变电站高压设备分布式物理化结构模型

设计基于激光即时定位与地图构建(Simultaneous Localization And Mapping, SLAM)技术的变电站高压设备分布式物理化结构模型，精准获取高压设备位姿信息，有效建立高压设备分布式物理化结构模型。利用无人机搭载激光雷达传感器与惯性测量单元，扫描并测量施工建设中高压设备环境信息；利用激光SLAM技术依据激光雷达传感器的扫描信息，求解设备位姿信息；通过扩展卡尔曼滤波算法，融合惯性测量单元测量的设备姿态角信息；利用加权数据融合算法，融合位姿信息与姿态角信息，获取最终设备位姿信息；依据最终位姿信息，建立设备实景三维模型；通过建筑信息模型，建立设备的建筑信息模型(Building Information Modeling, BIM)模型；利用Revit软件，以自动关联方式，构造两个模型间的关联关系，获取设备分布式物理化结构模型。实验证明：该模型可精准获取设备位姿信息，有效建立清晰的分布式物理化结构模型；该模型可有效融合设备姿态角，提升姿态角测量曲线平滑度。

Distributed physical structure model of substation high voltage equipment

In this paper,a distributed physical structure model of substation high voltage equipment based on laser SLAM(Simultaneous Localization and Mapping)technology is designed to accurately obtain the position information of high voltage equipment and effectively establish a distributed physical structure model of high voltage equipment.UAV equipped with LiDAR sensor and inertial measurement units are used to scan and measure the environmental information of high pressure equipment in construction.Based on the scanning information of the LiDAR sensor,the position information of the equipment is solved by laser SLAM technology.The attitude angle information measured by inertial measurement unit is fused by extended Kalman filter algorithm.Weighted data fusion algorithm is used to fuse position information and position angle information to obtain the final position information of the device.According to the final position information,a real 3D model of the device is established.Through building information model,a BIM(Building Information Modeling)model of equipment is established.Revit software is used to construct the relationship between two models in an automatic correlation way to obtain the distributed physical structure model of the device.Experiments show that the model can accurately obtain the position information of the equipment and effectively establish a clear distributed physical structure model.The model can effectively integrate the attitude angle of equipment and improve the smoothness of the attitude angle measurement curve.