Research on Efficient and Orderly Inspection of the UHV Transmission Line UAV Based on Satellite Navigation
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.
NETL
NSTL
万方数据
