Overhead distribution line unmanned aerial vehicle autonomous inspection method and system based on GNSS positioning

Abstract

The invention discloses an overhead distribution line unmanned aerial vehicle autonomous inspection method and system based on GNSS positioning. The method comprises the following steps: 1) obtaining a GNSS positioning error of an unmanned aerial vehicle; 2) according to the GNSS positioning error, carrying out reverse correction on the coordinate of each base pole tower on the patrolled overhead distribution line; 3) taking the pole tower coordinate after reverse correction as a reference point, planning patrol and photographing parameters of the unmanned aerial vehicle, and forming a route; and 4) enabling the unmanned aerial vehicle to automatically execute patrol and photographing operation according to the route. The method is low in cost and quick in effect, unmanned aerial vehicle autonomous inspection of the overhead distribution line can be realized, the dependence on high-end unmanned aerial vehicle equipment and flight operators can be reduced, the labor intensity of the operators can be reduced, and the distribution line inspection efficiency and the automation and intelligence level can be improved.

Description

technical field [0001] The invention relates to the technical field of autonomous inspection of drones, in particular to a method and system for autonomous inspection of overhead power distribution lines by drones based on GNSS positioning. Background technique [0002] In recent years, with the rapid development of UAV technology, its application in the field of power equipment inspection has gradually become more effective. The two major power grid companies, State Grid and China Southern Power Grid, both use UAV as the core to build a new generation of intelligent transportation. Inspection system, issued a series of development plans and construction plans, and formulated supporting technical standards and specifications. After years of continuous promotion of construction, the operation and maintenance level of the overhead transmission lines of the two major power grid companies has been significantly improved, and the reliability of power supply has been further stren...

AI Technical Summary

Problems solved by technology

Compared with the transmission network, the operating environment of the distribution network is more complex, and it will face more challenges to realize the autonomous inspection of drones

First, the distribution network has a long mileage and a large scale, and the laser point cloud and oblique photography modeling methods are costly and heavy, and the distribution network lines and channels often change, and the model data needs to be updated from time to time. Based on 3D model planning Drone flight path approach doesn't work for distribution grids

Second, the autonomous inspection of drones needs to be combined with real-time dynamic differential positioning (RTK) services based on 4G networks. Most of the overhead lines of distribution networks are distributed in rural areas. Usually, the 4G signals in these areas are poor, resulting in unstable RTK services. or even interruption, negatively impacting the autonomous flight of the UAV

Third, the age structure of distribution network operation and maintenance personnel is relatively large, and their education background is relatively low. They often have poor ability to learn and accept new knowledge and skills. Overly complex systems and operations may exceed their capabilities.

Images