Abstract This document presents a payload designed to perform semi-autonomous collision-mitigation inspection tasks on UAVs. This system features no external aid positioning the UAV such as the motion capture systems or the Global Navigation Satellite System (GNSS), which makes these inspections possible in the GNSS-denied areas. The payload is composed of two distance measuring units that calculate the range and angle between the UAV and the structure. The payload controller uses this information to calculate the pitch and yaw signal to control approach and contact. A hybrid automaton has been implemented, which represents the corresponding UAV states during the approach and the contact with different control strategies for each one. For this study, an ultrasonic contact sensor was used as an inspection sensor, but the system can work with any other contact sensor. This sensor measures the thickness of the metal sheets when is in contact with it. Various tests have been performed on the system with accurate results, demonstrating that the system can maintain stable contact with a vertical structure.

中文翻译：

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具有碰撞缓解功能的无人机有效载荷，用于接触检查

摘要 本文档介绍了一种有效载荷，旨在对无人机执行半自主碰撞缓解检查任务。该系统没有外部辅助定位无人机，如运动捕捉系统或全球导航卫星系统 (GNSS)，这使得在 GNSS 拒绝区域进行这些检查成为可能。有效载荷由两个测距单元组成，用于计算无人机与结构之间的距离和角度。有效载荷控制器使用此信息来计算俯仰和偏航信号来控制接近和接触。已经实现了一个混合自动机，它代表了相应的无人机在接近过程中的状态以及与每个不同控制策略的接触。在这项研究中，超声波接触传感器被用作检测传感器，但该系统可以与任何其他接触传感器一起使用。当与金属板接触时，该传感器测量金属板的厚度。对该系统进行了各种测试，结果准确，表明该系统可以与垂直结构保持稳定接触。