The Navigation System Of The Robot For Inspecting The Transformer Substation Basing On The RTK GPS Set

It is very important to patrol in transformer substation, in order to keep the production and safety in gear. In the traditional way, the inspectors have to gather massive performance data every day. Because of the different personnel quality and technical level, there are many questions in the inspection which including: finished without checking, the data not standard etc. With the automated level' s enhancement and the development of the transformer substation non-hominization, the demand to the equipment inspects is more urgent. So Shandong Luneng Intellengence Technology Ltd. want use the robot to inspect the equipment of the transformer substation.The navigation system is the robot' s eyes, and is the foundation for the robot to finish the insepcting work. This paper is to research the navigation system of the Robot for Inspecting the Transformer Substations with the method of real time kinematic GPS set.The GPS' work concept is ranging based on the satellite. The user calculate their current position through surveying the distance to each visible satellite in the outer space. The satellite position is as the precise known reference point. We can know the robot' s coordinate position and real-time course through calculating difference GPS. The GPS cann' t accomplish the navigation because of the electromagnetism interference. Therefore the optical fiber gyroscope is auxiliary to help the GPS to complete the robot guidance. With the smooth algorithm, we can carries on the pretreatment to GPS and the gyroscope data. Then carries on the data through the Kalman filtering the fusion. After that the position and the course data will be leaded in the PD control algorithm, thus controls the robot independent movement.When this project design completes, with the marching robot platform of the Guang Maoda, we carried on the test in the Changqing 500kV transformer substation of the Shandong electric power ultrahigh voltage company, the result is that the control algorithm has been satisfied guidance request of the Robot for Inspecting the Transformer Substation.