Design Of Fixed Wing UAV Navigation Controller For Power Line Inspection

With the development of the national grid,transmission lines increased year by year,people used the unmanned aerial vehicles to line the way to gradually instead of the traditional line of artificial inspection line.Fixed-wing unmanned aerial vehicles as a UAV is widely used in the electricity patrol line to improve the inspection line of efficiency and safety.Based on the application of fixed wing unmanned aerial vehicle in power line inspection,this paper studied the question about navigation control of fixed wing unmanned aerial vehicle.Firstly,under the premise of clarifying the design goal of this paper,the "Falcon" fixed wing unmanned aerial vehicle is used as the experimental platform to design the overall scheme of the UAV navigation control system.The system mainly included two parts:the data acquisition part and the navigation control part.And the navigation controller involved in the selection of hardware to complete the design and production of circuit boards.Secondly,when UAV performing the line inspection tasks,its aerodynamic characteristics are more complex.In order to facilitate research,this paper analyzed the conversion between coordinate systems and deduced the dynamical equation of the UAV.Using the Dubins curve algorithm to carry on the reasonable trajectory planning to the unmanned aerial vehicle,and the algorithm is simulated by MATLAB.The results showed that the algorithm can plan the shortest flight trajectory.Then,according to the requirements of UAV patrol mission,this paper adopted the navigation system combined with strap down inertial navigation and GPS,and designed the corresponding integrated navigation algorithm to improve the accuracy of autonomous navigation and reduced the error of the inspection line UAV navigation.The PID control method is used to design the control law of the maneuver angle and speed of the unmanned aerial vehicle,and the simulation curves are obtained in the case of the unmanned aerial vehicle and the circular trajectory flight.The simulation curve is obtained for the further research to provide a certain theoretical basis and protection.Finally,this paper carried out multiple tests on the UAV,through the ground station real-time acquisition of UAV flight dynamic parameters.The experimental results showed that the UAV navigation controller designed in this paper can meet the requirements of flight mission,improved the accuracy of the navigation line navigation,and controlled the safety and stability of UAV in flight.