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Substation inspection robot navigation method and system based on neural network assistance

An inspection robot and neural network technology, applied in the substation inspection robot navigation method and system field, can solve problems such as difficulty in maintaining the positioning accuracy of the inspection robot, and achieve improved positioning accuracy and reliability, improved positioning accuracy, and low cost Effect

Pending Publication Date: 2020-07-03
YUNNAN POWER GRID CO LTD ELECTRIC POWER RES INST
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  • Abstract
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Problems solved by technology

[0005] The invention provides a neural network-assisted substation inspection robot navigation method and system to solve the problem in the prior art that it is difficult to maintain the positioning accuracy of the inspection robot during the interruption of the GPS signal

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  • Substation inspection robot navigation method and system based on neural network assistance
  • Substation inspection robot navigation method and system based on neural network assistance
  • Substation inspection robot navigation method and system based on neural network assistance

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Embodiment Construction

[0046] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with specific embodiments of the present invention and corresponding drawings. Apparently, the described embodiments are only some of the embodiments of the present invention, but not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention. The technical solutions provided by various embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.

[0047] see figure 1 , a neural network-assisted substation inspection robot navigation method provided in an embodiment of the present invention, the method comprising:

[0048] Step S101 , the GPS navi...

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Abstract

The invention discloses a substation inspection robot navigation method and system based on neural network assistance. According to the method, a GPS / INS integrated navigation system is used for providing navigation and positioning services for an inspection robot, the positioning precision is higher than that of a single set of navigation equipment, error estimation and correction are conducted on the navigation and positioning system of the inspection robot through unscented Kalman filtering, and the positioning precision is improved compared with traditional linear Kalman filtering. A radial basis function neural network is introduced and used for improving the problem that the positioning accuracy of the GPS / INS integrated navigation system becomes poor under the condition that GPS signals are lost. When the GPS is not available, the system predicts the navigation error through the neural network, and the prediction result is used for error correction of the system, so that the positioning precision and reliability of the system are improved. The requirement for hardware is low, a series of algorithms can be achieved through software programming, and the cost is low.

Description

technical field [0001] The invention relates to the technical field of navigation, in particular to a navigation method and system for a substation inspection robot based on neural network assistance. Background technique [0002] Whether the high-voltage substation operates well is a major issue related to economic development and social stability. Once the equipment operates abnormally and fails to deal with it in time, equipment loss and personnel injury accidents will occur. Therefore, it is very important to conduct equipment inspections on substations. . At present, the patrol inspection of substation equipment in my country is still mainly manual inspection, but manual work has certain requirements for time and environment, and the inspection results will have certain manual errors, resulting in unreliable inspection results. In order to overcome the above difficulties and meet the needs of substation operation and maintenance management, substation inspection robots ...

Claims

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Application Information

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IPC IPC(8): G01C21/16G01C21/20G01S19/49G06N3/04G06N3/08
CPCG01C21/165G01C21/20G01S19/49G06N3/08G06N3/045
Inventor 于虹
Owner YUNNAN POWER GRID CO LTD ELECTRIC POWER RES INST
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