Abstract
At present, the method of using unmanned aerial vehicles (UAVs) with traditional navigation equipment for inspection of overhead transmission lines has the limitations of expensive sensors, difficult data processing, and vulnerable to weather and environmental factors, which cannot ensure the safety of UAV and power systems. Therefore, this paper establishes a mathematical model of spatial distribution of transmission lines to study the field strength distribution information around transmission lines. Based on this, research the navigation and positioning algorithm. The data collected by the positioning system are input into the mathematical model to complete the identification, positioning, and safety distance diagnosis of the field source. The detected data and processing results can provide reference for UAV obstacle avoidance navigation and safety warning. The experimental results show that the positioning effect of the positioning navigation algorithm is obvious, and the positioning error is within the range of use error and has good usability and application value.
Highlights
With the continuous expansion of overhead transmission lines and the rapid increase of coverage, the regional environment of overhead transmission lines is complex and diverse, which makes the operation and maintenance of overhead transmission lines more difficult
real-time kinematic (RTK) technology has laid the foundation for automatic inspection of unmanned aerial vehicles (UAVs)
The characteristic signals of peaks or troughs can be overhead transmission line, and locate the fiel extracted from the field strength detection data, and the patrol path of the patrol drone can be locked near the peaks or troughs of the electric field distribution
Summary
With the continuous expansion of overhead transmission lines and the rapid increase of coverage, the regional environment of overhead transmission lines is complex and diverse, which makes the operation and maintenance of overhead transmission lines more difficult. RTK technology has laid the foundation for automatic inspection of UAVs. In engineering applications, the State Grid Corporation of China currently detects line channels based on lidar technology, and China Southern Power Grid Corporation uses CW-LiDAR to measure the safe distance of the wire to ground. It is difficult to locate the field source at a specific point on the overhead transmission line with multi-phase conductors under actual working conditions To solve this problem, this paper uses the method of equivalent electric field strength amplitude to solve the problem of difficult positioning of multi-phase transmission conductors. The spatial position coordinates of the line charges that generate the same electric field strength are calculated by the mathematical model, so as to locate the field source position of the transmission line and navigate the line patrol UAV. The field strength relationship generated by the two equivalent models in space should satisfy the relationship shown in Equation (15):
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