发表机构
University of California, Berkeley; Lawrence Berkeley National Laboratory（加州大学伯克利分校; 劳伦斯伯克利国家实验室）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
针对系绳悬挂空中辐射传感载荷，提出基于视觉的控制方法，通过卡尔曼滤波和线性二次型调节器调节载荷位置，户外测试中转运误差降低20%。
AI 中文摘要
空中辐射调查在辐射探测器靠近地面时能达到更高的灵敏度。探测器灵敏度大致随到源距离的平方反比下降，因此飞得高的探测器达到给定最小可探测活度所需时间更长。将飞行器飞低会使螺旋桨靠近地面，此时下洗气流可能扰动调查区域并使受污染颗粒物重新悬浮。系绳悬挂将探测器与飞行器高度解耦，但使载荷无驱动且仅能间接控制。因此，我们提出一种基于视觉的控制方法，用于悬挂在重载无人机下方系绳上的空中传感载荷。由于辐射探测到达时才会决定调查计划，我们设计了一种飞行员辅助工具，用于通过手持发射器手动指挥调查轨迹。控制器调节的是载荷而非飞行器，使其沿该轨迹运动。系统使用机载传感器，包括固定在无人机机体上的朝下相机，跟踪载荷上的环形标记。一个四状态卡尔曼滤波器根据载荷方位测量估计系绳摆角和摆速，一个带积分作用的线性二次型调节器将载荷位置作为被调节输出。在风天户外飞行测试中，与以飞行器为参考的基线相比，载荷感知控制器在转运过程中将载荷跟踪误差降低了20%，但在到达航点时峰值误差更高。
英文摘要
Aerial radiation surveys achieve higher sensitivity when the radiation detector is held close to the ground. Detector sensitivity falls off roughly with the inverse square of the distance to the source, so a detector flown high is slower to reach a given minimum detectable activity. Flying the vehicle low puts the propellers near the ground, where downwash can disturb the surveyed area and resuspend contaminated particulates. Tether suspension decouples the detector from the vehicle altitude, but leaves the payload unactuated and only indirectly controllable. We therefore present a vision-based control approach for an aerial sensing payload suspended on a tether beneath a heavy-lift drone. Because a survey plan is decided as radiation detections arrive, we design a pilot aid for commanding the survey trajectory manually with a handheld transmitter. The controller regulates the payload, rather than the vehicle, onto that trajectory. The system uses onboard sensors with a downward-facing camera fixed to the drone body tracking a ring marker on the payload. A four-state Kalman filter estimates the tether swing angles and rates from payload bearing measurements, and a linear quadratic regulator with integral action takes the payload position as the regulated output. In outdoor flight tests under wind, the payload-aware controller reduced payload tracking error during transit by 20% when compared against a vehicle-referenced baseline, with the cost of higher peak error on arrival at a waypoint.
Comments7 pages, 7 figures, 2 tables. Submitted to IEEE ICRA 2027
