基于北斗星基增强技术的无人机电网全域覆盖巡检方法

Global Coverage Inspection Method of UAV Power Grid by Big Dipper-based Enhancement Technology

针对巡检过程中存在巡检精度低、范围小的问题,提出了基于北斗星增强技术的无人机电网全域覆盖巡检方法。由于电网全域覆盖图像的处理过程复杂,对电网全域覆盖图像进行了灰度变换,采用直线变换的方式,表示了电网全域覆盖图像的直线信息,提取到无人机电网全域覆盖图像特征。根据电网输电杆塔坐标和输电杆塔所处的方位,计算电网输电杆塔的GPS坐标,基于无人机电网全域覆盖巡检的航点计算原理,计算了无人机电网全域覆盖巡检的水平偏移坐标,规划无人机电网全域覆盖巡检航线。根据北斗地基增强技术原理,将电网地面基准站进行网格化定位,设计了无人机电网全域覆盖巡检程序,实现了无人机电网全域覆盖的巡检。实验结果表明,基于北斗星基增强技术的无人机电网全域覆盖巡检方法不仅可以提高无人机电网全域覆盖巡检精度,还可以提高巡检率,扩大了无人机电网全域覆盖巡检范围。

Aiming at the problems of low precision and small range in the patrol process, a method of UAV power grid global coverage patrol based on Big Dipper Star Base Enhancement is proposed. Because of the complexity of the whole area coverage image processing of the power grid, the whole area coverage image of the UAV is transformed into gray level, and is expressed by the method of linear transformation. The whole area coverage image characteristics are extracted. The GPS coordinates of the power grid transmission poles and towers are calculated according to the coordinates of the power grid transmission poles and towers and the positions of the transmission poles and towers. The experimental results show that the UAV power grid global coverage patrol method based on Big Dipper can not only improve the accuracy of UAV power grid global coverage patrol, but also increase the patrol rate and enlarge the range of UAV power grid global coverage patrol.