基于差分定位的输电线路多旋翼无人机智能巡检

针对目前人工操作无人机进行输电线路巡线自动化程度不高，人工操作无人机难以标准化、规范化，导致巡线时间偏长或多发坠机等问题，围绕南方电网公司提出的无人机无人操控自主巡线目标，制定了基于载波相位差分定位技术的输电线路多旋翼无人机智能巡检方法。该方法在载波相位差分高精度定位技术的支撑下，首先由人工操控无人机进行线路巡检，再根据记录的巡检航迹提取航拍控制轨迹点精确的经纬度、海拔高度和每一航拍点的摄像头俯仰角度等信息，制定该线路的自主巡检方案。进行自主巡航时沿设定的轨迹控制点按预设角度进行航拍，实现无人机巡航的流程化和标准化。现场测试效果表明，无人机利用所提方法可在强电磁场环境下快速准确地完成定点巡航任务，为实现规范化、标准化的无人机安全巡线作业奠定了基础。

Research on Multi-rotor UAV Intelligent Power Line Inspection Based on Differential Positioning

In view of the problems of the poor automation, low standardization, long patrol time and frequent crash accidents of the manual-controlled unmanned aerial vehicle (UAV) power line inspection, a multi-rotor UAV intelligent power line inspection method is developed based on RTK positioning technology to realize automatic UAV power line inspection. Under the support of RTK high precision positioning technology, the method is firstly to carry out manual-controlled UAV power line inspection, and then the automatic power line inspection plan is developed according to the recorded patrol track to extract such information as the precise meridian, latitude, altitude and the camera pitch angle of each aerial shooting point. Aerial shooting is carried out at preset angles along the set trajectory control points for automatic patrol, and the flow process and standardization of UAV inspection are realized. The results of field testing show that the proposed method can accomplish the task of the fixed-point patrol inspection quickly and accurately under the environment of strong electromagnetic field, and it lays a foundation for standardized UAV power line inspection.