基于电场传感器阵列的无人机输电线跟踪与定位方法  

UAV transmission line tracking and localization method based on electric field sensor array

作　　者：赵加文 索春光[1] 张文斌[2] 李鹏 黄汝金 颜沛武 ZHAO Jiawen;SUO Chunguang;ZHANG Wenbin;LI Peng;HUANG Rujin;YAN Peiwu(College of Science,Kunming University of Science and Technology,Kunming 650504,China;College of Electrical and Mechanical Engineering,Kunming University of Science and Technology,Kunming 650504,China)

机构地区：[1]昆明理工大学理学院,云南昆明650504 [2]昆明理工大学机电工程学院,云南昆明650504

出　　处：《传感器与微系统》2022年第2期144-148,共5页Transducer and Microsystem Technologies

基　　金：云南省首批科技揭榜制项目(202104BN050011)。

摘　　要：输电线的跟踪与定位是无人机(UAV)实现自主巡检输电线的关键要素。针对目前输电线跟踪与定位方法存在易受天气和环境因素影响、成本较高以及数据处理困难等缺陷,提出了一种基于电场传感器阵列的输电线跟踪与定位方法,计算出当前UAV的航向角偏转角度、输电线与UAV的距离以及仰角,并设计了电场传感器及信号调理电路,进行了实验验证。实验结果表明:当传感器阵列沿着输电直导线移动时,依据此方法计算出的航向角偏转角度的最大绝对误差为5.74°,阵列与输电线距离最大绝对误差为20.4 cm,仰角的最大绝对误差为8.12°,误差在合理范围内,能够用于UAV实现自主巡检。Tracking and positioning of transmission lines are key elements for unmanned aerial vehicle(UAV) to achieve autonomous inspection of transmission lines.Aiming at the problems that current transmission line tracking and localzation methods are vulnerable to weather and environmental factors, high costs and difficulties in data processing, a transmission line tracking and localization method based on electric field sensor array is proposed, calculate heading angle deflection angle of current UAV,distance between the transmission line and the UAV,and the elevation angle, and design the electric field sensor and signal conditioning circuit for experimental verification.The experimental results show that when the sensor array moves along the transmission straight wire, the maximum absolute error of the heading angle deflection angle calculated according to this method is 5.74°,the maximum absolute error of the distance between the array and the transmission line is 20.4 cm, and the maximum absolute error of the elevation angle is 8.12°,which is within a reasonable range and can be used for the UAV to realize autonomous inspection.

关 键 词：输电线 跟踪与定位 无人机 电场传感器阵列 

分 类 号：TM241[一般工业技术—材料科学与工程]