摘 要
随着电子商务和物流行业的快速发展，无人机物流配送作为一种高效、灵活的运输方式逐渐受到广泛关注。然而，传统导航技术在复杂环境下的定位精度不足，限制了无人机配送的实际应用效果。为解决这一问题，本研究聚焦高精度定位技术在无人机物流配送中的应用，旨在提升无人机配送的精准性和可靠性。研究通过整合多源传感器数据，提出了一种基于融合全球导航卫星系统（GNSS）与视觉惯性里程计（VIO）的高精度定位算法，并结合实际配送场景设计了动态校正机制以适应复杂环境变化。实验结果表明，该算法在城市高楼密集区和乡村遮挡环境下均能实现亚米级定位精度，显著优于单一GNSS定位方案。此外，研究还开发了一套无人机路径规划与实时监控系统，进一步优化了配送效率和安全性。本研究的主要创新点在于将多源传感器融合技术与动态环境适应策略相结合，有效解决了复杂场景下无人机定位精度下降的问题，为无人机物流配送的实际落地提供了技术支持。研究成果不仅验证了高精度定位技术在无人机配送领域的可行性，还为未来智能物流系统的构建奠定了理论和实践基础。
关键词：无人机物流配送；高精度定位；多源传感器融合
ABSTRACT
With the rapid development of e-commerce and the logistics industry, drone-based logistics delivery has gradually attracted significant attention as an efficient and flexible transportation method. However, the insufficient positioning accuracy of traditional navigation technologies in complex environments has restricted the practical application effectiveness of drone delivery. To address this issue, this study focuses on the application of high-precision positioning technology in drone logistics delivery, aiming to enhance the accuracy and reliability of drone delivery systems. By integrating multisource sensor data, a high-precision positioning algorithm combining Global Navigation Satellite System (GNSS) with Visual-Inertial Odometry (VIO) is proposed, and a dynamic correction mechanism is designed to adapt to environmental changes in real-world delivery scenarios. Experimental results demonstrate that the proposed algorithm achieves sub-meter-level positioning accuracy in both urban areas with dense high-rise buildings and rural environments with occlusions, significantly outperforming single GNSS positioning solutions. Furthermore, a drone path planning and real-time monitoring system was developed to further optimize delivery efficiency and safety. The primary innovation of this research lies in the integration of multisource sensor fusion technology with dynamic environmental adaptation strategies, effectively addressing the problem of reduced positioning accuracy in complex scenarios and providing technical support for the practical implementation of drone logistics delivery. The research findings not only validate the feasibility of high-precision positioning technology in drone delivery applications but also lay a theoretical and practical foundation for the construction of future intelligent logistics systems.
Keywords: Drone Logistics Delivery; High-Precision Localization; Multi-Source Sensor Fusion
目 录
摘 要 I
ABSTRACT II
第1章 绪论 1
1.1 高精度定位技术的发展背景 1
1.2 无人机物流配送的应用意义 1
1.3 国内外研究现状分析 2
1.4 本文研究方法与技术路线 2
第2章 高精度定位技术基础研究 3
2.1 高精度定位技术的核心原理 3
2.2 常见高精度定位技术对比分析 3
2.3 高精度定位技术在复杂环境中的挑战 4
2.4 高精度定位技术的性能优化策略 4
2.5 技术选型对无人机物流的影响 5
第3章 无人机物流配送需求与场景分析 7
3.1 无人机物流配送的基本需求 7
3.2 不同场景下的配送特点与要求 7
3.3 高精度定位在无人机配送中的关键作用 8
3.4 场景适配性与技术实现路径 8
3.5 实际应用中的问题与改进方向 9
第4章 高精度定位技术在无人机物流中的应用实践 10
4.1 定位技术在航线规划中的应用 10
4.2 实时定位对配送效率的影响 10
4.3 复杂地形中的定位精度保障措施 11
4.4 数据融合提升定位可靠性研究 11
4.5 应用案例分析与效果评估 12
结论 13
参考文献 14
致 谢 15
