| With the rapid development of socio-economic,the city's charge load gradually increases,the number of underground substations increasing and indoor voltage-transformation lines getting more complex correspondingly,which have led to a rapid increase in the workload of indoor substation inspectors,low efficiency of manual inspections,and tenser personal safety of the inspectors.Therefore,the focus of the current study is the urgent need to use an auxiliary tool to replace the manual inspection of indoor substations.This paper proposes to use UAVs instead of manual inspections to carry out research and design on the realization of UAV autonomous navigation under the required indoor substation scenarios.This paper first introduces the research status of drone power inspection technology and indoor drone navigation.For a miniature drone that uses its sensors to achieve indoor autonomous navigation,the volume and load of the drone greatly limit the choice range of the machine.Therefore,this paper proposes achieving autonomous indoor navigation of the UAV by using the traditional method of receiving satellite signals.In the indoor environment,drones cannot receive GPS signals.Given this problem,the research content and focus of this article are elicited:(1)An indoor positioning system based on UWB technology is proposed.By comparing the advantages and disadvantages of common indoor wireless positioning methods and technologies,an ultra-wideband(UWB)wireless positioning technology based on Time Difference of Arrival(TDOA)positioning algorithm was selected.By comparing the optimal solving algorithms,a positioning algorithm based on least squares(WLS)is selected.Due to the presence of NLOS propagation errors in indoor wireless signals,the Kalman filtering model is used to smooth the original ranging information,and then the WLS-based TDOA is used for positioning calculation.The simulation results verify the accuracy of the feasibility of the model.(2)This paper completes the hardware and software design of indoor positioning system based on UWB technology.The hardware design part includes a control module,wireless transceiver module,interface module,power module and so on.Software design includes driver and positioning server design.For the delay impact analysis of signal transmission and reception,there are signal air propagation delays and hardware delays.The propagation delay of signal air is removed by adding 513ns to the software algorithm,and the hardware delay is a trade-off value instead.The experiment finally completed positioning system positioning accuracy within the range and achieved the desired requirements.(3)This dissertation mainly analyzes the signal structure and positioning principle of the simulated GNSS and analyzes the source of satellite positioning technology error.After that,the design of the simulation GNSS satellite signal system and control software is completed.Simultaneously,the simulation system is constructed on the simulation system,and simulation experiments are performed on the simulated satellite signal system simulation files.It is proved that the simulation platform possesses the function of normal broadcasting of analog satellite signals,and a fixed-point hovering experiment is performed on the drone in the room.Meet expectations.At the end of this paper,we have made a certain discussion and prospect on the next step of the pilot substation UAV navigation and positioning system in the indoor substation. |
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