Research On Direction Measurement And Positioning Technology Of Power Line Inspection Using Unmanned Aerial Vehicle

Power lines are an important part of the power system.As the power lines are exposed in the field for a long time,after a long period of natural environment erosion,it is very easy to cause all kinds of damage.If the damage is not detected and dealt with in time,it may endanger the safety and stability of the power system.Therefore,how to efficiently and promptly investigate the hidden dangers of power lines is an important issue worthy of study.This paper first introduces the research progress of power line inspection,analyzes the traditional way of power line inspection and the main shortcomings of traditional way.Then in order to eliminate the shortcomings of the traditional line inspection methods,proposed the use of unmanned aerial vehicles for power line inspection as the new way,the use of unmanned aerial vehicles for power line inspection can efficiently complete the inspection mission.As the traditional UAV using electronic compass to measure the direction and using single-point GPS to locate,due to the presence of electromagnetic interference near the power line will make the electronic compass failure resulting in UAV measurement error,and the environment around the power line is very complex but the single-point GPS positioning can only achieve ± 2m accuracy,UAV for power line inspection may endanger the safety of power lines.In order to make the UAV to be safely applied to the power line,we must solve the two problems of electromagnetic interference and poor positioning accuracy.Then,the solution to solve the two key problems of using UAV for power line inspection is proposed: using differential GPS positioning and using dual antenna GPS direction measuring.Then the mathematical principle of dual antenna GPS direction measuring and differential GPS positioning is analyzed,and then solve the problems encountered when the differential GPS positioning and dual antenna GPS direction measuring technology applied to the UAV.Finally,the feasibility of this subject is verified by building a hardware experiment platform with dual GPS direction measuring and differential GPS positioning.For the double GPS direction test,the accuracy and stability of the dual antenna GPS direction measuring are verified by the accuracy and interference experiments.For the differential GPS positioning experiment,the accuracy and return points experiments show that differential GPS positioning can achieve high accuracy of centimeter positioning.Through the UAV inspection experiment,the feasibility of applying these two techniques to UAV power inspection is verified.