with WiFi, and when the ground station is also equipped with a corresponding WiFi module, it can directly transmit the captured images back to the ground station.
所述的一种基于RTK定位的无人机自主巡检系统的自主巡检方法，包括以下步骤：Described a kind of autonomous inspection method of the unmanned aerial vehicle autonomous inspection system based on RTK positioning, comprises the following steps:
S1.飞手利用遥控器，控制无人机的飞行和云台的转动，完成一次巡检；S1. The pilot uses the remote control to control the flight of the drone and the rotation of the gimbal to complete an inspection;
S2.在飞手控制下的巡检过程中，飞控模块根据各个航点对应的RTK定位信息，确定并保存无人机飞行的轨迹和各个航点所对应的云台相机操作信息，并将这些信息发送到地面站；S2. During the inspection process under the control of the pilot, the flight control module determines and saves the flight trajectory of the UAV and the gimbal camera operation information corresponding to each waypoint according to the RTK positioning information corresponding to each waypoint, and sends This information is sent to the ground station;
S3.地面站对接收到的无人机飞行轨迹和云台相机操作信息进行筛选，生成航点任务；S3. The ground station screens the received UAV flight trajectory and gimbal camera operation information to generate waypoint tasks;
S4.地面站对航点任务进行保存后，发送给飞控模块；S4. After the ground station saves the waypoint task, it sends it to the flight control module;
S5.飞控模块按照航点任务，控制无人机系统进行自主巡检。S5. The flight control module controls the UAV system to perform autonomous inspection according to the waypoint tasks.
所述自主巡检方法还包括视频图像回传步骤：无人机进行自主巡检的过程中，任务载荷子系统中的相机进行视频图像拍摄，并实时传输回地面站，在显示屏上进行实时播放。The autonomous inspection method also includes a video image return step: during the autonomous inspection process of the UAV, the camera in the task load subsystem takes video images, and transmits them back to the ground station in real time, and performs real-time inspection on the display screen. play.
本发明的有益效果是：本发明通过记录飞手控制下无人机的飞行轨迹和云台相机的操作信息，发送给地面站进行筛选后生成航点任务，作为无人机自主巡检的依据，解决了无人机定期巡检对飞手过度依赖的问题，无需提前获知杆塔信息就能生成自主巡检的航点路径，引导无人机进行自主飞行和云台相机操作，且通过RTK定位模块能够进行厘米级的高精度定位，保证每次塔杆拍照部位的一致性，降低了安全隐患，为后期的数据分析提供了便利。The beneficial effects of the present invention are: the present invention records the flight track of the UAV under the control of the pilot and the operation information of the pan-tilt camera, and sends it to the ground station for screening to generate a waypoint task as the basis for the autonomous inspection of the UAV , which solves the problem of over-reliance on pilots for regular inspections of UAVs. It can generate waypoint paths for autonomous inspections without knowing the tower information in advance, guide UAVs to perform autonomous flight and gimbal camera operations, and use RTK positioning The module is capable of centimeter-level high-precision positioning, ensuring the consistency of each tower pole photo location, reducing potential safety hazards, and providing convenience for later data analysis.
附图说明Description of drawings
图1为本发明的系统原理框图；Fig. 1 is a system block diagram of the present invention;
图2为本发明的流程图。Fig. 2 is a flowchart of the present invention.
具体实施方式Detailed ways
下面结合附图进一步详细描述本发明的技术方案，但本发明的保护范围不局限于以下所述。The technical solution of the present invention will be further described in detail below in conjunction with the accompanying drawings, but the protection scope of the present invention is not limited to the following description.
如图1所示，一种基于RTK定位的无人机自主巡检系统，包括地面端系统和无人机系统；所述无人机系统包括多旋翼无人机、飞控子系统、机载无线通讯模块和挂载于多旋翼无人机上的任务载荷子系统，所述地面端系统包括遥控器和地面站；As shown in Figure 1, a UAV autonomous inspection system based on RTK positioning includes a ground terminal system and a UAV system; the UAV system includes a multi-rotor UAV, a flight control subsystem, an airborne A wireless communication module and a mission load subsystem mounted on the multi-rotor UAV, the ground end system includes a remote controller and a ground station;
所述飞控子系统包括飞控模块和RTK定位模块，飞控模块分别与机载无线通讯模块、多旋翼无人机、RTK定位模块和任务载荷子系统连接；所述任务载荷子系统包括云台和设置于云台上的相机，云台用于根据来自飞控模块的指令控制相机的拍摄角度，相机与机载无线通讯模块连接，机载无线通讯模块分别与遥控器和地面站连接；The flight control subsystem includes a flight control module and an RTK positioning module, and the flight control module is connected with an airborne wireless communication module, a multi-rotor drone, an RTK positioning module and a task load subsystem respectively; the task load subsystem includes a cloud The platform and the camera arranged on the platform, the platform is used to control the shooting angle of the camera according to the instructions from the flight control module, the camera is connected to the airborne wireless communication module, and the airborne wireless communication module is connected to the remote controller and the ground station respectively;
所述遥控器，用于供飞手对无人机进行远程控制操作，生成控制数据传输给飞控模块；The remote controller is used for the pilot to remotely control the UAV, and generate control data for transmission to the flight control module;
所述飞控模块，用于根据飞手控制下遥控器发送的数据，控制多旋翼无人机的飞行和云台的转动，并保存无人机飞行的轨迹和云台相机的操作信息，将这些信息发给地面站进行处理，或是根据地面站发送过来的航点任务信息控制无人机系统进行自主巡检；The flight control module is used to control the flight of the multi-rotor drone and the rotation of the pan-tilt according to the data sent by the remote controller under the control of the pilot, and save the trajectory of the drone's flight and the operating information of the pan-tilt camera, and The information is sent to the ground station for processing, or the UAV system is controlled for autonomous inspection according to the waypoint task information sent by the ground station;
所述地面站，用于对飞手控制下无人机飞行的轨迹和云台相机的操作信息进行筛选，生成航点任务进行保存，并将航点任务发送给无人机系统进行自主巡检。The ground station is used to screen the flight trajectory of the UAV under the control of the pilot and the operation information of the gimbal camera, generate waypoint tasks for storage, and send the waypoint tasks to the UAV system for autonomous inspection .
所述机载无线通讯模块包括：数据传输单元，用于建立飞控模块与地面端系统的数据传输通道，接收来自遥控器和地面站的数据，传输给飞控模块，或是将飞控模块保存的无人机飞行轨迹和云台相机操作信息传输到地面站；图像传输单元，用于建立任务载荷子系统与地面端系统的图像传输通道，将相机拍摄到的图像信息实时传输到地面站。The airborne wireless communication module includes: a data transmission unit, which is used to establish a data transmission channel between the flight control module and the ground terminal system, receive data from the remote controller and the ground station, and transmit it to the flight control module, or transmit the data to the flight control module The saved flight trajectory of the UAV and the operation information of the gimbal camera are transmitted to the ground station; the image transmission unit is used to establish an image transmission channel between the mission load subsystem and the ground system, and transmit the image information captured by the camera to the ground station in real time .
所述地面端系统还包括与地面站连接的显示屏，用于对相机拍摄到的实时图像进行显示。The ground terminal system also includes a display screen connected to the ground station for displaying real-time images captured by the camera.
所述遥控器包括：飞行控制模块，用于供飞手对无人机的飞行进行远程控制操作，生成飞行控制数据；云台控制模块，用于供飞手对云台相机的拍照方位进行控制操作，生成拍照方位控制数据；命令发送模块，用于与机载无线通讯模块交互，将飞行控制数据和拍照方位控制数据传输给飞控模块。The remote controller includes: a flight control module, used for the pilot to remotely control the flight of the unmanned aerial vehicle, and generate flight control data; a cloud platform control module, used for the pilot to control the camera orientation of the cloud platform camera Operation, to generate camera orientation control data; the command sending module is used to interact with the airborne wireless communication module, and transmit the flight control data and camera orientation control data to the flight control module.
所述飞控模块包括：遥控响应模块，用于根据飞手控制下遥控器发送的数据，控制多旋翼无人机的飞行和云台的转动；轨迹保存模块，用于根据各个航点对应的RTK定位信息，确定并保存无人机飞行的轨迹和各个航点对应的云台相机操作信息，将这些信息通过机载无线通讯模块发送到地面站；自主巡航模块，用于根据地面站发送过来的航点任务控制无人机系统进行自主巡检。The flight control module includes: a remote control response module, which is used to control the flight of the multi-rotor UAV and the rotation of the gimbal according to the data sent by the remote controller under the control of the pilot; RTK positioning information, determine and save the flight trajectory of the UAV and the operation information of the gimbal camera corresponding to each waypoint, and send these information to the ground station through the airborne wireless communication module; the autonomous cruise module is used to send it according to the ground station Waypoint mission control UAV system for autonomous inspection.
所述地面站包括：地面站通讯模块，用于与机载无线通讯模块交互实现数据传输；筛选模块，用于在飞手通过遥控器控制无人机巡检时，对飞控模块发送回的无人机飞行的轨迹和云台相机的操作信息进行筛选；任务生成模块，用于根据筛选结果，生成航点任务，保存后发送给飞控模块；图像展示模块，用于将无人机系统中相机发送的数据在显示屏上进行实时显示。The ground station includes: a ground station communication module, which is used to interact with the airborne wireless communication module to realize data transmission; a screening module, which is used to send back information to the flight control module when the pilot controls the drone inspection through the remote control The trajectory of the UAV flight and the operation information of the gimbal camera are screened; the task generation module is used to generate waypoint tasks according to the screening results, and then sent to the flight control module after saving; the image display module is used to display the UAV system The data sent by the camera is displayed in real time on the display.
所述的航点任务包括自主巡检轨迹，以及在自主巡检轨迹中，各个航点所对应的云台相机操作信息。The waypoint task includes the autonomous inspection track, and the pan/tilt camera operation information corresponding to each waypoint in the autonomous inspection track.
在本申请的实施例中，所述无人机系统和地面端系统还包括用于供电的系统电源，所述相机使用集成了相机控制板和电源模块的一体化电池，电源模块使用DC/DC降压模块，尺寸小，输入范围大，输出电压稳定，无人机系统电源经过电源模块降压后，可以直接为相机进行供电，无需进行繁琐的电池更换操作，降低系统复杂度，提高作业效率；在该实施例中，所述的还相机可以包括带WiFi的SD卡，在地面站也设置有相应的WiFi模块时，能够直接将拍摄到的图像传回地面站。In an embodiment of the present application, the UAV system and the ground system also include a system power supply for power supply, the camera uses an integrated battery integrating a camera control board and a power module, and the power module uses a DC/DC The step-down module has small size, large input range and stable output voltage. After the power supply of the UAV system is stepped down by the power module, it can directly supply power to the camera without cumbersome battery replacement operations, reducing system complexity and improving work efficiency. In this embodiment, the camera can include an SD card with WiFi, and when the ground station is also provided with a corresponding WiFi module, it can directly transmit the captured images back to the ground station.
如图2所示，所述的一种基于RTK定位的无人机自主巡检系统的自主巡检方法，包括以下步骤：As shown in Figure 2, described a kind of autonomous inspection method of the UAV autonomous inspection system based on RTK positioning, comprises the following steps:
S1.飞手利用遥控器，控制无人机的飞行和云台的转动，完成一次巡检；S1. The pilot uses the remote control to control the flight of the drone and the rotation of the gimbal to complete an inspection;
S2.在飞手控制下的巡检过程中，飞控模块根据各个航点对应的RTK定位信息，确定并保存无人机飞行的轨迹和各个航点所对应的云台相机操作信息，并将这些信息发送到地面站；S2. During the inspection process under the control of the pilot, the flight control module determines and saves the flight trajectory of the UAV and the gimbal camera operation information corresponding to each waypoint according to the RTK positioning information corresponding to each waypoint, and sends This information is sent to the ground station;
S3.地面站对接收到的无人机飞行轨迹和云台相机操作信息进行筛选，生成航点任务；S3. The ground station screens the received UAV flight trajectory and gimbal camera operation information to generate waypoint tasks;
S4.地面站对航点任务进行保存后，发送给飞控模块；S4. After the ground station saves the waypoint task, it sends it to the flight control module;
S5.飞控模块按照航点任务，控制无人机系统进行自主巡检。S5. The flight control module controls the UAV system to perform autonomous inspection according to the waypoint tasks.
所述自主巡检方法还包括视频图像回传步骤：无人机进行自主巡检的过程中，任务载荷子系统中的相机进行视频图像拍摄，并实时传输回地面站，在显示屏上进行实时播放。The autonomous inspection method also includes a video image return step: during the autonomous inspection process of the UAV, the camera in the task load subsystem takes video images, and transmits them back to the ground station in real time, and performs real-time inspection on the display screen. play.
综上所述，本发明通过记录飞手控制下无人机的飞行轨迹和云台相机的操作信息，发送给地面站进行筛选后生成航点任务，作为无人机自主巡检的依据，解决了无人机定期巡检对飞手过度依赖的问题，无需提前获知杆塔信息就能生成自主巡检的航点路径，引导无人机进行自主飞行和云台相机操作，且通过RTK定位模块能够进行厘米级的高精度定位，保证每次塔杆拍照部位的一致性，降低了安全隐患，为后期的数据分析提供了便利。In summary, the present invention records the flight trajectory of the UAV under the control of the pilot and the operation information of the gimbal camera, and sends it to the ground station for screening to generate a waypoint task as the basis for the autonomous inspection of the UAV, solving the problem of It solves the problem of excessive reliance on pilots for regular inspections of UAVs. It can generate waypoint paths for autonomous inspections without knowing the tower information in advance, and guide UAVs to perform autonomous flight and pan-tilt camera operations. The RTK positioning module can Carry out centimeter-level high-precision positioning to ensure the consistency of each tower pole photo location, reduce potential safety hazards, and provide convenience for later data analysis.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711461735.4ACN108334104A (en) | 2017-12-28 | 2017-12-28 | A kind of autonomous cruising inspection system of unmanned plane and method based on RTK positioning |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711461735.4ACN108334104A (en) | 2017-12-28 | 2017-12-28 | A kind of autonomous cruising inspection system of unmanned plane and method based on RTK positioning |
| Publication Number | Publication Date |
|---|---|
| CN108334104Atrue CN108334104A (en) | 2018-07-27 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711461735.4APendingCN108334104A (en) | 2017-12-28 | 2017-12-28 | A kind of autonomous cruising inspection system of unmanned plane and method based on RTK positioning |
| Country | Link |
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| CN (1) | CN108334104A (en) |
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