基于激光雷达的无人机在杆塔附近的定位研究

Location of Unmanned Aerial Vehicle Based on Lidar Near Electric Tower

对于我国电网现行高压输电线路的巡检方式,主要是通过人工手持仪器或肉眼来巡查设施缺陷的,不仅条件艰苦,强度大,而且效率低,已不能适应现代化电网的安全运行和发展。近些年,随着无人机技术以及相关传感器技术的快速发展,无人机在电力巡检方面有着更加广泛的应用。鉴于此,提出一种基于激光雷达与无人机的高压电塔附近的实时定位与地图构建(SLAM)方案。该方案使用激光雷达作为传感器进行环境感知,使用不同的匹配算法进行二次点云匹配,同时利用回环检测技术实现无人机的精确定位与杆塔周围的地图构建。实验结果表明,该方案可以大幅度提高无人机在电塔周围的定位精度,从而提高无人机的工作效率以及飞行安全性。

For the current inspection mode of high-voltage transmission lines in power grid of China, it is mainly through manual hand-held instruments or naked eyes to inspect facility defects, which is not only difficult and intense, but also inefficient, and cannot adapt to the safe operation and development of modern power grid. In recent years, with the rapid development of unmanned aerial vehicle technology and related sensor technology, unmanned aerial vehicle has been widely used in electric inspection. Therefore, a real-time localization and map construction(SLAM) scheme based on lidar and unmanned aerial vehicle near high voltage tower is proposed. In this scheme,lidar is used as the sensor to sense the environment, different matching algorithms are used to match the secondary point cloud, and loopback detection technology is used to achieve the precise positioning of unmanned aerial vehicle and the map construction around the tower. Experimental results show that this scheme can greatly improve the positioning accuracy of unmanned aerial vehicle around the pylons, thus improving the efficiency and flight safety of unmanned aerial vehicle.