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| 1 | UAV低空航测技术研究显示文摘本文阐述无人飞行器(UAV)低空航测系统不同于普通航空摄影测量的技术特点,具体包括任务目标、飞行平台性能、成像传感器系统组成结构、数据处理的特殊技术等方面,尤其着重阐述了专门针对低空轻小型无人飞行器研制的具有自检校自稳定功能的组合宽角数码相机的设计原理。 | 林宗坚 | 2011 | 测绘科学2011，36，1： | 60 |
| 2 | 欠驱动四旋翼无人飞行器的滑模控制显示文摘针对六自由度欠驱动四旋翼无人飞行器(Quadrotor UAV)受控模型的复杂非线性问题,提出了一种系统简化方法,并基于简化后的模型设计了滑模控制器,实现了对复杂模型的非线性控制.首先,对Quadrotor UAV模型进行简化处理,从而可将系统解耦为完整驱动部分和欠驱动部分;进而,通过定义一个广义滑动流形实现欠驱动部分的滑模控制器设计;最后,利用Lyapunov理论证明了系统欠驱动部分的稳定性.仿真分析表明,本文提出的控制方法能够有效实现Quadrotor UAV的控制,且与经典PID控制方法相比,具有对外界扰动更强的鲁棒性. | 王璐 李光春 王兆龙 焦斌 | 2012 | 哈尔滨工程大学学报2012，33，10： | 41 |
| 3 | 基于无人机紫外检测的输电线路电晕放电缺陷智能诊断技术显示文摘目前使用紫外视频进行绝缘子探伤需要人工判读放电光斑,自动化程度较低。为此,提出了一种以无人机(UAV)搭载的紫外传感器所获取的影像为数据源,根据电晕放电的光谱特征和紫外成像的形态特征来自动检测紫外视频放电位置的方法。首先从紫外影像中获取图像帧;然后对图像进行最大类间方差二值化和区域生长处理,根据区域生长后的结果来计算疑似放电区域;最后经放电异常诊断,利用获得的高精度位置姿态以及时间同步信息,得到高压输电线路绝缘子发生异常的具体地理位置。实验结果表明上述方法可以自动提取紫外视频中呈高密度、连续放电的区域。该方法可有效地对紫外影像中高压输电线路绝缘子进行放电异常诊断,对电网运行维护有实际意义。 | 彭向阳 钟清 饶章权 杨必胜 陈驰 苏林晓 | 2014 | 高电压技术2014，40，8： | 50 |
| 4 | 多基地多无人机协同侦察问题研究显示文摘充分考虑侦察目标的侦察分辨率要求和侦察时间窗约束,以及位于不同基地的无人机(UAV)的侦察性能和可用数目,首次建立了更加贴近军事应用实际的多基地多UAV协同侦察问题(M-MUCRP)的数学模型,并提出了解决该模型的多基地多UAV协同侦察进化算法(M-MUCREA)。M-MUCREA的染色体数据结构有效地表达了问题的解,有利于交叉、变异等进化操作;充分利用与目标侦察分辨率要求以及目标位置和时间窗约束相关的启发信息,构造初始种群,避免进化过程收敛太慢;基于Pareto最优概念的选择算子确保解在多个目标上的有效优化;精英策略避免了丢失进化过程中产生的非劣解,加快算法收敛;变异和交叉算子在保证有效解的前提下,实现了解的多样性,避免了算法陷入局部最优。仿真实验验证了算法能够有效解决M-MUCRP。 | 田菁 沈林成 | 2007 | 航空学报2007，28，4： | 35 |
| 5 | Multi-UAV reconnaissance task allocation for heterogeneous targets using an opposition-based genetic algorithm with double-chromosome encoding显示文摘This paper presents a novel multiple Unmanned Aerial Vehicles(UAVs) reconnaissance task allocation model for heterogeneous targets and an effective genetic algorithm to optimize UAVs' task sequence. Heterogeneous targets are classified into point targets, line targets and area targets according to features of target geometry and sensor's field of view. Each UAV is regarded as a Dubins vehicle to consider the kinematic constraints. And the objective of task allocation is to minimize the task execution time and UAVs' total consumptions. Then, multi-UAV reconnaissance task allocation is formulated as an extended Multiple Dubins Travelling Salesmen Problem(MDTSP), where visit paths to the heterogeneous targets must meet specific constraints due to the targets' feature. As a complex combinatorial optimization problem, the dimensions of MDTSP are further increased due to the heterogeneity of targets. To efficiently solve this computationally expensive problem, the Opposition-based Genetic Algorithm using Double-chromosomes Encoding and Multiple Mutation Operators(OGA-DEMMO) is developed to improve the population variety for enhancing the global exploration capability. The simulation results demonstrate that OGADEMMO outperforms the ordinary genetic algorithm, ant colony optimization and random search in terms of optimality of the allocation results, especially for large scale reconnaissance task allocation problems. | Zhu WANG Li LIU Teng LONG Yonglu WENa | 2018 | Chinese Journal of Aeronautics2018，31，2： | 35 |
| 6 | Drift and deposition of ultra-low altitude and low volume application in paddy field显示文摘Field trials were performed to evaluate various techniques for measuring spray deposition and aerial drift during spray application to paddy field.The application of a spraying agent containing the fluorescent dye Rhodamine-B was applied by an unmanned aerial vehicle(UAV)which flew at a height of 5 m,a speed of 3 m/s,and the wind speed of 3 m/s.The results showed that because the downdraft produced by a helicopter rotor increased the penetrability of crops,there is a higher deposition on the upper layer and the under layer than the traditional spraying.The average deposition on the upper layer accounts for 28% of the total spraying,the deposition on the under layer accounts for 26% of the total spraying.The deposition on the under layer takes up 92.8% of the deposition on the upper layer.Droplets drift data showed that the drift of non-target area took up 12.9% of the total liquid spray.The 90% drifting droplets were located within a range of 8 m of the target area;the drift quantity was almost zero at a distance of 50 m away from the treated area. | Xue Xinyu Tu Kang Qin Weicai Yubin Lan Huihui Zhang | 2014 | International Journal of Agricultural and Biological Engineering2014，7，4： | 40 |
| 7 | Current status and future trends of precision agricultural aviation technologies显示文摘Modern technologies and information tools can be used to maximize agricultural aviation productivity allowing for precision application of agrochemical products.This paper reviews and summarizes the state-of-the-art in precision agricultural aviation technology highlighting remote sensing,aerial spraying and ground verification technologies.Further,the authors forecast the future of precision agricultural aviation technology with key development directions in precision agricultural aviation technologies,such as real-time image processing,variable-rate spraying,multi-sensor data fusion and RTK differential positioning,and other supporting technologies for UAV-based aerial spraying.This review is expected to provide references for peers by summarizing the history and achievements,and encourage further development of precision agricultural aviation technologies. | Yubin Lan Chen Shengde Bradley K Fritz | 2017 | International Journal of Agricultural and Biological Engineering2017，10，3： | 35 |
| 8 | Development of a PWM Precision Spraying Controller for Unmanned Aerial Vehicles显示文摘This paper presents a new Pulse Width Modulation (PWM) controller for Unmanned Aerial Vehicle (UAV) precisionsprayer for agriculture using a TL494 fixed-frequency pulse width modulator together with a data acquisition board and developedsoftware. An UAV can be remotely controlled or flown autonomously by pre-programmed flight plans. The PWMcontroller was implemented through the guidance system on the UAV with control commands sent between the UAV helicopterand the ground control station via a wireless telemetry system. The PWM controller was tested and validated using LabVIEW8.2. Several analyses were performed in a laboratory to test different control signals. The results show that the PWM controllerhas promise as a higher precision technique for spray applications, which will improve efficiency of pesticide application,especially in crop production areas. | W.Clint Hoffmann Brad Fritz | 2010 | Journal of Bionic Engineering2010，7，3： | 27 |
| 9 | Numerical simulation and experimental verification on downwash air flow of six-rotor agricultural unmanned aerial vehicle in hover显示文摘Recently,multi-rotor unmanned aerial vehicle(UAV)becomes more and more significantly irreplaceable in the field of plant protection against diseases,pests and weeds of crops.The easy takeoff and landing performance,hover function and high spraying efficiency of UAV are urgently required to spray pesticide for crop timely and effectively,especially in dispersed plots and hilly mountains.In such situations,the current researches about UAV spray application mainly focus on studying the influence of the UAV spraying parameters on the droplet deposition,such as operation height,operation velocity and wind velocity.The deposition and distribution of pesticide droplets on crops which depends on installation position of nozzle and airflow distribution characteristics of UAV are directly related to the control effect of pesticide and crop growth in different growth periods.As a preliminary step,this study focuses on the dynamic development law and distribution characteristics of the downwash air flow for the SLK-5 six-rotor agricultural UAV.Based on compressible Reynolds-averaged Navier-Stokes(RANS)equations with an RNG k-εturbulence model and dynamic mesh technology,the efficient three-dimensional computational fluid dynamics(CFD)method was established to analyze the flow field distribution characteristics of UAV in hover.Then the unsteady interaction flow field of the wing was investigated in detail.The downwash wind speed of the marked points for the SLK-5 UAV in hover was also tested by weather tracker.It was found that the maximum velocity value of the downwash flow was close to 10 m/s;the z-direction velocity was the main body of the wind velocity in the downwash airflow,and the comparison of the wind velocity experiment test and simulation showed that the relative error was less than 12%between the experimental and simulated values of the z-direction velocity at the marked points.Then the flow characteristics of the longitudinal and cross section were analyzed in detail,the results obtained can be used as a reference for drift and sedimentation studies for multi-rotor unmanned aerial vehicle. | Yang Fengbo Xue Xinyu Zhang Ling Sun Zhu | 2017 | International Journal of Agricultural and Biological Engineering2017，10，4： | 28 |
| 10 | Energy-Efficient Multi-UAV Coverage Deployment in UAV Networks:A Game-Theoretic Framework显示文摘UAV cooperative control has been applied in many complex UAV communication networks. It remains challenging to develop UAV cooperative coverage and UAV energy-efficient communication technology. In this paper, we investigate current works about UAV coverage problem and propose a multi-UAV coverage model based on energy-efficient communication. The proposed model is decomposed into two steps: coverage maximization and power control, both are proved to be exact potential games(EPG) and have Nash equilibrium(NE) points. Then the multi-UAV energy-efficient coverage deployment algorithm based on spatial adaptive play(MUECD-SAP) is adopted to perform coverage maximization and power control, which guarantees optimal energy-efficient coverage deployment. Finally, simulation results show the effectiveness of our proposed approach, and confirm the reliability of proposed model. | Lang Ruan Jinlong Wang Jin Chen Yitao Xu Yang Yang Han Jiang Yuli Zhang Yuhua Xu | 2018 | China Communications2018，15，10： | 24 |
| 11 | 无人机航空摄影测量系统在农村土地确权中的应用显示文摘介绍了用PPSG UAV对双鸭山市郊区2.5 km2地域(农村土地承包经营权确权双鸭山试点)试验区进行无人机航摄,无人机搭载非量测型相机获取低空遥感数据,计算机安装专业空三解算软件处理具体影像,最终取得数字正射影像图(DOM)、数字表面模型(DSM),通过数据分析了该系统的空中三角测量成果的精度和数字正射影像图(DOM)、数字表面模型(DSM)的精度,都达到了航空摄影测量地理信息数字成果比例尺1∶1 000的成图精度。 | 王妍 孔祥仲 贾世真 刘辉 | 2015 | 测绘与空间地理信息2015，38，8： | 22 |
| 12 | 基于实景三维模型的1∶500地形图测绘的分析与应用显示文摘倾斜摄影技术突破传统垂直航空摄影的限制,从多角度获取影像,生成可量测的实景三维模型,并直接用于地形图测绘。本文基于实景三维模型进行1∶500地形图测绘应用研究,探讨了倾斜摄影的关键技术,总结基于实景三维模型的1∶500地形图测绘流程,结合实例的相关精度分析,验证了基于实景三维模型的1∶500地形图测绘的可行性,提供了一种新的大比例尺地形图生产模式。 | 周旺辉 蔡东健 刘景山 | 2017 | 测绘通报2017，，S2： | 23 |
| 13 | 基于海绵校园背景下校园景观设计研究——以南京林业大学景观设计为例显示文摘海绵校园技术的应用是中国校园景观自然式雨洪管理的核心手段,借助于3S技术(GIS、RS、GPS)、UAV摄影测量技术等现代数字信息采集手段,建设更好的校园景观生态,借鉴海绵城市建设的理念与思路,提出相应解决方案,更加详细、科学、有效地挖掘研究区的整体景观结构特征及其对应的景观功能,使针对景观格局水资源综合利用的分析更加完整,有利于南京林业大学校园内受灾严重道路的整改工作,方便学生和老师的学习和生活。 | 王玮 王浩 田晓冬 李卫正 孔祥炎 | 2018 | 中国园林2018，34，6： | 23 |
| 14 | 无人机双拼相机低空航测系统显示文摘介绍一种新近研制成功的无人机载双拼组合相机低空航测系统,包括其组成结构、双拼组合宽角数码相机原理、数据处理软件以及利用该系统进行大比例尺测图的生产流程;最后给出示范工程的结果。理论与实践证明,对于同一架飞机、同一地点、同一航高而言,装备双拼相机比装备普通单相机,飞行效率可提高一倍。 | 林宗坚 苏国中 支晓栋 | 2010 | 地理空间信息2010，8，4： | 20 |
| 15 | 基于Dubins路径的A~*算法的多无人机路径规划显示文摘以两架固定翼无人机在同高度、有障碍物环境下的路径规划为应用背景,针对传统基于网格的A*搜索算法没有考虑飞行性能约束的问题,首先利用Dubins曲线找到有效节点,结合A*启发式搜索的思想,分别为每架无人机离线构建由Dubins曲线组成的最短避障路径;在两机同高度飞行过程中,通过相对运动关系判断是否碰撞,使用'向量共享'解得航向改变量以及在线路径重规划,得到两机的防撞避障路径。仿真表明,与传统A*搜索相比,此算法可更快地得到更短的连续安全路径;通过在线重规划,可以得到两机的防撞避障路径。 | 宋雪倩 胡士强 | 2018 | 电光与控制2018，25，11： | 19 |
| 16 | 基于满意决策的多UAV协同目标分配方法显示文摘目标分配是UAV自主控制的重要问题。提出了基于满意决策的多UAV协同的目标分配技术,为解决多UAV协同的目标分配问题和多机场起飞的UAV编队配置问题提供了一种新颖而有效的方法。重点对其中的满意集计算、联合满意度、拒绝度和选择度的建立和计算等关键问题进行了讨论。以压制敌防空火力任务为背景对该方法进行了仿真,并将本文提出的方法和其他方法做了比较,仿真结果表明基于满意决策的多UAV协同的目标分配方法在效率上有明显优势。 | 叶媛媛 闵春平 沈林成 常文森 | 2005 | 国防科技大学学报2005，27，4： | 18 |
| 17 | UAV-DEM支持下的土方快速测算方法显示文摘土地平整工程是土地整治项目中最重要部分之一,而工程平整土方量的快速准确计算则又关系着土地整治规划设计成功与否、项目资金使用是否合理。本文以山西省晋城市泽州县长河流域为例,引入无人机技术(UAV)采集土地平整工程基础数据,并生成待平整土地的DEM数据,进而借助ArcGIS 10.1软件的高程统计功能获得适合研究区的理想设计标高,在此基础上获得田块的挖、填土方量。经验证,该方法能够大幅度减少土方计算的重复工作量且计算结果准确,可在土地平整工程中进行推广。 | 朱连辉 田毅 王薇 毛崔磊 | 2017 | 测绘通报2017，，6： | 17 |
| 18 | 博兴县无人飞艇低空航摄测量数据处理显示文摘介绍了无人飞艇低空航摄测量系统,利用此系统对博兴县城区约15 km2的区域进行航摄测量、空三加密并制作DEM和DOM,各项指标均达到了国家1∶1 000航摄测量的精度要求。对比载人飞机,无人飞艇机动灵活,获取的影像数据分辨率高,数据获取快及处理效率高,精度满足国家标准的要求,成本低廉。 | 张兰 潘宝玉 | 2012 | 地矿测绘2012，28，1： | 15 |
| 19 | Flight safety measurements of UAVs in congested airspace显示文摘Describing spatial safety status is crucial for high-density air traffic involving multiple unmanned aerial vehicles(UAVs) in a complex environment. A probabilistic approach is proposed to measure safety situation in congested airspace. The occupancy distribution of the airspace is represented with conflict probability between spatial positions and UAV. The concept of a safety envelope related to flight performance and response time is presented first instead of the conventional fixed-size protected zones around aircraft. Consequently, the conflict probability is performance-dependent, and effects of various UAVs on safety can be distinguished. The uncertainty of a UAV future position is explicitly accounted for as Brownian motion. An analytic approximate algorithm for the conflict probability is developed to decrease the computational consumption. The relationship between safety and flight performance are discussed for different response times and prediction intervals. To illustrate the applications of the approach, an experiment of three UAVs in formation flight is performed. In addition, an example of trajectory planning is simulated for one UAV flying over airspace where five UAVs exist. The validation of the approach shows its potential in guaranteeing flight safety in highly dynamic environment. | Xiang Jinwu Liu Yang Luo Zhangping | 2016 | Chinese Journal of Aeronautics2016，29，5： | 14 |
| 20 | Network-Connected UAV Communications: Potentials and Challenges显示文摘This article explores the use of network-connected unmanned aerial vehicle(UAV) communications as a compelling solution to achieve high-rate information transmission and support ultra-reliable UAV remote command and control. We first discuss the use cases of UAVs and the resulting communication requirements, accompanied with a flexible architecture for network-connected UAV communications. Then, the signal transmission and interference characteristics are theoretically analyzed, and subsequently we highlight the design and optimization considerations, including antenna design, nonorthogonal multiple access communications, as well as network selection and association optimization. Finally, case studies are provided to show the feasibility of network-connected UAV communications. | Haichao Wang Jinlong Wang Jin Chen Yuping Gong Guoru Ding | 2018 | China Communications2018，15，12： | 14 |
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