UAV Navigation System Based On Power Patrol

In recent years,along with the multi rotor UAV technology Continuously maturing,In Power Patrol System,the use of the UAV has become an essential tool in State Grid,the multi-rotor UAV with its unique function of the platform is in favor of the in spection staff.But due to the alternating electromagnetic field GPS,electromagnetic compass and other airborne equipment vulnerable to high voltage transmission lines around out,UAV can carry the high performance of visible light camera and infrared camera remote observation of transmission line,which makes the UAV precise operation makes it particularly difficult close.Based on the analysis of the advantages and disadvantages of the existing UAV navigation technology,the traditional integrated navigation system is improved,and the improved algorithm is verified by matlab.Specifically,through the study of the existing UAV navigation mechanism,the GPS and the electromagnetic compass are involved in the UAV autonomous navigation system.That is to say,once the GPS and the magnetic compass are disturbed,the whole navigation system loses its independence immediately,and can only be maintained by the inertial navigation system.As a result,we think there is no way to replace the two navigation components?We think of the binocular vision navigation,the relative positioning method between each two adjacent frames,using the 3D information changes in the same frame around the image feature points in two different times before and after each camera coordinate system,according to the points in the environment is fixed,the change of 3D coordinates in the camera coordinate system.Is caused by the movement of the binocular vision sensor,according to the relative motion theorem,which can calculate the solution of the binocular vision sensor's position and attitude.According to the transformation formula of the image coordinate system to the world coordinate system,the position and attitude information of the UAV can be obtained.Then we take IMU output data as observation data to design a extended Calman filter,the output information of the binocular vision solution out of position information and IMU information fusion,in order to achieve the optimal estimation of the pose parameters of the UAV power inspection.Finally the use of AerospaceToolbox in the MATLAB simulation experiment of the algorithm by the results can be seen directly,our binocular vision/INS integrated navigation system in the absence of GPS and electromagnetic compass case,not only in the position and velocity tracking is obviously superior to the traditional navigation system,and navigation accuracy is improved,the speed of tracking is improved by about 1m/s.On the theoretical level,the anti electromagnetic ability of the electric power patrol UAV navigation system is enhanced.However,due to the reasons for the progress of the project,we have not had time to UAV flight certification in the actual environment.