摘要
目前多旋翼无人机已在电力系统巡线中得到了广泛应用,结合无人机航迹规划研究现状,提出基于工频电磁场干扰研究的三维GIS无人机巡检航迹规划系统,通过建立导线对无人机工频电场和工频磁场干扰仿真模型,计算工频电磁场对无人机机身及机载设备影响,确定了安全飞行最小安全距离,并以确定的最小安全距离、线路杆塔三维模型及巡检任务相关信息实现在三维GIS上的无人机巡线路径规划、航迹跟踪和手动导航等功能,通过现场实际应用验证了航迹规划对巡检工作的重要性。
The multi-rotor unmanned aerial vehicles（UAVs）have been widely used in the power system patrol inspection. In this study, a 3D GIS-based patrol trajectory planning system of UAV was proposed based on the elec- tromagnetic field interference researches.The influences of the power frequency electromagnetie field on the UAV fuselage and airborne equipment were calculated, and the minimum safe flight distance was determined. The mini- mum safe distance,the 3D line tower model and the patrol task related information were used to realize 3D GIS- based UAV patrol trajectory planning,trajectory tracking,and manual navigation.Practieal application verified the importance of the trajectory planning to the patrol inspection.
作者
冯智慧
张雪峰
方书博
龚浩
刘春翔
FENG Zhihui ZHANG Xuefeng FANG Shubo GONG Hao LIU Chunxiang(NARI Group Corporation（State Grid Electric Power Research Institute）, Nanjing 211106, China Wuhan NARI Limited Liability Company, State Grid Electric Power Research Institute, Wuhan 430074, China)
出处
《高压电器》
CAS
CSCD
北大核心
2017年第8期81-86,93,共7页
High Voltage Apparatus
基金
2014年国家电网公司发展项目(169)~~
关键词
无人机
工频电场
工频磁场
航迹规划
三维GIS
unmanned aerial vehicle（UAV）
power frequency electric field
power frequency magnetic field
trajectory planning
3D GIS
