电力巡检无人机电磁场测距及校准技术研究

近年来,无人机巡检已成为架空输电线路日常运行维护的主要手段之一。目前巡检无人机与输电线之间的距离主要靠肉眼判断,因此存在较大的安全隐患。文中提出利用电场有效值或同时利用电场有效值和无人机高度的方法确定无人机飞行安全距离范围。研究了电场测量的屏蔽与数据校准方法,利用梯度下降算法求解电场畸变系数和修正无人机飞行误差。基于有限元算法及Maxwell软件建立了1 000 kV特高压架空输电线路的仿真模型并进行数值验证。通过实际线路测试验证了该方法的正确性。该方法可为输电线无人机巡检距离控制、航向规划、高度调节和电场测量提供重要参考。

Research on Electromagnetic Field Ranging and Calibration Technology of Electric Patrol UAV

Recently, unmanned-aerial-vehicle (UAV) patrol has become one of the main means of overhead transmission line daily operation and maintenance. At present, the distance between UAV and power line is mainly judged by the naked eye, which is a great safety hazard. In this paper, a simulation model of 1000kV UHV overhead line was established based on finite element algorithm and Maxwell software, and a method combining the effective electric field value and the effective electric field value with the height was proposed to determine the safe distance range of UAV. At the same time, the shielding problem and calibration of electric field measurement are studied, and the electric field distortion coefficient and UAV flight error are solved by gradient descent algorithm. And on this basis combined with the actual line to test and verify. This method can provide important reference for the distance control, course planning, height adjustment and electric field measurement of power transmission line in UAV patrol.