Design of a Large-scale Automatic Inspection Technology for Fixed Wing Unmanned Aerial Vehicles Taking off and Landing in Different Locations

doi:10.11871/jfdc.issn.2096-742X.2025.03.015

Abstract

Abstract:

[Objective] This study aims to address key issues related to the takeoff and landing site, inspection range, and automatic inspection capability of fixed wing unmanned aerial vehicles during large-scale inspections, with the goal of improving overall performance. [Methods] This study is based on the CortexA53 architecture of the inspection hardware system, which is embedded in the Debian operating system. It combines Fourier transform gradient direction histogram and a self-disturbance rejection algorithm to process fixed wing unmanned aerial vehicle takeoff and landing and inspection of image information. An active disturbance rejection controller is employed to enhance the aircraft’s wind resistance during takeoff and landing. This study adopts a small object detection method based on target characteristics to perform object retrieval on images. [Results] Through experiments, the efficiency and coverage of the task have significantly increased by 11.9%. This technical approach offers a reliable and efficient solution for large-scale inspections in complex environments, effectively promoting the widespread application of drone inspection technology in multiple fields.

Key words: fixed wing drones, off site takeoff and landing, target feature extraction, automatic inspection, Fourier transform, self disturbance rejection algorithm, closed-loop control

LI Yucheng, HUANG Zhidu, YANG Qin. Design of a Large-scale Automatic Inspection Technology for Fixed Wing Unmanned Aerial Vehicles Taking off and Landing in Different Locations[J]. Frontiers of Data and Computing, 2025, 7(3): 185-193, https://cstr.cn/32002.14.jfdc.CN10-1649/TP.2025.03.015.

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类型	参数
起飞重量	6,000 g
飞机长度	1,500 mm
副翼翼展	2,200 mm
展弦比	5.8
机翼面积	0.82
垂尾翼展	340 mm
水平尾翼展	820 mm
螺旋桨直径	480 mm

测点	测绘类型	X误差	Y误差	Z误差
1	文献[1]	0.35	0.34	0.41
	文献[2]	0.29	0.32	0.40
	本研究	0.15	0.11	0.12
2	文献[1]	0.29	0.31	0.61
	文献[2]	0.23	0.24	0.24
	本研究	0.11	0.24	0.24
3	文献[1]	0.32	0.72	0.74
	文献[2]	0.26	0.25	0.65
	本研究	0.11	0.14	0.11

测点	响应时间	处理时间	并发处理时间	数据传输速率/G/bps	资源消耗/MIPS	故障恢复时间/s
1	1.2 s	0.35 s	0.34 s	0.41	5.41	0.24
	1.1 s	0.29 s	0.32 s	0.40	4.61	0.25
	1.2 s	0.15 s	0.11 s	0.12	5.24	0.14
2	1.1 s	0.29 s	0.31 s	0.61	3.24	0.35
	0.9 s	0.23 s	0.24 s	0.24	4.24	0.24
	0.8 s	0.11 s	0.24 s	0.24	4.11	0.25
3	1.1 s	0.32 s	0.72 s	0.74	4.31	0.14
	1.2 s	0.26	0.25 s	0.65	4.24	0.40
	1.1 s	0.11 s	0.14 s	0.11	4.74	0.25