Research On Key Technologies Of Autonomous Obstacle Avoidance And Airborne Hyperspectral Imaging For Multi-rotor UAV

Hyperspectral imaging technology combines spectral detection technology and imaging technology,which can simultaneously detect two-dimensional spatial information and one-dimensional spectral information of a target to obtain high-resolution continuous and narrow-band image data.At present,hyperspectral imaging technology has been widely used in many fields such as environmental monitoring,precision agriculture,food safety and medical diagnosis.With the continuous development of microelectronics,computers,and automatic control,the technology of multi-rotor UAVs has gradually matured in recent years.As a platform equipped with miniature hyperspectral instruments,multi-rotor drones have the advantages of high flexibility,good real-time performance,low cost,and can adapt to more complex environments.They can greatly improve the efficiency of the work and application of the hyperspectral instruments.In this paper,a multi-rotor UAV with autonomous obstacle avoidance function is designed.The self-developed miniature hyperspectral instrument is mounted on the multirotor UAV,and real-time long-distance data transmission of the hyperspectral instrument is realized.The specific work content is as follows:1.By demonstrating and analyzing the current mainstream obstacle avoidance scheme of multi-rotor drones,choosing lidar combined ultrasonic and IMU inertial measurement unit as the autonomous obstacle avoidance scheme,and combining Google open source laser SLAM algorithm to achieve autonomous obstacle avoidance.2.We independently developed a miniature hyperspectral instrument suitable for the requirements of multi-rotor unmanned aerial vehicles,designed a unique spectrometer platform,and mounted the spectrometer on the unmanned aerial vehicle to complete the assembly and debugging of the UAV-borne miniature hyperspectral system.3.Independently build a high-power wireless WIFI bridge solution,and created a Socket network server based on the TCP protocol,combining with the mobile terminal Android APP,to achieve the control and wireless data transmission of the remote airborne micro-hyperspectrometer system.4.Based on the FFmpeg library with the H.264 protocol for encoding and decoding the hyperspectral video stream,reduced the network transmission pressure,realized the wireless transmission of large-capacity hyperspectral data in real time,and completed the extraction of single-band spectral image information of the hyperspectral image.The multi-rotor UAV-borne micro-hyperspectrometer system implemented in this paper establishes a real-time and remote wireless data acquisition and processing mode,and improves the local data processing capability of the host of the micro-hypermeter,the real-time wireless transmission distance exceeds 300 meters,and the highest spectral acquisition speed of the micro-hyperspectrometer system can reach 340frames/second,taking into account the portability and timeliness of hyperspectral imaging,fully meet the data requirements of hyperspectral monitoring,can expand its application in low-altitude fields,and has a wide range of application prospects.