Autonomous navigation system and method of unmanned aerial vehicle based on electric field equipotential surface of extra-high voltage line region

Abstract

The invention relates to an autonomous navigation system and method of an unmanned aerial vehicle based on an electric field equipotential surface of a super-high voltage line area. The navigation system comprises an unmanned aerial vehicle body, an electromagnetic field measuring module, a flight control subsystem and an inertial navigation subsystem. When the system works, the unmanned aerial vehicle flies to the original position, and the electromagnetic field measuring module acquires an initial electric field value; the inertial navigation subsystem plans the flight path of the unmanned aerial vehicle according to the contour value diagram of the electric field distribution; during the flying process, the electromagnetic field measuring module acquires the electric field value of thecurrent position; the airborne processing module in the flight control subsystem judges the difference between the set fluctuation threshold value and the initial electric field value according to theflight condition, and sends an instruction to the flight control module to adjust the flying height and the direction of the unmanned aerial vehicle; based on the flight path, the unmanned aerial vehicle flies in depth along a contour of a certain equipotential surface. The system solves the problem of runaway of the unmanned aerial vehicle caused by the strong electromagnetic field, and has theadvantages of autonomous navigation under the environment of super-high voltage transmission lines, stable navigation, accurate navigation and the like.

Description

technical field [0001] The invention relates to the technical field of autonomous navigation of unmanned aerial vehicles, in particular to an autonomous navigation system and method for unmanned aerial vehicles based on equipotential surfaces of electric fields in UHV line areas. Background technique [0002] The inspection work of the UHV power grid is an important part of the use and maintenance of the UHV power grid project, and it is also a necessary and basic work to ensure the safety of the line. In the long-term operation and maintenance of transmission lines, the State Grid actively applies new technologies to line inspections, among which drone inspections are a technology that has been widely promoted and applied in recent years. [0003] However, compared with high-voltage and ultra-high-voltage transmission lines, the structure of UHV transmission lines is more complex and the transmission voltage is higher. A strong electromagnetic field is generated around, wh...

AI Technical Summary

Problems solved by technology

[0003] However, compared with high-voltage and ultra-high-voltage transmission lines, the structure of UHV transmission lines is more complex and the transmission voltage is higher. A strong electromagnetic field is generated around it, which will interfere with circuit components such as drone flight control and measurement modules, and even damage its magnetization, causing the drone to lose control

2) Most of the existing UAV navigation systems use a single satellite navigation method. However, the strong electromagnetic field near the UHV line has great interference to the weak GPS signal, and there are few differential towers in the field. there will be some error

3) When manually controlling the UAV, the human eye's line of sight is not accurate enough and prone to deviation, and accidents are prone to occur when operating in areas with strong electromagnetic fields and complex geographical environments

4) Faced with the situation of crossing rivers and valleys, operators cannot control UAVs for inspection operations under harsh field conditions

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