Study Of The Embedded Navigation System Of The Substation Inspection Robot

With the development of automation of Electric Power Systems, Substation, which works as an important part of the grid for voltage conversion, current changing and power distribution, is becoming more and more intelligent and unattended. It can solve some of the problems generated by the manual operation for using the robot for the inspection work, which can give the standard detection result using the uniform rule and can overcome the problem of the difference results generated by people’s different technical experience and attitude. And the navigation and positioning system is the foundation and guarantee for the followed inspection work.The designed inspection robot takes multiple navigation and control devices, such as Industrial Computer, GPS, GPS antenna, IMU, ultra high frequency RFID Reader, ARM MCU information processing module, control circuit board, power supply module and so on. The software system, which includes the collection and processing of information and the communications with another computer, is implemented mainly in the microcontroller and industrial control computer with Linux operating system installed. Two-sample algorithm is used to calculate the attitude, velocity and position of robot, and experiments are designed to calculate the effect of coning error, rotational error and sculling error on inertial navigation system position calculation results, which proves that it can improve the navigation accuracy by compensating for errors. In addition, PCB control board is designed to achieve the processing of the multi-sensor information and tested with specific experiments.The Kalman filter and extended Kalman filter is designed based on establishing error model of attitude, velocity and position for the navigation data fusion to improve the accuracy and noise immunity of the navigation system combined with RFID tags assisted in positioning. The Kalman filter is used in fine alignment process to further improve the alignment accuracy, which is provided to correct the perspectives got from coarse alignment process. The correlative experiment is devised to test the validity and accuracy of the algorithm above and get the prospective effect at last.