| The main transmission modes in China are ultra-high voltage and ultra-high voltage.These two transmission modes can reduce the power loss of transmission lines,and the operation of the power system can be reliable,high-quality and economical.However,these two transmission modes will also have great security risks,such as broken transmission lines,aging insulators and connection faults between lines and towers.Early detection of these faults can prevent grid companies from suffering losses.In the early stage of China,manual line inspection was the main task.With the continuous progress of science and technology in the field of UAV,many provinces have started to use UAV to conduct the work of electric line inspection.The work efficiency of UAV during inspection is high and it is safer than manual line inspection.This paper studies the design of UAV navigation control system.The selected UAV model is tilt-rotor UAV,which has the performance of vertical take-off and landing UAV and fixed wing UAV,and is very suitable for the work of electric line patrol.In tilting rotor design of the control system of unmanned aerial vehicle UAV navigation,first clear the UAV navigation control process and working contents of UAV flight control circuit,at the same time,the system test platform to build and the way of navigation system as a whole and the establishment of ground control station,the design of navigation control system is one of the most important is the selection of hardware circuit model and the construction of the hardware circuit,the hardware circuit includes the choice of module selection is based on the CORS GPS,inertial measuring element selection,selection of pressure sensor,single chip microcomputer control chip,and selection of unmanned aerial vehicle UAV steering gear,The work of this part lays a solid foundation for the smooth completion of patrol inspection of UAV.Navigation control algorithm is presented in this paper the link chose L1-adaptive navigation algorithm,L1-adaptive navigation algorithm can real line laying condition for unmanned aerial vehicle UAV before the inspection work plan out a reasonable flight path,before the flight path planning to build a coordinate system and the dynamic model of unmanned aerial vehicle UAV flight,on the basis of the use of L1-adaptive navigation algorithm.L1-adaptive navigation algorithm can be divided into three cases to plan the path,the first case is along a straight line,the second case is along the disturbance of the non-straight line inspection,the third case is along the circle inspection.For the above three cases,through MATLAB simulation analysis,it can be verified that the flight path planned by L1-adaptive navigation algorithm for UAV is very reliable.After successful path planning,the navigation and positioning system is required to enable unmanned aerial vehicle UAV can be carried out in accordance with the planning the path of the flight,the selected in the middle of the navigation and positioning system is based on the CORS GPS navigation system with the combination of strap down inertial navigation,as well as measurement equation of integrated navigation system,mathematical model and combination,the integrated navigation system can make up for the shortcoming of single navigation system,to make more precise positioning.Then L1-adaptive control was selected to control the UAV flight attitude,heading Angle and pitch Angle.In the final phase of this article,through the study of the multiple test flight of unmanned aerial vehicle UAV debugging,record and summarize the various of unmanned aerial vehicle UAV flight data,and through Matlab simulation figure compared with the actual flight path,can find the course Angle of UAV,lateral offset,the state information such as speed and height is in the range of error control,and data results show that the navigation of unmanned aerial vehicle UAV flight control system for unmanned aerial vehicle UAV accurately,completed the task of inspection. |
