Research On Progressive Multi-sensor Combined Tracking Power Inspection Target

The fast growing economy puts forward higher requirements for the safe operation of transmission lines,and UAVs have replaced manual electric inspection by virtue of its advantages of high efficiency,compactness,easy operation and low cost.As UAVs are easily subjected to operating angle constraints,gusts or GPS positioning uncertainties during patrolling the tower,suitable automatic discovery and tracking algorithms are needed to assist with manual patrolling of patrolled objects to improve patrolling data collection efficiency.In this paper,the goal of automatic discovery and tracking to achieve progressive follow-up,and through the combination of multi-sensor control PTZ attitude,so as to compensate for lack of perspective during shooting.First of all,by collecting the pictures of insulators,fittings,bolts and towers on the electrical tower,the viewing angle dictionary database and the image database of the electrical tower inspection component are offlinely constructed.During the inspection process,the inspection target is found by searching in the image database and used image matching to find the target location.Secondly,using the multi-state combination tracking algorithm to achieve robust tracking.Thirdly,using the fast and accurate tracking algorithm and by the fusion of the aiming target discovery module,tracking algorithm and data transmission,a hierarchical and progressive target discovery and tracking method is proposed.Finally,the image-based visual servoing control is added,and the obtained tracking frame coordinates are used to control the pitch angle and the yaw angle of the PTZ,so that the tracking target is always in the center of the shooting screen.The experimental results show that the method proposed in this paper can effectively achieve the target fixed-point tracking with UAV patrol inspection and improve the inspection efficiency and accuracy of UAV patrol.