基于高精度输电通道地图的无人机线路巡检航线规划方法研究

Research on UAV Line Inspection Route Planning Method Based on High-precision Transmission Channel Map

传统方法在规划无人机巡检航线时,未建立输电通道地图,存在纬、经度偏差度大,巡航高度不合理的问题。为此,提出基于高精度输电通道地图的无人机线路巡检航线规划方法。利用最近邻迭代算法进行点云配准,修正无人机位置的相对位置偏差,建立高精度输电通道地图,为无人机自动驾驶的高精度航线规划线路提供了空间基准。通过人机高精度目标组合定位导航技术和三维航线智能规划技术,对无人机三维航线规划软件和无人机自动驾驶控制终端软件进行跟踪,实现基于无人机自动驾驶的精细化巡检和通道巡检。结合无人机多维航巡情报融合技术和安全监控技术,在卡尔曼滤波算法的基础上,利用GPS/INS组合导航实现无人机线路巡检航线的规划。实验结果表明,所提方法的纬、经度偏差较小,巡航高度较为合理。

The traditional method does not establish the transmission channel map when planning UAV inspection route,which has the problems of large latitude and longitude deviation and unreasonable cruise altitude. Therefore,a route planning method for UAV line inspection based on high-precision transmission channel map is proposed. The nearest neighbor iterative algorithm is used for point cloud registration,the relative position deviation of UAV position is corrected,and the high-precision transmission channel map is established,which provides space reference for highprecision route planning of UAV automatic driving. The UAV 3D route planning software and UAV autopilot control terminal software are tracked through the UAV high-precision target integrated positioning and navigation technology and 3D route intelligent planning technology,so as to realize the fine patrol inspection and channel patrol inspection based on UAV autopilot. Combined with UAV multi-dimensional patrol information fusion technology and security monitoring technology,based on Kalman filter algorithm,GPS/INS integrated navigation is used to realize route planning of UAV route inspection. The experimental results show that the deviation of latitude and longitude is small,and the cruise altitude is reasonable.