Development Of Line Patrol UAV Positioning And Early Warning System Based On Field Strength Detection

With the rapid growth of the scale and coverage of overhead transmission lines and the complex and diverse environment passing through,the challenges and contradictions faced by the inspection of overhead transmission systems are rapidly intensifying and increasingly urgent.The traditional inspection method has been difficult to meet the development needs of modern smart grid.Therefore,UAVs are widely used by domestic and foreign power companies for the inspection and reconnaissance of transmission lines due to their advantages of strong maneuverability,simple handling,diverse forms,high efficiency and low cost.However,the current academic and engineering application research on the use of UAVs to inspect overhead transmission lines mainly focuses on the detection of transmission lines and obstacles by carrying sensors such as lidar,visible light sensors,and infrared cameras.The inspection data or processing results are used as reference to control the patrol UAV to achieve obstacle avoidance and navigation.When the inspection drone is flying beyond the line of sight,due to the narrow diameter of the transmission line,the visual difference,and the weather,strong light and other factors,it is easy to misjudge the positional relationship between the drone,the inspection target,and the obstacle.Thus affecting aerial photography and status diagnosis.Therefore,how to improve the reliability of inspection operations,ensure the safety of UAVs and power systems,and realize autonomous inspection and diagnosis of UAVs have become an important research direction.In this paper,we will study the technology of anti-shock warning and navigation detection for line patrol unmanned aerial vehicles,and use the stable field strength distribution law around the transmission conductor as the main reference information to study the field source positioning algorithm.Then comprehensively consider the main factors such as electric field strength,wind speed,inspection speed and other factors that affect the UAV navigation detection,study the UAV safety inspection distance and use this as a basis to realize the anti-shock warning.This article will study the following:1、 According to the actual operating conditions of overhead transmission lines,the spatial distribution model of transmission lines is established and the field strength distribution law around the transmission lines with different arrangements under different working conditions and different voltage levels is analyzed.Carry out analysis and research on the feasibility and reliability of navigation and positioning;2、 In order to realize the accurate detection of the electric field at the location of the UAV,the airborne portable power frequency electric field sensor is designed for the specific working condition of the UAV patrol overhead transmission line;3、 In order to ensure the safe navigation and detection of line patrol drones,the positional relationship between drones,patrol targets and obstacles is accurately judged,and the field source positioning algorithm and navigation positioning system are studied to realize the positioning of the field source targets;4、 Based on multi-source data fusion,a mathematical model is established to study the proper safety distance of UAV patrols on different power lines and different voltage levels,and the recognition processing results are used as reference information for UAV anti-shock warning and navigation;...