Research On Guidance And Visual Fault Location Of Four-Rotor Aircraft In Power Inspection

In recent years,the number of drones has exploded.Some people say that 2019 is the first year of drones,and the state has also formulated corresponding trial laws and regulations.All UAV companies,whether state-owned or private,are vigorously developing the application of UAVs in various industries.Under the very harsh conditions of electric power inspection,drones should be used to achieve our intended purpose.The autonomous inspection of the flight control system is intelligent and integrated,and the hardware requirements of the drone are very high.Based on this,this thesis studies four-rotor UAVs for power line electric power inspection.For the special requirements of UAVs for power line inspection in the field,the four-rotor algorithm and image recognition-based fault location system are deeply developed.Research.The article first introduces the flight principle of the four-rotor aircraft and the composition of the whole drone,including the selection of sensors,the construction of the power system and the navigation system,and the mathematical model of the dynamics of the four-rotor aircraft.According to the established mathematical model,the body coordinate system and navigation coordinate system of the UAV are established.The existing attitude calculation algorithm of the quadrotor is analyzed,and a fuzzy control based on the inherent defects of the complementary filter attitude calculation algorithm is proposed.The improved complementary filtering attitude solving algorithm verifies the effectiveness of the improved algorithm by constructing a drone experimental platform.In view of the lack of GPS positioning accuracy and the need for UAV positioning accuracy in this subject,the GPS/SINS inertial navigation system is designed to achieve accurate estimation of the position and speed of the UAV in the navigation system,and it is proved by Matlab simulation.The filtered data is closer to the real data.Finally,an auxiliary navigation system based on image recognition and transmission line fault location system was designed.After the simulation experiment scene,preliminary experiments were carried out on the UAV experimental platform,and the preliminary expected goals were achieved.