无人机巡线考评仿真系统设计与实现

Design and Realization of UAV Inspection and Evaluation Simulation System

针对无人机在电网中大规模应用的现状,开发了无人机巡线考评仿真系统,包含飞控模块、视景仿真模块和培训考评模块。飞控模块是以飞行动力学为基础,结合物理遥控器和仿真云台形成的无人机仿真操控平台;视景仿真模块包括两部分,一是对广东省地形地貌进行建模,二是对全省输电线路进行自动建模。培训考评模块包含杆塔验收、树障勘查、杆塔勘查的培训系统和绕杆飞行、超视距缺陷查找的考评认证系统。实际应用表明,该系统可以有效的提升机巡作业培训效果,提高AOPA认证通过率。

Aiming at the large-scale application of unmanned aerial vehicles (UAVs) in the power grid, the simulation system of UAV is developed, including flight control module, visual simulation module and training evaluation module.The flight control module based on the flight dynamics, is a simulation platform of UAV combining physical remote controller and simulation of the formation.The visual module consists of two parts, modeling the topography of Guangdong Province and automatically modeling the transmission lines.The training evaluation module contains training system of tower acceptance, tree barrier survey, tower survey and evaluation system of winding flight, overtaking defect search.The experimental results show that the system can effectively improve the training effect and increase the passing rate of AOPA certification.