无人值守变电站巡检机器人导航系统研究  

Design of the Navigation System for the Inspecting Robot in the Unattended Operation Substation

作　　者：魏鹏[1] 张志强[1] 张春熹[1] 厉秉强[2] 杜强[3] 

机构地区：[1]北京航空航天大学仪器科学与光电工程学院,北京100191 [2]国家电网公司机器人实验室,济南250002 [3]山东电力集团公司潍坊供电公司,潍坊261041

出　　处：《自动化与仪表》2009年第12期5-8,25,共5页Automation & Instrumentation

基　　金：国家电网公司电力机器人合作项目资助

摘　　要：无人值守变电站设备巡检机器人导航定位系统是实现设备巡检工作的关键技术之一,为此设计了一种由光纤陀螺、里程仪、加速度计、差分GPS和导航计算机构成的硬件系统,并基于差分GPS定位、航位推算(DR)导航原理设计了该组合导航系统软件,系统的特点是采用了初始自寻北、切换式组合导航方式,该方法简单易行、实用性较强。实验表明,该系统能为变电站设备巡检机器人提供连续、实时、较高精度的导航定位。The navigation and positioning system is the key technology for the inspecting robot in the transformer substation to inspect the equipment. Therefore, the author made up the hardware system, which consists of the fiber optic-gyro （FOG） ,milemeter,accelerometer,DGPS receiver and the navigation computer. Also, the software of this integrated navigation and orientation system was designed based on the differential GPS（DGPS） and Dead Reckoning（DR） principle, the system adopts the method of the self-north-seeker and switching-integrated navigation. The method is simple and easily feasible, meanwhile, the system has good practicability. The experiment indicates that this system provides to the robot of inspecting the equipment in the transformer substation with continuous, real-time, high accuracy navigation and positioning.

关 键 词：巡检机器人 组合导航系统 航位推算 

分 类 号：V249[航空宇航科学与技术—飞行器设计]