Overhead transmission line positioning method based on double RTK unmanned aerial vehicles

Abstract

The invention relates to a positioning technology of a pile position in an overhead transmission line, in particular to an overhead transmission line positioning method based on double RTK unmanned aerial vehicles. The method is characterized in that the high-precision position and course angle of the double RTK unmanned aerial vehicles are adopted, and it is guaranteed that the positioning precision of the line pile position center meets the standard requirement; a double-head laser distance measuring device is adopted, the principle that laser projection points flying twice in the forward direction and the reverse direction of the same navigation channel are collinear with the horizontal position of the center of the unmanned aerial vehicles is utilized, the pile position center positionis rapidly determined on the ground, simpleness and rapidness are achieved, field operation is easy, and meanwhile the influence of unmanned aerial vehicle posture changes and distance measuring module installation position system deviation on the horizontal position of a positioning target point is avoided; and tree felling near the pile position can be remarkably reduced or avoided, the ecological environment is protected, the field operation time is remarkably saved, and manpower and material resources are saved.

Description

technical field [0001] The invention relates to a positioning technology for pile positions in overhead power transmission lines, in particular to a positioning method for overhead power transmission lines based on dual RTK drones. Background technique [0002] Alignment measurement of overhead transmission lines: Calibrate the line path determined by the line selection plan to the actual position, including the stakeout calibration of corner piles and straight piles, and at the same time need to measure the distance and height difference between piles, or directly measure the pile position coordinates (that is, the plane position and elevation). According to the overhead transmission line survey standard, the error in plane coordinates is not greater than 5cm, and the error in elevation is not greater than 30cm. Alignment survey usually adopts total station or RTK technology. The total station needs the target to be in line with the measuring station, and it is more diffi...

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Problems solved by technology

[0006] 3.) When the centering pole is at the maximum height, RTK still cannot obtain a fixed solution. Cut down taller trees within about 5-10 meters near the pile position;

[0009] In the prior art, UAVs with built-in GPS module positioning are used for pile position calibration. In order to obtain the accuracy of UAV flight, magnetic compass is widely used in the calculation of heading angle of small rotor UAVs. In the process of determining the heading angle, heading errors occur due to interference such as geomagnetic declination, soft / hard magnetic field deviation, scale factor error, three-axis magnetic field component coupling error, and quantization error, which in turn affects the safety performance of UAV flight

In addition, in order to make the data collection of UAVs more accurate, UAVs also need to carry cameras for data collection. However, due to problems such as complex environment and electromagnetic interference, it is still impossible to achieve sufficiently accurate pile position calibration.

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