Position Deviation Evaluation for UAV Inspecting Overhead Transmission Line Based on Measured Electric Field
Keywords:
Dynamic-hidden Markov model, flight deviation, transmission line inspection, unmanned aerial vehicle (UAV)Abstract
Unmanned aerial vehicle (UAV) used in overhead transmission lines (OTLs) inspection are required to fly along a preset path to conduct special tasks. However, UAVs sometimes deviate from the preset path due to positioning error or control error in practice, thereby reducing the quality of the inspection task or even leading to serious line collision accidents. In this study, a method is proposed to evaluate the UAV position deviation from the preset path in real time on the basis of a measurement and analysis on the electric field generated by transmission lines. A new idea is presented to solve the obstacle avoidance problem for UAV in transmission line inspection. To improve evaluation accuracy, the influences of transmission tower and UAV body are considered in the theoretical calculation model for electric field, and the electric field data are preprocessed to diminish the influence of environmental noise and measurement inherent error. To improve the real-time performance of the evaluation algorithm, the dynamic programming and hidden Markov model (HMM) are combined to form a dynamic-hidden Markov model algorithm, in which the parameters of the HMM are determined by the expected maximization parameter estimation and corrected in real time. The feasibility and accuracy of the proposed method are verified by several simulation examples and experiments.
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