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Overhead maintenance robot combined attitude measurement method

A measurement method and robot technology, applied in the direction of measuring devices, navigation through speed/acceleration measurement, instruments, etc., can solve the problems of low precision, achieve the effect of improving accuracy, positioning and attitude determination

Pending Publication Date: 2020-06-16
YUNNAN POWER GRID CO LTD ELECTRIC POWER RES INST
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] This application provides a combined attitude measurement method for overhead maintenance robots to solve the technical problem of low precision in attitude measurement for overhead robots

Method used

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  • Overhead maintenance robot combined attitude measurement method
  • Overhead maintenance robot combined attitude measurement method
  • Overhead maintenance robot combined attitude measurement method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0033] Such as figure 1 As shown, the application provides a combined attitude measurement method of an overhead maintenance robot, including:

[0034] S100: Determine the satellite navigation observation model, and calculate the satellite navigation observations.

[0035] Specifically, such as figure 2 as shown,

[0036] S101: Determine three different satellite receiver position vectors, including: base station receiver vector, satellite receiver vector, and baseline lever arm vector.

[0037] S102: Extract pseudocode, carrier phase and Doppler frequency shift information from the output of the GNSS receiver;

[0038] S103: Taking double differences on the pseudocode, the carrier phase, and the Doppler frequency shift information respectively to obtain a pseudocode difference component, a carrier phase difference component, and a Doppler frequency shift difference component;

[0039] S104: Use the base station receiver vector, the satellite receiver vector, the baseline...

Embodiment 2

[0047] In order to reduce the impact of uncertain factors in GNSS raw data and further improve the accuracy of GNSS output results, this application also provides another combined attitude measurement method for overhead maintenance robots. The specific steps are as follows: image 3 Shown:

[0048] S100: Determine the satellite navigation observation model, and calculate the satellite navigation observations.

[0049] S200: Determine an observation model of the inertial navigation system, and obtain inertial navigation observations, where the inertial navigation observations include: angular velocity and acceleration.

[0050] Wherein, the acceleration information is obtained by calculating the lever-arm error of the antenna of the main GNSS receiver and the inertial sensor in the carrier coordinate system, the acceleration of gravity of the earth, and the angular rate of the earth's rotation. The angular velocity information is determined by the angular rate of the earth's ro...

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Abstract

The invention discloses an overhead maintenance robot combined attitude measurement method. The method is based on multi-baseline GNSS and inertia overhead line robot attitude determination. A low-cost receiver of a GPS, a Galileo system and a Glonas system and measurement results of an accelerometer and a gyroscope are used, tight coupling of sensors is completed through an extended Kalman filtering algorithm, and the accuracy of combined attitude measurement of the overhead maintenance robot is improved. The developed algorithm estimates the attitude of the platform by fusing accelerometer and gyroscope observations with GNSS pseudocodes, carrier phase and Doppler observations. The multi-antenna GNSS and the inertial sensor are observed by using the tightly combined sensor fusion technology, and the extended Kalman filter is used in combination with the GNSS ground base station, so that the positioning and attitude determination precision is improved.

Description

technical field [0001] The present application relates to the technical field of attitude measurement of aerial robots, in particular to a combined attitude measurement method of overhead maintenance robots. Background technique [0002] In recent years, my country's electricity demand has increased, and the inspection and maintenance of overhead lines are usually carried out on a regular basis, which is essential to ensure the integrity and continuity of high-voltage transmission systems. Since high voltage power lines are always installed overhead, inspection and maintenance work is often difficult. This requires the grid technology department to develop new tools and methods to replace traditional manual operations. By using an overhead inspection robot, the reliance on human labor can be minimized. By using an overhead inspection robot, obstacles on the power line can be overcome, allowing real-time inspection and maintenance of the transmission line. [0003] The att...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C21/16
CPCG01C21/16G01C21/165
Inventor 刘荣海虞鸿江郭新良郑欣沈锋杨迎春沈龙蔡晓斌于虹周静波孔旭晖何运华许宏伟陈国坤焦宗寒代克顺宋玉锋杨雪滢程雪婷李宗红
Owner YUNNAN POWER GRID CO LTD ELECTRIC POWER RES INST