Overhead transmission line positioning method based on double RTK unmanned aerial vehicles
An overhead transmission line and positioning method technology, which is applied in the field of overhead transmission line positioning based on dual RTK UAVs, can solve the problem of inability to achieve sufficiently accurate pile position calibration, affect the flight safety performance of UAVs, and RTK cannot obtain fixed solutions, etc. problems, to achieve the effect of saving on-site operation time, being easy to operate in the field, and eliminating magnetic interference
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[0038] To further describe the present invention, the design principles of the present invention are described as follows:
[0039] Reference attached image 3 , When the dual-antenna RTK UAV heading direction is J1-J2, the UAV hovering at Z1, the laser ranging center plane position is F1; when the UAV heading direction is J2-J1, the UAV hovering at Z1 , The laser ranging center plane position is F1'; in the ideal state that the UAV can maintain a horizontal attitude, the heading changes 180 degrees, F1 and F1' are symmetrical about Z1, that is, the horizontal positions of F1, Z1, and F1' are collinear and Z1 It is the midpoint of the straight line F1-F1'. However, due to the influence of external forces, especially wind and drone attitude errors, the drone cannot be guaranteed to be in a horizontal attitude. When the drone is flying or hovering in the forward and reverse directions, its attitude is not necessarily the same. Therefore, F1 and F1' are not...
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