Research on Application of SLAM in Appearance Inspection of Civil Aviation Aircraft

In the normal operation process of civil aircraft, the inspection of aircraft surface and appearance is an indispensable link, which is a guarantee of airworthiness and safety in the normal operation of civil aircraft. At present, around the airplane visual inspection by maintenance personnel is still the main way of appearance inspection all over the world. This method has a series of problems, such as low efficiency and limited by the physiological conditions of inspectors. In this regard, seeking a reliable intelligent method to complete this task has become an important task of the intelligence of the current civil aviation industry. To solve this problem, this paper proposes to use simultaneous localization and mapping technology to provide navigation services for mobile platforms, and carry out aircraft appearance inspection tasks by moving the mobile devices equipped with sensors according to the inspection route around the aircraft. This paper uses orb-SLAM3 algorithm to experiment in the actual environment. The results show that this method can make the mobile platform build the environment map according to the trajectory, and lay the foundation for the autonomous navigation of the subsequent platform.