基于卫星导航的超高压输电线路无人机高效有序巡检研究
Research on Efficient and Orderly Inspection of the UHV Transmission Line UAV Based on Satellite Navigation
姜诚 1黄和燕 1张兴华 1刘洪驿 1王黎伟1
作者信息
- 1. 中国南方电网有限责任公司超高压输电公司检修试验中心,广东 广州 510160
- 折叠
摘要
为提升无人机对于超高压输电线路的巡检效果,保证巡检的安全性和可靠性,研究基于卫星导航的超高压输电线路无人机高效有序巡检方法.采用卫星导航中的GPS导航方法,控制无人机巡检导航位置;基于惯性导航模型实时获取无人机位置和航向信息;依据这些信息,在确定路径导航约束的基础上,建立超高压输电线路高效有序巡检路径导航优化目标函数;通过圆弧段串联法平滑处理巡检路径导航结果,同时完成巡检轨迹安全性校验.测试结果显示:该方法能够精准控制无人机到达指定的巡检点位置,且X、Y、Z 3 个方向上巡检路径与理想路径之间的误差均低于 10 cm,巡检时安全距离均控制在 0.6～0.7 m之间,可完成不同环境下的线路巡检任务.
Abstract
In order to improve the inspection effect of UAVs on EHV transmission lines and ensure the safety and reliability of inspections,an efficient and orderly inspection method for UHV transmission lines based on satellite navigation is studied.The GPS navigation method in satellite navigation is used to control the UAV to inspect the navigation position;based on the inertial navigation model,the position and heading information of the UAV are obtained in real time;based on this information,on the basis of determining the path navigation constraints,an ultra-high voltage transmission line is established.The objective function is optimized for efficient and orderly inspection path navigation;the inspection path navigation results are smoothly processed by the arc segment series method,and the inspection trajectory safety verification is completed at the same time.The test results show that the method can accurately control the UAV to reach the designated inspection point position,and the error between the inspection path and the ideal path in the three directions of X,Y,and Z is less than 10cm,and the safety distance during inspection is less than 10cm.Both are controlled between 0.6m and 0.7m,which can complete line inspection tasks in different environments.
关键词
卫星导航/超高压/输电线路/无人机/有序巡检Key words
satellite navigation/ultra-high voltage/transmission lines/unmanned aerial vehicle(UAV)/orderly inspection引用本文复制引用
出版年
2024
NETL
NSTL
万方数据