In order to improve the positioning accuracy of unmanned aerial vehicles(UAVs)in transmission line inspection and ensure that UAVs conduct autonomous inspection according to preset inspection lines,an autonomous inspection method of transmission line UAVs based on RTK positioning technology is proposed.The RTK based positioning technology is used to obtain the dynamic position of the UAV on the transmission line,the UAV attitude information is identified based on the UAV dynamic model,and the cascade fuzzy PID controller is used to control the UAV's working attitude to inspect according to the inspection route,so as to realize the autonomous inspection of the UAV on the transmission line.The experimental results show that the proposed method can position the UAV with high accuracy,and the positioning error is controlled within 1 cm.The pitch angle can reach the ideal value within 1 s,which can effectively control the UAV to auurately complete the autono-mous patrol according to the preset inspection line,and the obstacle avoidance effect is good.
关键词
RTK定位/输电线路/无人机/自主巡检/模糊PID控制
Key words
RTK positioning/transmission line/UAV/autonomous inspection/fuzzy PID control
维普
万方数据