Design And Simulation Of Power Line Inspection System Through Unmanned Aerial Vehicle

The safe and stable operation of the power system faces serious challenges due to aging and deterioration components of the transmission line,the natural disasters and the external man-made destruction.Conventional artificial electric power inspection means there are inefficient,unsafe,high technical problems.With the technology development of Unmanned Aerial Vehicle,multi-rotor UAV has applied to the power inspection.But the inspection efficiency and quality of manual operation UAV is based on the UAV operator's technical level,also prone to misoperation accident occurs.In this paper,according to the application demand of electric power inspection,accroding to the coordinate information of electric power tower,to realize the autonomous flight inspection through preset track point,taking four rotor UAV as carrier,equipped with image acquisition equipment for aerial inspection.search and locate the tower,collect the image data of the tower equipment defects and hidden dangers.This paper mainly studies the following aspects.?Carry out the inspection line system design,including the overall structure of the system and the implementation of various functional subsystems,the selection of the main hardware equipment,building the software and hardware development environment of system,setting the inspection target and inspection process,analyzing the technical difficulties of inspection line.? Design an anti-electromagnetic disturbance integrated navigation Method for Unmanned Aerial Vehicle.In order to achieve the initial precision positioning requirements of UAV,the anti electromagnetic interference ability of integrated navigation system is studied based on differential GPS\INS integrated navigation.Analyzing the mechanism of electromagnetic interference of GPS under high voltage transmission line in detail.Based on the adaptive Kalman filter integrated navigation,a weighted adaptive Kalman filtering integrated navigation algorithm was proposed based on the credibility of the GPS data.This papar develops an fuzzy navigation method combining GPS and INS through reflecting the credibility of GPS by comparing the deviation range of GPS and Inner Navigation System(INS)data,using fuzzy logic algorithm to calculate the weighted values and distributing the weight of GPS integrated navigation system.And the navigation and positioning accuracy and anti-electromagnetic interference ability are simulated and analyzed.? Planning the inspection route and design of the UAV waypoint tracking algorithm.According to the goal of the inspection operation,analyzing of the principles and methods of selecting the best patrol shooting point,calculating the specific coordinates of the inspection point and the route of the UAV inspection is established.In order to ensure that the UAV can accurately track these target points,a waypoint tracking algorithm based on variable universe fuzzy theory is designed,and the UAV tracking software is developed,and the tracking effect of the waypoint is simulated and analyzed.?The method of automatic acquisition of insulator images based on image recognition is studied,including the search and positioning scheme of the tower,the identification principle of the insulator and the automatic control of the PTZ(Pan/Tilt/Zoom).The positioning effect of the power tower and insulator was simulated and analyzed.In this paper,the design of UAV automatic inspection system overcomes the electromagnetic interference of GPS by high voltage transmission lines,can guarantee the good navigation precision,and automatically obtain the image information of the target device,which has high security and feasibility,after the simulation and verification,it has been verified in the test run,and achieved the design requirements and objectives.