海洋GNSS拒止环境下的空中运输系统
An Aerial Transport System in Marine GNSS-Denied Environment
AI总结：
针对海洋GNSS拒止环境下传统导航失效的问题，提出结合UWB与QR码的锚点定位方法及电机驱动货物附着机构，基于DJI M300打造自主空中运输系统，经MBZIRC2024验证可在无货物位置先验、低人工干预下可靠完成运输。
摘要：
本文提出了一种专为恶劣海洋GNSS拒止环境作业设计的自主空中系统，旨在从目标船只运输小型货物。这类环境的特点是海面纹理弱、特征点极少，海浪导致甲板剧烈晃动，且存在强阵风，传统导航方法往往难以适用。本系统基于DJI M300平台打造，可自主导航并运输货物，同时克服上述环境挑战。\n具体而言，本文提出了一种结合超宽带（UWB）与QR码设备的基于锚点的定位方法，该方法将无人机姿态与移动着陆平台的姿态解耦，从而减少平台移动引发的控制震荡。此外，还设计了一种电机驱动的货物附着机构，既能拓宽无人机下降过程中的视野，又能确保着陆后与货物可靠连接。\n经过多轮户外实验迭代，系统的可靠性与有效性逐步提升，并在2024年穆罕默德·本·扎耶德国际机器人挑战赛（MBZIRC2024）中通过成功完成货物运输得到验证。关键在于，该系统可应对海上运输任务固有的不确定性与干扰，无需预先知晓货物在甲板上的位置，且运输全程对人工干预有严格限制。
英文摘要：
This paper presents an autonomous aerial system specifically engineered for operation in challenging marine GNSS-denied environments, aimed at transporting small cargo from a target vessel. In these environments, characterized by weakly textured sea surfaces with few feature points, chaotic deck oscillations due to waves, and significant wind gusts, conventional navigation methods often prove inadequate. Leveraging the DJI M300 platform, our system is designed to autonomously navigate and transport cargo while overcoming these environmental challenges. In particular, this paper proposes an anchor-based localization method using ultrawideband (UWB) and QR codes facilities, which decouples the UAV's attitude from that of the moving landing platform, thus reducing control oscillations caused by platform movement. Additionally, a motor-driven attachment mechanism for cargo is designed, which enhances the UAV's field of view during descent and ensures a reliable attachment to the cargo upon landing. The system's reliability and effectiveness were progressively enhanced through multiple outdoor experimental iterations and were validated by the successful cargo transport during the 2024 Mohamed BinZayed International Robotics Challenge (MBZIRC2024) competition. Crucially, the system addresses uncertainties and interferences inherent in maritime transportation missions without prior knowledge of cargo locations on the deck and with strict limitations on intervention throughout the transportation.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
