变电站无人机自主巡检仿真系统设计与搭建

Design and Construction of UAV Autonomous Inspection Simulation System for Power Substations

无人机(UAV)巡检具有多角度、立体化的优势,当前已成为变电站巡检的一种重要手段。为了便于测试无人机巡检方案的可行性,提高自主巡检的安全性,开展了变电站无人机自主巡检仿真系统的设计与搭建研究。该仿真系统主要包括基于ROS的导航仿真模块、基于PX4的无人机控制仿真模块、基于Gazebo的物理仿真模块和仿真模块间的通信模块等。利用搭建的仿真系统,可以在无人机实际巡检飞行之前,对巡检任务逻辑、飞行航线、控制方案进行仿真验证,以降低无人机在实际的变电站巡检时所面临的风险。典型应用场景下的仿真试验结果表明,仿真系统能够对无人机自主巡检的自主导航、飞行控制等相关技术进行有效测试。所搭建的仿真系统可以为变电站无人机的实际巡检应用提供技术支持。

Unmanned aerial vehicle(UAV)inspection has the advantages of multiple-view and three-dimensional,and has become an important method for substation inspection.In order to test the effectiveness of inspection scheme and improve the safety of autonomous inspection,the design and construction of UAV autonomous inspection simulation system for substations is conducted.The system mainly includes navigation simulation module based on ROS,UAV control simulation module based on PX4,physical simulation module based on gazebo and communication module between simulation modules.By using the constructed simulation system,the simulation tests on mission logic,flight route,control method can be conducted before the real flights so as to reduce the risks of real inspect applications.The experimental results show that the simulation system can test the related technology on UAV autonomous inspection,e.g.,autonomous navigation and flight control.The simulation system can provide technical support for the practical inspection application of substation UAVs.