自适应卡尔曼滤波在杆塔作业智能防坠中的应用研究
Research on the Application of Adaptive Kalman Filter in Intelligent Anti Fall of Tower Operation
张建峰 1温惠婷 1徐铂裕 1魏存良 1陈坤德1
作者信息
- 1. 广东电网有限责任公司梅州供电局,广东 梅州 514021
- 折叠
摘要
目前输电线路杆塔作业存在高空坠落的安全隐患,为提高杆塔作业人员作业的安全系数,提出一种基于自适应卡尔曼滤波的杆塔作业目标跟踪方法.文章结合跟踪目标运动特点,采用匀速运动模型为研究模型,对系统离散模型进行自适应卡尔曼滤波理论推导;在不同噪声和异常数据下对比分析了传统卡尔曼与自适应卡尔曼的跟踪性能.分析结果表明,自适应卡尔曼滤波算法能够较好地跟踪预判目标轨迹,能够适应复杂的跟踪环境,可应用在杆塔作业智能防坠系统中.
Abstract
At present,there is a safety hazard of high-altitude falling during the operation of transmission line towers.In order to improve the safety factor of tower operators,a tower operation target tracking method based on adaptive Kalman filter is proposed.This paper combines the characteristics of tracking target motion and adopts a uniform motion model as the research model to derive the adaptive Kalman filter theory for the discrete model of the system;the tracking performance of traditional Kalman and adaptive Kalman under different levels of noise and abnormal data is compared and analyzed.The analysis results show that the adaptive Kalman filter algorithm can track and predict the target trajectory well,adapt to complex tracking environments,and can be applied in intelligent anti fall systems for tower operations.
关键词
杆塔作业/运动模型/自适应卡尔曼/目标跟踪Key words
tower operation/motion model/adaptive Kalman/target tracking引用本文复制引用
基金项目
南方电网公司科技项目(031400KK52220005)
出版年
2024
国家科技期刊平台
NSTL
万方数据