基于RTK定位技术的输电线路无人机自主巡检方法  

Autonomous Inspection Method of Transmission Line UAV Based on RTK Positioning Technology

作　　者：杨炯 李波 杨佳睿 郭瑞红 张磊 YANG Jiong;LI Bo;YANG Jiarui;GUO Ruihong;ZHANG Lei(Ningxia UHV Power Engineering Co.,Ltd.,Yinchuang 750011,China)

机构地区：[1]宁夏超高压电力工程有限公司,宁夏银川750011

出　　处：《微型电脑应用》2024年第4期128-131,139,共5页Microcomputer Applications

摘　　要：为了提高无人机在输电线路巡检作业中的定位精度,保障无人机按照预设巡检线路进行自主巡检,提出基于RTK定位技术的输电线路无人机自主巡检方法。采用基于RTK定位技术获取输电线路无人机的动态位置,基于无人机动力学模型识别无人机姿态信息,结合串级模糊PID控制器控制无人机的作业姿态按照巡检路线巡检,实现输电线路无人机自主巡检。实验结果表明,所提方法能高精度定位无人机位置,定位误差控制在1 cm之内,并且俯仰角都可在1 s内抵达理想值,可有效控制无人机准确按照预设巡检线路完成自主巡检,避障效果较好。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 autonomous 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 

分 类 号：TP20[自动化与计算机技术—检测技术与自动化装置]