全电压等级无人机高空巡检自主导航线路切换技术研究

针对无人机巡检电压等级较高的输电线路时，可能会因杆塔整体结构过于复杂导致导航线路混乱无法有效完成巡检工作的问题，研究全电压等级无人机高空巡检自主导航线路切换技术。将无人机导航线路规划问题转换为蚁群确定最优或次优路径问题，利用信息素挥发因子动态自适应调整规则，改善蚁群算法易出现局部最优以及较慢收敛的情况，完成导航线路规划。基于规划结果，采用自抗扰控制算法，设计包含微分器、扰动估计补偿等设备的自抗扰控制器，通过控制器调整航向角方向，实现导航线路切换控制。实验结果表明，所研究技术能够通过不同航向角度切换，完成输电线路高空巡检目的，且航线规划效率满足无人机高空巡检自主导航线路切换的实时性要求。

Research on Line Switching Technology of Autonomous Navigation for High Altitude Inspection of Full Voltage UAV

Aiming at the problem that the navigation line may be confused due to the complex overall structure of the tower when UAV inspects the transmission line with high voltage level, and it is unable to effectively complete the inspection work, the switching technology of autonomous navigation line for high-altitude inspection of full voltage UAV is studied. The ant colony algorithm is used to transform the UAV navigation route planning problem into the ant colony to determine the optimal or suboptimal path problem. The pheromone volatilization factor is used to dynamically adjust the rules, improve the local optimization and slow convergence of the ant colony algorithm, and complete the navigation route planning. Based on the planning results, the ADRC algorithm is adopted to design the ADRC including differentiator, disturbance estimation compensation and other equipment. The heading angle direction is adjusted by the controller to realize the navigation line switching control.The experimental results show that the technology can complete the purpose of high-altitude inspection of transmission lines by switching different heading angles, and the efficiency of route planning can meet the real-time requirements of autonomous navigation line switching for UAV high-altitude inspection.