Out-of-control prevention method and system for electric power tower inspection unmanned aerial vehicle

Abstract

The invention discloses an out-of-control prevention method for an electric power tower inspection unmanned aerial vehicle. The out-of-control prevention method comprises the steps of S1 acquiring theGPS real-time position of the inspection unmanned aerial vehicle in the flight process; S2 calculating the position of the inspection unmanned aerial vehicle according to the flight acceleration measured by an unmanned aerial vehicle inertial navigation system; S3 judging whether the inspection unmanned aerial vehicle is subjected to external interference or not by utilizing the GPS real-time position obtained in the step S1 and the unmanned aerial vehicle position obtained in the step S2; and S4 starting a GPS mode to fly when the inspection unmanned aerial vehicle is not interfered, starting an inertial navigation mode to fly when the inspection unmanned aerial vehicle is interfered, and repeating the steps S1 to S3 in real time in the flight process until the flight is finished. The invention further discloses an out-of-control prevention system for the electric power tower inspection unmanned aerial vehicle and the unmanned aerial vehicle using the out-of-control prevention system. Through multi-source navigation information fusion, the precision and the anti-interference capability of the unmanned aerial vehicle navigation system can be improved.

Description

technical field [0001] The invention relates to the technical field of power grid inspection, in particular to a method and system for preventing out-of-control of a power tower inspection drone. Background technique [0002] With the development of UAV technology, it has played an irreplaceable role in different fields, and has become an important equipment in the fields of electric power, national defense, and economy. The UAV autopilot is the core key technology of the UAV system, which has the functions of navigation, guidance and control. At present, most of the existing UAV autopilot navigation systems rely on the integrated navigation method of inertia / satellite / geomagnetism. UAVs using satellite, geomagnetic and other navigation methods are extremely susceptible to electromagnetic interference in some scenarios, especially power inspection UAVs, which will seriously interfere with UAV navigation systems, causing harm to UAVs, their surrounding environment, and perso...

AI Technical Summary

Problems solved by technology

UAVs using satellite, geomagnetic and other navigation methods are extremely susceptible to electromagnetic interference in some scenarios, especially power inspection UAVs, which will seriously interfere with UAV navigation systems, causing harm to UAVs, their surrounding environment, and personnel. Great security risk

Inertial navigation has strong autonomy, but it has a large cumulative error when used for a long time, and it is difficult to meet the needs of long-term drones. It needs to be corrected in time with the help of external navigation information.

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