Research on Locating Algorithm of Unmanned Airport Source Based on Array Detecting Line

Abstract

In view of the fact that the UAV patrol overhead transmission line cannot accurately locate the patrol UAV, the relative position of the field source cannot be judged, and the problem of autonomous navigation and obstacle avoidance cannot be realized. A field based on electric field information array detection is proposed. Source location algorithm. Firstly, based on the principle of electrostatic induction, the portable power frequency electric field sensor detection plate is designed. The four sensor detection plates are installed on the same horizontal surface of the drone with the coordinate center of the unmanned aerial vehicle center as the fixed coordinate system. By analyzing the geometric relationship of the spatial position of the four sensors and the corresponding output signals, the relative position coordinates of the field source space can be solved, so as to accurately locate the spatial relative position of the field source and the patrol UAV. The UAV can provide a reference for autonomous navigation and obstacle avoidance. The algorithm solves the problem that it is difficult to achieve accurate positioning and navigation due to factors such as too small wire diameter, weather conditions, and sensor limitations when the patrol drone is far away from the operator. At the same time, a reliable method is proposed. The algorithm can restore the trajectory of the UAV in the laboratory environment, and verify the accuracy of the field location algorithm. It provides a theoretical basis for the research of UAV autonomous obstacle avoidance navigation.