输电线路巡检用无人机载波相位等变估计定位方法  

UAV carrier phase equivariant estimation positioning method for transmission line inspection

作　　者：吉思良 王家宝 张锋 孙海星 孙也棋 JI Siliang;WANG Jiabao;ZHANG Feng;SUN Haixing;SUN Yeqi(Zhangjiakou Branch of State Power Investment Group Hebei Electric Power Co.,Ltd.,Zhangjiakou 075000,China)

机构地区：[1]国家电投集团河北电力有限公司张家口分公司,河北张家口075000

出　　处：《电子设计工程》2025年第5期55-58,64,共5页Electronic Design Engineering

基　　金：河北省电力科技项目资助(kj2020-062)。

摘　　要：目前提出的无人机载波相位等变估计定位方法收敛速度过慢,定位精度难以达到预期精度。为了解决上述问题,研究了一种新的输电线路巡检用无人机载波相位等变估计定位方法。分析无人机巡检流程,调整锁频环(Frequency Locked Loop,FLL)和锁相环(Phase Locked Loop,PLL)组成结构,计算载波相位距离,建立载波相位测量线性关系方程,完成巡检无人机载波相位测量。通过模糊度浮点向量计算区间,固定宽巷与窄巷浮点模糊度,建立定位模型,根据模型实现估计定位。实验结果表明,研究方法收敛速度在25 ms以内,定位精度高达99.99%。The convergence speed of the proposed UAV carrier phase equivariant estimation positioning method is too slow,and the positioning accuracy is difficult to achieve the expected accuracy.To address the above issues,a new unmanned aerial vehicle carrier phase equivariant estimation positioning method for transmission line inspection was studied.Analyze the drone inspection process,adjust the composition structure of Frequency Locked Loop(FLL)and Phase Locked Loop(PLL),calculate the carrier phase distance,establish a linear relationship equation for carrier phase measurement,and complete the drone carrier phase measurement for inspection.Calculate the interval through the ambiguity floating-point vector,fix the floating-point ambiguity of wide and narrow alleys,establish a positioning model,and estimate the positioning based on the model.Experimental results show that the research method converges within 25 ms,and the localization accuracy is up to 99.99%.

关 键 词：输电线路 无人机 载波相位 等变估计 定位 

分 类 号：TN92[电子电信—通信与信息系统]