The unmanned rotorcraft has the advantages of low cost,high flexibility and high safety,making electric inspection become an important application area of the unmanned rotorcraft.And the current inspection path planning methods need to co-ordinate the various inspection targets,manually entered into the unmanned rotorcraft navigation control system,time-consuming and error-prone,the unmanned rotorcraft inspection mission to bring a lot of hidden dangers.Detecting and trac king high tension cables by image processing to automatically generate patrol trajectory,not only enhances the autonomy of the unmanned aerial vehicles patrol,but also improves the inspection efficiency and security.Therefore,it is of great significanc e that studying image process to patrol high tension cables by the unmanned rotorcraft automatic.Firstly,the basic working principle,mechanical structure and control principle of unmanned rotorcraft are analyzed.The motion of the unmanned rotorcraft is characterized by the rotation matrix.The flight control rigid body model is deduced and the control process of the multi-level cascaded PID controller to the motion state of the unmanned rotorcraft is analyzed.Secondly,the stability of the unmanned rotorcraft is the key to the realization of the inspection high tension cables.Therefore,this paper improves and optimizes the following aspects.Aiming at the common loops of the unmanned rotorcraft,the paper proposes an improved scheme.The PX4 open source project that is sponsored by Linux is high performance architecture.The components of the architecture and the working principle of each part were analyzed.The motion state of the UAV were analysed by using the complementary filtering algorithm and the extended Kalman algorithm respectively,and the experimental results are compared.In order to improve the robustness and adaptability of the unmanned rotorcraft,the adaptive sliding mode aircraft flight controller based on backstepping procedure was de signed and the simulation results show that the controller works effectively.Finally,an improved RANSAC high tension cables detection algorithm is designed for the detection of high tension cables to achieve accurate identification of high tension cables.At the same time,in order to track high tension cables,select the point in the target trajectory so that the reference point distance from the unmanned rotorcraft.The simulation results show that the actual trajectory of the unmanned rotorcraft coincides with the expected trajectory,and realize the navigation and control of unmanned rotorcraft based on power line image detection. |