Multi-point tracking data optimization method for automatic inspection equipment

Abstract

The invention belongs to the technical field of power grid automatic inspection equipment control, and particularly relates to a multi-point tracking data optimization method of automatic inspection equipment. Comprising the following steps: establishing a tracking model according to the arrival time difference of an inspection equipment signal arriving at each measurement point; establishing a coordinate set of the coordinate predicted values of the inspection equipment; establishing a secondary data set expansion coordinate set of data with different arrival time differences; establishing a data set step by step and further expanding a coordinate set; and performing weighting processing based on the corrected coordinate set and the corresponding residual set to obtain a final coordinate value. According to the method, the influence of interference signals on tracking and positioning data can be effectively reduced, a more accurate and effective tracking and positioning data optimization method is realized, the influence of single telemetering data deviation on the overall conclusion is reduced by using a weighting scheme on the basis of combining a time difference of arrival principle and mutual correction of multiple data sets, and the accuracy of tracking and positioning data optimization is improved. And the purposes of reducing external interference and improving data accuracy in a complex environment and scene can be conveniently realized.

Description

technical field [0001] The application belongs to the technical field of automatic inspection equipment control of power grids, and in particular relates to a multi-point tracking data optimization method for automatic inspection equipment. Background technique [0002] Automated inspection equipment includes various types of aerial and ground automatic cruise equipment, which are used to replace manual inspection and inspection operations, or to realize remote inspection and other operations in areas that are difficult to reach by manpower. Most inspection equipment requires professional operation. At present, most automatic inspections are controlled by short-range or medium-distance wireless new numbers, and their application scope is limited, and it is difficult to go further. Reduce the workload of power grid inspection operations. On the other hand, although the use of GPS satellites and other aerospace equipment can realize long-distance information transmission with ...

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Problems solved by technology

[0002] Automated inspection equipment includes various types of air and ground automatic patrol equipment, which are used to replace manual inspections and inspections, or to implement remote inspections in areas that are difficult for manpower to reach. Most inspection equipment requires professional operation It can be operated and used by personnel, and the motion plan and operation content of the inspection equipment are controlled through corresponding instructions. At present, most automatic inspections are controlled by short-distance or medium-distance wireless numbers, and its application range is limited, making it difficult to further develop Reduce the workload of power grid inspection operations. On the other hand, although aerospace equipment such as GPS satellites can be used to achieve long-distance information transmission with a larger span, it is difficult to effectively apply it to automation due to problems such as signal transmission and feedback delays. Inspection

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