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Power patrol drone radar altimeter system

A technology for power line inspection and unmanned aerial vehicles, applied in radio wave measurement systems, radio wave reflection/re-radiation, utilization of re-radiation, etc., can solve problems such as heavy workload, ensure accuracy and increase data stability effect with continuity

Pending Publication Date: 2019-07-02
DALIAN ROILAND SCI & TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The workload is heavy, especially in the wild and in the mountains

Method used

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  • Power patrol drone radar altimeter system
  • Power patrol drone radar altimeter system
  • Power patrol drone radar altimeter system

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0037] This embodiment provides a radar altimeter system for a power line patrol UAV, including:

[0038] RF front-end: built-in Infineon RF chip, used to control the sending waveform and receiving echo; the sending antenna and receiving antenna use an independent channel of sending and receiving;

[0039] Arm chip, use the DAC module in the chip to control the radio frequency chip, use the ADC module to receive I and Q data through the GPIO interface, and send the data to the processing module CPU through the DMA channel for calculation, without occupying other peripheral clocks; the processing module CPU Carry out relevant calculations, including FFT calculations, height calculations, etc., and exchange the calculated distance values ​​with the UAV flight control system and the ground station through the interface; preferably, the CPU uses RS232, CAN bus and IIC bus to communicate with The flight control system performs data interaction, and the CPU performs data interaction...

Embodiment 2

[0047] This embodiment provides a signal processing method for the radar altimeter system of a power patrol UAV, which calculates the distance from the radar to the measured object through one channel of IQ data, and the up-sweep and down-sweep frequency are processed before the step of calculating the distance same;

[0048] The above methods specifically include:

[0049] S1, AD data input: collect one channel of I and Q data through the ADC module of the Arm chip;

[0050] S2, to remove DC: subtract the mean value of the sum of the respective data from each of the I and Q data, so as to remove the influence of the DC component.

[0051] S3, FFT calculation, threshold detection: perform FFT transformation on the I and Q data after DC removal, convert the time domain data into frequency domain data, and take the modulus of the calculated complex number; perform CFAR threshold detection on the frequency domain data, and find The point with the largest threshold range; mainly...

Embodiment 3

[0056] As a supplement to Embodiment 2, the above method further includes: S5, performing data processing on the calculated height H. This step is mainly to perform post-processing of the calculated height, that is, to propose data abnormal points and smooth data.

[0057] Carry out data processing to height H in S5, comprise the step of filter processing: adopt α-β filter, the prediction equation of its constant gain filter is X(k+1 / k)=ΦX(k / k), filter equation is X(k+1 / k+1)=X(k+1 / k)+K[Z(k+1)-H(k+1 / k)], where X(k / k) is time k The filter value of , X(k+1 / k) is the predicted value of k time to the next time, Z(k) is the observed value of k time;

[0058] When the target motion equation adopts a constant velocity model, the constant gain matrix K=[α,β / T] T , its state transition matrix The measurement matrix of this model is H=[1,0];

[0059] The α-β filter satisfies the constant gain matrix K, the state transition matrix Φ, and the measurement matrix H are the constant gain ...

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Abstract

The invention discloses a power patrol drone radar altimeter system, which comprises a radio frequency front end, an Arm chip, an external circuit and a power supply module, wherein the radio frequency front end is internally provided with a radio frequency chip for controlling a transmitting waveform and receiving an echo; a DAC module in the chip is used to control the radio frequency chip, an ADC module is used to receive I and Q data through a GPIO interface, and the data are fed to a CPU for calculation through a DMA channel; the CPU exchanges the calculated distance value with a drone flight control system and a ground station through the interface; the external circuit comprises a clock module, a filter module and the like for providing supporting service for the Arm chip; and the power supply module provides power for the system. The working efficiency can be greatly improved, the field work can be greatly reduced, and the manual patrol cost is reduced.

Description

technical field [0001] The invention belongs to the field of unmanned aerial vehicle radar altimeter, and in particular relates to a radar altimeter system of electric line patrol unmanned aerial vehicle. Background technique [0002] Due to the continuous improvement of people's quality of life, the continuous expansion of domestic power grids, and the rapid growth of long-distance transmission network lines, and many transmission lines are distributed among Zongshan mountains. For daily power maintenance, inspections, and prevention of power accidents, it is necessary to Daily inspection and inspection of power cables. At present, the main work content of electric power inspection is to inspect the existing power cables by manual inspection. The workload is heavy, especially in the wild and in the mountains. Therefore, there is an urgent need for a tool to replace manual inspections at fixed heights and lines to save labor. Contents of the invention [0003] Aiming at...

Claims

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Application Information

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IPC IPC(8): G01S13/88
CPCG01S13/882
Inventor 田雨农苍柏唐丽娜
Owner DALIAN ROILAND SCI & TECH CO LTD
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